Proceedings of the 10th International Conference on Offshore Mechanics and Arctic Engineering, OMAE’91, Volume 1, Part A (summary)

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10TH INTERNATIONAL CONFERENCE ON

OFFSHORE MËCHMICS

AND

ARCTICflSIGlNEERlNG

1991

-VOLUME I - PART A

E D I T E D BY S . K . C H A K R A B A R T I

HrivrAEDA

A . N. W I L L I A M S D. G . M O R R I S O N M. H E N D R I C K S E N

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nCHNiSGHE UNIVBISiTEfT

Laboratorium voor

Scheepshydromechanica

Archief

Mei(elweg 2, 2628 CD Delfl

T«L: 015 • 786873 - Fax: 015 - 781835

OFFSHORE MECHANICS AND

ARCTIC ENGINEERING

" 1991

-PROCEEDINGS OF THE P ^ ^ 9 ^ - ^ ^

10TH INTERNATIONAL CONFERENCE ON

PRESENTED AT

THE 10TH INTERNATIONAL CONFERENCE ON OFFSHORE MECHANICS AND ARCTIC ENGINEERING Stavanger, Norway June 23-28, 1991

ORGANIZED BY

The Offshore Mechanics and Arctic Engineering Division, ASME The Norwegian Society of Chartered Engineers

VOLUME I - PART A

O F F S H O R E TECHNOLOGY

Hydrodynamics - Special Topics Hydrodynamic Forces

Second-Order Effects

Vortex Shedding and Vibration Ocean Waves and Current Computational Methods

EDITED BY

SUBRATA K. CHAKRABARTI

CHICAGO BRIDGE & IRON TECHNICAL SERVICES CO. HISAAKI MAEDA UNIVERSITY OF TOKYO GRANT E. HEARN UNIVERSITY OF NEWCASTLE-UPON-TYNE A. NEIL WILLIAMS UNIVERSITY OF HOUSTON DENBY G. MORRISON SHELL OIL COMPANY MOGEN HENDRICKSEN

UNIVERSITY OF NORTH DAKOTA

T H E A M E R I C A N S O C I E T Y O F M E C H A N I C A L E N G I N E E R S United Engineering Center • • 345 East 47th Street • • New York. N.Y 10017

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6 " •

Statement from By-Laws: Ttie Society stiall not be responsible for statements or opinions advanced in papers . . . or printed in its publications (7.1.3)

ISBN No. 0-7918-0716-9

Library of Congress Catalog Number 82-70515

THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS All Rigtits Reserved

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F O R E W O R D

The annual International Conference on Offshore Mechanics and Arctic Engineering (OMAE) continues to serve as a major international forum for the presentation of research and engineering worl<s on interdisciplinary offshore mechanics and arctic engineering. This is the tenth anniversary o f t h e OMAE Conference, held in Stavanger, Norway. The Offshore Technology Symposium within the 1991 OMAE Conference consists of 20 technical paper sessions and one industry panel session on Offshore Outlook. This volume contains 93 papers from more than 18 countries, all of which have been reviewed and revised prior to acceptance for publication.

The Offshore Technology Symposium covers the following subjects: • ocean waves and current

• hydrodynamic forces • nonlinear hydrodynamics • second-order effects • fluid structure interaction • motions of floating structures • computational methods • risers/moorings/cables • vortex shedding and vibration • structural mechanics

• case histories - offshore structures • offshore structure concepts

• geotechnical engineering

The session on ocean waves and current inciudes numerical simulation, irregular and shallow water waves, as well as offshore field data on tides. There are numerous papers on hydrodynamics and nonlinear hydrodynamics. They include analytical, numerical, and experimental research on fixed and moving offshore structures. T w o sessions deal with the second-order effects of hydro-dynamics. The sessions on the fluid structure interaction and motions of floating structures mainly deal with the dynamics of floating offshore structures. These papers are followed by risers, cables, and mooring lines. There is one session on structural mechanics dealing with structural member loading effect, and t w o sessions on geotechnical engineering covering structure/soil interaction problems. Case histories of offshore structures descnbe the performance of past and future struc-tures for the offshore application.

