Ariane8 Theoretical Manual

Ariane8
THEORETICAL MANUAL
Revisions:
March 2013
April 2014
October 2015
This document has been prepared for the users of Ariane8 BV c and deals with
the aspects related to the computation of Mooring analysis in Static and in Time
Domain Simulation.
BUREAU VERITAS
Marine Division - Research Department
67/71, boulevard du Chateau
92571 Neuilly-sur-Seine Cedex - France
Tel: 00 33 (0) 1 55 24 74 67
0-ii
Fax: 00 33 (0) 1 55 24 70 26
c
Ariane8 BV (1991-2015) is distributed by Bureau Veritas.
-Ariane8 , Theoretical Manual-

First Printing, April 2007
Revised, October 2015
c
Bureau Veritas
c
Contact: Martin Dumont, C dric c
Brun, Damien Coache, S bastien Martin
email: ariane.veristar@bureauveritas.com
This page intentionally contains only this sentence.
Contents
Nomenclature xvi
I Ariane8 Overview 1
1 Description of the problem 3
2 Conventions 5
2.1 Axis Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.2 Phasis and free surface elevation conventions . . . . . . . . . . . . . . 10
2.3 Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
II Static resolution 13
2.4 Assumptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.5 Line profile (Set up initial position) . . . . . . . . . . . . . . . . . . . 15
2.6 Set up lines paid-out-length . . . . . . . . . . . . . . . . . . . . . . . 16
2.7 Equilibrium position . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
2.7.1 Pre-requisites . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
2.7.2 Calculation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.8 Imposed offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.9 Line profile results . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
III Time domain resolution 21

3 Low frequency resolution in 3 DOF 23
3.1 Assumptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.2 Water plane resolution . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.2.1 Basic principle: Fundamental Principle of Dynamics . . . . . . 23
3.2.2 Formulation in the local axis system . . . . . . . . . . . . . . 24
3.3 Formulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
-Bureau Veritas, Marine Department-

0-vi CONTENTS
3.3.1 Low frequency response (3 DOF) + high frequency motions (6 DOF) 28
4 Low frequency resolution in 6 DOF 33

4.1 Assumptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
4.2 3D resolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
5 Low * high frequency response in 6 DOF 35

5.1 Assumptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
5.2 3D resolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
6 Fatigue 39
6.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
6.2 Miner Sum . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
6.3 API Recommended Practice . . . . . . . . . . . . . . . . . . . . . . . 41
6.3.1 Simple Summation (API1) . . . . . . . . . . . . . . . . . . . . 41
6.3.2 Combined Spectrum (API2) . . . . . . . . . . . . . . . . . . . 42
6.3.3 Combined Spectrum modified (API3) . . . . . . . . . . . . . . 43
IV Loads 45
7 Line (Mooring loads) 47
7.1 Line characteristic . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
7.1.1 Reminder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
7.1.2 Assumptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
7.1.3 Required information . . . . . . . . . . . . . . . . . . . . . . . 48
7.1.4 Line Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
7.2 Mooring loads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
7.2.1 Mooring line between a vessel and an anchor . . . . . . . . . . 52
7.2.2 Mooring line between two vessels . . . . . . . . . . . . . . . . 53
7.2.3 Variations with respect to parameters . . . . . . . . . . . . . . 56
8 Environmental loads 61
8.1 Wave drift loads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
8.1.1 Discretisation of the wave spectrum . . . . . . . . . . . . . . . 61
8.1.2 Slow drift loads . . . . . . . . . . . . . . . . . . . . . . . . . . 62
8.1.3 QTFC Formulation . . . . . . . . . . . . . . . . . . . . . . . . 64
8.1.4 BV Approximation and BV variant of slow drift loads . . . . . 64
8.1.5 Slow drift load with wave/current interaction . . . . . . . . . 65
8.1.6 QTFC formulation with wave/current interaction . . . . . . . 67
8.1.7 Cross waves loads . . . . . . . . . . . . . . . . . . . . . . . . . 69
8.1.8 Drift loads application fields . . . . . . . . . . . . . . . . . . . 70

CONTENTS 0-vii
8.2 Wave first order loads . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

8.3 Current loads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
8.3.1 General formulation . . . . . . . . . . . . . . . . . . . . . . . 71
8.3.2 Molin moment . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
8.4 Wind loads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
8.4.2 Fluctuating wind speed . . . . . . . . . . . . . . . . . . . . . . 74
9 Hydrodynamics loads 75
9.1 Manoeuvrability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
9.1.2 Introduction of work vector . . . . . . . . . . . . . . . . . . . 76
9.1.3 Formulation consistent with predictor-corrector diagram . . . 78
9.1.4 Initial conditions . . . . . . . . . . . . . . . . . . . . . . . . . 79
9.2 Radiation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
9.2.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
10 Others loads 83
10.1 Munk moment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
10.1.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
10.1.2 Munk moment coefficient . . . . . . . . . . . . . . . . . . . . . 84
10.2 Damping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
10.3 Thrusters loads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
10.4 Fenders loads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
V Spectra 89
11 Wave spectra 91
11.1 Pierson-Moskowitz . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
11.2 ISSC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
11.3 ITTC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
11.4 JONSWAP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
11.5 Torsethaugen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
11.6 Torsethaugen Simplified . . . . . . . . . . . . . . . . . . . . . . . . . 98
11.7 Darbyshire . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
11.8 Ochi-Hubble . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
11.9 Gaussian spectrum . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101

0-viii CONTENTS
12 Wind spectra 105

12.1 Davenport . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
12.2 Harris-Det norske Veritas Spectral Formulation . . . . . . . . . . . . 107
12.3 Queffeulou . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
12.4 Kaimal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
12.5 Ochi-Shin Spectral Formulation . . . . . . . . . . . . . . . . . . . . . 110
12.6 Hino Spectral Formulation . . . . . . . . . . . . . . . . . . . . . . . . 111
12.7 Modified Harris Spectrum or Wills Spectral Formulation . . . . . . . 113
12.8 Kareem Spectral Formulation . . . . . . . . . . . . . . . . . . . . . . 114
12.9 NPD Spectral Formulation . . . . . . . . . . . . . . . . . . . . . . . . 115
12.10API Spectral Formulation . . . . . . . . . . . . . . . . . . . . . . . . 116
Bibliographie 118
VI Algorithms 121
A Brent 123
B Newton 125
C HPCG 127
C.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
C.2 Hamming method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
D Rainflow 131

Nomenclature
Constants
air , the air density
water , the sea water density
g , the gravity acceleration
Environmental notations
current , the equivalent incidence of the current with respect to the heading of the
vessel
wave , the wave incidence relative to the vessel heading
wind , the wind incidence relative to the vessel heading
current , the incidence of the current
wave , the incidence of the wave
wind , the incidence of the wind
(x, t) , the surface elevation at instant t at point of coordinates x
, the circular frequency
m and M , respectively the minimum and the maximum of circular frequencies

of the spectrum digitizing
p , the circular frequency corresponding to the peak period
F env , the environmental forces vector
ai , i , i , ki , amplitude, circular frequency, phasis and wave number of the ele-

mentary Airy wave number i

0-x CONTENTS
CCx , CCy and CCz , respectively the longitudinal, the lateral and the yaw hydrody-
namic drag coefficient
CM olin , the coefficient equal to a percentage of CCy (90 )
CM unk , the Munk coefficient relative to the percentage of current velocity
CW x , CW y and CW z , respectively the longitudinal, the lateral and the yaw aerody-
namic drag coefficients
FC , the three components vector in the vessel axis system of current loads, i.e.
FCx , FCy or MCz
FD , the three components vector in the vessel axis system of slow drift loads at
instant t, i.e. FDx , FDy or MDz
FDM EAN , the average value of FD , on the whole duration of the simulation
FW , the three components vector in the vessel axis system of wind loads, i.e.
FW x , FW y or MW z
H , the water depth
MCM olin/O , the additional Molin moment
MM unk , the Munk moment
Nwave , the number of singular Airy waves
Nwind , the number of wind components
S , the spectral density function
TP , the wave peak period
TZ , the wave zero-upcrossing period
UC , the relative equivalent current velocity
uC and vC , the current velocity components respectively in the east and north
directions
UL and UT , respectively the longitudinal and the transversal instantaneous relative

velocity of the vessel in the wave axis system
V ( ) , the total relative fluid velocity at the algebraic distance from O
VC , the absolute current velocity

CONTENTS 0-xi
vk , fk , k , the components representative of the gust spectrum
VW , the wind velocity at 10 meters elevation
V60 , the wind speed at 10 meters above the still water level averaged over sixty
minutes
V ( ) , the transverse component of the relative fluid velocity at the algebraic

distance from O
General notations
, the gamma function
C , the origin of the global axis system
CN E , the global axis system
E , the East direction
N , the N orth direction
t , the time
Line notations
(XAEast , XAN orth , ZA ) , the coordinates of the anchor in the global axis system
W i , the bandwidth parameter for the wave frequency tension
Li and W i , respectively the zero up-crossing frequency of the low frequency ten-
sion spectrum and the zero up-crossing frequency of the wave frequency ten-
sion spectrum
Ak , the azimuth of the mooring line number k (single) or the fairlead-to-fairlead

azimuth of the mooring line number k (multi-body) in the global axis system
BL , the mooring line breaking load
D , the resultant damage ratio for fatigue calculation
d , the distance between a fairlead and the origin of the vessel axis system
Dh(k) , the horizontal distance of mooring line number k (anchor-to-fairlead or

fairlead-to-fairlead)
DY , the annual damage from low frequency and wave frequency tensions

0-xii CONTENTS
FM , the mooring forces
K , a fatigue coefficient
Krd1 , the constant of the dynamic stiffness for multi-elastic lines
Krd2 , the coefficient of the dynamic stiffness for multi-elastic lines
Krs12h , the 10-30 stiffness for loading time considered of 12h for multi-elastic lines
Krs , the 10-30 stiffness for loading time considered of 7 days for multi-elastic
lines
L , the mooring line segment length
m , a fatigue coefficient
ML , the mean tension in the mooring line
N , the total number of tension range intervals being considered in the fatigue
calculation
n , the number of cycles per year in the fatigue calculation
Nj , the number of cycles to failure given by the T N curve for a given tension
range Tj
Nlines , the number of mooring lines
nTj , the number of cycles experienced by the structure within a given tension
range Tj
nW and nL , respectively the number of wave frequency tension cycles per year and
the number of low frequency tension cycles per year
P , the probability of occurrence of the environmental state considered
R , the ratio of tension according to the breaking load
RW i and RLi ,respectively the ratio of standard deviation of wave frequency ten-
sion range according to the breaking load and the ratio of standard deviation
of low frequency tension range according to the breaking load
T , the mooring line tension
T0 , the mooring line pre-tension
THf irst , the horizontal tension at the take off point

CONTENTS 0-xiii
TH , the horizontal component of tension at fairlead
TV , the vertical component of tension at the fairlead
TZ , the zero-upcrossing period of the mooring line tension spectrum
Vectors and matrix notations
F , the force vector
F ext , the external routine force vector
F moor , the mooring forces vector
F thrust , the thrusters force vector
{F (t)} , the three-component (Nvessels ) vector of the horizontal loads applied to

the centre of gravity of the vessel at instant t
{Frad } , the radiation loads 3 components vector
{Y } , the work vector
FF , the three components vector in the vessel axis system of fender loads, i.e.
FF x , FF y or MF z
FGX (t), FGY (t) and MGZ (t) , the components of the {F (t)} vector in the global axis
system CN E
Vessel notations
(xG , yG , zG ) , the three translations of the vessel centre of gravity wave fre-
quency motion, in the low frequency vessel axis system
(xF , yF , zF ) , the coordinates of the fairlead in the low frequency vessel axis system
further to the wave frequency rotation about G
(xF , yF , zF ) , the permanent coordinates of the fairlead in the vessel axis system
(xG , yG , zG ) , the permanent coordinates of the vessel centre of gravity in the vessel
axis system
(XGEast , XGN orth , ZG ) , the instantaneous coordinates of the vessel centre of gravity
in the global axis system CN E
[ij(t)] , the matrix of the instantaneous rotation of the vessel

0-xiv CONTENTS
[B] , the vessel damping matrix
[M ] , the horizontal Mass Matrix of one or more vessels
[M a] , the vessel added mass matrix
[M aT ] , the added mass matrix at vessels resonance period
[M a ] , the infinite frequency added mass matrix
F , the fairlead azimuth in the vessel axis system
G , any of the six wave frequency motions of the vessel around or about the low
frequency position of its centre of gravity
, the actual phase of the RAO
, the azimuth of the vessel
{X} , the three-component (Nvessels )vector characterizing the horizontal position

of one or more vessels centre of gravity G
Bxx , Byy and B , respectively the linear damping coefficients in surge, in sway
and in yaw
FH , the three components vector in the vessel axis system of hydrodynamics

loads, i.e. FHx , FHy or MHz
Fx , Fy and Mz/G ,
G , the centre of gravity
I , the vessel inertia in yaw
Lpp , the length between perpendiculars of the vessel
m , the mass of the vessel
M ax , the asymptotic added mass in yaw-surge coupling
M ay , the asymptotic added mass in yaw-sway coupling
M a , the asymptotic added mass in yaw
M ax , the asymptotic added mass in sway-yaw coupling
M axx , the asymptotic added mass in surge

CONTENTS 0-xv
M axy , the asymptotic added mass in surge-sway coupling
M ay , the asymptotic added mass in sway-yaw coupling
M ayx , the asymptotic added mass in sway-surge coupling
M ayy , the asymptotic added mass in sway
Nvessels , number of vessels
O , the origin of the vessel axis system
Oxy , the vessel axis system
QT F , the quadratic transfer function
QT Fdk , the non-modified QT F s for the wave/current interaction
QT Fkj , the alteration of the QT F s QT Fdk for the wave/current interaction
R , the actual amplitude of the RAO
R , the out-of-phase amplitude
R , the in-phase amplitude
R (i , wave ) , the in-phase amplitude of motion G interpolated in the RAOs for

the wave frequency i and the relative wave incidence
R (i , wave ) , the out-of-phase amplitude of motion G interpolated in the RAOs

for the wave frequency i and the relative wave incidence
RAO , the response amplitude operator
RAOF K , response amplitude operator of Froude-Krylov loads
Sl , the longitudinal area of the vessel above the water line
St , the transversal area of the vessel above the water line
Td , the average vessel draft
u and v , the absolute speed components of the vessel centre of gravity projected in
the vessel axis system
u and v , the components of the vessel centre of gravity speed relative to the fluid
projected on the vessel axis system

0-xvi CONTENTS
VN orth and VEast , the low frequency velocity of the vessel in the global axis system
x , the x direction (local axis system of the vessel)
xaf t , the algebraic distance of the aft end of the vessel from the origin O of its
local axis system
XEast , XN orth and Z , the coordinates of the vessel axis system origin in the global
axis system
XFEast , XFN orth and ZF , the coordinates of a fairlead in the global axis system
xf ore , the algebraic distance of the fore end of the vessel from the origin O of its
axis system
y , the y direction (local axis system of the vessel)
(XP , YP ) , the coordinates of a point P on the vessel in the global axis system

Part I
Ariane8 Overview

Chapter 1
Description of the problem
Ariane8 is a multi-body mooring software developped by Bureau Veritas. A User

Guide is installed with the software and deals with all details concerning the use of
Ariane8 .
The software includes two optionnal modules, Bureau Veritas HydroStar and MCS
Line Dynamics Module. This document presents only the theory of Ariane8 Ba-
sis. All details regarding these optionnal modules are described in other dedicated
documents.
Ariane8 is an analytical code for catenary line characteristic solution. Floating

structures, which may be ship, semi-submersible, buoy or other, are considered as
rigid bodies.
Mooring lines can link an anchor to a fairlead or a fairlead to another fairlead. In
the first case, anchors are considered as fixed point that can be on or above the
seabed. A mooring line cannot link two fairleads of the same vessel.
Ariane8 has two main types of calculation:
Static computations under mean environmental conditions;
Time domain simulations under environmental conditions.
For both, Ariane8 takes into account wave drift, current, wind, thrusters or other
loads. For Time domain simulations, all inertia effects are also considered.
This document explains in details all conventions, assumptions, formulations and

how is solved the problem.

Chapter 2
Conventions
2.1 Axis Systems

Ariane8 considers different axis systems which are declined as follows:
Global axis system:

This axis system is fixed and is defined in East and N orth (see figure 2.1).
N
E
C
Figure 2.1: Global axis system
where,
C is the origin of the global axis system;

CN is positive northward;
CE is positive eastward;
CZ is positive downwards;
CN E is in the plane of the still water level.

