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Appm-od bw pubhc rel"
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065

The
t'roceediflgs

International
Conference on

Numerical
Ship Hydrodynamics
Edited by
John V. Wehlausen
and
N i Sat ven
Sponsored by
The" David W. Taylor
Center
Naval Ship Research anidDevelopmnft
The Department of Nevat Architecture
Cottege ot Engineering, and Univertity Extension
University of California, B~erkeey
The Office of Naval Research
September 19-2t,lgfl

SEL-.EGTE0

Apiroved for Public Relo,-.:

iln

nOGER BRARD

DEDICATION
These Proceedings are dedicated to the
memory of Roger Brard. He expected to attend
this Conference together with his wife Th6r~se
and was to take part In it both as a speaker and as
a chairman. A short illness ended with his death
on July 15th, a culmination of many years of
uncertain health.
Roger Brard's involvement with ships was both
broad and deep, touching upon almost every
aspect of naval architecture. However, shiphydrodynamic problems were an ever recurring
theme, and in recent years he devoted his efforts
principally to these. Earlier he was also known for
his contributions to probability theory and he
regularly lectured on this subject during his years
at the Ecole Pirlytechnique. Few of those who
know only h!:' recant work on resistance and
maneuverability or his earlier pioneering work on
pitching and rolling of ships under way are likely
to be aware of the breadth of his activities in ship
theory, fluid dynamics and mathematics. In the
following paragraph we try to give some idea of
thisbrsadth.
Brard's doctoral thesis (In rrathematIrs) was
"On some oropertles of the geometry of ship
hulls" (1929).The following year there was a paper
on the rohatilg of boiler feed water and the year
after that. one on the exhaust of internal
combustion engines. To give a further Idea of the
almost Incredible extent of his activities, a
sampling of topics on which there are published
papers follows: theory and design of propellers,
acdd mass in rolling, effect of added mass and
wave generation on stopping of ships, nonlinear
oscillations, statistical theory of turbulence, the
law of large numnbers, siationar) random
processes, model testing of towed barges,
representation of hulls by source-sink distributions, -ell-propelled model tests, sea trials of varl
ous ships and comparison with model tests, flow
about deformable profiles, cavitation. And of course
the topics mentioned earlier The list Is not exnaustive. Furthermora, during 1932-38 while at
the Arsenal at Brat lre was In charge of repairs
w ieveral cruisers, of the construction of another.
arid of the arniament of three baltleships.
His talents and contributions were not
unrecognired in France and abroad We mention
first a few of his prizes, chosen to show their
diversity, a medal from the Office National des

Recherches Scientifiques et des Inventions for


his work on the exhaust of internal combustion
motors (1Q32). a prize from the Acadlie des
Sciences for his design of the propellers of the
liner Normandie (1937), a further prize from the
Acad6mie for contributions to ship hydrodynamics (1955), end the David W. Taylor medal of
SNAME (1974). He was a Commandeur of the
Lglon d'Honneur, a member of the Acad6mie de
Marine and a member of the Acad6mie des
Sc!ances. He served as president of the latter
during 1972-73. He was also a member of the
Natlonal Academy of Engineering of the U.S.A. In
1950,he was president of the French Mathematical
Society Much n:re could be added to this list.
It is not surprising that Roger Brard should have
been g:ien positions and responsibilities
corresponding to his abilities. Again tha list is not
complete. In 1941, he was chief of the French
towing tank, the Bassln d'Essais cies Car~nes, and
was its director from 1962-1970. He was Professor
of Applied Mathematics at the Ecols PolytechnIque from 19.2-1969 and also Prcfessor of
Hydrodynamics from 1944-1969 at the Ecole
Nationaie Sup6rieure du Gnle Maritime, the
French school of naval architecture. He was
director of this school from 195M-1962. After
retiring from the Ecole Polyfechnlque ano the
Ecole du Gknie Maritime, he began a new
academic career in 1970 at the Ecole Nationale
Suplrleure de Mlcniqe of the University of
Nantes. Here he developed a special course for
advanced training In naval hydrodynamics. In 1973
he was Invited to give tire David Taylor Lectures at
the David Taylor Ship Research and Development
Center and on two occasions gave courses of
lectures at the University of Michigan. He had
been chrairnn of the Resistance Committee of
the I rTC since 1963
In addition to having outstanding scientific and
administrative talents, Roger Brard was also a
warm human being, reserved rather than ebullient,
but aao a good companion and a witty raconteur
and conversationalist. To many of us he was a
cherished friend He vice an indefatigable worker
In spite of his poor health and strove constantly
for excellence He was just past 70 when he died
and would certelily have accomplished nuch
more f he had been spared We hall miss him.

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D181;

SPOO it

PREFACE
Although theoretical ship hydrodynamics has made steady if not dramatic progress during
the last thirty years, it suems evident that this progress has been achieved for the most
part by application of various methods for ieplaclng the difficult nonlinear equations by
approximate ones, In particular by the use of perturbati,n methods. The simultaneous
spectacular growth of computing machines and ,he;r impact on the development of
numerical analysis were not ignored, but their influenre on ship hydrodynamics was
primarily in widening the possibilities of computing derived formulas and almost not at all
in altering the methods of approach to the problems themselves. It had been evident for
several years that the time was appropriate for taking formal notice of this fact and of
encouraging wider participation in ship hydrodynamics of persons with stroig beck.
grounds in numerical analysis and computing. The First International Conference on
Numerical Ship Hydrodynamics was In risponse to this need. it brought together researchers
of rather d;verse backgrounds, with the aim of giving to each a forum for his own approach
to ship-hydrodynamic calculations and of providing opportunitie for interaction.
This first Conference, held in October 1975In the National Bureau of Standards InGaithersburg,
Md.,was by all criteria a notable success. The papers were interesting and the opportunities
fo; discussion, both formal and informal, were adequate. Furthermore, the Proceedings
appeared in a remarkabiy short time as such things go. It was evident tMlata second Conference was both deslrablo and desired. The present Proceedings are the result of this
second Conference, held in b,.' -ley on September 19-21,1977 and sponsored jointly by
the David Taylor Naval Ship Researc, 1nd Development Center, the Office of Naval Research
and the University of California Berkeley. .'en mere mention of the O'fice of Naval Resech as
a sponsor does not do justice to the condlntius, effective and informed support that it has
given to the development of numerical methods in ship hydrodynamics in recent years.
Without this, neiltier Conference would have taken place, and ntch of the reported
research would not have been done. The .ctual organization of the meeting, aside from
selection of papers, was -arried out by the Extension Division of the University through the
capab'e hands of Linda Held. Since authors provided manuscripts In final form for reproduction, only miner editorial changes were possible aid no attempt was made to achieve
consistency in format or reference style.
Finally, it seems appropriate to call attention to the remarkable diversity of the papers.
Even when the same problem is being treated, the methods are different. It was one of the
purposes of the Conference to encourage this diversity and to bring the results into juxtaposition. Diversity extended beyond subject matter. Over a dozen countries were represented
among the participants. Such Juxtaposition Is Also important.

ORGANIZA1 IONAND PAPERS COMMITTEE


Co-chalrmn
John V. Wehausen
Nile Salvean
Mamber
Ralph D.Cooper
Hans J. Lugs
Justin H. McCarthy
.oanna W Schot
Witlam C. Webster

DedIcatlon ..................G.0N.T

S.....................

Preface .............................................
KEYNOTE ADDRESS
Numerical Ship Hydrodynamics, Then and Now. L. Larn. ..- br, University of Iowa ... .......... 1
SESSION I: THREE-DIMENSIONAL SHIP-WAVE PROBLEMS;
Chairman: J.C. Dern, Bassin d'Essals des Carhnes, Parie France
Invited Paper: Survey of Numerical Solutions for Ship Free-Surface, Problems, R.B. Chapman .
Numerical Evaluation of a Wave-Reafatance Theory for Slow Ships. E. Babe and M. Hera.

5
17

A Practical Computer Mthod for Solving Ship-Wave Problems, C.W, Dabwson................ 30


Finite Difference Simuletion oi the Planer Motion of aShip, R.K.C. Chan ......... .......... 39
Discussion: Session I Papers: J.N. Newman, Massachuseffs Institute of Technology, USA,
53

...........................

Invited Discuseer.......... ...........................


SESSION If: THREE-DIMENSIONAL SHIP-WAVE PROBLEMS

C~tairman: R.J. Lundegard, Office of Naval Research, Washington, D.C., USA


PART I

Existence, Uniquenesisaend Regularity of the Solution of the Neumann*Koiuin Problem for


.....
....
Two- orTime-Dimensionaf S-ibmergeod Bodies, J.C. Darn. .......
ALocalized Finite-Element Method for Sjealy. Thioa-DImensionai Ship-Wave Problems,

57

K.J Sal .. . . . .

78

- .. .. L'

- .. . .. . .. .. .. ..

Numerical Solutions of Transient Three-Dimensional Ship-Wave Problems, S.Chring and


o..
J. T sf3%

. . . . . . ..

. .. .. .

.. ..

Tsr-h, Univarsity of Adelaide, Australia, Invited


Discujssion Part 1, Session It Papers. EDO.
......
......
..
....
Discusser.. . . . . .

88
04

PART11

Numerical Solution of the Neumnn-Kelvin Problem by the Method of Singularitlies,


M. Guivei, G. Doltrommeau, and J.P. Cordonnlyr .. .. ......
Computations of Three-Dimensional Ship-Motions with Forward Speed. M S Chang

...

107

...

124

Computation of hofFiret- and Seocond-Order Waveforce* on Dacilfating Bodies In Regular


.1. ....
...........
Waves. J.A. Pinirster and U.Van Oortmarsen..................

136

Discussion Pari 11,Session 11Papers: F Lrsell. University of Manchester, England, Invited


.
. ..
Discusser
SESSION III: TWO-DIMENSIONAL BODY WAVE PROBLEMS

57

Chairman: W.C Webster, University of California, Berkeley-. USA


PART I
H-fybildInlegral-Equation Method lot the SteadlyShip-Wave, Problem.,Ft W Young and
Y C Birnigr

Integral Equation Methods for Calculating the Virtual Mesa InWater of Finite Depth.
..
P.Sayer and F.Ursli..... .........
.....
...
Thelory of Compliant Planing Surfaces, L J Doctors
Diasussion Part 1,Soosio,, III Papers: HrMarve, University of Yokohama, Japan, Invited
. . ..
. . . . . ... . . . ..
Discusser
vi

100
17

185
tI-S

PART 11

Numerical Solution of tha Navter-Stokes Equat ion for 2.0 Hydrofoils In or Below a Free
Surlace, SI'. Shanks and J.F. Thompson ....... ....................................
202
Finitb-Dfferenco Computations Using Boundary-Fitted Coordinate Systems for Firest-Surface
Potential Flows Generated bySubmerged Bodis, H.J. Haussling and R.M. Coleman.....-221
Discussion: Part 11,Session III Papers: J.W. Schot, David W. Taylor Naval Ship Research and
Development Center, Bethesda, Maryland, USA....... ...... ......... ................

234

SESSION IV: CAVITY FLOW


Chairman: ONH.Gleissnor, David W. Taylor Naval Ship Research and Developrnenl Callter,
Bethesda. Maryland, USA

Invited Paper. Rleview of Numerical Methods for Solution of Three-Dimensional CavityFflow


Problems, R.L. Street .........................................................
.... 237
A Numerical Method for Determtninj Forces and Moments on Supercavitating Hfydrofoits ot
Finite Span, C W Jiang aid P. Leehey ..........................- 250

Supercavitcling Foil of an Arbitrary Shape Beneath or Above a Free Surface or insaCoacade.


B. Vim ...........................................

............

258

An Application of the Boundary Integral Equation Method to Cavity and Jet Flows, B.E.Larock 2tr9
Discussion. Session IV Papers: M.P. Tulin, Hydronautics, Incorporated, Laurel, Maryland,
USA, Invlted Discusser

275

SESSION V: NONLINEAR SOLUTIONS TO BODY-WAVE PROBLEMS


Chairman: H. Maruo, University ot Yokohama. Japan
PART I

Progress in the Calcu'sillun of Nonlinear FreeSurface Problems bySurfacei-Slngulartly


Techniques,.IL. Hliis ..... ..... ....................
.... ... ............ ...
The Wave Rvvaianco for Flow Problems with aFree Surtace, C.Korvlng and A.J. Hermans

1278
...

Nonlinear Free-Surlece Elfsicle-The Dependence on Froude Number, C.von Kerczev and


N. Salvesen . . . . . . . . . . .
. . . . .. .. .. . .. .. .. . . .
Discussion. Part 1, Session V Papers. T F. Ogilvie. University of Michigan, USA, Invited
Discusse

.......... .............. ...............

......................

285
292

...... 301

PART 1

Finite Element and Fiift Difference Solutions of Nonlinear Free-urface Wae Problems,
GM. Yen, K.0. Lee, and T.-~ Akel.................
........
305
Transient FreeSurface Hydrodynamics, M.J. Fritts and J.P. Boris .......
-,..31g
Discussion. Pont1,Session V Papers: A.J. Hernians, technische flogeschool Delft, The
Netherlands, Invited Discusser ..
-....
..
.. ... ....
. .-

329

SESSION VI* NONLINEAR SOLUTION TO BOOY.WAVE PROBLEMS


Chaiman. W.E. Cummins, David W Taylor Naval Reseeich and Development Center,
Bethes"a. Maryla i-I, USA
Invited Paper: Advances In the Calculation ul Steep Surface Waves and Ptuisgin; Breakes,
M.S. Longuet Hlgglns, University of Cambridge. England ........

332

Numerical Solutions of Transient Nonlinear Free-Surface Motion Outsitde of Inside Moving


Ilodlle,O M. Faltineen

341

Nunwial Simulation ot Ship Motion byEulorn Hlydrodynamic Techniques 0.1.Bouriginoti


and

BR. Penumalll.

..

Computation of Neer-Sow, orStermFlows, Using SeriesEspe.ison in the Froude Number,


J.M.Vanden Broeck and ED0 Tuck

358
i...l..l7

Noninear Hydiodiieml. Forces on FloatinglBoik, 0.0 Nichols and C.W. HIMI......3824


Diacussion Se4,vIon Vt Papers J V. Wehausen, University of California, Barkvls , USA, Ilivitud
DIscuiser

396

List of Participants

.....
vii

397

SHIP HYDRODYNAMICS-THEN AND NOW


L. Landweber
The University of crw
Institute of Hydraulic Research

lewa City, Iowa 52242

"Then" in the title refers to the year 1932


when, without previous knowledge of the field of
ship hydrodynamics, oz preparation for it, I
joined the staff of the U.S. Experimental Model
Basin, located in the Washington, D.C. Navy Yard.
My immediate supervisor was arl Schoenherr, and
Captain Eggert was the Director. Two of the,
young Naval Officers on the staff at the time,
Al Mumma and Harold Saunders, eventually becauseDirectors of the David Taylor Model Basin.
The activity at the Laboratory was then
primarily of an experimental nature. The cowing
tank was mainly occupied with conducting resistance, propulsion, and maneuvering tests of ship
models for the Prelimdnary Design Section of
the Bureauof Ships.
Propellers were tested in a
variable-pressure water tunnel.
,c..1,
my first
assignment was to fair the characteristic curves
of thrust and torque coefficients, and efficiency
of a large fanily of propellers, with systematically varied parameters. Since the three characteristic curves are mathematically related, a
shift in one in the course of the curve fairing,
affected the other two. Consequently, after
weeks of annoying drawing and redrawing, I designed and had the shop construct a simple mechanism which drew the efficiency curve cozssponding to selected curves of the thrunt and
torque coefficients. This nearly ternLiated my
association with the ship problems, since Scioen.
herr felt that, in the time spent designing the
machine, I could have finished the project,
Suhoenherr was one of two staff members
knowledgeable in Ship Hydrodynamics.
A wellsern copy of Hydro- and Aeromechalcs, by Prandtl
and Tietjens, in German, lying on his table, wss
the main reference source for him Ph.D. thesis
on the frictional resistance of flat plato.s,
which culminated in the well-known KArzAnSchoenherr formula.
Schoenhwrr was unique among
the Naval Architects of tSt period in that,
having studied in Germaany,he was aware of developments in fluid mechanics ad wAs esaucoss
fully applying this knowledga to propeller aid
rudder desiqgi, as well as to the flat-plate
resistance problem. One could comare his imV)act
on Naval Architecture with that of Hunter Rouse
on the sister field of Hydraulic.. Rouse cornplated him Pn.t. ntudlee at Karlsrihe, (lermaity,
and returned to the U.S. imbued with the idea
that Hydraulics could be taught au a science,
rather than an art.

Schoenhe-r

made

lmjsrtant

ptrsoral contributions, but did not attrpt to

develop a group of ship hydrodynamicists. Rouse


was essentially an educator who, through his
books and classesand Directorship of the Iowa
Institute of Hydraulic Research, effectively
spread the ilew gospel.
After about a year, I was assigned to
work under J.G. Thews, the other staff member
knowledgeable in Ship Hydrodynamics. Like my-self, Thews was classified as a Physicist. We
operated a small towing tank of dimensions
80 ft by 7 ft by 4 ft, equipped with a gravitytype dynamometer, in which we studied planing
phenomena, ship rolling, ship resistance in
restricted waters, and the vibration ,C cylinders due to their KtrmAn streets. The results
of this work appeared as EMB Reports. Journal
outlets for work of this nature, were nonexistent
at the time.
Thews and I were more fortunate than most
of the staff members in that Capt. Eggert had
selected us to conduct research in the aforementioned areas while other staff members were
mainly occupied with routine tasks. In those
days, the undergraduste evlgineering curriculum
included a year of calculus, and a year of
Freshman Physics, and trioCalculus was quickly
forgotten if the job didn't requite its atlication, as was usually the case. Of a prufessional staff of about 30, only two, an A'ronautical Engineer and myself, were enrolled for
graduate study. This required gleat mitivatjor.,
since the laboratory made no concessions or
allowances for this purpose.
In some respects, Captain Egget wae ahead
his time.
fieinstigated not only the researches
by Thews and myself, which he followed with
keen interest, but also experimantai studies
of the pressure distribution and the boundary
layer on both a ship model and tha full scale
ship, an eiterlmetntal model study of form resietance. modal and full scale studies of
maneuverability, and the ro e
hh asurement, in
the ourse of resistance teats, if the waeis pr file alongside the hull, axid the linee of flow
along the bilges for determining the optimum
alignment ,,f bilqe k-sis. Numerical analysis
of these ploblems wee performed with slide rules,
issued by the laborauvy in a 10-inch variety,
It the decadt-fro. 1930 to 1940, to which
the

foregoiing remarks apply,

pealed

eaveral books ap-

which contributed importantly to the

dissemination of knowledge and the encouragement


Thers were
of research in Ship Hydrodynamics.
the English translation of Prandtl and ietiens,
the publication of Hydrodynamics, by Dryden,
Mrnaghan, and Bateman, by the National Research Council, and the six volumes of Aerodyn.mic Theory, edited by Durand. Methods of
computing the potential flow about two dimensional and axisymwetric forms had been published
by von KFArmAn,and in NACA Reports by Theordorsen and Kaplan. A ethod of computing the turbulent boundary layer for axisymmetric flow
about a body of revolution was the subject of
Clark Millikan's Ph.D. thesis. The computational labor of applying these methods was,
however, discouraging. Wave theory of ships
was also being developed in England, Germany
and Sweden, but only the most dedicated workers
were willing to undertake the tedious numerical
evaluations of theoretically-derived results.
Analysis had outstripped computational capability, and there was little incentive to extend
the theory beyond its linearized form for a
thin ;hip.
In rtrospect, the war years, 1940-1.945,
were not a period in which research in ship
hydrodynamics flourished. The emphasis was on
constructing many ships rapidly, and overcoming
engineering problems with heuristic solutions.
Contemeasures, many of a hydrodynamic nature,
had to be developed in response to sophisticated
mines which detected the presence of a siip by
its acoustic, magnetic. or pressure fields. An
important consequence, however, was that talented engineers, physicists ana mathematicians
who would normally have pursued caroers in
irversities or industry, joined Naval laborstories. Others acted as consultants or undertooskNaval projects in their University laboratories. Thus a much wider giu4 became aware
of the interesting and challenging problems of
ship hydrodynamics, and iieveral Univorsitioe
subsequently acquired ship research facilities,
such as towinj tanks and water tunnels,
This influx strongly affected the nature
Where previously a
of Naval lahnoracorien.
project enqiinesr spent most of his time at a
drawing board designing equipmesint foc a test,
the new breed sought solutions by physical reasoninq, formulation of equat ions, and nathematical analysis. While -. st of the original
proifessiolial staff had oly th bachelor's
degree, meit of the newcomers, and of course the
piofessional

consultants,

the applied mathematician,

Alex Wie-

Keiianr,. who aie,


is, the Washington,
with Univereitil
affiliated
This strengthening of the local
D.C. area,
universltriee iii areas related to fluid mechasIce was a; rnportant factiir Is encoualing the
staff if Naval lalxiratoies t) undertake gradetein, and the physicist E.H.

uate utudy.

Priur factors contributed


advancesmnt

greatly

of ship hydrodynamics

war y.ars.

First was the reaction

of

liediete

seeking

practical

to the
it the post-

to the year.

sols! uin

to

it was felt that hasLicr.military problem.


At
ealrch inr ship prrobhsms ws so-rely needld.
Taylor Mixekr

Basin,

l.i

Nor was the nmomentumof University contri1iutionsto ship hydrodynamics lost after the
war, through the activity of a new organization,
The Office of Naval Research. By sponsoring
research at other institutions, participating
in the organizing of symposia, such as the
present one, contributing to the publication of
majir works and journals such as the Collected
Papers of Havelock and the Applied Mechanics
Reviews, and establishing international relationships b,tween researchers, the Office of
Noval Research has been an important factor in
promoting interest and productivity in ship '
hydrodynamics. Subsequently. the Taylor Modc
Basin, under its GHR program, also undertook
the spcnsorship of ship-hydrodynamic research.
Before the War, there were practically
no outlets for publication of research in
applied nathematics or ship hydrodynamics. The
Transactions of the Society of Naval Architects
could hardly serve this purpose since it accepts
few papers each year, and these were, rareLy
This has been
of A ship-hydrodynavcc nature.
called the "integral gap'" in the Transactionls.
The appearance of several new journals, such
as the Qu.rterly of Applied Mathematics, the
Joural of Rational K-chanics, the Journal of
Ship Research, and the Journal of ilydronautics,
Indeed,
has eased the luslication problem.
with the recen announcement of several new
'uii iccatLons , there is dangler thst w may be
oveihemisd by too much literature, and overburdened referres may lower their reviewinq
standards.

had gradnate deqtre.

Arong these were the renowned aeridyiiamicls t,


Man Munk,

restructured in accordance with the new goal.


More importantly, the staff selected for assigntent -c the blocks in the organization chart
gre in stature as they mastered their assigned
fie di, mado fundamental contributions and became recognized as authorities in their various
I hesitate to mention names, for fear
subjects.
of omitting some, but I will mention a few.
Wehausen and Pond on ship-wave theory; Cummins
on the unsteady Lagally theorem; Eisenberg on
cavitation; Tulin for many brilliant contribulions, including the theory of supercavitating
hydrofoils and the determination of the viscous
drag of ships by means of wake surveys, Granville
on viscous resistance of bodies of revolution,
Abkowitz on dynamic stability and maneuverability of ships, St. Denis, Szebeheiy and the Ochis
on ship motions and slanamingin waves, and
Breslin on propeller-induced ship vibration.

orgsniration was

The seconld factor contributinq to the


o
ehl
hydrodynamics was a nw
to eiicoursge
rofei.,inal
aiid prreeste graduate study by it.
1
sisff.
Shortly after the War, arrangemente ware
made with the nlivereity of Maryland to offer
soe clease in Mathematics and Physics (Inat the TayLor Madel
clulinq Hydrxlynamic)
In addition, the laboratory grant ed
Balin.
Iim fir atodente to attend late ifternon
ilases at the lniverlity of Maryland caemiss.
tUndor this proqrai, many statf me bers elected
t; initiet or continue their graduate sttsice.
fully eii-rpirtrtd
siicted
5' maIsnts were
A l.
adva-iesnrrt

ln)licy of the daval lalnirator is

at
while they pursu1uedtheir graduate stud.'s
In my opinion, this was a wise and
Berkeley.
far-sighted

policy which

sion paid valuable

dividends in the ability of the staff to keep


abreast of theoretical developments and to erploy more sophisticated analytical techniques
in the solution of its problems. One need only
compare 'he nature of the TMB (or USEMS, U.S.
Experimental Model Basin) reports before 1940
and after 1950 to verify the foregoing statemnt. A quantum jup in the scientific level
of these reports had occurred over that decade.
The third factor war the influence of two
outstanding German scientists, Herman Lerbs
and Georg Weimblum, who joined the staff of
the Taylor Model Basin after the War. Ierbs
was an authority on propeller theory. Weinbls stimulated his colleagues to learn and
extend the Legally theorem, to learn and apply
ship-wave theory, to study ship motions, and to
plan for the acquisition of facilities for
testing ship models in waves.
After Weinblum
and Lerbs neturned to Germanythe former as
the first Director of the Institut flr Schiffbau,
the latter as the Director if the Hamburg Model
Basin, their former U.S. colleagues, with wn i
they 1,,,1
formed cloe frlendshilps,
were frequently welcomed in Hamburg where they met the
staff of these Institutions and discussed their
researches.
&nblum himself was not a strong
analyst; but his sense of the direction of shiphydrodynamic research, his physical perceptions
of the approach to a solution, and his ability
to encourage others to undertake important
pro-lems, make his contributions to the field
of immeasurable value.
Tne last of the four factors contributing
to the advancement of ship-hydrodynamics in the
lort-war years was the advent of the high-speed
corputer.
Eliminated was the drudgery of lonq
cAlulations with a slide rule or desk calculator,
and I(Jorithm-for obtaining a nume; ical result,
which were previously impractical, could bL
coutinely performed with the com)uter.
Where,
previoislo, as in ship-wave theory, mathematics
had outttripped computational capacity, after
th comluter lecame avsilable, the situation was
reverseu.
Now the researcher was challenq d to
iolve ii , problems more accurately, with fewer
asstritiions, or even without any sieglifyinq
as-mtpt lons= 0i 'he experi mental side , the
analog d gita computer, designed to interface
with an experiment, control the sequence of
niasuranenta and st-re and operate upon the
data in digital form. was equally inq),rtant ini
freeing the exit itiiter from th drudgiry of
reading Orata againat scales, tapes, or film. and
eenabling previously unthinkable types of expetime;,ts to be ;undertaken.
For flea-surface poroblnt,
we may take the
"now" of the title to be the papers to be preaeated at this Confere nc.
These Illustrate
wry well how broadly . ad
an;d woild-wide i.
the reoarch effort il ship hydrodynamia,
with
papers from thne David Taylor
tenter, 11 f
othere is fill LISA, ard 9 from abroad.
The
sleed And capacity of

'.. a l.e.1 whet,

Coputerlies
havtincrer-

at least for twn-dimenIonal

prolemle, the NWaver-ltokes oquations atid the


exact boudairy condition. are treated In two
if the papoers, by the mlthoud of finite differ-

an e.
Sic other ppllers also em4)loy fiitsdifferance mthoda, but for [the Lrrotatbocal

flow of an inviscid fluid, most employine the


exact free-surface boundary condition.
Three
of these papers require a preliminary mapping
of the boundaries of the body and the free
surface into coordinate planes of a rectangular
grid, a major task even in two dimensions
where methods of conformal mapping could be
used.
The most popular method, used in twelve
of the papers, is that of singularity distributions, determined by integral equations.
I
must correct the statement in one of the papers
that this method is twenty years old. Actually,
the basis if the method lies in the theory of
symsetrizable kernels and the fact that the
kernels of potential theory are symetrizable,
established by Poincar4 and Marty at about the
turn of the century
The first numerical application of integral equations to a flow problem
is that of von KrmAn, in the 1920's, for a
body of revolution, followed by other methods
by Kaplan, Vandrey and myself, also for bodies
of "evolution. it is true, however, that
A.M.O. Smith was the first to succeed, about
20 years ago, in applying the integral equation
for the Neumann problem of potential theory
to arbitrary three-dimensional forms.
My own feeling is that, because of the
intimate connection between potential theory
and integnal equations, it is most natural to
employ then to obtain numerical solutions.
There ia a tendency for computer virtuosos
to ignore possible titheatical reduction of a
problem to a simpler form, and to operate dirmotly on the equations and boundary conditions
in finite-difference form,
This is undoudbtedly
an inefficient use of computer time, since the
noelal points of the calculation lie in the
problem space, ratner chan oz its boundaries.
Furthermore, integrals can be represented by
quadrature formulas mire a-curately than differential equations by ditferences.
Lastly,
when the domain is of ofinite ext"! t, the
method of finite differences must ac ept a,;
error due to the upslt am and downstream truncutions of lie region.
All but t-, of thpapers have asumed
irrotational flow, and loin considered tl;.
effects of the turbulenu bo)undary layer an,! wake.
The remarkable aqteement with,svitreeet t'
of tre calculatios of Babe and flara, using a
highler-ordter irrotatlonal flow the,,
rigqests
thAt the lenunilary layer and wake o
, ship have
t in!rluenc, on the wave rsita,;ce.
Here
"M
Iaanrwete" are in quiten lecause wa '
sistance cannot ie measured directly, and its
exprimentaily derlved values a., sub joct to
Assueptious ant n-.rreelc."ndasi
i
Oioi
tans
our own at-odLes at Iiwa of the effect .f wake
on wave renmltaice. in which the wave rcaintanc,
was determined by the loglitudina.-i'ut tcltn1q is,
sh-d
large effects of tho b.nidary lay." and
wake, it dlsgreemtit with the reselts of lAIand lIas.
ThuI,
alth;luh we lies mild greet
prlireas in obtaiittnin elrr- exact solution, of
chip hydrodynaminc problems, a! us evidenced by
the unusl
coilction of ajers at thile C ofeloca, we siitill ha.
a long way to io.
Unt I
we have learn;ed how to x)mputethe tlitee-

linsionsI boundary layr on A sihIp form,

including free-surface effects and vortex formation, and the wavewaking of the ship in the
presence of the boun-ary layer a d wake, the
problem will continue to confront us.

SURVEY OF NUMERICAL SOLUTIONS FOR SHIP FREE-SURFACE PROBLEMS


R.Bruce Chapman
Sci fe Applicatlons, Inc.
La Jolla, CaolfornIa

Abstract
Recent methods fornumerical solution of
free-surfic(! problem in ship hydrodynamics are
reviewed. ')ubasi-analytic
methods which model
a linearized free surface outside a body of
irbitrary ,hape &,e discussed in detail for
body motion problem. Also reviewed are methoJs
for the wave-making of translatig threedimensional bodies an. two-dimensional methods
for nonlinear 'low.
In..,roduction
Interest in numerical methods for solving
Free-srfAce problems in ship hydrodynamics has
grown rapidly. These methods can eliminate
ma.: of che approyimations necessary for anflytic solution. Capabilities such as a-bitrary
h,-ll
form obviously extend the practical value
of any method. The most useful ert..ods
may not
be the most general ones or those with the
fewest a.,tions. however. More limited
techniques such as the quasi-analytic methods
discussed in thispaper can be better design
tools for large numters of problems, while more
general methods can check the validity of approxipations. The purpose of this paper is to
describe briefly some recent advances in naT.icalship hydrodynamics and to suggest likely
areas for the ner future. Three general areas
which will be reviewed Are:(1) quasi-analytic
methods for body motion, (2) numerical simulat
tionof the wave-making of translating hreedimensional ship hulls; and (3)two-dimensional
metfods for highly nonlinear flows.
Lxasi-Anytic Methods
The gap betxtvn numerical and analytic freesurface metho% Il. ship hydrodynamics is bridged
by a class of methods which com-ine analytic
linearthed free-surface solutions with namer'(ally
genieral
representitions of the body.
wuasi-analytic
met'lods 111 be defined b. these
twochar#-teristics:
1))Analytic linesrized free-surface
need
eliminate
representations
4 largetheYolum
the flou over
solve
suroeundi
the obody.
(2) The body boiundtry
i, satisfied exactly
o, an arbitrary hull.

tr

Thus, quasl-anelytic methods are not confined


to simple geometric shpes and are easily
applied to practical hullforms. The usual
formulation is that of a surface integrl with
singularities distributed over the body and,
in some cases, the free surface. Other fornulations have also been developed, such as the
localized finit- element method of Bai [1],
which combines a finite element representation
near the body with an analytic solution outside
this restricted regirn.
The efficiency of using available analytic
solutions for problems with a linearized free
surface cannot be disputed. Unless nonlinear
free-sur'ace effects are to be included, there
is no reason not to take advantage of analytic
representations. The validity of this appro rh
depends on the validity of the linearized free
surface approximation. Two classes of commonly
solved problems are those in which the free
surface disturbance is caused by notion of the
body about a mean position, the body motion
problem, and those in which the disturbance is
caused by'steady translation of the body, the
wave-making problem. In the former case the
linearized free surface is valid for small
amplitude motion. For a translating body, the
lineariced free surface is valid for a deeply
suberged body or a thin or slender body, but
not for a surface-piercing hullof finite
thickness. The physical validity of the problem of a finite , face-piercing hullmoving
through a linearized free surface hull,i.e.
the Neumann-Kelvin problem investigated by
Brard [2],can only be e ablished by comparing
computed results with experiment. Quasianalytic methods for body motion will be
discussed first,
Bog Motion Problems
-The generalized geometry for body motion
problems is shown in Figure [1]. For simplitity, methods will be deszribed in three
dimensions with all fundamental concepts easily
generalized to three dimensions. Flow is
defined in a Cartesian coordinate system
re
Tesai
par.
(tyo.wt
static freeThe
- x. with y upward.
ix~y)
surface SF corresponds to y - 0. It is divided
into a porti-,outside the body SFe and a por5

tion inside tne body FI which vanishes wten the


body is submergeC. The submerged portion of the
body surface is So. The fluid boundary is SW,
which is assumed infinite and representer by

+t
mL

S. unless otherwise specified.

he lower half-

plane is divided itto two regions--Q inside the


body bounded by SBTand Spj,and R outside the
body bounded by SEB.
SH. and SFe.

iZEgq(6)

+ji(xyti
s (x'y,5) Of(.)C) .%*8(X.Yt)

SSF.

6,I-

Where 01 (x,y~t) -the scattering wave, present


only in certain problems. The free-surface and
incident potentials, sf~x,y~t)oand O1)x,y~t)
are analytic over the entire lower half-plane
while thebody potentials, Oge)s,y~t( and
*8 (n,y,t) both vanish on the tree surface,

WI

----

_T

40.4.1

Rw(-s.1j0B

%(XY~t)

Bi~x.y't)

FIGURE1. GOE

nxy
peiid

owe
SIT

Th
l

= 0

(v,y) c SFe

(7)

(n,y) c SFi

(8)

The incident wave, if present, satisfies the


linearized free surface condition identically.
Thus, the free-surface component satisfies the
linearized free-surface condition,

TRV FORBOJY MOTION PROBLEM

oxthews
u~~~~~~~~~n

~xyt

((3))
f

A free-surface disturbance is created by


body notion, and, for some problems, by the
scattering of an incident wane field defined by
01j(x,y,t) . Body notion is defined by velocity
VB~u.Y't) on SEBwith a normal conrponent

ex~~)e~~yt

(9)
where h(v,t) ropresents the fi~e-surface infisence of the hodypotential,
xt)
hYyt

(1)

vn vB*n

where vsis the unitvector norml to %,positive outward.


The flow in region R is defined by a velocity
potential oe(n,y,t). A velocity potential
Isasteindi)eio . Ti
Inrpotential is non-unique and depends on the
formulation. Over region R. thepotential
satisfies Laplace's equation

I(v

)v,0)"

)Q

(o,0)v SFe

B(~~)=

xy

~
~

nyt)

ed

xy

nd

(u"y
(X,..t)

nbody

0
X

(4).

and appropriate boundary and initial conditions.


..
...
i
t divide
I seful
anepotential into a
and
a
fr,-,ufAC
body coByponent
whsichvanishes on the free surface,
co
free---s fur

(10

free-surface portion of a Green's function over


theisodi'
surface.

v g ate
at

The body rco tfnentof the velocity potential


on the free surface and satisfies he
boundary condition

1cvanishes
Sln

(11)

od,
For the body source and the hod"dipole ne,
tf~n~y,t) is represented by the Integral of1 the

the body boundary condilon,


34

(2)

x cR

(10)

of a time-dependent disturbance
cal prollees
acting on a linearized free surface and can be
solved 6nalytically in terms of h~n,t). If
0)xyt en Istiedrvieaeiiily
tero for example,
B~~~)

- 0

~i

(xo,t)

Note thvt f~x.Y.t) is equivalent to the classi-

V20)o.y.t)

(5)

*9(x-y-t) O9 (x.y-tl+*Se '.x.t) *1(AJY.t)

-t

.y. l

y.I
..

4(

()

over region P. The body boundary condition for


idyt)
is arbitrary.

donend

while

Quasi-analytic methods are usually applied


in the form of a surface integral derived from
Green's theorem. Let

where A is the amplitude and w.is the frequency


of the oscillation. The nondimenslonal normal
velocity v*(x) depends on the mode of motion.
The free surface condition reduces to

G(X,X1 )

--G(X .y.F )

(14)

be the Green's function vanishing on the free


surface. In two dimensions,

i)

where *()in represented by a source distribution ovir SB..


B(x t) ze ("

(Y-0

(15)
Assume for rnowthatthe fiuid is unbounded.
Then from Green's theorem the body potential

~(")(16)

G(x,x 1) dS

)
k(Y+Y
1

j-i-,I

(17)
Thisis equivalent to a source distribution
over SB and a Cipole distribution over t 8 . The
body boundary condition for bj is arbitrary.
The most conon assumption is thatthe potential
is cntiuou
he odyThus,
acrss
B

18)

In thiscase, the norml velocity is discontinanus across the body surface and the body
component of the potential is of the form,

fof
03(x~t)

JO(-x
1,t) G(x-lx1 ) dS

(19)

SB
which Is equivalent to a source distribution of
strength 0(nxt) over the body surface,
Body _ource Method
The body source method was applied by Frank
[31to theproblem of harmonic oscillation _f a
two-dimensional shipsection. In thiscase,
the body boundary condition (13)may be represented as

12.11o
*0iiE*

(.t) 61"Al.
Uh *(i

12

/aI(-*

ds
as
T%
1 (ipt)] sl2T9

Be(' t) 00
0i(Xt)

1.1

(23)

where the free-surface portion of the Green's


function,

G2xB
(i~

(22)

SB

can be represented over the lower half-plane by

SP

hf(o.t) = elWt SJfD(_X1 ) G2(x Ix1) dS

xFQ

OBi(
x t)

~i

j
58

It can be shown analytically that f(_i,t)


satisfying the freesurface condition (21)may be
written as

011xil=
=

g_ DB (j)21

*s

20

S,(20

(yv1 )
k

satisfies
9.
a -L 0(,
i
;,

-9 -L y~i.;)

(25)

and the radiation condition at infinity.


the body boundary condition (20)
becomes &nsintegral equation of the form,
so(6
Thisintegral equation -anbe approximated numericallyaby dividing9 B intoNB finitepsmfents
constant source dens ity. Equa ticn (26)
applied at the center of each segment produces
a set of linear equations for the NA source
densities. From this density distri bution,
forces and velocities can be computed from
equations (22)and (23).
This well-known method has been successfully
applied to a variety of problems. One andesirable feature is a set of anomalous migenfrequenci el corresoponding tg nontrivial solutions
of the inner potential fi(m) satisfying
Laplace's equlltion
over region Q and boundary
conditions

g1

-X

(27)

()

x ES

(28)

a source distribution. Later, the method was


extended to wave excited forces and moments [7].
Recent work of Chang shcws gocd results for the
iydrodynamic comfficients of a three-dimensional
ship hull.

The inner potential and therefore the source


dertsity
is non-unique at these frequencies.
The problem is not fundamental, however, since
the external potential and therefore the pressure remains unchanged. The linear equations
for the density distribution are singular at
these frequencies. This singularity can be
removed by several methods, including placing a
lid on the body and submerging it a small distance. These internal modes can also be excited for initial vilue problems solved by the
body source icthod
but they only influence the
source distributior and have no ef.ect on the
pressure [4].

The same formulation developed for the source


method can be appl'ed to the aipole method for a
submerged body. A urface-piercing body can
also be represented as the limiting case of a
submerged body with a flat top an infinitesimal
distance below the free surface, although this
involves a line integral (point sources and
dipoles in two dimensions) except for special
cases including steady harmonic oscillations.
For a submerged body with the velocity normal
to the body continuous across the body surface,
equation (17)reduces to

The utilitj of the body source method for


practical three-dimensional ship hulls is well
illustrated by van Oortmerssen's [5] study of
the motions of a tanker hullir shallow water.
Hydrodynamic coefficients and wave exciting
forces were calculated as functions of frequency
and :ompared with experimental data. The method
is , three-dimensional generalization of the
Frank [3]method with a Green's function for the
body component of potential defined by
-

G 4IF -r1
r

x x ) dS (30)
3nI G(xx
SJD(xlt) -B
where D(x) is th2 stiength of the surface dipole
distribution. This body potential *B(i,t) is
ss
body
distiuous acrs
continuous noral velocity. As in the source
OB(it)

distribution method, the free-surface potential


is continuous over the lower half-plane and
satisfies
surface. equation (21)on the undeflected free

(29)

where
is the distance betweenjoints x andt
i
ofn
acrssthe utndeetedwree
srache. Te
of x, across the

The greatest difference between the source


and
methods is the technique fordetermiindipole
thteghdsrbto
For
mining the strength dlstrthution 0(xt).
the source method, the body boundary condition
is applied directly. For the dipole method, it
is applied indirectly by a known internal poteiitiali(,t) satisfying

~~

undeflected free surface.'1he

free-surface Dortion cf the Green's function


G2(i,il) corresponds to the disturbance created
by an oscillating source below a linearized
free surface in a fluid of constant depth. In
some calculations the effect of a nearby wall
is represented by image terms in the Green's
function.n!

Vn(,t)

The tanker was represented by 160 triangular


and quadralateral panels no larger than onefifth of the smallest wave length. Wave induced
forces were in good agreement with experiment
except for surge and pitch in beam seas which
only result from thesmall longitudinal asyvnmetry. Added mass and damping coefficients al;.o
showed good general agreement with experiment
except for viscous effects in rolldamping and
some differences in rclland pitch added mass.
In general, van Oorterssen's work is strong
evidence of the practical utility of the simple
source distribution for ship motion problems.
No forward speed effects were included, but the
results should remain valid for slowly moving
ships.

x f Ba .

If thebody translates in the x direction with


If
the
bo transle
the ireti
i
speed U(t), fur esample, the inner potential is
simply

*i(x~t)

n 11(t).

(32)

The dipole density is determined from an Integralequation representation of equations (6)


and (3)
*lint)
l-,0 * $fGxt) * fD .It)
It

1ci,!,t) as
I
(33)

Bodi_Dipole Method

where *l(i,t) is the known internal potential


Another quasi-analytic method closely related
and *f(i,)tis the solution of equations (10)
to the body source method is the body dipole
and (11).
method developed by Chang and Pien [6]. This
method was developed for d three-dimensional
The wave-induced forces acting on a threesubmerged bodyChan
translating
at a ste'dy
body moving through
oredimensional deeply submaerqed
tha a speed.
an Pla
(6 deonstate
thang and Pien [6] demonstrated that a more

a wave field at constant npeed were calculated


by Chang and Pien [I] under the simlifying
'ssumption that the free-surface potential

accurate solution could be obtained with fewer


body panels with a dipole distribution than with

generated by the body 4f(i,t) can be neglected.


Equation (33) then becomes
D
Ux =

1 (xt)+

IG(x' 1 )

JD(i,t) ---n1

(34)

dS

Figure [2]. This bounding surface includes the


submerged portion of the body SB, the free surface SF, the bottom SW, and the left and right
radiation boundaries SL and SR. The bottom
surface SW can be irregular If the depth is

regions II and 1ll. The body bounconstant fin


E SB

dary condition is

which can be converted into a set of N linear


equations for the dipole density distribution
D(ipt) over N finite panels. The resulting
induced forces agree with an analytic result of
Havelock for a test case of a sphere.
With the same theory, Chang and Pien [7]
simulated the free motion of a submerged body
in waves. One interesting phenomenon is wave
coupling in bidirectional seas. The motion
induced by one set of waves alters the force;
induced by the other depending on initial conditions, relative direction, and phasino. The
result can be a steady drift in yaw, for example,
until ;n some cases a stable relative angle is
reached.
As mentioned above, the dipole method can be
applied to a surface-piercing body by applying
the present formulation to a closed body with a
flat top an infinitesimal distance below the
free surface. No line integral is involved for
steady harmonic oscillation of a three-dimensional ship hull. Chang has in fact, su.,tessfully applied the dipole method to a practical
ship hull [8]. These results and those of
Frank [3] and van Oortmerssen [5] demonstrate

()
x

).

(37)

The free-surface and body boundary conditions


are
2

1
o

x)

(38)

and
D
5

(39)

x C SW

ix)

The potentials in regiconsII ard Ill are finite


summations of the form,
NR

E(0)
C8, fq ( )

ix)

11

(40)

(x)

111

(41)

kmO

and
NL
kEt k

-(W

' - -'(,,-'-

all teTis involving


giving
(

as1(
aty))
sa u ss
M_

1 as.

( )

distributed over the surface S bounding region


I, the region surrounding the body as shown in

k (x)

with the potential and its normal derivative


continuous across the radiation boundaries.
When the boundary conditions (36)-(41) are
applied to Green's theorem,

This method is characterized by a Green's

function in the form of a simple suurce


+ (0-0]2
.)2

(()

iwt
-i

= Re{c(x) e

p(x,t0

Hybrid Method
methods,
For the body source and body dipole
the body
singularities are distributed over
surface, with the free-surface potential represented by the free-surface portion of the
Green's function 0hich is also integrated over
the body surface. Another method for linear
harmonic oscillations of a body immersed in a
fluid is the hybrid method described by Bat and
Yeung [9], which matches a numerical solution
in a small region surrounding the body with
analytic solutions outside this region. Bai and
Yeung [9] give two alternate techniques for
implementing the method; a finite element varlational method and a surface integral method.
The surface integral method will be briefly
described in the form developed and applied by
Yeung [101.

G(x.y.,.n) - I log[(2-)

i36)
F S

where Vn(X) is specified function and 0(7) is


a complex potertial defined by

the practical utility of quasi-analytic methods


for seakeeping prediction. A realistic simulation could be achieved by including the
effects of forward speed, nonlinear hydrostatic
terms, and viscous effects,

Vn(()

Jsas
-4us ,(;,,

It

[:lf(i,)

)
Oi2.2
1

as

(42)
k Xi1
-n
can he eliminated,

. 23s

;i(.0

~
30 (;.,-.

;J)

(,i-

described - the TDIET (Time-dependent DifferentioIntegral Equation Technique) method described by


Harten [11]. and spectral representation of the
free-surface potential for the body source
method.

This integral equation can be reduced to a set


of simultaneous linear equations for the potential O(T) on surfaces S8 , SF, and SW ahJ the
coefficients of the two expansions by dividing
the boundary surface of region I into small
seqments of constant potential including NR
segments on SR and NL segments on NL. Equation
(43) then gives the potential at any point in I.
An incident wave can be easily included by adding it to the representation at the radiation
boundaries (40)-(41). The method can also be
applied to body oscillations ir deep water,

wt

S,

t',
a.___

Like the hybrid method, the TDIET method


distributes simple source and dipole singularities over the surface which bounds the region
of computation and uses the boundary conditions
to remove the normal velocity from the Green's
integral representation for the velocity potential. As an initial value problem, it can be
formulated in a closed basi,. Radiation boundaries may be included but they complicate the
formulation. Consider a two-dimensional closed
region I shown in Figure [3] bounded by a body
surface SB, the basin surface SW , and a free
surface SF. The body boundary condition may be

__

written as
SE

SL

1 (x-t) = Vn(x,t)

S Ial

b(,x) V it)
b,

(44)

j=l
IESB, t>O

where V (t) is the velocity of the Jth mwde zf


body otion. The boundary conditions on the
basin surface end the free surface are

FIGURE 2. GEOMETRY FOR HYBRID METHOD

;n

t)-- o

x E SW ,t , 0

(45)

)2

)-j (X,fi

g --' (i,t)

S FF

0
SF. t '. 0

where O(x,t) and

(46)

I.xt)are both

(xt) - g-

specifir, is initial conditions for t z 0.


When these boundai) ;onditlons are applied
Gceen's theorem (42.
he result is an int-.r-al
equation of the form

SW ss

d3 #S
,(.t) ( '

( i') "

, t( .

, .-I

8US

Sw

FIGURE 3.G 'METRY FORBODYMOTIONPROBLEM

(41)

where G(s,xj) is I , simple source defined for


two dimensions by (35).
Initial Value Methods

Fquation (4/) is t Iuced to numerical form

Although steady harm,:ic oscillations are


the most common form for free-surface body
motion problems, initial value problems with
moton
re o
eT!
interest as
an well,
notion are
of intres
arbitrary boyarbirarybo~
Two alternatives to the time-dependent Green's
function for initial value problems will he

by ilividingthe boundary surface into finite


with the potentisl specified at
seg(wmnts
N - NR+ Nr points. The first NR pIsfntsare on
potentialLeton*R(;,t)
the body 1ajid
and
denote
< ibanln,
<N
the freethu
surface.
potenia
I
d the
t) Nqll
let
at F points on tRiis ee
surface
Mrten tl

10

I1 2

shows that a spline fit reduces the integral


equation (47) to a set of linear equations of
the form
N+NF
Eki Pi(t) =
i=1

on = ( k) 1
is the frequency. This finite
summation is, in fact, an approximation to an
infinite integral with an error which vanishes
as the wave spacing tkn mTknvl - kn approaches
zero and the maximum wave number kn , which
corresponds to the shortest wave length,
approaches infinity.

(48)
48)

Vj(t)k
=l

where pi(t) is a vector with N N F elements


defined as
vi

'

t)

The free surface elevation,

n(xt) = -

1at

(x,O,t)

(52)

is also represented by a summation,

--

F(i,t)
tt

Np+l < i < N


<(x.t)

F(i-N

NW n
iknx
= n-- A (t) e n

(49)

N+NF

where An(t) is a complex vector. The free surface is thus represented by a pair of complex
vectors, An(t) and Bn(t). The linearized free
surface equation (9) and the dynamic condition
(52) can then be expressed by N pairs of
simple differential equations of the form

The matrix Eki has N by N+NF elements which are


independent of timr and depend only on the
geometry. Harten [I] shows that by Gaussian
elimination, the body and basin potentials can
be removed from the Thst Nr equations which
then assume the form

3~My

di An(t)

k", -NF.u
(50

dc.,}

which is a system of NF linear differential


equations for the surface potertial F(i,t)
The potentials on the free surface can
integrated from their initial vilues without
considering the potentials on tie body or the
basin. These potentials can be calculated from
the first N R equations of (49) oice the freesuiface potentials have been dettrmined.

ynlt

kn ( '

vy

n(t)

Cn(t)

(54)

an An(t)

(55)

An't).

0...

NW
iknx
h(x,t) = g F_ Cn(t) e n
n=l

((50)

(56)

These equations can be integrated analytically for a series of small time steps over
which the body source distribution, and therefore
C2 y(t),
are assumed to be constant. Since
the bo
potential
is expressed numerically as

Spectral representions of the frse surface


have been applier a both linear and nonlinear
probleinsb, lausslirsy
and Van Eseltlne [12],
[13]. The conined body source and free surface
spectral method described here was applied by
Chapman [4] to the problem of large amplitude
ntloo of floating bodies with a linearled
free surface. The free surface potential
Of(ny.t) defined by equations (5). (6)
(9)
is analytic over the lower half-plane and can
be approximated in deep water by a finite summation of harimonics.
nI e

where Ct)
represents the body source potential
in the ?orm of the harmonics of h(s,t( defined
in (9),

Another method well suited for initial value


problems is the body source method described in
a previous section with the free strface poteni tand
the incdert wave, if present,
tia
descri
ed by their spectral componerts.

-gNw
Bn(t)

(53)

a collection of finite sources, Cn(t) is easily


computed by adding the aralyti- result for the
free-surface harmonics generated by an impulsine subm rged source [4]. The free surface
velocity *- (a
boundary condition (13) determining the body
source distribution can be evaluated by analytic
differentiation of the harmonic components In
In this way an Initial valae
vhlem
can be advanced in small time steps.
' the
body Is free, torces acting on the body are
conauted each time step and the accelerations
determined from the equations of motion.

(51)
(One

advantage of the spectral rather than a


physical representation of the free surtace Is
that wave spa(ng can be non-us
urm with
smaller siiaclnT at the low w-,n nmhers which
correspond to the long wave lenqth-

where n:(t) It the complex amp'litude of the nharu, 1c. k,. Is the wave numh.r. and

i_

This increases the time interval over which the


long wave lengths and therefore the solution
remains valid. In a physical representation
these long wave lengths are the first reflected
from the boundary of the calculation since they
propagate the fastest,

resistance induced by the surface source distribution calculated for the flow past a Series-60
hull in the zero Froude number (double hull)
limit by Hess and Smith [17]. Although this
method neglects the effect of the free-surface
disturbance on the body boundary condition and
therefore on the source distribution, it should
give a strong indication of the effect of satisfying the exact body boundary condition for low
Froude numbers. The experimental residuary
resistance was compared with predictions from
thin ship theory and the surface soirce distribution over a range ot Froude numbers. No
improvement was obtained by placing the sources
on the actual surface. Breslin and Eng point
out that part of the disagreement between theory
and experiment may be due to interaction between
viscous and wave-making components of resistance.

Small body motion is a sufficient but not a


necessary condition for a valid linearized free
surface. The linear aoproximatisn can remain
valid, if the body moves slowly, over large
changes in the geometry of the submerged portion nf the body which induce hydrostatic and
hydrodynamic nonlinearities. The body source
method with a spectral free-surface representation has been applied to this type of large
amplitude motion and tested for a few cases (4],
including water entry and large amplitude free
oscillation of floating rectangular cylinders.

Adee [18], [19] applied the body source


method to a Series-60 hull. The free-surface
potential, calculated for a Kelvin source, was
included in the body boundary condition ao that
an exact numerical solution of the NeumannKelvin problem was obtained. Adee did not
calculate wave-making resistance since he did
not expect any fundamental improvement over
thin ship theory. instead, he sought an
estimate of the effects of a linearized free
surface on the double hull streamlines over the
hull surface.

Wave-Making Problems
The problem of a body translating with steady
speed through an inviscid fluid with a freesurface is usually solved for the purpose of
estimating the resistance due to wave-making.
Also of interest are sinkage and trim forces
and the streamlines over the hull, including
the wave profile. If the body is well submerged, the linear free surface is valid and
quasi-analytic methods are applicable. With
modification, basic quasi-analytic techniques
discussed for body motion problems can be
applied to a translating submerged body.

The dipole method was applied to a surfacepiercing ellipse by Chang and Pien [6] with a
formulation equivalent to a submerged body with
a flat too an infinitesimal distance below a
linearizad free surface. This formulation
contained the two-dimensional equivalent of the
line integral for three-dimenslonal surfacepiercing buoies.

The body source method, for example, was


applied to steady flow past submerged twodimensional hydrofoils by Geising and Smith
[14] with a Green's funtLion in the form of a
Kelvin source, i.e. a source translating with
steady speed under a linearized free surface.
Later, Chang and Pian [61 demonstrated the
advantages of the surf.we dipole method for
translating, sub'eryed three-dimensional bodies,
Both Bal [11 oi Chen and Mei [15] have solved
two-dimensional flows past submerged bodies
with lucalized finite element, or hybrid,
methods based on variational principles for a
linearized free surface,

Two analytic papers concerning a threedimensional surface-piercing body of finite


thickness translating through a linearized free
surface, the Neumann-Kelvin problem, should be
mentioned. Brard [2] and Bessho [20] both
discuss a line integral about the Intersection
of the body and the linearized free surface.
This line integral may be obtained analytically
from Green's theorem for a Kelvin source by
integrating by parts over the linearized free
surface exterior to the body. Som numerical
formulations, such as the body source method,
do not explicitly contain line integrals while
others such as the d4pole nothod do
All
methods provide solutions of the Neumann-Kelvin
problem within the limitations of numerical
approximations such as element size.

When the body is near or intersects the free


surface, linearization is valid only in limiting
cases such as thin or flat ships or at zero
Froude number where the free-surface acts as a
rigid boundary and the flow is identical to flow
over a double model--the hull and its reflection
in an unbounded fluid. It is not unreasonable
though, to attempt an improvement of the thin
ship approximation for the wave-making of finite
thickness hulls piercing a free surface by
placing sources on thf hull surface rather than
the centerplane while retaining the simplicity
inherent in a free-surface potential linearized
about the free streim flow, The validity of this
method can only be established empirically by
comparing predicted and experimental wave-making
resistance.

The uniqueness and even the existence of a


solution to the Neumann-Kelvin problem has not
been established for surface-piercing bodies,
although Bessho [20) has demonstrated that the
flow can be unique if the surface-piercing
body is regarded as a submerged body with a
flat top an infinitesimal distance below a
linearized surface with zero water depth above
the hull. Perhaps more importantly, the physical significance of the Neumann-Kelvin problem
for sxrface-plerring bodies is questionable.
There is a net flux into the body, for example,

An early investigation of this type was that


of Breslin and Eng [16] who computed the wave

12

which Bessho [20] shows can only be cancelled


by removing one term in the line integral,

significant only for cases of large amplitude


motion. In these cases, perturbing the double
hullflow should provide a correction, valid at

Thus, while quasi-analytic methods have been


proven valuable for body motion problems and
wave-making of well submerged bodies, the important problem of the wave-making resistance of a
surface-piercing body seems to require a more
realistic representation of the free surface
than is provided by the classical linearized
theory.

low frequencies (Froude numbers), to the nonlinear portion of the damping coefficient--an
effect closely related to wave-making.
The limited results row available indicate
improved wave-making resistance predictions by
perturbing about the double hull flow, even at
moderate Froude numbers. This suggests that
horizontal transport terms in the free-surface
conditions are important factors in the wavemaking resistance of realistic ship hulls.
It should be expected however, that in the
moderate to high range of Froude numbers the
horizontal velocities on the free surface will
cease to be modeled by the double hull flow.

Nonlinear Free Surface Solutions


for Ship Hull Wave-Making
Before more numerical methods are discussed,
some mention should be made of what is essentially an analytih approach to nonlinear flow
past a finite ship hull--second order perturbation about a thin ship representation. Formulations of this type have been invented or
developed by Wehausen [21], Yim [22], Eggers
and Choi [23], Guilloton, Noblesse [24], and
Dagan [25]. Comparisons between wave resistance
computed by these methods and experimental data
hive been published by Gadd [26] and by Hong
[27]. These methods are shown to improve the
theoretical prediction for some Froude numbers
but not consistently,

A more general method was developed by Gadd


[33], who formulated a free surface representation, nonlinear in the horizontal plane and
second order in the vertical direction.
Surface panels are distributed over the body
and the undeflected free surface near the body.
The source densities on the panels are computed
by alternately applying the kinematic conditio.1
and correcting for the error in the dynamic
condition. Although the method for terminating
the free-surface panels and the use of smoothing
are perhaps undesirable, Gadd obtaned excellent
results as evidenced by comparisons with experimental wave profiles and resistance for a hull
over
e limited range of Froude numbers tested,
and particularly by comparisons with freesurface contours and induced pressurpt fur flow
over a blunt bow.

Another approach, easily applied tu numerical


methods, is to perturb the flow about the double
hull or zero Froude number flow rather than
about the free stream. Thus, the velocity
potential *(x) is written as

Perhaps because investigators have been


deterred by the possibility of large computation
times, there have been few attempts to solve
the exact nonlinear problem of flow past a ship
hull numerically. Nichols and Hirt [341
calculated the nonlinear free-surface disturbance generated by a blunt three-.dimensional
body impulsively started in a basin with a
variation of the Marker-and-Cell method, but
this calculation has no direct connection to
the wave-making of a ship hull. Recently, Chan
[31] has developed a numerical method fcr ship
hulls based on double hull flow without
linearization so that the solution is exact
within the limitations of inviscid flow.

where pr ) satisfies the exact body boundary


condition apd ihe condition of zero vertical
velocity on the static free surface plane. In
this way, the free surface disturbance is perturbed about a flow which goes around a finite
hull rather than through it. An analytic
perturbation of this type is valid in the
limiting case of a slowly moving ship [28].
This perturbation has been applied numerically
by Babe [29] to low speed flow past blunt ship
bows with good agreement with experimental
coefficients of wave resistance over a range of
low Froude numbers,
Other authors have also had success with
perturbation about the double hull streamlines.
Dawson L30] has solved the flow about a Wigley
hull in this manner and has obtained good
abreement with experimental wave profiles for
Froude numbers as high as 0.50. Chan [31] uses
the double hull flow as a starting estimate for
an exact nonlinear solution. Chan and Stuhmiller [32] have also applied perturbation
about the double hull flow to unsteady motion
of a semisubmerged sphere. Double hull perturbation has limited application however, for
body motion problems which are usually linearized on the basis of small amplitude motion
rather than body thickness, Terms associated
with flow about the body, whether linearized
about the double hull or the free stream, are

Two-Dirronsional Nonlinear
Free-Surface Problems
Fundamental aspects of nonlinear free
surface flow are most easily studied in
dimensions. A few nonlinear solutions of
interest for ship hydrodynamics will be mentioned in this section. One class of problems
is steady nonlinear flow past a two-dimensional
disturbance. Problems of this type, including
flows past submerged vortices, flows past foils,
and shallow water effects have been studied
extensively by Salvesen and eon Kerczek (35].
[36], [37]. Of particular interest are
comparisons with perturbatior theory and with
experiments with a foil. Nonlinear effects
contained in seconu and third order perturbation

13

expansions are evident !n the numerical nonlinear free-surface elevations for flow past a
submerged vortex. For positive circulation,

teristics of ships. A review of numerical


methods, including Marker-and-Cell, applicable
to the general problem of sloshing in containers

third order theory provides an excellent approximation to the nonlinear wave-making resistance.
The basic method is to repeatedly solve Lapiace's
equation and correct the free surface elevations
for the error in the dynamic condition until the
solution converges. In this mannt, Salvesen
and von Kerczek could generate waves near the
maximum experimental steepness. Other itivestigators have generated steady nonlinear flows
with unsteady methnds using small time steps.
Haussling and Van Eseitine [12], [38], for
example, have applied both spectral and finite
difference methods to steady flow past a pressure patch.

is contained in a review paper of von Kerczek


[421. None of these methods have been specifically applied to liquid cargo sloshing, however.
Faltinsen [43] has modeled nonlinear sioshing
in rectangular containers with a perturbation
method and has more recently developed a numerical method applicable to the problem.
Sunary
A review of recent progriss in numerical
solutions of free-surface problems in ship
hydrodynamics suggests some problems which are
likely to be solved in the near future. These
are briefly discussed in this section.