Numerous session organizers devoted their valuable time in making these proceedings and deserve heartfelt thanks from the OMAE Executive Committee. We appreciate the great cooperation w e have received f r o m authors and reviewers in meeting deadlines. On behalf of ali the individual session organizers and members of the OMAE Conference Committee, we w o u l d like to thank the individual reviewers (listed in this volume) for their help in maintaining the technical quality of the papers. S. K. Chakrabarti H. Maeda G. E. Hearn A. N. Williams iii

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O F F S H O R E T E C H N O L O G Y S Y M P O S I U M C O M M I T T E E

Subrata K. Chakrabarti, Chairman, Chicago Bridge & Iron Technical Services Company, Plainfield, Illinois

Christian Aage, Technical University of Denmark, Lyngby, Denmark

Sunder H. Advani, Ohio State University, Columbus, Ohio

Desikan Bharathan, Solar Energy Research Institute, Golden, Colorado James N. Brekke, Exxon Production Research Company, Houston, Texas

Dennis C. Cotter, Chicago Bridge & Iron Technical Sen/ices Company, Plainfield, Illinois R. Cengiz Ertekin, University of Hawaii at Manoa, Honolulu, Hawaii

Ove T. Gudmestad, STATOIL, Stavanger, Non^/ay

Grant E. Hearn, University of Newcastle Upon Tyne, Newcastle Upon Tyne, United Kingdom IVIogen Hendricksen, University of North Dakota, Grand Forks, North Dakota

Michael E. Isaacson, University of British Columbia, Vancouver, British Columbia, Canada Sridhar Jagannathan, The Glosten Associates Inc., Seattle, Washington

Hisaaki Maeda, University of Tokyo, Tokyo, Japan Denby G. Morrison, Shell Oil Company, Houston, Texas

Dag Myrhaug, Norwegian Institute of Technology, Trondheim, Norway Finn G. Nielson, Norsk Hydro Research Centre, Bergen, Norway H. Ronald RIggs. University of Hawaii at Manoa, Honolulu, Hawaii Thomas E. Schellin, Germanischer Lloyd, Hamburg, Gemany

Paul Schofield, WS Atkins Engrg. Sciences Ltd., Bristol, United Kingdom Charles Sparks, Institut Francais du Petrole. Rueil Malmaison, France William Stewart. Stewart Technology Associates, Houston, Texas Henry T. Wang, Naval Research Laboratory, Washington, D.C. A. Neil Williams, University of Houston, Houston, Texas

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OFFSHORE T E C H N O L O G Y S Y M P O S I U M

S E S S I O N O R G A N I Z E R S

Christian Aage, Technicai University of Denmarl<, Lyngby, Denmarl<

Sunder H. Advani, Ohio State University, Columbus, Ohio

Desiltan Bharathan, Solar Energy Research Institute, Golden, Colorado

James N. Breld<e, Exxon Production Research Co., Houston, Texas

Subrata K. Chalcrabarti, Chicago Bridge & Iron Technical Services Company, Plainfield, III Dennis C. Cotter. Chicago Bridge & Iron Technical Services Company, Plainfield, Illinois R. Cengiz Ertekin, University of Hawaii at Manoa, Honolulu, Hawaii

Ove T. Gudmestad, STATOIL, Stavanger, Norway

Grant E. Hearn, University of Newcastle Upon Tyne, Newcastle Upon Tyne, United Kingdc Mogen Hendricksen, University of North Dakota, Grand Forks, North Dakota

Michael E. Isaacson, University of British Columbia, Vancouver, British Columbia, Canada Sridhar Jagannathan, The Glosten Associates Inc., Seattle, Washington

Hisaaki Maeda, University of Tokyo, Tokyo, Japan Denby G. Morrison, Shell Oil Company, Houston, Texas

Dag Myrhaug, Norwegian Institute of Technology, Trondheim, Nonway Finn G. Nielson, Norsk Hydro Research Centre, Bergen, Nonway H. Ronald Riggs, University of Hawaii at Manoa, Honolulu, Hawaii

Thomas E. Schellin. Germanischer Lloyd, Hamburg, Germany

Paul Schofield, WS Atkins Engrg. Sciences Ltd., Bristol, United Kingdom Charles Sparks, Institut Francais du Petrole, Rueil Malmaison, France