2-6 Conventions
Vessel axis system:

The vessel axis system is defined as shown in the figure 2.2.
N
x
XN orth O
y
E
C XEast
Figure 2.2: Vessel axis system
where,
O is the origin of the vessel axis system. O is on the center line of the
vessel in the plane of the keel;
Ox is positive forward;
Oy is positive on starboard;
Oz is positive downwards;
XEast is the East-coordinate of the origin of the vessel axis system in the
global axis system;
XN orth is the N orth-coordinate of the origin of the vessel axis system in
the global axis system;
is the azimuth of the vessel according to the N orth global axis.
In the free surface plane vessel motions in the global axis system are identified
by XEast and XN orth coordinates of the vessel axis system origin O and by the
vessel azimuth .
Out of the free surface plane motions are described in the global axis system
by XEast , XN orth and Z coordinates of the vessel axis system origin O and by
the three rotation roll, pitch and yaw (also noted ). Positive direction are
illustrated in the the figure 2.3.

2.1 Axis Systems 2-7
Figure 2.3: 3-D vessel motions
Directions of wave, wind and current:

The wave, current and wind incidences are identified by the angles indicating
the directions they come from, relative to the global CN axis (see figure 2.4).
where,
wave is the incidence of the wave according to the N orth global axis;
wind is the incidence of the wind according to the N orth global axis;
current is the incidence of the current according to the N orth global axis.

2-8 Conventions
N
wave
W ave
wind W ind
current
Current

x
XN orth O
y
E
C XEast
Figure 2.4: Environmental directions
Mooring line Anchor/Fairlead:

Angles and distances relative to mooring lines between a failead and an anchor
are described in the figure 2.5.
where,
xFk , yFk and zFk are the mooring line number k fairlead coordinates in
the vessel axis system;
Dh(k) is the anchor-to-fairlead horizontal distance of mooring line number
k;
Ak is the azimuth of the mooring line number k, from CN (global N orth
axis) to the mooring line;
XAEast , XAN orth are anchor coordinates in the global axis system for moor-
ing line numbre k.

2.1 Axis Systems 2-9
x yFk
Ak
XN orth
O xFk
y Dh(k)
Anchor
XAN orth
C XEast XAEast
Figure 2.5: Mooring line between a failead and an anchor
Mooring line Fairlead/Fairlead:

Mooring lines angles and distances between two vessels are given in the fig-
ure 2.6.
where,
Dh(k) is the horizontal distance between two extremities of the mooring

line k (at fairleads);
XEasti , XN orthi and Zi are the coordinates of vessel i axis system origin
in the global axis system;
XFEasti , XFN orthi and ZF i are the coordinates of the fairlead i in the global
axis system;
i is the azimuth of vessel i;
i is the fairlead azimuth in the vessel axis system according to global
N orth axis;
di is the distance between a fairlead and the origin of the local axis system
of vessel i;
Ak is the fairlead-to-fairlead azimuth of the mooring line number k ac-
cording to the global N orth axis.

replacemen
2-10 Conventions
2
N
1 2
XFN orth2
1 Ak
d2
XN orth2 O2
Dh(k)
XFN orth1
XN orth1 d1
O1
XEast1 XFEast1 XFEast2 XEast2

Figure 2.6: Mooring lines between two vessels
2.2 Phasis and free surface elevation conventions

The wave elevation reference point is the glovbal axis system centre. The instan-
taneous surface elevation at any point with respect to the origin of the phases is
expressed in Ariane8 as follows:
NX
wave
(x, t) = ai cos(i t + i ki x) (2.1)

i=1
where,
(x, t) is the surface elevation at instant t at point of coordinates x in the wave

axis system;
ai , i , i are the amplitude, the circular frequency and the phasis of the
elementary Airy wave number i;
k i is defined by the following formula in which H is the water depth and g the
gravity acceleration:
2
ki tanh(ki H) = i (2.2)
g
Nwave is the number of singular Airy waves.

2.3 Units 2-11
2.3 Units
The units used in the mooring software Ariane8 are stemming from the Interna-
tional System of Units. Nevertheless, some exceptions are encountered:
1. Loads and tensions are expressed in kiloNewton (kN );
2. Moments are expressed in kiloNewton metre (kN m);
3. Line diameters can be expressed in millimeters (mm), centimeters (cm), meters

(m) or in inches (inch), but regarding calculations, every lengths are expressed
in meters (m).

Part II
Static resolution

2.4 Assumptions 2-15
2.4 Assumptions
Ariane8 considers differents assumptions to compute a static analysis:
Each line characteristic is calculated in the vertical plane of the line;
Transversal reactions induced by the drag forces exerted on the lines are ne-
glected;
Current loads on lines are neglected;
The initial position with all the mooring lines is given by the user;
All loads are expressed at the vessels centre of gravity;
The static resolution of motions is done in the free surface plane CN E. The
three degrees of freedom are surge, sway and yaw.
2.5 Line profile (Set up initial position)

Ariane8 provides two tools to setup initial position and to quickly design a coherent
and homogenous mooring system:
1. The paid out lengths adaptation;
2. The anchor positions adaptation.
Paid out length or anchor position are calculated to satisfy one of the following
parameters:
Tension (horizontal or axial) at fairlead or at anchor;
Angle between the horizontal plan and the line at fairlead (anticlockwise).
Thank to the Ariane8 assumptions, three main parameters can describe the
line profile:
Horizontal distance;
Horizontal tension;
Mooring line paid out length.
When two of these three parameters are known, the third can be calculated using
the Brent algorithm detailed in the appendix A.
Adapt paid out length method

2-16
Horizontal (or axial) tension at fairlead (or anchor) The horizontal distance
is fixed. The paid out length is the parameter. The method calculates for each value
of the parameter, the horizontal tension at anchor to have the expected horizontal
(or axial) tension at fairlead (or anchor). Then, it returns the difference between
the position of the end line point and the position of the fairlead (to match the
horizontal distance). The Brent algorithm finds the solution to make this difference
equal to zero.
Angle between the horizontal plan and the line at fairlead The horizontal
distance is fixed. In this case, there are two loops imbricated. For the first one, the
parameter is the paid out length and for the second, the parameter is the angle.
Brent algorithm finds the correct parameters values to fit with inputs.
Adapt anchor positions method In this case, the horizontal distance is the
parameter. The used algorithm is also Brent.
2.6 Set up lines paid-out-length

This module adapts line paid out lengths to make the selected moored vessel current
position an equilibrium position matching tensions of lines moored to the selected
reference vessel or the seabed.
The equations resolved are the following ones:
X
X

X

F env + F thrust + F ext + F moor = 0 (2.3)
where,
P

F env is the sum of the environmental (or external) force vectors;
P

F moor is the sum of the mooring force vectors;
P
F thrust is the sum of the thrusters force vectors;

F ext is the external routine load applied to the vessel
The calculation is then divided in 2 steps.
First, horizontal tensions at fairlead are calculated with the Simplex algorithm.
This algorithm is a multi-variable optimization algorithm with one objective. This
objective is a function that gives a pondered mean of several benchmarks:
Difference between expected and current horizontal tensions must be mini-

mized;

2.7 Equilibrium position 2-17
The sum of all current horizontal tensions (and moments) must be minimized.
Initial values are given to the algorithm. Tensions are calculated within thresholds:
minimum calculated with maximum mooring line paid-out-length. maximum set at
mooring line breaking load.
The second step is to adapt paid out lengths in the same way as done in the
section Setup Initial P osition (please see the section 2.5).
The new mooring system configuration is now at equilibrium under mean envi-
ronmental loads and all other applied loads.
2.7 Equilibrium position

In this section, forces is a set of different mean loads which can be:
Mooring loads;
External loads;
Thrusters loads;
Environmental mean loads (wind/wave(s)/current).
Those mean loads depend on the vessel position in the mooring zone but not on
time.
Warning These loads are applied on the vessel(s), not on the mooring line(s)
2.7.1 Pre-requisites
All floatting structures must have a mooring system. Each vessel must be linked to
an anchor or to another vessel by at least one mooring line. No equilibrium can be
found if a floating structure is adrift.
Before the calculation of the equilibrium position, Ariane8 calculates the line
characteristic (i.e. tension according displacement diagram) of each line. To do that
mooring line parameters must be consistant (for example, paid out lengths cannot
be zero).

2-18
2.7.2 Calculation
The equilibrium position is found by applying the following principle of mechanics:
X

F = 0 (2.4)
The N ewton Algorithm (see the appendix B) is used to solve this equation.

Force vector F is obtained by making the sum of all forces elements.
The Jacobian matrix used by the N ewton Algorithm represents physically the
local stiffness matrix. It is obtained making the sum of all elementary stiffness of
forces. Jacobian matrix is calculated analytically or numerically (see chapter 7 and 8
for details).
During calculations, iterations are pursued until F (xn ), the resulting force at iter-
ation n, becomes lower than the convergence threshold. The convergence parameters
can be modified from the General User Interface in the Calculation parameters
tab which appears clicking Configuration, Options. Names of parameters are
f orcethreshold and momentthreshold.
When an equilibrium solution is found, Ariane8 calculates the eigen values of

the stiffness matrix in order to check the stability of the solution. A parameter
can control the stability threshold. If eigenvals are lower than the thresold, the
equilibrium position found is returned, if not, vessels are randomly turned and an-
other equilibrium position is calculated. To calculate the equilibrium position, the
N ewton algorithm is used. This method depends on the initial position, so turning
randomly the vessels another equilibrium position can be found. The maximum
number of stable equilibrium research is a parameter. If the number maximum of
iteration is overpassed, the most stable solution is returned.
2.8 Imposed offset

In this module, Ariane8 computes the sum of all mooring loads for a set of given
position of vessels (the calculation of each mooring load is developed in IV). Anchors
are fixed.
Imposed offset can be done on every mooring systems. There is not any limit in
the number of vessels.
For each imposed offset set, the following calculation is done:
X

F moor (2.5)

2.9 Line profile results 2-19
Available offsets are surge, sway, heave and yaw. This module is usefull to
know the mooring response.
2.9 Line profile results

For each static module, a lot of output are available. When Ariane8 calculates the
line characteristic, it also stores results along the line profile (tension, position ...).
Static modules results are obtained interpoling into line characteristic values.

Part III
Time domain resolution

Chapter 3
Low frequency resolution in 3

DOF
3.1 Assumptions
To compute in the time domain with a low frequency resolution in 3DOF, Ariane8
takes into account a few restrictions.
The dynamic behaviour of mooring lines is neglected;
Lines stay in a vertical plane;
No current, wave or wind loads are applied to the mooring lines;
Vessels motions are solved in the free surface plane (surge, sway and yaw);
In addition, the initial position of one or more vessels can be set to an arbitrary
position or to an equilibrium position computed by the way defined in the Static
resolution chapter (please see chapter II).
Transient aspect can be computed (breakage of lines, decay tests ...).
The fatigue analysis is performed on simulations considering low frequency and

wave frequency responses.
3.2 Water plane resolution

3.2.1 Basic principle: Fundamental Principle of Dynamics
The determination of the response of the moored vessels under the external loads
(wave, wind, current, mooring, thrusters...) is obtained solving at each time step a

3-24 Low frequency resolution in 3 DOF
vectorial differential equation of the following form:

X
[M ]{X} = {F (t)} (3.1)
where,
{X} is the three-component (Nvessels ) vector characterizing the horizontal

position of one (or more) vessels centre of gravity G, i.e. the vessels heading
and the coordinates XGEast and XGN orth in the global axis system CN E;
[M ] is the horizontal Mass Matrix of one or more vessels calculated at their
centre of gravity. It is a 3-by-3 matrix for one vessel. The components are the
actual mass of the vessel for surge and sway motions (m) and the moment of
inertia in yaw (I ):
m 0 0

[M ] = 0 m 0 (3.2)

0 0 I
{F (t)} is the three-component (Nvessels ) vector of those horizontal loads, ap-

plied to the centre of gravity G of the vessel at instant t, which are contributing
to the bodies response:

FGX (t)

{F (t)} = FGY (t) (3.3)

MGZ (t)
The vectorial differential equation expresses the fundamental principle of dy-
namics applied to the centre of gravity of the vessels in their motion relative to the
global axis system CN E. All equations are projected on the vessel axis system Oxy.
Furthermore, all moments are computed at the origin G of this system.
3.2.2 Formulation in the local axis system

General formulation
The centre of gravity coordinates G are defined in the local axis system Oxy by:

x
{OG} = G (3.4)
yG
Therefore the acceleration vector formulation in G is:
xG = u v xG 2 yG
(
yG = v + u yG 2 + xG

3.2 Water plane resolution 3-25
where u and v are the absolute speed components of the vessel centre of gravity
projected in the vessel axis system.
As well the transfer of the moment from G to O can be written as:

Mz/O = Mz/G + m xG (v + u) yG (u v ) (3.5)
Then equations of the slow drift motions (fundamental principle of dynamics)

projected on the vessel axis system are:
m u v xG 2 yG = Fx

2

m v + u y G + xG = Fy

I + m xG (v + u) yG (u v ) = Mz

where,
Fx is the projection on the vessel xaxis (surge axis) of external loads applied
to the vessel;
Fy is the projection on the vessel y axis (sway axis) of external loads applied
to the vessel;
Mz/G is the yaw moment of external loads calculated at the vessel center of
gravity.
Definition of relative speed

The surge and sway motions of the vessels are identified by the horizontal motions
of their centre of gravity G. The components of the vessel velocity vector expressed
at G in the local axis system are named u and v (respectively in the surge and
sway directions). The components of the vessel velocity vector relative to the fluid
velocity expressed at the same point are noted u and v . These four parameters are
linked by the following relationships:
(
u = u + VC cos(c )
v = v + VC sin(c )
where,
u and v are the absolute horizontal speed components of the vessel centre of
gravity projected in the vessel axis system;
u and v are the components of the vessel centre of gravity horizontal speed
relative to the fluid projected on the vessel axis system;
VC is the absolute current velocity;

C is the current angle from the global N orth axis;
is the vessel heading.
Formulation considering relative speed at G

Using the variables of relative fluid velocity, the equations of the slow drift motions
projected on the vessel axis system become:

m(u v ) = Fx

m(v + u ) = Fy (3.6)
I = MZ

The u and v derivates, respectively u and v are given by:

(
u = u + VC sin(c )
v = v VC cos(c )
The external loads Fx , Fy and Mz/G have to be specified in the local axis system.
External loads include hydrodynamic, mooring, damping, wave drift, wind and cur-
rent loads but also other loads of various natures that are liable to contribute to the
vessels response as thruster loads, fender loads or riser loads. As previously said,
all loads are projected on the vessel axes so that three equations of the following
form can be written:
Fx = FHx + FM x + FBx + FDx + FW x + FCx + FOx

Fy = FHy + FM y + FBy + FDy + FW y + FCy + FOy
Mz/G = MHz + MM z + MBz + MDz + MW z + MCz + MOz
where the following indices are used to identify the origin of each term:
H for hydrodynamic loads;
M for mooring loads;
B for damping loads;
D for wave drift loads;
C for current loads;
W for wind loads;
O for other loads which can be not negligible (riser, thruster, fender ...).
The way of computing all above load components at each time step of the sim-
ulation is detailed in the following chapters.

3.3 Formulation 3-27
3.3 Formulation
The equation solved at each time step was presented in section 3.2.
The loads involved for calculating the low frequency response only excite the vessels
in the low frequency domain: first order wave loading isnt taken into account, only
slow drift motions (second order).
The low frequency motion equation can also be written in the following form:
X
[M ] + [M aT ] {XLF (t)} + [B]{XLF (t)} = {FLF (t)} (3.7)
Where,
[M ] is the vessel mass matrix presented in equation 3.2;
[M aT ] the added mass 3 3 matrix at vessels resonance period T;
t the time instant for which the equation is solved;
{XLF (t)} the vessel low frequency horizontal acceleration vector at time in-
stant t (3 components);
[B] the vessel linear damping matrix;
{XLF (t)} the vessel low frequency horizontal velocity vector at time instant t
(3 components);
{FLF (t)} the low frequency external loads applied on the vessel at time instant
t.
Hydrodynamic couplings between vessels

Vessels can be coupled hydrodynamically: the motion of one of the vessel has an
influence on the other one.
In Ariane8 , added masses of the vessels can contain coupling terms that are taken
into account in the coupled calculation as shown in equation 3.8.
P
M1 + M a11T M a21T X1LF (t) B1 ] X1LF {F1LF (t)}
+ = P
M a12T M + M a22T X2 (t)
LF B2 X2 LF {F2 (t)}
LF
(3.8)
Where,
[Mi ], the mass of vessel i;

[M aijT ], the resonance period added mass matrix on vessel j due to vessel i;
{XiLF }, the low frequency acceleration vector of vessel i;
[Bi ], the additional damping matrix of vessel i;
{XiLF }, the low frequency velocity vector of vessel i;
{FiLF }, the low frequency loads vector acting on vessel i;
3.3.1 Low frequency response (3 DOF) + high frequency

motions (6 DOF)
The low frequency response of the moored vessel is obtained by numerical resolution
in the time domain of the vectorial differential equation presented in section 3.2.
Ability is given in post-process to add up high frequency motions to this response
at each time step. This implies that the wave frequency response does not impact
on the low frequency response.
At each time step, the six wave frequency motions of the vessel centre of gravity
are added to its low frequency response. To do so, the amplitude of each component
of the wave signal is multiplied by the RAOs of the centre of gravity of the vessel
and the summation is carried out with due account for time and space phases as
detailed hereafter.
It is assumed in this process that wave frequency motions are not significantly
influenced by the variations of mooring stiffness with low frequency motions. Wave
frequency motions are therefore computed for the average mooring stiffness corre-
sponding to the mean vessel position during the simulation.
The obtained signal of vessel motions allows the instantaneous anchor-to-fairlead
distance of each line and its fairlead altitude to be calculated. Thus, instantaneous
tensions can next be calculated by interpolations in the pre-calculated mooring line
characteristic.
Response Amplitude Operators

If an Airy wave is applied to a floating vessel, either moored or not, the fluctuating
motion observed in any direction, around or about its centre of gravity, is also a sine
or cosine function of time, with the same frequency as the wave but usually with
a phasis lag. The amplitude of each motion is proportional to wave height. It also
varies, as well as the phasis, with the water depth and the wave incidence relative
to the vessel.
See the table 3.1 below. Note that around is used for translation displacements
while about is used for rotations.