Unsteady nonlinear methods in two dimensions


are of direct interest for ship motion problems,
including seakeeping and free-surface effects
on maneuvering. One reason for this is that
unlike wave-making resistance, which is essentially three-dimensional for practical ship
hulls, body motion problems can be reduced to
a set of two-dimensional problems by the strip
Lheiy approximation, or at high Froude numbers
by the slender body approximation. Quasianalytic and two-dimensional nonlinear methods
complement each other in this regard, with the
former providing three-dimensional effects and
the latter inviscid nonine_, effects. Another
reason for the relative importance of twedimensional mthods is that the simpliflcation
is u-e'uZ-Relat'ne to wave-making problems, a
large number of calculations are required at
various wave lengths and headings to characterize the response of a ;.hee-dimensional hody in
waves; and the problem is compounded if it is
nonlinear.

Quasi-analytir methods, which combine a


linearized free surface with an exact body
boundary condition, have already shown their
practical value for problems involving threedimensional ship motion. Future work should
soon expand these methods to include the effects
of forward speed. It would be useful to combie a three-dimensional quasi-analytic representation for ship motion with an empirical
representation for viscous damping and nonlinear
hydrostatic terms in a six degree-of-freedom
simulation.
Realistic modelinigof the wave-making of a
translating three-dimensional hull appears to
require at least a partial representation of
nonlinear free-surface effects. Perturbing
about the double hull flow rather than about the
'ree stream appears promising for the wavemaking problem for low and moderate Froude
numbers. Also, an exact inviscid solution of a
nonlinear three-dimensional wave-making problem
has been obtained numerically. Furtlr comparions should be made with experimental wave
profiler ,od wave-making resistance coefficients.
Complete .greement between theoretical and
experimental resistance depends, in part, on
resolving the interaction between wave-making
and viscous components of resistance. One
single example is the wetted surface area
covered by a bow wave, or at high speeds by a
spray sheet.

An example of a two-dimensional nonlinear


solution related to maneuvering characteristics
is the steady force acting on a yawed vertical
plate piercing a nonlinear f;ee surface as
calculated by Chapman [391. In this case,
slender bcdy theory reduced the nonlinear threedimensional problem to an unsteady nonlinear
two-dimensional problem.
The nonlinear force acting on a heaving
re . ogular cylinder was computed by Nichols
and irt [34] with the SOLA-SURF code, a variation of the Marker-and-Cell method. Added
mass and damping coefficients were campared with
linear theory and with experiment. Chan and
Hirt [403 solved the nonlinear problem of the
free-surface disturbance and forces generated
by the motion of a semisuberged cylinder,
Both a second-order finite difference and a
Lagranglan (GALE) method were applied. Lagrangian methods such as GALE or the triangular
mesh method developec by Boris, ec.al. [413
could potentially simulate extreme nonlinear
flows, which with strip or slender body theory
could be applied to capsizing or ship slamming.

Two-dimensional nonlinear methods are valuable for simulating nonlinear hydrodynamic


effects for large amplitude body motion. Strip
theory and slender body theory can extend these
methods to practical ship hulls. Thus, while
4
quasi-analytic methods yield three-dlmens onal
effects, nonlinear two-dimensional methids
yield nonlinear hydrodynamic effects for extreme
motions including possibly capsizing and slamming.
Finally, it should be emphasized that all
numerical methods should, if possible, be compared with experimental data over as wide a
range as possible. In this way the limitations
of the various explicit or implicit assumptions
can be evaluated and the simplest valid methods
develnped.

Another class of problems with application


to ship hydrodynamics concerns free-surface
effects for liquid cargoes or anti-roll tanks.
These effects can influence the roll charac-

14

References
1. Bai,K.J.,"A Localized Finite-Element
Method for Steady, Iwo-Dimensioial FreeSurface Flow Problems," First International Conference on Numerical Ship
Hydrodynamics, Gctober 1975.

15. Chen, H.S. and Mei,C.C.,"ralculation of


Two-Dimensional Ship Waves By a Hybrid
Element Method Based on Variational Principles," First International Conference en
i;-,nerical
Ship Hydrodynamics, October 1975.

Z. Brard, R., "The Representation of a Given


Ship Form by Singularity Distribution When
the Condition on the Free Surface is
Linearized," Journal of Ship Research,
Vol.16, No. 1, pp, 79-92, 1972.

16. Breslin, J.P.and Eng, K., "Calculation of


the Wave Resistance of a Ship Represented
by Sources Distributed Over the HuWlSurface," International Seminar on Theoretical
Wave-Resistance, University of Michigan,

3. Frank, W., "Oscillation of Cylinders in or


Below the Free Surface of Deep Fluids,"
Naval Ship Research and Development Center
Report Number 2375, October 1967.
4. Chapman, R.B.,"Large Amplitude T'ansient
Motion of Two-Dimensional Floating Bodies,"
submitted to the Journal of Ship Research.

1963

17. Hess, JL. and Smith, A.M.O., "Calculation


of Nonlifting Potential Flow About Arbitrary
Three-Dimensional Bodies," Journal of Ship
Research,
Vol.8, No. 2, pp. 22-44,
September 1973.
18. Adee, B., "Calculation of the Streamlines
About a Ship Assuming a Linearized FreeSurface Boundary Condition," Journal of
Ship Research, Vol.17, No. 3, pp. 140-146,
September 1973.

5. van Oortmerssen, G., "The Motions of a


Ship in Shallow Water," Ocean Engineering,
Vol.3, pp, 221-255, 1976.
6. Chang, M.S. and Pien, P.C.,"Hydrodynamic
Forces on a Body Moving Beneath a Free
Slarface,"
First International Conference on
Numerical Ship Hydrodynamics, October 1975.
7. Chang, M.S. and Pien, P.C.,"Velocity
Potentials of Submerged Bodies Near a Free
Surface - Application to Wave-Exci-'i
Forces
and Motions," Eleventh Symposium on
Naval Hydrodynamics,
March 1976.

19. Adee, B., "Fluid Flow Around a Ship's Hull,"


First Icternatiunal Conference on Numerical
Ship Hydrodynamics, October 1975.
20.

Bessho, M., "Line Integral, Uniqueness and


Diffraction of Wave In the Linearized
Theory," International Seminar on WaveResistance, Tokyo, 1976.

21. Wehausen, J.V.,"Use of Lagrangian Coordinates for Ship Wave Resistance (First- and
Second-Order Thin Ship Theory)," Journal
of Ship Research, Vol.13,No. 1, pp. 12-22,
March 1969.

8. Chang, M.S.,unpublished.
9. Bai,K.J.and Yeung, R.W.,"Numerical Solutions to Free Surface Flows," Tenth Symposium on NavalHydrodynamics, June 1974.

22. Yim, B., "Higher Ode Wave Theory of Ships,"


Journal of Ship Research, Vol.12, No. 4,
pp. 237-245. December 1968.

10, Yeung, R.W.,"A Hybrid Integral-Equation


Method for Time-Harmonic Free-Surface Flow,"
First International Conference on Numerical
Ship Hydrodynamics, October 1975.

23.

Eggers, K.W.H. and Choi, H.S.,"On the


Calculation of Stationary Ship Flow Components," First International
Conference on
Numerical Ship Hydrodynamics, October 1975.
24. Noblesse, F., "A Perturbation Analysis of
the Wavemaking of a Ship with an Interpretation of Guilloton's Method," Journal of
Ship Research, Vol.19, No. 3, pp. 140-148,
September 1975.

11. Harten, A., "An Efficient DifferentioIntegral Equation Technique for TimeDependent Flows with a Free Surface,"
First
International Conference on Numerical Ship
Hydrodynamics, October 1975.
12. Haussllng, N.J. and Van Eseltine, R.T.,
"A Combined Spectral
Method for Linear and Finite-Difference
Nonlinear Water Wave
Problemns,"
Naval Ship and Research Development Center Report Number 4580, 1974.

25.

13. Hasssllng, H.J.and Van Eseltine. R.T..


"Unsteady Air Cushion Vehicle Hydrodynamics
Using Fourier Series," Journal of Shil
Research, Vol.20, No. 2. pp. 79-84,
1976.

26.

14. Gleslng, J.P. and Smith, A.M.O., "Potential


Flow About Two-Dimensional Hydrofoils,"
Journal of Fluid Mechanics, Vol.28, Part
1. pp. 113-129, 1967.

Dagan, G., "A Method of Computing Nonlinear


Wave Resistance of Thin Ships by Coordinate
Straining," Vol.19,No. 3, pp. 149-154,
September 1975.
Gadd, G.E.,"Wave Resistance Calculations
by Guilloton's Method," Transactions Royal
Institution of NavalArchitects, Vol.115,
pp. 377-397, 1973.

27. Hong, Y.S.,"Numerical Calculation of


Second-Order Wave Rcsistance," Journal of
Ship Research, Vol.21, No. 2, June 1977.

15

28.

Newman, J.N., "Linearized Wave Resistance


Theory," International Seminar on Wave
Pesistance, To!,:o,1176.

29.

Baba, E., "Blunt Bow Forms and Wave Breaking," First Ship Technology and Research
Symposium, August 1975.

30.

Dawson, C.W., unpublished.

43.

31. Chan, R.K.C., unpublished.


32. Chan, R.K.C. and Stuhmiller, J.H., "Numerical Solution of Unsteady Ship Wave
Problems," Eleventh Symposium on Naval
Hydrodynamics, March 1976.
33. Gadd, G.E., "A Method of Computing the Flow
and Surface Wave Pattern Around Full Forms,"
Transactions Royal Institution of Naval
Architects, 1976.
34.

Nichols, B.D. and Hirt, C.W., "Methods for


Calculating Multi-Dimensional Transient,
Free Surface Flows Past Bodies," First
International Conference on Numerical Ship
Hydrodynamics, October 1975.

35: von Kerczek, C.H. and Salvesen, N.,


"Numerical Solutions of Two-Dimensional
Nonlinear Wave Problems," Tenth Symposium
on Naval Hydrodynamics, June 1974.
36. Salvesen, N. and von Kerczek, C.H.,
"Numerical Solutions of Two-Dimensional
Nonlinear Body-Wave Problems," First International Conference or Numerical Ship
Hydrodynamics, October 1975.
37. Salvesen, N. and von Kerczek, C.H.,
"Comparison of Numerical and Perturbation
Solutions of Two-Dimensional Nonlinear
Water-Wave Problems," Journal of Ship
Research, Vol. 20, No. 3, pp. 160-170,
September 1976.
38.

Haussling, H.J. and Van Eseltine, R.T.,


"Finite-Difference Methods for Transient
Potential FIws with Free Surfaces," First
International Conference on Numerical Ship
Hydrodynamics, Occober 1915.

39. Chapman, R.B., "Free-Surface Effects for


Pawed Surface-Piercing Plates," Journal of
Ship Research, Vol. 20, No. 3, pp. 125-136,
September 1975.
40.

Chan, R.K.C. and Hirt, C.W., "Two-Dlmensional Calculations of the Motion of


Floating Bodies," lenth Symposium on Naval
Hydrodynamics, June 1974.

41.

Boris. J., Hain, K.L., and Fritts, M.J.,


"Free Surface Hydrodynamics Using a Lagrangian Triangular Mesh," First International
Conference on Numerical Ship Hydrodynamics,
October 1975.

42.

non Kerciek, C.H., "Numerical Solution of


Naval Free-Surface Hydrodynamics Problems."
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Ship Hydrodynamics, October 1975.

16

Faltinsen, O.M., "A Nc 'near Theory of


Sloshing in Rectangular ontainers," Journal
of Ship Research, Vol. 18, No. 4, pp. 224241, December 1974.

NUMERICAL EVALUATION OF A WAVE-RESISTANCE THEORY


FOR SLOW SHIPS
E.Bab& and M.Hara
Nagaaki Technical Institute,
Mitsubishi Heavy tustriea, Ltd.
1-1Akunoura-machi
Nagasaki, Japan

In section ? an outline of the present


theory is given. It is then shown that
wave resistance derived from the present
theory consists of thee parts. One is
due to the singularity distributions over
the body surface, the second is due to
the singularity distributions around the
intersection between the body and the
still-water surface ( the so called lineintegral term ), and the third is due to
the free-surface disturbance expres;ed
in terms of products of derivatives of
double-b,-1,, potential. The last one is
considered , the nonlinear effect on
the free-surf., - conditi-',.

Abstract
A procedure is presented for -the
numerical calculation of wave resistance
of conventional ship forms. ave-resistance theory used in the present
calculation takes account of the nonfree-surface
linear effect on the
condition. Because of this a remarkable
attenuation of the humps and hollows of
wave resistance curve is attained in the
practical speed range of conventional
commercial ships. Taking a semisubmerged
s1 here as an example, each stage of
numerical calculations is exanined by
comparing with the analytical values.
Finally wave resistance of conventional
ship forms is calculated and compared
with experimental values. Within a
practically acceptable order of
magniude wave resistance can be
estimated by the piesent theory,

In section 3 a quantitative discuss


on the characteristics of the present
theory is given by applying the theory
to a vertical circular cylinder piercing
the free surface. It is tsen shown that
the contribution from the singularity
distributions on the body surface is
cancelled out by the lower-order rerms
of the contribution from the lineintegral tern. The remaining kigherorder terms are the same order of
magnitude as that of the third part of
the free-surface disturbance. It is
further shown that this third part
contributes especially to tileIeduction

1. Introduction
............
A wave resistance theory which takes
account of the nonlinear effect on the
condition in low speeds
,Iree--surface
has been developed by Raba and Takekuima
11,2] . In this piper a procedure is
presented for the numericat calculation
of conventio.al ship forms based on this
theory.

of tramnverse-wave components.

As I

result, humps and hollows of the wave


resistance coefficient curve are
attenate 1'd remarkably.

The theory is an extension of


Ogilvie's two-dimensional low-speed wave
resistance theory[3] to the threedimensional bodies piercing the free
surface. It is a characteristic of the
theory that the double-body veloci-ty
potential is used as tilezero-order
solution, As the next-,rder solution a
surface-layer velocity potential which
represents a wave motion is determined
in such a way that the sun of both
velocity potentials satisfies a freesurface condition. The free-surface
condition used in the present paper is
a Linear equation for the surface-layer
potential. However, products of
derivatives of zero-order potential are
included. Therefore tie coefficients
for the equation are depenent on space
variables

In section 4 a ptiocedte to calculate


wave resi lance of conventional ship
forms is eplained. III the computation
a1 asympt-tic expresslol of the amplitude
fumltiol I low-speed limit is used.
quantities for the computation
Necessa,
are I-nub I-oldy velocity componeiilt
around tileload waterliine. They can be
obtained by finite-eleuent method '"''h
as the one developed by Hless an! Smith
for nnlif ting bodies [4). letails of
numerical caleulation of wave resistance
are described. In the procedure validityl
of the numerical calculation in esglne,
by applying the computer program to a
semisubmerged sphere whose wave
resistance is obtained anlytically by
the present theory.

11

in section 5 se~ ral. exampst~ of wave resisship forms


are shown and compared with wave resistarce detests.
terisinedby towing

tance calculations fur conveati~onl

rr(x'y)

IU'

XY.)

0Y(X,y,D)

(4)

1
2,z
n
I
to the free-surface clev~tion
expressed by the term Cr(X,Y). Besle
the equations (1) and (,2),the radiation
teoii
diits
a
retange hod>'
'r ixed in
condition should be satisfied by P(X,Y,Z).
htrgn
oywt
ntl
system fie
It should he noted further that in the
onl the still watcr surface, we set s-axis
theory the surface- layer
present
upheara sownUind Fiaxdirected
potential d(x,y,z) does no2Zsatisfy the
n ig1
uparslocity
Ths etl
body boundary condition- The zero-order
vlciypotential isdcfincti:
Tietoa
alone Satisfies the
4(x~y~z),Otential or(x,y,Z)
Recently NewilanlIl derived
OT.(XyZ)
O(X,,7,)condition.
boundary-val1ue
same
the
ptenialindependently
the oube-bdy
for slow ships as the equation,
r is thpobebdyptniljrobulem
where ',
of tile
details
The
(1) and (2).
obtai ned from the :igid-wali problem.
derivation of the above boundary-value
is the surface-la yer velocity potential
problem and the following results are
which represents a wave motion.
found in the referencelbi.

qain

2. Outline of tlhetheaI
slw
or
512115corresponds

An asymptotic solution p(X,yoz) in Lhe


low-speed limsitis obtained as

'1zziz1 ~

yz

~X

rid'dy'

sxy,)~d

D(',Y')

k
xy6 -/

:Surfce-ioyer
'~..

I44y..K Double-body

'/

Potential

Figl.

dik(x,y,O) ezks(X.y10),injko~~yl

Coordinate syte

The houndaryr-Value problem presented


by Baba aid Takekumall] for the
surface-layer velocity potential O(ly.
is wiitten as
0 . o* (x,Y,Z)

0 )(x,y,Z) + o* (s.,Z)

dry
* xy) D(x,Y)

T*
Y
on 2

(x(6)us
0

sO
OX.Y

*(

(2)

CI('Y)where

Wave resistance dlrived from the v ,Irity


potll 4(X.Y.r) is expressed as
R

aIAO

ry(XY.O)YXis

'o'

o is the density of water. Ate)

the amplitude function:

a3
TY

9/1 0"

,ko(~.gl

is the &acceloratlon of gravity,


where
4%rx(t.y 0), *r (%.V,0) Ord ti'lvelocity
topnnaat he still-wa ter gurface.

D~x~)rx~j-Y-0
U

where

15

AIS

~.

b,
Ta'ngc, andof integrating
integral
(12) is written:
term
the first
parts,

sec~jtile
J dxd~(xK

ee

capt~~~ep
(xeosQ i

where
It is a characteristic of the present
%ave-resistance formula that the amplitude
function is ex~sressed as at int-gral of
disturbance '(x ,yl over the free surface.
Recently MIaruo hafs derived indepen~entl\
the same wave- resistance formula a!- (9)
and (a)

vseec5
0(0vO - yss9

-d

catI

--

scg

sec'

*yin,

d0
N(x,y,O)

i
i vscc't9
(xcose + ysino)]

exi
-

nes

ji V . Cfl

se'Siuec)
ddx(xy)
seI. iveo', dyx0xy0

The disturbance tt(x.N,)


is rewrittenepiiVCI(xo
as the sunmof two parts:

()
()

*yn)J,

p[iVC2

Xo0+yn)]

l~
where c i5 the cu.-ve of intersection
v~)
xyQ *N~~l
the body and the still water
0 i th
%herperurbaionveloitybetween
srae
potent iai of the double body, I e.
When a body is expressed by surface
r Usource
s~y:)
distribution o(x,y,z) and normal
doublet listribut ion p(xS),:) so as to
give zero-value )f perturbation potential
Nla,Y. )
-I0
*inside
the body, w,' have tilefollowing
Zg Ix
relations:
l

gI~
-

(0

10(x,y,O)

*O

o(x,y,P)) cos(oX fl)

4st

Oxv +l

-g O

I
21 0.aZ

(x,y,,O)
y,

'lx(s,y,()) onc
4n

(1

It 'hotile be noted that N(x,y,O) is


expressed in terms of products of
derivatives of the perturbation
potential. Within the framowo-k of thle
linearized theory, this tert is usually
higher order quantities,
negitcted as
as done by Gueel et alS]8. In the
present theory, however, it is shown that
the contribution from N(x,y,o) plays an
important role in the wave resistance at
low speeds. The present authors consider
that this term represents a nonlinear
effect on the free.surface condition.

Substituting (101)
into (9), we have

(on c,

sioxA

0(x,y,Z)

1 o(x',y',z')1 j
jxyX)nr
S(4

~,Jd
T

I +x,','
!.I lS

r'
(4

weeni
h
uwr
omlt
h
whrnisteuwacomltoie
surface at the interne t ion c, and I is
thletangent. S is thlesurface of the
ui
submerged part of thc hody. Here,
body is considered which has a vertical
hutllsurface at the intersection C. MAo,

(_,l+(y2+

21

A(O)

seclo

dxi>Oxx(xi>'0)

eirp[ I vseci8 IxcosO + ysinO)

W~e

JJdily

N(x,y,O)

expii vacc'0 (xcose + ysin6)

r-,_ (XX,)l 4 (yy,)2 , (,,,) 11/2


Further, we have a relation
da> I rf*10
x exp i

sec P (XeesO+ ysino)J

41T
2
sec. a]v'e
(12)~~~V
Exclhuding The cross section between the
+ i scO(X'cosO + y'sino)]
body and the still water surface from

This we have

The double-body potential 0(x,y,z) for


a circular cylinder is written as

A(0)

AS(e) + AL(e)

AF(G)

(ax

(1S)

2
1

a2.

yZ

O(xyZ) - =y

where

Substituting (17) into AS(9) and AL(e)


(16), we have

a(xyz)of

sec'

_4

ASO0)
-ia

ysine))]

x exp[vsec'ef z + i(xcose
44Y e,^
+-e 2 I~ dS (x ,y, z)

n2~

- Zia JC- 1 seco)


sec'e
1=- see20)
2 [a

Jc(-

isec28)] ,

(19)

x exp[vsec 8( z + i(xcose + y3inO)l]

[yo(x,y,O)cos( x,;)
sec38
sc icxy0

ALMO
+

is

S-+sin(ox,n) ]

sec2O

Zi J1

AL~a) -

1
(Tr

x exp[ i vsec 6 (xcosO + ysinO)] ,


AF(O)

- v
-sec'e

JJ
-11

dxdy N(x,y,O)

+S7V

283

exp[ 1 vecO (xcosO + ysine).

-"

sec e)
J2(sec e)]

Fn SOcosde
cs
cos2cos

ia 4cs

in

1
j

sec2)

sec?0),

--

(20)

(16)
where Fn - U/.ga , and J4, J1, J2 are
tne first
Bessvl term
functions
thethefirst kind.
The
of (19)of is
contribution from the surface source

It
is understood
the amplitude
function
consists that
of three
parts. One is
due to the surface singularity distri

dueto hesurac
siguariy

iti

distribution, and the second is from

butions over the body surface. This term


gives the conventional wave-resistance
formula which was derived by Havelock
for submerged bodies[9]. The second is
due to jhe singularity distributions
around 'he intersection between the body
and the still-wpter surface. This term
is the so called line-integral term. The
third is due to the free-surface
disturbance expressed in terms of
products of derivatives of double-body
potential.

distribution
.
doublet distribution.

It is observed
t t
he amplitude
function due to the surface
singularities AS(e) is cancelled out by
the first two terms of the amplitude
function due to the line integral term
AL(e). This fact was first pointed out
by Brard within the framework of the
linearized theory[lO].
The asymptotic expression of the sum
of AS(O) and AL() is written in the low
speed limit:

3. Wave resistance of
simple forms

6 r1 cosA A(8) - i 16In order to evaluate numerically the


characteristics of the present theory,
the above mentioned three parts of the
amplitude function are calculated fo,, a
vertical circular cylinder piercing te
free surface.

XCO(

The density of source and ioublet


distributions for a vertical circule
cylinder of radius a sre given as
follows!

(,y

Ux

(x,y.Z) -

Ux

I
117

Sc8

O(Fn')

Nf-st,rubstituting ()8) into (11),


we ',ave N(x,y,O) as ollow ;

(17)

20

the figure it is found that AF(S


especially to the reduction
of transverse wave componeflt(saall 9the result, humps and hollows
As
values).
of the wave-resistance curve are
attenuated remarkably.
Fro

2~x
4U

T~

4U Fn'

N(x,y,0)

-a'xcontributes

_r

a.

for r - / X-'yi

In the low-speed limit wave resistance


due to the sum of AS(6) an AL(M is in
obtained by means of stationary phase

From A (0) of (16) we then have


6

8)

2a

sec'ef

A (e).4i

CW-

r sec a) dr
Ux
secle
' oe

6a

0 cos(O
7 =-F

IT6656

*Wn

r-j

It is thus shown that in the low-speed


limit AS(O) + AL(P) is of same order of
magnitude as that of AF(e). Fig.2 showsof
a comparison of the asymptotic values
and XF(eJ at Fn -0.20,812
where + XL(8)whrC

Sin( I*j+
(23)

+O(Fn').

on the other hand, the wave resistance


due to the sum of three parts AS(O),AL(O)
aid AF(S is obtained as
*OF.

(24)

89w n'+O(n)

the wave
a comparison of cases.
Fig.3 shows curves
From
for both
resistance
this figure it is found that AF(S),
on
effect
which represents the nonlinear
the free-surface condition, plays an
important role on the attenuation of
humps and hollows of wave-resistance
curve in low-speed range.

IAF(6) -AF(S)/2a.
5io

.0

40

!L(O)
At(&)+

F=.0

2.0

43An

(22)

+ o(F )-

40

w
-4PtP'(2a) I
FG+3rTI

,lAS

1.0
G

00

-1.0

W
R~tS)~dS)'EI6)
\\~*~//~PO)
5.0

Iof

-40
-IL0
functons
f vetica cirulartwo
Pig.2. CompariS~.n of amplitude
cylinder in low speeds.

air a

Wa

Pg.3. Comparison of CW-values


vertical circular cylinder.

An Additional example of calculation


is shown in IFig.4, where the wave
amisubmere
resistance curves of a
sphre are compare. Th wave raIstarce
the sum of
from
obtine
co icin
parts A5 (8) and AL(S is given as
followsl

224
i
C111 24FnS + 72F Fn'sin(
+

O(Fn')

(25)

In the previous sections analytical


studies are given on the contribution of
each term of amplitude functions to the
resistance. In the present section
a procedure is explained to calculate
numerically
the wave
arbitrary forms.
For resistance
convenience of
of
computation, the expression of amplitude
function(9) is used directly instead of
the expression (15).

On
the other obtained
hand, thcfrom
wave-resistance
the sum of
coefficient
coeficiet
otaind frm te su ofwave
three parts AS(S), AL(S) and AF(S) for
the semisubmerged sphere is given by
633C
63

4. Numerical method to
wave resistance

)cal-HuTte

in 1'
sin( -F-,

By the partial integration with


respect to x in (9), an asymptotic
expression of the amplitude function in
low-speed limit i. obtained as a line
integral around the intersection of the
body and the still-water surface:

(26)

* O(a) .

A()-- isec 6

dyD(x,y)
c

exp[ i vsec 2S (xcos0 + ysin)].


(27)

- .0.-..d

c-

(phw

In this calculation the cross section


between the body and the still-water
surface is excluded from the integral
range in (9).
When the equation of the intersection

R.

.0

c.

F:.l t.

0i*F

L,aa4,s
m.is

expressed by the following relations:


coSB

'where

L is the length of a body and Bn


are the Fourier coefficients, the
amplitude function is rewritten:

10

s-

Bn sin(nO)

Fn, fdo F(B)


exp[ i.s .

where Fn

Fig.4. Comparison of Cw-values


of semisubmerged sphere.

(,S)

In this case, not only an attenuation of


humps and hollows but also a large
reduction of the basic term which is of
order F ' is attained by the addition of
the amplitude function AF(8). The details
of the derivation of (2) and (26) are
explained in Appendix A.

F(S)
p(9)
u
W

22

()],

II/vg
cos~cose + (2E Bn slnnB)sinO
I

- p az

1- u - v

0x(X.yO)/U ,
0lZ(x,y,O) L/U

0y(XyO)/U
o

(28)

The amplitude function can be calculated


by use of the velocity components around
the load waterline. The wave resistance
is then calculated by (8).

Table 1. Evaluation of numerical


integration with respect to 0 and 0.
Froude

(9

cosB( T sir'2

F(B) -

.use.
1.

(29)
In the above mentioned examination of
the numerical integration, the exact
expression of F(B) is used. In practice,
however, F(6) for an arbitrary body has
to be obtained numerically.
Representing the body by finite
number of surface elements on the body,
velocity components at the null point of
each surface element can be obtained.
Taking again the semisubmerged sphere as
an example, computed values of v(S),
p(S), dp/dS, wz(B), dy/dS and F()
are
compared with the exact values at the
load waterline:
v(W)= p(S)
(

here.
af F.-0.1

"

Upwlirfiattsonueoan
t
* "
"

*o=
s

cosasin,
T

sin's,

wz()
-

= =

cos,

cosO,

9 sncosB.

the calculation of dp/da, p(8) is


approximated first by a set of parabolic
curves determined by p(S) at the null
points of surface elements at the load
waterline. Then dp/d$ is obtained by a
curve fitting through thv derivatives of
p(8) which is approximated by the
parabolic curves. For the calculation of
w (8) In the present paper, w(A) is
obtained first at the point which is a
little apart from the surface element
closest to the load waterline. The
distance from the load waterline
which
is suitable fur calculation wAs investigated in the trial and error peocess. As
result,
for
itheawere
fondtheInmost
this reliable
case for values
the point

C. OL_
so

I-

In this computation, half of the surface


of submerged part of the sphere is
approxinated by 1818 surface elements.
The source density is assumed constant
over each of the elements. Table 2 shows
the comparison of analytical and
numercal values,

nl5lnti5I

-*

1.005
0.993
l.O
[

,'Q
".5

0o

Analytical
0.115927-3
0.640767-3
0.177887-2

This result shows the validity of the


numerical integration for practical

For this numerical calculation Simpson's


rule2 is applied with the interval AB =
iFn /47. At a a 75, this interval
provides more than 15 ordinates in a
range from one peak to the next peak of
the highly oscillating integrand. Next,
the integration with respect to 6 is
carried out in the wave resistance
integral (8). In this computation zeropoints of A(e) with respect to 0 are
searched first and then each interval
from one zero-point to the next zeropoint is numerically integrated by
Simpson's rule in such a way that the
number of ordinates in one interval is
not less than 10. It is confirmed that
the value of wave resistance usually
converges to a certain value when the
upper limit of the integral range is
close to A
75' as shown in Fig.S; an
exa.iple of calculation on the semisubmerged sFhere.

o.t

Cw1 /Cw,

Cw,

Ew,
Numerical
0.116463-3
.635963-3
0.189489-2

number
0.15
n.20
U.2S

Taking a semisubmerged sphere as an


example, the validity of each stage of
numerical calculations 1: examinri as
follows. First, the integration with
respect to B is carried out in (28) by
use of the exact expression of T(S) for
a semisubmerged sphere[2,6]:

"

Fig.S. Variation of Cw-values with


respect tc the upper limit of the
integral range.
In Table 1 the computed wave-resistance values are shown compared vith
the analytical values which are obtained
by the method of stationary phase with
respect to B In (28) and e in (B) for a
sea submerged sphere as expressed by
(26) in the previous section.

which is 3% of the half breadth of the


body in y-direction from the upper edge
E and 3 of the draft of the body in
- 0
negative z-direction (-6) from the
lever as shown in
the,6.
wz(8) is then
determined by dividing the value of w()
by 6.
In practice, a rather atall nsetber,
say
23

Table 2. Comparison of numerical and analytical values


of v(O), p(O), dp/d6, wz(O), dy/di, and F(O).
p(S)
Numerical Analytical

v(S)
Numerical Analytical
0.147AS5
0.27564
0.44442
0.61628
0.73920
0.96259
1.1362
1.3100
1.4839

0.14245
0.27564
0.44442
0.61628
0.78920
0.96259
1.1362
1.3100
1.4839

-0.19q96
-0.40290
-U.58736
-0.70839
-0.74859
-0.70103
-0.57045
-0.37198
-0.12913

-0.21080
-0.30283
-0.58226
-0.70751
-0.74998
-0.70340
-0.57286
-0.37370
-0.12969

0.96319
0.82567
0.57906
0.25025
-0.12401
-0.49861
-0.82839
-1.0735
-1.2040

0.95465
0.83333
0.58410
0.24830
-0.13355
-0.51539
-0.85112
-1.1004
-1.2331

dp/do
Numerical Inalytical
-0.58765
-1.2215
-1.6852
-2.0385
-2.1624
-2.0299
-1.6548
-1.0807
-0.37549

-0.63239
-1.1785
-1.7468
-2.1225
-2.2499
-2.1102
-1.7186
-1.1211
-0.38907

wz(S)
Numerical Analytical

dy/d
Numerical Analytical

F(O)
Numerical Analytical

-2.8776
-2.8769
-2.7145
-2.4527
-2.1115
-1.7031
-1.2500
-0.76229
-0.25609

0.49269
0.47999
0.45056
0.40732
0,35165
0.28527
0.21021
0.12874
0.43357-1

1.4778
1.6323
1.6980
1.6941
1.5267
1.1808
0.72631
0.29665
0.35119-1

-2.9696
-2.8868
-2.7086
-2.4481
-2.1132
-1.7142
-1.2631
0.77355
-0.26036

0.49494
0.48113
0.45143
0.40802
0.35221
0.28570
0.21052
0.1289a
0.43394-1

1.5364
!.6204
1.7313
1.7497
1.5879
1.2319
0.75816
0.30920
0.36527-1

Finally, Table 3 shows a comparison


of wave resistance obtained by analytical
method with the wave resistance obtained
numerically in all the steps of
calculations.

-i-so.

Table 3. Comparison of wave resistance


numerical and analytical.
Cme, NOWm

Froude
number
0.15
0.16
0.17
0.18
0.19
0.20
0.21
0.22
0.23
0.24
0.2S

Fig.6. Calculation of wz-values.


350, -;re used from the economical view
point. Therefore, the present authors
consider that such a method mentioned
above is necessary in determinin the
values of wz(8) efficiently. It is
needless to say that the suitable
distance of the point where w(8) Is
calculated should be searched in
accordance with the numbers, the size
and the shape of the surface elements.

24

CW3
Numerical

Cw2
Cw3/Cw2
Analytical

0.111583-3
0,164280-3
0.188316-3
0.300873-3
0.406422-3
0.605154-3
0.613495-3
0.114399-2
0.146388-2
0.135996-2
0.178262-2

0.115927-3
0.169636-3
0.194107-3
0.318895-3
0.410392-3
0.640767-3
0,6326320.112825-2
0.154081-2
0.149167-2
0.177887-2

0.963
0.968
0.970
0.940
0.990
0.944
0.970
1.014
0.950
0.912
1.002

Ah
ssg7

ofwav

i.n

resstane
o
ftlil30.

-alclatin
"

s*

Ctison rssof numerical

yj

Falg.lashos a waveresistance curfve


obdiednlt ically caredwithTe 4
differednlshipal
formsared
hwit
tabe4
Tf conv
ticulas
ors
thyreenteensnerte
oo thi
articu
d
ofthe
shows
study
tothe
piscula
t rsars
o
hp

Fg8

t.-s '------,-ragmnso

sufficint
forpracticl
accuacy uoe..

sufficientc~aigueycsse

_ .I0

form.cicl

s near theefoe and aft

23
27 a a 12
19

0.7764
0.7391

.966
6.770

2.s1
2.381

0.8624

6.358

2.5ar
1 23 a

5
p.,
As

}'][ 1 - () ]

L/B. 10, d/L 0.0d2S

Pig9. p(S}-values near the fore and

aft ends.

In this computation 3010 surface elements


are used. Near the fore and aft ends
smaller elements are used, because
A
velocity components
vary rapidly with
position In those regions, The breadth
of the elements at fore and aft ends is
0.5 8 L as shown in Fig.8. In addtion to
this case, two other cases,i.e, the
breadth of the 1719,20~~
elements being 0.441.00160
0.250x1
t L and
19S5studied
55766
72
2so51 as 27x
18
0.05 t L are also
to know
a change of wave resistance with respect
to the breadth of the surface elements.

of surfae

fo rm

0o

similar and defined by

'|

'21

14

s The first example of the calculations


is for Wigloy s parabolic forms 1.1719,
and
4.1720
which are geometrically

)5 - (

nss

il1mm

19148

({

30

1360
2330C

y.2B

si.,

AragAnso
Aom.
oe ufc
n
ted

Fi.8

cal.uaton of wave resistance ofave


Salculation of wurae reistanse
seleent

1719,20 0.4444 10.00

ftOid1rl
to.

Coaiston rssof numerical

Finthi

~A

A I.

vausSbaie
umrcal.Frmths-

pllof
onventiona

'ff

U"t

fit'

SsA

___. _

FP

a -stneu

~~

2330C~~~~

In Fig.9 the calculated values ofp(B)


are shwn ecmpaed with the values for a
semisubmerged iphere. It is understood
that near the fore and aft ends p(B) of
Wigley's form varies rapidly. It is also
seen that
p(S) of Wtgley's fosm is
almoat unchanged for a large difference
of the breadth of the surface elements.
P(#

:39

770.

2:8.27x1

Wigley's porabolic form

*.gley I"n C. of F-.020

0-

at Fa.20

',X1A(e)IaCoS3OeL2
05

-4

blreadthtof element
at fare and aft end$

2.0

0~Q

2.5 X03
-0.5a0x

Ia5'

Fig.ll. Change of Cw with


respect to the breadth of
surface element.

1.0
--

Fig.l0 shows a comparison of wave


spectra at rn - 0.20. With a decrease of
the breadth of the surface element, wave
10

20'

30'

40'

50*

spectrum decreases. However, its change

66

is small. Fig.ll shows the result of


integration of wave spectra with respect
to 0. From this figure it is found that
wave resistance is not so sensitive to
the difference of the breadth of the
surface element used in the present

- 9
ofwav spetra
17ig10.Comprisn
withO Compreisondt of v sperfa
elemt d afrt
rdt f ensurac
elemnt
fre
at
:
eds.study.

~d

4.01

Wigleys parabolic form


Zd
L
(-)(L/810.0, d/L=0.0625

2.0

k
'B()

Michell

aoi

\j

Laperient

R~o
goo

Model 1719

a1

Sm

.m Model 1720

Present theory (Surface elements 30 x10)


005

11

as

020

130
Q10

Fig.12. Cumparison of calculated and measured


wave resistance of Wigley's form.

26

1135

Fig.12 shows the comtputed wave


resistance for a wide range of Froude
number compared with the wave resistance
obtained by Michell's linearized thernry.

ioWgipey's parabolic form

In this figLre wave resistance


determined from the towing tests of
geometrically similar models of 8 meters
sri
5 meters are aloshown. A remarkahiL
attenuation of the nuips and hollows in
the range Fn <0.20 is attained by the\,ihl
present theory. A quantitative agreement
is also observed between the present
theory and the experiment. It should be
noted, however, that in higher speed
range the present theory gives poorer
estimate than Michell's theory.

30at

2.0

Presen

Fig.13 shows a comparison of wave


spectra at Fn - 0.20. When compared
with Michell's theory, it is a
characteristic of the present theory
that the wave spectrum cnrresponding to
the transverse waves (small e-values) is
considerably reduced as observed for
vertical circular cylinder. This is the
reason for the attenuation of humps and
hol lows in wave-resistance curve.

M.NO Cl05576 6720


a2330C Q7391 &770

0 955

Fa.-0.20

2X1A(G)rcosze/L!

Ta

a,

2f

Se
-

4C

$ad 1110 leme

Fig.13. Comparison of calculated


wave spectra of Wigley's form.

- 9d ft;;ofacl
?,581 a294
2.381 Q296

0.0.5 [~oiies~03

7C.,Q-74

C.-O.86

C.-Q56
V

010~1Ol

011

Pig.14. Comparison of talculaited and measured wave resistance


of conventional ship forms.
Flg;14 shows computed wave resistance
of four coniventionail ship forms(L,/B.6.4-,
7.0, Cb - 0.56 - 0.86). For those ship
forms, the number of surface elements in
the longitudinal direction corresponds to
the number of square stations which are
used for the drawing of Iii in routine,

It is observed that in a wide range of


block coefficient the calculated valves
of wave resistance are in the same order
of magnitude as those of experimental
values which are determined by Hughes
method, where the fore factor is
determined by assuming that the total
27

resistance is the viscous resistance in


very low speed range ( Fn % 0.06 ).
When comparing carefully the computed
wave resistance with experiment, it is
noted that theoretical curves are shifted
a little toward lower speed range. This
tendency is also observed in the case of
Wigley's form in the range Fo a 0.20.

8. References
[1] Baba, B.,and Takekuma, K.(1975),
A Study on Free-Surface Flow around
the Bow of Slowly Moving Full Forms,
Journal of The Society of Naval
Architects of Japan, Vol.137,1-10.
[2] Baba, E.(1975). Blunt Bow Forms and
Wave Breaking, The First STAR
Symposium, Washington, D.C.

6. Concluding remarks
In the present paper a procedure is
explained
for the calculation of wave
espitane fof ships nlclaio s
. Te
resistance
of ships in low speeds.
The
surface-layer velocity notential used in
+hepreentstuy
i
anasyptoic
1'ho present study is an asymptotic
-lution in low-speed limit. In accordance
with this fact, an asymptotic waveresistance formula in low-speed limit is
used for the calculation of wave
resistance.

13] Ogilvie, T.F.(1968). Wave Resistance:


The Low Speed Limit, University of
Michigan,
Naval Architecture
Marine Engineering,
No. O02. and

From a number of computations based on


the present theory it is found that in the
practical speed range the wave resistance
of conventional ship forms can be
estimated %,thin a practically acceptable
order of magnitude. The wave resistance
of those ship forms has not been
tractable by the thin-ship theory. It is
the breakthrough which has been achieved
by taking into account the nonlinear
effect of the free-surface condition in
the present theory,

[5] Newman, J.N.(1976). Linearized Wave


Resistance Theory, Proceedings of
International Seminar on Wave
Resistance, Tokyo, 31-43.
[6] Baba, E.(1976). Wave Resistance of

From the practical view point, it is


expected that the present theory can be used
to find a ship form of small wave
resistsnce in an early stage of
development of ship forms. It is also
expected that the present theory can be
used for the determination of the level
of viscous resistance in low-speed range,
Then a reliable value of form factor is
determined. This contributes to the
increase of acciiracy of power prediction
of ships from the model tests.
There is, however, room for an
improvement of the preqent asymptotic
theory. In the fui~'re a correction
should be added to the surface-layer
otential so as to satisfy the body
oundary condition. By doing this it is
expected that a better estimate of wave
resistance may be possible. Further,
trim and sinkage of a ship should be
considered.
7. Acknowledgments
The authors wish to express their
deep appreciation to Mr. Kinya Tamura,
manager of Resistance and Propulsion
Laboratory, Nagasaki Technical Institute
and Dr. Yoshio Kayo for their
stimulating and encouraging discussions.

41 Hess, J.L.,and Smith, A.M.O.(1964).


Calculation of Nonlifting Potential
Flow About Arbitrary ThreeDimensional Bodies, Journal of Ship
Research, Vol.8, No.2, 22-44.

Ships in Low Speed, Mitsubishi


Technical Bulletin, No.109,
Mitsubishi Heavy Industries, Ltd.
[7] Maruo, H.(1977). Wave Resistance of
a Ship with Finite Beam at Low
Froude Numbers, Bulletin of The
Faculty of Engineering, Yokohama

National University, Vol.26.


[81 Gu~vel, P., Vaussy, P.,and Kobus, J.M.
(1974). The Distribution of
Singularities Kinematically Equivalent
to a Moving Hull in the Presence of
a Free Surface, International
Shipbuilding Progress, Vol.21,311-324.
[9] Havelock, T.H.(1932). The Theory of
Wave Resistance,
of the
Royal
Society, A,Proceedings
Vol.138, 339-348.
[10] Brard, R.(1972). The Representation
of a Given Ship Form by Singularity
Distributions When the Boundary
Condition on the Pree Surface is
Linearized, Jour-, of Ship Research,
Vol.16, No.l, 79-92.

the low-speed limit:

relistance of
Appendix A. Wave
semi eubmerged
kee adhere

7
72 cs
os
,SALMei 16a
7F r?
r. MY
r

The perturbation velocity potential


of a semisubmerged sphere in the rigidwall problem is given as

where a is the radius of the sphere.The


first term of D(x,y) defined by (10) in
the text is obtained as

1 V

(XyO))-

-, 9x

)c058
for

(A-3)limit:
into (A-5), we have
Substituting
in the low-speed

Ar(8) +i 7 nITN osa +-Nos+36


n

-jr,

s >1 ,

Fn - UVga , r - xr +y

where

(A-2)

N~x~v,9

[-

6O3 +-9for s> 1

O(Fn 3 )

W 7)

As(e) + AL(e) + AF(e)

s - r/a,

16a
.- i--Fn[

9 +UF
177
20
- 13?3
MiP " U sn )

41 Fnj[(

N(xY,)

The sum of three parts AS(0), AL(e) and


AF(O, is thus written:

On the other hand, N(x,y,0), the second


term of D(x,y) is obtained as
z

seCi8

cos30].

sins - y/a.

cosB - x/a,

) + O(FhIs).
(A-6)

X Cos(
Q
4 Fn' f ( AM

i
sece -

cos3e ] cos(

C(A-1)

=2X,+y+_Z97,2
7(Cyz
Ua jx
0(X'4yz+t-

120

)cos5]

7 cos
-

sece -

X cos(

27

cos3

) + O(Fn) .

(A-8)

in method,
the text
Substituting
into (8)
phase
and using the (A-6)
stationary
we have a wave-resistance formula of a
semisubmerged sphere when the free
surface condition is linearized:

(A-3)
Cw

The amplitude function due to the surface


singularity distributions and the line
singularity distributions around the
load waterline is expressed by the first
term of (12):

Rw
TpU'(Za)l
224
Fn' + 7

Fn' sin(.2' + -T
(A-1O)

+ O(qfl.

(x,y,)}

A() + AL

X exp[ i vsec'e (xcose + ysine) ].

When the contribution from the freesurface disturbance N(x,y,O) is included,


the wave resistance is obtained by the
use of the expression (A-8):

(A-4)

CW

633 Pn

The amplitude function due to the freesurfaci disturbance N(x,y,O) is expressed


by the second term of (12):
A F(e)--

---

xcoO36
+ ysine )

].

(A- S)
SibstLtuting (A-Z)

+ O(F').

secelfdxdy N(x.yO)

x eip[ i Vsece

9 rw Fn' sin(

into (A-4), we have in

"

(A-l1)

A PRACTICAL COMPUTER METHOD FOR SOLVING SHIP-WAVE PROBLEMS


C.W.Dawson
David W.Taylor Navl Ship Research and Development Center
Bthesd Maryland 2D04

Abstract

2 minutes and cost $39.00. Formany problems,


the time and labor cost for preparation of the
input will be greater than the cost of computer
time for running the problems.

A computer method is described for


computing thethree-dimensional, steady state,
potential flow about a ship-like body in or
near the free surface. The two-dimensional
work which foned the foundation for the threedimensional program isalso described. The
method uses a sisole source density distribution over both thebody surface and a local
portion of the undisturbed free surface. The
free surface condition is linearized in
terms of thedouble-model velocity. Upstream
waves are prevented by the use of a one-sided,
upstream, finite difference operator for the
free surface condition. Results are given tor
Wigley Model 1805A and for a Series 60, Block
60 ship. The results ware obtained at
reasonable cost and show that the method is
practical for the evaluation cf ship designs.

The method was first developed for twodimensional problems and then extended to three
dimensions. The two-dimensional work will be
described first as it is the foundation for the
three-dimensional method.
I. Mathematical Statement of theProblem
The velocity potential
following conditions:
Y2+- 0
=

*n 0

*n

This paper describes a computer method for


computing the three-dimensional, steady state,
potential flow past an arbitrarily shaped body
inor near the free surface. A FORTRAN
program (XYZFS) has been developed using the
method. The output of XYZFS includes the
velocity field, pressure distribution, and
streamlines over the body surface plus the
wave resistance and elevation of thefree
su, face. A Texas Instruments "Advanced Scientitic Computer" was used to solve test problems.

++

*q

y y

must satisfy the

inthe fluid

(1)

on the body

(2)

+2 + #2
--U ) * 0 on the
i(X
zfree
-

.0

(3)

surface

vo - (U,0,0) at - (ex:ept where


(4)
there are waves and waver mist be
pree only
dw amefrmt b
present only downstream from the body)
where n refers tothe direction nomal tothe
body surface,
subscripts n,xy,z denoto partial
differentiation,
z is the vertical coordinate, and
n is the value of z at the free surface.

The method of solution isa modification


of the surface source method developed by Hess
and Smith [1,2]. A method similar to the
method described here has bean developed by
Gadd[3]. The body and a local portion of the
undisturbed free surface are geometrically
represented by quadrilateral panels. The
source density Is detemined so that the
boundary conditions on the panels are approximately satisfied.

The free surface condition is replaced by


a linearized condition and approximations are
made to discretize the problem. However, it is
the way in which waves are made to radiate only
in the downstream direction that is special to
the method of solution described here.

The Series 60, Block 60 ship, used as a


test problem, was run with 206 (8x26) panels
on the body surface and 360 (10x36) panels on
the undisturbed free surface. Because of centerplane smetry, only half of the body and free
surface were directly represented. This
problem took 5 minutes of central processor
tim and cast $87.00 for the first Froude
number. Each additional Fraude number took

2+

gn +1

1. Introduction

Method for Two-Oimnsional Probm

Il.

Consider a body beneath the free surface of


a moving fluid as shown in Figure 1. The
simplest approximation to the free surface Is a
line of symetry. Then the problem Is easily
solved by placing an image of the body above
the line of symtry. This formulation is
called the double-model problem.

30

1~t

.4;

F8
Il

-e~~

+,
l-I

F8

Figure 1.

Geometry of a Two-Dimensional Problem

Ux + f S(x',y')(Inr+Inr)d t
BS

*(x.y)

To improve on the double-model solution,


a portion of the free surface (FS)near the
body is treated separately from the outer part
of the free surface. The free surface
condition is linearized in terms of the free
stream velocity and is satisfied by te addition
of a source density on the line of the undisturbed surface. The undisturbed surface is
condition for the
used to preserve the syimmetry
outer part of the surface as well as to simplify
the calculations.

(5)
rdt'
_
e +.S(x',y')ln
FS
where

is the source density.

S(x',yl)

r is [(x-x)2+(y-y)2J

1/2

F IS [(X-XI2+(y+yl)2]112 ,C
to the image of the body).

This symmetry condition is a very good


approximation upstream from the body where the
surface has not been disturbed. Downstream it
is not correct but it still represents the
average condition. That is.some parts of the
surface are moving up. others are moving down
so that the average vertical motion is zero.

applies

and x',y' is a point on BS or FS. Laplace's


equation, the infinity condition, and the
symmetry condition for the outer part of the
free surface are satisfied by * regardless of
the value: of S. Thus S mwy be found so as to
satisfy the boundary conditions on BS and FS.

The problem just defined does not have a


unique solution. Upstream waves satisfy the
free surface condition just as wellas downstream waves. Normally t9 solution is made
unique by imposing a radiation boundary
condition upstream from the body. Since it
is difficult to set up a radiation condition in
three dimensions, another approach is used here.

Both BS and FS are divided into straight


line segments, and the source density is
approximated blya constant v..ue in each
Integration is thus replaced by
segmenst.
summation. The velocity components are given
by Equations (6)and (7).
u(x,y) - #Y, U.+4 J.1SJ CX (X.y)

When a numerical procedure Is applied to a


problm that does not have a unique solution.
the result can still be a reasonable solution
of the problem; and if the procedure is et up
lustright, the solution will be the desired
one. In this case the desired solution is
achieved by using a one-sided, upstream, finite
difference operator to approximate the free
surface condition. In this waya disturbance
in the free surface is propagated downstream by
thefree surface condition but will Influence
the flow upstream only through the application
of Laplace's equation to the bulk of the fluid,
This process Is analogous to the natural process
in which a disturbance is carried downstrem
but is felt upatrem only as changes
by momentum

v(x.y)
where

M
SJ CY (xy)
J11

- #y

M Is the number of segments


CX (x.y)

'j

rl

or

and

in the pressure.

CY (Y)d.

The solution is generated in terms of a


source density distributed on the body
surface (BS), on the imag of the body. and on
the local part of theundisturbed free surface
(FS).and is represented as follows:

( - +
2
BSj r
A4 da'
r

or
f
J

31

"2

(6)

(7)

The appropriate boundary condition will be


satisfied at the center of each line segment.
On BS the boundary condition (2) at segment I
is
0 . #n ' uiNXi + VNYi
,+ M.
U..N I
'"

point operator but still damps the waves too


much. A fovr-point operator which eliminates
errors from ux and ixxxresults in waves that
grow in amplitude downstream from a disturbance.
A four-point operator which eliminates errors
from
UxgandUuxxxx but not uxx x results in
reasonale
conservation of wave height and was
therefore used in the computations. A fivepoint operator which eliminates errors from
Ux, u
and ux
conserves wave height
relsonaomy well but does not work as well as
the four-point operator with large segments or
near large changes in the slope of the surface.
The coefficients of the four-point operator
are:

(8)
+CYNYiS
j
i

where (NX
1I,NYi) is the unit normal vector to
segment i. (Note that CXiiNX I +CYiiNYi equals
w plus the contribution from the image of
segment I for I in BS.)
On FS a four-point, upstream, finite
difference operator is used to obtain *xx so
that
xx

CD,
1

[CA1CX I 'jCi~-~
'
.1I
'+B C 'I
+CCiCXi-2,j+L'D1CXi-3,j]Sj

CBI

where CA1. Cbi , CCI, CDI are functions of the


segment lengths and I increases in the downstream direction. When the free surface
equations are linearized in terns of the free
stream velocity and q is eliminated, the result
is:
0 U2# +g9#
U xx
y
j

-,-))(xi-2

Cc . " X -I"xi)2(x 1 .3_x i )2(xi-3


"X-xi-)(Xi-3+xi
-l'2Xl)/Di

(9)

PdJ M

[CACX,J+CBCX
1

_-XI)2(x

i-li-2ilii

Ux CAju+CBiu i-+CCI u- 2+CDiu 1-3

U2

'(xl.
2 -Xs) (xi_
3 -xi) (X,.
3
(11)
i-2i3i2

CAI - (CBi + CCI + CDi)


DI - ((X-Xi)(Xl.2-Xi)(Xl.3-x,)(xi.3
- I1)(x i.2-Xi.l)(xi.3"X i.2)(x
i.
3

(10)

+CCCXi.2 ,j+CDiCXi_3,j]Sj-gV Si

where the four points are xi, xil ' xi-2. '1-3"

Near the upstream end of FS. a smaller number

(2) The wave length will be too short by


about 5%.
(3) A large abrupt change in the lengths
of the segments will cause a large point-topoint oscillation in the free surface upstream
from the change. Changes in segment dtze
-maller than a factor of 1.5 do not cause
noticeable oscillations.

of points Is used in the finite difference


operator. For the first point, S is either set
equal to zero or determined in some other
manner,
Thus a system of M equations in Munknown
values of S must be solved. The matrix is full
and is not symmetric or diagonally dominate but
does seemto be well-conditioned. The system
of equations is solved by the Gaussian
-limnation procedure with double precision
arithmetic.

(4) The downstream boundary will also cause


oscillations unless a damping region is placed
next to It. An adequate damping region is
provided by the ose of the two-point difference
operator for the last two segments.
(5) The effect of tht downstream boundary
is siqificant for only a short distance
upstream. Most of the dowstream boundary
effect disippears after 1/4 of a wave length.
Figure 2 shows three solutions to the problem
of flow past a point dipole. fhe soltion
with the shorter downstream region is almost
the same as the solution with the longer region
except for the last three points. Although
errors at the upstrem boundary are usually
sell , they are serious as they can affect the
fntire solution, The soution in Figure 2 with
the short upstream region has a phase shift

IV. Two-Dimensional Results


Experiments with simple two-dimensional
problem have shown that the method does work
Waves develop downstream from a disturbance and
not upstream. The experiments have also shown
that:
(1) A two-point finite difference
operator used in the free surface boundary
condition results in waves that are strongly
dampeddownstream from a disturbance. A threepoint finite difference operator wh'eh eliminates errors truem
u. Is better thin the two32

LONG REGION
+ SHORT UP STREAM HEWON
SORT DOWN STREAM REGION

fe

-4

,4

is

16

02
J

20

24

DIPOLE

Figure 2. Boundary Effects on Flow Past a Dipole

INFT,

rel-tive to the long region solution.

POSTllE CICULATION

(6) Goo results can be obtained with


only 14 segents per wave length and useful
results with only 8 segme;ts per wave length.
In Figure I and Equation (10).the free
urface condition was linearized in terms of

/"
x'
_
.
FY -.

,
!
'

-1\ ;

the free stream velocity. The free surface


condition can also be linearized in terms of

the double-model velocity. A good discussionu-1


of double-mode, linearization is provided by

Neuman
in reference [41.

.. K3ATIVE../
A,.CIRCULAION:4

Twotest problemt were run to compare


double-model linearization with free-stream
linearization. The first problem, that of flow

past a point vortex, was used by Salvesen and

an.

""

von
(5] tocalculation.
compare perturbation
with Kerczek
a nonlinear
Figure 3 methods
is a
comparlscn of wave profiles. Double-model
linesrization produced i wave more nearly In
p.ase with the nonlinear wave than did free
stream linearization. Figure 4 is a comparison
of thedrag m the vortex. For positive
vortices the doble model linearization
produced very good results. For negative
vortices the rasults were no. as goo4 but were
still much better than those for free-stream
li-tarization and were comparable to the

,
a

-z

".""."LOCATIO.
OEPT4=4.6
lENTh'12f-_v
NO IMEAR
(IALVEIN
veKE BCEK)
... RITEMIF LAII (PESIT lnlOO)
---DOUBLE
M110011LIN (RWq M[
E )
Figure 3. Wave Elevations for a

pas-turbstlon solutlmn .

Submerged Vortex

33

*1

Sm~ALVS AMD~ r..uEacz


problem was .ased by Salvesen 01] for a compari son
MD EARof
perturbAt',on calculatoq's with experimental
0 YAWWARresults.
-

Figure 6 shows the wave proufiles for


three different depths of submiergenc.. The
rroeuced by double-model linearization was sawli
for Cie deeper submergance but
large when the body approached the

FIRT ORDE
----DMimprovement
U

-- RIERquite
T~lED
PP.EIBITMETI'
9 PNEE STREAM WEAR
+ DOIUBLE
MODEL LINAR.

Yrface.

Fr.UMMMEN
n 1.8
16

POUTIE

ORUIT

/,C

40-

,4'

/1 +,/NUATIVEMU

SU

..
-

-EAI

-FrM

0., O

03

IAV,- 4:0

1u

2.4

WAVE
TS'U
M
S

ALIP

... COE MM. LMMR.FUNT

'1100

3,2

VISIX $!TM*M Tln. fl/MU

Figurt 6. Wae Elevations for 9ifferent Depths


of Submergence of the Body

Figure 4. Wave
Resistance as a Function of
Vortex trengthV.

Ntthod for Three-Dimansi.)n.al Problems


For three-d imensI anal problem the free
surface condition (3) Italways linearized in
terms of the double-model velocity potential *,
that is. f - f + #'and nonlinear terms of #'are
Oiropped. Also Equati ons (3) are applied at
110, not it the fres surface. Whenn is
eliminatect. Equations (3) reduce to:

The second problem was that of flow past a


submerged body represented by 3 point sources
and 8 point sinks as shown in Figure 5. This
Y

x x

Zx

2y

Nowfor any function F


0CF.*+9y Fy - 4 F1

(2

where thesubscript I denotes differentiation

along a streamline of 4. Thus the free aurface


co tion becomes
(2 *

y
Figure S. Singularity Rapresm'tetion andttv
cross sectior of the (y

34

Z 0~]9~

but 2

(0,,2+ 4e*,)X+ *(.2


*(

. +

~e~*

ey)

a(

oy
a-

VI. Three-Dimensional Results


Two three-dimensional problems have been

) -e(x, +4o

Yy y
I ,
"

*ram reference [3] how Gadd prevents upstream


WAVS.

+ 0),Yy

studied. The first problem was that of flow


about 'xigley Model 180SA". This body is
referred to as Model 2891 by Shearer [7] and
Wehausen [8]. Model I8SOA is ship-like with
t0e body surface defined by

oyy)

ot#Lt

so that
+

0g*

"

'

x)(
2 )(I-.6")

(14)

(1) The paneled region of the free surface


must be about 3/8 of the body length wide.
Otherwise waves reflected from the boundary will
alter the flow at the stern of the body
need(2) The paneled region of the free surface
be extended downstream only about 1/4
wave length. (About 1/4 body length for the
problem considered here.)
(3) The paneled region of the frre surface
must be extended about 1/4 of the body length
upstream from the body.
(4) Much smller panels are required near
the bow than over the reminder of the body.

Equation (14) is the uame as the double-model


linearized free surface condition for two
dimensions except tnat x has been replaced by t.
For three-dimensional problems, quadrilateral panels are used in place of the line
segments of the two-dimensional problems. The
body Is assumed to have symimtry about the
center nlane so that only half of the body and
free surface need be directly represented. The
Inr 6f the two-dimensional kernel is
relaced by 1/r. The Integrels over each panel
are evaluated by the method used by Hess and
Smith [1,2]. Exact Integvation is used for
the shorter distances, a quadripole source is
used for intermediate disUnres, and a monopole
source is useJ for large distances,

(5) The free surface panels should be


'wept back at about a 45* angle so that the
smll panels near the bow follow the bow wave.
The final panel arrangement in these
experiments had 288 panels with 64 on the body
and 224 (8x28) on the free surface. Migley
Model 1OSA was then run with 484 panels. 144
(6x24) on the body and 340 (10x34) on the free
surface.

The 4panels for the free surface are


arranged n sets so that each set is bounded by
streamlines of the double-iodel problem. Thus
Equation (14)may bo applied to each set and
approximatad by the four-point, upstream, finite
difference operator that was used for two
dimensions. The result as in two-dimensional
oroblems is a system of M equations In M
unknowns that Is solved by Gaussian Elimination.

The wave profiles and drag curves for Model


1805A are shown in Figures 7 and 8. These
figures include experimental data and thin ship
calculations from Shearer [7] (also available
in ref. [8]). The wave profile was taken from
the surface elevation at the panels next to
the body, which resulted in some error near the
bow.

All the double-model streamlines go around


the body whereas saQ free stream streamlines
go through the body. Thus the problem of
starting the free surface condition at the body
surface has been avoided. This was the
original reason for using double-model linearization. The Increased accuracy shown by the
two-dimensional experiments Is a bonus.

The solutions f,-)m


the 288-paet model and
the 484-panel model agree quite well at
smaller Froude numbers. At higher Froude
nubers the two solutions differ by an
increasing amount. indicating a need for smeller
panels. This result was unexpected since the
waves are longer for higher Froude numbers.

The free surface panels adjacent to the


body are extended a short distance into the
body. Otherwise there would be a singularity
in the source density where the body panels
meet the free surface panel. This idea was
borrowed from Gadd [3].