William Stewart, Stewart Technology Associates, Houston, Texas Henry T. Wang, Naval Research Laboratory, Washington, D.C. A. Neil Williams, University of Houston, Houston, Texas

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PARTIAL LIST OF REVIEWERS

C. Aage S. H. Advani L. Baer K. J. Bai J. Baldwin R. G. Bea P. W. Bearman W. Blendermann J. N. Brelcke F. Bruen H. Brunk K. F. Cheung A. S. Chitrapu G. F. Clauss R. Cointe I. Collins A. Cornett D. C. Cotter M. D. Earle R. C. Ertekin E. W. Foley I. J. Fylling O. M. Griffin O. T. Gudmestad K. J. Han N. Haritos G. E. Hearn M. Hendricksen K. Herfjord S. B. Hodges T. E. Horton C. S. Hsu R. Hudspeth E. Huse K. Ikegami Y. Inoue M. B. Irani M. E. Isaacson H. Ishitani S. Jagannathan T. Jiang T. Kinoshita K. Koterayama Y. Kyozuka E. Lehmann H. Maeda T. Mathai T. Matsui G. Moe D. G. Morrison H. Moshagen D. Myrhaug J. N. Newman F. G. Nielsen G. Nihous R. P. Nordgren J. O'Dea S. Ohmatsu O. Ohkusa P. Oltmann A. Papaniko J. Pawlowski J. Pinkster K. S. R. Prasad H. R. Riggs G. Rodenbusch T. Sarpkaya T. E. Schellin W. W. Schultz L. H. SeidI G. Shark S. T. Slocum H. Soding B. Sortland C. Sparks M. St Denis R. G. Standing W. Stewart K. Subbiah B. M. Sumer Y. Takaishi T. Takayama M. Triantafyllou A. Troesch G. Tryggvason T. Vinje H. T. Wang A. N. Williams H. Yamato C. Yang K. Yoshida D. K. Yue vii

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PROCEEDINGS

O F T H E 10TH

INTERNATIONAL CONFERENCE

ON

OFFSHORE MECHANICS AND ARCTIC ENGINEERING

1991 OMAE

-VOLUME I - OFFSHORE TECHNOLOGY, PART A Hydrodynamics - Special Topics

Hydrodynamic Forces Second-Order Effects

Vortex Shedding and Vibration Ocean Waves and Current Computational Methods

VOLUME I - OFFSHORE TECHNOLOGY, PART B Case Histories - Offshore Structures

Offshore Structure Concepts Fluid Structure Interaction Risers, Moorings, and Cables Structural Mechanics Geotechnical Engineering Motions of Floating Structures

VOLUME 11 - SAFETY AND RELIABILITY Probabilistic Modeling of Wave Environment Probabilistic Load and Response Modeling

Probabilistic Fracture Mechanics and Fatigue Reliability Structural Reliability Theory

Reliability of Offshore Structures Reliability of Ship Structure

Reliability-Based Inspection and Maintenance Risk Analysis

VOLUME 111 - MATERIALS ENGINEERING, PART A Residual Stress and Distortion in Welds

Weld Metal and HAZ Properties Underwater and Hyperbaric Welding Steel Development

Materials Application and Inspection Titanium for Offshore Applications

VOLUME III - MATERIALS ENGINEERING, PART B Thickness Effect

Fatigue Life Prediction Tubular Joints Fracture Control Composite Materials Concrete Technology

VOLUME IV - ARCTIC/POLAR TECHNOLOGY Arctic Structures, Operations, and Analysis Applied Ice Mechanics

Properties, Mechanics, and Analysis of Frozen Soil Ice Environment/Statistics

Ice-Structure Interaction Ice Properties

Soil-Structure Interaction

VOLUME V - PIPEUNE TECHNOLOGY

Pipeline Design/Hydrodynamic Forces/On-Bottom Behavior Pipeline Materials and Welding