Wave at c.o.g. Motions of the vessel around/about its c.o.g.

Surge aRx (, ) cos t + x (, ) kx
Incidence

Sway aRy (, ) cos t + y (, ) kx

Heave aRz (, ) cos t + z (, ) kx

Roll aR (, ) cos t + (, ) kx
Elevation a cos(t)

P itch aR (, ) cos t + (, ) kx

Y aw aR (, ) cos t + (, ) kx
Table 3.1: Motions of a vessel submitted to an Airy wave.
The Response Amplitude Operators (RAOs) are the functions which give in
the vessel axis system the amplitude and phasis of the vessel motions around and
about its centre of gravity when subjected to the action of an Airy wave of unitary
amplitude.
In the table 3.1, the RAOs of surge for instance are the functions Rx and x
which, for a given incidence relative to the vessel heading, depend only on the wave
circular frequency.
The RAOs can be obtained by model tests or by a first order diffraction-radiation

analysis using a recognized computer program. In any case, they are to be deter-
mined with due account for the actual site water depth and the mooring stiffness
evaluated for a position of the vessel as close as possible to its average position
during the simulation.
The RAOs are normally available for the same incidences as QT F s and inter-
polations will be performed in the same way during the simulations. Discretization
criteria are also the same as for QT F s.
The phasis functions are generally not continuous and it is therefore preferable
to perform the interpolations on the in-phase and out-of-phase amplitudes R and
R which are continuous, rather than on the actual amplitude and phase R and .
Keeping the formulations of the above table, the relations between these parameters
are:
(
R = R cos
R = R sin
Instantaneous centre-of-gravity motion and vessel rotation

At each time step, the wave signal is to be determined at the instantaneous low-
frequency position of the vessel centre of gravity by means of the equation of sec-

tion 3.2.
Each of the six wave frequency motions of the vessel around or about the low-
frequency position of its centre of gravity is then given by an equation of the following
form:
100
ai R (i , wave ) cos(i t + i ki x)
X
G (t) =
i=1
100
ai R (i , wave ) sin(i t + i ki x)
X
+
i=1
where,
(ai , i , i , ki )1i100 characterize the family of Airy waves representative of the
wave spectrum;
wave is the wave incidence relative to the vessel heading, i.e. wave = wave ;
is the low frequency vessel heading;
G designates any of the six wave frequency motions of the vessel around or
about the low frequency position of its centre of gravity. (these motions are
those projected on the low-frequency vessel axis system Oxy);
R (i , wave ) is the in-phase amplitude of motion G interpolated in the
RAOs for the wave frequency i and the relative wave incidence wave ;
R (i , wave ) idem for out-of-phase motion.
Instantaneous fairlead motion

At each time step, the wave frequency motions make the vessel turn about its centre
of gravity. The three components of the rotation vector in the low frequency vessel
axis system are the roll, pitch and yaw angles. At the same time, the vessel moves
by a translation whose the vector components in the same axis system are the surge,
sway and heave displacements calculated in the same way.
Further to this rotation and translation, the instantaneous coordinates of any
fairlead of the vessel with respect to the low frequency vessel axis system are given
by the following equation:

xF (t) xG

xG (t)

11 (t) 21 (t) 31 (t)

xF xG

yF (t) yG = yG (t) + 12 (t) 22 (t) 32 (t) . yF yG

(3.9)

zF (t) zG zG (t) 13 (t) 23 (t) 33 (t) zF zG

where,

(xF , yF , zF ) are the coordinates of the fairlead in the low frequency vessel axis
system further to the wave frequency rotation about G;
(xF , yF , zF ) are the permanent coordinates of the fairlead in the vessel axis
system;
(xG , yG , zG ) are the permanent coordinates of the vessel centre of gravity in

the vessel axis system;
(xG , yG , zG ) are the three translations of the vessel centre of gravity wave
frequency motion, in the low frequency vessel axis system (surge, sway and
heave);
[ij(t)] is the matrix of the instantaneous rotation which coefficients are spec-
ified hereafter. The following notations are used to simplify the expressions of
the matrix coefficients:
x = G (t) (wave frequency roll)

y = G (t) (wave frequency pitch)
z = G (t) (wave frequency yaw)
q
= 2x + 2y + 2z (3.10)
11 (t) = cos z cos y

12 (t) = cos z sin y sin x sin z cos x
13 (t) = cos z sin y cos x + sin z sin x
21 (t) = sin z cos y
22 (t) = sin z sin y sin x + cos z cos x
23 (t) = sin z sin y cos x cos z sin x
31 (t) = sin y
32 (t) = cos y sin x
33 (t) = cos y cos x
The instantaneous fairlead position in the global axis system is then given by
the following equation:

sin cos 0

xF (t) xG

XFN orth XGN orth

XFEast XGEast = cos sin 0 . yF (t) yG (3.11)

ZF ZG 0 0 1 zF (t) zG

where,

(XFEast , XFN orth , ZF ) are the instantaneous coordinates of the fairlead in the
global axis system CN E;
(XGEast , XGN orth , ZG ) are the instantaneous coordinates of the vessel centre of
gravity in the global axis system CN E;
is the low frequency heading of the vessel.
Instantaneous line tension

The instantaneous fairlead-to-anchor horizontal distance is given by:
q
Dh = (XFEast XAEast )2 + (XFN orth XAN orth )2 (3.12)
where,
Dh is the anchor-to-fairlead horizontal distance;
(XAEast , XAN orth ) are the coordinates of the anchor in the global axis system;
(XFEast , XFN orth ) are the instantaneous coordinates of the fairlead in the global
axis system.
The offset tension curves of the mooring line have been pre-calculated for a given
number of fairlead altitudes (parameter) as explained in the corresponded manual.
Those two curves calculated for fairlead altitudes on each side of the instantaneous
one are identified. Tensions at the fairlead are then interpolated between these
two curves. Thus, tensions are linearly interpolated with respect to the horizontal
distance and the z offset.

Chapter 4
Low frequency resolution in 6

DOF
4.1 Assumptions
To compute in the time domain with a low frequency resolution in 6DOF, Ariane8
takes into account a few restrictions.
Vessels motions are solved in 3D;
position in the free surface plane or to an equilibrium position computed by the
way defined in the Static resolution chapter in the free surface plane (please see
chapter II).

complete responses.
4.2 3D resolution
This resolution is a generalization in 6 DOF of the low frequency resolution in 3
DOF.

Chapter 5
Low * high frequency response in

6 DOF
5.1 Assumptions
To compute in the time domain with a unified low * high frequency resolution in
6DOF, Ariane8 takes into account a few restrictions.
Vessels motions are solved in 3D;
position in the free surface plane or to an equilibrium position computed by the
way defined in the Static resolution chapter in the free surface plane (please see
chapter II).

complete responses.
5.2 3D resolution
In this case, the low and wave frequency responses of the structure are solved simul-
taneously for the structures 6 degrees of freedom. To do so, the radiation and first

5-36 Low * high frequency response in 6 DOF
order loads have to be taken into account.

The frequency content of the motions then has to be considered, because of the
dependency with the radiation added mass and damping pulsation.
The low frequency motion equation presented before is then substituted by the
following equation, which doesnt assume a harmonic motion of the vessel at the
vessels resonant period.
X
[M ] + [M a ] {X(t)} + {Frad (t)} + [B]{X(t)} = {FLF (t)} + {FHF (t)} (5.1)
Where,
[M ] is the vessel mass matrix presented in equation 3.2;
[M a ] the added mass 66 matrix at infinite frequency. This term is explained

in section 9.2;
t the time instant for which the equation is solved;
{X(t)} the vessel low * high frequency horizontal acceleration vector at time
instant t (6 components);
{Frad (t)} the radiation loads, result of the convolution between the vessel
velocity and retardation functions. More details are given in section 9.2;
[B] the vessel linear additional damping matrix;
{X(t)} the vessel low * high frequency horizontal velocity vector at time in-
stant t (6 components);
{FLF (t)} the low frequency external loads applied on the vessel at time instant
t.
{FHF (t)} the wave frequency external loads applied on the vessel at time
instant t.
Applicability
Usually offshore structures have resonance period way beyond the wave frequency
range. This is why performing low frequency calculations as described in the two
previous sections is usually accurate enough.
However the response of the structures can be close from the wave frequency range
in some cases as side-by-side applications or with small bodies compare to the wave
length. In such cases, computing the low frequency and wave frequency motions in
an uncoupled way could lead to inaccurate results.

5.2 3D resolution 5-37
The "LF*WF (Unified 6 DOF)" calculation type allows to compute the coupling
between low and wave frequency motions, which is more accurate when the mooring
system resonance frequency is close to the wave frequency range.
All loads of "LF*WF (Unified 6 DOF)" resolution are gathered in the following
Figure 5.1. This table indicates whether a load takes part of the "LF*WF (Unified
6 DOF) equations or of the filtered "LF (6 DOF)" equations.
Figure 5.1: Loads motion type request
In order to evaluate loads to be applied on low frequency motions, the funda-

mental principle of dynamics is also solved simultaneously in LF(6DOF). LF(6DOF)
equations are obtained by applying a Butterworth filter on each time step of "LF*WF
(Unified 6 DOF)" equations. This filter needs 3 parameters:
Cut off frequency,
Filter order,
Number of recording instants,
and is widely documented in the litterature.

Chapter 6
Fatigue
6.1 General
The largest source of structural failures in operation is fatigue damage. A metal will
fail under repeated cycles of relatively low stress levels due to the growth of internal
cracks that can be initiated from local fabrication defects or at stress concentration
sites. Such metal fatigue failures are quantified from experimental data by the use
of S N curves (Stress - Number of cycles) which are plots of stress range S against
number of cycles to failure N, with both axes usually plotted in logarithmic form.
The approach which can be used with Ariane8 is to generate the tension time
series for the lines which require fatigue analysis. This can be done by using a very
large number of representative environmental states in the batch calculation.
Two ways are considered to define the damage.

First, the distribution of the tension ranges is determined for each line and for
each time series by a Rainf low counting (please see details in the appendix D).
Then the corresponding cumulative damage is computed by analytical integration
of the Miner ratio by using T N curves (Tension - Number of cycles).
The second way uses the API Recommended Practice 2SK which gives three
procedures to define the damage.
Each cumulative damage is weighted by the relevant probability of occurrence

of the sea state.
All the cumulative damages are added together and inverted so as to come up
with the service life of the line.
Failure will occur when the damage reaches unity. If the number of tension range
cycles used in the calculation corresponds to one years operation, then the fatigue
life of the structure in years can be given by the reciprocal of the cumulative damage.

6-40 Fatigue
Warning: The breaking load of the ORQ equivalent common chain link is needed
to perform fatigue calculation on chain segment but not on rope segment.
6.2 Miner Sum

This approach uses the Rainflow cycle counting method to determine tension ranges
and the number of tension cycles associated from a low and wave frequencies time
series.
Then the Miner cumulative fatigue damage gives the resultant damage ratio D
for an environmental state i as:
N
X nTj
Di = (6.1)
j=1 Nj
where,
N denotes the total number of tension range intervals being considered;

nTj is the number of cycles experienced by the structure within the jth tension
range;
Nj is the number of cycles to failure given by the T N curve for this jth
tension range.
The T N curve of mooring lines is given as follows:
N.Rm = K (6.2)
where,
m and K are fatigue coefficients provided by constructors;

N is the number of cycles to failure for a given tension;
R is the ratio of tension according to the breaking load:
T
R= (6.3)
BL
with BL, the mooring line breaking load.

6.3 API Recommended Practice 6-41
Then, the Miner ratio can be written:
1 XN
Tj m

Di = nTj (6.4)
K j=1 BL
Please refer to the chapter D for more explanations about the damage calculation
considering the main signal and the residue.
6.3 API Recommended Practice

Three methods are described for combining damage due to low and wave frequency
tensions in API RP2SK:
Simple Summation, called API1 in Ariane8 results;

Combined Spectrum, called API2 in Ariane8 results;
Combined Spectrum with Dual Narrow-Banded Correction Factor, called API3
in Ariane8 results.
In these methods, the way to compute the number of cycles per year is the same:
Pi 365.25 24 60 60
ni = (6.5)
TZi
where,
TZi is the zero up-crossing period (s) of the tension spectrum in environmental
state i;
Pi is the probability of occurrence of the environmental state i.
These three approaches will be discussed in the following sections.
6.3.1 Simple Summation (API1)

In this method, damages due to low and wave frequencies are calculated indepen-
dently. The total damage is considered as the sum of the two.
The formulation of the damage is based on a Rayleigh distribution of tension

peaks. For an environmental state i, the damage is given by:
n W i m m nLi m m
DYi = 2RW i .(1 + ) + 2RLi .(1 + ) (6.6)
K 2 K 2
where,

6-42 Fatigue
DYi is the annual damage from low frequency and wave frequency tensions;
nW i and nLi are respectively the number of wave frequency tension cycles per
year and the number of low frequency tension cycles per year;
RW i and RLi are respectively the ratio of standard deviation of wave fre-
quency tension range according to the breaking load and the ratio of standard
deviation of low frequency tension range according to the breaking load;
is the gamma function;
Simple summation gives an acceptable estimate of fatigue life if the ratio of

standard deviation tensions between wave frequency and low frequency response
satisfies the following condition:
wf wf
1.5 or 0.5 (6.7)
lf lf
6.3.2 Combined Spectrum (API2)

The total damage is estimated by the following equation, based on a Rayleigh ten-
sions peaks distribution, which combines low and wave frequencies components:
n i m m
DYi = 2Ri .(1 + ) (6.8)
K 2
where,
The total number of cycles is computed from the equation 6.5. In this expres-
sion, the zero up-crossing period comes from the zero up-crossing frequency
Ci (Hz) given by:
q
2 2
Ci = Li Li + W i W i (6.9)
Li and W i are respectively the zero up-crossing frequency of the low frequency
tension spectrum and the zero up-crossing frequency of the wave frequency ten-
sion spectrum.
Li and W i are respectively given by:
2 2
RLi RW i
Li = 2 2
, W i = 2 2
(6.10)
RLi + RW i RLi + RW i

6.3 API Recommended Practice 6-43
The ratio of standard deviation to the breaking load of the combined low and
wave frequency tension range Ri is calculated from the standard deviations
of the low and wave frequency tension ranges by:
q
2 2
Ri = RLi + RW i (6.11)
Note The combined spectrum method is conservative and may significantly over-
estimate the actual fatigue damage.
6.3.3 Combined Spectrum modified (API3)

This method uses the Combined Spectrum result and corrects it by a correction
factor, based on the two frequency band. The fatigue damage per year for an
environmental state i, is given by:
n i m m
DYi = i 2Ri .(1 + ) (6.12)
K 2
The correction factor i can be written as follows:

1+m

m
s
ei (m
+2 ) W i q
2 W i ( m2 )
i = 2
. 1 + Li W i . + (6.13)
Ci Li Ci Li

Li 22+m
The subscript e refers to envelope of the combined tension process. Its zero
up-crossing frequency is given by:
q
ei = 2Li Li
2 2
+ Li W i W 2
i W i (6.14)
where W i is the bandwidth parameter for the wave frequency tension which is
commonly taken equal to 0.1.
The Combined Spectrum with Dual Narrow-banded Correction Factor method

is an improvement of Combined Spectrum method, which is less conservative than
the method of Combined Spectrum. It is suitable for cases where both low and wave
frequency tensions cause significant fatigue damage. This method will overestimate
the fatigue damage when the fatigue damage is dominated by low frequency tensions.

