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Application of an Extended Inverse Method for the Determination of Ice-Induced Loads on Ships

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Application of an Extended Inverse Method for the Determination of Ice-Induced Loads on Ships Application of an Extended Inverse Method for the Determination of Ice-induced Loads on Ships Master thesis in Nordic Master in Maritime Engineering Jillian M. Adams Department of Mechanics and Maritime Sciences CHALMERS UNIVERSITY OF TECHNOLOGY Gothenburg, Sweden 2018 Master Thesis 2018:63 Application of an Extended Inverse Method for the Determination of Ice-induced Loads on Ships Jillian M. Adams Department of Mechanics and Maritime Sciences Division of Naval Architecture and Ocean Engineering Chalmers University of Technology Gothenburg, Sweden 2018 Application of an Extended Inverse Method for the Determination of Ice-induced Loads on Ships JILLIAN M. ADAMS © Jillian M. Adams, 2018. Supervisor 1: Pentti Kujala, PhD., Aalto University, Finland Supervisor 2: Ville Valtonen, MSc., Aker Arctic Technology Inc., Finland Examiner: Per Hogström, PhD., Department of Mechanics and Maritime Sciences Master’s Thesis 2018:63 Department of Mechanics and Maritime Sciences Division of Naval Architecture and Ocean Engineering Chalmers University of Technology SE-412 96 Gothenburg Telephone +46 31 772 1000 Cover: Icebreaking Multipurpose Emergency and Rescue Vessel Baltika during ice trials © Aker Arctic Technology Oy Typeset in LATEX iv Application of an Extended Inverse Method for the Determination of Ice-induced Loads on Ships JILLIAN M. ADAMS Department of Mechanics and Maritime Sciences Chalmers University of Technology Abstract With the opening of more Arctic shipping routes, the motivation to design safe and efficient ice-going ships has increased. Recently, knowledge of ship-ice interactions and the mechanics of icebreaking processes has improved through numerous full- scale studies; however, the understanding of precise ice-induced pressures and load heights requires refinement to improve design methods. This thesis aims to further the development of an inverse engineering method to determine the nature of ice loads experienced by ships. The method uses full-scale strain measurements to estimate local pressures on the ship’s structures. The data studied in this thesis was collected on the oblique icebreaker Baltika while operating in the Russian Arctic over a two-year period. The inverse method uses an influence coefficient matrix to relate the measured strain to the input pressure load. Using FEM, strain response functions are fitted at each sensor to generate the terms of the influence coefficient matrix. An optimisation routine is used to solve the inverse force-strain relationship and predict the load patch shape and pressure induced by the ice impact. The hourly maximum strain measurements are identified and analysed to estimate the applied load and contact area during ice impact events. A general analysis of 250 significant impact events reveals that the applied pressure is on the order of 10-25 MPa and the load height is on the order of 1-3 cm. The detailed analysis of 98 individual impact events demonstrates that the load height during impact remains markedly constant for the duration of the contact. Furthermore, the pressure dis- tribution between load carrying structures is investigated. Based on the results, the pressure distribution between structural members is random and independent of the supporting structure. Keywords: ship-ice interaction, ice-induced load, inverse method, full-scale strain measurements, icebreaker, Arctic v Preface and Acknowledgements This thesis work can be seen as the culmination of 7 years of engineering education across four countries. While it is based in the field of ship design, it required fundamental knowledge in structural engineering, mathematics, ice mechanics and programming. It was always a challenge and it was always interesting. This thesis was completed in partnership with Aker Arctic Technology Inc. and was sponsored by them through the Foundation for Aalto University Science and Technology. It is not possible to acknowledge on a single page the numerous people who have impacted my life in a way that put me on the path that resulted in this thesis. I would, however, like to express my gratitude and appreciation to the following people: To my examiners, Pentti Kujala and Per Hogström, thank you for your guid- ance, knowledge and patience. The discussions and advice were integral to the completion of this work. To Ville Valtonen, thank you for the advice throughout the entire process of my thesis. You constantly encouraged me to dig further into the data and the method to better the science surrounding ship-ice interactions. To my friends in Canada, Finland, Sweden and elsewhere, thank you for lis- tening to me talk endlessly about boats and ice. Thank you