In this book an introduction is given to aspects of water waves that play a role in ship hydrodynamics and offshore engineering. At first the equations and linearized boundary conditions are derived describing the non-viscous free surface water waves, with special attention to the combination of steady and non-steady flow fields. Then some simple kinds of free wave solutions are derived, such as plane waves and cylindrical waves. For several situations, steady and unsteady, the source singularity function is derived. These functions play a role in numerical codes used to describe the motion of ships and offshore structures. These codes are mostly based on a boundary integral formulation; therefore we give an introduction to these methods. It is shown how first order ship motions can be determined. In offshore engineering the second order wave drift motions play an important role. An introduction to this phenomenon is given and the effects which have to be taken into account are explained by means of a simple example where we can determine nearly all the aspects analytically. An interesting example that is worked out is the motion of very large floating flexible platforms with finite draft. Finally an introduction to the theory of shallow water non-linear dispersive waves is presented, and shallow water ship hydrodynamics, that plays a role in coastal areas and channels is treated. Here attention is paid to the interaction between passing ships in restricted water. In the appendix a short introduction to some of the mathematical tools is given.

Existing views on geodynamics (recharge, migration, discharge) of uids at deep layers of petroliferous basins are summarized. The in ltration and elision th- ries explaining development of uid pressures in deep formations are called into question based on quantitative estimates available for some artesian (petroliferous) basins. Using the West Siberian, Pechora, Terek-Kuma, Bukhara-Karshi, and other petroliferous basins as examples, the stratum-block structure of deep formations is substantiated for strati ed systems of platform in inter- and intramontane depr- sions. It is shown that petroliferous reservoirs at great depths are characterized, regardless of lithology, by largely ssure-related capacity and permeability (clayey rocks included) changeable in space and through geological time. Much attention is paid to development of abnormally high formation pressures. Peculiarities in heat and mass transfer at deep levels are considered for different regions. The energetic formation model substantiated for deep uids explains different anomalies (baric, thermal, hydrogeochemical, mineralogical, and others) at deep levels of platforms. Based on hydrogeodynamic considerations, the theory of oil origin and formation of hydrocarbon elds is proposed. The book is of interest for oilmen, hydrogeo- gists, geologists, and specialists dealing with prospecting of petroliferous deposits as well as industrial, mineral, and thermal waters in deep formations of strati ed sedimentary basins. vii Contents 1 Existing Views on Fluidodynamics in Petroliferous Formations . . 1 References ...11 2 Investigation Methods of Deep Fluidodynamics ...15 2. 1 Methods of Formation Pressure Reducing ...16 2. 2 Assessment of Directions of Density-Variable Fluid Flows by the "Filtration Force" Method ...

Stochastic Analysis of Offshore Steel Structures provides a clear and detailed guide to advanced analysis methods of fixed offshore steel structures using 3D beam finite elements under random wave and earthquake loadings. Advanced and up-to-date research results are coupled with modern analysis methods and essential theoretical information to consider optimal solutions to structural issues. As these methods require and use knowledge of different subject matters, a general introduction to the key areas is provided. This is followed by in-depth explanations supported by design examples, relevant calculations and supplementary material containing related computer programmers. By combining this theoretical and practical approach Stochastic Analysis of Offshore Steel Structures cover a range of key concepts in detail including: The basic principles of standard 3D beam finite elements and special connections, Wave loading - from hydrodynamics to the calculation of wave loading on structural members, Stochastic response calculations with corresponding solution algorithms including earthquakes, and Fatigue damage, reliability calculation and reliability based design optimization. The broad and detailed coverage makes this a solid reference for research oriented studies and practical sophisticated design methods. Students, researchers, insuring bodies and practical designer offices can turn to Stochastic Analysis of Offshore Steel Structures to broaden their theoretical understanding and develop their practical designs and applications of 3D finite analysis in fixed offshore steel structures.