Part IV
Loads

Chapter 7
Line (Mooring loads)
7.1 Line characteristic

7.1.1 Reminder
Ariane8 begins all calculations by calculating the individual characteristic of each
line, i.e. the curve TH = f (Dh ), where TH represents the horizontal component of
tension at fairlead and Dh the horizontal distance between anchor and fairlead.
There are two ways to define mooring line properties:
by segmented lines;
by tabulated lines.
For segmented mooring lines, this characteristic is calculated taking into account
material properties and geometrical data of the line (paid out length, particular
elements, seabed...). Regarding tabulated lines, this characteristic is directly given
by the user.
7.1.2 Assumptions
The mooring loads are computed at the vessel gravity centre.
It is assumed that neither the excursion of the vessel nor the meteocean condi-
tions change the environment in which each line is working.
Subsequently,
the line is always in a vertical plane: the effects of the current on the line and
the transverse friction loads are not taken into account;

7-48 Line (Mooring loads)
the profile of the seabed under the line remains fixed: the seabed is locally in
the shape of a cone the summit of which is at the anchor;
the height of the fairlead above or below the free surface does not change. So,
the vertical component TV of the tension at the fairlead does not affect the
draught of the vessel;
Finally, the dynamic behaviour of the line is neglected;
7.1.3 Required information

Line described by segments (actual line)
Definition of the line environment:
water depth at the anchor;
seabed slope or profile of the seabed;
height of the anchoring point above the seabed;
height of the fairlead above the free surface.
Definition of the line composition:
line paid out length between anchor and fairlead;
description of segments:
length of the segment;

linear mass of the segment in air or more precisely the linear weight in
air divided by the acceleration due to gravity (g);
linear mass of the segment in water or more precisely the linear weight
in water divided by the acceleration due to gravity (g);
breaking strength;
longitudinal fristion coefficient with the seabed;
elastic behaviour of the material;
description of particular elements:
weight in air;
buoyancy of the element when totally immersed;
height of the element;

7.1 Line characteristic 7-49
length of the pennant line which attaches the element to the segment.
Important notes:
1. Users can input in Ariane8 the elastic properties of segment materials giving
points of:
T L
=f (7.1)
BL L
where,
T is the tension in the segment;
BL is the segment Breaking Load;
L is the segment length.
An other mean to describe material properties is to give the coefficients of the
following equation:
L
= aT + bT 2 + cT 3 + dT 4 + eT 5 + f T 6 (7.2)
L
where L/L is the variation in length per unit length of a sample of the seg-
ment under tension T .
The program will use this last polynomial definition to analytically integrate
the elastic catenary equations for a range of tensions defined by the user.
Should the program need to calculate the line response for a tension beyond
this range, the sixth order polynomial will be linearly extrapolated (please see
Figure 7.1)
2. The weight and the buoyancy of a particular element are uniformly distributed
along its length.
A buoy is assumed to be a vertical cylinder connected to the mooring line

either by a supple weightless pennant line or by a chain-stopper located above
the bottom of the buoy. Penant line length and buoy attach position are the
two parameters to define how the element is linked to the line. A sinker is
assumed to be made up of heavy steel chains or solid bloc. Only the lifted
length of these heavy chains is acting on the line as a sinker. Moreover, the
net weight is calculated with due consideration for both the immersed and the
dry parts of the sinker.
If the sinker is a bloc, it cannot com through the seabed.

T T
L L
L
L
L
Figure 7.1: Elasticity curve: = aT + bT 2 + cT 3 + dT 4 + eT 5 + f T 6
L
Line described by multi-elasticity segment

The use of polyester mooring lines involves to define line by considering multi-elastic
characteristic [1].
It induces to take into account the concept of quasi-static stiffness which mod-
els the visco-elastic response of ropes to slow variations of mean loads, under the
effect of changing weather conditions.
Thus, the line characteristic is calculated according the pre-tension T0 and is
divided as follows.
For a tension T lower than 10% of the line breaking load BL, the elongation is
given by:
3,6 !
(T10 T0 ) 10 T T

L(T ) L(T0 ) = 1 + 1, 8 1 (7.3)
Krs Krs 10 10
For a tension between 10% and 30% of the breaking load BL, the elongation is
given by:
(T T0 )
L(T ) L(T0 ) = (7.4)
Krs
And for a tension upper than 30% of the line breaking load BL, the elongation
is given by:
(T30 T0 ) (T T30 )
L(T ) L(T0 ) = + (7.5)
Krs Krs12h

7.1 Line characteristic 7-51
where,
L(T ) is the segment elongation in percentage of the segment length for a
tension T ;
L(T0 ) is the segment elongation in percentage of the segment length for the
pre-tension T0 ;
T is the segment top tension in percentage of the segment breaking load.
T10 and T30 are respectively the tension percentages 10% and 30% of the seg-
ment breaking load;
Krs is the 10-30 stiffness for loading time considered of 7 days;
Krs12h is the 10-30 stiffness for loading time considered of 12h.
To simulate the dynamic behaviour of the multi-elastic line, the dynamic-stiffness

is extrapolated:
Krd = Krd0 + Krd1 M L (7.6)

where,
Krd0 and Krd1 are usualy taken equal to 18.5 and 0.33;
M L is the mean load in the mooring line.
Then the elastic coefficients of line characteristic are calculated.
Line described by a non linear spring characteristic (Tabulated lines)

The characteristic curve TH = f (Dh ) should be directly input under its shape. There
is not any limit with the number of points.
7.1.4 Line Profile

According to the Ariane8 line hypothesis a line is defined into a vertical plan. Thus,
the line profile can be described with:
Lpol : Line paid out length;
TH : Horizontal tension at fairlead;
Dh : Horizontal distance.

Those three parameters are not independent: the knowledge of two of them will
allow the calculation of the third one.
The basic calculation of line profile is the Dh calculation with THf irst and Lpol as
input. THf irst is the horizontal tension at the first take off point.
All other calculations are done iterating with the basic calculation. The choosen
algorithm is Brent (please see the appendix A).
For some calculations, many Brent loops are imbricated.
7.2 Mooring loads

7.2.1 Mooring line between a vessel and an anchor
The instantaneous horizontal component of the tension exerted by each line on the
vessel is obtained by interpolations on the distances using the discretized character-
istics that have been pre-calculated.
At each time step of the simulation, the anchor-to-fairlead horizontal distance

and azimuth are calculated for each line. The azimuth of a mooring line is defined by
the angle that the fairlead-to-anchor segment makes with CN (please see figure 2.5).
q
Dh(k) = (XN XANk + xFk cos yFk sin )2 + (XE XAEk + xFk sin + yFk cos )2
(7.7)
In this formula, XEast and XN orth are respectively replaced by XE and XN and
XAEast and XAN orth respectively by XAEk and XANk .
XEast XAEast + xFk sin + yFk cos

tan Ak = (7.8)
XN orth XAN orth + xFk cos yFk sin
where,
Dh(k) is the anchor-to-fairlead horizontal distance of mooring line number k;
Ak is the fairlead-to-anchor azimuth of mooring line number k;
(XEast , XN orth ) are the coordinates of O in the fixed axis system;
(XAEast , XAN orth ) are the coordinates in the fixed axis system of the anchor of
mooring line number k;

7.2 Mooring loads 7-53
(xFk , yFk ) are the coordinates in the vessel axis system of the fairlead of moor-
ing line number k;
is the instantaneous vessel heading.
Horizontal components are then projected on the vessel axis system and added
together as per the following equations:
NX

lines
= THk cos(Ak )

FM x

k=1
NX

lines

FMy = THk sin(Ak )

k=1
NX

lines

MM x = [xFk THk sin(Ak ) yFk THk cos(Ak )]

k=1
where,
THk is the horizontal component of the tension at fairlead number k;
Nlines is the total number of working lines.
7.2.2 Mooring line between two vessels

We study a line between a vessel and an other vessel.
In this section, the following notations are encountered:
Dh(k) is the horizontal distance between two extremities of the mooring line k
(at fairleads);
XEasti , XN orthi and Zi are the coordinates of vessel i in the global axis system;
XFEasti , XFN orthi and ZF i are the coordinates of the fairlead i in the global axis
system;
i is the azimuth of vessel i;
i is the fairlead azimuth in the vessel axis system;
di is the distance between a fairlead and the origin of the local axis system of
vessel i;
Ak is the fairlead-to-fairlead azimuth of the mooring line number k.

Hypothesis
We consider a line connecting two vessels without any contact with seabed. Thus
we have:
F 21 = F 12 (7.9)
Notes This relation is wrong if the line touches the seabed due to its slope or the
friction with it.
Geometrical parameters
Fairleads position in global axis system in function of the problem parameters:
XFEasti = XEasti + di sin(i + i ) (7.10)
XFN orthi = XN orthi + di cos(i + i ) (7.11)

To simplify notations, we introduce:
XFEast = XFEast2 XFEast1 (7.12)
XFN orth = XFN orth2 XFN orth1 (7.13)

Horizontal distance Dh definition:
q
Dh = XFEast 2 + XFN orth 2 (7.14)
Line loads
The line characteristic gives the horizontal tension at fairlead according to the hor-
izontal distance Dh between two fairleads. The load direction is the line one.
In the global axis system, we have:
Fx : F load projected on X;
Fy : F load projected on Y;
Mz : F load moment at the center of the local abscissa system projected on Z.

Fx = F Dh cos(A) (7.15)
Fy = F Dh sin(A) (7.16)
Mz = (XF XEast ) Fy (YF XN orth ) Fx (7.17)
Notes moments are expressed in local axis system to keep the symmetry properties
of the Jacobian matrix.
Jacobian matrix for one body connected to a fixed point like an anchor:
Fx Fx Fx

X XN orth1 1
East1

Fy Fy Fy

(7.18)

X XN orth1 1
East1

Mz Mz Mz

XEast1 XN orth1 1
Jacobian matrix for two vessels connected together by a line:
Fx21 Fx21 Fx21 Fx21 Fx21 Fx21

XEast1 XN orth1 1 XEast2 XN orth2 2

Fy21 Fy21 Fy21 Fy21 Fy21 Fy21


Mz21 Mz21 Mz21 Mz21 Mz21 Mz21


(7.19)
Fx12 Fx12 Fx12 Fx12 Fx12 Fx12


Fy12 Fy12 Fy12 Fy12 Fy12 Fy12


Mz12 Mz12 Mz12 Mz12 Mz12 Mz12

With the hypothesis 7.9 we have, noting:
Fx = Fx21 = Fx12

Fy = Fy21 = Fy12

(7.20)

M z = Mz21
Mz(2) Mz12

=


Fx Fx Fx Fx Fx Fx


Fy Fy Fy Fy Fy Fy


Mz Mz Mz Mz Mz Mz


(7.21)

Fx Fx Fx Fx Fx Fx


Fy Fy Fy Fy Fy Fy


Mz(2) Mz(2) Mz(2) Mz(2) Mz(2) Mz(2)

7.2.3 Variations with respect to parameters

Studying F : notations
For Fx we have, with respect to parameter {x1 , x2 , 1 , x2 , y2 , 2 }:
Fx Dh cos(A)

= F Dh cos(A) = F Dh cos(A) + F Dh (7.22)

In the same way, Fy :
Fy Dh sin(A)

= F Dh sin(A) = F Dh sin(A) + F Dh (7.23)

Studying Dh
Dh variations with respect to parameters:
Dh Dh XFEast
= = (7.24)
XEast1 XEast2 Dh
Dh Dh XFN orth
= = (7.25)
XN orth1 XN orth2 Dh
Dh d1

= XFN orth sin(1 + 1 ) + XFEast cos(1 + 1 ) (7.26)
1 Dh
Dh d2

= XFN orth sin(2 + 2 ) + XFEast cos(2 + 2 ) (7.27)
2 Dh

Studying cos(A), sin(A)

The expression of cos(A), sin(A) is directly derived from geometrical parameters:
XFEast
cos(A) = (7.28)
Dh
XFN orth
sin(A) = (7.29)
Dh
Expression of the variations of cos(A) with respect to all parameters:
cos(A) cos(A) XFN orth 2

= = (7.30)
XEast1 XEast2 Dh3
cos(A) cos(A) XFEast XFN orth

= = (7.31)
XN orth1 XN orth2 Dh3
cos(A) d1 XFN orth

= XFN orth cos(1 + 1 ) XFEast sin(1 + 1 ) (7.32)
1 Dh3
cos(A) d2 XFN orth

2 Dh3
Expression of the variations of sin(A) with respect to all parameters:
sin(A) sin(A) XFEast XFN orth

= = (7.34)
XEast1 XEast2 Dh3
sin(A) sin(A) XFEast 2

= = (7.35)
XN orth1 XN orth2 Dh3
sin(A) d1 XFEast

1 Dh3
sin(A) d2 XFEast

2 Dh3
Remarks:
cos(A) sin(A)
= (7.38)
XN orth1 XEast1
sin(A) cos(A)
XFN orth = XFEast (7.39)
1 1
sin(A) cos(A)
XFN orth = XFEast (7.40)
2 2

Global variations of F
Main terms of the matrix:
Fx 1 XFN orth 2

= 2 XFEast 2 F Dh + F Dh
XEast1 Dh Dh
Fx XFEast XFN orth 1

= F Dh + F Dh
XN orth1 Dh2 Dh
Fx d1

2
= X F X F sin( 1 + 1 ) + X F cos(1 + 1 ) F Dh
1 Dh2 East N orth East
F D
h

2
+ XFN orth cos(1 + 1 ) XFEast XFN orth sin(1 + 1 )
Dh
Fx d2

= 2 XFEast XFN orth sin(2 + 2 ) + XFEast 2 cos(2 + 2 ) F Dh
2 Dh
F D
h

2
+ XFN orth cos(2 + 2 ) XFEast XFN orth sin(2 + 2 )
Dh
Fy 1 XFEast 2

= 2 XFN orth 2 F Dh + F Dh
XN orth1 Dh Dh
Fy d1

2
= X FN orth sin( 1 + 1 ) + X FEast X FN orth cos( 1 + )
1 F Dh
1 Dh2
F D
h

2
+ XFEast XFN orth cos(1 + 1 ) + XFEast sin(1 + 1 )
Dh
Fy d2

= 2 XFN orth 2 sin(2 + 2 ) + XFEast XFN orth cos(2 + 2 ) F Dh
2 Dh
F D
h

+ XFEast XFN orth cos(2 + 2 ) + XFEast 2 sin(2 + 2 )
Dh
Mz F y

= d1 cos(1 + 1 )Fy + sin(1 + 1 )
1 1
Fx

sin(1 + 1 )Fx + cos(1 + 1 )
1
Mz F y Fx

= d1 sin(1 + 1 ) + cos(1 + 1 )
2 2 2
(2)
Mz F y

= d2 cos(2 + 2 )Fy + sin(2 + 2 )
2 2
Fx

sin(2 + 2 )Fx + cos(2 + 2 )
2

The global matrix can be simplified noting symmetries and remarkable properties.
In the following formula, XEast and XN orth are respectively replaced by XE and XN :
Fx Fx
K XE XE = = (7.41)
XEast1 XEast2
Fx Fy Fx Fy
K XE XN = = = = (7.42)
XN orth1 XEast1 XN orth2 XEast2
Fx Mz Mz
K XE 1 = = = (7.43)
1 XEast1 XEast2
(2)
Fx Mz Mz(2)
K XE 2 = = = (7.44)
2 XEast1 XEast2
Fy Fy
K XN XN = = (7.45)
XN orth1 XN orth2
Fy Mz Mz
K XN 1 = = = (7.46)
1 XN orth1 XN orth2
(2)
Fy Mz Mz(2)
K XE 2 = = = (7.47)
2 XN orth1 XN orth2
(2)
Mz Mz
K2 = = (7.48)
2 1
Mz
K1 1 = (7.49)
1
Mz(2)
K2 2 = (7.50)
2
Thus, we have:

K XE XE K XE XN K XE 1 KXE XE KXE XN K XE 2

KX X KXN XN K XN 1 KXE XN KXN XN K XN 2
E N

KX K XN 1 K1 1 KXE 1 KXN 1 K2

E 1

KXE XE

(7.51)
KXE XN KXE 1 KXE XE K XE XN KXE 2

KXE XN KXN XN KXN 1 K XE XN K XN XN KXN 2

K XE 2 K XN 2 K2 KXE 2 KXN 2 K2 2


Chapter 8
Environmental loads
The environmental loads are computed at the vessel gravity centre.
8.1 Wave drift loads

8.1.1 Discretisation of the wave spectrum
The Montecarlos method can be used as follows to select a family (ai , i , i )1iNwave
of Nwave Airy waves representative of the spectrum:
1. the energy density function of the spectrum is divided into Nwave intervals of
same length between m and M such as:

m < p < M
S(m ) = S(M ) S(p )/Nwave
= (M m )/Nwave

where p is the circular frequency corresponding to the peak period (p =

2/TP ) of the spectrum;
2. within each interval, a wave circular frequency i is randomly selected;
3. to each i is attached an angle i randomly drawn within [0, 2];
4. the amplitude ai of the wave component number i is calculated thanks to the

relation between the wave amplitude and the energy density function:
q
ai = 2S(i ) (8.1)
All spectra considered in Ariane8 are detailed in the chapter 11.