Pipeline Safety/Reliability

Pipeline Installation/Operation/Inspection/Maintenance Pipeline Mechanics

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C O N T E N T S

^ SPECIAL SESSION - HYDRODYNAMICS

Uncertainty of Design Parameters From Viewpoint of Extreme Statistics

Yoshimi Goda 1 PART A

Separation Points on a Cylinder in Oscillating Flow

T. Sarpkaya and W. Butterworth g

Wave Diffraction: Some Developments in Linear and Non-Linear Theory

ƒ?. Eatock Taylor and F. P. Chau 19 HYDRODYNAMIC FORCES

A Numerical Comparison of Morison Equation Coefficients for Oscillatory Flows: Sinusoidal and Nonsinusoidal

J. Zhang, C. Dalton, and X. Wang 29

Frequency Domain Analysis of Inline Forces on Circular Cylinders in Random Oscillatory Flow

R. G. Longoria, R. W. Miksad, and J. J. Beaman 39

Hydrodynamic Loads on Typical Jacket Joints in Steady Flow

P. Velk and M. J. Sterndorff 47

The Cnoidal Wave Force on Pier Group in Shallow Water

D. H. Qiu, Y. H. Zhou, and Y. Jia 55

Second-Order Wave Forces on a Cone Shaped Floating Structure

K. Masuda, T. Nagai, Y. Fujisawa, and T. Shibayama 63

Simulated High Reynolds Number Flow and Forces on Cylinder Groups

Lars Yde and Erik Asp Hansen 71

N/ Wave Force and Flow Interference Effect on Vertical Cylinders

Nicholas Haritos and Ying Q. He 81

Three Dimensional Nonlinear Dynamic Analysis Method of Underwater Line Structure and Its Validation

Hideyuki Suzuki and Koichiro Yoshida 87

v^The Calculation of In-Line Force on a Vertical Circular Cylinder and Analysis of Hydrodynamic Coefficients Cd, Cm in Wave-Current Co-Existing Field

H. G. Kang, Y. C. Li, and H. R. Wang 95

Numerical Simulation of Nonlinear Wave Diffraction by a Vertical Cylinder

Chi Yang and R. Cengiz Ertekin 105

SECOND-ORDER EFFECTS

The Computation of Second-Order Wave Loads

C.-H. Lee, J. N. Newman, M.-H. Kim, and D. K. P. Yue 113

Nonlinear Diffraction of Random Waves by a Vertical Cylinder

C. C. Hsieh, A. Kareem, and A. N. Williams 125 Mean Drift Forces on a Pair of Cylinders in a Narrow Tank

A. N. Williams and J. H. Vazquez I35

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Hydrodynamic Analysis of SPM Motions and Cable Forces

Paul Kaplan 141 PART A

High Frequency Hydrodynamic Damping of a TLP Leg

S. K. Chakrabarti and S. Y. Hanna 147

Low Frequency Responses of a Moored Tanker: A Comparison of Results

K. L Mitchell and R. Eatock Taylor 153

Numerical Prediction of Low-Frequency Surge of Two Moored Floating Production Platforms

T. E. Schellin, T. Jiang, and S. D. Sharma 165

Uncertainties in Estimating Second-Order Low-Frequency Wave Forces and Responses

R. G. Standing 175

VORTEX SHEDDING AND VIBRATION

Two-Dimensional Response ofa Flexibly Mounted Cylinder in Oscillatory Flow

A. W. Lipsett and I. D. Williamson 187

Measurements of Fluid-Dynamic Damping of Stranded Cable Models at Low Oscillation Amplitude

C. B. Rawlins 195

The Flow-Induced Vibration of Undersea Cables in Non-Uniform Flows

Peter Capozucca, James J. Burgess, and J. Kim Vandiver 203

OCEAN WAVES AND CURRENT

An Analytical Study on Transmission and Reflection of Non-Linear Shallow Water Waves on a Two-Dimensional Fixed Floating Body

G. P. Miao andY. Z.Liu 209

Extreme Wave Asymmetry in Full Scale and Model Scale Experimental Wave Trains

C. T. Stansberg 215

N/ Wave Kinematics in Irregular Waves

James E. Skjelbreia, Gene Berek, Zane K. Bolen,

Ove T. Gudmestad, John C. Heideman, Robert D. Ohmart,

Nils Spidsoe, and Alf Torum 223

Numerical Generation of Gravity Waves and Open Boundary Scheme

Y. Tanaka and T. Nakamura 229

The Lowest Astronomical Tide in the Ekofisk Area

M.J. Mes 237

COMPUTATIONAL METHODS

Non-Linear Dynamic Time Domain Simulation of Moored Floating Systems

O. Yilmaz and A. Incecik 247

Wave Loading of Ships and Platforms at a Small Forward Speed

John Grue and Enok Palm 255

Domains of Attraction of a System of Nonlinearly Coupled Ship Motions by Simple Cell Mapping