In the preliminary stage of designing new structural hardware that must perform a given mission in a fluctuating load environment, there are several factors the designers should consider. Trade studies for different design configurations should be performed and, based on strength and weight considerations, among others, an optimum configuration selected. The selected design must be able to withstand the environment in question without failure. Therefore, a comprehen sive structural analysis that consists of static, dynamic, fatigue, and fracture is necessary to ensure the integrity of the structure. During the past few decades, fracture mechanics has become a necessary discipline for the solution of many structural problems. These problems include the prevention of failures resulting from preexisting cracks in the parent material, welds or that develop under cyclic loading environment during the life of the structure. The importance of fatigue and fracture in nuclear, pressure vessel, aircraft, and aerospace structural hardware cannot be overemphasized where safety is of utmost concern. This book is written for the designer and strength analyst, as well as for the material and process engineer who is concerned with the integrity of the structural hardware under load-varying environments in which fatigue and frac ture must be given special attention. The book is a result of years of both acade mic and industrial experiences that the principal author and co-authors have accumulated through their work with aircraft and aerospace structures."

Aspect '94 is the most up-to-date and comprehensive assessment of the present and future of the pipeline systems industry. It comprises papers from leading experts in all areas of pipeline engineering and technology. As this book shows, the last few years have seen great strides forward in the field of subsea pipelines. Deepwater pipelines, long distance pipelines and complex systems transporting hydrocarbons and fluids to and from marginal field subsea wellheads and templates are all being implemented without significant problems. The pace of progress continues to accelerate in the subsea industry, and the scope to make further improvements is constantly being explored. Operators, consultants, suppliers and contractors are all researching, developing and testing new techniques and ideas.

The three parts of this volume - Technical Refinement; Technical Innovation; and Project Management and Risk Minimisation - reflect the areas of opportunity for improved cost effective techniques for exploration and production of oil and gas in the North Sea and worldwide. The book is indispensable for engineers and scientists interested in the latest advances in technology and resource management that will reduce costs and continue to enhance the safe exploration of oil and gas resources. This volume comprises a selection of contributions presented at the International Conference Subsea International '93, held 28--29 April 1993 in Aberdeen, U.K.

The Channel Tunnel is a huge construction project, employing over 14,000 people at peak, and costing over <156>11 billion of private money. It has succeeded in spite of great financial, political and techncial difficulties, and a fundamentally flawed contract. This book tells the story of the project, based on the coverage in Construction News and with commentary taken from recent interviews with key project sources.

The rapidly growing need for mobility has brought with it a major challenge for improvement in the operation and utilization of automotive systems. The economical, environmental and safety constraints imposed by the increase in the number of road vehicles and subsequent government policies also require substantial product development through the application of infor mation technology. This involves the enhancement of vehicle informatics and telematic systems with additional sensors and systems. The advance in the design and development of automotive sensory systems is so rapid that there is urgent need for the experts involved in the technology to work together to provide a reference book for the engineer of today and tomorrow. This motivated me to spend two years researching the topics and the basis on which such a book should be written. The result is the present compilation of the work of international experts on the state-of-the-art in the field of automotive sensory systems. Thus, a unique collection has been created for the reference of all those concerned with, or interested in, the design and development of modern, safe and intelligent vehicles. Although this book is intended for engineers, managers, scientists, academicians and policy makers, students should also find it valuable. To meet the requirements of students the basics are explained in simple terms; however, it is hoped that others will appreciate this approach, since most of us are well aware that gaps remain in our knowledge of the elements of our profession."

Most ocean vessels are underactuated but control of their motion in the real ocean environment is essential. Starting with a review of the background on ocean-vessel dynamics and nonlinear control theory, the authors' systematic approach is based on various nontrivial coordinate transformations coupled with advanced nonlinear control design methods. This strategy is then used for the development and analysis of a number of ocean-vessel control systems with the aim of achieving advanced motion control tasks including stabilization, trajectory-tracking, path-tracking and path-following.

Control of Ships and Underwater Vehicles offers the reader: - new results in the nonlinear control of underactuated ocean vessels; - efficient designs for the implementation of controllers on underactuated ocean vessels; - numerical simulations and real-time implementations of the control systems designed on a scale-model ship for each controller developed to illustrate their effectiveness and afford practical guidance.

Dr C P Ellinas Advanced Mechanics & Engineering Ltd Major advances have been achieved in recent years in subsea pipeline design and installation. Inspection, maintenance and repair have also received much attention. The development of marginal fields has brought with it special problems, which have necessitated novel methods and solutions. In the meanwhile interest in the development of deepwater fields continues with the development of new technology. This Conference has placed emphasis in addressing developments in pipeline technology under four main headings: pipeline/seabed interaction; flexible pipelines; pipeline design, fabrication and installation; deepwater applications. Advances in North Sea technology over the last few years have been concerned mostly with marginal fields, small diameter pipelines and new materials, which are well covered in the first three topics. Economic development of marginal fields requires processing of oil and gas to take place not at the wellhead but at existing facilities, usually some distance away. Hydrocarbons are thus often transported at high pressure and temperature in small diameter pipelines, which need to be protected through trenching. However, such operational practice has brought to the fore a problem that in the past was of little concern namely, upheaval buckling.