8-62 Environmental loads
8.1.2 Slow drift loads

The slow drift loads are derived from the diagonal terms of the Quadratic Transfer
Functions (QT F s) of the unit.
The QT F s are the functions that give in the vessel axis system the mean loads
applied to the vessel when subjected to the action of a bichromatic wave of unitary
amplitude. These loads are proportional to the square of the wave amplitude. They
obviously vary with the two circular frequencies that compose the bichromatic wave
but also with the water depth and the wave incidence relative to the vessel.
The diagonal terms of the QT F s are those obtained when the two components
of the bichromatic wave are identical. They subsequently correspond to the mean
loads induced to the vessel when subjected to an Airy wave. They can be obtained
by model tests or by a second order diffraction-radiation analysis using a recognized
computer program. In any case, they are to be determined with due account for the
actual site water depth and the mooring stiffness. If linear calculation methods are
used, the mooring stiffness is to be evaluated for a position of the vessel as close as
possible to its average position during the simulation.
In practice, the diagonal terms of the QT F s are available for a limited number
of incidences relative to the vessel heading. During the simulations, the functions
relevant to the instantaneous incidence are to be obtained by interpolations between
those of the closest two incidences that are available. The range of interpolation
angle is however to be limited to avoid invalid results.
Molin variant
One of the methods considered to compute wave drift loads is based on the Newmans
approximation [2]. The formula used, however, involves four summations instead of
two in the original formulation. This allows the problem of indetermination of the
load sign to be solved. The first formulation which allows to compute wave drift
loads considering Newmans approximation is Molin variant:

NX
wave q
FD (t) = aj |QT F (wave , j , j )| cos(j t + j kj x) .
j=1

NX
wave q
aj |QT F (wave , j , j )| cos(j t + j kj x)sign{QT F (wave , j , j )}
j=1

NX
wave q
+ aj |QT F (wave , j , j )| sin(j t + j kj x) .
j=1

NX
wave q
aj |QT F (wave , j , j )| sin(j t + j kj x)sign{QT F (wave , j , j )}
j=1

8.1 Wave drift loads 8-63
where,
FD (t) is one of the three components in the vessel axis system of slow drift
loads at instant t, i.e. FDx , FDy or MDz ;
wave is the wave incidence relative to the vessel heading at instant t, i.e.
wave = wave ;
QT F (wave , j , j ) is the relevant diagonal function interpolated for the in-
stantaneous wave incidence wave ;
sign(u) is equal to:
1 if u > 0
-1 if u < 0
0 if u = 0
(aj , j , j , kj )1jNwave is the family of Nwave Airy waves representative of the

wave spectrum as explained above.
BV variant
The second formulation based on Newmans approximation is the BV variant:

NX
wave
FD (t) = QT F (wave , j , j )aj cos(j t + j kj x) .

j=1

NX
wave
aj cos(j t + j kj x)
j=1

NX
wave
+ QT F (wave , j , j )aj sin(j t + j kj x) .

j=1

NX
wave
aj sin(j t + j kj x)
j=1
Mean drift load

The average value of FD (t) on the whole duration of the simulation can be obtained
by the following equation:
Z M
FDM EAN = 2 QT F (wave , j , j )S()d (8.2)
m
where m and M are defined above.

8.1.3 QTFC Formulation

Numerical results [3] have shown that the Newman approximation largely underes-
timates the extrem values of low-frequency loads for shallow water depths or when
the mooring system is stiffened. These values of drift loads are very important for
the shallow water response. The Newman approximation is not valid for this kind
of study.
The complete drift loads have two components: one comes from the quadratic
product of the wave fields in the first order, the other from the second order po-
tentials which can be expressed by two Haskinds integrals on the vessel surface
and above the free surface. These two components are added to the second order
Froude-Krylov loads. The Newman approximation uses only the second order loads
corresponding to the zero order term.
In shallow water, QT F s need to be defined in a large frequency range and digi-
tized very accurately. This form is called Full QTFs or QT F C in Ariane8 .
The drift loads are given by the following formula:
N X
X N
FD (t) = ai aj ({QT F (wave , i , j )} cos((i j )t + i j (ki kj )x))
i=1 j=1
N X
X N
+ ai aj ({QT F (wave , i , j )} sin((i j )t + i j (ki kj )x))
i=1 j=1
The motions prediction is more accurate than the Newman one but the double
sum is more time consuming.
8.1.4 BV Approximation and BV variant of slow drift loads

As reminds in the previous section, the applications in shallow water need the use of
complete QT F matrix which gives more accurate estimations of the low-frequency
loads. It requires the solution of the second order problem and the time series
reconstruction is more time-demanding. Recents works [3] have presented a new
approximation considering that resonant frequencies of mooring systems are often
small (<< 1). This aproximation consists in developing the QT F s as an expan-
sion of difference frequency and keeping the terms dependent on the first order
quantities QT F 0 and another term QT F 1 linearly proportional to . From this
expansion, one of the two derived formulations of wave drift loads, is called BV
approximation in Ariane8 .
The expansion induces the next formulation for QT F s:

1h i
QT F (j , k ) = QT F 0 (j , j ) + QT F 0 (k , k )
2 h i
+i (j k ).(QT F 1 (j , j ) + QT F 1 (k , k )) (8.3)
Thus wave drift loads are:
NX
waves
FD (t) = QT F 0 (wave , j , j ).aj .ei(j tkj x+j )

j=1
NX
waves
. aj .ei(j tkj x+j )
j=1
NX
d waves
QT F 1 (wave , j , j ).aj .ei(j tkj x+j )

dt j=1
NX
waves
. aj .ei(j tkj x+j ) (8.4)
j=1
where,
aj , j , j , kj are respectively the real amplitudes, the circular frequency, the

phase and the wave number of the Airy wave considered;
Nwaves is the singular Airy waves number of the Airy waves considered;
wave is the wave incidence relative to the vessel heading, i.e. wave = wave .
Notes Considering QT F 1 as null, the equation becomes the BV variant for the
Newmans approximation
8.1.5 Slow drift load with wave/current interaction

This wave/current interaction depends on the slow drift velocity, the current speed
and the instantaneous heading. The idea introduced in several works [4] [5] is to
include it by simply changing the QT F matrix in the way described below.
The k-components of the slow drift force (only in surge and sway - yaw un-
changed) can be written as:


N
X q
FDk (t) = aj |QT Fkj (wave , j , j )| cos Aj (t)
j=1

N
X q
aj |QT Fkj (wave , j , j )| cos Aj (t)sign{QT Fkj (wave , j , j )} +
j=1

N
X q
aj |QT Fkj (wave , j , j )| sin Aj (t)
j=1

N
X q
aj |QT Fkj (wave , j , j )| sin Aj (t)sign{QT Fkj (wave , j , j )}
j=1
with:
Aj (t) = j t + j kj x (8.5)
and:
2
! !
4j 2j
QT Fkj (wave , j , j ) = 1 UL QT Fdk wave UT , j j UL (8.6)
g g g
with:
UL = u cos wave v sin wave (8.7)
UT = u sin wave v cos wave (8.8)
where,
t is the time;
XN orth (t), XEast (t) is the low frequency position of the vessel in the global axis
system;
u , v are the projected low frequency velocities of the vessel relative to the
current one in th local axis system;

wave spectrum as explained above;
wave is the instantaneous wave heading;
uC and vC are the current velocity components respectively in the east and
north directions;

UL and UT are respectively the longitudinal and the transversal instantaneous

relative velocity of the vessel in the wave axis system;
QT Fkj is the alteration of the QT F s QT Fdk ;
QT Fdk is the non-modified QT F s.
The methodology implemented within Ariane8 will be at each time step:
Calculation of the instantaneous heading of the wave / vessel;
Calculation of the instantaneous relative low velocity;
Calculation of the QT F s alteration for each wave circular frequency;
Calculation of the slow drift with the modified QT F s.
8.1.6 QTFC formulation with wave/current interaction

This wave/current interaction depends on the slow drift velocity, the current speed
and the instantaneous heading. The approach is the same as for the slow drift for-
mulation with wave/current interaction. The QT F C matrix is changed in the way
described below.
The QT F C formulation has mainly to be used for drift load calculation in the
case of a finite water depth. The following parameters are thus defined:
Cp = /k, the wave phase velocity,
Cg = /k, the wave group velocity,
= Cg /Cp .
All needed data is formulated below in the case of water of depth h:
q
= gk tanh(kh)
q
Cp = g tanh(kh)/k
1 2kh
= (1 + )
2 sinh(2kh)
h.(1 2kh/ tanh(2kh))
/ =
Cg sinh(2kh)

The k-components of the slow drift force (only in surge and sway - yaw un-
changed) can be written as:
N X
X N
FD (t) = ai aj ({QT Fkij (wave , i , j )} cos((i j )t + i j (ki kj )x))
i=1 j=1
N X
X N
+ ai aj ({QT Fkij (wave , i , j )} sin((i j )t + i j (ki kj )x))
i=1 j=1
and:
!
UL UL
QT Fkij (wave , i , j ) = Akij .QT Fdk kij , i (1 , j (1 (8.9)
Cp,i Cp,j
with:
UL = u cos wave v sin wave (8.10)

UT = u sin wave v cos wave (8.11)
with Akij the arithmetic mean of the two wave components mean drift Aranha
scaling factors:
Akij = (Aki + Akj )/2. (8.12)
where Aki is defined as follows:
i UL
Aki = 1 + (i . 2) (8.13)
i Cg,i
with the encounter frequency kij calculated as the arithmetic mean of the two
wave components encounter frequencies:
kij = (ki + kj )/2. (8.14)
where ki is defined as follows:

UT
ki = wave (8.15)
Cg,i
where,
t is the time;
XN orth (t), XEast (t) is the low frequency position of the vessel in the global axis
system;
u , v are the projected low frequency velocities of the vessel relative to the
current one in th local axis system;


wave spectrum as explained above;
wave is the instantaneous wave heading;
uC and vC are the current velocity components respectively in the east and
north directions;
UL and UT are respectively the longitudinal and the transversal instantaneous

relative velocity of the vessel in the wave axis system;
QT Fkij is the alteration of the QT F C QT Fdk ;
QT Fdk is the non-modified QT F C.
The methodology implemented within Ariane8 will be at each time step:
Calculation of the instantaneous heading of the wave / vessel;
Calculation of the instantaneous relative low velocity;
Calculation of the QT F C alteration for each wave circular frequency;
Calculation of the slow drift with the modified QT F C.
In this formulation, the vessel velocity is assumed to be small compared to the

wave speed. To avoid meaningless results in the case this hypothesis is not respected,
the Aranha factor is limited to a minimum zero boundary value. This means that
the wave drift load contribution can be completely cancelled out, but not reversed,
by the wave drift damping.
8.1.7 Cross waves loads

New applications such as large LNG terminals take place in coastal areas where
water is of finite depth and waves are multi-directional. The prediction of low-
frequency motions is crucial. Indeed, their second-order drift loads are known as
the main source of excitation in these conditions of shallow water.
In this case, it is understood that the bi-directional bichromatic wave (1 , 2 )

taken into account to determine the quadratic transfer function, is characterized at
the first order by one regular wave of (1 , 1 ) and another of (2 , 2 ) [6].
Then the QT F s are composed of two distinct parts: one coming from the
quadratic products of first-order wave fields, another depending on the second-order

potentials of the incoming and diffracted waves. In Ariane8 these loads are noted
QT F C CrossW aves but in the next formulation, the notation QT F is kept
for clarity:
Nwaves Nwaves2
X 1 1 2
X
FD (t) = a QT F (j , j , 1 , 1 )
j=1 k=1 2 j
1 2
+ a QT F (k , k , 2 , 2 ) (8.16)
2 k
+ aj ak E(1 , 2 )QT F (j , k , 1 , 2 )ei(j k )t
where,
aj , j , j , kj and ak , k , k , kk are respectively the real amplitudes, the circular
frequency, the phase and the wave number of the two Airy waves considered;
QT F (j , j , j , j ) and QT F (k , k , k , k ) are the QT F C CrossW aves
relative to the two Airy waves considered;
1 and 2 are respectively the wave incidence relative to the vessel heading of
the two Airy waves considered, i.e. 1 = 1 and 2 = 2 ;
Nwaves1 and Nwaves2 are the singular Airy waves number of the two Airy waves
considered;
E(1 , 2 ) is given by:
E(1 , 2 ) = eikj x(cos j cos 2 )+i(j k ) (8.17)
8.1.8 Drift loads application fields

The following table gives a first indication on which method can be chosen regarding
drift loads formulation:
Drift load Deep Shallow Soft mooring Stiff mooring Time

formulation water water system system consuming
Newmans approximation valid unvalid valid unvalid order 1
Newman W/C interaction valid unvalid valid unvalid order 1
BV approximation valid valid valid unvalid order 1
QTF-C formulation valid valid valid valid order 2
QTF-C W/C interaction valid valid valid valid order 2
Cross waves formulation valid valid valid valid order 2

8.2 Wave first order loads 8-71
8.2 Wave first order loads

In case of the low * high frequency calculation type (see section 5), wave first order
loads are computed.
Wave first order loads derive from the Froude-Krylov loads response amplitude op-
erators (RAOF K ). RAOF K are the functions that give the Froude-Krylov loads
applied to the vessel (in its local axis system) when subjected to the action of a
wave of unitary amplitude.
Froude-Krylov loads at each time step are then calculated as follows:
N
X
{FF K }(t) = ai {RAOF K (wave , i )} cos(i t + i ki x)
i=1

+{RAOF K (wave , i )} sin(i t + i ki x)
Where,
{FF K }, the wave first order loads 3 components vector;
t, the time instant for which the loads are computed;
i, the wave frequency index in incident wave spectrum;
N , the number of wave frequencies in incident wave spectrum;
RAOF K , the RAO of froude-Krylov loads for a unitary incident wave;
(ai , i , i , ki )1iN is the family of N Airy waves representative of the wave

spectrum as explained above;
8.3 Current loads

8.3.1 General formulation
According to the definition of the hydrodynamic coefficients in the three directions
and the effect due to a rotation of the vessel in the fluid, the resultant current force
and moment acting on a moored vessel are calculated using the following equations:

1

FCx = water Lpp Td CCx (current ) UC2

2

1

F
Cy = water Lpp Td CCy (current ) UC2

2
1

water Lpp2 Td CCz (current ) UC2 + MCM olin/0

MCz =

2
where,
water is the sea water density;
Td is the average vessel draft;
Lpp is the length between perpendiculars;
CCx , CCy and CCz are respectively the longitudinal, the lateral and the yaw
hydrodynamic drag coefficient;
current is the equivalent incidence of the current with respect to the heading
of the vessel is to be determined according to the following equation:
v v + VC sin(current )
tan current = = (8.18)
u u + VC cos(current )
where VC is the average current velocity;
UC is the relative equivalent current velocity and is given by the following
formula:
UC2 = u2 + v 2 (8.19)
MCM olin/O is the additional yaw moment to be applied to the origin of the
vessel axis system (please see the next section which detailed the formulation).
8.3.2 Molin moment

If the vessel is fixed during model tests, effects due to a possible rotation of the
vessel in the fluid are not included. The Molins yaw moment has therefore to be
added to results derived from model tests performed with a fixed vessel in order to
include viscous damping effects in yaw. It depends on the vessel and the mooring
system type considered and its value is computed according to a percentage of the
moment when the current incidence relative to the vessel heading is 90 .
The additional Molin moment is given below:
1 Z xf ore h i
MCM olin/O = water CM olin Td V ( )V ( ) V (0)V (0) d (8.20)
2 xaf t

8.4 Wind loads 8-73
where,
CM olin is a coefficient equal to a percentage of CCy (90deg) entered by the user
by considering for the reference point where the moments are calculated;
xaf t is the algebraic distance of the aft end of the vessel from the origin O of
its axis system;
xf ore is the algebraic distance of the fore end of the vessel from the origin O
of its axis system;
V ( ) is the transverse component of the relative fluid velocity at the alge-

braic distance from O:
V ( ) = (v + ) (8.21)
V ( ) is the total relative fluid velocity at the algebraic distance from O:

q
V ( ) = u2 + (v + )2 (8.22)
8.4 Wind loads

According to the definition of the aerodynamic coefficients in the three directions,
the resultant wind force and moment acting on a moored vessel are calculated using
the following equations:
1

FW x = air St CW x (wind )VW2

2

1

F
Wy = air Sl CW y (wind )VW2 (8.23)

2
1

air Sl CW z (wind )VW2 Lpp

MW z =

2
where,
St is the transverse wind area above the water line;
Sl is the longitudinal wind area above the water line;
Lpp is the length between perpendiculars;
air is the density in air;
VW is the wind velocity at 10 meters elevation;

CW x , CW y and CW z are respectively the longitudinal, the lateral, the yaw

aerodynamic drag coefficients;
wind is the wind incidence relative to the vessel heading, i.e. wind = wind ;
is the azimuth of the vessel.
The aerodynamic coefficients are functions of wind angle of attack W and are
entered as tabulations. At each time step, these tabulations are used to interpolate
the instantaneous wind loads.
In Ariane8 , the relative wind velocity can be taken into account or not in order
to compute wind loads.
8.4.2 Fluctuating wind speed

Where the wind speed is significantly fluctuating, it is possible to characterize the
wind speed by its 1-hour average value at 10m above the mean level together with
the reduced parameters of the type of gust spectrum applicable to the site. In this
case, a method similar to that described for waves in Section 7 is to be implemented
to determine Nwind representative wind components. In return, it is not required to
account for spatial coherence so that the complete wind signal at any point can be
written as follows:
NX
wind
VW (t) = V60 + vk cos(2fk t + k ) (8.24)

k=1
where,
VW (t) is the wind speed at instant t;
V60 is the wind speed at 10 meters above the still water level averaged over
sixty minutes;
(vk , fk , k )1kNwind is the family Nwind wind components representative of the
gust spectrum;
Nwind is the number of wind components.
It is to be noted that the average loads derived from such a signal are not equal
to the loads computed with a constant wind speed equal to V60 . Indeed, wind loads
are proportional to the square of the speed, the average of which verifies:
D E 1 NX
wind
VW2 = V602 + v2 (8.25)

2 k=1 k
All spectra considered in Ariane8 are detailed in the part 12.