Won Kyoung Lee 265

Numerical Simulation for Nonlinear Diffraction Problems of Shallow Water Wave by Offshore Structures

F. Ohtsuka, K. Masuda, and T. Nishimura 273 Numerical Simulation of Transient Nonlinear Free-Surface Flows With Body Interaction

Vincent Saubestre 281

Hydroelastic Response of Very Large Floating Structures

H. Ronald Riggs, Xiling Che, and R. Cengiz Ertekin 291

Non-Linear Response Characteristics of Compliant Offshore Structural Systems Via the Swept Sine Wave Technique

Nicholas Haritos SOI

Viscosity Effects on the Radiation Hydrodynamics of Two-Dimensional Cylinders

Ronald W. Yeung and Chun-fa Wu 309

Finite Element Model Correlation for Offshore Structures

Ricky L. Tawekal and Michael M. Bernitsas 317

Modeling Acoustic Propagation Beneath Ice Using the Finite Element Technique

James H. Clark and Robert Lafreniere 327

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CASE HISTORIES - OFFSHORE STRUCTURES

In Service Experience of Fixed Offshore Structures in Norway

Reidar Hamre, Arne Kvitrud, and Kara Tesdal 331 PART B

Full Scale Measurement and Analysis on a SPM System

M. Dogliani, S. Monti, L. Sebastiani, and R. Tedesctii 337

On the Tensions of Mooring Lines of Floating Platform "Poseidon"

Shigeo Otimatsu, Sadao Omata, Sliunji Kato, Naoto Yamagishi,

and Kentaro Kobayashi 345

Monitoring Ekofisk Seabed Subsidence: A Continuing Effort

M.J. Mes 355

OFFSHORE STRUCTURE CONCEPTS

Deepwater Production: Different Solutions for This Challenge

Roberto Alfradique Vieira de Macedo and Roberto Pessoa Coeiho 361

Marlim Field Development: A Challenge in Deepwaters Production

A. Asrilhant 371

Albacora: A Deepwater Field Feasibility Study

Marco Antonio Guimaraes Dias and Ricardo Luis Carneiro Beltrao 385

Gorm F — An Optimized Jacket

Jens Otto Larsen, Jesper Kirchheiner, and Kai B. Olsen 401

Small Concrete Platform Concepts

Severin Lindseth 411

New Ideas for Small Unmanned Platforms

John W. A. Coker and Ove T. Gudmestad 419

Design of Fixed Offshore Platforms to Dynamic Ship Impact Loads

Martin J. Sterndorff, John Waegter, and Christian Eilersen 423

Structural Engineering Aspects of the Star Platform

John Waegter, Kai B. Olsen, and K. A. Sorensen 431

Concrete Tubular Truss Structure

Claude Valenchon, Ove T. Gudmestad, and Helge Skj'aeveland 441

Manned Submarines for Offshore Service Duties

Ayres Freitas 449

FLUID STRUCTURE INTERACTION

An Investigation of Hydrodynamic Damping of Vertical Bottom-Pivoted Cylinders

Nicholas Haritos and Haixi Yang 457

Hydroelastic Model Study of a Deepwater Tripod Tower Platform: Response to Regular and Random Waves

N. Srinivasan, A. S. J. Swamidas, J. S. Pawlowski, and

C. Williams 465

Numerical Analysis of Wave Induced Porous Fluid Pressure on Three-Dimensional Structure of Arbitrary Shape Resting on Seabed

Dahong Qiu and Jun Zang 475

Gravity Waves and Their Interaction With Floating Twin Bodies

S. Chen, O. Mahrenholtz, and T. Zhu 481

RISERS, MOORINGS, AND CABLES

Effects of Internal Friction and Torque Stiffness on the Global Behavior of Flexible Risers and Umbilicals