The need for climatological data of the North Sea has increased during the past years. The increase in offshore and recreational activities can benefit greatly from such data. In order to meet this need weather observations made by ships and lightvessels in the North Sea have been processed extensively, which has resulted in a large number of tables, charts, etc. with climatological data. This publication gives a selection of these data, in which the emphasis lies on wind and wave data. In addition, some characteristic data on air and sea tempera ture, cloud cover, precipitation, visibility and sea level pressure are given. With regard to the observations of the lightvessels the publication can be consi dered as a continuation of earlier work. It also concludes the era of observations made by crew on board lightvessels, which gradually ended in the 1970's. The observations on fixed platforms which are now replacing the observations of the lightvessels are of a quite different character. The data are based on observations made on board lightvessels during the period 0 1949 -1980 and voluntary observing ships in the area between 51 ON and 60 N during the period 1961-1980. The observations of the lightvessels have been compared with those published for earlier periods (1859 -1883, 1884 -1909 and 1910 -1940). The manuscript (or part of it) has been critically examined by Prof.Dr.Ir. J.A. Battjes, E. Bouws, Dr.Ir. J.A. Buishand, H.A.M. Geurts, Dr. GJ.Komen, Dr. G.P."

Two previous NATO Advanced Study Institutes (ASI) on berthing and mooring of ships have been held; the first in Lisboa, Portugal in 1965, and the second at Wallingford, England in 1973. These ASls have contributed significantly to the under standing and development of fenders and mooring, as have works by Oil Companies International Marine Forum (1978) and PIANC (1984). Developments in ship sizes and building of new specialized terminals at very exposed locations have necessitated further advances in the combined mooring and fendering technology. Exploration and exploitation of the continental shelves have also brought about new and challenging problems, developments and solutions. Offshore activities and developments have in fluenced and improved knowledge about both ships and other floating structures which are berthed and/or moored under various environmental conditions. The scope of this ASI was to present recent advances in berth ing and mooring of ships and mooring of floating offshore structures, focusing on models and tools available with a view towards safety and reduction of frequencies and consequences of accidents."

This collection of papers originates from a meeting are in current use on board UK research vessels. organized in May 1988 at the Geological Society, Marine geological exploration requires information under three further headings: (i) the "shape" of the London, under the auspices of its Marine Studies Group. The meeting was concerned with reviewing sea floor, (ii) the nature of the rocks and sediments the present state-of-the-art of marine geological and which lie at its surface, and (iii) the nature of deeper geophysical sampling and surveying techniques. structures. Studies of the shape of the sea floor The pace of scientific exploration of the ocean (bathymetry) are based primarily on echo sounder basins has increased dramatically over the past few and side-scan sonar surveying. Technology in this decades in response to interest in the global tectonic field has seen major advances over the past two processes which control their long-term evolution decades, with the development of new ceramic ma and the regional and local sedimentary and tectonic terials to provide more efficient and powerful trans ducers, the increasing use of digital data processing processes which shape them, as well as more practi cal questions such as the nature and extent of off techniques to improve the quality of the signal from shore mineral resources, problems of waste disposal the sea floor, and the introduction of new design at sea and the response of sea level to global climatic concepts to provide higher resolution records."

Suppose one were given the task of mapping the general circulation in an unfamiliar ocean. The ocean, like our own, is subdivided into basins and marginal seas interconnected by sea straits. Assuming a limited budget for this undertaking, one would do well to choose the straits as observational starting points. To begin with, the currents flowing from one basin to the next, over possibly wide and time-varying paths, are confined to narrow and stable routes within the straits. Mass, heat and chemical budgets for individual basins can be formulated in terms of the fluxes measured across the straits using a relatively small number of instruments. The confinement of the flow by a strait can also give rise to profound dynamical conse quences including choking or hydraulic control, a process similar to that by which a dam regulates the flow from a reservoir. The funneling geometry can lead to enhanced tidal modulation and increased velocities, giving rise to local instabilities, mixing, internal bores, jumps, and other striking hydraulic and fine scale phenomena. In short, sea straits repre sent choke points which are observationally and dynamically strategic and which contain a full range of fascinating physical processes."