The error In the wave length predicted by


the two-dimensional results shows up as a
Froude number shift in the drag curves. Otherwise the results are an improvment over the
thin ship calculations.

th the present mthod and Gadd's method


use a double-model of the body and represent
the body and a local portion of the free surface
by sc'rce panels. The methods differ In that
Gad4 uses artificial smoothing to eliminate
unwanted oscillations and a nonlinear form of
the free surface condition. It is not cleair

The second problem involved the flow past a


Series 60 Block 60 ship. For this problem 208
panels (GSxf) were used for the ship and 360

3.

mw
m

G Mg-

IMM

(15)

Numerical experiments were run with Model


1805A using 64 panels (4x16) for the body
surface and various numbers of panels for the
free surface. These experiments showed that:

Now replace #'with #-4 to get


+ go

.75(l

Al
i

- ExmmEOT MELt fDU

- EXPEOM
---HIN Stw

-TW
x 21 Pm LS
o 414 PA

PRESET METHO

x 286 PANELS
* 484 PANELS

.78,
1,4

o"

00

.42

.1.2

J.3

.4

panes
fo th(0x3)
fre sufac.

I;

/ex

..

.')

Te

Figure 7. Wave Resistance for Wigley Model 1805A

panels (10036) for the free surface. The


drarrngement of the panelsoviewed from
theside%
and below, is shown in Figure 9.

The drag curves for the Series 60 ship are


residual
The baid offorthetheexperimental
in Figure 10.
shown represents
drag
the envelope
dat from Huang and von Kerczek [9), Tsai and
Lantdaeber (10] and Todd [11.
The drag curve
does not show the expected Froude nuder shift.

-.3
.1
shw

The wave profiles for the Series 60 ship


are shown in Figure 11. Experimental date and
calculations by Guilloeons method rgj are also
shown. The wave profiles computed by the
present method show a dip in the top of the bow
wave that is not shown by thei other curves.
The bow is slightl concave near thedip so
the dip may be real. Because the dip is smell
and would be hidden by the bow wave Itself. It
could heve been missed 4n theexperie ts.

shows the streamlines viewed from theside for


the double-model solution end for Froude
nymbe, .359. The change In the streamlines
indicahrs the importance, at higher Froude
number%.* of thefree surface to the flow over
all parts of a ship.

VII, Conclusion
With the method presented here, It is
practical to examine the steady state
performance of ship designs. The coat is
reasonable and the accuracy of the results is
better then thet provided by thin ship theory
or by Guilloton's method [9]
9
V111. Acknowledgment

The experimental wave


profiles show
larger oscillations near the middle of the

ship then dothose obtained by.the present


method. The error maybe caused by the nonlinear terms that are omitted or by inadequate
retolution. This question needs additional
study.

The author wishes to thank Mr. Paul Morawaki

for running the three-dimensional calculations.


This work wassupirted by the 6.1 and 6.2
Mithemtical Sciences Research Program

Streamlines on thesurface of te Series


60 ship have also been computed. Figure 12
36

Figure 8. WaveProfiles for Wigly Model 1805A

For Froude number .35the surface elevation


at the next set of paoifls Is also shown. The
center of these panels is .035 L/2 from the
ship. The dip in the bow' wave Is very small at
this distance end cannot be detected further
out.

hf

Figure 9. Panel Arrangement for Series 60 Ship

RESENT ETHOD (WAVE RESISTANCE)


-

EXPRMNT' (ESIUAL ESSTEUC

EXENWT
- -COMPUTED
BY

SUrnTOETHODi
Msi

Cj_

PNELS EXT TONMY

.5.3

.3

.2~*6S.3 .31

.35

Figure 10. Wave Resistance forSeries 60


Block 60 Ship

.
.3

(TaskFn
sponsored by the Naval SeaSystems Loemaond
Area SR0140301: Mathematical Sciences) and the
Navel Material Comman~d
(Task Area ZF53532001:
Logistics Te4chnology).
References

-.
.

1. Hes%, John L. and A.N.O. Smith. "Calculation


of Potentiel Flow About Arbitrary Bodies,"
Pergemon Press Series "Progress In
Aeronautical Science,". Volume 8, 1966.
2. Hasa.John L. and A.N.0. Smith. "Calculation
of Non-Lifting Potential Flow About
Arbitrary Three-Dimensional Bodies," Douglas
Aircraft Company
Report No. 40622,
March 1962.
J. $idd, G.E.. -A Mathcd of Computing the Flow
and Surface WavePattern Around Full
Forms, The Royal Institution of Naval

i1.e
wi
Figure 11.

.1

.3
tIlL

.6

1.10
53

Wave Profiles for the Series 60


Shi p

Architects, volume 118 (1976).


4. Neuman,
J.N.. "Linearized WaveResistance
Theory," Proceedings of International
Seminar on Wave
Resistance. Society of
Naval Architects of Japan. 1976.

43;

4.

I *

*.6

Y3

DOUBLE MODEL SOLUTION

FREE SURFACE SOLUTION


BOW

STERN

Figure 12. Streamlines on the Series 60 Ship. Fn *.359

5. Salvesen, N. and C.H. von Kerczek, "Comparison of Numerical and Perturbation Solutions
Water-Wava
Nonlinear
Two-Dimensional
of
Pobi
ms." Journal of
Ship Research,
vol. 20. No. 3. September 1976.

9. Huang, T.T. and C.H.von Kercz


" Shear
Stress and Pressure Distribution on a
Surface Ship Modal: Theory and Experiment,"
Ninth Symposium on ':-val Hydrodynamics,
Office of Naval Research. ARC203, vol. 2,
1972,
pp.163-2011.

6. Salvesen, N.,* "Second-Order WaveTheory for


Submerged Two-Dimensional Bodies," 6th
Naval Hydrodynamics Symposium, Office of
Naval Research, ARC136, 1966, pp. 595-636.

10.

7. Shearer. J.R.. "APreliminary Investigation


of the Discrepancies between the Calculated
and Measured Wave-making of Hull Forms,"
North-East Coast Inst. Eng.Shipbld.
Trans. 67, 1951.
8. Wehausen, J.V., "The Wave Resistance of193
Ships," Advances inApplied Mechanics,

11. Todd,
.,"Sr'lies
60-Methodical
x..periments with Models of Single-Screw
Merchant Ships." P.'vld
Taylor Model Basin
Research and Development Report 1712,

vol.13,1973.

39

aV

Tsai, C.E. and L. tLundweber, "Total and


Visco- lesistance of Four Series-60
Models," 13th into r. onal Towing Tank
Conferen .e, Berlin, Hamburg, Sept. 1972.

FINITE DIFFERENCE SIMULATION OF THE PLANAR MOTION OF A SHIP*


Robert K.-C.
Chan
JAYCOR
Del Mar, California

Abstract
A finite difference solution procedure has
been developed to study three-dimensional potential flows, both transient and steady, about
a shiplike floating body. The primary features
of this paper include the use of special coordinate transformations so that proper boundary conditions can be applied at the exact
locations of the body surface and free surface,
the application of Orlanski's numerical radiation condition to prevent unwanted wave reflections, and a new upwind-centered finitedifference scheme for numerical integration of
the time-dependent free surface conditions. The
forward motion of a shiplike floating body and
that of a submerged body are studied. Both
nonlinear and linearized free surface conditions were used for comparison purposes. The
nonlinear results were found to be significantly different frcm the linear solution for
finite-amplitude waves. Also, Orlanski's numerical radiation condition was found to be
extremely effective in reducing spurious wave
reflections.

the computer is required, and that the resulting equations are much longer and harder to
program, especially when simulating finiteamplitude waves. Consequently, this approach
is not taken in the present study. Rather, the
full nonlinear equations are used directly.

This paper describes a finite-difference,


numerical technique for simulating transient,
three-dimensional potential flow about a floating body. The primary objective is the developent of a computational procedure which
allows arbitrary planar motions for a fairly
large class of shiplike floating bodies. This
work is the continuation of the author's previous numerical study of tJo flow about an accal*rating floating sphere.
In earlier studies,
the basic approach was the separation of the
flow field into a base flow and the perturbation from It. As an example, In studying the
forward motion of a ship, we choose as the base

Several difficulties arise when calculating three-dimensional, time-dependent flows


about a ship. Because of limitation in camputer storage, one is allowed to use a relatively smallcomputation domain, e.g., 40 x 20
x 20 mesh points. Besides, one almost must
employ a body-fixed frame of reference, so that
the precious mesh points can be used to give
the best resolution in the vicinity of the
ship. In this fram of reference, the ship
4
appears stationary n a running stream. Numerically, this situation creates two problems.
The first problem concerns boundary conditions
at "open boundaries," where the flow and/or
waves leave the computation region. Improper
treatment of open boundaries will result in
spurious reflections that make the computations
meaningless. Fortunately, with the appearance
2
of Orlanski's excellent technique for numerically implementing the Somnrfeld radiation
condition for unbounded hyperbolic flows, this
obstacle can now be removed. The second problem associated with streaming flows is that the
advection terms in the governing equations
(Eqs. (18) and (19) in Sectle I) demand careful construction of finite difference schemes.
Various conventional explicit schemes, such
that the first-order, forward-time, centralspace difference, have been tried and found
unstable. Other schemes, like the first-order
upwind differencing, Arm so dissipative that
the waves are severely eamped. Implicit or
other higher-order methods, on the other hand,
greatly Increase the programing task and cost
of computation. In this paper an upwind-

face were replaced by a rigid plate, instead of


using a uniform stream with the magnitude of
the velocity equal to the speed of the ship, as
Is usually done in analyses to render the mathsmetics tractable, The advantage of this
approach is that it is more efficient in achieving a given leel of accuracy for the perturbation field because accumulated errors due to
computation of the bulk of the flow pattern,
i.e., the base flow. can not arise. The penAlty. however, is that additional storage on

someattractive properties. Is proposed. The


details are found in Section III. Another
category of difficulties is related to the
geometry of se
boundaries. Proper boundary
conditions must be applied at the exact, instantneous positions of the hullsurface and
the free surface, so that large-amplitude
motions can be accommodated. To this end, a
series of coordinate transformations is made
(Section I).
Essentially, a body-fitted, but
otherwise stationary coordinate system is used

1. Introduction

*This work was sponsored by the Office of Navel Research under Contract NO0014-76-C-0455.

to describe the interior of the flow field.


while a second system, which conforms to both
the hullsurface and the instantaneous fret,
surface, is employed to implement the free
surface conditions.

X - X + x cos 0 - y sin 8

The class
of body
shapes considered
here
is limited
to those
representable
by a single..
valued function on the ship's center plane.
Thus, the technique here is particularly useful
in calculating flow about a sharp-edged ship.
For blunt bodies other coordinate systems must
be used, but the formulation and computational
procedure remains the same. The presert method
can also be applied to flows about a submerged
body, or surface piercing structures, such as a
bridge pier.
I1. Governing Equations

T - t

Y- Y

x sin 0 + y cos e

Z- z

where 8 is the angle which the ship makes with


the X-axis, and (XcYc) are the coordinates In
the (X,Y,Z) system of the instantaneous position of the ship's center of rotation; e, Xc,
and Yc are generally functions of the tim
(T or t).
Potential flow is assumed in this study.
Using * for the velocity potential, we have
sX - x Cos B - y sin e

In this section a series of coordinate


transformtions are performed to obtain the
governing equations in forms convenient for
applying correct boundary conditions at the
solid surface of a ship and at the instantaneous position of the free surface.

45 sin a .y

co8
(1)

OZ * Or
t +T, u~x + 9y

Equations in a Moving Frame of Reference


As shown in Fig. 1, let (X,Y.Z.T) be the
cartesian coordinates referred to an absolute,
inertial
frame, and (x,y,zt) be their counterparts with reference to a mving frame which is
fixed in the ship. Within the scope of the
present study, let us assume further that the
ship undergoes an arbitrary planar motion such
that its most (i.e.,the vertical axi. of the
ship) always points vertically upward. The
choice of the moving axes (x,y,z will be such
that the positive x-direction is the same as
the longitudinal axis of the ship, pointing to
the front.

where

Employing a procedure similar to that


3
given by Stoker, we obtain the following relations between the two coordinate systems:

subscripts imply parequations above,e.g.,


In
ttalthedifferentiation,

- u00 +wy

v -

vO - WX

u0 . (Xc)t cos 8 + (Yc)t sin 8

(2)

vo - - (Xc)t sin e + (Yc)t Cos e


t,

OX
Y

'Y,Z.T

while
_____

r
--

Iy,Z,t

In toe (XeYqZT) system, two of the gov-

'.

erning equations are toe Laplace equation

-5-

hXX

YY

*zz " 0,

()

_Y-__ *T [+),(y,+ ( ,-gz


+.
.o.
end the Bernoulli equation

4)
In E4. (4, P
the fluid pressure and p the
density. Using Eqs.(1).Eqs. (3) and (4)can
be written as

X,
X

xx

Figure 1. fraes of Reference

and

40

mv.

*yy 4 #Zz 0()

#t+

2. 0
p

+ 9z+

ordinate system with the property that one of


its coordinate planes coincides with the hull
surface. Consider a new coordinate system (x-,
y',z.t') which is related to the (x.z,t) Systen' by

(6)

The boundary con~dition at the hullsurface


is simply givpn by
(7)

(vB-;VF).Vtn '

~x~

where IS Is the velocity of a point at the body


surface, IF the velocity of the fluid particle
which happens to be at the surface point under
consideration, and A is the unit normal vector
at that point. In the (x,y,Z,t) system.
Eq. (7) is expressed explicitly it
in,, n2
O

*xnl + *n, ' 40n


3

n 2
=

.f

(0

Z'z
t,- t.
Let Q be any scaler quantity, then by the chein
rule we have

(B)

where (nl,n 2 ,ft3) are the cartesian components


of the vector At.As shown in Fig. 2, let the
single-valued function y - f(x,z) describe the
distance of the hull from the ship's center
plane. Then the components of I can be written

03

Boy-Fitted Coordinate Systemcriina

[{(#x) + (*)2 + c,2j

xu
Q

Q2 .

(11)
-z

these relations in Eq. (5). the Laplace


beconss

I/AUsing
1/Aequation

z/A

oxx

+ 11 +

(f

d2]oy~y_
z)

+ ozz_

where
A - J1 + (fx)T

+(f

y(~~ z~

z)T .
(fxx +

Thus, the hull-surface boundary condition,


Eq.(B),becomes
+x)
'x~

+ y,~ -

*y - q

0
o

(12)

z)

and the Bernoulli equation

(9)

Note that generally f(x,z) A 0 in the projected


area of the ship hull on tho center plane, and
f(x~z) s0 outside that area.

X Yx

2xy
+(

) 2+

+ 0(13)
gz,+ P
The hullsurface boundary condition, Eq.(9).
now takes the form

~YI

2
f(O + #K) - V+f1.1 ]/[ +(f5 ) + (fI),].
(14)

The location of the freesurface canbe


described by defining a scalar function
t~xy',
t')3 z - n(x'.Y',t'); n is the
height of the point at which the z' coordinate
line pierces through the free surface (Figs,
3(b) and (c)). Using this description, the
class of free surface snapes is limited to those
representable bya single-valued function of
X y). Since c s 0 at t0e free surface for
alltimes. the particle derivative Dc/DT

Figure 2. Distribution of f(x,z) on the Ship's

Canter Plane

vanishes there, viz.

AV

0s.

(a)
z-

Top View

rFREE SURFACE

(b) Side View


z

FREE SURFACE

(c) Front view


Figure 3. Coordinate Systems and Compujtation Ibsh
42

0 .

+f

Eqs.(1)and (11),
Applying the
totransformations
this leads
"+(+xnx +
y
t
j

bove
te
the free
of quntites
displacement
theeuatins
which governssurfce.In
In the equations above, quantities
like
, $a. etc. are to be evaluated by
Eqs. tl)!YThe
Coordinate System for Free Surface Conditions
To impose correctly the free surface conditions for finite-amplitude waves, it is im-

(20)
-

fzy.

V+

+ f2 + f2)n,,'+ f" - fx-x


q'f
(21)

and, using Eq. (9).Eq. (19)reduces to


nt.

x"

+ 0. + x)nx

""

- z

(22)

Z- = Z' - n(x',yt)

for use at the intersection of free surface and


the solid body.

t" - t'.

Other Boundary Conditions

(17)

Temporal integration of Eqs. (18) and (19)


provides values of 0 and n at the free surface
at any instant of time. At the bottom of the
computational "tank," *z- 0. At large y', the
disturbance should vanish, so that * - 0. This
condition also applies at a sufficiently large
distance upstream of the ship for forward meotion. At the downstream end of the computation domain proper radiation condition mst be
so that waves can leave the region of
interest with minimum amunt of nonphysical
reflections. This condition is so crucial to
successful computation of wave propagation in a
limited domain,
shall describe it in a
separate
sectionwe(Section
IV).

Equations (13)and (16)can be written, respectively, as


U

(1+ fzny-)*z -

Consider the following change of variables.

zz

fx(O

the instantaneous position of the free surface.


This is cumbersome to do in the (x',y,z'.t')
system because in general none of the coordinate planes coincides with the free surface.

Ot"

-- - ny--*z--

"

OY_"

and (16) be applied at


portnt that Eqs.(13)

x'

y=

(15)

Note that in Eqs.(18)-(20) all space derivaties can be evaluated on the plane z" - 0,
the only exception being z- which Involves
Since
variation of * below the freesurface.
ced by
esy computed
cb bee easily
o #z- can
by
varitio
z,, " #2',.
using the (x',y',z',t') system which describes
the interior flow field.
hullsurface condition, Eq. (14).
becomes

(16)

+ x)fx - #zfjny - az

Ox

1X5)

"(x

fx " f~x _)y.

1
(18)

+.

+ pg'0

t (u + C'x)nx
- *zfzny-

+imposed
v + Cy " (u + x~fx

$z(19)

where

Outline of the Computational Procedure


x

x
+ r

+ 2n -(f z

+I+

The basic computational mesh is rectangular in the (x',y',z') space, as shown In Figs.
3(a)-(c). The only quantities to be computed
system are n and 0 at the
in the (x-oy-,z-)
free surface. The following Is a sketch of the
steps required td advance the flow field In
tim.

+ 2)2
f2 fzn..Z

fxnx.,.)]02_1

1. Apply radiation boundary condition to obtain advanced values of n and * at the


downstream end of the comutation domain.

These equations are to be used at the free surface where z' - n (or z- - 0). Thus, the
term gz' has been replaced by gn In Eq. (18).
The following relations are used to evaluate
*t' and #a,which appear in the equations

2. Use Eqs.(18) and (19)to advance # and n


at the instantaneous position of the free

surface.

ebOv.

43

0+1

3. Obtain the *-field by solving Eq. (12),


subject to appropriate boundary conditions,
e.g., Eq. (14).

1,1

111.Finite Difference SchemesU

let us assume
For illustrative purposes,
constant mesh spacings 6x', 6y',and 6z'. It
wasfound early in this study that the computation is unstable whenthe familiar scheme of
explicit central difference is emeploycd. Since
in forward motion, the flow clearly has a preferred direction, one imediately thinks of the
is
Unfortunately,
one-sided, upwind difference.
the accuracy
damping that
tMe usualupwind difference
schemes introduce
so much artificial
seriously impaired. In this study we use a new
upwind-centered scheme which introduces no
artificial viscosity for pure advections at a
constant velocity.
Let Q be any quantity, such as 0 or n, defined at the free surface. Weuse the indices
(i,jn) to discretize Q over the free surface,
such that
=
y" , n 6t" ) ,
Q , j Q(i x" , j
where 6x'" and 6y" are the spatial mesh spacings and St" is the time increment. Equations
(18) and (19)can be cast in the general form
Qt"

U*Qx."

v*Qy_ + t - 0

=Q

[ .]. {

0l-,1
aX"
(a) x"-t" Plane

.) , .

.j)

[Q]"

(O +
n-

0x)f

C)",

,"P on.
(b, x"-

,J-I + Oi-tj+l

Upwind Centered Difference Scheme

lead to a finite difference algorithm that does


not contain any artificial viscosity.

/(26y-)

In solving Eqs. 18) and (19) one


has to
evaluate oz.. at the fre
surface (sea also

Eqs. (20)). Since oz - # z*, we only have to

where
QA'-

T
al"

Figure 4.

[Qy10 "

.- ii+iT

,1+I

QB)/6t"

-<

i0

(23)

where u* - 0, v* 9 - Ufx - fxYx., for Eq.


(18) and u
+I
v* + v - (0 +
x
- *zfz for Eq. (19)' Since in fgrward motion
(i.e.,the ship moving toward the negative
x'-direction) u* . 0, we may develop our finite
difference schemes about an upstream point 0 as
shown in Figs. 4(a) and (b), using the following rules:

1,

,
QI.r

I+ n,,)

[a
i~

Q7:1,J).

calculate #z at the free surface.


3(c) let

(24)

(18) and (19)lead


USng these rules, Eqs.
to explicit, one-step, but three-level differnce schems for advancing n and 4 at the free
surface. It can be shownthat Eqs. (24), when
applied to the simple advection equation
Qt.. + I
+ roy..
Vx
0 (U and V are constants),

1'4

In Fig.

be the value of 4 at a free-surface

point 0, tIn a one-sided difference gives


(5

The boundary rndition, Eq. (21), for 4


at the free surface is represented by a onesided difference in the y"-direction, but by
central difference in the other two
directions.

Because interior values o? o, such as 01


in Eq. (25). are needed in solving Eqs.(18)
and (19),one must solve Eq. (12) to obtain the
internal distribution of *. This Is done by
using the following difference expressions

a number of authors in the past. Experience


indicates, however, that none of these methods
is effective in reducing wave reflectigns to a
negligible degree. Recently, Orlanskid published a simple, but very effective treatment
of such boundaries. His method consists of

nimposing
[Ox']jn

[Or~ji1,

a Sommerfeld radiation condition at

ijk +

boundary and numerically evaluating


the outflow
phase velocity
in the vicinity of the
boundary.
Since
Orlanski'soforiginal
finite condifference representation
the radiation

(SxT)-2

'OY'f,j,k

,ny
fiJ+l,k " 2?,k
(,y-)-2

(n
z,j,k

4i,j,k+1
* (6Z1

dition is dissipative, we have replaced it with


a nondissipative, neutrally stable scheme in
thiEpaper. The reader is referred to the original paper for details on Orlanski's scheme.
We shall describe here the improved version.

nn
+ ti,j-Ikj

n
+ n
ijk.J'C
'i,j~k
j,k-11
k

The Sommerfeld radiation condition is


Qt

"2

nn
,j,k

n
t+l,J-!,k

0
CQX = a

(27)

where Q is any variable, and C is the phase


velocity of the waves. Because the dispersion
characteristics of a complicated hyperbolic
system are not generally known, it is desirable
to have a simple procedure for finding the
value of C needed to effect the condition (27).

-lj+lk

)
n
01
-lJ-l,k)

Using the finite differences in Eqs.(24),


Eq. (27) becomes

* (4 6x' dy^)1
n

1Oy'zli,jk
k
~yz{4~ IOi,j4-1,k+l
- j
i,J-1,k+l

n,+'= n,_11 (I - 2.[)


,rB
Il

of~

+(

(28)

i-}

(8

where the mesh index i - IB at the outflow


boundary point and

+ n
M
" l,j+l,k-1
i~j-l,k-Il1

c6t
(4 6y' SzT

lYLjk

I(Ii,+k

nnThe

J-I1' I( 6y'

tine step 6t is chosen such that 0

= 0

1.

By
inserting
component
in of
Eq.
(28),it a
canFourier
be shown
that thesolution
amplitude
wave components of all lengths is preserved
under the algebraic operations in Eq. (28).

(26)
in Eq. (12)and solving the result ingsystem of
difference equations by the standard procedure
of successive over-relaxation (SOR), subject to
appropriate boundary conlitions. Note that
Sx " nd dy
6dy"in Eqs.(26). At the
hullsurface, Eq. (14) is represented by a onesided difference in the y'-direction, while

Equation (28) allows one to advance Q at


the outflow boundary if n is known. This is
accomplish6d by reducing the values of both the
superscripts and subscripts in Eq, (28) by one
unit and rearranging to give

central difference is used in the other two

fn

directions, In forward motion the boundary


condition at the upstream (or inflow) plane and
at large y' is simply
z 0. At the free surface, 4 Is provided by Fqs.(18)and (19),as
Just described. For an internal mesh point
near the free surface, such as point I in Fig.
3(c), #I is obtained by interpolation from 40,
$2, and $3. At the downstream (or outfl ow)
Plan*. values of * are providd by the ridletion condition dscribed below.
IV. Radtion ConditIon

"(

B.
-

,,i

+n-

Qn-1)(
Ie-

"-2

B-I

B-2 (B-2
(29)

By Eq. (29) we now have all the informtion to


:omputeo a and, in turn by Eq. (28), ?1.
Not that N. (29) is equivalent to finding C by rearranging Eq. (27)into the form
C -Qt/Q

(30)

Wave reflections from "Outflow" or open


boundaries have traditionally presented a spCIAldifficulty In finite-difforence simulation
of' erbolic system. Various devices, such
as simple extrapolation or artificial damping
or the outflow region, have been proposed by

Wheqn
a wave crest or trough approaches the outflow boundary. Eq. (30)can result in division
Of ze by zero, a singular situation that must
be treated separately. Thus, when the absolute
value of the denominator In Eq. (29) becomes
very small, e.g.,

45

rv

"

LENGTH OF SHIP

wher-eS1TOTAL
1x

NOMNAL LENOTH
OFSHIP
D
i

0IF I

where (max and (Iin are the extiem values of


Q in the flow field, ie simply set
01+1

nIB-0.o

h-L
'
-0.4

(31)
(31)

04 '
0.4

'0 0.0 '

'S
0.6

LONGITUDINAL DISTANCE %/L

to replace Eq. (28). This is a valid procedure


because when a wave crest or trough reaches the
boundary. OIB changes very little in one time
step. Howcver, in applylng Eq. (29) there is
stillthe possibility of dividing a small num-

) TopV*Sw

number, leading to a large


ber by another small
pointed out, the folerror ina. As Orlanskti

oo

lowing constraints on e are sufficient to


hendle such singul3r cases. Let the right side
of Eq. (29) be a*. then

if a* <0

(0
-

eBOW

SERN

if 0 S*S 1

(32)

if a,> 1 03
In the present study, Eqs. (28)-(32) are
applied to * in the interior near the outflow
plane of the computation domain. 1heeffectivenessof this treatment willbe discussed in the
next section.

-O a

V. Discussion of Sample Results


To demonstrate the present approach, consider a shiplike floating body depicted in
Figs. 5(a) and (b). Throughout this section.
we shallconsider only the forward motion. For
comparison purposes, calculations were performed using linearized equations as well as
the full,nonlinear equations. The linearized
free surface conditions are obteined by neglecting higher order terms in Eqs. (13)and
(16):

(33)

Ot,+ U*0" + gn + P- 0

o.2

0.1

(34)

where u* - -ue* - (Xc)t and gz' has been replaced by gn. Equations (33) and (34)are to
be applied at the initial, undisturbed position
of the free surface.

.4

Dimensionless variables will be used


throughout this discussion. Let L be a characteristic length of the flow, such as the
nominal length of ship (Fig. 5(a)). All
hs will be normalized by L, all velocities
lenil
.
byo'#L. acclerations by g, and time by 4-In a typical calculation the computation doeIn
consists of 40 meshpoints in the x',direction,
20 in the y'-direction. and 20 in the z'direction. Variable mash spccings are employed
to meet resolution requirements in different

parts of the flow field. The valuef 6x' - 6y'


t

14.

the; 0.1 are Into near the ship.


th ship Is prescribed by

The

tion

o.i 0

.2

SeIlino,
(b) Cross
Figure 5. Shiplike Body Used in Sample
Calculations

,o (Xc)t{

(uO)mX (t/tmax) . 0
(Uo)M

nt

co

x ,

t < mx

It . ax
(35)

Figures 6(a) and (b) compare the free surface profiles along y' - 0 (Fig. 3(a)) between
linear and nonlinear calculations for
(Uo)mx * -1.0 and tm - 4.0. Figure 6(a)
n the ship Is still
corresponds to t 2.5n
accelerating, and the flow is unsteady. At
t - 10.0 (Fig. 6(b)) the flow in the computatian domin hs reached steady state. At
" 1.0.
steady state. the Froude number IuOI
The nonlinear result is quite different frim
the linear one. something to be expected because in this case ka w 0.65 for the linear
solution (k is the wave ,nuer and a the amplitude), The wavepattern at three different
tims for the nonlinear calculation is shown
In Fig . 7(a)-(c) in term of contour plots of n.
The mthod of this aper is also
ble to a sumard body. As a nuieric

experiment, both thiner and nonlinear calculatioms tie made for the forward motion of a
body with nondimeasional length equal to 1.0,
and a dimeter of 0.2. The depth of submergence is 0.58. The motion is again prescribed
by Eq. (35),with (uo)x - - 1.0 and tax *
4.0. lte nonlinear and linear free surface
profiles at y" - 0 are compared in Figs. 8(a)
end (b). Note thatthe profiles in Fig. 8(b)
are in steddy state. In this submerged case,
as qposrd to the surface ship above, the
source of disturbance is farther from the free
surface., and the linearized free surface conditions are exiectd to be good approximations,
as is avide't in these comparisons. In this
case, ha - 0.1. The contour plots of the free
surface are shown in Figs.9(a)-(c) for three
different times. The flow field in the compu4;
I,'nhas reached steady state in
Fig.9(c).

application is worth mentioning. Suppose that


the calculation of a particular flow situation
has been validated by comparing with expermental data in terms of quantities that can be
easily measured, such as the drag (with the
viscous contribution subtracted) and the wave
height distribution. The wealth of information
contained in the numerical solution can then be
processed to gain some insight into various
simplifications made in analytical models.
This my help identify those areas needing Irprovements in the simplified theories. For the
nonlinear problem considered in Figs. 6. as an
example, one can examine the validity of the
linearized equations (33) and (34)along
y- - 0.1 at the free surface when steady state
is reached. In Fig. 12(a), tie terms u*Ox. and
-gn are compared. These two terms are supposed
to be in balance by Eq, (33). The agreement is
good in general, except near the bow and the
stern. The curve for u**x, which is used in
conventional linear analysis, shows a greater
deviation fro the -gn curve. Next, we compare
u*nx" with Oz"in Fig.12(b) and find fairly
good agreement. Again, the term U*nx, used in
conventional analysis, differs considerably
from oz.near, the stern. Thus it appears that
Eq (34)is a good approximation for the full
equation, while Eq. (33) is not. This observetion is also true when the analysis above is
repeated for flow variations along y" = 0.
Since more extensive analysis of this type is
anticipated in the future, we shallnot draw
any conclusions that may be premature.

In the exaples abeve, the body na:mnitially at rest and then accelerated to a firal
,
constant velocity. In due time the flow field
in the computation domain should reach a steady
state. It is interesting to see how the steady
state is approached in different parts of the
field. Furthermore, it is a nontrivial question whether the sa. steady-state solutien is
obtained if the s.i- elerates in different
manners before re' t
he prescribed final
velocity, because thi: .w is nonlinear and it
is -3tclear how the nemerical radiation condition and truncation errors in general affect
the well-posedness of the overall problem. To
answer thisquestion, an additional calculation
was made for the nonlinear problem in Figs. 6,
this time theship being impulsively set into
forward motion with uo - - 1.0 in one time
step. Figure 10(a)compares the steady-state
free surface profile at y' - 0 between the
gradually started case (i.e.,the problem associated with Figs. 6) and the impulsively started one. The agreement is excellent except for
minor discrepancy at the last few points. Note
that the last point (point C) is subject to
numerical radiation condition. This kind of
agreement is observed throughout the entire
computation domain. The timehistory of n at
three selected points A, B, and C (see Fig.
10(a)for definitions) is compared in Fig.
10(b). It is seen that, independent of starting conditions, a unique steady state is approached, except for minor variations at
points very close to the outflow boundary.

References
1. Chan, R. K.-C. and J. S. Stuhmiller,
"Numerical Solution of Unsteady Ship Wave
Problems," Eleventh Symposium on Naval
Hydrodynamics, Lonaon, 1976.
2. Orlanski, I., "A Simple Boundary Condition
for Unbounded Hyperbolic Flows," Journal
of Computational Physics, 21, 1976.
3. Stoker, J. J.,Water Waves, Interscience
"
Publishers, lnc.7iRw o-r , 1966.

To investigate the effectiveness of the


radiation condition, two linear calculations
were made for the problem associated with
Figs. 6, one with a short computation domain
(-2.36 S x" S 2.46) and the other with a long
domain (-2.36 $ x' 5 8.45). These two runs are
compared in Figs. 11(a) and (b) for the transient and steady states, respectively, in terms
of the wave profile at y' - 0. Similarly good
agreement is found throughout the flow field.
Thus, we have some concrete evidence that
Orlanski's radiation condition leads to practically no spurious reflection at all.
Although validations and extensive application of the present methodology is not within
the scope of this paper, one potential

47

IT

TTLLENGTH OF SHIP
OMINAL LENGThI
OF SHIP

7 0.

NO L N A

(o)

0.

t=2.5 (TRANSIENT)

.01.

-10

1x

b0 t

(c) t

0,

*15.0

0.5

1Tran.5ent)

(Steady State)

figure 7. FreeSurface Contour Paip%


for the Problm in Figure 6

IEGT

FSUdMERGEO 8

0.04r00000

-1.0~~
-00

1.2RA(Tnsient t. 3=

(a)

0.04

0 052.

15.0
0

0-yo
00
77ue9

reSrae

09_

otu

asfrte

rbe

nFgr

GRADUALLY STARTED
IMPULSIVELY STARTED

0.10C

-1.0

-0.5

0.5

1.0

1.5

Figure 10(,i).Comparison of Steady-State Wave Profiles at y'*

--

0.10
i7'

08

GRADUALLY STARTED
IMPULS.VELY STARTED

2.0

T0A

LENGTH---FSHIP

0.

It-OUTFLOW BOUNDARY
OF THE SHORTDOMAIN

_NOMINAL

0
-

SHORTDOMAIN
LONG DOMAIN

TRANSIENT STATE It .625)

-1.0 1
(a)

1.0~

0.8

-- TOTA SL~H
1

NOMINAL

06

II

OUTFLOW
BOUNDARY

LE NGTH
OF SHIP

rOF THE SHORT DOMAIN


0 SHORT DOMAIN
-LONG DOMAIN

I
0.41
0.2

-02-0.4STEADY STATE It- I5.)

-I0

Figure 11.

I2

Calculations for Assessing the Effectiveness of Radiation Condition.

0.20~

0O'5 -

TOTAL LENGTH OF SHIP


NOMINAL
LENGTH
OF SHIP

0.0

0.05-

00

-1.5

-1.0

-0.5

STEADY
STATE

-0.10

005L

(a)

0 5
TOTAL LENGTH OF SHI P

0.40

3j-

OM INAL LENG IH

00

00
00
-0 1.5

-.

-0.2 a

0500510.

SEADYSTAT

U4l12
Fi0ur

at o of t e A eq a y o
0

in a
0

p ro i a i n

DISCUSSIONS
Ofthree ppers

NUMERICAL EVALUATION OF WAVE-RESISTANCE THEORY FOR SLOW SHIPS


E.aba and M.Hare
A PRACTICAL COMPUTER METHOD FOR SOLVING SHIP-WAVE PROBLEMS
C.W.Dawson
FINITE DIFFERENCE SIMULATION OF THE PLANAR MOTION OF A SHIP
Robert K.C.Char

Invited Discussion

suggests that the difference in the free-surface


condition isnot too significant.

.NM Newman

Massachusetts Institute of Technology

The paper of Dr. Chan isdoubly impressive


in treating the fullnonlinear problem, for
unsteady motion. Much weight isplaced on the
utilization of a numerical scheme of Orlansky
for imposing the radiation condition. The need
for such a condition in this initial-value
problem is a bit surprising. Moreover, as utilized here the scheme ensures that a single wave
moving parallel tothe x-axis will propagate
downstream. The unsteady ship-wave radiation
condition ismore complicated than this, and
even in the steady-state the usual linear solu.
tion includes two separate transverse and
diverging waves, towhich the radiation conditions must be applied separately. It is
difficult to assess the results without extending
the domain further upstream and downstream. That
of course isexpensive and possibly inaccurate.
Within the domain shown the charateristic wavelength seems to be much shorter than Is
appropriate for steady motion where, with the
units adopted, X-2n.Perhaps this is the result
of unsteadiness as well as the bounded domain on
which the waves are being studied.

These three papers represent remarkable


progress in analysing the three-dimensional shipwave problem, in comparison with the state of the
art at Gaithersburg two years ago. The paper
presented by Dr. Babe is quasi-analytical in its
approach, and uses extensions of integral representations that are familiar in the classical
ship-wave theory. By comparison, Drs. Dawson
and Chan have obtained direct numerical solutions
that include unsteady and nonlinear effects.
The work of Baba and Hare isbased on the
low Froude-number assumption; and thus itmight
be Judged less ambitious than the following
papers. but the results are very complete and
impressive. The slow-ship approximation is
appealing from the practical standpoint, especially for large merchant ships. This is
essentially a short-wavelength approximation,
with allthe subtleties thereof. Inparticular,
the waves are driven by a slowly-varying doublebody field. Since the short waves are not
efficiently driven by this slowly-varying
generator, Iwonder if the result is correct to
leading order in a perturbation sense, incomparison with other higher-order terms that have
been neglected. Also, how serious are the
singularities at the bow and stern, where the
double-body flow is not slowly varying as
assumed?

We should appreciate especially the comparisons for tie common Wigley model that have been
added by Drs. Dawson and Chaa following Dr.
Babe's introduction of this hull form in his
preliminary summary. There is clearly great
value in the use of common hull forms ini
comparing different numerical techniques, as in the
analogous towing-tank tests fostered by theITTC.

The paper by Dr. Dawson includes calculations of thefree-surface elevation and of the
wave resistance; the crucial step of one-sided
finite-differencing appears to embrace the
radiation condition as a part of thefree-surface
condition. From theanalytic viewpoint this seems
a marriage of convenience, but the results are
impressive. One detailed comment Is that the
double-hull linearized free-surface condition
differs from that derived by Dr. Babaand myself;
Dr. Dawion applies the free-surface boundary
condition on zO, as opposed to the "double-body
free surface", with differences that appear to
be of leading order. Itwould seemno more difficult touse the more complete free-surface
condition equation (2)of Drs. Babe and Hare.
However the comparison in wave-resistance calculations between these two papers isstriking and

In summary, while there are a few details


that remain to be refined, allthree of these
papers represent impressive progress toward our
implicit goal, of predicting ship-wave interactions for practical hull forms. Allof the
authors are to be commended for their efforts in
that quest.

63

Discussion
Fy H.-Maruo
of paper by E. Babe and
M. Hara

If the Froude number is assumed small, the first


approximation is the double model flow. Therefore the wave resistance at low Froude numzbers
is given by substituting for * the double-model
solution *o in the calculation of the function
H(k,e) expressed by (3). For a numerical
example, I calculated the case of Wigley's
parabolic model. Because of the assumption of
the low Froude number, the double integral of the
secund term of (3) can be further simplified.
The result of calculation is given in Fig. 1

The authors claim that the coeputation of


the wave resistance by means of the slow ship
formulation gives good agreement with the
measured results. I have carried out a similar
calculation and obtained some new results, from
which I derive a slightly different conclusion.
The basic theory is based on the expression for
the velocity potential derived by the direct application of Green's theorem:
-- (- -

*(P)

So,

,()

o1

SQ

Lo. 3

o,0,.,,.

./3

/
o----------

+ ff

(1)

f/
/

.00

*(,y.)G(PQ)I,d'dy'

/G(PQ)

_n

o.

40

+
2

y)

k(2u + U + V

32

030a030

Ov

which shows several stages of approximate

a++v (U

W2

(2)
zcorresponds
z-O

integration.

The calculation of Baba and Hara

to the result when the Integration with respect to x is approximated. There


are considerable differences between various
approyimations
the exact integration of the
double
integral and
term.
Numerical results deviate
from the measured values at moderate and
higher Froude numbers. For a trial, the solution that satisfies the exact hull-surface
condition and the linearized free-surface condition is calculated by assuming a source
distribution. This so-called Neumann-Kelvin
solution is employed for the calculation of
(3). Since the numerical work is very tedious,
only results for one Froude number were obtained,

The first ternon the right-hand side of 1)


gives the singularity distribution over the immersed hullsurface S and the second term is
the line Integral. The third term represents
a plane z-O or the undisturbed free surface
plane z-0O
or the undisturbed free surface
outside the tull,with the source density given
by (2). The fluid motion far behind the ship
Is characterized by the generalized Kochin
function defined by
H(k,e) - -

00

+ V

+w)

(JJIn-IA)exp[kz + k(xcose
S

kcose.*) exp (k(scose + ysine) dy


1

*(x,y)exp

k(xcose + ysine

dxdy

to

Is

(3)

and the wave resistance is given by Havelock's


formule.
8U tZyo2iH(foeC*5*5)IlsecSde.
-/

on

on F

They are shown in Fig.2. The result including the line-Integral and the free surface

/2sources
I

33

gives plausible agreement with the me&-

(4)

sured wave-pattern resistance. In conclusion, I wish to point'out as a warning that a


calculation based on the double model solution is

54

likely to show a considerable deviation from


the measured results at moderate anI higher
Froude numbers, and the effect of the distortion
of the free surface must be taken into account
to determine the singularity distribution
over the hull surface.
Discussion
by7 Tee
of paper by E. Baba and
M. Hara
This paper presents information of great
interest to me. I would like to sincerely
congratulate the authors for their excellent
work.
In a practical sense, the question of
the usefulness and the validity of the perturbation expansion about the zero-speed limit
in the wave resistance theory seems to be no
longer a bothersome issue. However, I will not
completely dismiss this question until I can
fully digest the paper to be presented by
Professor Tuck and Mr. Vanden Broek.
Io 1969 at the 12th ITTC meeting, Dr. Baba's
work on the so-called wave-breaking resistance
was introduced. This has led to an impetus for
many investigators to review the decomposition of
ship resistance. Essentially, Dr. Baba decomposed the total ship resistance into the
viscous resistance and the wave resistance. The
viscous resistance was defined by the pressure
head lossthrough the transverse control
plane behind a ship. This head loss was divided into one contributed by the frictional
wake, aid the other by the wave breaking by
the bow. The wave resistance was defined as that
obtainable from the wave analysis behind
the ship.
The present paper appears to give an
impression that there is a shift In the position for defining the wave resistance. That is,
the experimental results presented in Figures 12
and 14. according to the paper, were obtained
by Hughes' form-factor method. As we know, any
correlation of theoretical wave resistance
with model experimental results can be significantly influenced by the definition of wave
resistance obtained by experiments. It would
be interesting to know why the authors did not
compare the theoretical results with the
wave-cut results, which can be truly defined
as wave resistance, consistent with the theoretical definition. Could it be possible that the
results presented in Figures 12 and 14 contained
the wave-breaking
the
fuller models? resistance, especially for
I understand that a numerical integration
of rapidly oscillating function such as the
2
amplitude function A(e)1 can be more effectively performed by Filon's method. I would
like to know if the authors tried this method
instead of Simpson's rule which could be
time-consuming and erroneous when applied to
rapidly oscillating functions,

Re
Il
y
a and M. Hara
to discussion by C.M. Lee
There are three reasons why we do not use
the wave-cut results for the comparison with
theoretical results.
(1) The wave-cut results do not always give the
wave resistance. The term "wave resistance"
used here is defined as the resistance component due to thegeneration of gravity waves.
For conventional ship forms, this component
is written as the sum of two components:
Wave Resistance - resistance component due
to the generation of
propagating gravlty waves
+ resistance component due
to wave bred!ing
(2) The measured wave heights are the results
of wave-wci interaction. The wave-cut results
contain interaction effects between the propagating waves and the viscous wake. Therefore, the
wave-cut results do not always represent the
resistance component due to the propagating
gravit) 4avesas was pointed out by Prof. Landweber in the keynote address.
(3) The process of analysing the measured wave
heiqhts is not always accurate enough. The
theory used in the analysis Is the linearized
theory for an idealflow.
However, the comparison with the wave-cut
results is useful for the investigation into
the detailed mechanism of wave propagation. The
order of magnitude of wave-cut results is about
80% of the wave resistance defined by the Hughes
method for fine ship forms such as a high speed
container ship. For fullforms, the wave-cut
results are much less than the values given by
the Hughes method. There are two reasons for
this. One is due to wave breaking and the other
is due to wave-wake interaction.
The theoretical value of wave resistance is
originally defined as the resistance component
due to wave generation. Therefore, in the
present paper, we considered that, within the
limitation of our present knowledge of the
resistance components, the calculated wave
resistance should be compared with the results
obtained from a method such as the one by
Hughes where the form effect is considered.
Author's Reply
byRobert K. C. Chan
Professor asNewman's
my the
paperradiamay
be summarized
(1) thatcomments
the needon for
tion condition in an initial-value problem was
unexpected, (2) a single radiation condition was
imposed, instead of two separate ones, and
(3) that te calculated wavelength seems much
shorter than expected. To answer Professor
Newman's first question, I must admit that there
is confusion of terminol
. In the usual
analytic approach to initial-value waveresistance problems, an infinite domain is
assumed where the only far--fiecondition is

_I55

that all disturbances die out at infinity. If


the ship is the only source of disturbance in
the whole field, there will be outgoing waves
only. The situation of a discrete numerical
simulation in a truncated domain is quite different. If one had the resources to use a computational mesh that is so large that, throughout
the physical time of interest, the disturbances
generated by the ship never reach the far-field
Loundaries, then the radiation condition would
not be needed in initial-value problems. In
practice, however, the flow field is arbitrarily
truncated to fit the capacity of the computational equipment, as wellas the budget. Unlike
the case of realinfinite domain, where one
can simply specify * - n 0 at infinity, one
does not know a priori what boundary conditions
to apply at those arbitrarily defined boundaries.
The basic assumption which allows one to truncate the domain is that at some distance from the
ship the flow field becomes hyperbolic so that
infornation propagates away from the ship.
Under this assumption one can describe the flow
field in the vicinity of the artificial bcundaries in a characteristic form. Orlanski's
method essentially makes use of this characteristic form to "extrapolate" the interior information to the artificial boundaries, such that
unwanted wave reflection is sharply reduced. In
contrast, the function of radiation condition
in steady-state analysis is to help determine the
one solution that satisfies the physical requirement of outgoing wave systems. Thus, there
is difference, both in purpose and technique,
betwoen Orlanski's radiation condition and the
radiation condition in classical hydrodynamics.
I am in favor of relabeling the former as
"open-boundary condition" to avoid confusion.
This would also have answered Professor Newman's
coment No. 2. As for his last comment, concerning the wavelength, I am afraid I do not
have any satisfactory explanation at this time.
Mowever, I am positive that the short wavelengths are not the results of unsteadiness or
the bounded domain, since these calculations
were carried to steady state and various boundary
sizes were tested. I plan to clarify it by
using a point source pressure disturbance at
the free surface in the near future. I am glad
that Professor Newmn pointed this out, becauso
the computational results were very preliminary
and a great deal of additional work is required
to understand the various properties of the
numerical solution technique.

as

EXISTENCE, UNIQUENESS AND REGULARITY


OF THE SOLUTION OF NEUMANN-KELVIN PROBLEM
FOR TWO OR THREE DIMENSIONAL SUBMERGED BODIES
j. 0i.
Dorn

Bassln d'Essals des Cat4heS


Pais, Fronce

mhowever,

that even in the case of a body kinematically equivalent to a distribution of singularities, the integral equation used to calculate the density of these singularities may
have a number of solutions for some, so-called,
irregular frequencies (28).

The Neumann-Kelvin problem associated with


a steady flow above a horizontal bottom presenting a bump of limited area is considered. In
the case of the height of the bump being small,
but not infinitely small, the existence and
uniqueness of the solution is demonstrated.
This result is valid for two or three-dimensional flows. The Method of Singularities is discussed and it is shown that the bump is kinematically equivalent to a distribution of sources,
and/or dipoles on its surface. Furthermore, it
is shown that the int.egralequation employed to
calculate the density of these singularities
has a unique solution,

These are, however, minor drawbacks and the


Method of Siagularities is largely used in diffraction and radiation problems.
Therefore, to calculate the wave resistance
of a body of any shape piercing or not piercing
a free surface, one is tempted to use theMethod
of Singularities. Unfortunately, the numerical
experience seems to prove that it is rather a
delicate matter to use the Method of Singularities in the Neumann-Kelvin problem. This fact
induces one to think it is advisable, even assential, to carry out mathematical studies "oncurrently with a numerical analysis.

Contents
I.
2.
3.
4.

Introduction.
Notations.
Hain results.
The flat bump approach, I generalized
solution,
5. The flat bump approach, II strict
solution,
6. Two auxiliary boundary value problems.
7. Existence, uniqueness and regularity of
the solution : proofs of theorem I and II
8. The I 'hod of Singularitius : proof of
teorem III.
Referenon

The present paper is intended to determine


certain conditions under which the Method of
Singularities can be used to solve the wave
resistance problem for submerged bodies.
As far as thic problem is concerned, the
Method of Singularities may be divided into
three parts
(i)

the linearisation of the free surface


condition ; this leads to the so-callu
Neumann-Kelvin problem (N-K problem) (4)

(s)

I. Introduction
frequently, numerical methods in ship hydrodynamics are developed before it has been
proved that an exact solution to the problem
really exists. Prom a practical point of view,
one may maintain thih procedure when good numerical evaluations can be made which compare
reasonably well with experimental results. For
example, the Method of Sigularities has been
applied successfully to calculate the difiraction and vagiatlon forces acting upon a body in
heaving motion in waves. Nevertheless. even in

(Ii) the representation of the solution as a


luion as
so
tion of
dstrib

this case, difficulties are occacionelly e t


for example, in the two-dimensional problce,
the Method of Frank is not applicable (13)when
the body settion is not vertical at flats-

(i) has the Neuann-Xvin problem a unique


solution and what is the regularity of

disposed n the surface of he body


(iii) the expressiun of the flow condition on
the body by mans of an integral equation.
One is then led to ask the following questions on the above points (I) to (iii).

this solution ? Above all, is the regula-

rity sufficient to provide a physically


acceptable solution

tion * this ;& due to the fact that such a body


is not kinematically equivalent to a distribution of sources on its surface. It is known,

t?

57I

(JI) is the body kinematically equivalent to a distribution of sources,


and/or dipoles, on its surface ?
(iii) has the integral equation a unique
solution ?

it is clear that the non-uniqueness of the solution in the hypothesis of the zero Froude numher does not necessarily entail an analogous
property for the corresponding solution with an
exact Froude number.

Few studies on the existence and uniqueness


of t
prolm
e
thae eiene
p
ublshed.
of the N-K problem have been published.
For 2-flor 3-D submerged bodies. N.E.Kochin
(17has proved
xisee
nd uniqueness
niqenesofn
1]7)
proved the existence
and
of

N. Dessho(2)har given an interesting proof of


the non-uniqusenesa
in the case of a 2-D vertica
plate partly immersed in water. For 3-D surface
piercing bodies, M. Bessho(3)has proposed a method for proving the uniquenessthmto.
but further
stdearneedoclif
studies are needed to clarify the method.

the problem as follows : the velocity potential


0 (I) of the fluid at point X is represented by
a distribution of Kelvir. sources on the body
surface r : if K(X,Y) is the velocity potential
at point X of a Kelvin unit source at point Y,
the potential 0 (X) is assumed to be

The above discussion demonstrates the difficulty presented by the study of the existence
and uniqueness of the solution to the N-K
problem. When the body pierces the free surface
the mathematical problems are enormous. To begin with, it seems to be preferable to study
the simplest case of inersed bodies and especially of bodies lying on the bottom of the sea
or 3-D bump) and subjected to the effect
of a flow of constant and uniform velocity c.
The potential '(X) corresponding to the flow
over this bump is solution of a N-K problem,
which shall be noted as NKd (Fb, E) ; d is the
of the physical space (d - 2 or 3)

K(X,) o (Y) dy
](fr
The flow condition on r is

(.)

OCX)

x(2-D

Sv

(1.2)

v(x) ,

x c r
where N is the normal towards the outside relarive to thc body end v(X) is a given function,
t.i and (.2) give
( ) .
gdimension

(1.3) O (X)
O(Y) W
CI.Y)dvr - v(X)
Fh - c/g is the Froude number allied to the
r
depth h, E - C(X') is the height of the bump
which is an integral equation of the second
at point V , positively counted from the bottom.
kind for the unknown a (.).Let V be the integral
operator
To prove the existence and uniqueness, the
0.) r
R
(.Y) dK
NKd (Fh, T) problem shall be considered as an
a
f'r"~ ' x
Y
elliptic boundary value problem (but with a
the equation (1.3) can also be written as :non-conventional boundary condition at the free
th
(
3 cn asurface)
and the perturbation theory of linear
(1.5)

(V -

)o - v

operators (I6) will be used to prove the following chain


existence and uniqueness of the
flat bump * N-K uniqueness n. N-K existence.

N.E. Kuchin uses the Fredholm


Alternative
Theorems to show that, if the Froude number is
sufficiently small, is not an eigenvalue of
the operator V. Therefore, the operator (V-1)
is invertible. Thie proof of existence and 2
uniqueness assumes, however, that (i) the operator V fulfills the conditions of Fredholm's
Theorems (e.g.
V must be completely conti-

nuous), (ii) IVL

(U)l1 is

Another possible method would be to consider


the NKd (Fh, E) problem as the steady state
limit of an initial value problem of hyperbolic
type. But, this method, used in water wave
theory (32) does not directly give the uniqueness, which is the crux of the problem.

a :ontinuous func-

2. Notations

tion of k o - A 2 in the vicinity of the critical


OX X2 X3 is
xis
The system of reference s
right handed orthonoral and is bound to the
bottom of the sea. The OX1 X2 plane is that of
the free surface at rest. The OX3 axis is vertiCal, directed towards the bottom. The OXI axis

Ic Here g is the acceleration 2 of


value kgravityu; c, the velcity of the body ; L (r)
the spIce of square summable functions on r I
IV ; L (r) , thre
Ote oprto V conL
coninorm
th
opping from L V)
sidered as a continuous mappn fro Ld (F)
into L2 i) i.e. Vt C (L2 VT), L2 ()rI These
properties are not explicitly proven by N.E.
Kochin.

is parallel to the incident velocity,c, of the


fluid and runs in the opposite direction to it.
The bottom of the see has a bump of limited
area. The part 5 of the bottom which is situated without this bump is horizontal. The bump r
has either a two-dimensional shape with a generatrix parallel to 012, or has a three-dimsn&annal shape. The equation of the bump is
(2.1) r
13 - h - C(X').
X'e K
s
e is ' re-l (X X ) if d=2 and a Pol ' or
X2 ) if d-3. K - supp L is the
(
re
.support of L . compactum of
-1. If C is defined outside K by I(X') - 0 for XV K, (2.1) is
the equstion of the bottom r us. For what follows it is convenient to introduce the folIowing notations t

Th study of the existence and uniqueness,


for bodies piercing the free surface is very
complitated. Curiously, it as .. Michell
(23) who first proved it in the liuit case of
infinitely thin ships. However, his argument
would not be considered a rigorous proof by
modern standards. The uniqueness of the solution
of the N-K problem in the case of a body of any
gliven
shaFe was questioned hy J. Kotik and
R. Norgan (Is) in the hypothesis of 'he zero
Frouds number. Their proof which neglected the
existence of the water-line wee improved by
It. rard (4) , (5) with the aid of the line
integral, and later by P. Guevel et al. (12)who
used the mdif led Kochin function. However,

5.

(2.2)

(2.3)

ma~
X' K
1(l)(X')

E(X')~
E(X')

6'
E

(2.4) O~(w)
t-, t(V)
(2.5) &()u~~
(2.5-1 N'~w)
x-)For

It should be remembered that 4(X) is the


velocity potential at point X, N is the normal
from the buap towards the outside relative to
the fluid doain.
(26
r
N)iff
(.)N-(NI. N2 , N 3 ) orkI
3
according to d-3 or 2.
With these notations the fluid domain Qis
given by :
(2.7)a,~
A-X - (X',X3 ) :

vatives up to the a-tb order (m<-) on th, comnpact subsets of w (of w) If w is compact
V6T).
em (UW
0
UE2Y CO) iff UE Pi(w) has compact support,
supp u,.i w.
N)U
(X)- ) iff u23m(w) for all m 2! 0.
the topologies of theae spaces sae (31)
jndu anshs t n
u.,mQd-')iff u' 1C
finity
,n du.$K,' CRd ), wwcee K is a compactum ofRN
u

'a (ft
d1) and supp u cK. The Banach
am,0 CIRd-1 is a Banach Algebra, that is i
sTpce K
Cd-1).a uvc~a,0 ORd-I) and
OR~~?~
(2.11) 1u 1 .am
"
d-I
K1 ) v

~C

3d-,
N

0<1t
('.).
3 h - t10)
The fluid domain is therefore in terms of parsmeter C.R

O~d-I)I
K ~
~..o ;u;'m,a
1

v ;1U.0 Ckd-I)II
0
iff u,
'u(Q,)and u Roe

u~j"(2)

(P:

where one has aet:


particlar

In patcua
(28)%

1..()*{XY.

X3

2d-1

d_1

(InIJX')7
,-if X> 0,
(2.12)It(X)2d-2

I(+X

0<3 .h)

asa Banach space with the norm

I1o0 %!Ii~'0 ftIIui~

Functional spaces
The termipology and the notezions are for the
most part those of L.Schwartz (31). Let wbe an
2
open subset of in, n 1bdry w, the boundary of
w and wT wubdry w. A function u(X). Xe w , belong* to the class Cm in w (in w;) iff u has con-K
tinuous partial derivatives up to the rn-tb
order
in w (in ii).It is said that u belongs to the
clogs Cm,Llin Ziiff u belongs to the class Cmt
of the
in wiand if the partial derivatives 3 "
(0<u
rn-tborder, are a-hiilderian
0
, Ythe
au
(Y
jau(X)I _SMI XYja
(2.9
(2.9
3'~(Y)II4
I~a
I-Y1 XYnenta
1x3
where M is X'y inde andent and where
Euclidian norm snR.

.Iis the

Tha following normed linear spaces are usei


ue1% M if r is a function of the class cm in
w and all the derivatives of which up to the
rn-tborder are bounded inow. The norm :X
Iju ;.%"(w)II is the norm of the uniform convergenre on wof u and of all its derivatives of
order
-Let
f B(w) the same as above with wreplaced by w
05 5

~.

JThe

in

3. Main results
It should be remembered that QI is the fluid
domain defined by (2.7), N is thecnormal to
bottom, with (N1 ,N2 ,t!3 ) or (N1 ,N3) compowith respect to 0K1 X2 X3 or OX IX3, OMX
is the potential at point X allied to the fluid
movement of v'lichthe velocity is

apumI .Ijx-YI
";

XY.w)

r(3,~-

8'~i

d.

03)

according to d - 3 or 2,
E(x) be the height of the bump at
point XV. We define

')I~~

Iju

norm is

~0X

31
3X
with
(3.2) V'(,,

(33

$up {lpumX

311.

f$
Cd)
m'2 it halb sidht
adta
?2
thllb
Kn
the function u(X) defined on rbelongs to
1
510(r) iff u(X',h- E()e1 ,"'Rd-1).

ucla"'~ (w-)
1ff u is a function of the class
CON

(l

EM

0()

.*(

EM (XI)

N,(')(X'
r EM
N,(' -IIo~
by formulae (2.?)

to (2.5).

where the 6utmatin E1* taken for all derivatives up to the rn-tborder.
Al pcsaoeare
h
banach sae.which

All he saresabov
spaes.chosen
uvCOw) iff u is a function of thetlaosC low
u.C(a)
1ff u is a function of the class
in w
uot(w) iff %efCOMs for all a.0
us &W() 1ff uoee6)

for all t.;iO.

These four spaces are equipped with the topo logy of uniform Conergence of u and itsderi-

In the Neunn-Kelvin formulatior (4),


tle
solution of a boundary value problem NKd(Ph, I
tattes
the following form when 0() to

as theunknown N'nction.

NK (Th. c , I~~
find $0I)

problem
$0() (x j C ,

tr') such that

(NK1 )

V22

(X ;

(NK2 )

2 X_(-)
ko a(l)
I.

(K 3 )

, XT
O

Theorem 3
Under the conditions of theorem 2,
the ,nique solution of the NKd (Ph,E
) problem
can be expressed equally well in any of the three
following different forms

X3 - 0

(i) single layer potential


: O(X)- go where
the unique solution in L2 (P) of the
integral equation,

)W.7
a

(NK4) radiation condition : R(IO)

(Pc)

(V - II) a - v,

here k. - -L-

(ii)

C2

Given

(D - )
= u, u - restriction of (cXI) tOr
(iii) mixed potential:A(X) - Ihi- v where p is

the bd1p(e)

K compactumo ofof

m integer >=2
at real 0 < :the
a <
We net
(3.

' (space

unique solution in
integral equation
of solutions

M(i))

(D -

of data
I
K
(ae
d
The two folloing results are proven

for any given value oft , the problem is to be


resolved fore- 0. In this case, the solution
in well known
For d;2, it is possible to refer to Lamb
(20 p.409) who explains the method followed by
Rayleigh (1883 ; artificial frictional forces)
and the method used by Kelvin (1886, Fourier
Integral Decoanposition)

In fact, it is shown that no solution exists


in the space of bo,.ndedfunctions.
Theorsm 2
---

Let us assume whatemer be Ph when


1if d-2.
-2andFh
For each EI0 qj, C > 0
t[
.iao,
"

exists such that for all c


(i)

th6 NKd (Fh.E)problem hae a unique solution 0(0)3


(,) (I)
i)'
(ii)
0
() (X; E,
)analytically depends
on E :
(I)
(I) (I)
(
i))
).$
(X;0,t
.
) n(X;
This series converges uniformly with Peepact to X and can be differentiated with
respact to X , tem by term until the
m-th ormer.
( )
@ii)
()(X;,t',1 ) ()(;0.E()) and the

in the space of L. Schwartz's Distributions.


Using distributions the proof is routine but
lengthy. Therefore. only the essential stages
of the proof (which is expounded in detail in
(9)J will be shown.

The _athod of Sinaularitt


Let K MY) be the potential created at X by
a Kelvin unit source placed at Y, 0
r.

Notations

The operators "source" and "dipole" are defined as follows

I~

(3.6) B a - f
-

K (X,Y) a (y) d r
(X,'Y) Pi () dy [1r~ ,

For d-3 it is possible to refer to Ekman


(1907) (711. Also, the articles of Palm (29)
and Hatrband(14) who used the Initial Value
Method can be quoted. All theme methods clearly
demonstrate the existence of a solution of the
NKd (FhOt(l)) problem, by actually constructing it. In return the uniqueness of the solution is not rigorously proven by methods of
Rayleigh, Kelvin and Ekman, whereas the Initial
Value Method cannot, in essence, prove it.
In fact, it is possible to prove the existence and
the uniqueness
using
the solution by
a modernised
versionof of
the method of
Kelvin : The Method of the Fourier Transform

bn(X;E(1)) belong to E('1.JC) i.e. they


are
r into
linar
J . and contintuous map ping fro

Sv.