Chapter 9
Hydrodynamics loads
The hydrodynamics loads which correspond to loads induced by vessels motions in

water, are computed at the vessel gravity centre.
9.1 Manoeuvrability
The hydrodynamic loads are determined according to the theory of manoeuvrability:

M axy + M ayx M ax + M ax

FHx = M axx u v
2 2

M axy + M ayx M ay + M ay

+ M ayy v + u +

2 2


= M ayy v

FHy u

2 2


M axx u + v +

2 2
M ax + M ax M ay + M ay

MHz = M a u v

2 2


+ v u

2 2

M axy + M ayx 2

(M ayy M axx )u v u v 2

2
where:
FHx , FHy and FHz are the three components of the hydrodynamic load vector
in the vessel axis system of hydrodynamics loads;
[M a] is the vessel added mass matrix given by:

9-76 Hydrodynamics loads

M axx M axy M ax
M ayx M ayy M ay

(9.1)
M ax M ay M a
where,
- M a is the asymptotic added mass;
- x is surge;
- y is sway;
- is yaw.
The vessels relative acceleration vector projected in the vessel axis system is:
u

v (9.2)

The values of the coefficients of the asymptotic added mass matrix [M a] are
those obtained when the wave circular frequency tends towards zero. Moreover, the
added mass matrix is symmetrical and for symmetrical hulls, M axy and M ax can
be neglected.
9.1.2 Introduction of work vector
Considering the still water manoeuvrability study, the added mass coefficients are
obtained when the wave circular frequency tends towards zero. Thus, they are
constant and they are usually expressed in the first part of the fundamental principle
of dynamics. The formulation combining slow drift motions (please see equation 3.6)
and hydrodynamics loads is:

9.1 Manoeuvrability 9-77

(m + M axx )u + v +

2 2


= + (M ayy + m)v +

u +

2 2

+FW x + FCx + FM x + FDx


u + (m + M ayy )v +

2 2


= (M axx + m)u + v +

2 2
+FW y + FCy + FM y + FDy


u + v + (I + M a )

2 2


= + v u

2 2

M axy + M ayx 2


2

+MW z + MCz + MM z + MDz

By taking into account the formulation of the slow drift motions and the hy-
drodynamic loads, it is possible to express the components of one work vector, Y ,
consistent element with the predictor-corrector diagram (please see the appendix C
for more details). As a matter of fact, this diagram allows the resolution of systems
the initial conditions of which are:
d
Y (X) = F (X, Y ) (9.3)
dX
{Y } is the six-component vector the coordinates of which are:
XPEast

XPN orth

{Y } = (9.4)
u

v

where XPEast and XPN orth are the coordinates of a point P in the vessel in the
global axis system. In Ariane8 , the resolution in done at G.

9.1.3 Formulation consistent with predictor-corrector dia-

gram
The velocity of the vessel center of gravity components in the global axis system can
be expressed as follows:
= u sin + v cos VC sin c

XGEast

XGN orth = u cos v sin VC cos c
=

where VC is the absolute current velocity.
Then the system to solve can be written as:
[A]{Y } = {F ({Y }; t)} (9.5)
where the matrix A can be written as:

1 0 0 0 0 0
0 1 0 0 0 0

0 0 1 0 0 0


0 0 0 (m + M axx )

2 2

0 0 0 (m + M ayy )

2 2


0 0 0 I + M a

2 2
and {F ({Y }; t)} as:

9.1 Manoeuvrability 9-79
u sin + v cos VC sin c

u cos v sin VC cos c


M ayy v + u +

2 2

+ FW x + FCx + FM x + FDx


M axx u + v +
2 2

+ FW y + FCy + FM y + FDy


v u

2 2

M axy + M ayx 2


2

+ MW z + MCz + MM z + MDz

{Y } being:

XP East

X

P N orth

{Y } = (9.6)

u

v

{Y } is obtained by reversing the matrix [A] in the equation 9.5:

{Y } = [A]1 {F ({Y }; t)} = {G({Y }; t)} which is consistent with the use of
predictor-corrector diagram for initial conditions systems.
9.1.4 Initial conditions
Therefore, a vector {Y0 } that contains the initial conditions is introduced :


XPEast
X

PN orth

{Y0 } = (9.7)

u0

v0

0

t=0
This vector is preferred to the work vector {Y } because of better physical under-
standing, but has to be fitted for defining the initial value of some of the components
of the work vector, u0 and v0 :
(
u0 = VC cos(c )
v0 = VC sin(c )
9.2 Radiation
9.2.1 General
These loads are calculated in case the simulation of low and wave frequency motions
is done simultaneously. The motion equation considered was presented in section 5.
Radiation loads dont only depend on the instantaneous vessel velocity and acceler-
ation, but also on their history. The memory effect being due to the presence of the
free surface.
The radiation loads then have to be expressed taking past velocities into account,
via retardation functions.

Radiation loads are expressed considering the convolution of the vessel instanta-
neous velocity with "retardation functions".
Section 5 presented the following equation of motions:
X
[M ] + [M a ] {X(t)} + {Frad (t)} + [B]{X(t)} = {FLF (t)} + {FHF (t)} (9.8)
Where {Frad (t)}, the radiation memory loads at time instant t are expressed as,
Z t
{Frad (t)} = {X( )}[K(t )]d (9.9)
ttretard

9.2 Radiation 9-81
Where,
t, the time instant for which the radiation memory loads are calculated;
tretard , the time duration for which the convolution with instant velocity and
retardation functions is calculated. Usually the retardation functions reaches
0 after approximately 300s, as can be seen in figure 9.1;
X, the vessel instantaneous velocity at time instant t;
[K(t)], the retardation function which formulation is the following:

2Z
[K(t)] = [B()] cos td (9.10)
0
Figure 9.1: Retardation function example
[M a ] is used in the coupled low and high frequency motions equation because
the radiation coefficients [M a()] and [B()] are linked to the retardation functions
according to the following equations:
1Z
[M a()] = [M a()] [K(t)] sin tdt (9.11)
0

Z
[B()] = [K(t)] cos tdt (9.12)
0

Chapter 10
Others loads
The others loads are computed at the vessel gravity centre.
10.1 Munk moment

10.1.1 General
As introduced previously, external loads contributing to the vessels low frequency
response include both hydrodynamic loads (see chapter 9) and current loads (see
section 8.3).
In section 3.2, a relative speed formulation is used in order to express the moored
vessels low frequency response.
The same relative speed formulation is used to express current and hydrody-
namic loads.
In the hydrodynamic moment formulation in red, a steady component called the

Munk moment appears:
M axy + M ayx 2
MM unk = (M ayy M axx )u v u v 2 (10.1)
2
where:
MM unk is the Munks yaw moment;
M axx and M ayy are respectively the asymptotic added mass in surge and the
asymptotic added mass in sway;
u and v are respectively the vessels relative speed in surge and sway;
Any floating body other than a sphere generates the Munk moment when it is
submitted to the inviscid flow action. It arises because of the asymmetric location

10-84 Others loads
of the stagnation points, where pressure is highest on the front of the body (decel-
erating flow) and lowest on the back (accelerating flow). This moment acts to turn
the vehicle perpendicular to the flow direction.
In static, the Munk moment is given by:
1
MM unk = (M ayy M axx )VC2 sin(2(C ))
2
1
+ (M axy M ayx )VC2 (1 sin2 (C )) (10.2)
2
where:
VC is the current velocity;
C is the heading of the current;
is the azimuth of the vessel.
If current forces and moment coefficients are derived from model tests on a fixed
body (e.g. wind tunnel), the current yaw coefficients already include the Munk
moment.
In this case and in order to avoid duplication of Munks yaw moment, it is then
necessary to subtract it from hydrodynamic yaw moment.
MZ = MHZ + MCZ MM unk + ... (10.3)

Otherwise, if current moment does not include Munks moment, it is already
contained in the hydrodynamic moment and then should not be subtracted:
MZ = MHZM unk + MCZ + ... (10.4)

where:
MZ is the total yaw moment;
MHZ is the hydrodynamic yaw moment;
MCZ is the current yaw moment .
10.1.2 Munk moment coefficient

The Munk moment coefficient allows to consider the Munk moment or not.

10.2 Damping 10-85
In both static and time domain, this coefficient is taken into account as follows:
CM unk

MZ = MHZ + MCZ + 1 MM unk + ... (10.5)
100
where CM unk is the Munks moment coefficient. It can take values from 0% to
100%:
0% being the value which cancels Munks yaw moment effect when current
coefficients include this effect. In this case, a term remains in order to have a
consistent result regarding hydrodynamic loads in static;
100% being the value which gives the total Munks yaw moment effect.
Please note that the term MHZ is equal to 0 in static.
10.2 Damping
Damping effects are partly generated by current loads since they are calculated in
Ariane8 on the basis of the relative fluid velocity and partly by additional terms
which are proportional to the absolute speed of the vessel according to the following
formula:
= Bxx u

FBx

FBy = Byy v
MB = B

where,
Bxx is the linear damping coefficient in surge;
Byy is the linear damping coefficient in sway;
B is the linear damping coefficient in yaw.

Additional damping terms proportional to the absolute speed of the vessel squared
can also be added. For these terms loads are calculated according to the following
formula:
(2)
FBx = Bxx |u|.u

(2)
FBy = Byy |v|.v
(2)
MB = B ||.

where,
(2)
Bxx is the quadratic damping coefficient in surge;

10-86 Others loads
(2)
Byy is the quadratic damping coefficient in sway;
(2)
B is the quadratic damping coefficient in yaw.
10.3 Thrusters loads

The thruster loads, riser loads or any other loads that have not been defined pre-
viously and the effects of which are not negligible, need to be defined by the user.
They may be very simple (e.g. constant load in a constant direction relative to the
vessel heading), more complicated (e.g. constant load in an absolute direction) or
extremely sophisticated (e.g. load derived from vessel position and kinematics, line
tensions, etc.). In any case, these loads are computed at each time step as function
of the applicable parameters defined by the user. Three possibilities are offered to
the user to integrate into Ariane8 the special loads:
1. The user can define the position in the vessel axis system where the loads have
to be applied, their values and directions (relative or absolute). These loads
will be automatically computed, relatively to the vessel position, then added
to the other loads.
2. The user can define an external routine that will be called at each time step
by Ariane8 . It is called external routine is Ariane8 ;
3. The user can define a grid that contains for several vessel positions, the specific
loads defined in the global axis system. At each time step, Ariane8 will
calculate the induced loads by interpolating the vessel position relatively to
the grid. Then they will be added to the other loads. It is called Externel
loads in Ariane8 .
10.4 Fenders loads

Each fender are defined by a characteristic which gives its reaction according to its
deformation.
Hence, when a fender is submitted to vessels action, the loads that it induces
are directly function of the corresponding deformation. A force called FF is added
to the loads sum.
The characteristic of a fender is highly non-linear and the contact point between
a fender and a vessel is not constant during the simulation. One way to calculate
fender loads is to model a fender attached to one vessel and acting with another

10.4 Fenders loads 10-87
vessel. In this case, the point of application of the fender loads on the second
vessel is calculated at each time step. In the same way as for a mooring line, the
characteristic of the fender should also be given as a curve representing horizontal
tension TH in function of the effective distance, being the effective distance equal
to the diameter D of the fender. An example of a fender characteristic is given in
figure 10.1.
-5000
-10000
TH
-15000
-20000
-25000
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
D
Figure 10.1: Characteristic of fender

Part V
Spectra

Chapter 11
Wave spectra
The wave is characterized by its incidence and an energy spectrum appropriate to

the mooring site. Spectra definitions are given hereafter.
Many of spectra are described by a generic form with two parameters called
Wallop spectrum. The expression of the wave energy form of a Wallop spectrum
can be given as follows:
H2 TZ
S() = S G(z) (11.1)
16 2
where:
HS is the significant wave height;
TZ is the zero-up crossing period (the formula can also be expressed according
to the peak period Tp );
G(z) is the non dimensionnal Wallop spectrum with peak at z = 1 and the
zero-order moment of the spectrum m0 = 1;
z can be expressed by f /fp or /p respectively the frequency and the circular

frequency. The p-indice is relative to the peak of the spectrum (the mode of
the distribution).
The non dimensionnal Wallop spectrum G(z) with two parameters m and q can
be expressed as follows:
G(z) = A z m exp(B z q ) (11.2)
with:

11-92 Wave spectra
A , the scalling factor to get m0 = 1:

m1
m q

q q
A =
m1

q
B:
m
B =
q
For example, the Pierson-Moskowitz spectrum is a Wallop spectrum with m = 5
and q = 4. Others as ISSC and ITTC are derived from this formulation.
11.1 Pierson-Moskowitz
The energy density function of the Pierson-Moskowitz spectrum is defined as follows:
4 3 HS2 1 16 3 1
SP M () = exp( ) (11.3)
TZ4 5 TZ4 4
where:
SP M is the energy density function of the spectrum;
is the wave circular frequency;
TZ is the zero-up crossing period.
11.2 ISSC
The energy density function of the ISSC spectrum is defined as follows:
173HS2 1 691 1
SISSC () = 4
exp( ) (11.4)
T1 5 T14 4
where:
SISSC is the energy density function of the spectrum;
T1 is the visual mean period.
The ISSC spectrum is the same spectrum than Pierson-Moskowitz spectrum but
with different variable formulation: 1.296T1 = 1.408TZ

11.3 ITTC 11-93
4.8 S(f )
4.2
3.6
2.4
1.8
1.2
0.6
f
0.03 0.06 0.09 0.12 0.15 0.18 0.21 0.24 0.27
Figure 11.1: Pierson-Moskowitz spectrum. HS = 5m, TZ = 10s
4.8
S(f )
4.2
3.6
2.4
1.8
1.2
0.6
f
0
0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45
Figure 11.2: ISSC spectrum. HS = 5m, T1 = 10s
11.3 ITTC
The energy density function of the ITTC spectrum is defined as follows:
0.0081g 2 3.11 1
SIT T C () = 5
exp( 2 4 ) (11.5)
HS

11-94 Wave spectra
where:
SIT T C is the energy density function of the spectrum;
g is the acceleration of gravity.
S(f )
3.6
3.2
2.8
2.4
2
1.6
1.2
0.8
0.4
f
0.06 0.12 0.18 0.24 0.3 0.36 0.42 0.48
Figure 11.3: ITTC spectrum. HS = 5m
11.4 JONSWAP
The energy density function of the JONSWAP spectrum is defined as follows:
SJ () = K.SP M ().J () (11.6)
where:
SP M is the energy density function of the Pierson-Moskowitz spectrum as

defined above;
J is the peakedness function of the JONSWAP spectrum;

R HS2
K is a factor such as 0 SJ ()d = 16
.