Falling oil prices and smaller offshore fields, especially in the UK sector of the North Sea, have produced a resurgence of interest in subsea developments. These developments always include the installation of a subsea structure and laying and tying-in of pipeline and control lines. In the Southern North Sea small unmanned jackets may become widely used and these require subsea control and power lines installation. This change in the offshore scene has produced a potentially larger market for underwater construction activities. Companies engaged in underwater design and construction have been developing new equipment and techniques to enable further economies to be realised. It is not only in hydrocarbon development where underwater construction plays a major role. One of the largest offshore construction projects on the UK Continental Shelf in recent years is the cross-channel link where power cables have been laid between the UK and France. This volume looks at the economic outlook and the breadth of underwater construction operations; important developments in techniques and equip ment are presented together with a discussion of various projects in which they have been successfully used. PART I 1 An overview of subsea construction R. Goodfellow, Goodfellow Associates Ltd INTRODUCTION Working underwater is a lot more difficult than working above water or on land, therefore the incentives to do so must be found in some aspects of project realization, such as: * reduced cost; * advantageous schedule; * improved technology.

To maintain quality in research output, providing the necessary new knowledge for our developing industries must be of prime importance to our community. This is an extremely difficult task when viewed in the context ofthe rapid rate of change being experienced within our national industrial scene. Collaborative research programmes designed to constantly monitor and improve the quality of output, through regular reporting and assessment of achieved goals against defined targets, can help the growth of our industry and benefit the rest of society. The government has established initiatives to encourage collaboration and the transfer of technology between the research and development domains. There are many signs that industry and the universities are making a concerted effort to adapt their working practices and relationships to meet the rapidly changing industrial environment. There are still many shortfalls and areas for improvement. Some of the extremes of government educational policy can, and will, seriously impair the evolution of, and benefits gained from, the collabo ration initiatives. These must be resisted by academe and industry alike if we are to make new advances against foreign competition. Joint R. and D. projects do work, and can be made to work. To achieve the steady growth of healthy and fruitful relationships they must, however, be given a good environment and a nourishing diet. REFERENCES 1. Alvey Programme Annual Report(s), Alvey Directorate, Millbank Tower, Millbank, London, SW1P 4QU. 2. Annual Review o{ Government Funded R. & D. (1985). (From the Cabinet Office), Her Majesty's Stationery Office."

In determining the response of offshore structures, it is of utmost importance to determine, in the most correct manner, all factors which contribute to the total force acting on these structures. Applying the Morison formula (Morison et. al. , 1950) to calculate forces on offshore slender structures, uncertainties related to the understanding of the wave climate, the hydrodynamic force coefficients and the kinematics of ocean waves represent the most important contributions to the uncertainties in the prediction of the total forces on these structures (Haver and Gudmestad, 1992). Traditional calculation of forces on offshore structures involves the use of regular waves with the following non-linearities inco1porated use of regular wave theories inco1porating higher order terms use of Morison equation having a nonlinear drag term inclusion of the effect of the free surface by integrating all contributions to total forces and moments from the sea floor to the free surface of the waves In order to describe the sea more realistically, the ocean surface is to be described as an irregular sea surface represented by its energy spectrum. The associated decomposition of the sea surface is given as a linear sum of linear waves. The total force is found by integrating the contribution from all components in the wave spectrum to the free surface. The kinematics of each component must therefore be determined.

This book deals with the state of the art in underwater robotics experiments of dynamic control of an underwater vehicle. The author presents experimental results on motion control and fault tolerance to thrusters' faults with the autonomous vehicle ODIN. This second substantially improved and expanded edition new features are presented dealing with fault-tolerant control and coordinated control of autonomous underwater vehicles.

