NTIS # PB2011- SSC-459 RELIABILITY-BASED PERFORMANCE ASSESSMENT OF DAMAGED SHIPS This document has been approved For public release and sale; its Distribution is unlimited SHIP STRUCTURE COMMITTEE 2011 Ship Structure Committee RADM P.F. Zukunft RDML Thomas Eccles U. S. Coast Guard Assistant Commandant, Chief Engineer and Deputy Commander Assistant Commandant for Marine Safety, Security For Naval Systems Engineering (SEA05) and Stewardship Co-Chair, Ship Structure Committee Co-Chair, Ship Structure Committee Mr. H. Paul Cojeen Dr. Roger Basu Society of Naval Architects and Marine Engineers Senior Vice President American Bureau of Shipping Mr. Christopher McMahon Mr. Victor Santos Pedro Director, Office of Ship Construction Director Design, Equipment and Boating Safety, Maritime Administration Marine Safety, Transport Canada Mr. Kevin Baetsen Dr. Neil Pegg Director of Engineering Group Leader - Structural Mechanics Military Sealift Command Defence Research & Development Canada - Atlantic Mr. Jeffrey Lantz, Mr. Edward Godfrey Commercial Regulations and Standards for the Director, Structural Integrity and Performance Division Assistant Commandant for Marine Safety, Security and Stewardship Dr. John Pazik Mr. Jeffery Orner Director, Ship Systems and Engineering Research Deputy Assistant Commandant for Engineering and Division Logistics SHIP STRUCTURE SUB-COMMITTEE AMERICAN BUREAU OF SHIPPING (ABS) DEFENCE RESEARCH & DEVELOPMENT CANADA ATLANTIC Mr. Craig Bone Dr. David Stredulinsky Mr. Phil Rynn Mr. John Porter Mr. Tom Ingram MARITIME ADMINISTRATION (MARAD) MILITARY SEALIFT COMMAND (MSC) Mr. Chao Lin Mr. Michael W. Touma Mr. Richard Sonnenschein Mr. Jitesh Kerai NAVY/ONR / NAVSEA/ NSWCCD TRANSPORT CANADA Mr. David Qualley / Dr. Paul Hess Natasa Kozarski Mr. Erik Rasmussen / Dr. Roshdy Barsoum Luc Tremblay Mr. Nat Nappi, Jr. Mr. Malcolm Witford UNITED STATES COAST GUARD SOCIETY OF NAVAL ARCHITECTS AND MARINE ENGINEERS (SNAME) CAPT John Nadeau Mr. Rick Ashcroft CAPT Paul Roden Mr. Dave Helgerson Mr. Jaideep Sirkar Mr. Alex Landsburg Mr. Chris Cleary Mr. Paul H. Miller CONVERSION FACTORS (Approximate conversions to metric measures) To convert from to Function Value LENGTH inches meters divide 39.3701 inches millimeters multiply by 25.4000 feet meters divide by 3.2808 VOLUME cubic feet cubic meters divide by 35.3149 cubic inches cubic meters divide by 61,024 SECTION MODULUS inches2 feet2 centimeters2 meters2 multiply by 1.9665 inches2 feet2 centimeters3 multiply by 196.6448 inches4 centimeters3 multiply by 16.3871 MOMENT OF INERTIA inches2 feet2 centimeters2 meters divide by 1.6684 inches2 feet2 centimeters4 multiply by 5993.73 inches4 centimeters4 multiply by 41.623 FORCE OR MASS long tons tonne multiply by 1.0160 long tons kilograms multiply by 1016.047 pounds tonnes divide by 2204.62 pounds kilograms divide by 2.2046 pounds Newtons multiply by 4.4482 PRESSURE OR STRESS pounds/inch2 Newtons/meter2 (Pascals) multiply by 6894.757 kilo pounds/inch2 mega Newtons/meter2 multiply by 6.8947 (mega Pascals) BENDING OR TORQUE foot tons meter tons divide by 3.2291 foot pounds kilogram meters divide by 7.23285 foot pounds Newton meters multiply by 1.35582 ENERGY foot pounds Joules multiply by 1.355826 STRESS INTENSITY kilo pound/inch2 inch½(ksi√in) mega Newton MNm3/2 multiply by 1.0998 J-INTEGRAL kilo pound/inch Joules/mm2 multiply by 0.1753 kilo pound/inch kilo Joules/m2 multiply by 175.3 CONTENTS Section Title Page 1 Introduction 1 1.1 Background 1 1.2 Objectives and Scope of Work 4 2 Methodologies 7 2.1 Methodologies for Wave-Induced Loading 7 2.1.1 Linear two-dimensional strip theory 7 2.1.2 Nonlinear time-domain method 9 2.1.3 Responses under irregular waves 12 2.1.4 Experimental investigation 13 2.1.5 Model uncertainties of numerical methods 15 2.2 Methodologies for Combining Different Loads 17 2.3 Methodologies for Assessing Ultimate Strength of Hull Girders 19 2.3.1 Reliability based assessment of damaged ship residual strength 21 3. A Sample Vessel, Its Model and Damage Scenarios 27 3.1 Descriptions of the Sample Vessel and Its Model 27 3.2 Damage Scenarios 32 4. Measurement and Analysis of Loads 39 4.1 Introduction 39 4.2 Predictions of Global Dynamic Wave-Induced Loads using 2-D Linear 40 Method 4.2.1 Effects of transverse location of gravity centre 40 4.2.2 Results in intact condition 43 4.2.3 Results in damage scenario 2 56 4.2.4 Results in damage scenario 3 72 4.2.5 Nonlinearity of the wave-induced dynamic loads 81 4.3 Prediction of Dynamic Global Wave Loads using 2-D Nonlinear Theory 95 4.4 Model Uncertainties of 2-D Linear and Nonlinear Method 115 5. Prediction of Extreme Design Loads and Load Combinations 121 5.1 Prediction of extreme design loads using the results from the 2-D linear 121 method 5.2 Prediction of