4. The Flat-Bump Approach


I Generalized Solution
Before resolving the NKd (Fh,E,E ( I ) problem

Theorem I : Let us assume d-2 and Fh-l. For


jeatT7
W
'UJ
the NKd(Fh, E)prob lem has no
solution in .e

(3/

1l,o(r) of the

m 'a

(3.5) W

v A c NI

double layer potentiat:(X) = I3p where p


is the unique solution in11,L (ir)of the
integral equation,

For the sake of brevity the following notetions will be used :


d
I - (X3
0
X3
h) so that II - R <
l - (83
0 - 83
hI

Ir

and he restrictions of So and Dv to the surface rot the bump are noted
as So and D1 . The
followinged
drf
JaK
r.)Vo-(xMY)
a (Y) dy[r.

- (x

#o(

so

0 1 X) I h) so that i7 . Rd-I 9 T

f(XJ.X2X

3)

to the mapping Xo

f(XoX2'd3)

()(i.t(I))4olwtion of the

u, ZPFOd-1
(rd-

ift u is a function of the class


0 with compact support
iff uc )PORd-i)for any p 2 0

l)

d-i

uc 'D (It

u.

(dR

u is a function of the
class C
(iiuand all iopeeiva'a2tor
(ii) u and all io derivaties belong to LP(Rd )

iff Mi

iff (i) u is a function of the


class C(ii) u and all its derivatiyes aocarapidly decreesing at infinity

So

u is a function of che
,
class
(Ui' u is a fuction slculv
mncreasin 5 at irsL-iy.

R -13 ift (i

The ces~ctive duals of tho.above spaces


gh
izot c.'d d
space of dintributions o order *"p.
0
measure:
For p- we hu _.the OpzCe of raden
-l
which is denoro2 also by , 4 )
1)'

sp&.e of L.Schwarcz's Distributions

I)

S'oRd'.

onto

N*9d(Fh, 0, E()) problem.

wilo p-1.q-l1 I W- denote by


d-I
d-I
L~Dof
C,O(1(
ORt ) the dual
d
8'gR -I) space O tempered distributions
d-

0, OR I) space of "stributions
lio St intinity.

is taken as the symbol of classical difIf


of differenthe hmbol
sy),
ferentiation (i.e. 2
tiation in the sens I ofT)' is noted by D
D
To the classicil Laplacien opecator
(i.e. R).
V
corresponds the operator Px in the ,ease
of 1)i.
Definition 4.L A function of C 2(.8'0Rd-))is said t. be a
generalised solution of NKd(Fh,O, I(')) if it
is a solution of NKI,NK2 and NK3 in the sense
of distributions.
It is not necessarily assumed flat the NK4
condition is satisfied.
Let us show that NKI, AK2 and NK3 hasmeaning
2
C (I, 8 'ORd-I)) - NKI can be written
ii $.
aso
2
7
D240
- , ,,+
-X
0
(4.4) D x
3
which is really an equality in S' 0d 1)
The operators depending on the parameter
x3
I arc then defined by
D(
0
(4.5
3
so dd-1)
k
2
D 3
(4.5) BI x3)% - =Xz -

'

rapidly facrea-

D
ox3

(4.6) B2(A3)3 o

d-1
!'RI

FPr the k.opertiea of these eaces and their


topoirs) see %i) . C'
, 3 (di-) is rhe
space o Lbti hctir.r , (X) - f(X' .X3) which
are differentio'e with respect to
X3
1(4.7)
u? to the k-th order and ar, value" in dthe
l verX clos
3n'2r
for1
tot space
'J'0Rd.I)i~e.
t(X',1
)
.5
OR
I
s (10-3
8

0 osti lies ttK2and NK3 in the sense of disr-i.,ttora it


(
i
'
) when X * 0
B,(X 3 ) 4
in S O
33
c
in 8 )when X3
h
(4.') 52(12) 0 ,
DI()'
d-h

(30 p.49).

where it is assumed that DTO)

Fourier Iransform (FT) an

d- l

S' OR

Inverae Furier

Ttasfnofo((Pt).

2W 'IL

The direct Fourier Transfu.. (FT) of


f( ' .13) , 30qd-1) if

A ditrit tion belonging to C(l,8


(Rd-I))fs
said to be a gereralised Green ZcPnfiat of the

fi(k',k

3 )-

(YXi)eik'

where k'-(k 1 ,k2 ) if d-1, k'-:-I

d'

if d-2 ar,&

-)R
d-I

(4.2) f(X',X1)

-(2,)

-r

(IF)

d(X) - ( in 13

(G2)

( f(X' ' )) the


yY
of k'tt oparsor defined

e inverse Fourier lransfos


1 (k',X3

kd2

where ''' -a the scalro proi4uck'X'-k 1


or kIxC,oending on d-3 or 2.
It shall )e noted
e'tension to 8'Utd-I)
by (4.1).

..
L

problem if it aatisfie 4 in the


aerse of distributions, the following squations:

SN~d(Fh;O,I('))

(4.1)

of

is

-(k

- 0

I
(0i)

6(X :

X3

6(X') is the Dirac measure at

X' - L.
Vnc

The two following lemmae a'e well known


f(kX 3)e-Xdk'

ctd it chL1 C'cnoted by .- i{5 ',X ))the


estaMAuiC ro 8,'0 d-)
f te operator iefined
by
n4..).
It should ba remembered that tie oae3atur Y
t
iw a topological somoiphism from 8'(ISh)
a

Lene, 1.1 - 7wI following equation for the unrnown y


th y h
.has
sootfion
if Ph>aolution
I i.e. koh<
.0.b
anoun'oue
positi'e
0%
Fl.< I i.e. k.h > I
y
0 if
.:as the doublc- aoZutioh
Ph- lie

1h.

if

When k h increases from I to +,


sea frn Oto + - and verifies :
22
k >

yo increa-

H2 (kX

22 >2 h2
k oh-h2

3)

Pf
-

2 (xt.x3 )

h2 (k,X 3 )

Y-t (112(k,X3))
'

with
j-O-t- - The 2positive solution y
.emma 4.2
th yh .t
t [0, 2. ]

y(t)of te

h2(kX

-k k2ckhk
0 (chkX 3
k2(hh

ko

hkX)
'h k)
k-)

has the following properties

Pf - Padw ard-Schwartz pseudo-funotion with mespect to variable k.

(ii)

(ii) in +he case of d-3

( y (7-0)-y~t)
Y (-t) - y(t)

One can therefore restrict the study of


y(t)to t (0, ],
(iii)
if Ph <1, y(t) inoeeases 1rom yo to + m
when tincreases from 0 to131
(yo: see-lenna 4.1)
(iv)
(v)

(Vi)

if Ph 0 I 93 (X) - as+aiX I
+

k
2

k
with k I

AMto T
t
) increases from 0 to+
>
0,
each Fh,y' (t)M
2

3gm 2t0
1koh hy(t)

H 3 (X) - Y

2(X)
8-.)7
kh

if Ph-I

if

I t2 (X)(ch ,X l -

Irn

( 3(k

k,. X 3 )}

' 63 (kI'

k2' X3 ))

-2

XI)
Oc ORd ) Then the NKd(h,0 :(' ) problem has an infinity of genorelised solutions
given by :
10(It)
Mn- E-D,4
(8')
0o(X)+
X
, 13d(X 3)+
'
(X)
where
Gd -is any
one of (the
ganeralized Green
potentials of theorem 4.1 and where id is an
rv olynomial, that -an be chosen indopendently of Gd but havtng tho mae fom ae the
8d polynomiale defined ir theorem ;. :,
The i:mbol
X','
denote@ the convolution with
respct to variable X'.

28)
1 + 2 (X-X2hX
3
+63(X?-3IXXI+6hX1 X3 )
I

ko sh k X3 ) TC

Let us aeaune that Ph has any given vole and

aI
I g

if Ph

cons-

Theorem 4.' -

There exists an infinite number of generalimed (;ronpotentials that are given by the
following
a :
Go oXn o- Hd(X)) :d(
+
Cd(X)
+ Pd(X) 0 gd(X)
where Hd, Id and gd a'o given by the follwingi
foimiulae :arbitr
(i) in the cas8 of .7
.

X3 -

. hkk

The precise meaning of the symbol Pf will be


given at the end of this charter, as well as
the expression which is corresponding to the
distribution TYC'

in the plane k' - (klk2 )-(kcostkpint)


the manifold (C) with polar equation
k-y(t) consists of two different curves
without any point of intersection if
Ph <'. If Fh
I (C) ,consistp of a connected curve with a double point at the
origin,

Ph 0 I S2(X)

ada, abitr

Pf - pseudo function with respeot to oariab~e


k' - (k 1 .k2 )

Theorem 4.1

if

, a

shkX 3 )

)tchkh-ko

ThhT
extension
to Rt of an arbitrary distribution
C whose support is in (C) (see lenma 4.3(x))

(vii) for each Ph wher tIT, hy(t) koh sec2 t

and h y'(t)-

/ le + k

at2m
3 (k 1 ,k 2.X 3 )(ch

I~
zn ohich case
t-O.

(viii.)
if Ph > I and if t-to,
h y(t)= /30'-

-k(chkX 3 - kk

if Fh> 1, y(t)only exits if t tk


where t o is the solution in [0, i-f
of co
tAoh. When t increases

y(u0-0 only for Ph T I

(ix)

a
So+a
1 X, 3+ a2 X2 I a 3 XX 2
3Xta(X
3
6hX3 )XM
3
2
H3 (kl,k 2 ,X3 ) - Pf h3 (k,,k ,X )
2
3

if Ph - 1, y(t) increases frm 0 to +


when t increases from to-0 to

for

a 2 X2 + a3XIX2

if Ph - I g3 (X)
-

%afore demonstrating the proof of theorems


4.1 and 4.2 the following results ahould be
noted i

12(8)- 0
9 AsYX3)'

Let us met
0 (k',83) -

.(btuyoX'-b2 sin qyo)


e(j-O to 3) and b (j-l,21
are arbitrary
cons tanta. 'o is dlfned by lames 4.I

where k

62

Ib'

(-kI

if d-2)

ke
khi
- ehkX 3

Lenoei4.3 - The distribution U(X)


to iotton of (a) and (b) :

The details of the proof are not given Ihere


(see case d-2).

C (t,SRd-)

(a) D U-0
X r)o
2
0
(b) D X U - ko Dx U

(ii)
case d-2 - The same operation is carried
out and nstead of (4.9) one obtains

(4.9A) k2(chkh-ko'hkh)'o(kX)= -- koG(k.X


iff its IFT U(k',X 3 ) is of the foOMting form
(kW)
(kX3) - 0
'3
O(k'SX3 )

'
0(k)
)P .X[o(k
3
( h
k-k--3k)+a 2 2
(k).a3 2
](3)
k X3 fk)
)+e )MGk'X
(2) (kb).
6(1)+ (1)(
+and-,()()2
+k
(4.10A)

(i) Case d-3 - Let 4o(k' ,X3 ) be the FT of


)

Compared with (4.10) the solution Is simpler


because:
() Pf is perfectly defined as a Hadasardchwartz pseudo-function in I

,X

]
D ,OX
k2 (3 j 2

I3'] vkl)

l chkX3 - k --- '


where leIsa 4.3 is used.
DX(|)
W)
Let us set : '3(X') - c --

1Vw

(i.)

theorems 4.1 and 4.2 are obtained. The study of


regulirity is simple. Forsexample:
Gc
(I,
d-)), because that is true for
T and 92 ; for H2 according to (31 theor.
r
rdingato
fo H2 o
n2
XV
d- l )
it is
O'0R that- H2(XI X3)' OMOR d-I)
) known
I H2(k,X3
X 3 p.268)

'(k')
I

From which after multiplication by -k o(k', x)


3)
h1 -h
() .k2[ kl '2 2
1 1. (k',X3 )
chkh
k
(4.4) k,
3According
L
. k _O k ,X3 ) iJ(k').

to (21 p.20) it is also known that


C .2(k,
l ( ))r K2(k, 3 ) Cu(I,S'I))

of divisolution of this problem


he general
2
sion in R is

.0 (k',X3 )-Pff -k
[;2
d(1

6(k)
- . a

0(k' K)h
) chkh'ko! - lJ
DS(k')
2

-H 2 (X1 . 3 ).d'(lS IR))


From Sh? regularity of G , the hypothesis
'3.
'On) and from the t~eorem Xl of(31p.241
Q.E.D,
the regularity of 9ois proved.

k')

D 6(k)
I-/''2

Study of TI distribution

a m
*.'-"
imwi,
0' I k2 J'
D

Ihe precise definition of T shell be given


only ia the case Fh <I. Before hand a meaning
must be given to the pseudo-function which
defines
H3 (k,.k 2 ,X 3 ) - Pfh 3 (k 1 ,k 2,X 3 ).

where TC is a single layer on (C) (i.e. a distributlon with support in (C)) and TC is the axtension of this distribution to the (k)'k) 2
(31. theor. XXXVI p.10 , formula
pl'cs - sea1 14
(1V,5;7) p.
and theor. VIll p.2) , The
terms ai and a
are arbitraty constants and
aem, i~ h 0

On the outside of disc(k n} where y> 0 is


h
given, the change of variables (k,k2)
(t~
k cos t, k sin t) is a dlffeomorphisto and the
following can be posed without any difficulties:

The solution (4.10) is somewhat formal and


it still has to be precisely expounded by givig
pseudo-function Pf and of
a definition of the
T
the distribution C so that the right-hand side
of (4.10) is a Lempered distribution. ber the
end of the presen' chapter.

1k cos I, B sin

4
4

where 0(k k)
-Ik
(4.13)

By using the IFT of (4.10) the formulae of


theorems 4.1 and 4.2 ere obtained. These theotas are therefore completely proven once the
regularity of G. and 0 has been proven i.e :
C 3,

seudo-function
(C) is here reduced to two
The manifold
points and the meaning of TC is therefore
elementary.
By taking the IFT of (4.10A) the formulae of

The relation (4.8) gives


1
12- rl\2
h
k
chkh
k
h h V(k')-

(4.10)

O(k

+ bj0(kX 3 RXk)6(k-yo)+b 2 0(kX 3 RXk)6(ky,)


where the terms a and b- are arbitrary constants and a2-a3O if Ph#JI and bl-h2 -0 if Y
doee not exist, i.e.if Ph >1.

Proof of theorems 4.1 and 4.2 -

o-

1Xk')

The general solution of this problem of diviR is :


sion

V(k') is any teered distribution such


kk
Le0 43i
L(mmd.3 is proven easily using the FT of
(a)

where

The FT of (4.6) is
(k"X)
B2(X3)

where

)
2

th 3 )i (k,t)kdk
(t.) 3 (kr.X
f+
o
is the finite pert of the integral.

f
what follows2 it is sufficient
the elements of Sin
u h that

. OFor
8'

63

to consir

(4.14)

j(k,t)

(S2),
8
ly

wA

Theorem 4.3

When Fh< I, Io
f[)

]0,

w whioh follows

n
<.,.> is the duality pairi
If X _ h tjo above formu,
if f14OR ).

(iii) For O=X 3 <h one has


k,
chkX 3 shkX

~ 2X)ideie772
I
kcoa2tchkh-k

<Tc' *(k'-

2 )>-

<Tt.

ahkhj

Y()chY
2 (X)

(4.16)< YI

")

41f

i(y(t),t)>

,t

),t
In other words TC has the form

Yt

~h

'

~~Tr
chyt(X

3 -h)

h.,

Cos
2 .oh

;2 (t) are arbitrar?, signed measure

1 (t) and

and Mt A t rcon

t-)

Now the Method of Stationary Phase


and the Riemann-Lebesgue Lemma yield the
following reqult.

CtTh

exp~not]y(t)
-w
ch

. y (t) {cos mtdp,(t) - sin Mtd2(W

aheorem 4.4 - Far Field of the Generalised


Green otentiaTe for anyg.ven ',ab.ueo Ph.
When d-2 and 3, Hd,d and gd are defined by
theorems 4.1 and 4.3 and the follow-ingresults
are obtained :
-2
In the case of d

This lads to th IT that takes the follo- X 2)L.OR2)


wing form sic
lk'X,
V3(X) " < .3 21 ) >

_2

t
(.)(kkX
ch[ty(t)(X3=
3
2'3c
-h[y(t)h

l ch

c
ch

y(t) {cos @tdp,(t) - sin Ztdl2 (t)1


a Dd (

(4.17) Yc- P(t)sechy(t)h 6(k-y(t))


i
ven Inthe stareant
and the tm
it
of theorem 4.1"(ii) 5Scoms:

Y3(1)-(2n)j

h.
73X')

IIJ-

i-f

dii(t)

3r<

ha i(b
. Adan masure
~isxste.c

,
(bcosX,+bs
o
2 s noX

cnYoh

if Fh<l

sasutep(h exists such that

cp

of the integral.

if Ph Z I

if Fh< I, bl, b2 being arbitrarj constants.

.
where it is assumed that t varies in
Knowing 1he properties of y(t) (lessa 4.2)
it is easy to prove that *[Y( t)I
8 OR
is continous function of t and is bounded
don measure ie.
,Thuo T isae
in - ,

~~

'inite par

denotes the
'i
2 (X) - 0

(iv)

It is now possible to give the expression of


YC :aince supp TcC (C) a 2 distribution T exists
8CR ) satisfying (4.14)
such that for al* 0

W) If h< I
X
-0 Ilx
2(X'X
O2 (koX 3 )
G
)j=2

d v(t)~

wit+

h~h
0 (K+ h) .ntyoX
h ChY("l'"-

x)

(x

+ x2 )
)sgY1 + 1'2 (X)

th
" (X1 ,X2 )i(rcoOrsinO)d
s - y(t),X'
B-.

and llt - ytrcoo (t-0).


By setting P(t)" P 1 (t)+P 2 (t). one has %
lr(t),g12 (-t)-- .(t) since 13 (X)ieraal,
from which
(4,19)

k2(chkh- A h . kh'.. dk
k2(chkh-r shkh)
IT
o
k
ik'X'
dk
hkx e
chkXa
I
dtj k X3 z hk h 31 e " k
-)

k
k,

H 3 (X)--

h
here

on 'it )xSoR ).
ataine its meaning

In fact h 3 (k,t,X3 ) is rapidly decreasing at


infinity and the integral (4.13) remains convergent if 0 is only bounded.

where

on the

(4.15)

O , and

free surface X3 - 0

H2 (X)--

2
Definition 4.3 - When Ph < I the pseudo-znoton
* S oR )by:
Pfh 3 (k lk2 X3 ) i s de f nd for ea h
1A
I+(t, )dt where
<Pfh (k ,. ,X ), *(k 1 k2)

~~

Gd(X) is of the class C' in

(ii)

Therefore the following definition can be


put forward.

Gd(X) - Hd(X) + Td(X) + gd(X)


See theorem 4.1

(ts

1+(t, *)exists2 and varies contiuus* varies in SOR)

General propertcies of Gd(X) for

alue of Ph.

any ge--

(i)

Fropoaition 4.. -

that

(k,1w
- t)
then to prove that

-j(k,-.t)-

It is not difficult

3(X

.Y(t) co

-h(2sff

,dv(t

-2

X2 (X1 .X3 )( &OR*),,


If Ph

hR)

- sin Zt dj 2 (t)}

X1

3.

(i tI)
!

X ((Z) 2

* 6 2 () * V2 (X) + X2")
with x2 (X1.X3 ). f O)j

This and other easily established results


can be sum,.T up by i

64

0,CR)

-().
I

(C2) if Fh I
G2 (XI,X 3 )-

with

x2(xlx

k
k

1Xii g2 (X)+ T2 (X)+ X2 (X)


o

vative it is shown that first of all when X3 * li

W(A)if Ph < I

chyt(Z
3 -h)
2

......
tion 4.

-in2Fdt

only). The theorem XII mentioned


in 2) K-)
above is then used to prove the result.
Q.E.D.
h-l
Theorem 5.1 - It is asumed that de2 an
)
all
)
' Cd-'), the Kd (h,,
co 0)For
problem admits no atztnit s6ution.

2
+ g3(X) + '3(X) + X3 (X)
r cos (t-6)

X3 (XX

2 \ {0,01)

Proof - When IXl- "the behaviour aescribed in


tx'orem 4.4 results, thus the generalized solution is as follows

3r
(B3) if Fh _!I

a2 3

-- (x',X
3)-

IT -to0]cy(X3 h)

TIT

f
[ 0

'

(5.0)O6(X
1,

Chapter 4 has given the sv~of ail generalized solutions


of these
NU (Fh,0,
poe l( these,
Now,
fro aong
general solutions,
which are strict solutions must be found i.e.
Mi those which re sufficiently rgular in

Let us set :

order that the partial derivatives occur-ng in


NKI, NK2, N1K3would be derivatives in the clamsical sense (lii)those which satisfy besides

(5.3)

the conditions NK4.


radiationt

e--iti
V, it'. o

6.1 - "Reglarity o( ) )h e g(n.a)Id


f'the NKd (h.0.j f
pro blm".
(4 o

o)
SO'

.2)
452
so that

(5.4)

ht!O

kI E()(X_
()
k 3E

"

d!

h-kdXI c
2
.+ 3'
c [3mo:Xl6m Xl
] SgX I

XI

o(xi.x 3)- -

(5.1)is o(I).

The principal terms of (5.4) are t

normal derivative existi (4ha

(X)

Now. it must be 'j


sthe
eaf
or a suitable
choice
solution
generalized
coefficients
(5.4) is a trit one, and in particular boundai
at infinity

~~

Proof I ACcording to theorem 4.3 (11) we have


&(A u S(l
0
1 theorem 4.2 it is ssu-

no

... . i

(X) 02 (XI)

prnlast term of
becaus he

direcional forative o~t X3-h and isothe


the rem
s
.urfac
ate rR no v
So X O
o nt n u u s l i i - v a ue of
( X' .X3 )
3
whe X3 . h.

d-

(X)

_IlHO)
I)Y
x - -l

X i3arcularXlm
a tCt2aCMe-,2
1
-3 3cXlmo+3a3c 3 o-6hX3 oa3C+ 2(X)+o(1)

swhere

at vseof
8 he
X-O o
o
S )and
&(j,
I
E01" 'IO~d -ao),
m
(o,(
o
u a

its

~eavrae

that fe,

2X3
(h

aE
1I(Xi) 02

t4he

others,

~~~~
(
'i0dl

3
(I )

with ff2(X)- oo + CtIXl+ o2(X|2 x 3


2 2hX3
3
2
3(XI-3X32X,
+ 6hX 1X3)

1S, strict solto+

: |~~

~Mh

N* 1

S. The Flat-BuMA

C.
CIL
o~')'o
d

(XI). G2 (X1 ,X3 )

Xj

+ c

O \(0
X3 (X',X 3 ))
X3 ' 0 ( wr
when r

!e

)
+ 3cX3
k(h

3(X) + X3 (X)

+ g3 (X) +

3 )_

c
V

zh2 t
hth-4

sin[yt*rOs(t-0j] cotgt 'y(t)y'(t) dt

( )

-l

6(X') in the space A.wd ) of


res onRd(compared with thedefiniG3) where the preceding limt is set

3 )*

(XX

y'(tsinj'j' le

Ch-f h

G 3 (X'.X3 )-

has a correct normal deri-

that 0

To prove

In the case of d-3

k /

(NO

to

0'1 ()

g(K*)

3)

Therefore (i) is deduced from theorem XII of


(31 p.167) and from its corollaries. If besides
E(1) t 0Rd-$) this same theorem X1I proves
k
)

3
(-5)a :'~a
x
3 t1

3c
2
7
testoo- 3a3%loe
a:d
-1a,,XjgX
|
4h+

2
Yl the
2

oL1-0but whatever Le the choice of a 3 and a2 the


will always be non-bounded when 31 +.
sa~lution
or
-,Q1D

_1

Theorem 5.2 - It is aaewned that Ph is of any


vau 7 fd-3 and Fh 0 | when d-2 . For eaoh
) problem adn00 0
h
'%I Cd-1 the
E
)
Ntd (,
d)
(()
nmta a etrtot unique solution with a correot
normal derivative on X 3 - h.

(g) d- 3
According to theorem (4.4) the generalized
solution is written as
z(I)
(5.12) 0 (X',X 3 )-c N-1 (X
3 )(X,)I3 ( '.X
3)
1(I)
Td
(X'X
).

Proof : As an example the proof will be given


when Fh <I and d-2 and 3.
(A) d - 2

+c

According to theorem (4.4) the generalized


solution i3 written as follows
i_
o~~~h

with
,/tchy

(5.6) %o(X,.X 3 )

(5.13) 1

--

()

(I

d*9(l+cIX1

2__0

thy

Cosyrco(t
_______
n

2(x1)

(I)- E(I) i
c "

|e);

the%%it follows that when


( ) ome

T. oo(ho3

dX

+
*

(5.14) c (

g (XI)

(X',,
X-/ 3 )' 93 (X') - - c mn.

hy.X
3 -

K
fz

(5-15) m

SgX1+amoC+1+OXl~

sh X3)

11

1S

11
h 2The

+ (bI E()* b 2 EM ))COB YoX] + o(I)


c
S
The constance a. and d. must now be detarmined in order that 5.8) wAuld satisfy ?NK4)condition.
If XI .+

dX'
W(x')

x2 E
+

It follows for example

b
(c
1(I)+ b2
EMl)

0
a-o-0 and a1

()
(

Io -values

I) CBo
S
0
(I
t ) But

bl

7T3 (V)
a0 + I XI + 2 2
arbitrary signed measures p,1and 02nd
the arbitrary constants at. must now be derived
J
for (5.12) to satisfy WK4 It .mmediatly follows
that :
2
0

. , c, b2- 0
B

which is consistent with 8114.

for example, CIO- a, - a1I

a- 2

As far 2s the integral (5.13) is concerned,


when usingthe steady.phase methud it is noteworthy
that the first term whjn r - - gives a contri1
bution which is 0 (r 2) for nearly all the
of 0. The sam applies to the second
term if pi is of any value, and the conttihutions o f 5oth terms cannot vanish. Thus to astisfy NK4 condition with XI *+= , X 2 - a . nsteI) it is necessary to choose
cant,

(t) ,'

The behaviour at infinity down-stream (X# -.- )


is then deduced
(5.11) 0o(,
1
3) - - c
oyj(Chy)X
- ,hyo).
T

. aco

c ao0 a

0
0.

(t)
c 50

which gives the cnique solution


(5.10)

aX
II
fourth term equals
term
= isO (-),the
third
T)cosYoXl]
the
3

hence.
k
o h
h

1i

with notation

k~o
ho 3)
shyoX)
c hyoX

['S IinyX1+E0c.X
1

(b

d(

The second term of (5.12) equals

x )

C I -0
S
almoc

k ro

sin11t c cos ft-6)]1 I

Let us set :..


(5.7)

,N3-n)
x3)

(t)

2(xi,)
X
3

+ c TxT ( Ii)

83')
(X.

0
So

),)
X

o(I)

Y'(t)

(t)

)
.- 2-t (-T
e
hence the behaviour at infinity Xl
constant
ia
2
(S.J6) 0()

- c

"

(x') (1,)

to
chy(t3 -h)

(t)

dtl

,
tIty -Wtth
hnd 1I) steddy phea* method shows that. (5.16)is
0(r'' )wh ch satisfies NK4 condition.
.

Corollary 5.1 - "Far Field in the tio-dimeneaion


cee and blocage ith a free surfaoe'.

Corollary 5.3 - "Vetocit iotential


and Green
1 )
potential of NKd (Fh,0,
problem".

d-2,
I and
>1 Ph
andi0B
if Ph
vanishedthat
Bo is
be assumed
Let It
o equale the
etpr e
ai shed2t
Ph>if and B equae theproblem
expression of 4.4 (A2) theorem if Ph <1.
Let us set
11

mo.j

)(X,)dX, and Y(X,)- 0 if

The
Te strict
iu-uunique solutionof
o theWD(F4,4E
eF)
which was constructed in theorem 5.2
can be expounded in the following form
(I)

0(X)

(x ')
Gd (X',X 3 )
p.rential Cd is given by

where Green
I i. X, >0 (Heaviside function)

The behaviour of the potential


infinity X
-t is given by
Bo(X,1

3)

"

(A) when d-2

o(X 1 ,X3 ) at

I
G (X)-H

2 Ikh mo(sg(Xl)I')

X~

cTsIT

+
1("''3)
the function X2 vanishes at infinity.
X2(Xt,X)

tP
2 (X).

R*)and F1)and Elare defined by


(I)
M(( _i
-

-(I)

Fh >I
chy h
2
sh2Y

G 3 (X) - H 3 (X) +

it
2- 2
d.

hkXo- Os t
32
k
shkX 3
k cos tchkk shkh'

W -cs~

-E(I)XV2
21NfKd,

Co
R

dX2

itd

chy(t)hch t hd

a followos.
o

-h dt

d-,

()
K

(K)II

where No and M I a,

~--

in1

/
dt+0(1)

i)

Rd"

two constants.

lary 5.3 and theorem 4.4 is admitted here


without demonstration.

"

Theorem 5.3 - "Exiatnce, Uniqueness and Regula7-i-''


stT Ot solution of the problem
NKd (Fh.Oj(/. It in aaumed that Fh is of any
value if d-3, and Ph 0 1 if d-2.
Lot m be
2 and Ka a fyien
cmiaciI an integer.'
dIu)t
0
1 I .
d ' l
tum of R
foo 'aoh ]lt
c R')f
,
(
NKd (PhO.
) problem aofitl a unique aolutw'n

li
formula chow*
particular i.;.'I the
apjiit. ', A_(t) and i
-f couino and sine
waves at d(ow ream isinitysare
, by thy
ery simple followi,. relation :
A
r
ac~t) -..
t B(r
l ) y It) < 'r.u
where

q I,'

i5 a*~~
3'O

'

(ii)

00 depends oon finuouslyi on

i.e. the rapping t(19-i


Compsre vith 5O given b'y Theor.4..

tA.2

.g

Si

t.I

'(t

dk

This corollary which is deduced from corol-

.. aect ykt)e ijv' t ;end".

112

r
ikr cos(t-)

o; the
lir4j -5The solution
hO,
) problem dej'inea in corolIary5.3

(s)Io ; "
(")l B %

Yt

chfIt IX )

.-

Y(U) - 0 if u<o, - I if U>0

B(C)

3(x)
ks

0 h.H 3(X)--

yo2 E
00~
B,'(k)BO

Therefore the behavioui of Lhe potentiol


*r Infinity IX'- -i. represented by
h
IJI
hy (X3 - )r
*,(X).*_..I _
-Y(cos(t-0))J .

.:)(t)

if Fh < I

-h

is assumed that d-3 and Fh< I. Let us set:


(t

hkh

(B) When d=3 (in the case of Fh< I only)

Crlay52- "Far Field in the three-dimenl3case".2T


-"
It

.'k
kh-

chyo(X 3 -h)
Chyoh
siyoX1

Ruo

B -o Yh
0

This corollary is a direct consequence of


formulae (5.8 - 5.11) and should be compared
with result given in (27 p.201 formula (13))

2I

B - 0 if

if X

ai

hd

fI
k2

(X)c

2y0 h

K
The above formula particularly shows that the
magnitude A. and AS of cosine and sine waves at
downstream infinity are given by the very simpie following relation :

c-is-i0
iA
AC-

]IXl
el

ki

M .l).( )(X)-iYoXdx

+'

XchkX

jllX
sinyX
1 )Y~c~-ifchyo(X
3 h)

0belonge to

I)i

Proof - Having proved existence and uniqueness


in theor .5.2 we still have to prove the regula-2

to (5.22) satisfies then

(5.23) 11t;$ ,

rity of thissolution and itsdependence with


lows closely method used in

u~(T_)I)
< C,11 l)
n

respect ;o data 10.Le': T be the solution operator (EM rs 4 ). The proof that is given fol-

0d-)l 1<s

which proves the third step.

(15).

Fourth step IT-T

(i ). This

2,

follows from theorem 1.3 of (19 p.115) where the


result is established for bounded domains i.e.
the boundary of which is compact. Although,
here, the domain 0I is not bounded the result of
(19) remains valid if it is taken into account
that V 4. is continuous, bounded and that it
vanishes at infinity as all its derivatives.K

K
)o$
By. once again, applying Schauder's a priori
estimates one haa successively
(5.24) 11

'C
)
I
EM

d- )

11 to 10
25)
(5.

2, ct
Second step - 7':C ($K d-)
First of all the following is established

'C(
11(~I

) ';

Proposition .5.2Tc

&

(1)~_
2

md-1)
R

C (I'

8,

(5.26)1100;

mRd)))

The proposition 5.2 is an immediate cone-Fit


quence of theorem XI of (1p.247) . The result
to be demonstrated is deduc ed from this proposition because the graph of T is closed and
thereforLo con tinuous'according to closed graph
theorem.
Third step - Z()

m~aOcd-l

sauiu

o, %2.,

6, Two Auxiliary Boundary Value Problems

in.:te snsTe ofP problem 'Variation Problem


th seseo calculus of variations) allied
NKd (Fh.) problemssoda D.P. problem
(Dirichlet Problem).

coepndn

V.P. (f,01 , 0,) prublem The followinR three functions are gives
f(x).x I,
) xcRd-I;
x2,,.s
1
11d-

2o cO~) IIchi

and o.. is seachig for w(x), a.

'VII
J2'a
.IIX
K
CI
)IIJ(VP2)

n"

2'
K

z (1)
n

(5.22)

114
n

~2(

)11

cptel

continuous.
competel

'

C,)11)

w(x) k,,
It

that:

, a.
xs I

?i sLch

t~''x_

ORd-I))

Then it follows

where C, 4.C (I.)+H


0
2.
is bounded in
1

V
a-

3x

where C0 is a constant. However, according to


Corollary 5.4 :(Vel)
0

The two problems studied here will be useful

), see second step.


2,a ((1
i eai e(I ,theor 7.3 p.668)

cOR
d-l~
c
Sixth step - T7
R*
'K'
Which is a consequence of the fifth step aod
the corollary 5.4.
Q.E.D. theorem 5.3

can be then applied


(5.0)

~O~- i

,1

-(mOJ')
mo
K
Which is a consequenc.- of (5.26)

ZIO '% dIt) )bounded


sI.
>
sequence W I
in
2
and
K
K
oneret o
en
Kto
At each E (1) ter

)j
11<

V~"(l

sep-7

We have %KORd-I) r. %m,OLOd-I) with dense


injec tion. Bypmn
he mollifiers (regularization) of E (u *it is possible to find a

solution 0 .
Scaue pr

~.~

Which is proven in the same way as for (5.22).


Then it follows

R,

~ ~

Thus the as.qsence 0


forl
o- no
(1)No fr lcw-theocm,
) the injection being

w, 7 it Is possible to obtain
Thetefor. ifu
from sequence 4.,a soubmoquen~o also noted~5o
asI
0which is covroti
M
h
ii
f
hc acrign
t~is sequence can only be

A0 (110)
R w
(P4)
Hetv, RWs is defined by ( ,10) where, to
ake the following easier, the not : ion change
X -(X' X 3 ) 's a - (a'.53) 'q us"d.
1
1
It is noted that VP(0,0,cS )- H~(h
0 )
he following theorem is a genaralixatlon of
5. J
Fh is .iatowd of any value if d-.3,
Theorem 6.)
Ioo
ifus
d-2. GNvo f~)oc
htfxPA;1XJ'.0 the VF(f,0.01 problem acwiif'I nf
qu~lto
JG fo
on
.a(
.Od-')'
aoX

Theorem 6.2 - It fs assumed that Ah is of mtn'


3,.Fr,
ad
4
if
Let mM
be
cm integer
, I -2. cl
ithe
.2. For
,'p,
*hU
VP(f, 01' ,) problem adnts a
solution
Oi
wt

;LR '(F
wn,

-re

'V
*
and "-M,

(f.

us t-

'nstants.

C "-.is c T I )
w dxpen.d continuous~y
on f, *1 ) i,.
,
he mapping (fti
' W

~)

iinallv .re eular)r-, ot the strict solulion it;pver, 11v ti- metnod use, Ll the
.
o lhp roof o f

to

The notations are as follovwsd:E


lf(ax)

'1

* t
, OR

,)

r: 1 x
):(]+!x'l
)-

Rivn t:nd

uh that -:

,x

looked for

-r
U,

IDP2) 4 (x)

2d-l

')

IXo2)-T-2-2,I f (x,fo
Ll--d-I))(DPI) 3)

(P3)

()

XD
C.

(I GD*
LIORd-1
unCl{Rd, ) is the spacy of messurable u(x') functiong defined on
for which the Lebesgue
integral

Flu;

3,)

LIORd-) l

is finite.

Ilfi '~o ll-If

I I0

s -2

+,x,12)

I(*1x1)T

o ,,* (

C I(d-1

f(x',x)
zt-2a
C

2d-I

nqkii0a-:!gt
There
-ts
1
C mti:
an(, ,,tn
te
_
infe-, - ,-,,,
ire. jo,
he'
t ,rthe
-- ,nre

ith the norms

=
x)

Lenofz 6. I

dx'

jr'-

2 are Bausch
' spaces
5

+;

'002) C
(03)

0,(x')

1,

have

i( b 53)Ve
30 x
in(_

23
()

-,'ll,,

'

r (-i)"" o in0,T7%
1

).

and the product space 'VU x'Yx,'


is also a
Bonach space. AL is
) the subspace of'YoXU xx)

-!'10 0 andK.-ao

f,

of

-f,, 0

f(x)dx - 0

(f'J

Aw
l

GId

o
D(4

(x

U '!' )

Whn 53*
3i,h- G
,3
-(
7
oaekr's, on IF
opace of dav
3aidd,
(
in a funot1on
,sa
asnate
-on

lrc,,aa,'rt
aORid
S
losi
t

Theorm d.3 a giivn


T.tK be'%0
Kah
tldI

eh

Mite in I
(ii) then the strict solutions of VP(Df,*l,2)
are found, i.. the solutica with suffi-

cient regularity which satisfy the radiation


condition VP4. This condition can be atified only if the compatibillity condition Ia
verified by the dete f.#|,4t;. f it iS so
the strict solution is uia e(..

O(x'x

hR
e

(7)eh
)t,o
e
((x')

3)

mEelomfaotu
'pr,!sad
d-'. F,.
P(()p bt~ d
i

nique

C'(x',

Autim:

3)

hoe the fot owing propwvae

The eolution
(i

8 Og'

.3 < h

(,
1

(f

The proof of losse6.1 and theorem 6. are


hosnl,42n
.3.
o the
cl proof
I
analogous
yet much simplie
than
ot
theoreme4i. I 4.2andt. 3,sais for details.

(iII)the following result Is proven which Is


analogous to corollary 5,.4a

.:-

Gd(x',X 3) dx' d.' D0(jx)

aUoxV'XT,.
hence

Proofs of theorem 6.1 and 6.2 : The proofi are


identical to the proof& of theorem 5.1 and 5.3
and are basecdon the use of the Pourier fresform in the apace of ultrsdistributions. We
recall the main four steps of the argument
(I) we look for the generelised solutions of
VP(fo~es r i.e.
the and
solutions
which
egyrular
for which
the are
VP4 ot
condition is not necessarily satisfied.

a'f
c ',,

in

"

condition

dx'

r)

.1-I

wh,'

for which (f'o


1 . 02 verifies thecomptibilitY

Ild-I 2(x')+ 1(,()1


'U is a closed subspacs
e Loach space.

)3t,,

GD (X)
C

d-

'-

(a 'I)

L OR,)I

IOI)T
II,
d- 2d' .d-II

-t

,eua .2

7. Proof of Theorems I and 2


Chapter 8 gave the conditions of existence
of the solution of the problem
and uniquenjf5
r
). One is tempted to use the conNsd (h.0,'
ventional perturbation theory -_ linear operatore,
to deduce the conditions of existence
and uniquenm of the solution of problem
) e.g. theorem 5.17 (16 p.235).
NKd (Fh,c,E
In-this theory it is assumed an operator Aft)
is given : Xr-Y depending on a real or complex
parameter E. X and Y are Banaclppaces indepen2
it would be
dent of c. For the NKd (Fh,c,E
) with
possible to take, for example Y - V(
as o
suitable
not
is
choice
X Z 2, but this
and on the other the
one hand Y depends on
, ]]0, 1 would
choice of .eI instead of o '
lead to non-optimal results,

It remains to be seei therefore whether q is


of the class ECms.(1)) and to use
to thoroughly prove (i). Now
ci - ma (c, t)
q gaving derivativea of the m-th order aoq
which are continous and bounded according to
lease 7.2, these derivatives are 0-Holderian.
Proof of lemma 7,1 We have
(7.2)

p'(x)|

The conventional method to obtain functional


spaces independent of t is to carry out a mapping which induces a one-to-one correspondence
between the "unperturbed domain" S7 and the
"perturbed domain" f2,, see (8 ,secion 6.26

--

3.

T
(7.3) det p'(x) -

Ix

idea p.(x)12 ] t

pp.420-423), (16, section 7.65 pp.423-426)


etc... This mapping is not unique and it has
been chosen to simplify as much as possible+
the demonstration of the final result.
Let p

h
er
c>0
cots
such that for o c < &
the mapping p is a homeomorphtsm from 1o onto
0
f1 of the class CI

;10D
m's(3o1

12 -n
' Rd be the mapping

(7.4)1dea p'(x)I?I- Eh

1101; %"(67o) 1

0h

(7.1)

X - p(x) & x -Ex3

4D(x)e 3 ,

Then the lesa

x( 2n

I -1 h

axi.
h
wherevector
of Ox3 axis.
where 03 is the unit

t-

m"h"
'
Proposition 7.1 m' 2.
'
It
i as d t
t O),
There e.ists C > 0 such thatKftr 0_ <
the mapping p gas the fottoving properties

(i) p is a diffomoorphism
of the class (CC
(ii) x3 - 0

)L
3 ' 0

(iii) x 3 - h

X3 - h-

Proof of

%onto
2

cen

is proved with
r

110

)11

Q
lemm 7.1
Q.t.D. 1ecm 7.2

Proof of lemma 7.2 The fo-"[


s shown
(7.5) QEc p (12)
which will prove with (a) that p is a bijection
from 12 onto fl1.

The system of equations with unknowns x~x x


2 3
in fact to:
defined by 7.1 is reduced
x3
(7.6) x 3 " 1 3 + . x3 aD(,,.x )
3)

I)

.roposit ion 7.1 -

From (7.1) (ii) and (iii) are obvious,

which is an equation of the form

To prove (i) it must be shown that :

(7.7)

S3

- f(X3 ,al)

where x has the following properties

(A)

p (11.)c

(b)
(c

Co'o(io1 d
p is of the class
12
p issabjeinfrom
a bijeetio r " 12eon
unto O r.
(c

i-

(a) for each x3 fixed in [O,h]. the mapping


is affine thus continuous,
lt nto $2
trot f(Xx)
oc
C
(0) for each X 3 fixed the m&pping 3 , f(X ,x

and

the inver.,..upp10gq is ot theclss


id
r[mn
1

j
V
The (a) is obvious. The (b) results from the
form qf a
expression(l.l)of p which takes the
0
sum of 2 mappings of the class (ce' (1 )]Q. The
(c) is a consequence of the two followng
lema

is a contraction of 41owit a ratio indlpendent of X 3 .


This results from (7.A) and theorem 6.2()
because I
i.o(I o ) iplie
3 Mah((o)r
e

[AMea ,1 <
r ;t'
119'?0ezista C' >Osuoh that for I
the differential A
ing p' isare invrt toa

Jf(X3*a

i aw

f.a7p~p~
" .

niu'fh

1of4d.0s
3O

70

)-f(X3 ' y3)

"

D
( 3 -y 3 )# (a',*))*13(4
.Iph

s3

(a

y3

10
D(a ,'3 )- # ('
D,
5x3) -4(x 'y3)I

3)A

tf;t
If therefore r [0, c'[is chosen, with

h- 112h
Ii

()j

V'

(7.23) q

X-? 1,2
'-?33
kE
vanish.
all the others q

()) is the result,

The properties (o) and ($) and fixed point


theorem (tO, thaor.l0.l.7 p.271) show that equation 7.6 admits a unique solution of the class
Cm with respect to X3' therefore the system
X-pit) admits a uniquL, solution x-q(X) of the
bijection
class Cm(11) i.e. p is a bicontinLoous
and thus a homeomorphism of the class Cm.

In the same way, the following is introduced


02
(7.24) q
m
2
d
2
2
, dad matrix
(7.25) n kqm
dX2

Some useful formulae

(7.26) q

The following properties of coordinate change


should be remembered.

(7.8)

f(x)

(7.27)

X - p(x) "x - e f(X)

(7.28)

x - q(X) = X + E g(X)

'

To calculate the differential mapping g'


begins with ;

(7.13)

d xd matrix.

) will now be tran-

( )(X, .(I )) #(x,tz0(I)

p o q -X
The following formulae result

1.?

d2d
0()

731

ITX

(7.32)

ddfl
thtir tht~.J[It
s[l
J-

'

Thus by using thematrix notation and by setting:

(7.34) d2(.

, dxd matrix
J
(7,h)
we obtain the mtrix equation
wo obtane te
n

the same for

of which the resolution by Cramer's rule giuves

9, ' '("t"
"

"

ladmatrix

a200
and

(Fht(0)) problem

f*t
c-T'

(P)

L( )O - 0

(P2)

in fQ
0

,-

Then it follows
.xd matrix
[~1
(7.20)
[.,.. ,d
(7.20

03

with

(P4) radiation condition when

A-

(7.21) q 1 1

(7.22) q;3

xd matrix

Find #(') so that

k 0 3

for

d
dx d1

dX

rom these formulae It is possible to


deduce
the formulae that ONx) satisfies namely:

(7.7)easily

(7.18)

ax)1

dx' dx
af(Ot(

with
d. )
17.33)
-

1 1Lf
q. LI

dd

d20 1 44

Then it follows

((..it

- [qk, q

Al @,

.Xp
(7.30)

which by differentiation gives


(7.14)

formed by the diffeomorphism X - p(x).


The lollowing is posed :
t
(7.29)
(x) - O(x,0( )A, 4 , r.E(I

Rd

where I is the identity function in R


one

following tensor product is in-

P (Fh.Y ) problem
(
The problem NKd(Fh,c. i

1 t

The differential mappings satisfy


dfThe
(7.1t)
1 - E d)
dx
dx
(7,12)

33
3
alike formula for mn-t,2; all the others qkgs
vanish.

e3

and the inverse mapping shall be written inFinally


analogous form :troduced
(7.10)

cC'

If the following is posed


Then
(7.n
(7.9)

(I- Cfi 3 )'


L - I,2 ,alike formula for mmI,

5 (0)

('
W.

Jxl

The following has been posed

(7 "

33
71

)t " ij

lloncethe domain of definition DT(E) Of the


lyn

.2,3) or
aus
where~~~~~joiee
(1.3 )according to whether d-3 or 2,
I and 2(74)J,'
A - I for i
2,1)is
fr
(ij)0*l.2)and
(e)
(c)

~3i

j- 1,2
+
C'(9
c

2Cg 3S

1 2( 2
.+C
31
b1 (x)

(x)3(737)

This 1cmn can he obtained from Green's


second formule end from properties of each term
of (7.35A)mud(7.39) wl'ichfollow frmthoa'3
Lemma 7.3 alluws us to choose DTVt)

i-1,2

cf'.( I-tf~ 1
3f;(l-f 3 )

&313

r[11 t

2)

32,

g )

t~owwe introduce the following notions


se(16] for more details

-2
33j

range of T(c).RT(t)

i - 1,2

0
('i

-retriti0
(7.9)82
(7.39)~lase t

tf'x
+;W

with

X3.

' u2
index of T(t).

etc...

).id55.8 (rh,

,Z

iff the P (F

)prbiem

!A
lutO~ i of,%g'
(7.41)

ONa)

)M

$0

(7.42)

Tc

in particular
11

PF(Fhr( )I

F
ONKd(!h10,t.

VP(0.Oc -1r-

2
B ''~-

(7.6)

Tfo) is a Fr#CDhom operator with index serao


nut T(o) - def Tbo) - ind T~o) - 0

(ii

I h inimium modulus y - yT(o) of T(o) is


sch ha
uhta
<l

13-In the oe

I~a-I

),jplios
.*i3) Ut~

* 2 ()dA

The spae,%U.

of

(d.h)

(21

WTO) is not invuertible except for Moro ite(U


Mont of IL

'ILI
IL : #I) - 0

so that

gt

(if)

ud~l

- oubspsce of'lLdeflfled in theorem 6.2

(7.45)flU0

~" ~~o ~

.)
600M~

UL

X,)
('1LO,

The Pt (MhE(I))problem can be written 00


foll ows 1
(1.44)U *m-Aft

7.6 Moreover,. 'he operator


Lemmae
7JT37 PM'Terties
21
of (Fh)
A-In thc.'aee.
T- (bIon
a
)rbos

which $hows that the prob lem PC has a unique


solution when C- 0Proof of theoras Iand 2

(7.43)

-Fr

1(fc) 'a Linear, bunded, c2laed a'ndsuch that


0
X.. 0
T(0)
Tic)
T
asc-r0~

(I)
I~i
-0 q(XW

is defined

74-Fraic

.
___1_6d___

1p W)

4.0

a uniqu: So
olai admtits
and we haoe

-> ul-1 2 E RT(t)


TWt-det T(t)

Following Kskto(16p230)a closed operator S


is said to be Fredholm if FS is closed and both
ul S and def S are finite.Sissdtob
semi-Predholl if RS is closed and at least one
finite.
oIflS n$atSi

J
PoC Pw(
p Temai af pr ie
a
(1 Knd-l
areias fo- w 1
3
easM
a
7.
osi5o
0 such Jjt for 0 -t'C<
ere Wets E

probe

wqivalent fn other words the N C(h.E.E


mqu solution*~f~l)
problem a&PK te

u2

This definition %as meaning only if ilTt).0

;XI

-nul

;3C1l / II);3JIfor 000, 01(c)

T(0- infil T(E)

th ,P(Fh.

ad
indT(c)

minimlum modulus of T(E)- yT(c)

2)(-EfThe

2+

x)o~)

(W). E

is the sat of the equivalence


'U.0/RT(C)
with retitontto RT(c) that is to say

of
.h
03spect
02

2LX

101

whrdi(4is the dimension of the spaes .


wher
deficiency of T(t) -def T(c).dim{ 'IL/RTt(0)'

11independeat
oftE
of

rc212

11
1

(uEULL:30 E DT(t). u-Tc)4,)

of T(E)-OulTWtdi{9e DT(C): T(r)

g'33)nullity

'~

(7.38) B(E)

(7.40)

defined and we choose DT(o)


it)
T*
c. Je

.c47IPIO_7.-

) 33 - E
) 3
(735ei

.CTo)e90

*(7.36)

ine.hn

operator T(c)istrcl

that

tii

fadS . I)

T~n) is ai Vemi4'rodioln operator


nut T(o) - 0

is a IsBN~c space.

Lot us confider the following opeator idef


5 (c) W
--NU
)
(7C1
2
leand' 0 c< C
wit 34

/ii

72

T~O)- i*
of
eewdutue
the min/nsel
T(

T(aWit

Lemma 7.4 and 7.5 are easily proven. For


instance, in lema 7.5 (Ai) and (Aii) are direct
consequence of theorem 6.2. (Bi) and (Bii) are
direct consequence of theorem 6.1.
Lemma. 7.4 and 7.5 enable us to use the
teneral stability theorem for linear operator
16 p 235, theor. 5.17 )
Case (dFh) 0 (2.1) : proof of theorem 2
By virtue of the general stability theorem for linear operator we have
nul T()

nul T(o)

Before doing so some new notaticns will be


introduced and a new boundary value problem
will be studied.

def lit)

def T(o)

Notations -

provided that c is sufficiently small (let


us say c< c3)for T(t) to be closed to T(O), see
lemm 7.6 and lemma 7.5 (Aii|)
By using lemma 7.5(Aii), it is concluded
that :
TiW= -(X
Thus T(c) is a topological isomorphism
fromU.L
into 3C , see theorem 1.16 in(16 p196).
an analytic
On the othee hand T(E) is
(or real holomorphi ) operator-valued function
and the family ( T(c)} is of type A, see
definition chapter VII j p 375 in (30) : it
is then concluded that T- (c)u for u
'L0
and
< c0 has a Taylor expansion
T()u

- I

(o)u

which converges for

c T1 u +
E <

TI
T 2u

,.

to independent of u.

What is true for u , '"1o is therefore


M(I).
true for
o

(o~o.

if
proven.

.o

Case (d.jh)

) with

-.

-c

t
in( .2

(2.1)

c)theorem 2 is

proof of theorem I

provided t~at t is sufficiently small.lst us


may ( < rO.
By using lema 7.5 (5ii), it is concluded
tha :RI
nul T(E) - 0

The velocity potential, solution of the


NKd(FhT) problem, which till now has been oted as 6(X). shall be noted henceforth as 6 (X)
where index e indicates that the potential is
defined in 1 and where the sign - indicates
that the velocity t of the flow is positive
(running flow in the negative X - direction).
In the name
K (X,Y) shall be the potintial of the manner
Kelvin u~it source and 2 , 1D,
+
S , D , V* the operators defined from (1.6)eto
e
( g),
NKd(-Fh,E) can correspond to the NKd(Fh,E)
problem. NKd(-FhY) is obtained by changing
the sign c (reverse flow problem).
te(X), K(X.Y). So, etc... shall signify the
magnitudes corresponding to this new problem.
IP(Fh,.,a.f6y)

problem -

Let aOY be.given functions defined on


.
The solution 0-of the NKd(PF ,C problem iS assumed known and a function .i is searched for.
such that :
2
2
t t - 0 in fiI
t
(P2)-

4f(O-dima'IL 0

2 T
If c o - ein (cote),

where it should beoremembered thai K is'the support of the bump, K is the interior of compactui K and =bdry K is te boundary of K on the
bottomi X 3 h :K
6K ubdryK.

The IP(*Fh,E,a,Ry) problem (Interior Problem) is associated with the NKd(Fh,t) problem
in accordance with the following

nul T(o)
def T(o)
Ind T(o)

nul f(t)
def T(c)
Ind T(e)

The fluid domain which until now has been


noted as 5, - Of shall henceforth be noted as S1
and1'
'al
andt
shall represent the domain situated be.eath the bump i.e.
o
- (X1,X3)
' K, h-E (X')< X3 < h

),

By virtue of theorem (5.22) in (16 p 236)


we h&Ve

that

8. The Method of Singularities


It is thanks to R.Brard (4) to (7] that the
rigorous bases of this method in the general
case of a body, immersed or piercing the free
surface have been established. In the particular case of a body totally immersed such as that
o the bump, Brard's results are conventional
and have been known for a long time. However,it
is useful to rapidly go over R. Brard's reasoning steps.

then tor .,

h
0. c 0 (the operator T (c) is not invortir1
bla except for sero element oZ Vil . Theorem I
Is thus proven,
Q.E.D. theor. I end 2

(Pt)

0. X 3 - h
02)
at " "

A particularity of the IP problem Is that it


is defined in a not very regular domain i. in
the
n
h boundary of this domainI is of
the class C
piecewis but along the bdry K it
presents a simple cusp which will complicate the
regularity problems of the solution of the IP
problem.

T3i

-I

Proof of theorem 3 (iii)

Hence the two particular cases of the problem IF are studied :


(i) 0- y- 0, a- I thus $

In admitting the hypothesis of theorem 2, 0


therefore eaists and is unique. If the third
Green's formula is applied to the pair
0,(X), K+(XY). The following is obtained (see
(6)and (5) for details)
rr
0
(8.1) 1 (X) -Dr

e "J
e j

0e on F .
e

01 is therefore a solution to a mixed problem


with a Neumann condition on X 3 =h and a Dirichlet
condition on r. In fact, by the principle of
images this problem is equivalent to a Dirichlet
problem in the domain interior to FuF'(F'is the
image of r with respect to X 3 -h).In these conditions it is k~own that the problem has a unique solution tj in Hl(fli)andthat this solution
is also in In (1), see for example (26p. 329,
theorems 3.2 and A.3,.0 Furthermore for any ram
pactum w C fi not having any common point with
C',2,(w)
bdry K, the solution is of the class
according to the Schauder's a priori estimates.
the behaviour of the solution when X tends towards a point in bdry K is difficult to study
because of the presence of the simple cuqp. Is

where [f] denotes the restriction to r of a


function f defined in 3Y or i"
Likewise, the application of the third
0(X),K(X,Y)
Green's formula to the pair
I
gives :

+
0,

and v

Lamia 8.1 .
nul (D-

2
0 in L (r)

Proof of lemma 8.1 ~


fact any solution Wo of (0- -)
is such that

.12
D

(8.)

(3
- --

(8.7)

0i 8 1

u.

Do'

-0by

definition of

(
t
is harmonic, vaui'hss on I and its
therefore
'. K thus
on Xg3h,
1
derivtive 2vanishes
i "D i
3 i slso satisfies an analogous relation to (9,2)

Space

L (ifi) where LP(I3i)

[.] satisfies in the as m way

_____________

H'ili) if

Green's formula)

2imit

is v;
f D in 2
The adjoint (opsrator)
xoci . n5
et
This is
is S
hdonth
of Stafin LIf)
and theadjnint
a consequence of ti argument expound in (Spill
formula M)

u -

oD i o - jo(by passing to the


x r)

(8.6)

On the other hand.

*e 1 De ii satisfies

(8.4)

weakly singular
The ,perators '' and V are
2
a( )
operators from L2( ) into L (r),from
into 1L1 t(r).

denotes the Usual Sobole

= c

+
V
S
v
2)
at
admits
equation is
this solution
Ii its construction. This
unique
least one solution
lesauni
following
he
to
according
l2()
in

Therefore

-iit

The operator S' is a Predhl.'s, operator


1
l 1(r) into
from L2(r) into 12jl) and from
:ft.o(r) according tc Privalov's theorem.

(Mit IlI

-N2J

(D

D-, VIn
results and terminology
T. the following the
-f (34) will be used. We shall use,2the lact
that I'is a manifold of the class c ,O without
boundary but which connect op in a very regular
way with the bottom X3 -h so that Privalov's
theorem is true, see as an example (25,p.46)
for d-2 and (24 p.50) for d-3.
esofoerators

(: is therefore a solution of a Neumann problem.


Tais solution exists and is unique in the space
arbitrary constant note or less.
HIl(i
i ) one
0) on r is diffiMore again the regularity of
that
it shall be noted
cult to study but 25 6
, theorem 2.2) . In fact
(26 p.
'
t H(r)
ailis for the best as the particular solution
-t c X1 + constant is known and which is the
general solution of the problem.
Pr

+D

2
hence by setting

L-it on r
S(8.3)

a- I thus

F2,1
N

(8.1) gives

is of the class Cloon F'-Pr. bdry K? -ThisIyl*


question+shall not be answered but it is notedL

(ii) a. y

In making X, Qe tend towards a point on r

it possible to say particularly, that

30

(2
(8.2) 0

is

0 - 0,1[.I
Then it follows

he set of measurebla f(x) functions defined on


the dosiin eli,flr which thi Isbesgue integral

18.8)

74

J
h2
0

0.6) itS
iqly rLst

(3.71

~~~~~~~~~~~~a
solatio of
r-zhe ?Ird iF[,,i
0

ai
t

p~t
;~t

kyF'tof

6. Also
is
prxnlem
rnyn

Iiit~ni be noticed that it would he.*t h'en


pos-sible
to pro-: leama (8 z) b, using
lean 8.1
atthtV
tRis-cadrhetad

uni,-e nos Al ft

is t0, adoint of 2.Nev.th-Ioes4o- wuld bhe


alec to prove thit V* or one awmag its :-t'rrtes
a C PQct opcrto,.

;-

There
3, i ii
reot tha
tIoe

0fsc!7
e-

th hoct
n

iemJ A.
R. !

Q~i0

th-.
31

iO

den.*sit

-t

V.bcnvr-oo;
Then !he tnttg%i.

in W"V7V

' ain (3)


ae;,~~Sillit
unique~~~~QJV
nfctti
solutionm
in

dtil.a
ul

fos~,a i; at-plsed to thet


-d *, z:- -"r,

'%w lbird Greet'


4: M(.) tXY!

hers 01 is A
Cd prob

V~i), l1,'
of tiso P1
I
b

0.9)i4 (A.) - SkN


1S. Wi) 0

In addlehg sr-nbc
.
nd 0.91 it
thai, (8.2)
(8.11)

3(X)

(3)
4

m-ete

;8l)
1

d ) 8..

ts the
ui-c

( (-F.02,j
pr-: 'en. Also, eqIli1t o
t
E., (8.- and (3.10, ::e obtained.

el
(Sit)
I

(()

-F)

where once Z,:.ne

(3.13)~~~r%

I1

lli

a pon

b~n~r te r,-rmal deri-vatios

tion in LIMf

od

l
1.1

ei-.'sitinb
In nabiij I
it (olvs

7-iter..

woca in

!)
t.-aaTds a point o.0

'r- eden

hore u is the ra..itiosolhX,

unique solir
according io tnLofollomaing loxan:
equ.AtionlAnifts

the dis-

[K]rd

Ot

yoil-

integrni

t9 what ha; been

cussis Af !P problem.,-- l exsts in 1.2(72.


thetef'tt
z;,!5
in 4NL2(.).
Ionaskin

.I

Q*o--nd-cordierg

and according t, whet has beetn seen in the dis-

(C*

.e

-A

whore one bas ect

limi3

arC the pair


-el isteiu

-XY

fl'cc

1("1

(28.254)

We:
1(K,33

these equations with the


-o
com--ti , ishr-for.eation-.
?.I.
l
and30I.2) the follsaing is now
obtained

,8

i8.fl

ix)

of th itI

Lidentical

-he thr42;ee.'.;,e,

niqnez selution

ID
tJ

r-4

renqlart-

uveinotivLc

proof is.uilar to the ptecedingptoofs.


thcrtfcc.only tfhelojor points of tto p-it"
shall be given

OJID. h.:ot-a
hiThic
f zher , 3 (i)

Ptotl

o'f

p)(+ph(C).1.2ffithi,21-2).
W.I)
Q1hl! t-ece 3n

tl

It
Kad te

s-nc -

This is 11

.ns.e.
icient ?rll:.ct
for thtnocia

a .I

0.

protn. Itgipees . eakitr


fit as thle re-_,Qaueky

os

Lt

Acc-ording ito Im
z.
!thsintegral eqiuation (8(8! cdaiits a doilo:slIig
ton i

(V
Proof ofl emga h.(
in fact

tne

ct. I that .isthe eqoAt ilo.


t
:
a s dcli,.! io within Iot
setveause the

s5utisn

'
.4-

t,- (V.-

ia gull that t, 0
%caSates
hence, er-cording to the ptoportyol
rtaleP is th-. es, 2. 0,7-,in
isa

-14e]
',fin.