11.4 JONSWAP 11-95
The peakedness function J is defined as follows:

exp[ 12 (
P )2 ]

() = (1 e1.25 .ln). P (11.7)
where:
P is the circular frequency

corresponding to the peak period of the spectrum
TP (P = 2/TP and TP = 4 1.25TZ );
is the peakedness factor, typically equal in the North Sea to 3.3 (value
derived from the average of JONSWAP measurements). If is equal to 1, the
spectrum is reduced to Pierson-Moskowitz spectrum;
is the peakedness scale, typically taken in the North Sea as 1 = 0.07

for P and as 2 = 0.09 for P (the mean values of JONSWAP
measurements).
Because the energy density function of the JONSWAP spectrum has no analytical
primitive function, the factor K is to be computed by numerical integration for each
set of parameters intervening in the expression of J which are , P , 1 and 2 .
In practice, K will be determined as follows:
1 Z
p4
p
1.25

exp[ 12 ( P )2 ]

P 4

5 (1 e .ln) 1 P exp 1.25( ) d
K m 5
Z M
p4 1.25
1 P 2
exp[ 2 ( ) ]

P 4

+ 5 5 (1 e .ln) 2 P exp 1.25( ) d
p
with m and M such as: m < p < M and SJ (m ) = SJ (M ) SJ (p )/100

11-96 Wave spectra
S()
S(p )
S(m/M )
m p M
Figure 11.4: Truncation of the JONSWAP spectrum for the calculation of the k-
factor. S(m ) = S(M ) = S(P)
100
5.6 S(f )
4.9
4.2
3.5
2.8
2.1
1.4
0.7
f
0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45
Figure 11.5: JONSWAP spectrum. = 2, 1 = 0.07, 2 = 0.09, HS = 5m, TP = 10s

11.5 Torsethaugen 11-97
11.5 Torsethaugen
The energy density function of the Torsethaugen spectrum is the sum of two JON-
SWAP spectra relative to wind wave and swell wave systems. The characteristics
of each JONSWAP spectrum are deduced from two parameters: the Torsethaugen
spectrum significant height Hm0 and the Torsethaugen spectrum natural period TP .
The distinction between wind dominated and swell dominated sea states is defined
by the fully developed sea where:
1/3
TP = Tf = 6.6Hm0 (11.8)
If TP Tf , the local wind sea dominates the spectral peak, otherwise it is dominated
by the swell. The energy density function is defined as follows:
2
X i g 2 Mi P i Ni exp( (/P2i 1)2 )
ST () = Mi
.exp( ( ) ) 2 (11.9)
i=1 Ni
where:
R 2
Hm0
i is a factor such as 0 SJ ()d = 16
;
Mi and Ni are spectral shape parameters. The spectral shape parameter

Mi is
always 4 except for TP Tf and i = 2. In this case M2 = 4(10.7exp H3m0 .

The spectral shape parameter Ni is always 0.5 Hm0 + 3.2
P i is the circular frequency

4
TP (P = 2/TP and TP = 1.25TZ );
i is the peakedness factor
i is the peadedness scale, typically taken in the North Sea as 1 = 0.07

measurements).
A non-dimensional period scale is introduced by:
Tf TP
lu = (11.10)
Tf Tlu

where Tlu = 2 Hm0 if TP Tf and Tlu = 25 if TP > Tf , defines the lower or upper
value for TP . q
The significant wave height for each peak is given as Hm0,1 = Rpp Hm0
and Hm0,2 = 1 Rpp 2 H
m0 . Rpp is defined according to the coefficients A1 and A10
as follows: !
lu 2

Rpp = (1 A10 )exp + A10 (11.11)
A1

11-98 Wave spectra
( (
0.5 if TP Tf 0.7 if TP Tf
A1 = A10 = (11.12)
0.3 if TP > Tf 0.6 if TP > Tf
The primary and secondary peakperiods are defined as:
Tp,1 = Tp (11.13)
Tf + 2 if TP Tf
(
Tp,2 = 1/3 (11.14)
6.6Hm0 if TP > Tf
The peakedness parameters are defined as:
1 = 35(1 + 3.5exp(Hm0 ))T (11.15)
2 = 1 (11.16)
where 0.857
2Hm0,1

gTp2
if TP Tf
T = 0.857 (11.17)
(1 + 6lu ) 2Hm0

2 if TP > Tf
gTf
Finally the normalization parameters i are found by numerical integration so that:

Z
2
SJ (, Hm0,i , p,i , i , Ni , Mi , i )d = Hm0,i /16 (11.18)
0
11.6 Torsethaugen Simplified

The energy density function of the Torsethaugen Simplified spectrum is the sum
of two JONSWAP spectra relative to wind wave and swell wave systems. The
characteristics of each JONSWAP spectrum are deduced from two parameters: the
Torsethaugen spectrum significant height Hm0 and the Torsethaugen spectrum nat-
ural period TP . The distinction between wind dominated and swell dominated sea
states is defined by the fully developed sea where:
1/3
TP = Tf = 6.6Hm0 (11.19)
If TP Tf , the local wind sea dominates the spectral peak, otherwise it is dominated
by the swell. The energy density function is defined as follows:
2
X
ST () = Ei .Si () (11.20)
i=1
i = 1 primary sea system, i = 2 secondary sea system.

1 1
E1 = .H 2 .TP,1 and E2 = .H 2 .TP,2 (11.21)
16 m0,1 16 m0,2

11.6 Torsethaugen Simplified 11-99
2
4
G0 .A .P (/P 1 1)
P 1 4 exp( )
S1 () = 4
1
.exp((
) ). 2 2
(11.22)
4
G0 .A .P
S2 () = 4
2
.exp(( P 1 )4 )
where:
G0 = 3.26
A = (1 + 1.1.(ln )1.19 )/
P i is the circular frequency

TP (P = 2/TP and TP = 4 1.25TZ );
i is the peakedness factor
i is the peadedness scale, typically taken in the North Sea as 1 = 0.07

measurements).
A non-dimensional period scale is introduced by:

1. if Tp Tf and Tf Tlu
Tf TP

if Tp Tf and Tf > Tlu

Tf Tlu
lu = Tp Tf (11.23)

Tf Tlu
if Tp > Tf and Tf Tlu

1.

if Tp > Tf and Tf > Tlu

where Tlu = 2 Hm0 if TP Tf and Tlu = 25 if TP > Tf , defines the lower or upper
value for TP . q
The significant wave height for each peak is given as Hm0,1 = Rpp Hm0
and Hm0,2 = 1 Rpp 2 H
m0 . Rpp is defined according to the coefficients A1 and A10
as follows: !
lu 2

Rpp = (1 A10 )exp + A10 (11.24)
A1
( (
0.5 if TP Tf 0.7 if TP Tf
A1 = A10 = (11.25)
0.3 if TP > Tf 0.6 if TP > Tf
The primary and secondary peakperiods are defined as:
Tp,1 = Tp (11.26)
(
Tf + 2 if TP Tf
Tp,2 = (11.27)
Tf if TP > Tf
Finally the peakedness parameters are defined as:
1 = 35.T (11.28)

11-100 Wave spectra
2 = 1 (11.29)
where 0.857
2Hm0,1

gTp2
if TP Tf
T = 0.857 (11.30)
(1 + 6lu ) 2Hm0

2 if TP > Tf
gTf
11.7 Darbyshire
The energy density function of the Darbyshire spectrum is defined as follows:
v
( 0 )2
u
06 4
u
SD () = 1.86E VW exp t
(11.31)
(0.054 ( 0 + 0.265))

with 0 = 6.284 (1.94 VW + 2.5E 07 VW4 )1 where:
SD is the energy density function of the spectrum,
is the wave circular frequency,
VW is the wind velocity at 19.5 meters elevation.
1.44 S(f )
1.26
1.08
0.9
0.72
0.54
0.36
0.18
f
0.06 0.12 0.18 0.24 0.3 0.36 0.42 0.48
Figure 11.6: Darbyshire spectrum. VW = 30m/s

11.8 Ochi-Hubble 11-101
11.8 Ochi-Hubble
The energy density function of the Ochi-Hubble spectrum is defined as follows:
2 i 2 !
1X 1 HS,i 1 p,i 4

SOH () = i + 4 exp i +
4 i=1 4 p,i (i ) 4i +1 4
(11.32)
where:
is the circular frequency (rad/s);
SOH is the power spectral density function of the spectrum (m2 /s);
HS is the significant wave height (m);
p is the peak wave circular frequency (rad/s) and is equal to:
2
p = (11.33)
Tp
Here Tp is the peak wave period (s);
, is the spectral shape parameter (peakedness parameter).
Each part of the Ochi-Hubble spectrum is a Wallop spectrum with m = 4 + 1 and

q = 4.
Ochi and Hubble formulated double peak spectral model where the resulting
spectrum was modeled as a superposition of two modified Pierson-Moskowitz spec-
tra. As we can see, this spectrum has three parameters for each wave system,
significant height, spectral peak period and the shape factor .
This formulation can be extended to three wave components.
11.9 Gaussian spectrum

The energy density function of the Gaussian spectrum is defined as follows:
HS2 p

SG () = (11.34)
162
where:
is the circular frequency (rad/s);

11-102 Wave spectra
S(f )
8.8
7.7
6.6
5.5
4.4
3.3
2.2
1.1
f
0.06 0.12 0.18 0.24 0.3 0.36 0.42 0.48
Figure 11.7: Ochi-Hubble spectrum. HW a = 5m, TZup = 10s, HW i = 3m, TW i = 4s,

1 = 6 and 2 = 0, 875
SG is the power spectral density function of the spectrum (m2 /s);
HS is the significant wave height (m);
p is the peak wave circular frequency (rad/s) and is equal to:

2
p = (11.35)
Tp
Here Tp is the peak wave period (s);
is the standard normal distribution given by:

1 1 2
(x) = e 2 x (11.36)
2

11.9 Gaussian spectrum 11-103
S(f )
0.11
0.1075
0.105
0.1025
0.1
0.0975
0.095
0.0925 f
0.03 0.06 0.09 0.12 0.15 0.18 0.21 0.24 0.27
Figure 11.8: Gaussian spectrum. HS = 3m, TP = 10s, = 2Hz

Chapter 12
Wind spectra
The range of available spectra is:

Davenport, Harris, Queffeulou, Kaimal, Kareem, Harris DNV, Ochi-
Shin and Wills.
The analytical formula of their power spectral density functions are given here-
after.
12.1 Davenport
The power spectral density function of the Davenport spectrum is defined as follows:
f SD (f ) x2
= 4.0 (12.1)
u2 (1 + x2 )4/3
where:
SD is the power spectral density function of the spectrum (m2 /s);
f is the frequency (Hz);
x is the normalized frequency given as follows:
fL
x= (12.2)
VW 10
L is a representative length scale (m);
VW 10 is the mean wind velocity at 10m height (m/s) which corresponds to the
spectrum amplitude velocity;

12-106 Wind spectra
u is the friction velocity given by:
kVW 10
u = (12.3)
ln(z/z0 )
with k the Von Karmans constant (0.4) and z0 , the routhness parameter, here
taken at 0.025.
Finally, the developped Davenport spectrum formulation is:
2 8 f
SD (f ) = 4L 3 C10 VW3 10 4 (12.4)
2
VW 3
f2 + L2
10
where:
C10 is the sea surface drag coefficient approximatively equal to 0.0044 and
given by:
!2
k
C10 = (12.5)
ln(z/z0 )
S(f )
240
210
180
150
120
90
60
30
f
0
0.3 0.6 0.9 1.2 1.5 1.8 2.1 2.4
Figure 12.1: Davenport spectrum. C10 = 0.0044, L = 1200m, VW 10 = 30m/s

12.2 Harris-Det norske Veritas Spectral Formulation 12-107
12.2 Harris-Det norske Veritas Spectral Formula-

tion
Below is the Harris-Det norske Veritas wind spectral formulation, reproduced in
Feikema and Wichers (1991).
f SHDN V (f )
= 4Fg (12.6)
u2
x
Fg = 5 (12.7)
(2 + x2 ) 6
with x, the normalized frequency given by:
1800f
x= (12.8)
VW 10
where:
SHDN V is the wind spectral density (m2 /s);
Fg is the gust factor;
u2 is the friction velocity equal to u2 = CVW2 10
C is the turbulence or surface drag coefficient; may be chosen to equal 0.002

for rough seas and 0.0015 for moderate seas;
L is the length scale dimension (m), which was chosen to be 1800 m;
VW 10 is the hourly mean wind speed (m/s) at 10m height;
f is the frequency (Hz).
12.3 Queffeulou
The power spectral density function of the Queffeulou spectrum is defined as follows:
1
SQ (f ) = 2.05C10 VW 10 Ri1 z 5 5
(12.9)
0.5206675z 3 f 3
1+ 5
(VW 10 Ri) 3
where:
SQ is the power spectral density function of the spectrum (m2 /s);

12-108 Wind spectra
27 S(f )
24
21
18
15
12
3
f
0.03 0.06 0.09 0.12 0.15 0.18 0.21 0.24
Figure 12.2: Harris-Det norske Veritas spectrum. C = 0.002, L = 1800m, VW 10 =

5m/s
z is the elevation (m);
Ri is the Richardson constant (0.05 < Ri < 0.2);
VW 10 is the hourly mean wind velocity at 10m height (m/s) which corresponds
to the spectrum amplitude velocity;
C10 is the sea surface drag coefficient.
12.4 Kaimal
The power spectral density function of the Kaimal spectrum is defined as follows:
f SK (f ) 200x
2
= 5 (12.10)
u (1 + 50x) 3
where:
SK is the power spectral density function of the spectrum (m2 /s);

12.4 Kaimal 12-109
8.8 S(f )
7.7
6.6
5.5
4.4
3.3
2.2
1.1
f
0.29 0.58 0.87 1.16 1.45 1.74 2.03 2.32
Figure 12.3: Queffeulou spectrum. C10 = 0.0044, z = 10m, VW 10 = 10m/s, Ri = 0.1
x is the normalized frequency given as follows:

fz
x= (12.11)
VW 10
z is the elevation (m) taken at 10m;
VW 10 is the hourly mean wind velocity at 10m height (m/s) which corresponds
to the spectrum amplitude velocity;
u is the friction velocity given by:

kVW 10
u = (12.12)
ln(z/z0 )
with k the Von Karmans constant (0.4) and z0 , the routhness parameter, here
taken at 0.025.
So, the final formulation is:

200zC10 VW 10
SK (f ) = !5 (12.13)
50zf 3
1+
VW 10
where:

12-110 Wind spectra
C10 is the sea surface drag coefficient approximatively equal to 0.0044 and
given by:
!2
k
C10 = (12.14)
ln(z/z0 )
56 S(f )
49
42
35
28
21
14
7
f
0.26 0.52 0.78 1.04 1.3 1.56 1.82 2.08
Figure 12.4: Kaimal spectrum. C10 = 0.0044, z = 10m, VW 10 = 10m/s
12.5 Ochi-Shin Spectral Formulation

Ochi-Shin (1988) suggest the following spectral formulation for wind over a seaway.
f SOS (f ) = CVW (z)2 Fg (12.15)
For which the gust factor Fg is defined as follows:

583x 0 < x < 0.0003
420x0.7

0.0003 < x < 0.1

Fg = (1 + x0.35 )11.5
838x

x > 0.1

(1 + x0.35 )11.5

where:
SOS is the power spectral density (m2 /s);

12.6 Hino Spectral Formulation 12-111
x = zf /VW (z) also referred to as the normalized frequency;
VW (z) is the hourly mean wind velocity at a height z (m/s);
z is the height above sea level (m).

Fiekema and Wichers (1991) suggest the following formulation for the drag co-
efficient to be used in conjunction with the Ochi and Shin spectral formulation:
C = (750 + 69VW (z)) 106 (12.16)
36 S(f )
32
28
24
20
16
12
4
f
0.027 0.054 0.081 0.108 0.135 0.162 0.189 0.216
Figure 12.5: Ochi-Shin spectrum. C = 0.002, z = 10m, VW 10 = 5m/s
12.6 Hino Spectral Formulation

The original form of the Hino spectrum is given by Ochi and Shin (1988),
f SH (f ) 0.475x
2
= 5 (12.17)
(1 + x2 ) 6
where:
SH is the the power spectral density (m2 /s),

12-112 Wind spectra
x is given by:
14
z
10 3 10
x= f (12.18)
0.0275VW 10 (VW 10 )3
is the exponent of the power law governing the profile of the mean wind
speed;
VW 10 is the mean hourly wind velocity (m/s) at a height of 10 m (m/s);
2 is the variance of the wind speed defined by Koulousek et al. (1984) as

2
10

2 2
= 5.6C(VW (z)) (12.19)
z
C is the surface drag coefficient;
VW (z) is the the mean hourly wind velocity (m/s) at a height z (m).
In a study by Ochi and Shin (1988), was chosen to be 0.16, value which has
been imposed within Ariane8 .
Kolousek et al. (1984) suggests that the Hino spectral formulation may be ap-
plied over an ocean environment.
2.7 S(f )
2.4
2.1
1.8
1.5
1.2
0.9
0.6
0.3
f
0.24 0.48 0.72 0.96 1.2 1.44 1.68 1.92
Figure 12.6: Hino spectrum. C = 0.002, z = 10, VW = 5m/s

12.7 Modified Harris Spectrum or Wills Spectral Formulation 12-113
12.7 Modified Harris Spectrum or Wills Spectral

Formulation
Below is the spectral formulation suggested by Wills cited by Feikema and Wichers
(1991).
f SHDN V (f )
= 4Fg (12.20)
u2
xA(x)
Fg = 5 (12.21)
(2 + x2 ) 6
with x, the normalized frequency given by:
Lf
x= (12.22)
VW 10
and:
5
2
(2 + x ) 6
A(x) = 0.51 (12.23)

5
x0.15 + 89 x 3
where:
SW is the power spectral density (m2 /s);
u2 is the friction velocity equal to u2 = CVW2 10
VW 10 is the hourly mean wind speed (m/s) measured at 10 m above the sea
surface;
Fg is the gust factor;
L is the length scale dimension (m);
C is the sea surface drag coefficient.