Ivar Fylling and Arild Bech 489

An Experimentally Based Model for Prediction of Lock-in Riser Motions

Geir Moe 497

Dynamics of Tension Leg Platform Tethers at Low Tension: Part 1 — Mathieu Stability at Large Parameters

M. H. Patel and H. /. Park 507

Computational Tools for the Time and Frequency Domain Analysis of TLP Tethers and Risers

J. F. McNamara and M. Lane 519

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Modeling Jacking Forces on TLP Column Tops „ „ D T o

H. M. Thompson •. ^27 PART B

An Efficient Linearization Sciieme for the Non-Linear Dynamic Equations of Flexible Robotic Manipulators

Anand M. Sharan and Praveen Kalra

Measurement of Cable Support Point Motions: Experiments in a Power Plant Cooling Canal

J. J. Burgess and P. Capozucca

On the Dynamic Tension of Towline in Ocean Towing

Yoshiyuki Inoue, Takes! Nakamura, and Hiroaki Miyabe 547

A Non-Uniformly Loaded Catenary Element

A. Back-Pedersen and K. K. Andreasen 555

On the Influence of Internal Slip Between Component Layers on the Dynamic Response of Unbonded Flexible Pipe

Z Tan, J. A. Witz, G. J. Lyons, J. Fang, and M. H. Patel 563

STRUCTURAL MECHANICS

Earthquake Response of Offshore Structures

Y. Bai and P. T. Pedersen 571

Dynamics of Tubular Semi-Rigid Joints

R. Kohoutek and /. Hoshyari 579

Effects of Mass Distribution on Free-Fail Lifeboat Behavior

J. K. Nelson, D. J. Fallon, J. Verhoef, and T. J. Hirsch 587

Dynamic Characteristics and Analysis of Steel Jacket Structures With Nonlinear Flexible Joints

A. S. EInashai and B. A. Izzuddin 595

GEOTECHNICAL ENGINEERING

Soil Structure Interaction Model for a Suction Pile Platform

J. Lorin Rasmussen, N. H. Christensen, and F. Haahr 501

Full Scale Offshore Pile Tests in Calcareous Sands

Joao Alcino de Andrade Martins 511

Breakout Resistance of Large Suction Piles

N. H. Christensen, F. Haahr. and J. Lorin Rasmussen 617

Geomechanical Model of Seabed Profile

Masaharu Fukue and Takaaki Nakamura 523

MOTIONS OF FLOATING STRUCTURES

, Motion Response of Floating Production Units: Results From a Comparative Study on Computer Programs

Kjell Herfjord and Finn Gunnar Nielsen

s , Motions of Rectangular Barges

J. M. J. Journée •'; • • •' '

Study of the Hydrodynamic Forces and the Wave Exciting Forces on Cone Type Structure With a Constant Forward Speed in Waves

Yasuo Fujisawa, Koichi Masuda, and Hisaaki Maeda

Added Mass Analysis of Elastic Axisymmetrical Rotational Shell in Water

Osamu Saijo and Nobukiyo Nishiwaki

Researches on Eliminating the Fluctuating of Fluid in Oil-Gas Separators on Offshore Floating

Production Platforms gg^

Hua-can Fang and Xing-ping Xu

Some Aspects of Deepwater Jacket On-Bottom Installation Dynamics

Denby G. Morrison, Thyl E. Kint, and Carlos Llorente • • •

Dynamic Positioning of Horizontal Motion of a Drilling Vessel During Heading Changes

Celso Kazuyuki Morooka, Wagner Caradori do Amaral, and

Clovis Antonio Lopes ; • • • " '

Analysis of Mooring Lines and Risers Effects on the Stability of Semisubmersibles

Kazuo Nishimoto, Paulo Fernando Brunozi, and ^^.^ Jorge Luiz Babadopulos

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Mathematical Modeiing of Free-Fall Lifeboat Launch Behavior

J. K. Nelson, D. J. Fallon, and T. J. Hirsch 695 PART B \/ A Study on the Stability Criteria of Semisubmersibles

Y. Takaishi, S. Ando, Y. Isozaki, K. Matsumoto, H. Okada,

and R. Takai 703

Author Index 709

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