I)tl~II
(Sl)

is note "the-

,(nstant

lo

than

..

ted that the coresr&ding polo.


t2i
2.20

(oniqis"ess f.5

(2Vthere -t
it till-ra then
(Vl

1'-

Jlilesll

0Ic

Qimli
lena8.2

TS

ar.-sAwmuh
-

Al is in.

that this ter. noti ihutre aThl"I.toI.,th

potential 0+, solution of NKd (Pht).


This remark ends ti, ,roof of theorem 3 and
it should be noted th., his theorem could have
been ,roved by using the Riesz-Schauder theory.
Nevertheless in order to use this theorem, we
should have to prove that V or one among its
itemates is a compact operator and that 1 is
not an aigenvalue of D". We have dispensed
-ili the proof of these proper! s by using
theorem 2.

vol.10 Academic Press, New York, 1960


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Astronomi Och Fysik, band 3, n-2, 1907
(12) GUEVEL V., VAUSSY P., KOSUS J.M. - The
Distvibution of Singularities Kinematicatly Equioalent to a Moving Hull in the
Presence of a Free Surface - International Shipbuilding Progress, Vol.21, n243
Nov. 974
(13) GUEVEL P., NOBUS J.M. - Horizontal Cylindricul Floating Bodies Forced into
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Amplitude (in PFrench) - Association
Technique Maritime et A6ronautique
(ATMA), Session 1975.

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(3)

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on Wave
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(14)

(15) HOITSHAD.H..Jr - Existence anr:Uniquenene


of
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Theory for Linear
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nd
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(5)

BRARD R. - The Reprecentation of a Given


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(6)

BRAID B. - (6)
Le
in-Ke loin
La Problde
rtol~medo
ARD t. de Nu
Numan-Kevintions,
CoMptes-rendus do l'Acadamie des Sciencc
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Lnear-and
Quasi-lnear Elliptic
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P
(20) LAKB H. - Bydrodys ruics - Dover (1932)

(7)

BEARDB. - CtrVZl
nta our Is Probltw do
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cwun i.. ,mHLUE.D. - M,thod@ 0) Mte-

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tt'or- National
atonlIa
Rabarcbs ScientiSditi
do Is Recherche
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.b,,,,

(e)

btmn fir Wave Resistance Calculated fom


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Phpsfoa
maltioall
Publishers,
19V.- eel.l,
, Intereci&=caISI,-Prb~e 2

(9)

MEN8J.C. - Existe.c.

Uniciti et Regula-

ritJ do la S cltion du Prvbl.e de


Nvwumn-EXlvi. Aaoci.4 J 2 'Eool.mnt
d'un Fluids au-daaus d'un Fowi Prb sntamet me Does.* Bi-dismentioello ou
1 idsrsovule-Rppr asn(24)
dlssaie dos Carlens (0 parattra).

URAL'TSEVA,

LOSJL.
Limit** Xo fkcmogbiasa at Appliatiosno,
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(2) NI

U,..u. - t1 s

,Ri~tana of

a Ship - Phllosophical Magasine, 5,


Vol.45, 1898
2)NIIL
$.tllaw
a $Tud
i.j
ktdi-toa
I
..
HI
?ntar
to5 anm
d Intagrael Euations
Porg8mom Press 190.

N.K.

(25)

MUSKHIISHVILI - Singular Integral Equations - Noordhoff Holland, 1946

(26)NECAS

J. Leo Mgthodea Direc.es en Thgorie des Equations ElZiptiqses Masson at Cie, Paris 1967

(27) NEWMAN J.N - Blockage with a Free Surface


Journal of Ship Research, Vol.20, n*4
Dec.1976.

(28) OnTSU S. - On the Irregular Frequencies


in the Theory of Oscillating Bodies in
a Free Surface - Papers of Ship Research
Institute, Jan. 1975
(29)

PALM E.- On the Formation of Surface


WaVes in a Fluid FZowina Over a rorrugated Bed and on the Oevelopment of
Mountain Waves - Astrophysica Norvegica
Vol.5, n*3, 1953

(30) SCHWARTZ L.- Theorie des Distributions d


Valeurs Vectorielles - Annales de l'Institut Fourier, Tomes 7 et 8, 1959
(31) SCHWARTZ L. - Theorie des Distributions,
Hermann, Paris, 1973
(32) STOKER J.J. - Water Waves - Interscience
Publishers, 1957
(33) Y-F'!A K. - Functional AnaZyEin h
Spring-r Verlag 41 edition, 1974
(34) ZABREYKO P.P. et al. - Integral Equation,
a Reference Text - Noordhoff International Publishing, Leyden, 1975

A LOCALIZED FINITE-ELEMENT METHOD FOR STEADY,


THREE-DIMENSIONAL FREE-SURFACE FLOW PROBLEMS
Kwang June &I
David W.Taylor Naval Ship Research and Development Center
Bethesdla, Maryland 20084

ABSTRACT

Ill we-diiiiciiti,iat ship. a lint initegratalonig (lie iniicr'tto


lieiweeti lite free sirface and !he 'hip, billappecar inl
(;alt-rkiit formulaiin. However. it Iev watcrlae is
attimed to he siufficientIly tilfiii ltcon tribuition fromt lie
lilt iniegrailinty be igiiovil

A linile-elenient rueiiotl is Isreselied Corsolving reatdy


fiv-surliet' flow past thiree-dimnisionial diirl
'ee.
lie
iite-s i-ce boun dary coildiition it linearized, Ilie boundaryvalue proleii goverined by Laplact'% equiaioin is repliace'diy
Gaierkiiit iforiiulaiioi with cvrtini etssential condti ills,
lie
nelliod iiself is atlocallized finliic-eiemciit lnielliod. thle 11itid
,olil where lie iiiiiiicat eiiipntions arc performed it
re-iuceil to it snvill local doimaiinwhich surrounds [lie
disiirb ncet this iteduction oif (lie domiainiis ,ichiienvidbiy
iiakiing owse filte knouii solititi spiacelcigetilinieion tir
Gil t% tintiionl in file tlioice iif die trial andtlesi funciein
bites. In ihiel's hizledilli e-ceieeit loiolaiii aisimle
polyniiiiiria
iiiil
tesit fuiioin basisis isei. l'roier
ut (ire cioiiiti,t are atti uised iui matchiIcupe
t
fiille
euge1luielii antl piVsiuiyiiuualfuuiutiuuihates. 11liepresent
nutitiot Wit listei previuoly toi suite iwo-iiiieuliitva Iretsortfact proletmu by hai 1i 1475.19i78).

Sonic inmerical results liit the plrestore ditriutin oni


lie irce sorfaje ire preseiited ait comiipareditwi auilytit
slo ll
ilitained li Newmnii & Poole I 1962i). Compniaob
iioii have also been niadt for ;i tip mioviingalig (he
eireriit iia al 0uni.
Spttifitaliy wt preseirit here tie wave
resistanictlie wave protilt, iit blockagt parainter. thle
vlii
lriito
(iehphh iidtt
rslroiih
boitiiii.
ile wave ressia ott aI ii.I iip is ciomparedt
Wiili [le result oibiaiiied by Kirsclu 119'66ut Agreemieni
betwecui lite nuimericat aniti utiatytutal prtdittioins for hitii
(ile tiressite diiriiiuiiion aiid (or tit thii shripis very good.
Thlesthiphuhl bunudary conidition is trealted in two ways.
VIlst, tile ship hull boiiudary torit ion is ipplied on tie
ccii irplauie acciortding to tiit thin ship appronxinmation.
atid
niest. tile exact hull condition is ustd Withi the lint' iegral
tliig ignotred. Wealso tested for atfew Froiide numbers file
pruiblem i a lpressuredistribuition Withiinfiultiy film stile w:ils
which is a simplifiled model for a surfaee effect ship St 10

Soiiie niumierical rciihils Itir a pressure iliiuiiii


ii a
free surface arepreseteied aintienupiaid wIith tilt inaulytic
results oif Newman & Poolei I '9vQi. Wavt rcistuhititul
is
are also given for atstiti) nmovingalong iit cetvini li it
canal and compared Willii the rsiultIs obti netitti Kurtil
Il Plhit). Agreemuen
t tbetweennunuerical aiid anluay
us I
predic tions (iifresistance fori biil lite putestoreitritbution
anii for lte ship is very good. the remsus ii puelimnuary
uateniatiins for atsurface effeectship 'SISi. Willi rigitdsidewails art aisii discussed.

lte main adlvantage iif ile preset-i


I nctti is (hod the
t
-ompilex geometry iif a til; litttutiary canl be easily
accommonduiated.
The method also proviis tues for the
vetocityppoientiat Ili the en tire tluid domiiu !s pa iif thie
rsul it.

1. INTRODUCTION

2. FORMULATION OF THE STEADY


UNIFORM FLOW IN A CANAL

Steadtyflow tif anlins iscid, inconmpnessibtle


tluid pasta
body in tile pretence of a free surface is describled by a
bruoridary-salue problem giwemnedby I aiaiesequatioun.
In the past. problenus of this type Weregenerallysolved by
distrtbting sources (and/oir itipolest on the bodly boundary
and using Green's theorem to obtain an integral eqluation
tor [lie sutiilh of thesebiniary singulan ties or.
alternativtelp. by using sources and higher order miritipole
expanions at aii iiiteriot poiiit within tile body, lire
strengths of thesesingnalariiies keing determined so asto
satisfy thre body boundary coindition. In all cases,it is
convenltrud to utilize ilie sitiguiatiiret which aft- stolutions
tif the boundary-value problem stated ablove.encept that
the body bolundairytonldilion is invoked separateily Ito
determine the strength of the singularity diutribution,

Weconsider here steady uniforn i lie" past a fluted


thuree-dimueintional disturbance in a tantl with A rectangular
uniformi cronsssection. Thie icoordinate systeni is fight-banded
arid rectangular. Tie y-axis in directed oppotiil to the
force iif gravity, and the xe-plane coincides with the
unidisturbted free surface. The bottom of the canal is in the
p - H piatie and lte side wails in the z -u b planes. The
uniform fiss is coming froni tlie negative n-axis. We negleci
surtace tension and assuine thuit the fluid is invisikd and
incomipressible and that the notions an- irrotational.
The steady three-dimensional flow is describetd bya
total velocity purtential
*Iis, .r

As an altemattee: aprproah. olocalized Ijite element


methold wastused by Salt11075. 197Nit l solve the steady
two-dinentsional anilormloss problem. (ien & Mel t1W75)
and Met& Utter t 1976i have applieda simila; numerical
me thod toisnlse two dimensional problems. In die presentI
paper Noaimedrid is estended to three-dimensionial
problemns. When thts mtethod is applied to an arbitrary

- Us +*v

tillY

where4# is the perturbation potential, which mast satisfy


2

V *its.p. oh - 0I

121

in the loud domasn 1). It will be assumed that the free-sturface


ditsturtvancesl
areall small so that the linearizeit free-surface

78

bolundary cuondition

3. LOCALIZED FINITE-ELEMENT METHOD)


S

0oil
U! + o

III this se.'io we0, ;,all des, ore a niiiiercat mittiod


asedi i j weak tiietuialioii or Gaierki,
Iorin. A
escriptin of tie weak formiulation or Calerkin's form will
,Ii,* give here %nwv mail rcrne
oii titss aiijm

2.3
-X-i-Z),itSp
"
I' s it o'r

call hxeappliedl. whiere IP,,, . zi is a stecified nonl-lero


Pressuaeapllit over aIportionit' th fiv
re liri.ce..S, S,
is the remaining tree-surface. anldp is tie density tit water.
thle boundary condition on tire siip hliii, S_, is
Ol
Here'

V,1

ire

find ;li ex tensive treaimnIt

I lie Iluid domrajinof oar problem is intfinito along the


x-axis, For nuiierical coniputations, it is tesirib h a tilhe
lmi doin he reduced toi :I sinai) aIregion is possitle.
1.4
ihe goal ifl reduiciiig tlie original itfiilt doma in It, trlite
domiain is aettiesud hly mtakintgtise oft tile know,, soilutioin
sliace ill iroitcated inii)ie siiiiiioiti ail's whichi will li detfined

S,

die niiirial veloity V,, is givena

cuiiiiliuiiis is rsdiieed to, a iocai region wihich, iniy unrev


incilude ally oinurceIf tile ,iii,iuriance iii ihe ited IVo%.
-i
ai loaie iii, ieI it p-ewn I numierical imetoi is tern,,
illilts
co
mtetihod since finiteineni onmeriaii~l
iken
aire oaite ilt for a local domain whlichiwill tie uteftin atetai.
titlis pnicuts has, tive appliedtoi steaii, two-ilnrrsiionai
tlioinn-)low irirtieiti biyBtla1 175.1478).

V.
who,
.11)

i 'l.[ie1

orml

utardunt

ectr,

ieotwr iiinraiSc,
wher btounar co-. it)i
Iintin, isl tile tiotioio. Si. anidsile waits,
liS iidr
SA,. of atcanal are
('1
Oil=
it S

I jo

lei tus iraw it),imiagiiiarv vertical pinos J , andJ


which sepmaiaie the or~giiia lii
into, tile three silbinsiiaiis:
D),,.Ill. and ID,. ,io~n iii tigiire I. We issitile that D),,
iletuits tlie siiti anidor tile pressuredistribtiions.
tie
isooiruary surfacs ifl 1),,. Gi ild 1), ad ie no01ted.
rcic lively. by

As tie iaiiiatioin inidiliui, we require that noi diisturbianices


exist tar tiipireaiii. i.e..

IVo 1 i

timl

1.71

5 -

andi that tile potenttial 0 lie bonded tar downstreami


ill

7)1)., Sil + Still + Silo,+J, J,


12.5)=

P<

7)1

i+ S

1t1. 91

an

Siii,

1.1

with tile tree surlate. Sp uteimlts tile regioill

wher x,,. y,,. L,,) is ;i poi in tile


Now tie soltlin iifeqiiatios 12.21Iiieuugtt I 2,Q) call hit'
dhetermined uniq
1 uely.

ayi

teteeolc.i

prsuedlibloni

thuodor il its h'ouiiulry.

D,

It I 0_ 0,an 0, deitile tilt piertuirbatioiiIpoeiitiais


itcintl ill the siiidiimaiiilIl,
,D, anld aitutle
'Ind ,
bonduaries.,. )_)),.
a7),, it'spltiveV
tot, ennla ions 12.2) lituti 12.9
l
VI

SF1

+5, S"S

ll +.2+Sv,0

tivety, tile tree stirtice,


whecreS, ,. I, ant Sij. ulctiote. restilec
tilt' llxii kin,n
[ltitecanl site wval'. iii the miii-iionin
1), ii = 0, 1.2),,and where Sill (i
2.)urn the bo~undaries at
illilslit Hre I", i, 11iVinterseton line betwee,, tile fitce
sun it., S, midiii sil, i nt surface S_ I tic line.s
I" is, o. )i I"luis .0.1.i1' 1 ix,. oi. 1). andi,) lxi. o. /irme,

filie sohiilioi of equatiu I


'I.2tirough I1S.) is unique, it,
within ani arbitrary addlitive t0IiSialit. 10, C,-iiitiiat tie
arbritrary cinistant in, tile soioti,,i,, we reqitie a I)iriciiieityile bsoundary coilition at any hue pintIin tie flid)
domttain hr on, its hoiundary. For this tilpse. we stitily
reliuire
0"ix,.

in Stranigand Fi',I 1973).

r3

SF0 rA

S2

II
SO

42

Ili,', uw' tare


mis; satisty

in D.,

U2 0.x
=
9on
2

loin

(D
for all )i. i
U a

"s

pg

x P. IX,

Si,

13.2)

on S o

n
Yo.7.) = 0

and that O, i = I. 2. unst

. 2. HereOi and 4i'j i


of Iaplace's equation.

,)

S%%
ul

*,1xo.

T.1

F{

'atisly

1. 2. are solutions

V,

dv- "

+3.3)1

3.3)

0-ixx onS

rn~os

ds

Sl'uSP

D,,

iy

(3.8)

let
. and 0' denote the trial function%in the
subspacc of the solution spacein the snbdomains I), D,
and D,. respectively and let ,. T1 and ;2 denote the test
funclions in the subspace of the test spacein D0, D I . and
D-, respectively. We deline the funclionals F, Fl . and F,
in I),. DI . and ), respectively. as Iollows

V 0i

- 0j in) ds= 0

',

P iT, dst !2 -

+U

To

sP

ds
(3.91

Oinoi itiSIliU

tim

,,ds-

it',,

I'V ol

/
I

'r32

ds+ gi~

IIIj

'3

,2
he do"r iraar condition

and wi,

dli

J,

ondition

with the upstream

lim
02
x +oo

<

Tn dli.

where the line integration along tire closed conlour I7,, is


understood to proceed in the counterclockwise direction as
shown in Fig, I. (Note that dz < 0 around the stern and
di > 0 around the stem).

In addit ii. we have the matching conditions


J= i r

=on
0on

Ft

(3.4)

Oin 0

where dte norma! vector n is taken outwards from the fluid


regon, i.e.,

02n= -02V On =

Oox

on J2

"

PF
(3,10)

(3.5)
-x

+ g J

It is easy to show, by rise of Green's theorem, that the


solutions. ,. 01, 2 of the above problems, (3.2) through
(3.4), are identical in each corresponding subdomain to the
solufoii 0 of (2.21)through (2.9)

F2 i,

.;

(7, j n - 2j,~ ds

As the basis of the present numerical procedure, a weak


formulation will be used, a mentioned earlier. One
important step in the localized finite lement method is the
construction of three :oupled fuictionals by applying the
weak formulation iStrang and Fix, 197I? pp. 116- 125) in
each of the three subdomains:

i
W
(,D

dv.0.

for all ij in some lest space.

(i - 0, 1.32)

, dR
(3.11)

+
Jff

x j,-, - j,-

g 42

2x P) ds

0.60
3

Integrating by parts, 1 .61

reduces to

Via

9l 0

dv -

D.

0,, dv - 0,

for all 00,


13,7)

In constructing the ,bove 'unctionab given in (3.9) through


(3.11). the following "additional" conditions were used to
ltkcp the desirable property of eilgeslfuction orthogonality
(see Rai (1978)) in the ,olution space (eigenfunction space)
to he usedlater:

and,

i'

"

"I

lXe ITna.
at I IX,
-

. Z)

i-e thle doiin over wihich the integrals have to


hand, one has
nu~licc will also Ic small. (T li the
;i a,:ri eigenfunctions i to represent lte trial
rt- urleljois Ifj; y, and Z,1 or 6 aind 2 itt the

COTrrllitili

and

~~'n~i
~r~r

I)13

aItI', Isi,3

i~leseconditions it imiposed to insuirei rlltiilaIm il y' .0


'live
0across thle lines I, and 1, because flit, %eciiI tc,
Oxx is involved in tile tree surtace boundajry conditin.
4
1tri
i-thale
(Obviously 13.1 ') andi (3.13) are conditioins
boundary conditions on the surfaces J, :nd I,, 13.411. It is
bry
I
,
iveni
that
functional
to
note
interest
of particular
(3.9) contains a til integral along the Iitersectlion ol the
4utp bull and tile tree surface This line integral is similar to
the well-known line integtral 4also known as tite sheltering
0lfectl which is present in the Gre', tfunction loirniliation
of lte wav-erIsoistac problemis.
Finali, e oht ill thle lorliowlug 'tmincioral equlatins
with certirm cssenoda Ircntr cortditions:

~~ril~

'i

nfor all

~i

(31.14)

0',1)

0.

'N'I

Ibeflie %iris lor the Ni-dimnnioitai subspace of' tie test


pai~cedticdied ife suidoitaitis D,.i O 1.2. 'lihen the
oiluioni is issuimedti lbe
Mi

where ;lj are coeff1icients to Iredleterminied. By substitutittg


(3.1'7i Ills coupled functional eqtuationls.(3.14) through
13.lwI'inilly reduce to sets of' linear algebraic eqtuatiolns.
Since Il;edetailed proceduireseLan be found in Bi( 11178)
weo111I1ithlesehere.

10)

F, 0,rs fr alitt1)

'

IX (Cos

kn

'1us

HEc
I eel ,

'in k0:

lint

with the conditioti that iis

0.

(37136)

1111all

bounded atsux

>~0,r

(I - 1)

. (18)

>0. ,iiid where

> 0, prp >0

inlW2b)2.

ln= -

k 2
nil

p'~ +Air/2b1.

In Ite coupled functional equation 13.14) through


f31.161.all the buundary conditions are property taken intil
acconti Lc natural boundary conditions encept 'or tlie
essential conditions specified in -lie above functional
eqlu;tions. Tb., essential conditions play the role iif an

additional condition on the functional equations given Ii


13.14) through (3. 16) nd bane to tsr properly lubell into
accouat when constructing the trial functions,

functions are chosen from a polynomial basis. Specifically,


.0

where pr

-ia

Il.
b)

In

exp ki px cisls1~,ib + III cois

,
ii) T1

(3.17)

. 2.

sli lii in LEE


j= I

witht tile colnditioni

F,

A complete set of' thleeigenfuictioits which szliisfy


Lapiace s equation anrdtile hoinogieons boundlar coudite free surfacc. thle btioloin, y = - HI.an itlie
fil
li in
Ilre given (see Weliauseii (1973,
cainalside walls (I m i,

with the essential condition


it)sxtI Y.

solutions. and vice vetsit.


o fiile appyrflsinlnate

ho
ic
tried Cialerkin equit ns (3.14) throutgh (3.16)
yo inti eicratioltil torn, in thecfollowing way. Let qIj. .
i. i = . 1 ix)
b[lie basisfor tile M-dimiensional sub'
J.,eof hlesolution spaceand let

File tan must satisfy


U2

gii

0.19)

ni

1 1

T2b 1 )III

fitit bnpH
tau

(3.20)

and the Pat nmust satisfy


fb

-,r ll~

3.1

falpi

fiic.: thicre-'imettsionnl elements were


8-node isoparatieti
usedin the present nrircal llrlrcedure. We will omit a
description of this representationl and of the computation of
13.9). One can read about this element in Wilson ( 197J.

[
If n > 1,. their is a' single solutionu for pi, for each value oif
Ul/gH. If n 0, there is one polsitive.A
'ution ((orpt~ if
2
U2/gH -, I, hut none if, u lgH> I. 'here are itfinitely

As mentioned earlier, tile trial and test functions If. DI


and D2 wilt bechosen fronlta siuispace of the solution space
which satisfies the Laplace equation with the free-soarfai.con.
ditioir.. the side wall conditton and the bottom 7onditioa . The
functions of the above problem
eigenfunctions or the Gneen
can represent the solution space.Wewill choose the elgenfuntslion spaceInthis paper for Its simplicity. Fi and F, can hbe

ons for pap which we still .undwir with


many s14111
value. if if It0.there
p 0.1, 2 ... in older of increa~sitng
2
is no r ltulioit a,,, if' Ul/al. <. I . hut Ki~ exists if U /gI' > I.U2/01
- I
if
soultion
'there is r'o steady-starte

given itssimple analytic forms except for the integral%along the


enpretsnieos
for the funactional, are involved 'ai'!y with ss,
'Jomain D, whicie hall call the localizedl tlnile-eletnent
domain. If one takes the tocalized flnite-element domain to

triat fosr
In thie numialr lprscedisre it iS itsiid
convenience tte yn'-plaut is sltift: lo oinceideevith J, artd
I-'
iad
F..
J2 for the corNtpotlon of
From the cotmplete setof vifinfuriuve

Ilic

basisfor

the trial functivens is chtosenso. thtatall the- riti fuincitin%

sarsip the essential bsounrdary c idilioits. It tulecli.ev

.i

lite hasisfor the test Ivrnctiiiis. we elininate lte terms which


result in a trivial /ero row vectior. a row vector linearly
dependent onlaiiother row vector, iir an ur~hiiunded integral.

Since lite free-surrace el,*eativn ii (lie linear theory is


U

hie liaseslor the upstream region airechiisenas


the free-surface elevatiiii
l....iivt

es .Uli iytltei

)z).

7(X,.

3.2)

1i .. .l

14,~
~~~
ik
- si hF
x c~i t h)
1,,y

=)

kriansin k,,v - hn eioskuntecos Ll (z - hi

U
+Iii

ciis
li cos
i y+ I /-

hII

+ III o% Lp,

assiiciateid uili the piotential in

(4.1
(is then given hy

.h)

i+

-kx s0
in
cost 11lis cos
-bh
p kil cnc e
up
2h (4.3)

lie first summiatlion starts witti ii = 0 iir n


3.2i

where n and itare properly chiiseii friim (lie liiwest sii as to


itiake lte total itunther of ternis on hoth sides lie same.
Siniilarly, tile bases for the downstream region are
(1''

?Im

uijjgH < I iir Ui5 Rrgi > 1. respectively. In theseciiid


sii
ilte term co.rrespotndiing toi ii = p= 0 is abseit in
lite first ease. tint present ii (lie secoind. I lere tie
csiefficieiis C, an, hn anit c~
1, are tile cfflicnts, pj
derived iii 13.17).
After lie veliicity potential Itis tieen ohtained, the
pressurecan IV computed hy Blernoulli's eqtuatioin

7i
y+HIco n'rkxcItp

1.

t2

-2hb

,.in k,,,scoshI MiY +H cos 2 i-hb.


i!
21h

x(.
sinknii
cosh p.(y +lH) cos

2+02+
y

4.1

wry flie hydrostatic pressure has heen omitted. thien tlie


ion-ti jiensional pressure cefficient . is defined as

ek,, cos n I y + H)teos - It ; - hb)


2"

0(.....0,,,'

aecoriling ais

=I

In(zb).lixp'
2

kin
Vr' cisip (y + H)tcos -j- tI- h;Ij
theiru
liy !ore

03.:51

.iivittliestagiiatioin point

ic

aid mnomentacting on a ship hull S. are,

It is iif ititerest it niite that the final total matrix is


banided. Furtmrmmorte.it shioiild heiiited that the snhno!mris
ohtainted front ltmepolymimial trial and test hint ionls;1 D,,
and [lie local-ternseiemfunetioiis ii 1), and 132 is symnmetric is
well as handed. lII the prevent numerit a) comyaitatimins. t lis
symmetric vubmatrin is solved first in terms of iinknowiir
coefficients of thle free-wave eigenfunciimi and contisants.
I'hen, the asynmnmetric
suhmatrin of the rest of' thle matrix
is solved.

tIn tS
iS.
M

~
FOtES
~
~
~ PRSURS
~~ ~ ~ ~ ~ ~

4.

FOCSi
PRSURS
4. BLOCKAGE
MOMENTS, AND
PARAMETER

rsr

rew

v
IH

:oshItsnH
t

+j-j

rsr'CI, e-

nar

'

n tai
hnnH I
-

pH
+%in - jn
ih
a/

14.71

wthere

~*

-II~*~

for in>I

It ts of intement
to note that, fwr ateadyflow in a caital,
a -4
i,
IIIch
2h

and far downstreamare


far upstreamn
the mean p-otentuala,
different. (Isismean-potential lump betweenthe two
intities. i e., x - I -, defiestIhe sc-calledblockag

-h

14.1)

n tn+

i
-

2b
os itnt I
cos
ny

k5

___

(I,eonkn.x+ ha..inknxt

eo onp(V * H) c

%a

2L

C, +

i4.tt

r) X,p.7) is the position vector, atid


HYRDYAI
wtu
I) is thle unit normal vector intii the hody.
IYROYNM,
n
1
Ih.
-,' -l; X ean also he enpesned in terms of the tard

solution iif the final matrix equiatiotn give- lte


(hle
velocity tiotential 0lx. yet7. in the localized tinite elenient
donmainD,, as well ;is the coefficients iif lte cigtenfunctuons
in hoth lte upvtr-amii and downstreamn hatt-inlinite idomaiin%,.
1), and I,. For esatiple. thle potential 0 in the dowestlreantreioni can 1w Written as(seeWehauen 1973),
P.II

*)X, y. )

pie v tmidS
q

piaratmeter

U2

Intch in diacu-aed
by Newtiman
11976)t for the

Pressure
Distribution on t

two-dimnsional cae 'fill- pottetial jum,,p is tieid iy tile


difference in the two constants at hothi itttltttics. Iit ls
two-dimentsional analysis. Ntiwman ( 1970l pointed 011(flat
thie potential jump C is retatedito the doublert strengtht.
UH'-112ir
p, by

U(

~~

I.

orl

>

it3are il Icigt
.tand Ival
tsnt,
& PoosleI Of 11t
tI

II

>

lcisiv ands p,

and

7g HNewinat
and1

IS 1,,,frI\I<
adI/I<

frIx
ri

(,l

~Witlet.,I

(1~~1

41151

In presenftttl ourl numerical reitttis. we wtillmake ume


shtiplengtht
ot thle water-depth Frttxde number Fitan (tlite
Fsotit mnmber F, . jlpctivctvstetitesi
by:
F,

FreeSairface

A rectanglar pressurv dlistributin n t the free suirtace


was used to test thlepresent numerical method sine there
exist anltytic expressions loi this simple gcoory. ihe
pressutrealistributtioi is a.irell a~s

pW~

14.9)t

I
whtere

ato ile
act~ fit,, sittr tdeptiii

i11
a1,

15.-1

sipl lcetgit.

P IiH

resitectiset.

'P, Ii

Il i ) of ou
,sr comutatttionls, two, set, (ot Irile-ceetl
mtesht stttbsivossit, w~rc 05111 i rattttsl cljirsc 1, J stiii

un t

~i

tH-(Ittipn

H-

%sitervc,, is 1 litnet erlier it W4.7).

l
i d .1finei
1,0.1 notte.
t16is 7s t1 eleentts Ahtn the usv
id / is,
Inth
sets ofr n1iistisubdttivisionts. t1vittI'Tlruttia My tiii
illtiic
lions were ilien( 1 ItO e -ive
illr,sver, ik,
I lic
average CPU eseccotiouu ittlei for cli tFsIIiC
1i'Vtii (111111i
I esas Intstrumt~ent Adivanedi Scienillk
)I1L
thle
Naval ResearchIt taitratttrv was 11. ind kIsl,
for the coerse and tine meshtes, resptlecsustsedi
(lite costs we~re ;tttirotimawtey. St 0.111mid~ '10
resttectivciy. I

p1 it

it2 oit

v = g'1.

relssest its 'W i, . W,". since life syllinelr,


(o (ie x platne is tssd iii ife atttsse ittrtttt.

Oieeti 11001!
llW X. , al
11
iss reyitt
ittest,, with 1120 total eletieot andtt ill.

and11where p,

tilli resipc~i

Ill ilte
'2n 1.111
tle 1. Mir1toittttricat results Ire
cttttparetl
witht tile tanaltic reatit given bty 15.2f. As showns't
ilttattle 1. tijvit tinttc-&teoctt Ineshes wereuse foi fituitte,1
irtitsi ntiumbiers. ills I sltowu tilt illk acelirat sit tlie
ntttuericat icslill improvite% if finuer I-itttnitc tt'-it llttsltss ats
atti tii, titter mctsite shold Ke ilsetias (lieI rstj,-~
nttuer ttecreascs. I lite ctltttuari-tt
iti I-iptre 2 stit, pitso
atirevtttvnt ls-!wcvn tie taical~tetand~ iaytik resutltsitr

~It

tite igher ivuilv tiuisitet'S. I li slightt ttis~ugivittit if-iti


ittr till w Fdituss-,ttiltr case!; resttlts trot inli ictet iv

5. RESULTS AND DISCUSSIONS


We itresetl sstttte tst resuiltsttt this section.lit >
.,!
IV.
apresstttv ,istrittioto otn tile tree sutrftce is trvttet tl,
nd
aparabottlic siino
l atongt
tiuty e centterl Ita canal is, sled
1

btlockage paramleter p itetitteu


ttt
14.Sl waisatetutustut
titruigtsss the etire tttdcintentltttse rittpe testesi
p - llp, il [or 1,l - O's.5.
=t~1. anti W/t-

dttmain. i.e.. 0 < i < It is contsidereud tlifte Is, tlie%ymttv


wilth respect tol tile xy-pttave. tiere tife width oft lim
W is gtivenas W =2h.
fittie I - C.ottintttiso of
Ilifte Wave1ResIiIansC. pit VX', it.
(uttiluted tiy file Numinca~ul
atd Anaily tic Methods or

;he Pressurr
Dirsoritulittsi
on life FreeSitri:te
lMIL - 1. HI - Wt, W/L 21
0106

Jmtc

0.0

0.975

009060

.
..
0.00926
ci 1UMERICAL

RESULTS
-BYNEWMAN A
POOLE (1962)
0

-.--

O.4

O3

0.6

0.7
U/./jR

(1.8

0.0

1.0

0.06110)
0.0071

0.900
0oem

0.0678
0.0612
Qow6

0.860

00475

.A

ooe

0.600
0.700

0.0830
0.0443

0800

0.017
0,0110

0.8001

Fignr 2 - Wavie
Reiitanee of a Pl01atut Daitribuitt
o
tB/I 1. H/I 0,11.W/L 21

Rintt

0.06
0.01370
0.0680

63

0 1677
0.080
0.0619
00671

0.066
00633
0.11
000D72

00354
.60

104b1007

Anelvtc Rtnnlt.

0.0612
0.0416
0.0009
0.0362
.)4

III order to investigate surface effect ship.%ISES). we


also tested threpressure disiribtition with infinitely thin side
plates Thtecomputed waveresistance vrith side plates was
appronimatlc doubte M., wove resistant%!
without tile side
hutll plates when the draft of the side plates was T =0.02, L
for FL 0.)'. We havesome rwwrvation% with regard to
thime numerical values. becausewe did not take very rinc
meshesand becausewe did not tike into account tiw Knut;,
condition aloug tile edgteof ttie side plates. Neglect of thie
Kuttta condiitioit resuiltedlin an infinite crossvelocity along
the paeegi.one
plate dge~.ignored
Parabolic Ship

F
z

5.5)I

oil)

(5.6)

Ile coimplutediwave resistance using bothl the linear


and exact bsoundary condition, on tite biull surface are sthown
in Figure 3 and also givn itt Table 2.

Ix\2lTable

2 - Computed Wave Resistane*n Obtained


by Using the Linear and EXaCt HUll
Conditions for a Parabolic Ship
MBIL* 0.2. T/L = 0.1. HiL = 0.3. W/L

Here B and L.are the beam andi length of thre%hlip.


respectively. it draft of the ship is T and the depth and
width of a canal areH and W. respectively. This buil form
was chosen since there exist extensive results for this model
in a canal by Kirseb (I196h,). We mode two sets of computations. one using the linearized btullt oundory contdition on-.
the centerplane. and the other ung the exact tall I oundary
condition. In both casesthe line ntegral along P', the
intersection between the ship htull and the free surface. in06m
(3.9) is ignored. We wtll give here a bietf discussion for wniy
thtis line integral usoy he ignored uinder certain assumuptionn.

Boundary
odtinnsndtin
726 Nodes 149. Nodes
Linear

ii

EnactHull
1496Nun..
-

0.O
600
0.570
03
0 500
0.475

It is convenient to nandimensionalizr tite functional Fu,040


defined in (3.9) by UOP. i.e..
F. !500.
F .0.350
Then the line integral along the intetnection boundary ru
as
be
written
can
from 13.9).

0665
t.0250
321
3t
2.7764
2.260

t73

.60

.5
0.425
400

1,3847

oo0~x
0 11
*The nnndinnrional

a EXACT

0.80A

F~gan3 - Wa" Riislavue of a 11"saaolic Shlpha Cassal


40/. a 0.2, T/L - 0.I1.H!L 03,iWIL a I I
04

.22
562
3.200
2.7352
241
241

1 2240
0.7371
0.1791

1.4026

085

0.4

3.5
.15
2.8M9
2.3287
.84
.64

we" risistone. is defineda

X/!Pil!

0.3

()

Kz\
L

can see fron. !5. 5) that tlie tine integral in 13.91 can bie
since it is of O).
Similarly one can also shuow
that tite rest of the integral terms in 13.9) should he retained
since titey ore of 0il 1i in tite nondimensional 'orns.

o, for o > y > - T. 15.31


L

[Il

whereuK is aconstant of 0(l I. By assuming that the ship


is thin. i.e..

Computations tone been node for a parabolic shtip


moving along the centerline of ;Icanal. A mathetnotical bull
sturfacefin. z.) with symmetry ibotit the n- and 7-axes and
w',*1rectangulor cross sectlion is diefinedlby
fix. Z)

8 L2

The linear results are compared with those obtained by


Kirsch ( 1966) in Figure 3. The agreement is good. for both
sub-critical and super-critical flows. However. the results
obtained by using the exact bull boundary condition are
higher than thise obtained by using the linear [full condition
on thc centerplane. Titis qualitative tendency can also be
observed in tile results shown by lInui H1957, p. 3481:seealso
Wehusn, 1973. p. 195).

as well as life local-disturbance terms!. Tiu, coefficienti of


tltc tcu-nuxisl rrec waves ffrom (he lowest nGde) are given
in Table 3 for FIL = 05S.and for thle linear and enact ]full
conditions, respctfively, It is of great interest to note that
tile results in table 3 provide not only tile wane resistance
from 14.71. but alist) provide the waveamplitude spectum
for discrete wave numbers. T his wave amplitude spectrum
is an interimediate result commonly obtainted in the towing
tank wave meastement by the trjllsverse or longituadinal
wave-cut mnethoids. Therefore. since this method can
simulate closel y the,towing tank en perimentls. it can he
re-garied as 'a nonlemcat towing-tailk esperitietiC.

The velocity Potenttials and thme


free-surface elevatioins
along thleship bull surface. lbe canal centerplane forward amid
aft of the holl, and along the canal side walls for F,, (10.5
are
shown in Figure 4. Thme
mean potential jump is also shtownin:
Figure 4. It is of iterest to note that tile zerotli-moite f ree
wavetie.. 5u,,H = KoH = 0.790284 in Table 3P is domoinant
along tIle canal sile watts whereas along thme
hull surface. the
tiher-'nodce free waves,are significant as we" as thle zerothi
mode (ile1 lowest model. It atitmars that the tipgler-nsode
free waveshave not quite propiagateid to thme
side walls esei
though alt modes of' tree wnaveslas welt as timelucaldisturbance terms) have txeengenterated iy ltmehull surface.

thei velocity vectors. V1Us + 0). on thme


hull surface
timetagenial velscityl arc!computeid from tife potelltiat obitained using lte onact hill] boundary ctoniitiion. they
arc shoiwn in F-igiure5a fiur a Fruide nimter. Fl. = 0.5. fihe
simleof tile hlll surfa'ce is divided lito three panels along thle
ilitli and tell Panielsaliongthle length. IThe ciorrespiinding
utnileeleint nodes tin tile body tltn are shtowniin Figure
Si. Thfeacuracy (ifl tile velocity vectors can easily tie
impirosei by taking liner nestles tpIailels. Such results call
theicte used as input viaiuesfitr compuitation oh' ltle viscouts
tiunuary Layeron a shtip [full.
Ii.e..

As atpart ofti le numerical souloit. we also otiaittei


tile coy-fm
cuits of tlie eigetifunctions (tile free-wave terms

Table 3 - Tile Coefficients of tbe Downstream


Free Was-es
in 14.11for FL = 0.5
(B/L -0.2. T/L - 0.1. NIL -0.3. WIL - 1)
Linaiied Cndition

K,

pH

,,/UH
It

0.790284
1 2.569032

Exact Hll Condiion

ion the Cenieplanel

0.790284

0,435529
-0.014165

!.745526

tilUH

n,/UH

bn/UH

0.736210

0.372829

0.728139

0.tt6152

0.017700

0.026130

4.417158

2,301966 -0.028785 -0.007674

6.2880M

2.746611 -0.000608

8.163687
5 t1.043856

0.030042

0.000673 -0.064492
3.129618 -0.003859
-0.008078 0.007485
3.471880 0.310569 0.000784 -0.006729

6
7

11.825&V0 3.78285
13.10M6
4.07062S

6
9

15.491578 4.339341
17.578720)6 4.1092412

-0.0(1566
-0.O01t05

0.005677
-0.003588

0.000962 0000311
0.0007231-0.000285

0.067348
-0.000875
-00106914
-m0OD645

0.019063 -0.015158
0.008250 0.030843
-0.01894
-0.008766
-0.006122 1-0.002168

0.4

-0.2

NL

--

At

POTCENTERLIN

--

-05

-0.

CANAL SIDE0-WALL
41125

0.0

026

0.1

xlL
lmu 4~- 7b Velocify Futeallhb amnd
FreeSurfaceEilearu
l111L111
0.2. TIL -0. 1. HIL O.3. WIL I)

0.8

-L/2

--

L/2

F.P

Figuare5 - lit Velocity Profiles, and


ibi Finite ElenmentNodes on the Body Plait
Table 4 - Blockage Parameter ip of a
Paranolic Ship in a Canal
fB/L - 0-2 T/L - 0.1. H/L - 0.3. W/L
1)

-1.2

-r

~~0.53

--

-0.4-

-0,475

0.4150
-0.2

heuemeeni
pennre

Figure 6
cjalbiiin.h

th

W!Lall

fitareew
kn
on the bottom
lyth
-etrine
Iy -I
i

. 2ren
T L
.1c . tHIe
3
thjii Ioiltr heein
presure
ap~e~rndowstrem
uetjleti
ci thehulland nctis
notlium
,iowr Iinhshin
inbecase 1W ies~ir mte
be poit
smgci eficint
ni tre mns- ine4 5iiiiin thelrennrro
to/u -

016026
0.16223

u low6
Withi th linissuriad
BaaindaiyCondition an

-I0.425J

4.--aaii,1

0.0

0a.l1alBa6h749
d~n

0185itrutoi
the Fraud, numberstanted

the relation. if any, between tIlsehokalle parameter


thvc
her and that eplUoyed wnEMaA
gsown
tank

the
i In a lelie
er
t nu~ cw ei in eenivs
n eprn
d
ormlas
m nethprevient PFUte
InfOiavninle ontal
flow ccua
oewtel.Iaslkerl
lleeeielm-b.aeue.I
m

Fan,-hnk
0.1

%howl
the
oicotunltui~thth
svn
pitir tIoietart"c aser d osremo
the hullsavnd in
laoe 4howninofhinrs
'ipnr
I t eauste
l
Ile jrof isid

the
tha theur
caact
computers lie., th
sar heralrnimnai
getutig largeins the pius
eecnton tie resetniffaiten menhd proiss a i gisith
msnan
irthile to lii
noicatedo
utent
ita reiemay

tonstant, thr,,,snhoul the Fronde nrwie tested. whrenr


usiing the linear hull boundary condition. this is similar to
the caseof the prrmiure distinhulvi on the freesurface

the preseintnunenal method. flite present comnputationst


required approximately If. and 96t secitnds of ('PU time
I coaing S110.00 and $129.001respechively foe 72fi nodes and

1496 nodes. Since we can nu: claim fil thle present


computer program is rlie most cilicient tt trw as a lrrrsicron compulter-program, one cart easily reduce thie cost more
xignilrtavrlly by optimriuing tite presetrt code.
It sihould kv empitasized thtat tire foilowirrg :rddijtiortal
investigations cartarndsitould he readily undertaken:
I I lrnclrrsionritt tire methrodtrt tire line-integral term given
in 05.
(2) Extensionro tilrie rmeitd ito strlve tire exact nrnrineir
xteady-tlrrw p-roblit by satistyling tire exact free-stri'ace
contdition locally arondn tire shtip rod fly rusingtire cigenfurnctiorn%
or sirngularity distributtiors l ;rI uttdamerr al sourre
or a comrplete Greco furnctirmn)arrrrrrd tire jruncture
boundary ott tire localized finite element strb-dttrnaitr.
ACKNOWLEDGEMENTS

iThisworrk was surtted by lire NummericalNaval


Hydrodyrnanmics Prorgramtat the IDavidW. taylor NarvalSip
Researchtarrd Ueveiortpnrt ('enter. 'Irhis Program is Jirntly
supported by tie DiYNSRD( ,tnd tlie 01i"e or Navaal
Researcli. lire authottralstt thtanksMr. Richrdr 1. V'ar Fseltinlemt DTNSRIX [rrr iris assistance it ctonvertinog lthe
triginci (",)( 1 irrtprler Pro'grarm
to tire tI -AS( Comtlrrer
Pa rm.R
og r
t

EF ER ENCES

~~~ai.
K.J. 1975.

"At uh:,tlt
5 t

rrrit'-/ herrernt3,i/r/

lwlth
Vadatirtra

f't t
bcmwiht/ttra.
:tlrtIrt.Nur
' Proc.
Sims[t.drod Nnim. Sbp Ioso b% liavd by~tttNavSdr
laewarcNavalhipvRirrtrr (enter. etesdaM, lii
lRati, KTt 197, -A
tSitir." sobted

q~r

rtttlk'

rflSip
J.

itrr
ae-rtlani j/rrrart
Jattar hutAlt, . 5r

DirsinaMarip a. e hrirba/lutehr Eeitur 'IehC


ha1rttc
(tirt
Waroa
Pntitr ." Jr. ist Ret. V(r l. No 1

Nttir Methd

in Iongat itter

ntom, raJoN97
titid
1. Shi Re. o.2 Na. 4uc,

Kr~irchni.Vori. I t, 1
ehauron.
We

153- 117cta
Japat.

afn

9.1ase.

-151

~t
aig'tajigtervXrtar.
Wil0.1..,Se

Wae an2Cane

Wat
hitt

,, Vrol1.

No/ ./tpr

Attsanc. eoi pin uLetngi. 11, 43 - 117.


Nwmasn, J .. 17, &r/irJ Lip.
tqh.
SISM
VIQ,.
J.Shipctm.
Votl~n
. N.
tab 4n
ol (li , er03y.(

Newm
n,
P ole
I.N..1141
I A P.,1% 2."Th Ii

NUMERICAL SOLUTIONS OF TRANSIENT THREE-DIMENSIONAL


SHIP-WAVE PROBLEMS
Samuel Ohring and John Teltat
David W. Taylor Naval Ship Research and Development Center
Bethesda,Marylard20084

from an abrupt start in calm water. The abrupt


start is viewed as a very rapid acceleration
from rest. This numerical technique can easily
handle accelerations and decelerations of the
ship although this has not been done in this
paper. However, abrupt changes in the ships
uniform translational speed are considered.

Abstract
An efficient 3-Ijfinite difference
implicit scheme based on a fast direct matrix
solver has h-en developed to obtain transient
solutions of the flow about a ship translating
with uniform speed in a channel from its
abrupt start in calm water. Both "thin ship"
and exact body boundary conditions are considered. The problem is linearized in terms of
the free stream velocity. Abrupt changes in
the ship's uniform translational speed are
considered in addition to abrupt starts in
calm water. The present method can also handle
ship accelerations and decelerations. Higley
hulls, characterized by small beam and draftto-length ratios, have been used to represent
the ship. For Froude numbers based on ship
length . 've .5 it is found that the transient
approach tL ' locally .teady state about the
ship from an abrupt start is rapid. This
approach becomes significantly slower with
decreasing Froude number with the wave
resistance oscillating in time about a mean
value vhich is approximately the steady state
value of the appropriate comparison method.

The numerical technique described in this


paper, in addition to being very efficient, has
the advantage of delivering the potential flow
solution and the ship wave pattern in the entire
channel at each time step. Such a solution
permits the calculation of wave resistance from
the wave energy. Although analytic approaches
to the accelerating ship problem based on linear
theory exist (see refs. [1] through [3]), these
approaches must ultimately resort to numerical
evaluation of certain series or integrals which
require a large amount of computation. This is
especially true when the exact body condition
is satisfied. Thus the development of an
efficient technique [such as that In the present
paper) for handling these ship problems is well
justified.
Both the "thin ship" and exact body
boundary conditions are conside.-eoin this
paper. Linearization of the free surface
equations with respett to the free stream
velocity was used. The numerical technique
used is based on fast, direct ,atrix solvers for
Lapleces equation. ror the "thin ship" body
condition the fast solver is diagonal decomposition as described in [4] but applied to second
order differencing. Fo the exact body
condition an imbedding
,chnique is used as
described in [5] and [61.
The numerical
technique used at each time step couples the
fast solution of Laplace's equation to the
solution of the free surface equations
accomplished by fourth-order line inversions
The coupling ordinarily involves a few
iterations in a "predictor-corrector" manner
with convergence on the vertical flu;d velocity
at the free surface. Therefore the overall
is imliit in time and is
numarcii techniquem
second order accurate. Results are obtained
with this technique for tigleyship hulls
characterized by small beam and draft-to-length
ratios and are compared with those of other
available methods.

1i addition to a hull integration of


pressure, wave resistanc has also been computed for locally steady state cases by
integrating an expression over a transverse
plane aft of 'he ship based on energy conservetion for the steady state flow region upstream
of this -,lane. Wave resistance comeuted from
these two methods as well as wave resistance
versus time curves and ship wave profiles for
Ill Frojde number cases considered generally
agree well with available co parison methods
(analytic, observed, etc.). Energy conservetion is monitored and wave patterns are
computed in the entire channel at each time
step.
1. Introduction
The problem of wave making and wave
resistance of ships has been one of the central
Tie
area: of marina rc-.earchfor many years.
wave 'esistance of an arccelrating ship has
been of particular interest in connection with
towing-tank eaperimts.
This paper presents
a vury efficient numerical technique for
obtaining the transient solution abcut a ship
translatin with unifom speed In a channel

as

II. Mathematical Formulation


We consler a right-handed Cartesian
coordinate reference frame fixed to a ship
translating with uniform speed U in a channel
from its abrupt start in calm water (Figu re 1).
(Note that the origin of the reference frame
is placed upstream of the ship.)
o

LI
0-0
-T

'

n
2

variables, o(x,y,zt) is the velocity potential


relative to a non moving reference frame,
n(x,z,t) is the free surtace elevation, t is the
time, h is the hullfunction, and L is the length
of the ship. The free surface eqcations have
been linearized in terms of the flee stream
velocity U with the dimensionless Froude number
Fr - U/v', where g is the gravitational
acceleration. In Equation (8) n refers to the
direction of the unit outward normal vector -4
from the ship pointing into the fluid. When the
"thin ship" boundary condition is used, the
exact body boundary condition of Equation (8)
by no
is replaced
zoato(8
cntone
dar
exact
b~
Oz = hx at the hull's projection
(11)
onto the centerplane z=O

-a

The wave resistance coefficient is given by


CR =

pU Ld
Figure 1. The Reference Frame

t= "Ox - n/Fr
+

x yy

at y=O exterior to
the ship

(1)

at y=O exterior to
the ship

(2)

zz = 0 in the region 0
exterior to the ship

where R' is dimensional resistance, p' is


dimensional dynamic pressure, p is the constant
density, d is the draft of the ship, n,n , and
nz are elements of the unit outward normal
vector A, i.e.,A = (nx,ny,nz), and A is the
projection of theship's surface onto the centerplane z=O. The nondimensional dynamic pressire
p within the linearization is given by
p+%)
(13)
2
pU

(3)

It should be noted that the integrand in Lqudtion


(12)is evaluated at the ship hull,although the
integration is performed on the projection A.

subject to the boundary conditions


x
*

at xO, Ll

(4)

at y=-h

(5)

at z=L
2

(6)

z= 0

0
On

For steady state free surface flow about a


ship translating witn constant speed U in a
channel, the dimensional wave resistance R' is
also givenj by
W
yo
],dz
n
R'

at y-O exterior to the


Ship; t-O

n' *Ln

(14)

(14)

f dz J,tx' (2
h '
- W,

(8)

as derived in Lund, rfl. Here the integrations


are performed on a ansverse plane aft of the
ship and perpendicular to itsmotlon (W' is the
width of the channel). The derivation of (14)
is based on considering eneigy conservation in
the region upstream of the transverse plane.
Flow in this region i% assumed to be steady.
Nondimensionalizing R' In Equation (14)and
considering only one-half of thechannel because
symmetry in the centerplane z-0 we obtain
the wave resistance coefficient CR
Wd
4
C
"Od
.]Y i
an.(0x)
a
0
"
R

(9)

All variables in Equations (1) through (9)


have been nondimensionalized according to the
scheme
Lof
(x.y'z')
L
t'-t
o' - LU

2g ,

w.

The initial
conditions representing the abrupt
start are
q-0; *-0

dz,

P_U_2 ,

at z-0 exterior
to (7)
the hip

h/ /l+h'+hy at thehull
z -zh(x,y)

(12)

Assuming potential flow of an incompressiblefluid the problem (which is symmetric


about the centerplane zmO of thechannel) can
he represented mathematically _y the following
set of equations:
nt = -!x + 0
y

2( f f -p'nxdS)/(pU Ld)
ship
2L
-L-J
(t x)(nx/n )dxdy

h'- Lh

and the limits LI, L2, and h of the computationalregion D (representing half the channel)
in Figure I are already nond ensionfl. In
Equation (10)the primes denote dimensional

LW
-

81

0
dz f (
0
-h

(15)

vAxx)dy
#')4'

"thin ship" condition (Eq. (11))was applied on


the standard grid at points (xj,y
t zk) with
j-31....,50; 1=1. 8; k-0 for a total of 160
points. However, the ship was assumed to
extend from x - (30.5)(Ax) to (50.5)(Ax) and
from y - 0 to 8.5(Ay) since the unit normal
vector to the ship's surface is undefined along
lines of intersection of the ship with the
centerplane z-0. (See Figure 1.) We shall call
this a standard ship placement. Those cases
with different ship placements will have the
described.

Wave resistance computed this way is usually


considered to be more reliable than computing
it from integration at the body surface.
Energy
and monitor
dimensioaal
ship on the

conservation can be used to check


numerical solutions. The noiutime rate of work performed by the
fluid is given by
dx dy
2
(t+x)
2 ffA
txxplacements
z
Z

SdW'/dt'
-

pUJL

(16)

The free surface equations (Eq. (1)and


(2))ware discretied In accordance with Euler's
modified method, i.e.,they were replaced by
difference equations of the form

with the integrand evaluated at the ship's


surface. The nondimensional time rates of
kinetic and potential energy of the fluid are,
respectively,

KE

at

PU*L

F~Syd:

:,,-

+ff #nf~x-dxdy J
A

m+l
n

mrl,i.t(gl

(17)

. Om
=*j

z
d

d(PEidt
P UE

F-

Fr
S

2 dxdz]

KE + PE

(19)

The Numerical Method

The ship problem was discrettized with a

(1)

+I)

2ii

+1

numerical grid defined as follows: (xJ'y


t Zk

for the unknowns n

denotes a grid point: [xj -jux, yj *i(-Ay),


-I; i-0,1,2 ... mzk- kez] witm J-0,,2 .
k-0,1,2,.
n-1 where (o-1)Ax
L,
(m-1)(-ay) - -h, (n-l)u - Li. (See Figure I.)
For most cases trei.tedir th s paper the grid
parameters for what we shall call the standard
grid are Ax - az - .05, Ay - 1/136, t-I - 128,
m-I 128, n-I - 16. Thus the standard grid
represents a channel 6,4 ship lengths long,
one ship length deep and 1.6 ship lengths wide.
When different grid parameters are used, they

(for k fixed), i.e.. for each k, k-O .... n-I


and for j-O..-l, Equations (20) and (1)
each yield a set of simultaneous inear
eqatied o se uofnsiane+u lnem+
equations for the unknowns 7l and
respectively, which are solved by direct inversion along a grid line in the x-diroction.

and # +1, respectively

The complete numerical scheme for each


time step is described as frllows. Secondorder extrapolation for (y) l is followed by

Y~infr(y-0oIsflowdb

will be specified.

line inversions of Equation1 (20) (for all lines


k., .. ,n-l) to obtain nm+ which Is tnen used

The numerical method consists basically of


coupling at each time step the solution of 'e
free surface equations to the solution of
Laplace's equation through convergence on the
vertical velocity at the free surface with a
few iterations.
T;e numerical metiod, when
using the exact body condition (Eluation (8))
is a substantial alteration of the numerical
method for the "thin vhlp" condition. Tnertfore the two body conditions are discussd
separately in more detail,

'

in the line inversions of Equation (21) to


Subject to this irichlat
obtain #
S
conOition for * at y-0, Laplace's equation is
solved to give y+l at y-0. This constitutes

y
one iteration and the cycles through Equaticns
(20). (21) and Laplace's equitlon are repeated,
using the latest vilues for #0+1

m~l

nmMl, and

*mI as soon as they are avallable. Thq


iteration process Is halted after the jth
Iteration when

"Thin Ship' Condition


loplcce's equation, subject to the
boundary conditions of Equations (4) through
(7) and (11), was solved on the box region of
Figure I by the diagonal decomposition technique described in [4] bt applied to secondorder finite differencing. For most caset the

(20)

where the suparscripts refer to time levels, At


is the time in-,"ment, F tnd G are finite
difference approximations to the right-hand sides
of Equations (1) and (2) respectively, and the
subscript j refer, to the jth grid point in the
x-direction. (The subscripts i,k have been
suppressed since 1-O and k can be considered
fixed because Equations (20) and (21)involve
finite differencing only in the x-direction.)
The derivatives nx and #x In F and G,
respectively, are replaced with fourth-order
central differences. Given # at the m and m+l
levels, Equations (20) and (21) can be viewed
as one-dimensional finite difference equations

(18)

In Equations (17)and (18) FS re'Jrs to the free


surface and the integrand of the second integral
in Equation (17)Is evaluated at the ship's
hull. Energy conservation Itsexpressed as

Il.

m + At(ml+ F
ji
tf1+
FT'

mlJ+l
y '

90

.4. 1

41 .J+(
y

at y-0

(22)

two fast direct partial solutions of the


and
all cases,
were
For ely.
,rl.J~l~
where .0#
and .1 - rc2. Fo
Tc coase
1 anunperturbed
ulet
matrix system and the solution of a
were .05 and .001. respectively. The complete
small full "capacitance" matrix system whose
order is equal to the number of irregular
numerical scheme is second-oruer accurate in
stars. The direct solver for the two solutions
time and space.
of the unperturbed matrix system was chosen to
be that of [4]but applied to second-order
Exact Body Condition
differencing. In addition to the 160
irregular stars just discussed there were an
Laplace's equation, subject to the boundary
additional 36 perturbed Laplacians centered on
the plane z-0 surrounding the hull's interconditions of Equations (4) through (8) was
section with z-0, Thus the order of the
solved in the region D by an imbedding technique
.capacitance" matrix was 196. Since the ship
known as the "capacitance matrix" technique
problem we are considering is time dependent.
[5],[6] in which the ship was imbedded in the
it was necessary only to compute rod store the
box of Figure i. Finite Cifference approximainverse of the "capacitance" matrix initially
tions to this boundary value problem for
and then replace the solution of the
Laplace's equation result in a matrix system for
"capacitance" matrix each time it was required
# which is perturbed by perturbed finite
by multiplication of a vector ,ith th s inverse.
difference operators or "irregular stars" in the
neighborhood of the ship hill. The formulation
The free surface equations were solved by
of these irregular stars is quite arbitrary but
line inversions as described for the "thin
must include the body condition of Equation (8).
ship" condition. However, the grid line along
The curvature of the ship hull as well as the
z-O was interrupted by the ship and required
body condition (Eq.(8)) is represented in our
special treatment. Figure 3 shows this
formulation of the Irregular stars which are
interruption behind the stern of the ship. For
second-order accurate and given in [6]. In all
the derivatives nx , #x at the point 0 in
cases having the exact body condition the
irregular stars were centered at grid points
Figure 3, upstream differencing given by
(xYizk)with j-31,...,50; i-,...8; k-l.
+ n +
(;4;ship had standard placement.) Briefly our
+
+ 0(h2)
(23)
formulation of the irregular stars (see Fig. 2)
2
(23)
+ (h )
nx2h
consists of (i' Selecting two out of three arclength directions on the hull surface passing
was used; the surscripts refer to evaluation at
through the hull contact point a (which is not
the numbered grid points, and h-ax-ez. The
a grid point) of the irregular star centered
line inversion of the shortened line behind the
at the grid point 0. (Our selection was sj and
stern could then proceed without being a closed
s2 which lie in )lanes parallel to the y-O and
system. Similar considerations would apply to
x-O planes, resptictively.) (ii)Taking a linear
other grid line ti't might be interrupted by
combination cf tie expressions for #, #nsi'
the ship.
eliminate
ns2 ' nx evaluated at the point a to
the cross derivatives (the choice of *nx from
among #nxtny. nz Is arbitrary).
(III)Replacing the derivatives In the resultant
l-Oi
h
linear combination by finite differences centered
at the grid point 0 to certain orders of
accuracy and also incorporating Laplace's
equation. This formulation cannot be used if at
least one fra among n ansi
ns2 nx at the
Figure 3. Grid Neighborhood of Stern
(Aerial View)
The comlete numerical scheme for each time
step proceeds iteratively as for the "thin ship"
and is second-order accurate in time
and space.

point a Is zero.

ycondition

IV. Results
The results discussed in this section ware
obtained for the Wigley 1805A hull[Z) giwvn by
z - h(xy) - 3 (-256y2-6.4(x-xc)2
(24)
h
+ 9.6(x-x

Figure 2.

))

An Irregular Star
where I is the x-coordinate of the center of
the shi4. For all Froude number cases using
the standard grid, ship placement was also
standard with sc - 2.025. Whenother grids are
used, xc is specified. The Wigley 1BOSA hull

The perturbed matrix system for # was


solved efficiently using en algorithm [5].[6J
based on the Woodbury forma for a perturbed
matrix. Tht alcuritlm consists essentially of
91

is characterized by a half-beam-to-length ratio


of 3/64 and draft-to-length ratio of 1/16 so
that, on the standard grid representating the
half channel In which the computation takes
place (because of symmetry) this hull is not
as wide as the mesh space, i.e.,3/64 <Az- .05.

This asymptotic expanson up to terms of 0(1/t )


gives the following dimensional wave length in
dimensional time of the oscillations.

It was found that advancing solutions in


time caused numerical "noise" to emanate from
the leading edge of the bow which is singular.
This "noise" caused low-level upstream waves.
To prevent this emanation, a filtering scheme
based on [7]was applied at the free surface
from the bow to the upstream boundary at each
time step within the Iterative process. A
second-order filtering function [7],which

Nondimensionally the wave length is

removes the shortest wave component but


preserves the longer wave components, was used
for q = n and averaged with the calculated
n = nc within the Iterative process for each
time step. This weighted averaging at grid
points (xj,O,zk) upstream of the bow's leading
edge was ror k=O,...,n-l.