extreme design loads using the results from the 2-D nonlinear 130 method 5.3 Load combinations for strength assessment 134 6. Ultimate Strength of Hull Girders 139 6.1 Hull 5415 and Damaged Scenario 139 6.2 Ultimate Hull Girder Strength – using MARS 141 6.3 Ultimate Hull Girder Strength – using ANSYS 153 6.3.1 Finite element model for nonlinear ultimate strength assessment 154 6.3.2 Initial deformations 158 6.3.3 Material model 160 6.3.4 Load modelling and boundary conditions 160 6.3.5 FE analysis results and discussion 161 iv CONTENTS Section Title Page 7. Reliability based assessment of intact and damaged structure 173 8. Summary 177 9. Conclusions 183 10. Recommendations 184 Acknowledgement 185 11. References 185 App. A RAOs of Wave-induced Loads of the Sample Vessel 191 App. B Model Uncertainties of the 2-D Linear Method 201 App. C Model Uncertainties of the 2-D Nonlinear Method 239 App. D The Rule-based Formulae for predicting Extreme Design Loads 249 v List of Figures Figure Title Page 2.1-1 Co-ordinate systems and modes of motions 7 2.1-2 Co-ordinate systems (Chan et al, 2003) 9 2.1-3 Test arrangement 11 2.3-1 Reliability analysis using FE analysis response surface 23 2.3-2 Damaged ship structure, variables relevant for reliability based assessment 24 of residual structural strength. 2.3-3 Number of random variables and computational effort 25 3-1 Division of the compartments of the vessel 28 3-2 The ship model (Lee, et al 2006) 29 3-3: Weight distribution of the intact sample vessel 29 3-4 Weight distribution of the intact model 29 3-5 Model compartmentation for damage containment 30 3-6 General view of the model for loading tests in damaged conditions 31 3-7 The cling film in the NICOP project 31 3-8 The cling film in the current project 32 3-9 Damage scenario 1 33 3-10 Damage scenario 2 34 3-11 Damage scenario 3 35 4.2.1-1 Torsion moment RAO in intact condition in stern quartering waves 41 4.2.1-2 Torsion moment RAO in intact condition in bow quartering waves 41 4.2.1-3 Torsion moment RAO in DS 2 in stern quartering waves (heading 45) 42 4.2.1-4 Torsion moment RAO in DS 2 in stern quartering waves (heading 315) 42 4.2.1-5 Torsion moment RAO in DS 3 in stern quartering waves 43 4.2.2-1 Horizontal shear force RAO in intact condition in head waves 46 4.2.2-2 Vertical shear force RAO in intact condition in head waves 47 4.2.2-3 Torsion moment RAO in intact condition in head waves 47 4.2.2-4 Vertical bending moment RAO in intact condition in head waves 48 4.2.2-5 Horizontal bending moment RAO in intact condition in head waves 48 4.2.2-6 Horizontal shear force in intact condition in stern quartering waves 49 4.2.2-7 Vertical shear force RAO of intact condition in stern quartering waves 49 4.2.2-8 Torsion moment RAO in intact condition in stern quartering waves 50 4.2.2-9 Vertical bending moment RAO in intact condition in stern quartering waves 50 4.2.2-10 Horizontal bending moment RAO in intact condition in stern quartering 51 waves 4.2.2-11 Horizontal shear force RAO in intact condition in bow quartering waves 51 4.2.2-12 Vertical shear force RAO in intact condition in bow quartering waves 52 4.2.2-13 Torsion moment RAO in intact condition in bow quartering waves 52 4.2.2-14 Vertical bending moment RAO in intact condition in bow quartering waves 53 4.2.2-15 Horizontal bending moment RAO in intact condition in bow quartering 53 waves 4.2.2-16 Horizontal shear force RAO in intact condition in beam waves 54 4.2.2-17 Vertical shear force RAO in intact condition in beam waves 54 vi List of Figures Figure Title Page 4.2.2-18 Torsion moment RAO in intact condition in beam waves 55 4.2.2-19 Vertical bending moment RAO in intact condition in beam waves 55 4.2.2-20 Horizontal bending moment RAO in intact condition in beam waves 56 4.2.3-1 Horizontal shear force RAO in DS 2 in head waves 58 4.2.3-2 Vertical shear force RAO in DS 2 in head waves 58 4.2.3-3 Torsion moment RAO in DS 2 in head waves 59 4.2.3-4 Vertical bending moment RAO in DS 2 in head waves 59 4.2.3-5 Horizontal bending moment RAO in DS 2 in head waves 60 4.2.3-6 Horizontal shear force RAO in DS 2 in stern quartering waves 60 4.2.3-7 Vertical shear force RAO in DS 2 in stern quartering waves 61 4.2.3-8 Torsion moment RAO in DS 2 in stern quartering waves 61 4.2.3-9 Vertical bending moment RAO in DS 2 in stern quartering waves 62 4.2.3-10 Horizontal bending moment RAO in DS 2 in stern quartering waves 62 4.2.3-11 Horizontal shear force RAO in DS 2 in stern quartering waves (heading 63 315) 4.2.3-12 Vertical shear force RAO in DS 2 in stern quartering waves (heading 315) 63 4.2.3-13 Torsion moment RAO in DS 2 in stern quartering waves (heading 315) 64 4.2.3-14 Vertical bending moment RAO in DS 2 in stern quartering waves (heading 64 315) 4.2.3-15 Horizontal