for keeping me sane over the past two years. To my family, your constant support and encouragement made it possible for me to move 6750 km from home to pursue my dreams. Thank you for everything. And to my mum, a special thank you for reading and editing my thesis. Jillian M. Adams 6 August 2018 Espoo, Finland vii Table of Contents Abstract....................................... v Preface and Acknowledgements.......................... vii Table of Contents.................................. ix List of Figures ................................... xi List of Tables.................................... xii List of Abbreviations................................xiii List of Variables ..................................xiv 1 Introduction............................... 1 1.1 Motivation................................. 1 1.2 Project Objective............................. 3 1.3 Limitations ................................ 3 2 Background ............................... 5 2.1 The Inverse Problem........................... 5 2.1.1 Regularisation Methods ..................... 5 2.1.2 Inverse Crime........................... 7 2.1.3 Influence Coefficient Matrix................... 7 2.2 Ice Loads on Ships ............................ 8 2.2.1 Ship-ice Interactions ....................... 8 2.2.2 Icebreaking Process........................ 9 2.2.3 Pressure-Area Curve ....................... 10 2.2.4 Peak Ice Loads .......................... 11 2.3 Classification Rules for Ice-going Ships ................. 15 2.3.1 Polar Class Rules......................... 15 2.3.2 Russian Maritime Register of Shipping Rules.......... 16 2.3.3 Finnish-Swedish Ice Class Rules................. 17 2.4 Icebreaker Baltika............................. 18 2.4.1 Oblique Angle of Attack..................... 20 2.5 Ice Load Measurement (ILM) Systems ................. 21 2.5.1 Instrumentation On Board the IB Baltika . 21 2.5.2 System Functionality Verification................ 23 3 Measurement Data Processing .................... 25 3.1 Environmental Study........................... 25 3.1.1 Ice Type.............................. 27 3.2 Strain Measurement Pre-Processing................... 27 3.2.1 Shear Strains ........................... 27 3.2.2 Normal Strains .......................... 28 3.3 Event Selection.............................. 30 4 Methodology............................... 33 4.1 Discretisation of the Measurement Area................. 34 4.2 Influence Coefficient Matrix Determination............... 37 4.2.1 System Response Functions ................... 37 viii 4.3 Finite Element Model........................... 39 4.3.1 Geometry ............................. 40 4.3.2 Loads and Boundary Conditions................. 40 4.3.3 Mesh................................ 41 4.4 Optimisation Algorithm ......................... 43 4.5 Method Verification............................ 45 4.5.1 Optimisation Properties and Input ............... 45 4.5.2 Selection of FE Mesh Density .................. 47 4.5.3 Discretisation 1 Trial Loads ................... 47 4.5.4 Discretisation 2 Trial Loads ................... 48 5 Results and Discussion......................... 51 5.1 General Event Analysis.......................... 51 5.1.1 Load Location Distribution ................... 52 5.1.2 Peak Pressure Distribution.................... 54 5.1.3 Load Height Distribution..................... 54 5.1.4 Pressure-Area Curve ....................... 55 5.2 Detailed Event Analysis ......................... 56 5.2.1 Sample Cases........................... 57 5.2.2 Load Patch Location....................... 61 5.2.3 Load Height............................ 61 5.2.4 Pressure Development ...................... 62 5.2.5 Line Load............................. 62 5.3 Load Bearing Structures......................... 64 6 Conclusions................................ 67 7 Recommendations............................ 69 References.................................. 71 Appendix 1: Method Verification Trial Cases Appendix 2: Additional Sample Loading Events Appendix 3: Additional Line Load Comparisons ix List of Figures Figure 2.1: Visual representation of forward and inverse engineering problems5 Figure 2.2: ICM procedure using FEM...................... 8 Figure 2.3: Stochastic nature of ice loads measured on a structural frame.. 9 Figure 2.4: Idealised icebreaking process by shear and bending failure.... 9 Figure 2.5: Stages of the icebreaking process .................. 10 Figure 2.6: Local pressure design curve ..................... 11 Figure 2.7: Peak ice loads identified through the Rayleigh Separation method 12 Figure 2.8: Maximum pressures identified by the Event Maximum method . 12 Figure 2.9: Comparison of probability distributions of extreme ice loads . 14 Figure 2.10: Example Gumbel I probability distribution functions . 14 Figure 2.11: Historical development of ice load design heights.......... 18 Figure 2.12: FSICR
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