The analytic values of resistance in


Figure 4 are from [8],(9] and are for infinite
fluid. However in all cases the channel is
so wide and deep that these analytic values are
valid for comparison. Wave resistance Ce In
Figure 4 was calculated from Equation (1) with
nondimensional time representing ship lengths
traveled. All cases were calculated on the
standard grid with standard ship placement
except Froude numbers .32 and .385. For .32,
Ay - 1/72, m-I = 64 with the other grid parameters those of the standard grid while the
"thin ship" condition was applied at grid points
50; i=l...4; and
(x8,Yi,Zk) with j=31.
For .385, the parameter
kC with x = 2 025
t-I.2i6; te others were standard with the "thin
shin" condition applied at (xj,yl,'k) with 5 525
j=101..10.; -1. .; and k=0 with xc= .
.

n
n

=
=

. nc + . f
2

U
g

for j=25,26,27

n =.7nc + .3nf

for j=22,23,24

.6rc + .4nf

for j'l9,20,21

," .5n, + .Snf

for j=O,....18

(27)

The wave lengths of the resistance curves in


Figure 4 satisfy Equation (27)fairly closely.
The behavior of Fr - .385is a little surprising
since it was not an abrupt start from rest.

for j=28,29,30

.Bnc + . nf

Fr W

(26)

The same weighted averaging was applied to o at


y=0. This filtering scheme worked very nicely.

All cases were run on the IBM 360-91 in


double precision with time step At - .03

The solution could be odvanced several


units in time, i.e., the ship could be advanced

(except for Fr - .32 run on the CGC 6600). A


time step with two iterations on the standard
grid took 1.21 secords on the IBM 360-91 so
that the case Fr - .503, for example, used
145 seconds to compute 120 time steps in attainlog locally steady state. Increasingly less
computer time is required to attain steady
state for the higher Froude number cases.

several of its lengths, before waves reached


the downstream boundary. In some cases, when
necessary, the numerical solution was advanced
somewhat beyond this point in time without
affecting the local solution about the ship.
Results for the "thin ship" Londition are
pi'esentedfirst; for the exact body condition,
second.

Finally, we mention that for Fr - .32


only the upstream filtering scheme already
discussed was applied to the entire free
5 surface
with the weighted average n - .5n + . nf. It
was felt that such filtering for Fr - .32 only
was necessary since the standard grid might not
resolve the shorter waves resulting in numerical
noise. The calculation of resistance and wave

"Thin Shi ' Condition


Figures 4 through 16 represent "thin ship"
Fonditou
resulthu

profiles for this case is not believed to be


significantly affected by the filtering.
Numerical evidence supporting this statement Is
presented later in this section.

Figure 4 shows wave resistance versus time


curves tor five different Froude numbers,
Analytic, steady state values are taken from
[8],[g]. All Froude number cases inv.lved
abruot starts from rest except for Fr .385
which involved an abrupt start from a locally
%teady state solution for Fr - .503. After the
initial transient effects, the oscillations in
the wave resistance curves about the steady

Approximately steady state wave resistance


was also compoutedfor Fr - .503 and Fr - .557
using Equation (15) at three consecu*ive transverse planes
-Ivan
b (These
j JAx(Ax
- .05)number
with
J,12S,
126, and
127.
two Froude
on a grid t ndrd nucbet
n
cases were a
cases were also run on a grid, standard except
for -I - 56 with the "thin ship" condition
api
.....
i-.._ 8; k-0 with xc ' 5,525.) for Fr- .503,
the calculated re-istance values at planes
J-125, 126. and 127 were CR - .005102, .005108.
and .005006, respectively. This coew"res with
the computed value from Equation (12) at t- 3.6

state values are of constant wave length tor


each F ,ude number, the wave length increasing
with increasing Froude number. In addition the
amplitude of the oscillations decreases with
increasing Froude number and with increasing
time. All of these results are in ayeement
with an asymptotic expansion for large time
obtained by Wehausen [3] for the wave resistance of a thui ship started abruptly from rest,

g2

0.004

F,

0.002

CA 0.004462(ANALYTIC. STEADYSTATE)
t - 2.7)
CR 0.004551(NUMERICAL,

0.0

0.557

-_______________

STEADYSTATE)
0.004825 (ANALYTIC,

-CR

CA

0.-05002
(NUMERICCL, IT-O1

0.0

NLTC SED

TT

0.00.35

0.004Fr
0.W2

.0o

.0.32
00004261 (ANALYTIC,
STEADYSTATE)

1
PRSN NUEIA

METHO

rueNvbr
Fiue4
aeRssac essTiefrSlce
of~~~~
anltc
CR .-59
eo
aiu ANrLTId
ruenmeSATtE
STheD
tmsidctd
Cp*.047. Fr r*.57
h cluatdFrth
mllrFodenmer
3..05 n
rflsa
risaevAlusa lnsj2,16 n 2
4 h ueial
bandwv
1
weeC Cc46..070
nd.074
ie
fte stmnmmadmnrmo h

~~~~~~~~~

~ ~

CR.0C55

E) cusmsl
chage
'STEueThe

analyticIC
an0.0the02-

CR 00446 .0I0hs2

optton

eiaie

nlyi

taysoewaepoiedt

by th nue0alshme.o3r2d

CorsodnFigure 4.
theiswae proflues at thae si

feeigure
com1ut,

for
n

Veshow
s
Te fo eey10s Fode toutes
7

lern

ra

tr
o

ume

sh

thealredyiceas
4
applined
tov
thileaset~

wer
CR-.058
041,ad.0749 ie3
to
hatmnmmadmxmmo
h

.45, energy is not conserved as well after


Fr
t
4.2 as it was earlier because waves have
reached the downstream boundary. However, this
boundary is so far away as r. to affect the
local solution about the ship. The quantities
,IE , and P'E in Equations (16), (17), and (18),

SPRESENT
NUMERICAL
EE
SMETHOD
2
-- ANALYTIC,
STATE
STE.\DY

respectively, were computed numerically with


second-order finite differences replacing
derivatives and the rectangular and Simpson's
rule used tu compute the integrals at the body

*
F,-C.557
-t2.7
-2

and free surface, respectively.

Free surface elevation contour values

numerically have been plotted by


compu,2r on the Stromberg Larlson 4060 as shown
in Figures 7, 8, 9, and 10 for Froude numbers
.32, .385, .503, and .557, respectively. The
free surface of the channel is plotted in all
pictures 'or a region extending from one-half
a ship length upstream of the ship to two and
one-half ship lengths downstream of the ship and
from sidewall to sidewall of the channel
(channel walls are not drawn). The ship is
The ranges of the free
traveling to the left.
surface elevation contour values plotted are

* obtained
-4 -

2 -1
/
Fr-nO 03
*t3.6

/
0-

\/
\/"tabulated:

Froude No.

-i/

-. OOF to .007

S.52
zU4
S

- tS
-respectively.

.2

2,8.

F.-n15o
s
0 t-21

'4 eFroude
I---

. ,..-

----

-.020 to .017

.557

-.021 to .018

Because the filtering scheme used for


Fr - .32 resulted In a loss of energy, It was
decided to determine its effect on a higher
number such as Fr .503. The result
was a significant loss of energy with some wave
distortion. However, the wave resistance is
affected to only a small degree as shown in
Figure 13. the conclusion Is that filtering
over the entire free surface for the hlgh.r
Froude numbers is not necessary and should not
be isd because it dampens the larger

--

.503

In addition to the abrupt start from rest


for Fr . .557, Fr - .557 (in the same manner
.385 case) was also abruptly
as the Fr
started from . locally steady state solution
obtained numerically for Fr - .503. The two
solutions are compared in Figures 11 and 12.
The steady state solutions are virtually
identical.

.4

-4

-1-5O

-.017 to .016

and negative contour values, respectively, i.e.,


they indicate wave crests and troughs,
Divergent and transverse waves
are present in all pictures. Any waves tipstream of the bow in any of the pictures are of
very low value and insignificant.

-~

.385

Contour values were incremented by .001. Solid


and dotted .ontour lines correspond to positive

Fr-0.46
01-2,7
o

Range

........

At the lover Froude numbers.


tude waves.
r .32. this effect Is diminished
altnough less filtering could be used.
.

Q/

solution for an abrupt start from rest


of another Wigley hull [10] given by

One
0
2
4
am
F APART
Figure 5. Ccanarlson of Numerical and Analytic
Wave Profiles for Selected Froude Numbers
ia

ITERN

STATIONS I

94

h(x,y) "

O- (I-256ya)(!' (x-xc 2)

(PS)

0.0004''

-- - -

0.0002
X
(

0.557F

03

0
ic0.0004

0k,

0.0002F

0.5

"0.0004

F, - 0.45

0.0002 -

zE

z0.0002

Fr- 0.32

I
0

Figure 6. Conservation of Energy Versus Time for Selected Froude Numbers


for Fr * .3162 was obtained on the same grid
used for Fr - .385. This hull has a block
coefficient equal to .44 compared to .39 for
the hull given by Equation (24). The filtering
scheme for Fr - .32 was used here also. Results
are presented in Figures 14, 15, and 16. Note
that wave profiles in Figure 15 are compared
with the measured (not the analytic) wave profile. Contour values in Figure 16 ranged from
-.010 to .011 with values incremented by .001.
Exact Body Condition

......
-The major difficulty in editing accurate
flow results at the hull surface from the field
solution when the hull is imbedded in a
Cartesian grid is that hull surface points are
generally not grid points. Thus although the
numerical scheme (which is subject to a Neumann
conditiun for # at the hull surface) Is secondorder accuratp at field grid points and is
efficient, the velocity potential # and surface
elevation n at the hull must still be
accurately determined.. These quantities are
used in computing Co, W, KE, and PE of
Equations (12), (16), (17), and (18).
respectively. They therefore can significantly
affect the computation of wave resistance and
energy conservation. Determining # and n at
the hull can be accomplished through finite
differencing of Equations (2), (3), and (8)
and/or through interpolation to desired orders
of accuracy depending on how many field grid
noints one is willing to uso. We have chosen

. w q w

to obtain the velocity potential


at the hull
by applying the exact body condition (Equation
(8)) at grid point 0 (Figure 2) using finite
differencing. This method is easy to implement but only first-order accurate. In
Equations (12), (16), (17). and (18) the
rectangular rule was used to compute hull
Integrals; a double application of the trapezoidal rule was used to compute the remaining
integrals. Results wee obtained for Froude
number .32 (without filtering) and for Froude
number .503 on the standard grid with standard
ship placement.
Figure 17 shows numerically computed wave
resistance CR (Equation (12)) plotted against
time and compared with steady state, observed
(free to trim) results L8]. The time behavior
ot (:R,as expected, is quite similar to results
already discussed for the "thin ship" condition,
However. for both Froude numbers Fr - .32 and
.503 the numerical editing predicts a smaller
wave resistance than expected. This situation
most likely would be improved by finer
Cartesian grid resolution about the body.
On the IBM 360-91. using double precision
arithmetic, It took 295.81 seconds to compute
90 time steps (with At -.03) in obtaining
steady state for Fr - .503. Almost all tim
steps for this case used two iterations. Thus
each such time step on the standard qrid
required 3.18 second% of computer time. Figher
Froude numbers would require less total computer
time in achieving steady state. lor Fr ,3?,

um w

819.06 seconds were used to compute 170 time


steps (most requiring three iterations) with
6t - .03. Preprocessing the capacitance matr<
(of order 196) and its inverse took 90.11
seconds. This preprocessing was done only once
since it is independent of the Froude number.

t:0.16

Approximately steady state wave resistance


for Fr = .503 at t = 2.7was also computed using
Equation (15) at three consecutive transverse
planes given by Y = jax (Ax = .05) with j = 55,
56, and 57 (ship lacement was standard). Since
wave resistance CR (using Equation (15)), ;s
computed to second-order accuracy from a sezondorder accurate field solution, this calculation
is more accurate and reliable than that for
obtaining C9 using Equation (12). The calculated resistance values at planes j = 55, 56,
and 57 were CR - .004265, .004441, and .004811,
respectively, with a mean value of .004506.
This value compares favorably with the observed
(fixed to trim) value of CR
.00444 and with
the computed value from Equation (12)at t =2.7
of CR = .003756.

t=0.52

t 2.30

Wave profiles along the ship hullare c)mpared in Figure 18. The numerical wave
profiles were computed from the following
expression obtained by taking the outward
normal derivative of Equation (2) at the body.

,/

Inn
1/) 3.6

='
/Il

, / '',/

S'

"
!

~introduced
..
tJ),,,

'--

t5.00

(29)

Second-order differencing for nn using secondorder Lagrange interpolated free surface values
of q (with *nx)body known analytically) was

, ''

//

,'

-(Fr)
'nxlbody

,-

I'

1..
Lconservation
a
'

: ttnat

into Equation (29) so that the


unknown Wn body could be solved for in terms
of known quantities. It is seen in Figure 18
thatmost numerical errors occur in the stern
area of the ship. Also most of the change
with timefor Fr- .32 is in this area as it
was for the "thin ship" condition
Figure 19 shows the attempt to prove energy
in the channel. It is evident
the numerical editing has failed to
resolv-, for the initial transient effects, the
rate of work and energy growth. It is likely
that the discretization, lncludinq the time
step (,t- .03) ano mesh spacing, was too
coarse to make this resolution possible.
Free surface elevation contours have been

I 4l.11,

"

0<;
,<<

/: ,

'

(Fgu
re ,
and 21).on With
values
Ulotted
by20 coi~puter
the contour
Calcomp 936
Plotter

(ncremented

by .001and solid and dotted ines


indicating positive and negative rontour values,
respectively, the ranges of contour values for
017
and -.

,Il

to.010
007
Fr..',32 and .503 were -.

body co,,dition
by the
'""".'-'';
',!:,,. ,..:.,patterns
to .022, produced
respectively,
Asexact
expected,
thewave
are similar to Patterns shown earlier in this
aper for the "thin ship" condition.

Figure 7. Time Sequence of Free Surface


Contours for Fr - .32

2.70

0=.60

t 1.20

Fig~ure 9.

lm

Sequence of F.ye Sur-face Contours for rr

96

503

Figure 10. FreeSurface Contours for Fr

Goa

.557at t

2.7

0005f\~~YI
/

I,

-ANALYTIC STEADYSTATE
Cm 0 .004475(ANALYTIC,STEADYSTATE)
C, - u.ODM02IUNFILTEREDI -3 SI

S~o
E?2

C0.004402 IANAI YTiC, STEADYSTATE)


CP 0.00507 I - 3.0.

CA

,-3.61
C,. 0 .000237(FILTERIED.,

-CURVE)

C5

CURVEI-L
o0045( - 2.7,ABRUPTSTATEFROMtREST

--

ABRUPTSTARTFROM LOCALLY
STEADYSTATEFOR F, - 0.003

-ol

is

2.0

IS

Is

2%

2'5

30o

35

40

Figure?
13. Wave Resistance Coefficient CR
Versus

___

I__________________I

06

ANALYTIC
STEADY
STATE
ut5n

FILTERED
FITER ED

.-

2.6

rlime for

Fr

--.

503

3.0

Figure 11. Wave Resistance Coefr~cient CR


Versus Tintefor Fr .557
0005

---

R. - 0,002616IANALYTIC. STEADYSTATE)

000OO4

Figure 14.

OM0F-.0
-A0UrSAR

AF

*ABRUPT START
FROM REST it - 2J)o7141

R 3IEENTFNLIltERICAL
METHOD0
ANALYTIC. STEADY STATE

Wave Resistance

i
7

Versus rime for

-. 316?and Hull of Eq. (28)

.iiFr

9"

.4~~I

10

STAR"

PRESENTNIIA4OECAL.MEYNCO

IS

STATIONS441.6 FT APART

Wave,
Profiles
Figure 12. Nuaserical
for Fr *.557

0
now

2
IkM0

E O:

o -4
: :

i faSS

4t
STATIONS318 FT APART

STERN

F19ure 15. Comparison of Wave Profiles for


Fr - .3162 and Vull of Eq. (2!01

t 2.4.

.RESENTIMBEDING
'

MTHADSAE

8D

E
0

P E0
'S

Selected~ INuMBs
"Tud

Ext

dyCdto)

BSRVE (FREE70
00006.AATE TR.M

I]
F:

20

,4

IIIC

t~l-2-

00

9.1ivS
0It

~*00Ul(1SgRVDP~h
002
V.
--

0~~

0000

TO

0000

Y1k

0. 000

4.

AIMIax0002

~00(w
mod2~

50

If

00050-

t=0.3

t=2.1

IG

4.8
\W

t=3C
/'

';

11v,

1
)jSqec3
o reSraeCotusfrF
20(EatBd5
FigureYE'
niin

t=48

AS

}101

t0.6

t= 2

t2.7

Figure 21.

Tim sequence of Free Surface Cofltr-urs for Fr!


(Exact Body Condition)
102

50

V. Conclusions

5. Buzbee, B.L.,et al, "The Direct Solution


of the Discrete Poisson Equation on
Irregular Regions," Journ. SIAM, vol.8.
pp. 722-736, (Dec.1971).

The numerical methods used in this paper


have proved useful in efficiently obtaining
solutions for transient ship problems. For
problems with the exact body condition, finer
Cartesian grids than were used in this paper
should be used fo better localflow resolution
in the neighborhood of the body. Variants of
thenumerical methods used in this paper can be
applied efficiently on locally stretched grids.

6. Ohring, S. and J.G. Telste, "The Direct


Matrix Imbedding Technique for ThreeDimensional Potential Flow and Water Wa e
Problems With Arbitrarily Shaped Bodies,"
to be published.
7. Shapiro, R., "Linear Filtering," Math. of
Comp., vol.29, pp. 1094-1097 (Oct. 1975).

References
1. Lunde, J.K.,"On the linearized Theory of
Wave Resistance for Displacement Ships in
Steady and Accelerated Motion," Trans.
SNARE, Vol.59, 1951,pp. 24-76;
discussion pp. 76-85.
Theory of Wave
2. Lunde, J.K.,"The Linearized
Resistance and its Application to ShipShaped Bodies in Motion on the Surface of
a Deep, Previously Undisturbed Fluid,"
Technical and Research Bulletin No. 1-18,
SNARE, 1957.

8. Shearer, J.R.,"A Preliminary Investigation


of the Discrepancies between the
Calculated and Measured Wavnmaking of Hull
Forms," North-East Coast Inst. Eng.
Shipbldg., Trans. 67, 43-68; discussion,
D21-D34 (1RS1).
9. Wehausen, J.V.,"The Wave Resistance of
Shii:s,"
Advances in Applied Mechanics,
vol.13, A(ademic Presj (1973).
10. Hishida, ., "Investigation on Equivalent
Singularity Distributions for Ship Forn-Particularly on the Effect of the Line
Integral," University of Tokyo Report,
December 1974.

3. Wehausen, J.V.,"Effect of the Initial


Acceleration Upon theWave Resistance of
Ship Models," Journ. of Ship Research,
pp. 38-50, January 1964.
4. Ohring, S., "A Fast Fourth-Order Liplace
Solver for Applicatior, to Numerical ThreeDimensional Water Wave Problems,"
Proceedings of the First International
Conference on Numerical Ship Hydrodynamics,
NBS, Gaithersburg, Maryland (Oct. 1975).

103

DISCUSSIONS
ofthree papers

EXISTENCE, UNIQUENESS AND REGULARITY OF THE SOLUTION OF NEUMANN- KELVIN


PROBLEM FOR TWO OR THREE DIMENSIONAL SUBMERGED BODIES
J.C. Darn

ALOCALIZED FINITE-ELEMENT METHOD FOR STEADY, THREE-DIMENSIONAL


FREE-SURFACE FLOW PROBLEMS
Kweng June Bal

NUMERICAL SOLUTIONS OF TRANSIENT THREE-DIMENSIONAL SHIP WAVE PROBLEMS


Samuel Ohring and John Talste

Invited Discussion
E.O. Tuck
University of Adelaide
I would like to commence with a few words
of general congratulations o the authors presenting papers at this conference using direct
numerical computations, whether by field
methods (finite element or finite difference) or
by boundary-integral-equation methods. I have
found, on discussing ship hydrodynamic problems
with my mathematical colleagues in the area of
numerical analysis, a lack of appreciation of
the extreme difficulty faced by those attemptingdirect numerical solution for free-surface
problems. Professional numerical analysts tend
to be rather timid characters, who are everready to tellus what we cannot do for fear of
leaving ton large an error term, and who tend
to confine themselves to well-behaved and understood functions, difference schemes or kernels,
Our problems are beset with difficulties involved with the non-linearity and unknown shape
of the free surface, with rapid variobility and
singularity of the kernel functions, and with
the radiation condition at infinity. Many
herculean successful or almost successful offorts have been made, a number of which are
reported in thismeeting, including the papers
by Bai and by Ohring and Telste in this session.
The organizers have perhaps been a little
perverse in asking me. a known enemy of the
Neumann-Kelvin problem, to be the official discusser of three papers inwhich this approximation is used, at least in part. Before
returning to more complimentary discussion,
IEtme state once agsin my extreme view on this
topic.
There is no rational justification for
linearizing the free-surface condition for nonthin surface-piercing bodies. If the body is
hiuff. It makes big waves. If this is not the
case, then not only the free-surface condition,
but also the body boundary condition, should
be linearized for consistency.
Now an inconsistent problem Is not necessarily an incorrect one. The Neumann-Kelvin
problem must give results at least as good as
Michell's theory; it Tmt give better results,
In the spirit of pare scientific research there

is no reason why it should not be tried, just in


case this happens. As a mathematician, I can
only applaud such efforts. However, it is an
expensive undertaking, both in professional time
and computer t'me, so that one would exoect any
proposals for research on such an irrational but
mathematically interesting approach to be subject to a searching evaluation, compared to
other perhaps mere rational approacheE.
In additicn, there is serious doubt that a
bounded solution of the Neumann-Kelvin problem
even exists for the surface-piercing case. If
true, this would be an instance of nature making
us pay for being irrational. For example, the
free-surface elevation at a forward stagnation
point is necessarily U!/2g, and is not small
unless the Froude number is small. Hence
lineariza*ion cannot be justified near such a
point. It seems likely that the price to be
paid for such a forbidden action is a singularity in the Neumann-Kelvin problem, at the
very least, or at worst a lack of existence of
any solution at all.
Doubts of this sort have been expressed in
the past by workers such as Brard, and Dr. Oerr,'s
fine paper here is a continuation of research
along the lines of Brard. However, the present
paper confines itself to submerged bodies. In
that case there is no such localized singularity,
and few of us would hav doubted existence of
the solution to the Neumarn-Kelvin problem. I
am sure that Dr. Darn is as keen as I am to see
this issue settled for the uurface-piercing case.
I also draw Dr. Dern's attention to an
existence question with the fll non-linear condition. For example, in the paper by Vanden
Broeck and myself at this conference, we speculate on non-existence for a particular class
of near-bow problems. However, our evidence is
purely numerical, and of course one can never
prove non-existence numerically; rather one can
only demonstrate one's failure to find solution,.
Careful function-space analysis such as that in
the present paper by Darn could perhaps settle
thisissue also.
The paper by Dr. Bed continues his successful series of studies of free-surface problems
using the finite-element method. The most
notable feature of the present paper is a fullfledged attack on a three-dimensional problem
for a translating ship, a heroic achievement.

knowledge in this area. I have the greatest respect for authors such as Dei who are able to
pursue deep mathematical analysis to a rigorous
existence conclusion, and for the other authors
in this session, whose tenacity in the numerical area is no less remarkable.

The "localized" sense of the title refers to the


fact that the finite elements can be terminated
on control surfaces quite close to the ship,
the region exterior to these surfaces being represented by series of elgenfunctions whose
coefficients are appended to the list of nodal
unknowns. This approach seems to me clearly
superior to one where mesh elements must in principle continue to infinity.

Discussion
by T. Francis Ogilvie

No details are given of the "matrix inversion" or linear-equation-solution procedure used.


As mentioned in my discussion of the 1974 paper
of Bal and Yeung at the 10th Symposium on Naval
Hydrodynamics, relative-efficiency comparison
between field and boundary discretization methods
depends crucially on the efficiency of iterative
inversion of the large (order of thousands) but
sparse matrices in the former, compared to
direct inversion of the much smaller (order of
hundreds) dense matrices in the latter method.
This question applies also to the paper by
Ohring and Telste who simply describe their inversion as a "fast" Laplace solver. As a proponent of boundary-integral-equation methods, I
tend to be skeptical of claims for speed for
field methods, which necessarily involve an order of magnitude more unknowns due to the extra
dimension. However, I am prepared to be convinced, providing the "time to invert" varies
as not more than the 3/2 power of the number of
unknowns in twodimensions, or tne second power
These estimates assume a
in three dimensions.
3
conservative n time to invert a small dense
matrix of order n; any improvement on that time
would make it even harder for the large-sparsematrix methods to compete,

I agree with Tuck that the authors at this


meeting have not presented good reasons for
undertaking the monstrous chore of solving the
Kelvin-Neumann problem numerically. But I feel
that Tuck's negative comments are too strong.
There are some good reasons to expect that the
solution of the Kelvin-Neumann problem may be
decidedly more accurate than the solution of any
of the usual"consistent" first approximations.
One such reason is that information has
become available in recent years showing that
diffraction of the ship-generated waves by the
shi;itself has a significant effect on, say,
wave resistance. This effect is close to what
is often called "sheltering effect." It should
be possible to make a fairly good prediction of
such diffraction on the basis of a model involving the linearized free-surface conditions,
and the Kelvin-Neumann model should suffice for
this purpose. We cannot say that ether higherorder effects in thin-ship theory are not also
important. But we do know that this one diffraction phenomenon is important and should be
included in our theories. This is enough
reason by itself to consider the possibility
of solving the Kelvin-Neumann problem.

Both Bal and Ohring and Telste, use the


Neumann-Kelvin approximation implicitly, when
they solve with the exact body condition, but
linearized free-surface condition. I am sure
all would accept that theywould really prefer to use the exact free-surface condition, but
want first to try their method on a simpler
problem, and I certainly have no quarrel with
such an approach. In both papers, linearized
body-boundary conditions are also used as test
cases. Of course there is no need to use direct
numerical methods for such problems, since
analytic solutions either are already available,
or are easy to compute by just evaluating integrals.

!f the advocates of the Kelvin-Neumann problem are successful and if the results are an
improvement over existing procedures, then we
might better spend our time in trying to justify the problem formulation than in trying to
dispute its validitv.
Discussion
WjTTi-ilweber
According to Dr. Tuck, the Neumain-Kelvin
problem is only of mathematical interest and of
little value in solving the exact irrotational
gravity-wave problem. in a recent paper by
Francis Noblesse, It Is shown, however, that the
N.-K. problem can serve as a good first approximation In an iteration procedure for solving
the nonlinear free-iurface problem. (This paper
has been submitted to the Journal of Ship Research.) He shows this by demonstrating that
the nonlinear terms of the free-surface boundary conditions are small relative to the linear
termr even for the observed bow wave, at low
Froude numbers.

In contrast to the paper by Bai, Inthat by


Ohring and Telste the finite-difference mesh
must be truncated at an effective infinity. I
am surprised at the accuracy obtained by Ohring
and Telste with truncation points as close to
the ship as tiey chose. Further evidence as to
the effect of changing the truncation points
would be welcome. Of course, the fact that they
are solving a transient problem helps, the choice
of truncation point then mainly affects the
transition to steady state. In both numerical
papers. I would have liked to have seen also
evidence regarding the effect of reducing the
mesh spacing.

Prof. Ursell has indicated that Frednolm


Integral equations of the first kind are of
I1ttle
value because a theory concerning the
is lackexistence and nature of their solutictms
ing. Actually, there is a theorem due to Piccard
which gives necessary and sufficient conditions
for the existence of a solution for tredholm
Integral equations of the first kind. When a

In con lusion. in spite of doubts expressed


above about the significance of the NeumannKelvin problem, I feelthat thepapers under discussion represent a worthwhile advance in our

105

6i

ber of operation steps in the2 3present method is


to or less than N / in two dimensions
comparable
2
and N ia three dimensions. However, one should
not emphasize too much the time to invert the
matrix by considering only the total number of
unknowns. There are more Important factors that
govern the computation time: they are, for
example, the size of the central-core memory
space, the time in 1/0 operations when an outof-core memory is used, and any capability or
features such as the vectorized execution used
in the present computer program written for the
ASC of Texas Instruments Company.

solution exists, this theorem displays the solution, but this is of little value since it is
expressible in terms of the elgenfunctions and
elgenvalues of the kernel, as an infinite series,
It has been shown, however, that numerical solutions can be obtained by means of an iteration
which can give useful approximations,
forrmula
even when an exact solution does not exist. An
example of this is the van Karman method of
flow
solving the irrotational, axisynanetric
about a body of revolution, which, it is known,
gives reasonably good solutions when a moderate
number of intervals is used, but yields poor
solutions when too many intervals, say greater
than 20, are employed.
Author's Repjy
by Sameiriing and John G. Telste
to discussion by E.O. Tuck
- -",ldlike to mention an imoortant point
that wa: no, emphasized in our papE;u
and therefore was overlooked in Professor Tuck's discussion pertaining to the computational time of
field methods. The high speed of computation
of our finite difference technique is due in
large part to the fact that only a very small
portion of the grid, mostly in the neirnborhood
of the ship and free surface, is "inve-ted".
Being direct (noniterative), the fast Laplace
solver used for the field equation permits us to
do this as shown in reference 4.

AuthorsRel
by Kwan JuneyBai
to discussion by E.O. Tuck
I would like to thank Prof. Tuck for his
comments. I would like to reply to his question
about matrix inversinn. In my paper, Gaussian
elimination is used in solving the matrix equation.
The number of operation-steps required for
solving a banded symmetric matrix is proportion
2
al to NM , where N is the total number of unknowns and M is the half bandwidth. As an
illustration, the fluid domain is subdivided
into 4-point quadrilateral elements. The total
number of nodes are I and J along the x- and
y-axes, respectively, so that the total number
of unknowns is N - IJ. The half brndwidth M is
approximately I (or J if J <I). The time to
invert
the matrix is then proportional to
2
2
N1 ! N . In three dimensions, where K is the
number of nodes along the z-axis, the half bandwidth becomes M JK4N2/3, where N - IJK, and
2
the time to invert is proportional to N(JK) 4
problems, JK is consiNI/.
In practical 2ship
3
derably less than N / , since a ship is much
longer along the x-axis thin along the y- or
z-axes. Furthermore, all the matrix elements
are zero except the nine non-zero elements in
two dimensions,. In other words, this banded matrix is still vary sparse. This fact can be
taken into consideration in the computer program
by using an 'if test' to reduce the computation
time substantially. Another feature in the
finita-elment method is that the time to comput* the matrix elements is much less than the
time to invert the matrix. Therefore, the nup-

i0

NUMERICAL SOLUTION OF THE NEUMANN-KELVIN PROBLEM


BY THE METHOD OF SINGULARITIES
P. Guivel,G.Delhommeau and J. P. Cordonniler
Ecole Nationals Supirleure de Mcanique
44072 Nans Csdsx, Francs

Abstract

The equation (1.1) expresses the gliding condition over the hull (M).
The equation (1.2) expresses that the free surface is a material surface.
The equation (1.3) is the ,ernoulli equation
in which the pressure is a constant over the
free surface.
The equation (1.4) is the non-radiation condition which expresses that the fluid stays still
at forward infinity.
The cquation (1.5) expresses tha' tt fluid does
not move at very large depth.

We present the main lines of the method used


for setting up the oomputer piograms giving an
estimate of the wave resistance of a surface
ship moving at constant speed in calm water. We
use the Neumann-Kelvin model based on the folIowing hypothesis : the fluid flow derives from an
harmonic otential ; the free surface condition
is linearised and written on the horizontal plane which is the water level at forward infinity.
The gliding condition on the hull is exactly satisfied. The problem is solved by the method of
Kelvin singularities distributed over the
hull surface. Their density is obtained by
solving a Fredholm integral equation. The surface ship case is treated using the noti,,nof
line integral. The numerical solution of this
equation ir approximately obtained by considering the hull as a juxtaposition of plane polygonal elements, bearing a constant singularity
distribution. The wave resistance is computed by
the Havelock formula, We perfected three computer
programs using respectively sources, normal dipoles and mixed distributions. The computing
times being extremely long, we have only made
tests on the easier caseof a completely submerged ellipsoid. The stability of the results is
obtained if the hull is discretised with a very
large number of elements.

Figure I
The xOy plane is the horizontal plane which is
the water le-,elat forward infinity
The Ox axis, situated in the longitudinal plane
of symmetry, is directed towards the ship's bow.
The Oz axis is the upward vertical.
The free-surface equation is z z - h(x,y) - 0.
4 - *(x,y,z) is the absolute potential expressed
in the (O,xy z) coordinate systerc attached to
the ship.
The iee-surface conditions (1.21and (1.3)can
be replaced by the following comdition-, in
which V (a the absolute speed modulus
2
1
g

I. Introduction

If the influences of boundary layer and wake


are neglected, the problem of evaluating the
wave resistance of a ship moving at constant
speed C on calm water, is reduced to determining
an harmonic putential function 0, defined in the
whole liquid domain and satisfying the following
boundary conditions
-

C.n

an

-C.n

on th

hull surface (E)

(1.1)

2L-'

on the free surface IS)whose


equation is s-h(x,y)
(1.2)

y ax

,
3zC3

Ix
h

a-h

in which

v2

(1.4)C

x
".5

4t 0

se

- -

syuols are explali-

(.5)
n figure

i).

107

-1

1x

.v

V2

Z-h
(

In spite of the great simplification which


consists in classing the real flow as a perfect
fluid flow, the free boundary problem, defined
by the system of equations (1) is still too
complex to be numerically solved. It is therefore necessary to introduce new approximations
aimplifyjng the mathematical model. The one we
adopted is the Neumann-felvi model [41 which is
nased on the follosisg hypotnesis

51.

- The fluid, considered as a perfect one, is


the seat of a flow deriving from an harmonic
potential ; this flow is steady with respect to
the coordinate system attached to the ship.
- The camber of the free surface elevation is
-mThenoashr
tof te fre suwrfae eevatontribution
small enough to be able to write the boundary
condition, not on the real free surface, but on
the plane z - 0 which is the water leel at forward infinity,
- The absolute speeds are small enough so that
squares are negligible over the whole free surface.
In fact, we also neglect the derivatives of the
absolute speed squared; this approximation is
v-y doubtful in re vicinity of the ship bow.
On the other hand, the gliding condition is
exactly satisfied over the hull.
The equations of the simplified problem are
0

A1

(4.1)
C.n

)r
*5h
+

0
f

4)I
(4.3)

--.
0

_
Ieo

as x

O as Z

O(M), the absolute potential in M(x,y,z) expressed in the coordinate system attached to the hull.
ix the speed of the ship.
C C
L
, an arbitrary reference length
A
, the outward normal to the hull surface
(Q)
X
- , the wave number associated with the

(4.5)

The equation (4.4) can be suppressed and the


equa ion (4.3) is then replaced by the free surperfect
face condition corresponding to nearly
fluida
2C JO +
x2 F Ta

at
oiT.

speed C
nondimensionl wave number

L
C
_

''.

The second true surface condition ,

ce
(5)

X (O,k)

f(O,k)

number

the modified Kochin

function.

the direct Fourier transform ot a


f'inction f(x,y)
, the mass density of the fluid.

is no longer expressed in the boundary problem


this

, the Froude

- a(M'), the superficial density of sources at


M' (x, y' , z1) on the hull surface.
P
vsM')o the superficial density of normal
dipoles in M'.
11(0,k) the Kochin
function.

where
Is a fictitious viscous coefficient,
vwry small and essentially greater than zero.

h "

3'

To sum up, to use the method of singularities


we will have first to solve a Kelvin problem
ocnsisting in building elementary operaLoui 'Ij
nerating harmonic potentials satisfying automatically the linearised free surface condition
and the conditions at infinity.

In the exposition, we use the following symbols

The non-radiation condition at forward isfinity Is implicitly expressed by allowin the


fluid to be slightly snerg-dissipat ve].

a2

hull". Here, we only considered superficial distributions of sources and normal dipoles.

(4)

(4.4)
-

These elementary potentials can be generated


by Kelvin singularities such as sources, dipoles
vortices or multipoles, placed either on the
ship hull (E) or inside it. The singularity dismust be determined, in each particular
case,in such a mannur that the gliding condition
is satisfied in each point of the surface (E)
When this is so, the singularity distribution is
said to be "kinematically equivalent to the moving

Then, in n ixing these operators, we will sasfy the gliding condition over the given hull;
this last problem is an exterior Neumann problem.

(4.2)

ax

Computing method

The idea on which the method of singularities


is based is suggested by the fact that all the
equations, fonulating the Neumann-Kelvin proble, are linear ones. The potential function H
can be considered as a superposition of elementary solutions 'f satisfying the Laplace equation, the free surface condition as well as the
conditions at infinity.

III. Kelvin operators

will be used at the end of the computations

Kelvin source

when the potential is already determined, in


order to evaluate the tree eurface elevation.

80 is called a point singularity, placed


at ' (x' , y' , s' s 0), generating in each point
M of the apace a < 0 an harmonic potential whose
particularities
,re

To solve the Neumann-Kelvin problem, we used


the methoI of singularitie.

It automatically satisfies the linearleed


free surface condition
It goes to rre as x -and
xe

108

Its principal value as M - M' is such that


%(M)

M'I

=-

source of
which is the potential generated by a
intensity Q in an unbounded liquid.

-.
A

secM e3-

dO

if

(16)

with
-

+
IMM-I

4v

--M-1
jMMjj

(7)

M' is the point synetric to M with respect to


0.
t
plein z
S2(d0)
2,, 2 Re

+ iz-

k(z+z
do

(8)

idk

k-k O

'

'

[ec t

) d

0(I)

(li)

In

, if

1 (0t.i = EI(FI)

in the

zerofa rgoes otof the


ry hof s this
e lev tion
than hP ,is h the,which
lowe rdihedral.
mu

In(t)

The figure (Ha) shows the free surface elevation corresponding to a point source, immerned at a depth 5l, oving -+ constuilt speed such
I .and having a - Itant intensity
as koH

Jr (12)

C 112 On the figure (2h),

on,

t
d

Th -jot advantage nrintroducing this modified


exponential Integral '6l(C) is that the potential 0 can be expressed by an integral defined
inside an interval independent of the relative
position of M and M' ; moreover, the integral
kernel is continued inside this interval. There
is no particular care to be taken in differentiating or integrating under the integral sign,

From (5) and (10), the wave elevation is


p

(14)
1r

h + h

. re30
t i(t)l

2 a
2t
I
i l
9k 2

(IS)

2.

we have drawn

contribution of the nearfielci waves ; we can


see that the corresponding elevation is localisod In the vicinity of the soue proection onto
the plane z
0 This remark will be used later
0.

(Ci - E 1(0 - 21r ,if 11)ti '0

h&

(y._)2

dcreasing at least as I when r

where

clevatio,,
of the nearfield waves.

Q-

uthe
(r, ) b
g
being a function we call "modified en
ponential integral" which is related to the
classical exponential integral ly

n )

field waves.

khsec2h{z+z' + I (X-x')cos 04 (y-y')sin

T)

The asymptotic expression of h is obtained


ht goes
by using the stationary phase method;
/r tada
outside the
to zcro asl
ol Kelvin dihedral,
te)ona as

with
r

-f

We show, after some elementary caleslations,


P
that h goes rapidly to -ro wher we go fa- fron
its asymptotic vain any direction
source
the
lue is equal to

(9)

jjT

R e
2-Qk
27,

11'
n-i

q x-3I,.)2,

Calculating the integral corresponding to the


variable k, we finally obtain
Mh

2 + i (0)

asumi ngr
assum)ngh
= (X-x')Cs 0 + (y-y')sin 0.

and

$ (M)

Ie

if Y-y'
eif

(6)

'(M)

hf

The potential I having these properties can


be epressed by.d
4 (M) = I,(M)

y-y'

Figure

-~-3d

Fol a soure distribution of intensity O(W),


localised in a domain (~), completely suisnerqed,
he(ave:

arid
-

--d6O

{) k

(20)

22d
kh-k

sec On i(0)

where 11(0,) is the Kochin function:


4,

(21)

Co

(evi dipolelx
Let mx
rr,li
hnp-tffadpl
ihaigaconrstant.
intensity and a fixed direcseed
cnstnt
vin
anborzonal
in
tion
costat seed
tion rn
wth
s lErienta
clg wih

( -).

10)

T~iT
n

ez'-i
k

~iT ~we

iv

(.

an ,

or

-1i(a

Moee +yl mineI))d('


'

I)r
W

HOM

ILei ul; repall tee following formulas corrampondlnq to tire potential due to a KelvinsBourte:

a*k~'-lls' crme *y' sin ')] dr (MI)(2

4, I10)

W-

X'+*

(I
2lr

nt

(23)

function.
1. (ochin:

1+

co

Wave field qpnerated by a singularity dltrtrulion

NP

41r

Sin n)l

cos On+ y' sin

Ml0'

Ic4-i(m CoSJ+m

(x

Particularly, if we consider, orn a surface ()


with a normal vector A , a sltrerficiat distributin of aources nd normal d, roleo of intenifles o(M ) and op(M-) - 0 M').in(M' ) respectively
(rave

2H)O,r)
2 see

n--I
2.

)
(22)

PtB)

r~dM
1(M)
M

-M

-h(

4,

Iparticular, the potential, obtained from the


formula (1c), is
-

In the cane of a diponledisitribution,


of density
M
the potential 'fin still given by the
10').
forula (20) if 11(0,k) is cplacpd by

Wo an inonediatell enxprens every quantity fd


0
dependlng linearly on n knowing the enpression
of the name ruantlry due to a source of intensity Q we only hare to use the relationr
-,
.g'd"
qeai

'sn"

'

2
atn a + 1 (0)
2

p'

ovector

110

q' ,r'

(x
-'

mos 0 +y' aIn 0)) dE(M,

being tho components of the normal


t-)

This superficial distribution of sources ano


normal dipoles, considered as an ordinary sinoularity
distribution, generates in the wcle spaCe

We can still simplify thoexpression (25) of


H(,k) ncticing that 1,,a regular functior in
tie
wtole domain z n 0, can be written as

a PotentialI;

If ihese singularities are distributed over


a closed surface () entirely situated in the
has two determinadomain z < C, this potential

de

tions, ;e and pi corresponding to the exterior


and the interior of (E) (Fig. 3).
Z

4-.-,kd

r
-,e .i (x cos q + y sin 9

from which we deduce

(F'k k

2s -I

-,

k (x c

X e

s o

sin

tdk

and there.for
AA
0l,k)

The discontinuities of

substtituigq

Figure

or

the densities o and p by

nI

o+
=

'

e
kh 'i
H(0,k)~~ym,
1llO~h) -

_...
e e,+O~y_i l ,I]}
,,
3n

if

h[z-lisxen

(28)

12)1z
1 in the potential due
-,
associated with
1
I
) placed on a sue0") )i
(
iy'ti
Io r,sj-,t to t he
- 2q, for
= O;
froth

tensae

: k

+l{((,k)

A l(O~

).

291

y,,,inslij
The wave resistano, pferated by a sinilarity IlintriblUtio
is livn, by Hahvelock's formula:

-o 0 4 y

in,
n- ts

These intearals cali atill


Green's second equation.

R,

in,

be modified anlnq
For the first
one, we

choose the domain (Dr) exterior to (Y) situated


beneath the plane z - 0 1 for the second one,
we choose the interior domain
(Di).
k z i
(x cos 0 + y 8 in
n
th.Noticin
Noticing tat
and P
(The
are harmonic functions, we have

l|(mkb

vi'-

11(0,ko Src-'1) - 1](0)


in whc
the Kochin function for k - k
o

formulas;

(17), (1)

i,

the sal,,u of
s0.

The prrcding results cannot b


in0)

dx dy

th.
~ ~~~~

that i i
H(6,k!

0",k)

00,k) and

(25)

k)

tran.sfors

202

of

and--- for

gentral i-ed

without care if the singularities are distribted over as open sirface (I cutting t hr plane
i
s
on:; ope O~Ot()I
a contour
c.
in fact, the theo-y
0 alo
i.eSenused to obtain tIle previous resuls Is
tiatly based On the Identity

itd

tO,k) denoting respectively the


e

direct Fourier
z
0.

(I0)

(29)o.

or

2. Moditfied Kohinoul.

com 0 + y

dv

compultation if the function 11(0) call be


the defining formula 123
or one of
maie usflh

- i k (x

X .

- ccl))

til
(k

Se

k2

(27)

" 01 ,k) .

127) we,

1n
k (,[
- ilx
h
io

-L

11

il

H(O,k) -

thnt if
Let assnt'
a li-n
ditrib.lon
t
i-tr-hati's
e
a nv-c
ta:
r'
i,
plan'
: O, w
hvse

sIy

x s

kt[z-i le,con Ii+ y sin 0)]

In

in

11(0,k)

i,

(),l26)

-24)

one finds

in (23)

Substituting
I

i%

I, _ St

k , (Ik)

1(0,k)

are related to

and

= -

le

24/I

"0

iill

which is no longer useful, if z' = 0.

Comparing formulas (20) and (34),


that
2
- - !LL) Ol ik)
2k
I

A particular study is therefore necessary


for evlluating the contributic.n
of the singularities placed close to the plane z - 0.
Let t (M) be the potential generated by the
double model made of the surface (!) and its
synmetrical (EI) with respect to the plane z- 0
(Fig. 4).

we can see

5)

plays, for a singularity distributio, ending at


the free surface, the same role as the Kochin
tunction H(O,k) associated to a completely immersed singularity distribution ; we call it,a
"modified Kochin function".
We can now show that the difference
X(O.k) - HOk),can be expressed in term of a
line integral in which we find the values taken
by the superficial densities o and p along the
waterline (c).

(X)
Figure 4
The solution of the problem is sought in
the form;
0 1i(M)+

O(M)

(M)

3. Line

ntegral

[1], [4], [7]


.
The Fourier transform I(,k) of the function
lx21

(32)

with

is defined by
0=0

(M
Re
(Mi

2f

do

2oI)-iklx cos 0 + y sin 0) dS

ReaI

SL
S

k z +i (

X e

+ y si n

)]

I iei

k dk

-ik (. con

+yY

ds
) dS

2, SF I
T9(M) being a regular potential in the whole
space z 00 which has to be determined so thit
1(M) satisfies the linearised free surface condition 4.3').

e
tis the value of Ion th, free urface (SL)
outside the hull
31 is the value of 1 on the free surface (SF)
inside the hull. (Fig.5)
Y

The harmonic function Tsatisfies the folo-

(5L)

wing condition ;

2
ax

21t
k2-- !ax

32r

z zO

2
1

for every x ind y.


It follows

immdiattly that

~Figure

2,

We can modify this expression of 410O,k):

kfk-k 0 See20 + 1(O)

tf(01
W he

~2 $

iy

(h
SL

e- ik(x con 6 + y sin 9) dS

-c t'h
e so lu t on we a re loo k ing fo r i n

hrk)+e(

k(z+ll s 8
k-k

ax

+Y

34l

+ 1

-ax

a o
this
o -okN Cos
i
n

Wr +

(6,k)

2 oc
ysn(

((

ct.a 0

-{ik

sinnB)S
34I
d
e',

[a

1lrT

see0 . 1(0)

112

lk x

om0 + y sin 0)

For a superficial normal dipole distribution


of intensity u, we hne

The two last integrals can be modified using


the Green-Riemann equation in the domains (SL)
and (SF) where they are respecti vely defined.

"

we have:

Thus,

0.IOkI

2
2r"
6~) cn
.) 60k(6)
i

cs0(e

-)

-_

(36)

jfis

-'

'+
x

{ti

the unit mentor tangent to the contour (c)


oriented in the positive direction.

1 1

l -[t[21

(4-)
(41)

..1

20

-0

s = n ' f' is the unit vect.noemal to n and to


, s,) is right? such that the trihedral (
handed (Fig. 6).

.. (xcosO+y sin B)
dy
X e
the contour (c) being described in the positive
direction,
From the defining formula (35), the modified
Kochin function is then expressed by
(k),

k 0 (0,hi + sec

X co

A3
~7

in

04

I I

) dy

The pntent-n( Of

... ..

the
~

(29)

l(6 ,k)

2'

xpressed from (20) and (A9)

integral, ie

The equation (29) can he general,.


cnn, always bar:
sane proof
1(0,k)

even if the singularity distribution ends


0.
on the plane z

XI

-ih-h

Suhstituting in (37), we obtain :

t (6,+)

(
ik

.oso

catXon

-6

I(

function'.

The terms

('t -

--

1)k(

k-ko

and(-

--

in

fo

,k~zc

generating the.

'10

.(40)

n is the outward normal to the uorface


point bhlonging to the contour (c),

(1)

--

--

...
I-

...

iFk-k

+ i)

1(0)

-v 20t

6H01,k)

For a iuperficial enurce distribhutiov of Inwe


e, simply have :teruity
1

hoth integrals correspondinq to the vailabl, k


using the -dified *s(,s.n tl
can be (ntifornrd
inte~jrl : iii factr, we bane

36'|

aire directiy related to the nature nf saperricial singulsrity chonen


I
potential

k dk

g
3

ino)

3
.

:a'< 0 dO

Rdy

k(z + in)
...
--c
e i2
1

Kw

The lile integral 611(0,k) appears to te a


correction which !as to be made to the clat;ical Kochin function to train the ".?di fled
Koehin

) )IM.
j,)
dy
Ml

(f01

6)6,k)
0H(0,k)

with
OtiO,k) =

Fijur, 6
associated with the line

(37)

in a

1:1

k,

iw)2
. - ...
ii i ()

* in)
... . ..
.
k-ks~'O+

. .

k - k6 ose'i) 2,---1

d i0 ,*

-U :1

'

PIc

litta

F-ail ly,
oe deduce tie exrss
-ssuiiitvd with th' lint

ori of the po:ntirl1a

(M)

1(W)

A(MMi
rM)i

dEW14)
1,'

eMi

(4

do

-_

IIm

In-,i
if tile 'n-reflc,l
'
over the hullI surfae
t

n r lt 'l . l

In
lout

III th-

aK lis m iii

M h ,n

iiir

tnil

(M',

IT ,nIIy

,,ia

Wi'tin
a iv

i -atiji isf

y (1

i~

hnitti
liti

,lint).

ij

",M

i-

-1i

,i

inil

tlt

hii

MM

Iin.i
...itIlni
I-I"',i

on l

i'(

~
,

i-Ii1 iiiIMf

n-al

(m,'I)
lipt

HI.) with A msitnatl


I"nnu
h.. O. ,1

r iIn -

Wuf
ii is I o

I,

(nwn

-I

t)
tInith plai.'
'Sn
I n
'e'av
j'ttiitl

1 1

tc

i((
ii..

t -

rr,

- nt

t,-tt

114

LIo

uttnt

thp

iy

--

ints-

-n~liitt,ibuinriI

(, m M, i.n'
t' f ,

nli'l

Inn

t'~

i--t
'*

Ir 1

)-.-n

i,

&. ,irib

1n

iti -uir

.iil110(4nin
,~

irit

(41)I

0
nn14.-tr'
Ii~
I4
I,,I

of~
nrcI,,
ihi'nnlI
iy

llILIIy
ii-i.t

Ia1

ii-11

Knni
(M, M'.

i ,

(mtsf I

Idi
i

tinipI-1 intotity

I,

1MM
nce).oers,'i

liii

f-,ii ( )

ori sr

hal,

rit
,nnr
otrr
-

to

11

,ItnIru

ornu)a

I1,h.n

otIn

dins

KIlvi

- ni

fjli-n
I,,
I'tI

liiiri

IMM'idl-M'
.?fI

() mlpr

trihutilon
fron (18)

pol

-(

EiA')hMM'C.dCtM)

1), (43),,a ssperf,.ial noenwi

(4'riux
of
.

.''C')nd

isprfca

ittutoso

or

cepaotential.is:hsedestis

raea

(50)C

im'CM.
N'o

where
ACMM'

(MCM'h

the- alrad (Ms

fthtto

oefise
=iieThe
sorc .

1(M

(.

GrCM)

s osensi
swn

sie,

from

threor

whr
(

,m'

th

alrad

(75

w'fno
i-

to stil

Gree
to(I

~~

Mere
corditit, qilin
ine directl
presse
thatis theown
p veia
rateu
hulltv iseultoteladn
ME

eachMsin I

C of, th

hull

usnwom

inre

insit

fnte,
i

e=~C

ex-tlbl
qette-ll

al

Whe th

nse

qua

by

wCa,1

.C

am, t Co
. 1

oxl

tplsst'lst
iin

It,

~r

1s-rt"'l

cA r

nt(r

t searmsMsTxW

Cx

ttuqidntell.

ex-al

r- ri
tothele

'
and er

writ

MM
rcfential

)C

sdircl

t!,C
'

to" torte ti

setn

thIs

tltt
inarto''o
hatI'sttent',

ha

orhe

~inside therlWr-

4. EM)uIxa

rata
th hllis
isid

ti whc"

(C. W5)o

Cf)ai

Heto

eurs
y is qnowecul

wnmoagt
i- ttn( m

tittt. (m r

mf

dettatie

tetei

rtt

bearing a uniform singularity distribution ; the


elemnt'
i
j numbered from I to M, ending a' the
free surface, cut out of the waterline M elements of ar fj.

But it the particular case of a hull surface


ending perpendicularly at the free surface,
this stratagem doesn't work; in fact, the inteqral which depends on (.P) , dJsappears due

TheJ, in the case of superficial distribution


of sources, the integral equation (49) is replaced by the folicwing linear system of N equations with N unknowns, the glidinq condition
being so
satisfied At the center M, of e
each scan
lement

to the fact that the product (s.i x ) is zero.


Up to now, we limit ourselves in considering
U
havng thi ch reisi cthsdere
hulls having this characteristic : thus, we are
not able
to assert
thatsolve
the the
proposed
stratagem
be easily
used to
general
case.

L)i
N5.

"7

0 Kn
Ni +

X
I

~1

'l

Epi.cit form of the influence coe ffi-

(CJ=M

cients

-H

1,2... N
1
Ki

(M , M').dZ(l')

Before writing a computer program solving the


Ne-mann Kelvin problem, we have to perform analytical computations as completely as possible

1))
160)

in order to
fonm numerically only the quadratu,es which are absolutely necessary.

(61)

The surface and the line integrals occurring


inside the influence co'
icients corresponding
to source cr dipole distributions cannot be
xactly campied unless the elements sj are pla-

(
x(M i , M, .de(Ml)

X1, =

le polyqona'
The coefficients Kij are called "influence
coefficient"(f the element s, upoc the point Mi;
lihewise, Xj is the Influence c, fficint of
tie arc t1 upon the point M i.
In the case of a superficial distribution of
normal dipoles, an additional difficulty appears
ti,c te fact thit, in the licie integral,
,h(,
ie terms depending not only on the drnstty, u{M'
and

but ahqo on the derivaci,,s


'(37
'occurring
Asp

elements.

The hull surface (F) will thus be discretised


taking care of thus necessity ; besides, it
seems that this ap,roximtion, which is discretising the hull into plane elements, is cjnslstent with the one which is assuming that the
sincularity density remains constant on each of
these elements.
Whatever the type of singlarity adopted,
all influence coefficients are practically
in the same way. Thus, we only explain
the method used sot express the coefficient Kit
in the inear system (59), from equations 0 5), (47) and (60), this is:

al,
)compt.ted
.)M'

Concerrina the term

o-M
(M.M').,I'lt(
N'
which Is II equations (SS) an;) (5f,), th, diff,culty is ilnmmdiatly removed iii intecratin
by parts ; As o is a .n)form funct i)n, at Ve.t...
tot a symmetrical hull n...inq without inrld...c,
we simply 1cn-

K
13

k
ij

+ 'k
il(2

(62)

with
(

'

-,

hk 4'1

is h."

cttribution
unlie

2, 2

of th

cut only at

the cent,

H,2

r1

11
h)

i'peoah*q,9in

trm

*1

so easy" to co'mpute.

X se,40

A way which cculd be usee. to solve the diacrtised prohtlom is to cone-dor the tensui(J
for
In ,
I
.j " M -, Additional uniknowns t at that ,sent, tile condition
- Cm
a or
- 0
hould be
satisfied

iI
) dFiM')

8'
c(M,M').dtiM')

the other hand,

jj-.j)

jA

ti

j.

1i

;,w

di(M'

()6

are the compoes.it of the norzol vector


(
C)
i. the funtion ef 't 1 1 and ()4)
its second derivative.
i

i"'t

of theI element

mi but also at the midd)e of the gi Jme] (,.


This
ethOuli qtv," a line-r system tnf N+M equa

Thu coefrt tent k Is imply the c)rsi


opeed e-erat-d, in ihe p,.Lnt Mi on the olemont
al , by ths element a and its symatrical one a'
3
with respect to th
b. Diane
0, it ttey are baaring a roesftant dleLribution of
source
,rd.naty

tions with N+M unknoWns.

kith a unt.

lie

ittensity.

This coefficient, which occurs also in solving


the problem of a moving solid inside an unbounded fluid,is easily computed from the Hess
1

cos28 0

uid

Then, we only have to put the coefficient lij


into a form as sophisticated as possible; as
it cannot be expressed in an anslyticl form.

Ls8ad

Jo

(65)

c)

(71)

cos6)dy

This equation is valid for any plane element


cf any shape : we go on with the computations in
the case of polygonal elements.

- 0
The contour C is then made of m segments 31,
k
whose ends P1 ,k
P k+ are numbered from I to
m, turning in the positive direction ; I is
then
20
(
con2
(72)

)
)

-ir

(p

or
Sp(xj-x o

(70)

[{g

Let 0 be any point of the element sj and Pj

moving point of it. The equation of the element


plane is then
nj .OPj

dx

G()
C

2(r

CC(C) dE(M')

i(e)

The comparison of (69) and (70) gives a way to


express I in a form vich is always valid:

we compute only thlesurface integrsl;


I

2
2
g+Smi 2 cosfr

+ qj (yJ-y
1

--z)

nj, whose components are pj qj


vector normal to the element.

=0

(66)

r.,

is the unit

ko

1j,k

with
On s7 ,

C =.

the variable

, :

(xih+i

z -zj+i[(x -x

sec

)cos 0

y1 -y 1

- irsin 0)

(v-yo) +

# 0 ; from (66)

y,k+]

(
yj,k

(
On a straight eiement, 4 is a linear function
of one of the variables xj , yj or zr; we have,

pj

in particular,on the segent


J,k+l - (J,k I 0,

so that 4 could be considered as a function of


two independant variables y, , z1 .
Therefore, the surface
ten in the form;

integral

I can be writ-

1j

l
dxs

d
d

k+i
I

co s

p i+

~(,k+I

tle Stokes formula; we obtain:


l68
*
G) ) dy 1
((J,
68

I'>;---i

ly
1

,
j

We can use
c
o
I
kI

r'J,k

1l

dr

J,k

and therefor
k

j sin O)(sJk l -

(p

irI to. 0)(y

or
2

cIs

p8 - ir

d.)
.

j,k

is only a function of two independent variables.


To begin with, let assine pj
we can write

(67)

rose0
(

(69)G

-__-___P____s_
,k+(

being the contour of tle element s, descrid in the positive direction detormie d by th.
normal vector nj
C

If qj 0 0, we can write in the saw

way

117

k+1 -Y 1 ,k)

0(,

(74)

For CJ,k+l

il~

jk

Ir, - Sine)
8,

sources of unit strength


;

5
.k
-ir~sine~x -xJ,jk

k)

-YJ

k)j

Yk

Cos08) (

(pj - ir
Finalily,

We hae

(q i-

cient k

0,

equation
N (8) -

(75)
G(

(21J.

from the defining

we have
et
ek 0 sec 2 8(2-

H1 a)=-d

(h ous 8

Y sine))d

1)

This integral can be compared to


the one in
I

we can Write the influence 0,effi;

IM

ko

" ( ) dr

2j

iJ

which is computed to evaluate


the influence
coefticients.

Ki

i(-r
sinex
8) (x
ir

{x

(a) sec 0 dO

Kis

The results can be transposed without


new camputation u5ing the following substitutions

cn

8)(

j kl

-,

Cos 0)(Y J,k+ -yj,k ) K ij,

ij
__ J ,k+l -Jk

k)

C1J 1

G(C.)1

lC .k j

i
+yj sin

From (71)

we deduce

(76)

Hj(8) ff-

(6

[.

if

scs

k . se e0 [Z ,- k(x , Cos e
(71)w e
C

m
S(p-ir j

~ [e

G(0

iros0
r,

( pi -ir
in

sin a

1 ou s

dx

d5

the case of a polygonal element

with m

sides

Kijk

L(J

)G(

J~k

~26

Hj()-

4
j.k+l

8)

)(qj

and,

.Ir

k-

is

n )(x
+j,k']

bt

kJ
J
f

JJ

is
0

a nmerial

constant generally equal

to

if

-4

j.k+l-Cjk>

It

6.

o mutaton th

v~ess

tanc e

6. co
After deteriini.g
ki~nmtc
resistance

the sin"ularity
ly equivalent to the bull,distribution
the wave
is calculated using Havelock's
for-

sec
3C 0

JI(0,k

ae0 eI

d.

k0
In

a2et*I
y

auM.rqd.cI

tts8
!H

o',upletely

beering a constant Aiatribution


of

I77
Jk

-.

obtain

in which V (O ktec6)
U (0) ia the value
o
taken by the "ModifLed
Kochin flinction"
for
k
2
k I 9ec 9, TO start
With, we write the vals

(78)ItI
o(78)
]

it jj.k~l-Kj.kj

2 o15

N6) ode to a plane elegmt a

j ' k

[j"
.CJ k+l+.4

the seaw way,


Nutm~rgd

tant distribtion

~s2l(e

Hi)

lment bearing a conS-

of eorele

dipoles

m
J.;[ainO(s

w k.

the contribution of

- Cuaosa

-xk

-.
1

RJk)k

where HJ, k is

the function

defined in

equa-

tion (78).
Finally,

for a segment

contour cintersection of
ne z -0.

we lace frame

belonging to the

4F(8)

1w hull with the pla-

(39).

140) and

(41)

+ For a superficial distribution of sources


of unit strength ;

S(e) -7-

op: (yj~

) H
(90

1(80)

341
pj =

i
Figure 7

with:

+11

(e

for

"J+ + eC)

H
j

This case corresponds to an influence coefficient due to a i-ctangular element, bearing a

constant distribution of normal dipoles, whose


vertices Pk are

-Cj+
T

2X
-

ik asece

+ 0.0

Y2

-0.2

+ O1

Y2

x0.01
-o0

for

+yX sn-

cosa

0.01

-0

Y42 -

The influenced point Mi

dicular

(8)

sec

-y

- I

Y4

0.01

is

Yi . O

the wave number

)H

= - 0.02

Z 3 = - 0O
0.2

+ For a superficial distribution of normal dipoles of unit density, when the hull is perpento the plane z - 0

--0.2
z2

Zi =

being K,

0.0)5

25.

It appears that the influence coefficient coiputition needs a lot

+4w k

pj
4 P1

being again the


I
istratgemes
mule (81).
H

(a
1 -x

C
e

study

in the ten thousands of functions we have to


integrate.

To achieve the computatione, we used various


and we tested a great number of classical quadrature methods ; but, up to now, the
computing time necessary to solve the problem

function defined in for-

is still
IV.

of care; when w

the whole hull, there exists a great diversity

1(82)

Solution of the discretised problem

very important

We then realise that it

for any chosen solution.


is

very disappointing

to spend a lot

of computing time for a result


showing great discrepancies depending on the
singularity type and the way of discretising the
hull surface.

in establipeculiar difficulty
is no
The
shing the computer program solving the Neumann
Kelvin problem for a singularity distribution
made of sources, normal dipoles or mixed, Mowever, the computing times are extremely long, due
to the fact that each influence coefficient is
given by an integral whose kernel F()
is a
very oscillatory function of the variable 8;

5 . To Lcopute separately the farfield and


the nearfield contributions.
. To use asymptotic formulas valid when the
influenced point iii very far from the influencing element.
. To integrate by parts in order to put
F(O)d8 under the forue (8) d[Q(8)J, whare 7)8)
is a function having no capid variations.

when the influencing emement sj and the influencod point Ni are situatd
near the free surface
the high frequency
sacillatlone occur when the
kernel values an
still
of imortance. On figum (7), we show the kernel variations we had
to consider In a concrete example.

119

To our knowledge, only the Japan researcheis,


using superficial distributions of singularities made of sources, gave coherent results able
to be compared with experiments ; however, their
papers are generally illustrated b1 curves showing a very few number of points obtained by
numerical computations. We may, therefore, imagine that, if their programs are operational,
they must spend important .zmputing times, even
on big computers.
A priori, the resultant dispersion, observed
using our own programs. can be due to one of the
following facts :
. The Neumann Kelvin problem is not, matheniatically, well formulate
since we are not
sure tlit it does admit onp solution ; the solutions obtained numerically are then without
sense.

Figure 8

. The computation of the influence coefficients has not been performed with enouoh accuracy in every "ases; it is not totally excluded that peculiar difficulties could escape for
certain relative dispositions of the influencing element n9
1ad the influeuned point Mli.
Now, it is sufficient to render the solution
completely aberrant if only one influence cootficient is not very well computed.

Stability of Numerical Results


Here, we ate looking for the numerical rcsults
sensitivity to the way of discretising the hull.
The tests are made on an ellipsoid of length
L = 14 meters. of main radius r
I meter, who1
se revolution axis is submerged to the depth
H = 2 meters.

The Neumann Kelvin problem needs a very finely


discretised hull surface.

The table (I) sums up the results obtained


for
HE 5.
is the wave resistance
expressed in kgf, N is the num.berof elements
in the ellipsoid discretisation.

In order to localise the difficulties, we gave


up, for the moment, the idea of solving the case
of a surface ship. In fact, when we consider a
completely submerged hull, we get rid of the
two first difficulties, pointed out above.

Table I

On the one hand, we are nearly sure that the


Neumann

Kelvin problem has a unique solutions.

-.

On the other hand, the influence coefficient


computation is much easier than in the case of
a surface ship ; the computing times becoming
reasonable, it is then possible to perform systematic tests.

Program

To achieve those tests, we adopted elongated


ellipsoids of revolution 1 they are placed near
the free surface in order to obtain a significant wave resistance when they sove in a direction parallel to their resolution axis. The
ellipsoids are disc:etised with plane elements
such as shown on figure

60

888

7151

144

920

781
-

"

192
-

(8).

The computer programs are those established


for solving the case of surface ships I we simply suppressed the special instructions for
elements ending on the it-. surface, We denoted by
(S), (D), (S+D) the programs solving the problem
with sources, normal dipoles and mixed Greec
distribution respectively.

Prog

894

Program
S +D

708

783
-

782

-- -- 786

---

It appears that the results are nearly idestical when the problem is solved with a dipole
distribution or with a mixed distribution
however, the wave resistance value obtained
with a source distribution is very different
from the preceding one.
Besides, the values of R,, given by the program (S) and the program (D), are very rapidly
varying with N.

a Kochin showed the uniqueness of the solution


except for some values of he Froude number,

It Would be obviously of a great interest to


see if R tunds to the same limit, whatever
the type of singularities chosen, when the hull
is d&scretied with more and more elements.

120

We had to give up temporarily this idea,

the

Table III

estimated computing time to perform this work

being too important with the present Formulaticn.

i j ;

sis.

We preferred systematic tests, mu~chless

-------------------------t
mean
924
984

expensive, using the zero Froude nunber hypothe-

The wave resistance values,


for the same ellipsoid, are in
the theoretical value given in
is the result of an analytical

144

60

obtained always
the table (I)
the last colunn

Ranalytim. 5
al
Cal

1
192

288

540

982

986

82

computation per-

formed by C. Fareil.
b) For a singularity dietrbution of a given
type, the gap, iR w , between the values computed
at exict Froude number and in the hypothesis of
zero Froude number, seems to be little sans
e to the hull discretisation (Table IV)

Table 1I
(zero Froude number hypothesis)

Program
S

Program
D

(028

320

1037

9ARw

60

Table

Rw Analytical

_______

8<

143

0C

1100
0

io0

80

Theory

c. Farell

_O

900

This is the reason why we did not use any


more the program (S+D).
Here again, the Rw values, not the

a mixed distribution. This fact cannot be a


result of chance since both curves shoving the
variations 2of the Kochin function
H(8, kO .ec l( - H()
are nearly identical along
2

- 14I

140

______

por N = 288, we again remark the identity of


the results given by a dipole distribution and

(sources)

the interval

IV

/N6

I .-

Program
(S+D)

Sources

o sources

same ac-

M Doublets

7U

corling as they are obtained by the program (S)


or (D), are rapidly varying with N ; for N- 5',0
there is still a divergence of 6 % between the
values obtained with a source distribution and
with a dipole distribution.

0 Doublets
i
1oo

exact
e:o
exact
zro
N

I
200

300

400

500

The reeults of tables I and II are also

given on the figure (9). The examination of

Figure 9

these curves suggests the following remarks,


which can very well be coincidence since we are
not yet able to justify them

Co

a) With the zero Frouds number hypothesis, the


men wave tesistance, B,,ea,
computed by aking
t en

risons with experiments

In order to perform these comparisons, we


chose an ellipsoid tested by C. Farell for which
he gave an estimate of the wave resistance coefficient C W .

the half sumnof the values obtained with a sourc distrlbution and a dirole distribution is not

very sensitive to the hull dlecretieation, at


least for N

144

(Table 1I).

121

:I
13

The geometrical Characteristics of this ellipsoid are the following:


L - 10 meters

, r - I meter

Due to these facts, we modified our plan of


work. To start with, as we had a rather poor,
but safe, computing tool, we tried to take advantage of It immediately in order to compare
the results with experimental data ; to reach
this aim as fast as possible, it was not umreasonable for us to spend a lot of money on computers, leaving for a following stage the uninspiring job of improving the cost of our
computer progrm . Now, it appears that expericomparisons are not significant unless
the hull is very well discretised ; hence, we
have to concentrate on the following points

H - 1.6 meter.

The pointj computed for only N - 60 are drawn


on the figure (10).

3
Cw omental
a
y(i)-r
p

w
-

(
*

e
t
,2 exact

.Rw

. Find a new formulation of the influence


coefficients, in order to integrate more rapid-

exact
zro

ly the very oscillatory functions. For that,


many solutions are available , actually, we are
developping two computing methods based on
various ideas.

Y zro

After determining the discrete singularity


densities kineeatically equivalent to the hull,
make a numerical interpolation in order to be
sure that instabilities are not only due to an
inadequate way of computing the Kochin function
we are now improvi.ig a program performing that
nerical interpolation.

O),)V

D(D),

0
0
13

I
0,35

0,375

0,40

Finally, the computer programs, already built,


will solve the Neumann Kelvin problem if there
is no limitation on computing time or on c&mputing cost.

Figure 10
These results, given by an inexpensive computation, show that theoretical values, though
they are scattered according to the program (S)
or (D) used, are not extremely far fiom xperimental values, as they should be in computing
them with the zero Frcude number hypothesis.

But comparisons with experiments, to determine


if the mathematical model represents well
physical reality, will not be done unless nusericil difficulties are overcome. Even if this
experience were unfavourable, we are sure that
the efiort made to solve the linear problem is
ueful; in fact, to improve a perturbation method, whatever its principle may be, to take
partially care of non-linear terms, seems to be
without any success if there is numerical doubt,
about 20 %.on the results given by the linear
theory.

V. Conclusions
This study on completely submerged hulls,
even if it seems to be far from our initial goal
gives us some lessons i it shows that
a) the difficulties, me' in the case of a
strface ship, are not totally due to the junction between the hull and the free surface.

Acknowledgements
We were applying ourself to the writing of
this paper when we have heard that Admiral Brard
"Profeaseur Associ&" at the "Ecole Nationale
Supdrieure de ecanique" in Nantes, was dead.
Our emotion and our sadness, due to our intima-

b) to compute correctly the wave resistance


of a ship, even completely submerged, wecannot
be satisfied with a rough discretisation .

te relationship

with Professor Brard for many

years, brcame more acute precisely because we


started our study wuder his advice and because
he recommended our paper to he presented.

* When we determine, with enough precision


for practical use, the hydrodynamic coeffisdents of a f1oatin7 hnly subj .. l W forced
oscillations, only one hundred elements are necessary
to solve correctly the Neumann Kolvin.
problem, the hull should be diacretised with
at least SOu elements.

Professor Brard wanted to apply a peaturbation


method hI recently put into shape, i, order to
improv the results given in solving the Neumann
Kelvin problem.
We want to dedicate to Professor Brard's memry our present work on the Neumann Kelvin problem as well as the continuation we are going
to give to it.

122

References

[1] BABA z. -TAxIsxumA K.


"A study on free-surface flow around bow of
slowly moving full forms"
Joural of the Society of Naw. Arch. of
Japan - Vol. 137 June~ 1975 p. 1-10
[2)

BPRD

[121,KUK Y,
"On the hydrodynamical singularities for
surface ships with special reference to line Integral."
Doctoral Thesis, Department of Naval ArchiThe Ui.of Tokyo 1974

N.tecture,

"The Neiuann Kelvin problem for surface


ships"
Bassin d'Essais des Car6nes, Reportll CST,
1971 (unpublished)

[131 MORI K.
"On the singularity distribution representing surface ships"
Memoirs of the Faculty of Eg. Hiroshima
University Vol. 5 n' 2, November 1974,
p. 15-26.

[3] BRANDN.
"The representation of a given ship form by
singularity distributions when the boundary
condition on the free surface is linearized"
J. Ship. Res. 16 (1972) 79-92
*

[14) IAEHAUSEN
.3.V.
'rhe wave resistance of ships'
Advances In applied mechanics. Vol. 13

RADN

p. 93-245

"The fundamentals and applications of the


Neuann Kelvin problem theory"
Bassin d'Essais des Car~nes, Report 16 CST,
1973 p. 7-56

[51 FARRLLC.
"On the wave resistance of a submerged
epherold"
J. Ship Res. 17 (1973) 1-11
[6)

FARELLC. - GOVEN 0.
"On the experimental determination of the
resistance components of a submerged aphecold"
3. Ship. Res. 17 (1973) 72-79

[7) GUEVFL.P. - VAUSSY P. - KOBUS 3.M.


'The disetribution
of sinoularitiea kcinematically equiivalent to a moving hull in the
presence of a free surface"
Int. Shipbuilding Progress 21 (1974) 311-324
[8) GIEVE P. - DLH2MPAw G.
NMdthode de calcul. de Ia rdsistance de wegums,
E.N.S.M. report I.R.C.N. 1976 (unpublished)
(9)

NSS J.L.
SMITH A.N.O.
"Calculation of non-lifting potential flow
about arbitrary three dimensional bodies"
Douglas Aircraft Lbmpany Report E.S. 40622
March 1962

10]) INUX T. - KAJITAN1 N. - KUBAKA Y.


Analysis of hydrodynamical source singulaites for surface ships"
Written contribution to the resistance
Comitte. 14th rrCc, Ottawa, Sept. 19T5

[11) KOfI
r

. - MORNGAN
R.
"The uniqueness problem for wave resistance
calculated from singularity distributions
which are exact at zero Freude number"
3. Ship. Res. 13 (1969) 61-68

123

-Academic

Press N.Y. 1973.

COMPUTATIONS OF THREE-DIMENSIONAL
SHIP-MOTIONS WITH FORWARD SPEED
Ming-Shun Chang
David W. Taylor Naval Ship Research and Development Center
Bethesda, Maryland 20084

ABSTRACT

been expanded, but the speed of computation has been


increased and the relative cost has been drastically reduced.
With further improvements of the computers. the computawill become less and less
tional advantages of strip .5 theory
6
significant. Techniques'
for calculating three-dimensional
ship motions have been under development for a number of
years: while general application of some of these techniques
.,, still restricted by the limitations of rsrrent-generation
computers, the method should have potential for practical
applications in the very near future.

A singularity distribution method has been developed


to calculate the motion coefficients ant: wave exciting
forces and moments for shis with forward speed. This
method accounts for the speed effect on the hoi!!
boundary condition as well as its effect on tie free-surface
boundary condition. tlence, the ztao-speed motion computation and the waveresistance computation are two limiting
cases of the present calculations the former corresponds to
the case of forward speed ap, aching zero while the
frequency of the oscillation remains finite and the latter
corresponds to the frequency of osci;lation approaching zero
while the forward speed remains finite,

The method of three-dimensional singularity distribtu. 7


lions developed by (hang and Pies4 has been successtfly
applied to wave resistance and time-dependent motion
computations for submerged bodies. Since this method does
not require a large memory space, it is workable on
most presently available computers. Extension of lite
singularity method to the calculation of ship motions at zero
forward speed , trivial while its application 't non-zero
speed casesrec, cs modifications. [his paper presents
,'culations of motion coefficients and wave-excitation forces
for I, dies at both zero and non-zero forward speed. Sample
t
calculations for a Series (i0 hull, with a block coefficient.
(', of 0.70, are compared with strip theory predictions and
experintental data. For the zero speed case the results of
the motion-coefficient comparison indicate that the present
method gives good results with a small number of control
panels, Is tihe iulermcdiatc-frequency region computed
moteon coeffic;ents agree well with both strip theory atd
experimental data. In the low frequency regior, the
computed motion coefficients agreewell with experimental
dala whereas the strip theory approximation gives less
satisfactory agreement. A comparison of ewave-excitation
forces shows good agreement between the present and striptheory calculations and experimental data over a wide range
oft' wetvefrequencies. Comparisons of wave-excitation moments
show deviations between the two theories and between the
theories and experiments. This discrepancy may be due t,
experimental difficulties in determining the rotation centers.
Non-zeetsspeed calculations are presented for Fronde
number 0.2. Agreement with experimental data in
not as good ea for the zero forward-speed-eane.

Numerical results for the waveresistance, motion


coefficients and wave forces are presented. The wave
re itance calculation for a Wigley hull has buen compared
to the experimental data 6s well as to thin-ship theory results.
Agreement between the experiment ad the theories is
satisfactory.
Motion coefficients and wave forces for a Series 0
hull have been computed and compared to experimental
data and to strip theory results. The present calculations are
very good for the case of zero speed and are much improved
over the strip-theory results at lower frequencies. For the
caseof a Froude number of 0.2, the present computations
are not as good as those for zero speed. Yet the results are
satisfactory and are also an improvement over strip theory
predictions.
INTRODUCTION
Since the development of a two-dimensional rolldamping theory by Urselt and the introduction2 of strip
theory to ship motions by Korsin Kroukovsky, the striptheory method has become the most universally used
technique for analyzing ship motions. The most extvuusively
documented six-degree-of-Ireedom ship-molion prediction
procedure based utn3 strip theory was developed by Salse,,,.
Tuck and Faltinsen. Good agreement between strip-theo)
predictions and experimental data Irasbeen found for many
classesof ships, it essnce strip theory converts a threedimensional body into hydrodynamically independent twodimensional sections, and the numerical computations of
Ilow about these independent seclions ar quite simple. The
compulatiot time and the memory spacerequired for striptheory computations are very small in comparison with
those required for three-dimensional flow calculations.
Strip theory represtnted a very practical approach to tte
calculation tsf ship motions on digital computers availsble
ten years usagowhen computations for a three-dimensional
body in a free-surface were impractical if sot impossible.

If the steady part of lite free-surface effect is neglected,


the inltence of ship spee' on the calculation of unsteady
hydrodynamics forces on a ship appears through its
m, 'ifications of the pressure calculation, body-boundary
con. ,'snand lite free-surface condition. Inclusion of the
speeJ rfect on the pressure calculation and the body
bound., v condition is simple for both the strip theory
approxn tion and the threv-ditnensiontul calculation,
However, lhespeed effect on the fte-surface conditon car
not be easili 'slahded in strip theory. Most strip theory
calculations to, a.,n-zert speed cases neglect lOespeedteems
ondition by assuming tht frequency is
in timefree-surfac
sufficiently high, s, -hat u,' /x) << o. For a fully threedimensional theory, o effect of forward speed on the

Computer technology has been drastically improved


'nory space
during the past few yeas. Not only has the
124

free-surlace condition can be taken into account by m+odiiyingthe fundamental singularity. In comparison to the zerospeedcase.this modification only leads to an additional linesingularity distribution at the intersection of the ship and
tie free saurlace.Numerical evaluation of the modified
fundamental singularity k similar to thz computation: of

and the free-surface conditions

+x4

and

*+

x-

wave resistance. Hence, tie effect of the forward speed in


the free-surface condition only increases the computation
time for a three-dimensional theory without introducing any
complications. This contrasts sharply with strip theory.
Forward-speed computations are presented here both with
and without speed modifications to the free-surface condition.
In comparison with the experimental data, the calculations
that neglect the speed effect on the free surface are not
good. The calculations that account for the modified freesurface conditions are satisfactory except in the casesof
predicted coefficients of pitch and roll damping. fhe
discrepancies between the calculated and the experimental
pitch damping coefficients are possibly due to neglect of
the steady part of the perturbing potential in the present
calculation. But this is not certain at the present time. and
requires further investigation,

.1 U

+g

an

0 at z

at

wheic

0.

g is the gravitational
acceleration
(nI ,n2, n3 ) = N are the components of
the normal vector N
=

(n 4' as ,n6 )

(in, in.

FORMULATION

(m4 'm5 ,in)

In calculating the ship motionsthe major difficulty is


to determine tire hydrodynamic forces due to the presence
of a free surface. If viscous stressesare neglected, the
hydrodynamic forces, F1 and MT. can be described by a
pressure field, P,determined from a potential field, O"T
that is

and

r xN

are the components of


the normal vector with
respect to the rotational
motion, r x N

m 3) = + T V(X + 0)

are the normal velocity


gradients of the steady
motion

rxmn - V(x +

xN are the rotational parts


of the (MInm ,m
2

FT

ff
-J P dS
Si

and MT = -,Pr . N dS,


Sa
t

atOT-

(9a)2
T

tl)

(2)

where SH denotes the hull surface and N is itr normal vector


directed into the fluid, I is the displacement vector, t isthe
time parameler, V is the gradient operator, and p is the
density of the fluid. Thus, the analysis of ship motions can
be derived from solution of a potential field with boundary
conditions specified on the hull surface, SB, and the free
surface, Si,. The boundary conditioas corresponding to a
shipmoving forward with small oscillatory motions in other9
wise calm water have beengiven by Timman and Newman.
The system that governs the potential field, OT, can be
summarized as follows,

Celnt,
0

A fundamental singularit, . which behaves as I /R


and satisfies the free-surface condition (6) is

o -0

90.0

in the fluid,

dlF(6,k)
n

dO
dkF(0, k) +
J L

do0 dkF(o
JL

bile

+ an)+ Ifs - x0c

k),
(

0 1
con ibly - Yo) sic 0)

ke
F(s, k)-

gk - (w + k U cos 0)2

(3)

(4t

(8),
if0 <

=i

arcos -

dO

Rt

where

6
0 and-t

4
j

the hull boundary conditions


(x+ 0"

i/a

0= UW/g,
1

and

J
G(x, y, z;X',0, z.
7.) =

withLaplace equations
2

3)

are the displacement


amplitudes of the linear
and rotational oscillatory
motions, respectively.

SOLUTION FOR POTENTIAL

Let (x,y, z)be the right-hand coordinate system with


z directed vertically upwards and origin at the water line of
the center plane of the ship. For a ship moving forward in
the x-direction with speed U and oscillating at a frequency
o, the corresponding potential field, OT, is the sum of two
potential fields: a time-independent potential field, U0,
due to the ship's steady forward motion, and a periodic
potential field, 0, due to the ship's oscillatory motions. If
the gradients of the steady potential, U o , and the oscillatory
potential, 0,areboth small, the system of equations may be
linearized; the potential fields U4 and 0 then become
uncoupled and can be solved independently. The governing
equations can be written as
OT - U(x+k)

( ,,V3) and ( 41,J3')

The system of equations 13)to (6)is. in general,


applicable to three-dimensional ships. If a ship is slender and
(U/a)0(a/ax) is very small, one may neglect the x-derivative
terms in (4) and (6) and reduce the problem to a sequence
of computations for two-dimensional sections. This is the
strip theory approximation. It should be noted that the
neglect of (U/)a/as) on the free surface is thesame asthe
pneglect
of thespeed effect on the free surface, since the
speed term appears only in the form of (U/ca)(a/ax). The
present paper will not assume that the x-derivative of 0 is
small and 0 will be found by a three-dimensional source
distribution method. Note that since the cross products
between thesteady potential U4o ail the oscillatory
potential 0 are of higher order, 0o may be neglected in the
computations of m i in the hull houndiry condition (5).
For the results presented in this iaper this simplification
has been made.

with
P/p

(6)

if0
i.

ini'l + Unitti)on S ,

an

k2

k1
Li
k3

20 cos tiS

'g /g-

+ v/

0<014

0
I/g2-' I - -4cos
, cos 0
2

2
R = (X - Xo) + (y - y)
2

i = (X-o)

+ (y_ yo)

+ (Z - Zo)
+(.+Zo)2,

and
(x,, yi, zo) is the position of a singularity.
With this fundamental singularity, from Green's theorem, and
the fact that the potential 0 satisfies a radiation condition
at infinity and the free-surface condition (6) qt z = 0, it
follows that the potential 0 at any point p inside the fluid
2
can be expressed as
0(p) = j

IG(p, q)

--

(q) - 0(q) 1

Gp, ql dS0>1/4

I
mFigure
Jf 2icUG(,. ,) 0(q) - UG(p, q)
2

+ U 0(q)

-1

ax

I - A Schematic Representation of the Wave


System Associated wsitha Moving and Oscillating
Source (from reference t0)

sq)

G(p,
q)j dy
p

(9

upstream. When P > 1/4 the wave upstream disappears and


wavesare only2 downstream. In the initing case when
0- 0 while uj /e remains finite, G approaches tie
fundamental singularity for body oscillations at zero forward
sped, When P - 0 while Ua/g remains finite, the
singularity G approaches the Kelvin singularity for
steady motion. Thus, the solutions for 0. and 0 with zero
forward speed are two limiting solutions of equations I10)
and (5).

where the contour intgral is over the intersection of the


hull surface So and the free surface. For a submerged body
or the zero forward speed case,the contour integral vanishes
identically. Examination of equation (9) shows that the
potential 0 is the sum of contributions from two types of
surface singularities in addition to the contribution from
the line singularity: one source distribution and one doublet
distribution. These two su.face distributions can be reduced
to either a source or a doublet distribution when one extends
the potential
field into the ship hull and applies Green's
2
theorem)
For the case when the line integral vanishes, it
has been pointed out by (hang and Pien that the doublet
distribution representation is a more direct and convenient
approach, However, for a ship at nonzero speed, the
presence of the contour integral makes it uncertain whether
the doublet method is more efficient than the source
method. The present paper converts the surface distributions
into a source distribution so that the line ;irigularity and the
surface singularity are of the same type. Equation (9) then
becomes

CALCULATION OF U,'I".. .DY


HYDRODYNAMIC FORCES
One can evaluate the hydrodynamic force and moment
from equations (I ) and (2) after the potential 0 is obtained
from (5) and (10). These hydrodyisamic forces are composed
of steady and unsteady contributions as well as linear and
non-linear contributions, since the pressure has a velocitysquared term. In the following only the calculations for the
linear unsteady force will be discussed. The calculations for
steady force have been discussed In (hang and Pian,
reference 4.

FfG(p,
q) Q(q) dS
4w S

0(p).-

!-

G(p, q)Qlqlna

9I f

Substitution of equation (3) into (2) and neglect of the


non-linear terms in 0, results in

qldy

t101
0

jo

P/

Y] I

where Q is the source distibution determined from


boundary condition (5).

t -

[UVlx

0n)

tc

V(l ed '

2
where the last term on the right-hand aide of equation (t)
is time-independent and aaaociated with the wave resistance
and the lift. The other terms in equation (I ) are time
dependent due to multiplying by gIwt and give riae to
unsteady forces. Now, let us denote the amplitudes of
these unsteady forces aNd moment y

The fundamental singularity G defined in Eq ( 4is a


function of parameters P - UwJcg and wilg. The behavior
of this function Is similar t0to the Kelvin singularity but
produces fiur free waves. A schematic representation of
its wave system is shown in Figure I. It is swenthat with
< 1/4 there are three wavesdownstream and one wave

U[V(x +

PJ
[Iiwo+

0)

and .eplaced by Ow + ODin thecalculations of the


unsteady forces given in equations (16) and (17). This is
because Of is determined in the same manner as0 but with
different hullboundary conditions. The diffraction potential
and wave-excitation forces are calculated directly in the
present method, while the strip-theory approximation calculates it from the Haskind relations.

(12)

dS

and
=
ISix'l
jS

+ UIVix + 0.) - Vol r

'S.
(13)

Then, from the fact that

NUMERICAL RESULTE
=

(
o sn

(t), (16), and (17)


(t),
Theoretically, equations(5),
complete the formulation of inear ship motions with forward
speed. Numerically, further approximations are necessary in
order to represent a three-dimensional body and to determine
the singularity distribution. For the present computer program,
the reprssentation of a ship is taken to be the sameas that for
strip-theory computations, except that the input offsets at each
station are further connected to the neighboring stations to
4
form three-dimensional panels. 1 In the determination of the
singularity distribution, the fundamental singularity is evaluated
4
using the method developed by Chang and Pien, and only

on

one has
F
"

pr
p
t
S,

+ tU[V,,(x + Qn

V]} "NdS

((4)

and
M pf

+ UIV .x + o)" VoI) rx N dS,

fiw

-a

(1)

minoi modifications are made in the fundamental singularity.


discussed previously the wave resistance and the zero-speed
motion problems are the two limiting casesof the present
computations. The computer program was first applied to
these two cascs,for which reliable and extensive information
is available for comparison.

where VT denotes the gradient along the hull surface.


5As

Calculation of F and M from equations (14) and k15)will


involve the calculation of gradients of V., 0 and VrO along
the ship hull. With proper choice of the pan.s used to
relresent the three-dimensional body, the calculations for
V, )b and VrO present no difficulties. However, with a
small number of panels, numerical evaluation of Vr may not
obtain sufficient accuracy. Alternative expressions for
F and M, which do not contain the form Vr,, have been
3
given by Tuck.' They are
"F= pJ
iWN+ UOV [V(x +
So
p

A. WIaN Resisane
The wave resistance
ofa submerged body hasbeen
evaluated by Chang and Piea from a doublet-distribution
3
method. The present program with wU/g = 10, and
2
p1a/g- 10-6 .g/U was applied to the calcu!ation of the

No)]
dS

UO dRx V(x + 0)

wave resistance of a submerged sphere and the results were


compared to those of (hang and Pien. The two results were
shown to agreewell. The present program was t,'napplied
to ship forms. The resulting wave resistance for Wigley Hull
289215is shown in Figure 2. In comparison with the experimental data. the present calculation agreeswell with the
data fora fixed model at high Froude numbers. At low
numbers the calculation tends to agree better with
the data for the model which isfree to trim As pointed
out in reference 15, this isbecause at low Fioude numbers
the experiments for model 2892 did not achieve steadystate flow conditions. In comparison vith the results of thinship theoretical calculations, thepresent calculations show
the wave resistance to have less-pronounced hollows. Iis is
asexpected because in thin-ship theory the source distribution
is pre-determined and neglects the interactions
among the
ningularities. (lhe present calculation method evaluates the
singularity distribution as well as thewave resistance. It
includes the wave interferences between the singularities
which in turnsnmooth out the hollows in the wave resistance
curve. More comparisons on the wave resislarce conmputitions
will be reported in the future.

(16,

and
am p

r{ e

.Froude

rx N + Uc,r X V)[V(x + 0.)

SB
+ U0 V

0 )xN

PJU r x IVix + o) x d 1.

(17)

where the contour integral is over the intersection of the


ship hull and the free surface, These expressions fr
F and 9i are especially useful forthin ships where the
steady potential # and the contour integral may both be
neglected. The common strip-theory calculation for nonthis advantage. Also, the strip..theory
zero speed possesses
approximation replaces the potential 0 in equations (16) and
(17) by a correspouding zero-speed two-dimensional
potential. This is because,as mentioned previously, the
neglect
of x-derivatives
is equivalent
to the approximation of
cero forward
speedon tse
free surface,

B. Zmeo-Slpt Motion Coaflllsta

s ah
b
ari
-rnt
d VugtSo1' fosreries
b -on0u&ip
by CGerrltsma"
and
Serieshv
60, (i
II .70+ship
models. Experimental data as well as srip-teory
predictions
for this ship model are given by both Gerrittsma and Vugts.
It is known that, In the practical frequency region, strip
yields
gd motion predlitlons fur this classof
shipsl Hence, the present programis applied to the same
ship for verification. Figure 3 presents the added-mass and
damping coefficients. The strit-theory results showr, In
Figure 5 were taken from reference 17 and thepresent
calculations were obtained by representing the hall'ship by
49 panels.
The solid lines in Figure 3 denote the strip theory

WAVE EXCITATION FORCE


Whe a ship moves forward in a given wavefield
oweiwt, having encounter frequency w., the ship creates
not only the potential field 0 but alsoa diffraction hield,
Ob. Sincsthe wave field is periodic, the system determities
the diffraction potential #D; and the asociated wave forces
are the sameas thoe for #, but with boundary condition
(5) replacedby
a
in

w +

)0

on

(l8)

predictions while the filled and the opened symbols denote

the results
of the present calculation and the measurements

127

1.4

1
1FRICTIONAL
@ FORNORMALDISPIT & TRIM