Feikema and Wichers (1991) take a velocity independent sea surface drag coeffi-
cient of 0.003, however because its origin is unclear it may therefore be considered
dubious. To compare spectral density functions, the sea surface drag formulation
stipulated by Bureau Veritas would be more useful.
0.0015
C10 = 0.00104 + (12.24)
1 + exp VW1.564
10 12.5
where:

12-114 Wind spectra
C10 is the sea surface drag coefficient at 10 m above the sea level;
VW 10 is the the hourly mean wind velocity at 10 m above the sea level.
17.6 S(f )
15.4
13.2
11
8.8
6.6
4.4
2.2
f
0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45
Figure 12.7: Wills spectrum. C10 = 0.002, L = 1800m, V = 5m/s
12.8 Kareem Spectral Formulation

Kareem proposes the following formula from analysis of available wind data and
spectral formulations, Ochi and Shin (1988).
335f
S(f ) = 5 (12.25)
(1 + 71f ) 3
where:
S(f ) is the dimensionless spectral density, define as
S(f ) = f SKa (f )/u2 (12.26)
SKa is the power spectral density (m2 /s);

u is the the shear velocity in m/s, defined as
q
u = C10 VW 10 (12.27)

12.9 NPD Spectral Formulation 12-115
VW 10 is the mean wind speed (m/s) at 10 m;
C10 is the surface drag coefficient evaluated from wind measurements at 10 m

height;
f is the normalized frequency defined as
f = f z/VW (z) (12.28)
VW (z) is the mean wind speed (m/s) at a height z (m), defined as:
VW (z) = VW 10 + 2.5u ln(z/10) (12.29)
In the derivation of the spectral formulation, Kareem specifically considers the

spectral density obtained at low frequencies.
19.2 S(f )
16.8
14.4
12
9.6
7.2
4.8
2.4
f
0.07 0.14 0.21 0.28 0.35 0.42 0.49 0.56
Figure 12.8: Kareem spectrum. C10 = 0.002, z = 10m, VW = 5m/s
12.9 NPD Spectral Formulation

The Norwegian Petroleum Directorate proposes the following formula from analysis
of available wind data and spectral formulations:
VW 10 2

320. 10
SN P D (f ) = 5 (12.30)
(1 + f n ) 3n

12-116 Wind spectra
0.75
VW 10

f = 172.f. (12.31)
10
n = 0.468
where:
SN P D is the power spectral density (m2 /s);
VW 10 is the mean hourly wind speed (m/s) measured 10 m above the sea
surface.
15.2 S(f )
13.3
11.4
9.5
7.6
5.7
3.8
1.9
f
0
0.04 0.08 0.12 0.16 0.2 0.24 0.28 0.32
Figure 12.9: NPD spectrum. n = 0.468, U0 = 5m/s
12.10 API Spectral Formulation

The American Petroleum Institute proposes the following formula from analysis of
available wind data and spectral formulations:
!!( 5 )
f 3
SAP I (f ) = s2v /fp . 1 + 1.5. (12.32)
fp
where:

12.10 API Spectral Formulation 12-117
SAP I is the power spectral density (m2 /s);
VW 10 is the mean hourly wind speed (m/s) measured 10 m above the sea
surface;
fp is the average factor (by default: 0.0025VW 10 );
sV is the turbulence intensity, sV = 0.164VW 10 (at reference height 10 m).
40 S(f )
35
30
25
20
15
10
5
f
0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45
Figure 12.10: API spectrum. fp = 0.0025V , VW 10 = 5m/s

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[9] F. Moschas, S. Stiros (2008) Noise characteristics of short-duration, high-

frequency GPS-records.
[10] Simon D. P. Williams et al. (2004) Error analysis of continuous GPS position
time series, JOURNAL OF GEOPHYSICAL RESEARCH, VOL. 109.
[11] L. Di Gaspero, E. Moyer (2010) QuadProg++, library under GNU Lesser Gen-
eral Public License.

12-120 BIBLIOGRAPHY
[12] C. De Wit (2009) Optimal Thrust Allocation Methods for Dynamic Positioning
of Ships, Master of Science in Applied Mathematics.
[13] Dr. ir. E.F.G. van Daalen, J.L. Cozijn, C. Loussouarn, Prof. Dr. P.W. Hemker
(2011) A Generic Optimization Algorithm For The Allocation Of DP Actuators,
OMAE2011-49116.
[14] E. I. Fossen, T. Perez (2009) Kalman Filtering for Positioning and Heading
Control of Ships and Offshore Rigs, Estimating the effects of waves, wind and
current, IEEE Control Systems magazine.
[15] E. A. Tannuri, L. K. Kubota, C. P. Pesce (2005) Adaptive Techniques Applied to

Offshore Dynamic Positioning Systems, XI DINAME - International Symposium
on Dynamic Problems of Mechanics.

Part VI
Algorithms

Appendix A
Brent
Brents method is an algorithm combining the bisection method, the secant method
and inverse quadratic interpolation. It is based on the Dekkers method which has
combined the bisection method and the secant method in first.
The idea is to use the secant method or inverse quadratic interpolation if pos-
sible, because they converge faster than the bisection one which is nevertheless the
most robust.
The equation to solve is f (x) = 0. As with the bisection method, Brents method
is initialized by two points a0 and b0 such as f (a0 ) and f (b0 ) have opposite signs. If
the function f is continuous on [a0 , b0 ], the intermediate value theorem guarantees
that the solution exists between a0 and b0 .
Three points have to be considered to formulate the method:
bi , is the root of the function f at the ith iteration;
ai , is the point such as f (ai ) and f (bi ) have opposite signs and |f (bi )| is less
than |f (ai )| at the ith iteration;
bi1 , is the root of the function f at the (i 1)th iteration.
For the first iteration, b1 is set equal to a0 .
Two ways can be used to compute the root of function f at the (i+1)th iteration.
The first could be the secant method (also called interpollation) but Brents method
is always define by using an inverse quadratic interpollation:

A-124 Brent
f (bi1 )f (bi )
bi+1q = bi2
(f (bi2 ) f (bi1 ))(f (bi2 ) f (bi ))
f (bi2 )f (bi )
+ bi1 (A.1)
(f (bi1 ) f (bi2 ))(f (bi1 ) f (bi )
f (bi2 )f (bi1 )
+ bi
(f (bi ) f (bi2 ))(f (bi ) f (bi1 ))
The second consists in applying the bisection method:

b i + ai
bi+1b = (A.2)
2
Then two tests are done to define the root b of function f at the (i+1)th iteration
and the way to compute bi+1 at the next step.
The first comes from the earlier method defined by Dekker and is formulated by:
if bi+1q lies between bi and bi+1b , then bi+1 is equal to bi+1q otherwise the midpoint
which has been computed by the bisection method is used and bi+1 is equal to bi+1b .
The second test defines the way to compute b at the next iteration and it has
been introduce by Brent.
If the previous step used the bisection method, the following inequality must
hold otherwise the bisection method is performed and its result used for the next
iteration:
1
|bi+1q bi | < |bi bi1 | (A.3)
2
If the previous step performed interpolation, then the inequality is used instead:
1
|bi+1q bi | < |bi1 bi2 | (A.4)
2
Concerning the value of ai+1 , it is chosen such as f (ai+1 ) and f (bi+1 ) have oppo-
site signs. If f (ai ) and f (bi+1 ) have opposite signs, ai+1 is equal to ai . Otherwise,
f (bi ) and f (bi+1 ) have opposite signs and ai+1 is equal to bi .
Finally if |f (ai+1 | is less than |f (bi+1 )|, the value of ai+1 and bi+1 are exchanged.

Appendix B
Newton
As the Brent algorithm, the equation to solve is f (x) = 0. N ewtons method

is initialized by one guess x0 which is reasonably close to the true root and the
function is approximated by its tangent line. Then x-intercept of the tangent line
can be computed easily (please see figure B.1). This x-intercept will be a better
root of the function f than the previous one. By iterating, its possible to find the
solution.
f (x)
x
x2 x1 x0
Figure B.1: Newton method illustration
By considering the function f differentiable and continuous on [a, b], with values
in the real numbers, the formula for converging on the root can be easily written.
f (a) and f (b) have opposite signs. The intermediate value theorem guarantees that
the solution exists between a and b. Then, from the current approximation xn , it
is easy to express the next approximation xn+1 by using the the derivative at this
given point xn which is the slope at that point. Hence, the resulting formula is:
1. f (xn ) 1.
(xn+1 xn ) f (xn ) = f (xn ) xn+1 xn = (B.1)
K f (xn ) K

B-126 Newton
where,
xn is the unknown vector at n. In Ariane8 it represents the position of vessels

in the global axis system. Its dimension is 3 Nvessels where Nvessels is the
number of vessels;
xn+1 : Unknown vector at n + 1;
f (x): Force vector. In Ariane8 it depends on vessels positions;
f (x): Jacobian matrix. In Ariane8 it depends on vessels positions to;
K: Newton step divider. By default K = 1.. If K > 1. the algorithm is more

robust, but the convergence is slower.
A threshold is introduced to stop the iteration when f (xn ) < .

Appendix C
HPCG
C.1 General
The routine HPCG, integrated into Ariane8 , is a routine which allow the calcu-
lation of the vessel position at each time step by the mean of a predictor-corrector
method.
C.2 Hamming method

The Hamming method allow the numerical resolution of non-constant-coefficient-
first- order-differential equation of the following form:
X(t) = f (t, X(t)) (C.1)

with the initial condition:
X(0) = X1 (C.2)
The Hamming method discretizes this problem in the time domain by using a
predictor-corrector multiple-step diagram, which uses for the calculation of the tn+1
solution, the previous four time steps:
tn , tn1 , tn2 , tn3

A first approximation, called predictor, is calculated by the following formula:
4t
Pn+1 = Xn3 + (2Xn Xn1 + 2Xn2 ) (C.3)
3
Then the value is modified by the following formula:

C-128 HPCG
112
Mn+1 = Pn+1 (Pn Cn ) (C.4)
121
where,
Pn is the previous step predictor value;
Cn is the previous step corrector value.
The n + 1 corrector value is calculated by the following formula:

1
Cn+1 = 9Xn Xn2 + 3t(Mn+1 + 2Xn Xn1 ) (C.5)
8
with:
Mn+1 = f (tn+1 , Mn+1 ) (C.6)
The final value is calculated by introducing the threshold error estimated by:
9
Tn+1 = (Pn+1 Cn+1 ) (C.7)
121
Therefore:
Xn+1 = Cn+1 + Tn+1 (C.8)
Xn+1 = f (tn+1 , Xn+1 ) (C.9)

This method is unconditionally stable.
Meanwhile, the Hamming method is not able to start by itself (Knowledge of the
previous four steps is compulsory). The equivalent order Runge method proposed
by Ralston is then used.
Starting from the value X0 , the value X1 is calculated by the mean of the fol-
lowing formulas:
k1 = t.X0
k2 = t.f (t0 + 0.4t, X0 + 0.4k1 )
k3 = t.f (t0 + 0.456t, X0 + 0.297k1 + 0.159k2 )
k4 = t.f (t0 + t, X0 + 0.218k1 3.051k2 + 3.832k3 )
X1 = X0 + 0.175k1 0.551k2 + 1.206k3 + 0.171k4
By using the same formulas, X2 and X3 are calculated as well.
This procedure is not really stable but it doesnt matter because it is only used
for the calculation of the first three steps.

C.2 Hamming method C-129
The Hamming method automatically deals with the discretization step in the
time domain. To do so, a precision control is done at each time step.
The program generates the following test value:

n
X
t = ai |Pj+1,i Cj+1,i | (C.10)
i=1
where,
n is dimension of the differential system;
ai is ponderation of each i-component of the differential system.
Then, the program compares the value t with a given tolerance.

Three cases are possible:
t > the calculation must restart with a time step divided by 2(t/2)

50
< t < the result Xn+1 is supposed to be correct. The same time step t is
kept for the following step calculation.
t < 50 the following calculation will be performed with a double time step (2t),
if this latter is not bigger to the one input by the user.
The tolerance is fixed in the program to the value 0.005.

Appendix D
Rainflow
This algorithm allows to treat a time history signal to proceed to the assessment
of the fatigue life time of structures. It can be done by the following several steps
which are described bellow:
1. The first step is to extract the extrema of the signal. Hence, the signal is
represented only by its maxima (peaks) and its minima (troughs). It induces
that the notion of real time disappears (please see figure D.1).
T T
t
(a) Time series (b) Extrema
Figure D.1: Extraction of extrema
Notes Differents papers on the Rainf low cycle counting method advices to
classify extrema into classes identified by their mean values. By this way, the
results can be less accurate. In Ariane8 the extrema are not classified.
2. After this pre-processing, the Rainf low algorithm can be performed. This
method reads the signal of extrema and takes them into account 4-by-4. These
points can be noted Ti , Ti+1 , Ti+2 , and Ti+3 (please see figure D.2). They
correspond to the value of the extrema (in our case to the tension).
Then a test is performed on the following differences:

D-132 Rainflow
Ti
Ti+2
Ti+1
Ti+3
Figure D.2: Rainflow cycle
T1 = |Ti+1 Ti |
T2 = |Ti+2 Ti+1 | (D.1)
T3 = |Ti+3 Ti+2 |
If T2 T1 and T2 T3 , then the cycle corresponding to (Ti+1 , Ti+2 ) is

extracted and stored and its value corresponds to T2 . The algorithm continue
with the following four points. If the conditions is not reached, the algorithm
is performed at the iteration i + 1.
After having treated the signal, a residue remains that can be treated in two
ways:
1. The residue is duplicated and the two resulting parts are joined. The resulting
signal is given to the Rainf low counting algorithm once again. Tension ranges
per residue cycles signal are obtained. Thus, the damage for an environmental
state i, considering the Miner sum, is calculated with the following formulation:
N
X nTj
Di = (D.2)
j=1 Nj
where Tj are the tension ranges of the main signal and the residue signal.
2. The residue is treated directly. In that case, the damage for an environmental
state i, considering the Miner sum, is computed in the following way:
N Nr
X nTj X 1 nTk
Di = + (D.3)
j=1 Nj k=1 2 Nk

D-133
where Tj are the tension ranges of the main signal and Tk are the tension
ranges of the half-residue signal. These tension ranges Tk are commonly called
half-cycles of the residue.
The second option is less time-consuming than the first one and is the one se-
lected for Ariane8 fatigue calclation.
The result of the algorithm is a set of tension ranges stored along the counting.
Then a fatigue analysis can be done.

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Ariane8

-Ariane8 , Theoretical Manual-

III Time domain resolution 21

-Bureau Veritas, Marine Department-

3.3.1 Low frequency response (3 DOF) + high frequency motions (6 DOF) 28

4 Low frequency resolution in 6 DOF 33

5 Low * high frequency response in 6 DOF 35

-Ariane8 , Theoretical Manual-

8.2 Wave first order loads . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

-Bureau Veritas, Marine Department-

12 Wind spectra 105

-Ariane8 , Theoretical Manual-

air , the air density

water , the sea water density

g , the gravity acceleration

wave , the wave incidence relative to the vessel heading

wind , the wind incidence relative to the vessel heading

current , the incidence of the current

wave , the incidence of the wave

wind , the incidence of the wind

(x, t) , the surface elevation at instant t at point of coordinates x

, the circular frequency

m and M , respectively the minimum and the maximum of circular frequencies

p , the circular frequency corresponding to the peak period

F env , the environmental forces vector

ai , i , i , ki , amplitude, circular frequency, phasis and wave number of the ele-

-Bureau Veritas, Marine Department-

CM olin , the coefficient equal to a percentage of CCy (90 )

CM unk , the Munk coefficient relative to the percentage of current velocity

H , the water depth

MCM olin/O , the additional Molin moment

MM unk , the Munk moment

Nwave , the number of singular Airy waves

Nwind , the number of wind components

S , the spectral density function

TP , the wave peak period

TZ , the wave zero-upcrossing period

UC , the relative equivalent current velocity

UL and UT , respectively the longitudinal and the transversal instantaneous relative

V ( ) , the total relative fluid velocity at the algebraic distance from O

VC , the absolute current velocity

-Ariane8 , Theoretical Manual-

vk , fk , k , the components representative of the gust spectrum

VW , the wind velocity at 10 meters elevation

V ( ) , the transverse component of the relative fluid velocity at the algebraic

, the gamma function

C , the origin of the global axis system

CN E , the global axis system

E , the East direction

N , the N orth direction

W i , the bandwidth parameter for the wave frequency tension

Ak , the azimuth of the mooring line number k (single) or the fairlead-to-fairlead

BL , the mooring line breaking load

D , the resultant damage ratio for fatigue calculation

Dh(k) , the horizontal distance of mooring line number k (anchor-to-fairlead or

-Bureau Veritas, Marine Department-

FM , the mooring forces

Krd1 , the constant of the dynamic stiffness for multi-elastic lines

Krd2 , the coefficient of the dynamic stiffness for multi-elastic lines

L , the mooring line segment length

ML , the mean tension in the mooring line

n , the number of cycles per year in the fatigue calculation

Nlines , the number of mooring lines

P , the probability of occurrence of the environmental state considered