Water wave kinematics is a central field of study in ocean and coastal engineering. The wave forces on structures as well as sand erosion both on coastlines and in the ocean are to a large extent governed by the local distribution of velocities and accelerations of the water particles. Our knowledge of waves has generally been derived from measurements of the water surface elevations. The reason for this is that the surface elevations have been of primary interest and fairly cheap and reliable instruments have been developed for such measurements. The water wave kinematics has then been derived from the surface elevation information by various theories. However. the different theories for the calculation of water particle velocities and acceleration have turned out to give significant differences in the calculated responses of structures. In recent years new measurement techniques have made it possible to make accurate velocity measurements. Hence. the editors deemed it to be useful to bring together a group of experts working actively as researchers in the field of water wave kinematics. These experts included theoreticians as well as experimentalists on wave kinematics. It was also deemed useful to include experts on the response of structures to have their views from a structural engineering point of view on what information is really needed on water wave kinematics.

The biennial conferences of the Society for Underwater Technology have achieved an excellent reputation for the quality of their presentations, which cover topics of the most acute current interest, as well as those at the forefront of review and development. The 1994 conference on Subsea Control and Data Acquisition formed no exception, since it covers subjects at the cutting edge of modern technology. It is a matter of increasing concern that products are becoming overspecified, resulting in excessive costs and longer development schedules, while not conferring an equivalent benefit in reliability of the finished product. Subsea Control and Data Acquisition is vital reading for all subsea control system designers, manufacturers and operators, equipment consultants, application engineers, academics in the subsea engineering field, and all subsea engineers.

HYDRODYNAMIC PROPULSION AND ITS OPTIMIZATION ANALYTIC THEORY Hydrodynamic propulsion has been of major interest ever since craft took to the water. In the course of time, many attempts have been made to invent, develop, or to improve hydrodynamic propulsion devices. Remarkable achievements in this field were made essentially by experienced individuals, who were in need of reliable propulsion units such as paddle wheels, sculling devices, screw propellers, and of course, sails. The problem of minimizing the amount of input energy for a prescribed effective output was first investigated seriously at the beginning of this century. In 1919, BETZ presented a paper on air-screw propellers with minimum consumption of energy which could be applied to ship-screw propellers also. Next, attempts were made to optimize hydrodynamic propulsion units. Ensuing investigations concerned the optimization of the hydrodynamic system: ship-propeller. The first simple theory of ship propulsion which was presented considered more or less only thrust augmentation, wake processing and modification of propeller characteristics when operating behind the ships hull. This theory has been little improved meanwhile and is still useful, particularly with regard to practical ship design and for evaluating results of ship model tests. However, this theory is not adequate for optimization procedures necessary for high-technology propulsion, particularly for ship propellers utilizing propulsion improving devices such as tip end plates or tip fins at the propeller blades, spoilers in front of the propeller, asymmetrical stern etc.

Knowledge of added body masses that interact with fluid is necessary in various research and applied tasks of hydro- and aeromechanics: steady and unsteady motion of rigid bodies, total vibration of bodies in fluid, local vibration of the external plating of different structures. This reference book contains data on added masses of ships and various ship and marine engineering structures. Also theoretical and experimental methods for determining added masses of these objects are described. A major part of the material is presented in the format of final formulas and plots which are ready for practical use.

The book summarises all key material that was published in both Russian and English-language literature.

This volume is intended for technical specialists of shipbuilding and related industries.

The author is one of the leading Russian experts in the area of ship hydrodynamics.

It is a pleasure to introduce to the reader this new Marine Painting Manual. The previous edition, entitled Ship Painting Manual, was published in 1975. Since then a number of new technological developments have taken place. Also, standards with regard to safety, health and the environment have become more severe. These changes called for a thoroughly revised and updated Marine Painting Manual. I believe that the editor should be congratulated on having completed this task in such a commendable way. I hope that this new volume will find as enthusiastic a response among those concerned with maritime affairs as its predecessor did some fifteen years ago. Dr. Jan Raat Director Netherlands Foundation for the Co-ordination of Maritime Research INTRODUCTION The "Marine Painting Manual" sets out to provide clear guidelines for the effective protection of marine structures, ocean-going vessels and offshore platforms. Painting is a high cost procedure and is a crucial factor in determining the life and subsequent maintenance of steel structures in the marine environment. The book is a follow-up to the "Ship Painting Manual" published in 1975. It has been completely revised, partly rewritten and an additional chapter on offshore structures included. The present volume contains detailed and up-to-date information on all aspects of the preparation and painting for the protection of marine structures. The following chapters are included: 1. The protection of different parts of ships under construction. 2. The protection of different parts of offshore structures under construction. 3. Surface preparation.