~~~
1 RSDAYFROEcTO
~~~

&TRIM

0M
PRSN
It

MEO
-

RM
EDD'0
41 0.8IUR@FRMDLFRET
0O
I
1.0
L IXE
00
HI TER Y
0.8 0TI
I

0.2 RFi2
' r

o$rio

00.1 -

ofMasrdan

acuae

lio
Wun RTtlac fo WHle Hul21
o f/d g 1e.rmet,0
setina nd0s
Moio cofi/et aepetwc
aslrestemeuD2vle
h srpter
forIh
,e ndoneobaiedfrm
wol
hesu o
th dmpngcoffcintfrm
7ri
teoy
ppoPma2l
e y wmde.
l ih
ns e band
ZwA
rdce 7talfelecisicu~gte
aiu
rqectepeitdvleo
yaw,
an o respectively;
apnesrmnsaeson
U iefceiso ichtr usa-ul
wl h
rrunrs
h
i ni r
la
un
wy.Ilsenled ee rmFiue3thItr
peetcaclroldmpn
iefirn
peitd
ysrp
hir.de
i
oraddmseofplhhev.iThev
M
n
reit
iesa o wynhdrtir
uliinsvr
re
i h t lredre
datamotTHhove r~ec
0.
e IN rsntd
S IP
T4 e. or
th0 reer
rri aittoimto.A
em a
vaue
of0fo
of e'.
Iusi i otatt
h
u e n o itenrceuce rudb
ietire
rsialbir
s a
sti~hoy rdcirs hc
eiaecnieabyfo
he
dr oepeierldifclis
el a
ie p e
measurenPRESEN
f0 h ic-raemre MEcept
o te
i tr i s
o
o h rdcino
nufcec u tirter
orde
ofmto0tfeunisaoeSsc.srpteiylr

~ ~
~ ~~ ~ ~ ~~~PFE
~ ~ ~

dapn,
h

n retecisiswltk/w.I
roici crfucetsi
imao
o esrwnhwwltreti0.r6nsrnlcacia

treicsfury rodmtoncefiiet.
nte useo
rsetclultosofpthage
el ih

th
prireta
e
dta Hwe,4
fu ihrmuts rrt
swyardsws-ril
teprdciosnr utvr grst hy

devite
theneasredvalus;
rirm
igre cl2
approimatly
tentypercet toer tan
ahw:oeotie
ate
ntrf
rept ictwmeasurements
beteethe oeuude.dl andcalcul aned

o otidcniitrretepeitinai
h Ipovmns r.
h

t valuesareso of Mea
eat Resisndc
for
ie

frmi

surend Cacltedrytistatt
r
H thele
l hreiessl

aredreemente
frequency, t h
hellswre
dampings
f
Ch

thnthatfor ae mande sao l tchee pchulate roildcs


yaaoamping
em
coesmal;cnethes
ofp th
,
fr,swyrolthel

o
rirar
peet acuairn ndcteta

ee
c2892ir

aiu
he
rdce
oeffiqcit fo m si t

iIri
,tr
hiudb ibius
o

Fm aier proxiae

ly

h wyad wy
dmigcefiinvr
alreue etrrfs
aidhnmowertfre
h
a Seiea The

avntsway It is seen
httremmeasured rethats tie
from
thenwoe mdel.
mas andre e sred rlhte ri
eta
frtovter mst of the setons, 0 reiotrseery difeen, It
seemes
thatfr theaaue6 roll d
imin
co nta may t
besutip-eny preicilorwhc verigate
edlctlviiusymromth
measurements arep rer te fitcer
eati o.
pitherd7
Foe
mdespof moeftinata reduences boe5 strip
e
theory
are notfiiec
ser
grodcthefal-oy
redition shefifiets.Itire
ae of

incul-olldmping
wfiecet
pereescandby stri
degr ares howt
agre 4.t tige 4eauetr
ashi
w ela
the
slt
ditccltions o
usngstr
theottry adiesoa
pveultiamtoa. meAst
metse d pblcreioeuenyionc ointhigurec4eprecthe comedas
ued in Fxgure . adifwiltoie api
lae oFiue
ti
enfo
h fgr httepeitrn
strip theory
the prevetiomuttiona
fnd mofrt
agre wti woficth t leoa
frequencies
l iswllkond
all

maexeim

mode
lion

an

iepe

dapin
a
f

Ho5wver fr apper mtiae

stemagnitude
of

rll,

thee
amping
d&Cltdc
coefficient

camt~ns
excproteei ya.
ando

flow minoet,

thel moob
e ir

ente capar to are wit thelpresentur

fom,*hm

trp hery lai t.aplyevnatthor,6h

ul

I.rxnieytet ecn
oe
hn
horsodn
edfrtetrediemnlc
eovos
decse ro temesuedvavi
hec~cu-dvaus re

THEORY

-STRIP

0MEASURED (WHOLE MODEL)

E 10

MEASURED (SUM OF SECTIONAL MODEL)

PRESENT CALCULATIONS

Is

PITCI,

50 0

~40

\\""

30

PITCH

22
0

0.3
10

~*25

0.25 0.2

o20

15

ROLL

HEAVE

00

Q 10
05005

o~g

0
01234567

01

3.

150
2.0

25~

0.

00 A

12
100-'

60

FRQENY

Figur YA-8eoSedMto

ofiinsfrSre 0

120

8Yw~'

SWAY

, 1

.0Hl

oe

HEADING ANGLE 120

HEADING ANGLE 300


2.0
r

2.0 --

1
SAY

i -

'

1.5
.5

, 75$WAY
SWAY

AtM!4
1.0 -_

1.0

L.o
O.7

--

. 1

0- - i
0-01
00

OL

00

1.00
*Y0.25

'' f - -

-/ ROL

-0.26*

z0A
0Ir

0
R:05 -

7- 01 0

i.C i

No.-Ob

IR

00,

YA015

.2

~0

-t

0,

,I

YA

~0

0
0

01

Im

II

by Waw

4inliud.

.0

0h

10

, Iaw
.I

lIlIO

flbshmm
w.

STRIP THEORY
o MEASURED (WHOLE MODEL)
0

MEASURED (SUM OF SECTIONAL MODEL)

PRESENT CALCULATIONS
.

I-

ITCH

N 10

40 PITCH
S30

o4

13

-20

O.

0.6

010-

25 -~

0.26 -ROLL
-0.20

20
HEAVE

.15

415 -

00
000 00

0 10401
0 5

00.06
00

PTCM*HEAVE

2,

WYRL

2..0 -

CO
0

220

0*
4S0

0
0

4.4
0

34

01

I -rI

_ T _ _I

(7
-

E 5-YAW

5
I

100 -SWAY

60

15 -

40 -00.

010

Oo

020

oC0

012345

012

FREQUENCY, Wso Ise

45

FREQUENCYwlsec*'

Figur 3 - Motion CoeffMcents with Sirmph SpeedCorrection


60. Ca U.70 Hutll Model at F, m 0.20
for Sodae
applied
to caLw~ilte motion coefficients at this Froisde
number. The meusurements, the strip-theory predictions and
the reults of the present calculations, neglecting the steady
pansta the perturbing motion. are presented in Figuires 5
end 7 for comparison.

0. Alotio Caefflelante with Foewat $pod


Reference 17also provides motion coeffcients fr a
Series60, C, 0.70, shipm,,del at a Froude number of
Z2 Thepreseent
computation program ha4thus been
131

As has been mentioned, the forward speed


effects on the computations of motion coefficients come
from the free-surface condition, themodifications of tthe
body boundary condition. and the modification of the
computation of pressure on the body surface. By neglecting
the effect from the free-surface condition the motion
coefficients with forward speed can be expressed in terms of
corresponding zero-speedccefficients. The formulae for
calculating the unsteady hydrodynamic forces, equations
3
(16) and (I7). then lead to simple speed corrections,1 i.e.,
for the heaveadded massand sway, sway-roll and roll
damping, the coefficients are speed independent. The simple
speed-correction formulae are applicable to strip-theory
calculations as well as the three-dimensional computations.
Thus, neglect of the speed effect on the free-surface condition
makes themethod for computing three-dimensional motion
coefficients with non-zero forward speed the same as that
for strip theory, except that the two-dimensional zero-speed
coefficients are replaced by their corresponding threedimensional values. Figure 5 shows the results of threedimensional calculations using the simple speed corrections.
It is seen from the figure that, in comparison to the measurements, the present results denoted by 0, do not agreevery
wellwith the experimental results., denoted by 0 and 0:
this contrasts with the zero-speed results, where the comparisons were quite good except for the roll damping coefficients.
The predicted magnitudes of the added massesat a Froude
number of 0.2 are too high in comparison to the measurements whereas the predictions for zero speed were very good,
as was shown in Figure 4.

-c---

Fr =
Fr = 0.20

12
E 10

8
"0
6
2

a
0
,

PITCH

0
I

30

-E25
I
x

20
a

15
15
0 10
w

HEAVE
I
I

In examining the strip-theory predictions, it is seen


from Figure 5 that the predictions of the added massesfor
pitch and heave at F'oude number 0.2 are good. and much
better than the corresponding zero-speed predictions. In
spite of the fact that strip-theory predictions for the other
modes are not good, it is clear that at a Froude number of
0.2, the strip-theory predictions of pitch and heaveadded
masse,arebetter than the corresponding three-dimensiorml
This
predictions which employ simple speed corret 1;,,ns.
r-sult
is rather astonishing because.tothe order of thelinear
approximation, the formulae for the speed corrections are
exact and the three-dimensional predictions forzero speed
have been show!s to be very good. Thus, one would expect
better predictions from three-dimensional calculations than
from strip theory, whose .:ero-speed predictions for heave
and pitch added masseshave been shown to be considerably
lower than the experimental values. In order to better
understand the reasons for this contradiction, the measured
added stassesof pitch and heave at Froude numbers of 0.0
and 0.2 are plotted togetlher in Figure 6. It is seen that
front a Fresde number of 0.0 toi
a Froutte number of 0.2,
the added massesof both pitch and heaveare significantly
reduced, except at high freqlue+ncies
wherv no significant
change occurs. One may conclude
fr:m these measurements
that the speed effect on the pitclr
and stave added masses
overthe freqency region presented is t1areduce their
magnitudes. Now, if one examines the farmulac for the simple
speed corrections to pitch and heaveadrrcd masses,it will be
found thatthe heaveadded massesare speed independent
whereas the pitch added massesshould increase with intreaxingspeedsince the measured heaveadded massesat zero
Froude nrrmber lake oinpositive values, This implies that
the behavior of tie uteasurements dores not Iollowthe simple
speed corrections for pitch and heave added masses, which
may explain the poor three-dimensional predictions using
correct zelo-speed predictions. It is then clear why the
strip theory predictions were improved at a Froude number
of 0. 2: the zero-speed predictions from strip theory were
underestimated so that when the measured added masses
decreased with increasing speedthe agreement between
strip theory and experiment became better.

0
0

2 3 4
5
FREQUENCY,

Figure 6 - Measured Pitch and Heaving Added


MassesforFroude = 0.0 and 0.20
Consideration of tire measurements at Fronde
numbers of 0.0 and 0.2, suggests that the speed effect on
the free-serface condition snay not be neglected in the
present motion.cofficient computations. Motion cefficients
were, thus, recomputed with the inclusion of the speed effect
through the free-strface condition. That is. one computes
the perturbation potential, 0,from the fundamental
singularity distribution using the exact values of wU/g
instead ofseting it equal to a very small number as itt the
previous calculations. The resulting predictions are plotted
as Figure 7. In comparison with the measurements, the predictions of added massesat a Froude number of 0.2 are almost
as good as the corresponding zero-speed predictions. It is
interesting to note that the curve for the measured added
mass for yaw has changed from convex at zero Froude
number tor concave at a Froud- number of 0.2 and this
change of characteristic is correctly predicted by including
the speedeffect of the free-surface condition. This was not
predicted from either strip theory nor three-dimensional
theory when using simple speed correclons. Note that the
measured values, denoted by 0. are thesutm of sectional
nicasurentents which may not be identical to the measurements for the whole ship model, denoted by 0; for example,
for the yaw addedmass, the valtes of' the measurements 0
at zero speed are lower than the values
of the corresponding
sertional sum 0. In view of this, tie present prstdiclion of
yaw added massmight have been considerably improved ifthe
measurements 0'had been available. The predictiont of swap.
roll and sway damping coefticients at a Froude number of
0, 2 have about the same accuracies as their corresponding
zeroFronde-number predictions. The predictions are not

132

THEORY

-STRIP

o MEASURED (WHOLE MODE L)


MEASURED (SUM OF SECTIONAL MODEL)
PRESENT CALCULATIONS

0
*
121

1 1

10 PTCH

40 -

PITCH0

20C

10

-0

c25

0.25 -ROLL

e20
a

~0.20

HEAVE

~15

.05

0067

~.

10

00

O.

500
0

12

0 0

3 4

0o

01

5678

2.5 -

MITCH449AVE

S2

45

23

WAY-ROLL
0

2.0 0

*0

105

0-2o

00
0

00

00

.4

0.6

K-YAW

~20

-100

,I I

-SWAY

sao

10-

I Y

0 -

-o

zs

0
00

40 -0
0.

01

0
23
4 56
FREQUENCY, .(sac-)

01

56
2 34
1
FREQUENCY, wisec )

Filure 7 -Motion Coefficents for Series 60, Cs 0.70 at Fr - 0.20


only better tha those from atrip theory, whichl arespeed
independent, bustalso resemble fairly well the measured
speed effects a functions of frequencies; that is,above a
effect decress the
frequency of about S er I the speed

predictions of roll damping coeftIcients do not appear to be


good. However, the speedef.ect in increasig the rol
damping coeffcient at low vajuso of frequency is cleary
shown In both the experimtental results andthe predictions.

the speed
effect incruass the damping coefficients. The

damping; coefficient is not good. It is hard to understand

vau~ofth
ceflistnan
amin

elw ha feuecy

Th

omarso

btee te rdite ad esuedpic

why the predicted pitch damping coefficients at a Froude


number of 0.2 are so much lower than the measured values
in viev of the fact that tie corresponding zero-speed predictions are very accurate. To check the present numerical
results the computer program wasipplied to calculation of
s
the pitch damping coefficients or a modified Wigley hulli
specified by:
- {[
(2sl
y = 2[
- il4]

in the present mathematical model, e.g., the steady part of


the perturbations. non-linear effects, etc. To further improve
the computation of pitch damping coefficients, one may
have to include these additional speed-dependent terms.
CONCLUDING REMARKS
A computer program developed for calculating the
steady and unsteady forces on a ship moving in waveshas
been described. The program calculates the wave resistance,
motion coefficients and wave forces from a source
distribution method. Unlike thin-ship theory and strip
theory computations., the present computations employ threedimensional source singularities which satisfy the body
boundary condition at its mean position. The computer
program has been used to evaluate the wave resistance of a
Wigley hull tested by Shearer and the
= motion coefficients
and wave forces of a Series 60. (
0.7 ship hulh. Computations were also rnadc for a modified Wigley hull tested by
Golovatc, in order to verify pitch damping coefficient
predictions.

F[
{i2xu

L\L/
I[lift.

(I'll

0.7

- 0.3

where L, B and D are the length. breadC .ir draft of the


hull, respectively. Figure 8 shows comparison of pitch
damping coefficients determined
',y the presit calculation
5
method, measurements' and the thin-ship calculations by
Newmat.19 It is seenfrom the figure that the present
calculations agree quite well with the measurements and also
agreequalilatively with the results of Newman. which wire
calculated from a polynomial representation of the hull.
It seems,then, that the measured pitch damping coefficients
for a Series 60, (B = 0,70, model hull at a Froude number
of 0.2 may include physical effects which are not includzd

II
|[Ii
II.

.
...

-a-J
-

For Wigley Hull 2892, in the Froudc number range of


0.25 to 0.60, it has been shown that the wave resistance
predicted by the present method agreeswell with experi-

R Nmuch
PRESENT

CALCULATION

major effort rks iat in the present work to


investigate
po,irle impriver....ts of a three-dimensional
ltheoryfor r, .. _:...... Al 0 ship motion coefficients
the
wave exciting forces and mtinerits. It was found frou and
the

NEWMAN
MEA u,,~tC
M
ir

rise

z
eero
forward speed calct,tri.ns. that, for most of the
freqserrey range, theagreement between the added mtiass
coefficients computed by the uresent method and the
experental data is better Iran foi, strip theory. In general,
ii iislts irrtictcd hy the present method and by strip

!///'
0,03

thcory aic shown to agreewell with experinmental dala, bill


tihe pitch damping cc'fficient it was found that

Sior
F-

Fr
0.00
N

}O.2
0.02

,2

--

Ol

I/

0.09
S0.00
.. 0.00

~~
N

0.01

0.19
. 0.30

$A
I ;
FRE0UENCY
F

-"

F,- 0.36

0,.

0.36
0rpodel.

1
2
FREQUENCY,

strip
tihe-ory
agreesi - v wilts botth the penis'it iseliid
and the
experiment
ol.i.
Ffs r ti eroll case thsre are some
inrerlved discrepasrciss tetween the present rielhod, strip
theory and exteriments.
. c orrerction
1 inally, it is shi.wn that tire snirtpl-sped
noriatilly used in strip theory does not adequately characlerize tIre actual speedeffects ote reed in tlie rseasuremenIs,
The sleed term in the free-surfacc coirlition has to IX.
included in order to obtain reasrable qantitative and
quilatitat ivc predicions. When the speed terms are included
in tie free-surface condition, it is shown thaI tlre present
resn Is agreequrite welt with exterimnsetal itata excepstirs
tire casesof the roll-damping and pitch-damping coefficients,
11seen hai the discrepancy in tihe predicted pitch-dampirg
coefficient of Series 60, ('e = 0. 7, hill form at a Froude
number of 0.20 may resulI front sone physical effects
which hi;,v- ii,been included in the present tnalheinatical
hi improve file predictions fir il pitch-damnping
siefiticienls consideration slould hi given it nrclusion if tile
c tI' rirdrl tcrisis twelwirli
rise tcillting potential and the
stcady ,t,urhrtin
tpotential which hirve lie negleclei, it
l~ile'
present callatioll,

0
0

mental data. It has also teen shown for this case that the
wave resistance curve predicted by the present method has
smaller "humps and "hollows" than those predicted by
thiss 'hip bco.

ALT
r

Figure 8 - Pitch Damping Coefficiens


for a Modified Wigley Hull

hic nunmerical resells presented in this papler were


obtained frois the Texas Instrument Advanced Scientific
(ompller at tire Naval Research Iaboratory. The comiputa
lii illne fir a zeeo Itrwaro speed case (or zero frequency
casel was apprsximutely 50 seconds for each frequency (or
each Froude ntntr). The cost is about $15. For non-zero
speed and non-zeri frequency cas the required computing

134

time and cost were approximately triple the zero-speed


computing time and cost

I1 Havelock, T.H., "The Effect of Speed of Advance


upon the Damping of the Heave and itch." I vansactions
Int. Naval Arch. Vol. 100, 1952.

Although these calculations were performed on a fast


new-generation computer, the computer program was developed for more conventional computers with smaller memory
spaces scd as the CDC 6600 or IBM 360. Therefore, the
present computer program has not taken full advantages of
the new larger computers. If one modifies the present
program and vectorizes the statements, the speed of the
computations will be increased. It is expected that the
computing time can then be reduced by a factor of about
three and the cost will be reduced to approximately $5.00
and $15.00 for each zero-speed run and each non-zero speed
run. respectively. A further reduction in computation time
can be e'pected to result from modifying the computations
to take advantage of the large memory space of new
computers.

12. Brard. R.. "The Representatkn of a Given Ship


Form be Sinularity Distrihution when the Boundary'
Cliodition on the Free Surface is Linearized." Journal of
Ship Research, Vol. 16. No. I, 1972.
13. Tuck, E.O., "A New Approach to the Strip Theory
of Forced Ship Motions," Hydromechanics Lab., David
Taylor Model Basin, Department Report. 1966.
14. Pien. P.'., "Calculatkn of Aon-Lifting Potential
Flow About Arbitrary Three-Dimensional Bodies Based on
Doublet Distributions." David Taylor Naval Ship Research
and Development Center.,Department Report SPD 601-01,
I175.
I5. Shearer, J.R., "A Preliminary Investigation of the

ACKNOWLEDGMENT

Discrepancies Between the Calculated and Measured Wavemaking of Hull Forns," Trans. North Fast Coast Inst. Eng
and Ship Builders. Vol. 67 1950.
16. Gerritsma, J. and W. Burkclman. "The Distribution
of .he llhdrodynamic Forces on a Heaving and Pitching Ship
Model in Still Water." Proc. of the 5th Symp. on Naval
Hydrodynamics, Bergen, Norway, 1964.

the author wishes to express her thanks to Mr.


Justin McCarthy for his continuous support of the work and
to Dr. Nils Salvesen for valuable discussions during the course
of this work. The author also wishes to thank Mr. Richard
1'. Van Eseltine for his assistance in converting the CDC
program to a TI-ASC program The work reported here
was funded partially by the Naval Sea Systems Command
General Hydrodynamics Research Program, Task Area SR
023 0101, program Element 61135N, Work Unit 1552-015
and partially by the Numerical Naval Hydrodynamics Program
the David W. Taylor Naval Ship Research and Dvel pment
at
('enter.

17. Vugs. J.H., "The tlydrodvna;.tic Forces and Ship


Motions in Waves,"Ph. D. Thesis, Delft University of
Technology. 1970.
a
18. Golovato, P. "The ores and Moments oI9
Ifeaving Ship."- Journal of SI-.p Research. Vol. 1, 1957.
10. Newman, J.N., "The Damping atsd Wave Resistance
ofa Pitching and heaving Ship," Journal of Ship Research,
Vol. 3, 1959.

REFENIENCES
of Cy'linders in
I. Ursell, F., "On the Rolling Alotion
"ic Surface of a Fluid." Qtcrterly Journal of Mechanics and
Applied Mathematics, Vol. i. 1949.
2. iorvin-Kroukovsky, B.V., "hvestigation of Ship
Motkns in Regular Waves,"Transactions SNAME, Vol. 63,
1955,
3. Salvesen, N., E.O. Tuck and 0. Faltiosen, 'Ship
Motions and SeaLoads, "Transactions SNAME, Vol. 78, 1970.
4. Chtang, M-S. and P.'. Pien, "lit'drod.'natic lsrcc,
on a Body Moving Beneath a Free Sit/ace." Ist Int. ( lcronce on Computational Ship Hydrodynamics, 1975
5. Bai, K.J, and R.W. Yeung, "Numerical Solutions to
Free-Surface Flow Problems,'" Proc. of 10th Syrp. on Naval
Hydrodynamics, Cambridge, Mass., 1974.
6. Kim, W.D., "On the Hartsoic Oscillation of a
Rigid Body on a Free Surfice." Journal of Fluid Mechanics,
Vol. 21, 1965.
7. (hang, M-Sand P.C. Pien, ''Veocity Ftentialb of
Submerged Bodies Near a I'ee Surfac,-Application to WaveExcited Forces and Motions, " Proc. of I Ith Symp. on
Naval Hydrodynamics, London, England, 1976.
. Todd, F H., "Series 60, Methodical Experiments
with Models of Single-Screw Merchant Ships." David Taylor
Model Basin Report 1712, 1963.
9. Timman, R. and J.N. Newman, "The Coupled
Damping Coeffh'ients of a Symmetric Ship." Journal of
Ship Research, Vol, 5, March 1962.
10. Wehausen, J,V., and I.V. Iaitone, "Surface
Waves." Handbuch der Physik, Vol. 9, Springer Velag,
Berlin, 1460.

135

COMPUTATION OF THE FIRST AND SECOND ORDER WAVE


FORCES ON OSCILLATING BODIES IN REGULAR WAVES
J./. Pinkster and G. van Oortmerssen
Netherlands Ship Model Basin
Wageningen, The Netherlands

Abstract

and submergence and submersibles, it has


becu,. obvious that second order wave
exciting loads are of importance here
also.
The first order wave exciting loads
and motion response in irregular waves
may be predicted from the normal frequency Iransfer functions which can be
obtainec from computations or tests in
monochrtmatic waves, The low frequency
wave exciting forces in irregular waves
should be determined from knowledge of
the wave excitation in bichromatic waves
(regular wave groups). See for instance
Newman [I] and Dalzell j21
At the N.S.M.B. a program is being
developed to predict the second order
wave forces in bichromatic waves. The
first phase of this development comprises the calculation of the mean second order forces and moments in regular
waves. In this paper, results are presented of calculations of first order
wave loads and motions and mean second
order forces on a free floating vessel
at zero forward speed and compared with
the results of model tests. First and
second order fluid forces can be obtamned from a first order j,proximation
of the potential function, which is obrained numerically by means of a threedimensional singularity distribution
(Green's functions) on the body surface
in its equilibrium position.
This technique has been applied frequently during the last few years for
large volume structures and many comparisons with experimental results have
been reported. See for instance [3] , [4].
The method used to predict the mean second order loads is based on a direct integration of pressures on the complete
wetted surface of the body, while most
existing methods (Salvesen [51 , Michelsen and Faltinsen [61 ) make use of the
far field behaviour of the fluid. The
advantage of the present method is that
it provides more insight into the physical processes involved and will allow
evaluation of the second order wave
drift forces in bichromatic waves [7]

A method is described to obtain first


order wave forces, hydrodynamic reaction
forcos, mean second order wave forces on,
as well as toe wave induced motions of,
floating bodies in regular waves by means
of linear potential theory. The first
order potential function which describes
the flow is obtained numerically using a
singularity distribution on the wetted
surface of the body in its equilibrium
position. The mean second order wave
drift force is calculated by means of
direct integration of the pressures on
he hull as derived from the first order
potential,
Results of computations are presented
for a pipe lay-barge and compared with
the results of model tests. The agreement between theoretical and experimental results appears to be satisfactory,
Introduction
In offshore activities, stationary
vessels play an important role as work
platforms, storage and proiuction units,
In order to design such units from the
point nf view of vessel motions and mooring loads induced by environmental
forces, prediction of the behaviour of
the vessels is essential.
A major part of the environmental
forces is due to the action of waves.
The forces due to waves may be split into
two parts, viz.
- oscillating wave forces with zero mean
and frequency equal to the wave frequency. (First order wave forces.)
- mean and slowly varying forces with
frequencies below wave frequencies.
(Low frequency second order wave forces)
The first order wave forces are responsible for the well known ship motions
with wave frequencies. The second order
wave forces are, in many instances, the
cause of low frequency, large amplitude
horizontal motions of moored vessels.
This low frequency behaviour is of Importance from the point of view of mooring
loads. From observations, both in reality
and on model scale, of low frequency components in the vertical motions of for
instance gravity platforms during towing
1ie

infinity.
The potential function Y. can be
represented by a continuouE distribution
of single sourts ur the boundary surface S:
1
oj(a 1 , a2 , a).
'(x 1 , x2 , x3)=-.

Description of the theory


First order wave loads and motions
The ship is considered as a rigid
body, oscillating sinusoidally about a
state of rest, in response to excitation
by a long crested regular wave. The amplitudes of the motions of the ship as
well as of the wave are supposed to be
small while the fluid is assumed to be
ideal and irrotational. A right handed,
fixed system of coordinates OXIX 2 X3 , is
defined with the origin in the mean position of the centre of gravity of the
body and the OX3 axis vertically uwards.
The oscillating motion Qf the ship in
the jth mode is given by:

x2 x3 ' a1,
a)dS
(j=1 ............. 7
(6)
where yj(x1, x2 , x3 , a1 , a 2, a3 ) =
= The Green's function of a source,
singular in a,, ag, a
a ,a
a
t
vctor, describi~g S2' 3=
.(a1, a,, a,= the complex
source streng~h

xj = je
= i...
,.6 (1)
is the aeplitude of motion
in which
in the jth mode and m the circular fre-

For the Green's function a function is


chosen which satisfies the Laplace equation and the boundary conditions on the
sea bottom, in the free surface and at
infinity. This function is given by
in
(see Wehausen and Laitone L8] ):
+
I
+
=
d
- d
=2(6 + v)ec
+ Pv
h
+
v cosh Ed
snh d
co

quency.
The motion variables x1 , x2 and x3
stand for the translations,
surge,sway
and heave, while x4 , x 5 and x6 denote
rotations around the OXI, OX2 and OX3
axis respectively.
The free surface at great distance
from the ship is defined by:
= r, eik(xI cos a ' x2 sin

Jo(R)d4
cosh C)xl + c)
+i 2 2(k2-v 2)
2 cosh k(a,+c)coshk (x c)
k d -v d +v

)-it

where:

(2)

= amplitude of the wave


k = wave number =2s/A, where A is
the wave length
a =angle of incidence

in2_
T)2+ )x2-a 2 )
2
2
2
rl=/(xl-al) _(x 2 -a2 ) + (+
3 +2c+a 3 )
R=/,(x cai)2 + (x2_a2)
2

The flow field can be characterized


by a first order velocity potential
x,

x2, x3

(7)

0 (kR)

t)=P(x,, x2 , x)e-itt
(3)

John [91 has derived the following series

'The potential function ' can be separated


into contributions from all modes of motion and from the incident and diffracted wave fields:
6
'P= iuvr)'P+ 'P(-iw F. 'P+
(4)u7
0 0
7
= I

is the analogue uf (7):


for y, which
2
2-k
y=2
v2d2
cos h k(a3 +c)cosh k(x3 +c)
k 2d-4
v2d+
Y(kR)-i J(kR),
1+2
2(1
\OkRi
)k}
1
+i2_-- . cos 11i(x 3 +c)cos (jac)
Ko (1,in,

The incident wave potential is given by:


,=,cosh k(3+ c)
'P 1os kx 3 +
ik(x cos a +
O
- coshk
e
sin a)
2
(5)
in which 2
V = a /g
c - the distance from the origin
to the sea bed
d = water depth
The cases j = 1, 2. .........6 correspond to the potentials due to the motion
of the ship in the jth mode, while 97 is
the potential of the diffracted waves,
The individual potentials are all solutions of the Laplace equation which satisfy the linearized free surface condition and the boundary conditions on the
sea floor, on the body's sucface and at

where pi are the positive solutions of:


tan (jid) + U

o
0

(9)

Although these two representations are


equivalent, one of the two may have preference for numerical computations, dopending on the values of the variables.
In general, equation (8) is the most
convenient representation for calculations, but when R=O the value of K becomes infinite, and therefore equa~ion
(7) must be used when R is small or zero.
The unknown sovree strength function
u must be determined such, that the
boundary condition on the body's surface
S is fulfilled. Due to the linearization,
this boundary condition is applied to
137

the surface in its equilibrium position


So .
3
x2 ')47t''ai/
- , X2
o(a,, aao)
a 2 ' a3 )

According to common practice the hydrodynamic forces are represented by


of added mass and damping coeffimeans
cients:

Y.(x

an j

,'1

,,a 2ao) dS
or
31
23 ....
for j = I.........6

for j = 7

n n1
= -

(16)

SO

where:
a kj= the added mass coefficient in the

bkj

(n, x)
n2 = cos (n, x2)
n3 = cos (n, x3 )
= cos

k-mode due to motion in the i-mode


the damping coefficient in the kmode due to motion in the j-mode
Finally, the motion response to

first order excitation is computed by

n5 = x3 n2 - xn 3
n6 = xln 2 - x2n

means of the well known equations of


motion in the frequency domain:

To solve equation (6) numerically,


the surface S is subdivided into a number of finite, plane elements on which
the source strength is conrtnnt. The
boundary condition is applied in o..- ontrol point on each element being the
centre of the element. The integral equation (6) then reduces to a set of algebraic equations in the unknown source
strengths. In general, the Green function 1 may be computed with sufficient
accuracy as if the source strength is
concentrated in the centre (control
point) of each element. When, however,
the influence of an element on its own
control point is evaluated, y has a sinqularity of the type I/r, which can be
removed by spreading the source uniformly over the panel. When the influence of
a panel on a control p. -t which is at a
nel and not lyclose distance of this
tig in the same plane, is considered,
the source is spread uniformly and integrated numerically to obtain its contribution to P or a.N
After solviF the equations for the
source strengths, the first order potential function is known. The pressure
on the surface S can then be found from
Bernoulli's theorem. The linearized hydrodynamic pressure is given by:
all
P(xi, x2 , x3 , t) .- p.2t -

6
T

+6k)
(o)

Mkj is an inertia matrix. Since the


origin of the system of axes coincides
with the centre of gravity of the ship
in its rest position, it is found that

rm
0

M
k

0
o

o0
m o
m
0
o
o

-0

0
where:
m
Ik

o
1

0
0

-I6 4 0

-146
o5
16

(18)

= mass of the ship


th
= moment of inertia in the k

mode
Ik - product of inertia
k
Mean second order wave loads
In vector notation the mean second
order wave exciting forces and moments
about the fixed 0X1 X 2X 3 system of coordinate axes are as follows:

(12)
Subsequently, the first order wave exciting forces and moments can be found

T-2)#

from:

nk dS

= Xks

in which:
=wvexie
Xk
in thethk
force in
wave excited foc
=
mode
6
= phase angles
Cj, k

,o

2
{_2 (Mkjlakj) sin (wt+c.) +
b
W
t
+bki w cos (ut +1:)
+Ckj sin
t+r)4
k=1 . .
6

Je-lut

bkj = -0w Im {f! Tj nk dS}


(10)

tion cosines on So, defined by:

Xk -

(15)

n
n, through n6 are the generalized direc-

N4 = x 2 n 3 - x3n

akj =-o Re {ff 4j nk dS)

WL

n dl __()Rdl

(13)

I2

P I

11 n dS

So

The oscillating hydrodynamic forces


(k- 1 2, 3) and moments (k- 4, 5, 6) in
the kth direction
are:
26
Fk

e-f

t
soi

nkk dS

-ff-((1) .VS(
1C
So
+
R(

(14)
138

) ndS
(19)

and
(2)=

half length of each line element.


The calculations were carried out
for 15 frequencies. The average computing time of the FORTRAN program for one
frequency amounted to 210 seconds on a
CDC 6h00 computer.

,Pg , 1)2 (x x n)dl


WL
- ff so
-f-p (
S9

n) dS

1 )

V(I).
-

+IR ('a(l)-g(x

) (x
5

n) dS

'

Model tests
The model tests were carried out in
the shallow water laboratory of the
Netherlands Ship Model Basin. This basin
has the following principal dimensions:
Length
210 m.
Breadth
15.75 m.

2
where the heavy bar indicates that the
time average has to be taken. The above
expressions are derived in the appendix.
In the above expression quantitiesm.
marked (1) are first order quantities
derived from the solution of the linear
problem described in the previous sec1()is composed of
tion. The potential
the first order potentials of the undisthe diffraction
wave,
incoming
turbed
potential and the potential due to body
(
Ir
motions. The relative wave height
is
at a point along the mean waterline
composed of contributions from the vertical motion of the point, and the potentials due to incoming waves, diffraction and body motions.

Water depth

Calculations and model tests

-. Tests with the free-floating model

moored between soft springs to determine the frequc -y response of the six
ship motions anu the mean longitudinal
and transverse wave drifting forces
and yawing moment. The test set-up is
shown in Fig 2.
- Tests with a captive model t- determine the frequency response of the
first
order
moments.
The wave
testexcited
set-up forces
is shownandin

The vessel
Calculations and model tests were
carried out for a lay barge type vessel
with the following main particulars.
150 m.
10 m3

Length
Draft
Displacement
KG
Roln
Pitch
Yaw

73750
10
20
39
39

1.0 m.

A paddle typ-, wave generator is fitted


at one end of the basin. A perforated
sloping beach at the other end of the
basin serves to damp out the waves.
model 1tests
with The
a scale
: 50 were
model.carried out
5
c
All tests were carried out in regular waves. The wave amplitudes varied
slightly with the wave frequency. The
amplitudes amounted to approximately
1.0 m. in reality.
The following terts were carried out

Fig 3.
Measurements. During the tests with
the free-floating model, the linear motions of the centre of gravity of the
vessel were measured by means of an optical tracking device following a point

m
m.
m
m.
m.

A body plan of the vessel is shown in


Fig 1. The water depth amounted to 50 m.
Model tests and calculations were
carried out for regular waves with frequencies ranging from 0.3 rad/sec to
1.1 rad/sec and wave directions of 900,
1350 and 1800.
Calculations
For the calculations of the first

light source mounted in G. The pitch and


roll motions were measured by means of
gyroscopes in the model. The yaw motion
was measured by mean; of an optical device mounted on the model which tracked
a fixed light source.
The mean second order drifting forces and yawing moment were determined
from
the system.
forces measured
the yawing
soft
mooring
Since the in
mean
moment is derived from the measured lat-

order wave exciting forces, added mass


and damping coefficients, first order
motion responses and mean second order
wave drifting forces and moments, the
mean wetted surface of the vessel was
subdivided in 138 facets as is shown in
Fig 1. For the calculation of the relacontribution to the
tive wave
mean
secondheight
order forces, the water line
was subdivided in 48 length elements, the
lenth of each element corresponding to
the length of the facet below. The relative wave height was calculated at the

eral forces fore ani aft, and the horizontal rods containing the force transducers remain at a fixed distance fore
I aft of the centre of gra vity of the
vessel, the measured yawing moment applies to a vOLtLcal axis through G and
not to the vertical axis OX3 of the
fixed 0X1 X2 X 3 system of axes. In order
to make a proper comparison between caiculations and measurements, the calculations of the yawing moment are carried
out for the same axes. This means that
in eqn. (20) the last term is omitted.
During the tests with the captive model,
139

waves), the mean longitudinal and lateral forces ana yawing moment are shown in
Fig 29 through Fig 31. The calculated
mean longitudinal force predicts peak
values at roll and pitch resonance which
appear to be confirmed by the measurements. Some scattering 'f the measured
data occurs at higher frequencies.
The calculated mean lateral force
predicts a peak at roll resonance only.
Unfortunately, no measurements were
available at this frequency to confirm
this peak. Considering, however, the
overall agreement, the occurence of this
peak is felt to be realistic.
The experimental values of the mean
yawing moment in quartering waves (135c
are calculated from the difference between the lateral forces measured fore
and aft (see Fig 2). This yawing mcmeut
is small and consequently the accuracy
of the measurements is less for this
quantity.
In order to show the effect of the
four components in the mean wave drifting force given in eqn. (19), a breakdown of the mean longitudinal force in
head waves and the mean lateral force
in beam waves is given in Fig 33 and
Fig 34 respectively, The numerals I to
IV shown in these Figures refer to the
first, second, third and fourth terms
in equation (19). In both cases, it is
seen that the contribution due to the
relative wave height is dominant. The
contributions due to the product of motion and angular displacements have, as
may be expected, largest values when
there is a considerable amount of motion risponse. At higher frequencies
these contributions vanish and only the
relative wave height and the second order pressure due to the fluid velocity
remain. For frequencies tending to infinity the vessel acts as a vertical
wall. In this case the relative wave
height concribution is double the velocity contribution, the sign being opposite. This i!lconfirmed by the trend of
the calculations.
The calculated mean vertical drift
forces shown in Fig 35 and Fig 36 are
small and will not result in a signifi.cant change in draft of this vessel. In
the case of floating structures with
relatively small waterplane areas the
change of draft due to this force need
not Le insignificant as has bean found
from model tests.

the model was connected to a rigid six


component force transducer as shown in
Fig 3. The forces and moments measured
in the transducers were transformed to
apply to the body axes through G. Force
measurements were carried out using
strain qauge transducers.
Test conditions. Both series of tests
were carried out for a range of frequencies from 0.3 rad/see to 1.1 rad/sec full
scale and for wave directions of 900
(beam waves), 1350 (how quartering waves)
and 1800 (head waves)
Recording and analysis of measurements. The measured signals were recorded on FM magnetic tape and subjected to
harmonic ,nalysis.
Results of Measurements and Calculations
The results of measurements and calculations are shown in Fig 4 through
Fig 32. In Fig 33 and Fig 34 a breakdown is given of the calculated mean
longitudinal and transverse drifting
forces in head waves and beam waves respectively while Fig 35 and Fig 36 show
the calculated mean vertical wave drifting forces.
Discussion of the results
First order wave exciting forces and momentr
In general, the agreement between
calculations and measurements is good.
In all cases the trends suggested by
the measurements are predicted by the
calculations. For a wave direction of
1800 (head waves) the agreement is better than for the other wave directions,
First order motions
Here again the agreement between theory and experiment is good. As is usual,
the roll motions, at the resonance frequency for beam waves (900) and quartering waves (1350), are overestimated by
the calculations due to the omission of
the effect of viscous damping which occurs in reality,
Mean second order wave drifting forces
and yaw moment
The agreement between measurements
and calculations is, considering the
magnitude of the forces involved, good.
The agreement is beat for the longitudinal force shown in Fig 32 for a wave
direction of 1800 (head waves).
For a wave direction of 900 (beam
waves) the calculations predict a high
value of the mean lateral force at roll
resonance (see Fig 28). This is due to
the fact that the first order roll motion is overestimated by the calculationa.
For waves from 1350 (quartering

Conclusions
The results of the investigation
have confirmed again that accurate predictiona can be made of the first order
motions in rejular waves of a floating
body by means of a three dimensiond)
singularity diztribution on the body
surface in its equilibrium position.
The method of direct integration
over the wettel part of the hull of all
contributions to the second order wave
exciting forces and moments leads to
140

ics of marine vehicles and structures in waves, London, 1974.

results which are confirmed to a large


extent by the results of the model tests.
Results of calculations show that,
in the case of horizontal forces on the
body, the mean second order wave drift
forces are predominantly due to the contrlution originating from the relative
wave height. Contributions due to second
order pressures on the hull counteract
the relative wave height contribution
and are directed into the incoming waves.
The predominance of the effect of the
relative wave height has also been noted
in previous investigations concerning
the low frequency surge motions of a moored barge in irregular waves (see ref [7].
A direct, practical, application of
the theoretical formulation for the second order wave drifting forces is being
investigated at present at the NSMB.
This involves the instantaneous evaluation of the relative wave height contribution to the second order, low frequency, longitudinal and lateral forces and
yawing moment through the measurement of
the relative wave height at a numbei of
points along the waterline of a stationary vessel in arbitrary wave conditions.
In this way, a partial wave feed forward
control signal is generated which may be
of practical use in, for instance, dynamic positioning of vessels in irregular waves.

8 Wehausen, J.V., Laitone, E.V.;


"Handbuch der Physik". Vol. 9,
Springer Verlag, Berlin 1960.
9

11 Joseph, D.D.;
"Domain perturbations: the nigher
order theory of infinitesimal water
waves". Arch. Rational Mech. Anal.
Vol. 51 (295-303) 1973.

Newman, J.N.;

Second-order, slowly-varying forces


on vessels in irregular waves. Paper
19, Int. Symp. on the dynamics of
Marine vehicles and structures in
waves, London 1974.

2 Dalzell, J.;
Application of the functional polynomial model to the added resistance
problem. Eleventh symposium on naval
hydrodynamics, London, 1976.
3 Boreel, L.J.;
"Wave action on large offshore struetures". Conference on offshore strutures, Inst. of Civil Engineers,
London, 1974.
4 Van Oortmerssen, G.;
"The motions of a ship in shallow
water". Ocean Engineering, Vol. 3,
pp 221-255, 1976.
5

John, F.;
"On the motion of floating bodies".
Comm. on pure and applied mathematics, Part I : 2, 1949, pp. 13-57;
Part II : 3, 1950, pp. 45-100.

10 Stoker, J.J.;
"Water waves".
Interscience publishers INC.,
New York, 1957.

References
1

Pinkster, J.A.;
"Low frequency second order wave
forces on vessels moored at sea".
Eleventh zymposium on naval hydrodyna;ic , London, 1976.

Salvesen, N.;
Second-order steady-state forces and
moments on surface ships in oblique
regular waves. Paper 22, International symposium on the dynamics of
marine vehicles and structures in
waves, London, 1974.

6 Faltinsen, 0., Michelsen, F.C.1


Motions of large structures in waves
at zero Froude number, Papor 11, In-ternational sym'posium on the dynam141

Appendix: Second order wave forces on a


body floating in waves

and
all
a12
a1 3
a21
a2 2
a2 3
a3 1
a3 2
a3 3

For the determination of the second


order wave drifting forces and moments
it is first assumed that the body is
floating in arbitrary irregular waves,
Although this is not necessary for the
determination of the mean drifting force
in regular waves, it has been followed
here since the expressions derived will
be more general. The restriction to
regular waves will be introduced at the
end.

If all angular displacement are zero R


becomes

Co--ordinate systems

R = R

of coUse is made of three systems


ordinate axes (see Fig 37). The first is
a right handed system of Cxlx2x 3 body
axes with as origin the centre of gravity G and with positive Gx3 axis vertically upwards in the mean position of
the oscillating vessel. The surface of
the hull is uniquely defined relative
to this system of axes. A point on the
x.
the vector
has as position
surface
element in
of a surface
The
orientation
this system of axes Js defined by the
outward pointing normal vector n . In
the development of the expressions for
the wave drifting forces we assume that
the motions of the body consist of a
part which is due to the first order
wave exciting forces (motions indicated
by (1)) and a part which is due to the
second order wave exciting forces (motions indicated by (2)).
The second system of co-ordinate
axes is a GxI XIX system with the centre
of gravity as origin. The Cx axis coincides yith the Gx axis of t(e body axes.
The GX3 axis is at all times vertically
upwards. The GXl axis is at all times
Gx!
and GXl and
axes.
horizontal
at The
rightangular
angles displaceto both

:12
~22

a1 a3 2

where

(2
x)
(5
-X

-X(
0

(26)
0
{
x()
x(1)
4
5
If the body is carrying out motions which
are a combination of first or~ttr motions
and small, low frequency motions induced
by the second order wave drifting forces,
the second order displacements follow from:
R(2)= R()
g
where
w

(2).

b
11

(2)
R

b2 1

b3

(27)

1
b
b2

22

23

b31

b32

in which:
b
b1 2
b
b13

- _ (x 51

2
2
_(x()+
x11)
x6
)
(2)+ x (x(
4
5
6
-

b3. -s
h

-3

( (1)2+
4

(22)

x 6

22

a(2)
&13
423

(2)x(x
5
4
6

-)+

b2 3
b3

(2)
(1
-- x 6 + x

b2 1

142

(24)

)+ R( ).

0
( )
x l

R (1)=

(21)

a3

]=

where R is the matrix:

U 1:
a21

0)=1
L o

If the body is carrying out small amplitude motions the linearized (first
order) displacements follow from

meA ts of t~e body x.,x 5 ,xI (roll, pitch,


yaw) are about the 6xi, 'G 2 and GXJ axes
respectively,
The third system of co-ordinate axes
is a fixed righthanded OXIX X3 system
whlc
.oincides with the Gxlx 2x3 and
GxX X systems when the vessel is In
the mean position. The linear motions
X of the centre of gravity of the vessel
a~e defined relative to this system of
axes.(2
The position vector relative to the
fixed system of axes of any point on
the hull which has the position vector x
relative to the body axes follows from
X - Xg + R.x

= cos x5 c"':6
= sin x4 sinx 5 cosx 6 - CosX 4 sinx6
= cosx 4 sinx 5 cosx 6 + ainx 4 sinx 6
= cosx 5 sinx6
= sinx 4 sinx 5 sinx6 + cosx 4 coax 6
= cosx 4 sinx5 sinx 6 - sinx 4 coax 6
= - sinx 5
= sinx 4 coSx5
(23)
= coax 4 cosx 5

(1(2
5(29)

(28)

Using the small amplitude motion


assumption the pressure in the instantaneous position may be given in terms
of the derivatives of $ in the mean position. Up to second order the pressure
p becomes:
(o)
(1)+c2,(2)
(36)
p
+ rp
p =

Fluid motions
The fluid domain is bounded by the free
surface, the surface of the body and the
sea floor. Assuming that the fluid is
inviscid, irrotational, homogeneous and
incompressible, the fluid motion may be
means of the velocity podescribed
tential by
rLl]:
(
(where:
=CO(ij+2 (2)+ ...

(30)

p ()=

The
areof defined
to
axes
fixed system
OX X X.relative
the potentials
The first order polential P"
consists of the sum of three potentials
associated with the undisturbed incoming
waves, the diffracted waves and waves due
to the first order body motion respectively:

) = 0
tt

3 -d)

(37)

g M-

1
_

(38)

4 (1)

p2= -gX
i

2((

())

_P,(2

t)-l

(39)

Up to now we have assumed that the point


is moving within the fluid domain. The
same expression will be used to deterthe pressure on a point on the hull
of the body. This means that derivatives
of the potentials are taken at the mean
position of the hull which is alternately within and outside the actual fluid
domain. This appears to he permissible
if the potential functions are sufficiently "smooth" at the boundaries (see
ref. [ii] ). This is assumed to be satisfied in this care.

(31)
+()
0(1)
=()+
w()
w
d
bmine
Both the first and second order potential must satisfy the equation of continulty within the fluid domain and to
tirst and second order respectively the
boundary condition on the moving surface of the body and the fixed horizontal surface of the sea-floor.
The boundary condition at the mean
free surface becomes:
(x
3

-pg(X

p(1) =

fluid forces on the body

(32)

The forces exerted on the body, relative


to the from:
fixed OX1 X2 X3 system of
axis follow

gO(2) (2)
+
= _24(1).5(I)
2(
t
tt
x3
+%0 ( (g) ) + !I.(
g t x3x3 g ttx 3

F = -ff p N dS
(40)
S
where S is the instantaneous wetted surface and N is the instantaneous normal
vector of the surface element iS relative to the fixed system of axes and p
is the pressure given in eqn. 36.
Since the budy is moving in all six
degrees of freedom, N is also an oscillating quantity of the following form:
-(o)
-(1)
2-)2)
(41)
N=N
+rN
+

For derivation of eqn. 32 and eqn. 33


see for instance ref. [10]Since this paper is concerned with
the first order and mean second order
forces in regular waves , the
second order potential 0(2) contribution
disappears, (see ref. [5]).For furtper
details of boundary condition for 0 1)
and its components see for instance
ref. [4] .

where N(o) is the normal vector relative


to the fixed system of axes in the mean
position and hence equal to the normal
vector n ry ttive to the body axes
Gx1 x2 . N
is an oscillatory component of N due to first order oscillatory
angular displacements.
-(1)
).
(42)
R"
(
in which R ) is according to eqn. 26

Pressure in a point mooring within the


fluid domain
We consider a point witin the fluid
domain with mean position R 0) relative
to the fixed system of axes OX X2X. We
furthermore assume t:at the poInt Is
carrying out small oscillations relative
to tizemean position:
S(O)X+
X(1),,'2X(2)
(34)

A siTfar equation to 42 may be set


up for N
:
0(2) R (2).
(43)

The pressurb in the moving point follows


from the Berno'.li equation:
-=
pg(X 3 )Pt
1
(35)
Cin

which R(2) is iccording to eqn. 28


The instantaneous wetted surface S
may be split up into a mean surface S0
extending up to the mean waterline of
the vessel and an oscillatory part a

where (X3 - d) denotes Itc instantaneous


vertical distance blow the moan free surface and 0 and ito derivatives are taken
at the instanitaneous position.
i.a

whicn is continually submerging and


emerging.
The expression for the fluid force
then becomes:

order wave forces calculated at the


centre of gravity of the body. From the
afore qoing it is clear that in order
to be able to determine the second order
force, the complete solution to the
first order excitation must be known.
The method used for this is discussed
in the paper.

= -f! p N dS - if p N dS
(44)
S
s
0
Substitution of the pressure p a2 given
in eqn 36 and the normal vector N given
in eqn. 41 gives:

Mean second order force in regular waves


Up to now, t.e approach has been as
general as possible in that no restrictions were placed on the nature of incoming waves. We will now place the restriction that the incoming waves are
regulif. In that case the contribution
to the second order force given
6in eqn. 49 diqappears (see ref. [51 ).
We will also disregard the second order
hydrostatic reaction term since this is
in fact a reaction force due to second
order displacements under the influence
of the mean second order wave exciting
force which then follows from:
lj
(2).
g~ -.
dl -fndl
WL

-_f(p(0)+C p (1)+ 2p (2))(-n + C(1)


So
+r'N(2))dS -' r22p(o)+,:p(1)+,2p(2)
)df-p
+Fp p
s
-(1)+2-()1of
+tN(+tN()dS
(45)
Integration of the various components in
45 using eqn. 37, 38, 39 and 42 and
taking into acount that the surface s is
an oscillating quantity gives the following result for the total fluid force up
to the second order:
-()
2(2(1
(46)
F2
F = F)+tF(1)

11)

where.
- g(X -d)n
3O

-tf-n((1)
I'))dS+M.R(1).R
SS
(53)
where the heavy bar indicates the time
average of )he quantity under the bar.

(47)

P)= -if-pgx~l ) - ds-!I


3

so

2 d

o(-

S
0-

(48)
2d

Mean second order moments in-reular


waves

The mean second order moments about


the axes of the fixed OX1 X2 X3 system of
axes are found by the same development
as was used for the forces. We give here
the final results:

S
0
t 1
)ds_;_m6(2)cdS
t~
t
t
O

WL
_ifr~(().v6(i

3 ndS
in which:
21

dS

(49)

R(2)

xx(2
x

xI

g -

( )1
0

(xx )ds-!..'-_p~
(R 1l: 1)

X5o
II
4

WL

.R(1)
.

( ri)dS

and R M is according to eqn. 26


Equation 47, 48 and 49 give the to-tal hydrostatic, first order and second
order fluid forces acting on the body
oscillating under the influence of
t and second order foces F
The f
and F
contain not only the wave exciting forces but also the hydrostatic
and hydrodynamic reaction ferces due to
body motions in first and second order
respectfvely. As such the term containing F
in eqn. 49 may be simplified by
using the following relatinahp

()- X(1)
q

(1)

(54)

where:
1

Ieo.
4
4
0
15
-1
o
64

1 46
46
U
1

(55)

." l
tarmtinvner ng Ilar
athe eerto
ac,
(|tf
is according to eqn. 26
rectoYTnd R(1
and F
according to eqn. 51.
Nomenclature

()

where:
M.

_ Spg (

frequency in rad/sec.
[0i0m 0

,,

(5)ols

oo

and by
nare
the !irst ordernotions of
the bogy under the Influence of the first

i(t)
a
144

first order linear motiono for


k- 1,2,3rdranua motions
first order linear motion , ctor in fixed system of axes
first order angular motion vec-

2(<)
g
x

R
(1)
k,
R
R
R(o)

X(k)

2
(
(2k
m
14'15,16
146'164
(1)

tor about GxXXI 21 axes


first order liner motion vector of centre of gravity in
fixed system of axes
position vector of a point relative to body axes
normal vector defined relative
to body axes
normal vector defined relative
to fixed system of axes
first ordey fngular motion
about Gx X X axes)?r k=4, 5,
6. Componet of
R(,
5
Transformation matrix containing ?ncular motions about
Gx X X axes
po~iiAn vector in fixed system
of axes
constant part of position vector in fixed system of axes
second order linear motion
vector ir fixed system of axes
second order linear displacements in fixed system of axes
fl)k= 1,2,3. Components of
X second ordTrlangular motion
about Gx XX 1 axes for k=4,5,6
due to sc6nd order wave forces
mass of body
mass moments of inertia
products of inertia

mean free surface in restposition.

first order relative wave

height in a point along the


mean waterline
S
instantaneous wetted surface
so
mean wetted surface
s
periodically emerging and submerging part of wetted surface
S
W,
waterline
ds
element of surface S, S or s
dl
length element of waterline
0
specific mass of fluid
g
acceleration of gravity
X2IX1223 first order wave exciting moments about OX , OX, OX axes
respectively of the2fixeA
system of axes
S
total potential describing
(1), (2) fluid motion
0
first and second order approximations for the total potenmtial S
a small parameter r < I
FIF 2 ,F3 mean second order wave exciting forces along the OX ,OX2
M3

and OX
axes respectivel
Ot
the fied system of axes
mean second order wave exci-

ting yaw moment about a vertical axis through the centre

to
k
V
L
B
d

of gravity G of the body


wave amplitude
wave nmiber
displaced volume of the barge
length of the barge
breadth of f"'! barge

Vertical distance of G below

145

x3

x3
GI

Xl"X

5 METRES-'

5 METRES

150

LENGTH

METRES

50 METRES
10 METRES

BREADTH
DRAFT

x2

. . ..

..

..

. ..

FIG, 1! BODY PLAN OF LAY BARGE INCLUDING


FACET AND CONTROL POINT DISTRIBUTION

X2, 12

180*
G

BALL-JOINT-

-FORCE

TRANSDUCER

135

-SPRING

1go.
FIG.

2:

SET-UP FOR TESTS TO DETERMINE MOTION$ AND MEAN DRIFT FORCES

140

\BARGE

\ RIGID 6-COMPONENT
FORCE TRANSDUCER

UNIT ATTACHED TO CARRIAGE

~+X2

FIG,

3:

|'FORCE TRANSDUCER

~BARGE

SET-UP FOR WAVE FORCE TESTS

147

9
COMPUTED
MSMEASUREDURED

---

--

1.2

MMU

0,6 ..

070

1.5

4,5

3
. 30

4.5

3.0

VERTICAL
FIG. 5: AMPLITUDE OF
0
DIRECTION
WAVE
FORCE

WAVE
AMPLITUDE OF TRANSVERSE
FORE
90A
WAVE DIRECTION

FIG.

1,5

0--

,-

0D---

WAVE

COMPUTED

018

MEASURED
M

COMPUTED

MEASURED

0.6

0.12

--

0
-~

0 -

15 10

3.0

1.5

3,0

FIG. 7: AMPLITUDE OF LONGITUDINAL


FORCE
WAVE DIRECTION 135"

MOMENT
FIG, 6: AMPLITUDE OF ROLL
WAVE DIRECTION 90*

148

4.5

WAVE

18

COMPUTED
MEASU ED

1.

1,2

01

COMPUTED
MEASURED

06-3.

9:

FIG.

FIG. 8: AMPLIIUIJL u1 i AN VERSE WAVE


FORCE
WAVE DIRECTION 1350

AMPLITUDE OF VERTICAL WAVE


FORCE
WAVE DIRECTION 1350

1.8

0.18

-___

* MEASURED

0.2---

COMPUTED

COMP'UTED

MEASURED

1.2

Jo-Jo

--

0 0---

a.
FIG.

10:

4.5-~-

ci0

A0

115

4.5

FIG.

AMPLITUDE OF ROLL MOMENT


WAVE DIRECTION 135*

149

11:

3.0

AMPLITUDE OF PITCH MOMENT


WAVE DIRECTION 135*

0.18

0,9
//
/

0.12 -

------ COMPUTED
.
MEASURED

COMPUTED
MEASURED

0.6

)x

15wVT7 3.0

o
12:

FIG,

5 wV1 1 3.0

4.0

AMPLITUDE OF YAW MOMENT


WAVF DIRECTION

FIG,

135*

13:

4.5

AMPLITUDE OF LONGITUDINAL WAVE


FORCE
WAVE DIRECTION

180'

1.8
COMPUTED
MEASURED

COMPUTED
MEASURED

1.2

__-

0*

>

oh

LA

x
00

ol

FIG,

1.W,5
14:

3.0

4.5

1.5

WIJ-Ug

3.0

FIG. 15: AMPLITUDE OF PITCH MOMENT


WAVE DIRECTION 180"

AMPLITUDE OF VERTICAL WAVE


FORCE
WAVE DIRECTION 180"

150

4.5

181,8

COMPUTED

COMPUTED

MEASURED

MEASURED

1,
L2

1.2

L,2.

:\

" 0,6
. oS

1.5

0.6

4.5

3.0

FIG.

FIG, 16: AMPLITUDE OF SWAY MOTION


WAVE DIRECTION 90'

17:

1,8
COMPUTED
*

MEASURED

4.5

AMPLITUDE OF HEAVE MOTION

WAVE DIRECTION 90

COMPUTED

3.07~

1.5

MEASURED

0
3

--

I
0

1.5 w\/i'-

--

-0.6-----

----

-----

.
"

3.0

4,5

FIG, 18: AMPLITUDE OF ROLL MOTION

1,5

3.0

Fi,. 19: AMPLITUDE OF SURGE MOTION


WAVE DIRECTION

WAVE DIRECTION 90*

151

135"

4.5

1.8

1.8COMPUTED

COMPUTED
MEASURED
M

MEASURED

1.2 -

1.2

0
xm

01

1.5

WI,-

1.5

4.5

3.0

21:

FIG,

FIG. 20: AMPLITUDE OF SWAY MOTION


WAVE DIRECTION 135'

W\F-g

3.0

AMPLITUDE OF HEAVE MOTION


WAVE DIRECTION 135'

1.8-

COMPUTED
MEASURED

COMPUTED
MEASURED

1.2

Ci

15

FIG.

22:

30

1.5

4.5

FIG,

AMPLITUDE OF ROLL MOTION


WAVE DIRECTION 135"

152

23:

3,0

AMPLITUDE OF PITCH MOTION


WAVE DIRECTION 135"

4.5

1OMU8E

0.9
S

COMPUTED
*

MEASURED

MEASURED

1.2

0.6

00

~-

01
1.5 WVLg3.0

FIG.

0.3

24:

FIG.

AMPLITUDE OF YAW MOTION


WAVE DIRECTION 135*

1.8

53,

4.5

25:

AMPLITUDE OF SURGE MOTION


WAVE DIRECTION 180*

CMUE

COPTD1.8
________COMPTEDCOMPUTED

MEASURED
CoMEASRED

MESUE

1.2

1.2

to

0.L6-

o
FIG.

26:

0
3 .~

0.6-

FIs. 27:

AMPLITUDE OF HEAVE MOTION

1.5

3.0

AMPLITUDE OF PITCH MOTION

WAVE DIRECTION 180*

WAVE DIRECTION 180'

153

45

18PUE

-3.6

TED
--COMP
*
MEASURED

12

CMUE
COMPUTED

-2.4

m-j

Pm

a.

0.
3,0L-/ 4.5
FIG.

28:

MEAN TRANSVERSE DRIFT FORCE


WAVE DIRECTION 90*

0
FIG.

18

1.5 wpV-

29:

3.0

MEAN LONGITUDINAL DRIFT


FORCE
WAVE DIRECTION 135'

2A4
MPUTEDD
* MASURED
--

COMPUTE
MEASURED

121.

K'O

0
FIG.

1.5
30:

MEAN TRANSVERSE DRIFT FORCE


WAVE DIRECTION 135'

FIG,

154

31:

4.5

MEAN YAW DRIFT MOMENT


WAVE DIRECTION 135-

-3.6
S

-2'4

COMPUTED
MEASURED

--

0.

lb

4.5

1.5 WVLg 3,0

32:

FIG.

MEAN LONGITUDINAL DRIFT FORCE


WAVE DIRECTION 180*

60

30

66

-6-1

--

-I- lI

0-

.......

IV
IVL

-30

FIG.

33:

a1.5 wV-i7
_

3.0

COMPONENTS OF COMPUTED MEAN


TRANSVERSE DRIFT FORCE
WAVE DIRECTION

90"

4.5

-1?0

FIG.

,.
34:

3.VG
0

COMPONENTS OF COMPUTED MEAN


LONGITUDINAL DRIFT FORCE
WAVE DIRECTION

180'

45s

3COMPUTED

60COMPUTED

30
:N

-3

""PUT

FIG.

FIG, 35: MEAN VERTICAL DRIFT FORCE


WAVE DIFECTION 90*

36:

MEAN VERTICAL DRIFT FORCE


WAVE DIRECTION 180*

X3 X

X3

PLANE

VERTICAL PLANE

-"I

FIG. 37:

CO-ORDINATE SYSTEMS 0, X1, X2 ,

AND G, x1

X2, X;

X3; G,X1,

X2 , x3

DISCUSSIONS
of three paper'

NUMERICAL SOLUTION OF THE NEUMANN KELVIN PROBLEM


BY THE METHOD OF SIIIGULARITIES
P. Gubvel, G.Delhommeau ant J.P. Cordonnier
COMPUTATIONS OF THREE-DIMENSIONAL SHIP-MOTIONS WITH FORWARD SPEED
Ming-Shun Chang
COMPUTATION OF THE FIRST AND SECOND ORDER WAVE FORCES ON
OSCILLATING BODIES IN REGULAR WAVES
J.A.
Pinkater and G.van Oortmerssen

Invited Discussion

potential which is singular at an interior point.


Since interior potentials have no actual physical
meaning they need not be bounded or even defined
everywhere inside the body.) These equations
may have very different numerical properties.
(iii) The solution procedure breaks down at the
irregular frequencie- at which the Fredholm determinant is zero, but different integral equations in general have different Fredholm
determinant; and different irregular frequencies.
With some care the equation can be arranged so
that the Fredholm determinant is not zero in the
frequency range of interest. (I suspect that
at zero speed Miss Chang's equation does lead
to irregular frequencies.) Much less is known
aboit forward speed.
(iv) At the present time many workers, including Miss Chang. have gained much valuable experience with various forrnulationn
of wave
problems, all mathematically valid. What is
desirable now is a comparative study of the
relative merits of these methods, and I believe
that a knowledge of mathematical theory will be
very helpful here. In our paper at this conference, Philip Sayer and I have made a first attempt at such a comparison; see our Table I. We
realize that this is only a modest beginning.
If more studies of this kind could be undertaken,
by Miss Chang and other experienced workers
present here, and if we could receive reports
at later conferences, I believe that these would
prove to be of great value.

F. Ursell
University of Manchester

I shall discuss mainly the paper by Miss


Chang but my comments are in fact applicable to
several other papers concerned with linear equations, and perhaps also to non-linear equations.
To fix ideas I shall confine myself to zero
speed,
To derive her integral equations, Miss Chang
uses interior potentials. In particular, let us
consider ths integral rep-esentation quoted in
her abstract, which can be derived in the following way. Let o, be the potential function defined out;ide the body; we want the values of 0o
on the boty. Two integral relations are obtained
by aoplying Green's theorem twice, first to the
wave source G and a simple potential function oi
defined everywhere inside the body, secondly to
G and the potential function *, defined outside
=
the body. (On the body we have so /in
Ri/an.
By combinirg the two integral relations the'dipole representation givun in the abstract is obtamned: The interior potential 0.(P) can be
reprer-tcd by a distribution oflwave dipoles
over
' body closed by a lid, and the dipole
stre,
on the body is seen t Involve the
value,,of on the body. 'A similar expression
can be gives for the exterior potential.)
Now let the point P approach re boundary
of the body from the inside. Then the representatiun becomes an integral equation which is
actually a Fredholm equation of the second kind
although this is vot immediately evident. If
P were not made to approach te boundary, then
the integral equation would be an equation of
the first kind.

Discussion
E'y
Rnan
of paper by M.S. Chang
lne results shown in this paper are very
impressive, but not too surprising. It is well
known that the strip theory gives good predictions of ship motion characteristics only for
high frequencies, and for zero speed the comparisons shown here with exact three-dimensional
calculations are qualitatively similar to various
previous studies. The use of the strip-theory
forward-speed corrections in conjunction with
the three-dimensional zero-speed damping and
added-ma s coefficients is inconsistent, and the
resulting poor comparison with experiments is
to be xnected. But, Dr. Chang is to be congratulated for going on to solve the forwardspeed problem with the correct free-surface
condition and source potential. The resulting
agreement with exper~ments is generally satis-

I wish to make the follrwing points.


(I) There is a complete mathematical theory for
the solution of equations of the second kind
whereas for equations of the first kind little
is known about existence and uniqueness of solutions.
(iI) When p, is required on the body there are
infinitely many ways of formulating equations of
the second kind for this unknown function. (Miss
Chang, for instance, uses a simple interior potential defined throughout the interior of the
body, whil,?Sayer and myself use a wave source

IS

factory, although some discrepancies remain to


be explained. On the whole, this is a milestone
in the study of ship motions, and the author
deserves credit for this accomplishment.

curried out by Kobayashi of Mitsui Shipbuilding


Co. However, his results suffer from strong
criticism: first, that the formulation is not
consistent, and second, that it neglects the
line integral that must appear at the intersection of the hullsurface and the undisturbed
free surface.

Discussion
by H. Maruo
of paper by M.S. Chang

Discussion
by V.Kayo
of paper by P. Guevel, G. Delhomeau ano
J.P. Cordonnier

The author has carried out an elaborate


computation using the method of singularity distributions over the hull surface of an oscillating ship. I know of a similar calculation that
was made by Takagi of Hitachi Shipbuilding Co.
He told me that it was not easy to attain a
satisfactory accuracy by a numerical method of
this kind in spite of the tedious and timeconslsing calculation. On the other hand, it
is known that the strip method shows deviations
from the measured result at lower wave numbers
due to the three-dimensional effect. Therefore
some improvement of the calculation method is
needed, and the present work may suffice for this
purpose. However, from the practical point of
view, the computer time should be as short as
possible. The three-dimens'onal effect in the
hydrodynamic forces on an oscillating ship can
be taken into account quite easily by application of the slender-ship theory. I believe this
allows much simpler compulation than the purely
numerical method of the present work. The basic
formula for the slender shi,oscillating with
zero for-ward
speed is the following expression
for the velocity potential:
(20)
1
"

*=

In a previous paper (Int. Shipb. Progress,


vol.21, 1974, pp. 311-324), one of the authors
proposed a wave-making resistance formula when
the double-body potential is used as the zeroorder approximation:
Rw - 8nWpcj'iH(6,,% sec
2
where
2
H(c 0 sec H) =
exp [-iK o sec

0)1 sec" ado

f32

a20
X2

o(x cos S + y sin e)] dxdy.(1)

The modified Kochin function H, defined above,


is determined by the source distribution
21,
5x2
which is spread over the entire free surface
z 3.
0 Since the double-body potential *1is
arbitrary inside the body, we heve various
values of
2 1

+i4'+Kz)Ja,(x')N(Klx-x'l)sgn(x
J

-x ')d
x,
where
0
N(U) =-y - ',n2u
+ 1 H,(u')du'
2u +

X2
on z = 0 inside the body.

u
vi J(u')du'.
fo
,(2D)is the two-dimensional solution for an
oscillating cylinder and ao(x) is the source term
in the expansion of the two-dimensional potential. The boundary-value problem on the hull
surface is formulated in the form
i(2D) "U()
- W(.)jn,

Therefore thewave-

making resistance deriv-d fro (1) is indeterminate.


Since the fluid domain inside the body is
independent of the exterior one, the indeterminacy of the wave-making resistance can be
eliminated by the proper use of Green's formula
for the double-body potential field inside the
body.
The result, in the form of the correspondIng Kochin function, is

+jJo(u')d

'n
where U(x) is the relative vertical velocity of
a section anJ n. the z-component of the direction cosines of the normal. It can be easily
understood that the three-dimensional effect
appears in the function W(x) which is similar to
the induced velocity of wing theory. I calculatedmodel.
a numerical
example
aadded
Serissmss
60, C
0.7
The result
forfor
the
e

H(o,K

sec

a)

f Fa izso
2

exp (-iK,sec e(x cos A + y sin o)] dxdy (2)


where SL is the free surface outside the body.
weeS
stefe ufc usd
h oy
This Kochin function is independent of the kind
and damping in heave is shown in the figure and
f singularities used to represent the doubledenoted as the "improved slender-ship theory."
body. It may be seen that the wave-aking
The "original slender-ship theory" means the
'esistance from (2) is determined uniquely. A
A
fo(2isdernduiqly
Introduced
by thethe
formula
result obtaied.
obtained b
rewma'su
onica
ntrodc din
idetailed eitn discussion
of tnis method can be found
oean's eview.r hus
t ruaanlytic
he
metonin
my paper entitled "A note on the uniqueness

of the sle.der-ship formula can serve as ani

of wave-making resistance when the double-body

accurate prediction method for practical purposes. So farzeroforardspee.


we haveFrconsidered
the fiitetin"'
case of
te cae o
zero forward seed. Forthe case of finite
forward speed, similar calculati,,ns
have been

ote-a I s sa
the
dobaprbimy
potential
us to be
asbed
the zero-order
approxmeewhich isis
read
at the joint
eeting
of the three Japanese Societies of Naval Architects in November 1977.

Discussion

specified on the closed boundary SB + SF1.

byYKusaka
of paper by P. Guevel, G. Delhommeau and
J.P. Cordonnier
The discusser wishes to express his respects
to the authors for their efforts to obtain a
numerical solution of the Neumann-Kelvin problem.
It took more than 10 hours of computer time for
thediscusser to obtain only one solution of
this problem using the very large and high-speed
computer HITAC 8800/8700. As the authors also
point out in their paper, it's necessary to find
out the new formulation of the influence coefficients. However, from the discusser's experience, the interpolation method seems very
dangerous because of the oscillatory characteristic of that coefficient.

It is nice to see that the heave-damping


and added-mass coefficients obtained by Dr. Maruo
are also in very good agreement with the experimental data. However, one has to bear in mind
that slender-ship theory is not as general as
three-dimensional theory. Mostly it will not
work well for coefficients for horizontal modes
of the motion, even at zero-forward speed. Moreover, in my opinion, the method of slender-ship
theory is not as analytical as Dr. Maruo states
it to be; numerical computations using slendership theory require the evaluation of the funcwhich is similar to
tions J , Yo, and H^,
2
evaluatYons require in the three-dimensional
method.

The discusser has been very interested in


the uniqueness of the solution of Neumann-Kelvin
problem. It seems very difficult to prove
uniqueness by mathematical methods. Consequently
the discusser believes it's necessary to create
numerical techniques that can convince one of the
uniqueness of this problem.
Author's Repy
by .S.ChRng
to discussions by F. Ursell and H. Maruo
I would like to thank both discussers of my
paper for their interesting comments. It is
interesting that Professor Ursell, as a formal
discusser, chooses the particular subject of
"irregular frequency" for discussion. I believe
that Professor Ursell must have some interesting thoughts on the subject and I look forward
to reading his paper.
The problem of "irregular frequency" associated with the two-dimensional source method
has been known for many years. Not only has
the cause of this problem been known, but also
simple remedies have been established. I will
not discuss this in detail at this time. However, it is worthwhile to note that Professor
Ursell's choice of using the inner-potential
method to demonstrate his point appears to be
misleading; the inner-potential method that
Dr. Pien and I applied has a unique inner potentialand is not subject to the problem of
"irregular frequency." Our inner-potential
method determines the doublet distribution D(Q)
from an inner potential * (P) that is specified
on the closed contour SB + SF by the equation
i(P)

fS ,+ SF D(Q)K(P.Q)dS(Q);P ,csB+S Fi

From potential theory, D has to be unique,


unless the outside potential is non-unique. One
should not confuse thlsinner-potential method
with the mathematical model
#l(P)-f

D(Q)K(PQ)dS(Q); PQcS8

(2)

for in the latter model, #1(P) is specified only


on S
It is wellknown thAt the "irregular
freqjency" does exist In this model--because in
this mathematical model the inner potential is

Is..

HYBRID INTEGRAL-EQUATION METHOD


FORTHE
STEADY SHIP-WAVE PROBLEM
Ronald W.Young and Yann C.Bouger
Massachusetts Institute ofTechnology
Cambridge, Massachusetts

cylinder remained unsolved until much later when


the modern digital computer became avallable.
Glesing and Smith (1967) tackled this by
distributing on the body contour the traditional
wave sources, which satisfies the free-sLrface
condition. By applying the body boundary
condition,
Integral equation for the source
density was anobtained.
This was solved

ABSTRACT
This p3per presents a novel integralequation technique for solving the steadystate wava-resistance problem. The freesurface condition in linearized, but the body
condition is satisfied exactly. An integral
relation describing the flow inside an
arbitrarily truncated internal region is first
obtained by applying Green's Theorem, using
only thz simple source function for an
infinite fluid. The internal flow is next
matched with eigen expansions in the npstream
and do wtream outer regions. The radiation
and
ouer
owntrea
egios.

he

numerically and they presented some sample


results for flow about hydrofoils, Including
ones with slotted flaps. The relative importance of the exact body boundary condition
versus the exact free-surface concition was
examined by Tuck (1965) and Salvesen (1969).

rdiaion

Both noted the

importance of nonlinearities

condition can be satisfied exactly simply by


aassociated
outer
regions. ohe method is applied to
investigate flo s about both lifting and nonlifting two dimensional bodies. Agreement
with existing results is excellent. The

onition hen
fra-curf
Bointed the
with the
free-surface
vhen
the conventional
Froude
number iscondition
large. But,

present formulation provides a simple yet


rational basis for tackling the practical
three-dimensional ahip--waveproblem,

(add,

for Froude numbers asociated with the operation


speeds of most surface vessels, the exact satisfaction of the body condition appears important
1976).

Recently, a number of numerical methods,


successfully applied In other branches of
applied science, are being employed to solve
free-surface flow probleme,with the aim oi
tackling the fully nonlinear free-surface
condition. The numerical anelysts were faced
with two obstacles, one being that the fluid
domain is infinite, the other being the
difficulty of implementing the steady-state
radiation condition numerically. Most workers
circumvent the necessity of applying a radiation condition by using an initiat-value
formulation; see, for example, Chan &
Stuhmiller (1976) and ilausslingand Van
Eeltine (1976). However, if only the steadystate results are desired, such a formulation
is computationally lengthy. In addition, the
final steady-state results may suffer from
the problem cf error accumulation and
numerical instability. Moreover, unless a
proper flow-through condition is applied at
the truncation boundaries, the fluid region
used in the calculationi will have to be
enlarged as time progresses. gt ad Young
(1974), it dovcloping a finite-element varsational formulation as well as a new integralequation technique for the time-harmonic zero
forward-speed problaem, introduced the concept
of solution matching at an arbitrary "radiation" boundary (see also Chen and Mai, 1974).
But the extension o such a technique using a
finite-olement formulation from time-harmonic
type flows to the ccc.sof steady forward

I. INTRODUCTION
The practical importance of the problem
of predicting the lift and drag of a body
moving in or near a free surface in well
known. Much attention has been devoted
to the subject matter in recent literature,
This paper describes a novel integral-equnttion
formulation for tackling the steady-atate
problem with a linearized free-serf ive but
exact body boundary condition. Emphasis iS
placed on validating the numerical formulation
by applying it to obtalttflow solutions for
various two-dimensional bodies. The formulation permits the body to have cirt'nlatior,if
present. The extension of the pre,-snt method
to three-dimensional problems w!illAlo be
discussed.
A brief review of the literature
pertinent to techniques used in solving such
steady-flow problems i% included here. By
expanding the solution in an infinite series
of wave singularities which satlify the treesurface and r4diatlov condittons, iavelock
(1936) obtained the wave resistance and lift
force on a circular cylinder in a uniform
streas. His formulation permits the body
boundary condition to he atisttfed exactly.
Tile problem of the fle. about an arbitrary

150

motion was found to be nontrivial. Mei and


Chen (1976) considered the forward-motion
problem as the sum of two ficLitious probiems
that were complex in time: a radiation and a
scattering problem, each of which can be
solved by their earlier hybrid-element
variational method. The two solutions were
then corbined In such a way that the upstream
waves cancelled. On the contrary, Bai (1975),
who also used finite-element techniquesfound
it necessary to use a Galerkin's type formulatlon with a rather unusual choice of trialfunction and test-function spaces before he
could obtain a unique solution satisfying the
radiation condition.

motion aO
distvrbed
tiLeuistu'
the motlov

-in2 LU:1Z--t.,
sutzee. Lct
.. P-,
t
ry.
-

(x,yt) be
I t due

t' - C

for (x., it t,boundary


-di"
surface , i,

Th,
,at

.i)

inematic
ed on the body

(2.7)

-.-

In this work, the hybrid integralequation technique investigated previously by


the first author (Yeung, 1975) for time-hatmonic problems is extended to tackle the
steady-state forward-speed problem. Most
interestingly, the extension turned out to be
rather straightforward: the radiation condition can be satisfied explicitly simply by
omitting wave functions on the upstream outer
region. Further, the problem can be solved
in the real domain without resorting to any
complex-time formulation. The method is
thoroughly tested in this paper. Its potential is obvious. The remarkably simple
formulation can provide a rational mathematical basis for solving the more practical
three-dimensional Neumann-Kelvin ship-wave
prbe.+
2.

whe'
U
unit -xterl
oedition I

--ed
the body and n a
to
e fluid. The bottom
a, nfic. is

0
f(

(2.3)

kn this m
iced ft-

coordinate system, the linearrace condition tab's the following


form:

fOrm
4

U4.+X'(x'n~t)
_

+ gyff

(2.4)

THE BiUNDARY-VALUE PROBLEM


where g is th, onstant of gravitational
acceleration. Equation (2.4) is valid for the
general case when the motion is unsteady. If
the body undergoes only steady translational
motion parallel to the bottom, then (2.4)
seduces to

Consider a two-dimensional body undergoing uniorm translation in a fluid of depth


h . As shown in Figure 1, the body
coordinate system Ony Is chosen with the
x-axis pointing opposite to the direction ot

Ir

YY--h

Figure 1.

Coordioste System

and tttatooe

Y--h
SFi

Kcx (X,o) +

where a is an are-length parameter along the


body. This ensures the vanishing of loading
In the neighborhood of the trailing edge (Hess,
1975).
If the body does not have a sharp
trailing edge, the potential is continuous
everywhere in the fluid, in which case the cut

U2

0,

(2.5)

isoviously'unneceasary.
The physical quantities that are of interest In the steady-state problem are the
ree-surfacc elevation n(x) . wave-resiotane
1and lift force L . By the use of
equation, these can be written
In terms of the potential as
S

For such a caae of ateady flow, the


radiation condition may be stated marlinmaticslly an

[c0(1~

C- + 0 1)
a
5553ernoulli's
+
asx-+

1C+~y+. W

(.)

(2.10)

nx - U 0(X.o)
where

W(x,Vy corresponds to a standing wave

pattern. C~ are constants associated with


the UPbLr-.. au down Lream ends. It Is
worthwhile to point out that either C- ,
or C+ , or i$ at any one point in the fluid2

can be specified arbitrarily, for the


boundary value problem (2.1) to 12.3).(2.5),.
and (2.6) can only be determined uniquely to
an arbitrary constant.

C
-P.
4~+-(.1
p(2U.11)EF
2

+-1

I'

_'K

3.

(2.8)
K

~(bs+#)
TE.C

d
d

(2.12)

THE HYBRIDINTEGRAL-EQUATION
TECHNIqUE,

The term hybrid Integral-equation is used


to designate the numserical formutlation described below, applications of which wore
initially made to time-harmonic free-surface
flow problema (Yeung, 1975, see also Young.
1973). The present approach t,s.onts,
perhaps, a straightforward concrc"'usl extension
of the previous technique. To cumirarison glib
of
the traditional integrsl-equation ttrto,
using the Green function of the problem
(Ilhausen and Laitona. 196u. S 1) our hybrid
mtho is unique In two seinses. first,!:
formulating the Integral eqotacton-1
tie
simple antics function for an infinite fluid.
lg l/r, is used; second, the originally
external boundary-value prohion is solved an
an interior problem, but with an appropristl,
matching of the solution between the. incei
cegion and tile -tt legions.

where r io the circulation of the body and


Sdenotes the. two boundary contours
At Iconding the tot. The introduction of
circulation into the problem requires an
additional condition to render the problem
uniqoe. A Kutts condition to be applied at
the trailing edga to plausible. This may
be stated as

I (Ux+*),jppor, -

~i,!I~'

Lx2

where 5
is the dynamic pressure coefficient.
Note tile
L as defited Ine not incluo,~ tile
hydrostatic force.

is

-(2.7)
Kt

g fF1dy
0

The mathematical formulation is now


complete.
Powevec, to facilitate the process
of seeking a numerical solution, It is convenient to introduce two artificial vertical
boundaries, E+ alid Z- . These will be
called the raiistion boundaries. They
separate the inner region enclosing the body
from two outer regions on the upstream and
downstream sides. Furthermore, keeping in
mind that if there is a net circulation
around the body, the potential will be discontinuous In the fluid, we Introdue a
Riemann type cut Sc joining the trailing
edge of the body to, say, the bottom. Across
this cut we note that

ts +.;
K

3.1 RepIssvantations of the Solution


In the inner region where all g--'.,
compliacrion e nr, the velocit~ypot~knt 1.
# will be der-lbed by (.toil'sThoorg..
first, let us recall that the following
identity holds for anv two harmonic funrctfovr
which are cntinuous in a regiton
e1
nd t
bounded by th contur P?

(2.wer.

#oei
L -

(29

162

!)~'d--i

(0.1'

where do denotes an infinitesimal arc-length


element along the boundary. We now choose

2wo(P) -

nlog r d.

n log r do

log(rr') +

-d(P) +

*1 to be the unknown potential 4 , and '2


to be log r , where r is the distance between a boundary point Q and a field point
P , vi.. r l.
If S denotes the contour cnclosing the inner region, I.e.,
SouSUSBSK"E"UE
,
(3.1) becomes

SF

I+

log(rr') +

1
nlog(rr') ds

(3.2)
+(,.nlog(rr')
4+

r fnlog(rr')d
S+
K

so

where

n-)

r + Kioxlog "I

~~ On~lo ~ido ~

In the outer regions, which


consist of
only vertical and horizontal boundaries, the
solution f+ , on the downstream side, and
0 , on the upstream aide, can be written
simpl) in terms of elgen expansions. By introducing the act of elgen functions which satisfy
(2.1), (2.3), and (2.5), as well as (2.6)
asymptotically, we can write:

~ ~.lgr-

E+uE-

foL

log r di +

SB J

(3.4)

which can be regarded as an integro-differential


equation for 0 on S
and S
' 0 and its
normal derivative on
, hoever, should be
matched with the outer representations, to
which we now turn our attention.

1n
o

P E S

S
0

with ((,n)
being the variables of integration along S . Now, by substituting
the conditions (2.2), (2.3), (2.5), (2.7),
and (2.8) into (3.2),we obtain

2ro(P)-j

-Uj n x log(rr')ds ,

L- log r ds
+a(x,y)

- Co* + H (x+) H(I-Fh) x

(y+h )

0 a

i
logr+U
f0 nxlogrdo
on

(A comx+B sninmx)cSh
cosh moh

(3.3)

*+

+ i Ck o'
k-i

With the exception of the radiation boundaries,


we observe that # is the only unknown
juantity along each boundary. If we are not
studying a flow about an undulating bottom.
La,. intetral along S can b eliminated by

t
for x < x

reflection about the fine y - -h . Other:se


o
9, should be treated am unknown
like a,.yother boundaries. Proceeding along
with the aos.mption that the bottom i flat,
' onstruct an Imagesystem below the bottom
by .,,fining
.1 r -lo1,
-;

log

-E)
-'

+-4

T
7K

p,

t on

(3.5)

where H is the heavyside function and Ph is


the depth-Proude number UAS
. The eigenvalues %o . tak . k-1, 2, ...
are roots
of the trrnscendental equation:

- tanh oh

is an image ,oint about the line

y-h .
reby, if
(3.1 reduc.. to

rcos mk(y+h)

where
-

represents either

ma

(3.6)
or

imk

with

f
1. The values of the coeffilaents A,B,
Ad C, , k-O,l,2.
.'. . are unknown and have
to bt deterMined from the inner region via

S ,

le3

downstream region than the upstreami side .Is


This Is
issaterial in our formulation.
because (3.7) is an Identity valid everywhere
on S . Wdenote that if P is located on
the first term of (3.7) should be r.E,
placed by the series defined by (3.5) with x
evaluated at xt . it is of some interest
to note that the Integrals (3.8) and (3.9)
are completely identical to those studied in
the tine-hereonic problem (Yung, 1975) with
the 'rivial exception that the mnk's are
given by a different equation. To avoid performing numerical integration of an oscillatory
function, a closed form solution of (3.9) has
been derived. The details and results are

The matching of 4 and 4n at E+


matching.
and E- is now accomplished by substituting
(3.5) into the second integral of (3.4). Thin
ensures the continuity uf the normal and tangential velocities at the juncture boundaries.
The final result is giver,by the following
integral identity:

lo~r')
c
I~-lo~rr)

-m~P)+

~'

ds

f-log(rr')

Discretigation techniques of various


of sophistication may he used to
In the previous work associated
solve (M.).
with time-harnonic problens, a step discrctization along the free surface and the body
boundaries (as well as the fluid bottom, If
it wee not flat) was used. Since the freesurfa ce bo undary condition now contains
tangcntial derivatives of a second order, the
dis cretization function for t~ should he at
least a parabola. For the representation of

Rdegrees
Clg~rr)ds
log(rr') da
E_

" C a
logc')d

-~

xa

+ A [Io cos inn + Co sin

si1o

" B

Lu in

+
kit

on SF , we chose to use spline functions,


which have the desirable property that the
approximating functions possess continuous
second derivatives everywhere along1 the entire
range of discretization. Let (Ej, t, ':i
The
.
+
be a set of grid points In [,
potential on the free surface tl(x~o) can
therefore be written as

ocsiiX
1
no

k(-k+ k
kk)

(F+C k
kb

-U n
f~
j n

0J

o( r)d.pvs
d*
oWc)

nApedxA
Diac etization of Integral Equation

17n3.2
qc

so

Cjlo

ie

log(rr') do

da + r

ftn

(,I
))*xo-

F+Fq (X)(OF) +q9(


N

So

where the Integrals


defined by

Fu,, G 0

Fk

(3.10)
N

where

are

F.

-l(

p)

di .o

i
ao log, rr

+~af .Y)

epc

0.(

(3 .y) sk the,,

oftthe
procedure
for thn

problem.

prm

s.
n

eqacte
ae

*V

fcus

eotsdifretatoni

roato
of) thean
(3.r9)a

That there are more unknowns on the

164

fuolution

nnsn

ror

)'0

QjXjX6.Y)00

_In.)p

"'1J-1

(3.15)
q,(x

fo'

here

IM

(1.YE0,0c

dx+

(3.16)

.rc.
h"

I -

ko,

j-1, 2,
.~ no)
poInt! defir.inj S
of,

denotes

With the
,f (3.13) and (3.15), ( 3.7) can nov be
;ed in terms of a finite number of unas follows:

syet

F!
S Fe'.-r-

( O1 Aj)

di

de

r)Llogfrr'

""
+

he Ki' ecker ... t.'e~.


where 6i
two consecutiv" 'rid jnts, lhe
.. - f.
and qjo are moyv ru,
integriils
of
7) on'Juct.,Ic

.n+i

(i

J1

FF
F ,v'+

F,

r-h
oa +3s~~

tqio)~~~~~~

:11
Inlgrr

r]

+ CQ~xyc~yx

AIFoco, a x + G sin a ,x)

Q)~

+ B(F sin mox

(3.14)

The integrals iof (3.14) are elemetitary.The


resulting expressions cab be evaluated
numerically very expediently.

+
-'

Ccos mox)

, Gik+
(n ) F

I0

+Gk

for any P C So

I-i

On the btxindary S
, which will he
rapr seated b'. stralght-llne segments a, in
Yeang (1975). a scheme Involving aid-point
t imued. 'This enable.
derotisation of
as to write tit third integral of (3.7) and
the right-hand side (3.7) respectively as

(0.17)
)(ore, the iiumlirr 0l terms tted in the etj %l
expansions aire derosted by N- and #1+ , for
outv-rregions
the upstream and doowostream
respect ively. The, integral 0) Q.bkyeLa that
defined by 0.16).

108

At this point, we inspect how the unknowns are distributed along the boundary.
They are listed as follows:

Number of Unknowns

on
SF:

N+2

S:

No

N++3

S;

grid point

w-field point

each segment provides ont equation.


This
Ioterior grid points, i.e., N-2 of them.
is because tangential derivatives of 0
which occur on S , are not defined in
Green's
Theorem aV the intersection of
+
and Sp.n- . Hence, (3.17) is not
SFnE
a valid relation at these corner points. In
view of the fact that we are treating the
potential on the free surface and that on
the radiation boundarieu at the' corners
as separate unknowns, the proper conditions
should instead be:

(-(0

doxxn

')

for n- ,1,

equations. The resulting system then has a


unique solution.
Two relations useful for checking the consistency of the numerical results are given
below. The first is well known and can be
derived from energy conservation

(3.18)

-R7-

1- ;Tnh 61oh

(3.19)

where

no is the wave amplitude. The second


relates the jump ir the potential at both
infinities, C+o -C- I to the body potential.
This relation was previously conkidered by
A new derivation, which makes
Newman (1976).
uje of the asymptotic behavior of the outer
solutions onlyis given in Appendix B. The
identity given below also accounts for the
presee of circulation In the problem:
p-

on t4e left-hand s~de is Riven by


Where
(3.10) and 0 are the outer representations
(3.5). These equalities ensure the continuity
of the solution up to the second derivatives
and
on the free surface. The unknowns on E
F- can be determined by applying (3.17) at
(N++I) and (N-+l) points on T+ and
respectively. The exact locations of theme
points are insignificant since Equation (3.7)
Is en identity. Finally, the Kurt& condition
(2.9) provides the additional equation foron
determining r . Thus, all in all, the
number of unknowns and conditions are equal.
The applications of the conditions (3.17),
(3.18) and (3.19) are illustrated symbolically
in figure 2.

Ct C

I~
- 0
L

1h 1
r~ I EhJh(I-F')
+ r(Y
(,x+)nxdo +
"( h

SoUS
(1.20)

In (3.20), the first integral on the right


represents merely the sum of are& enclosed in
the body and that protruded on the bottom.

We note in pasing that one of the aquations obtained by applying (3.17) in the
manner described above will be redundant. This
does not seem so surprising if we recall that
the boundary-value problem stated in 5 2 can
only be determined up to an arbitrary constant.
Interestingly enough, the redundancy is of an
implicit type for no one parti.:ularfield
point is more preferable then the others,
However, this redundancy can he easily removed
by assigning an arbitrary non-sero value to
Co- (or C0+) during the reduction stage of the

4. RESULTS AND DISCUSSION


A number of rests have been conducted to
verify the results of our numerical method.
We will first show that the real formlation
described in this papai yields the sain results
as those obtained by sjperposing two fictitious
time-hermonic problems, a pro.,edure used
previously by Nei and r'hen(1976).

ISO

In the coplex(-tiae) formulation, one


Introduces two fictitious problems Or) and
0(s) as follows:
(

r),

(x,y,t).,r

(s)

x.y)eit

Moreover, they are required to behave


asymptotically like
(r)..
0. C

(r), AYen
mX --.vh o
or)..A
r
h
c(8)+., -ei xh

time now
and correspond
the spatialto functions
ar)
nd e*(s)
fictitiousI
rsdiation and scattering potentials respective-C(s)
ly. Each of them satisfies (2.1). (2.3) and
(2.5), but
(

d/a-2

Fh-0.8

981

0.5
0.5
0.0

-0.041175

-S.35281

X .1

01

58

0.00778
0..002
0.31290
0.40805

-.
8.*1
-,.
1 +SO
-1.45080
-h.55908

0+.51181

-.

-0.ins

.or
Ot?

OS

.i*i

-:

0.08089

-0.2700

-3.30831
-0.2173

-1.55881
-I.0180

-0.0041
-8.70808

-0.O009
-8.7285)

00
04

-0,1m1OS)
-0,88118

-I.
?1750
-8.02018

-1. 28053
-0.508819

-1. 88010
-7,25078

95

-0.0118

-2.07101

-1.30118

00

-.

-.

10

101"
-0.00800
0.0212

0.072S
0.0 12
0.28520

1
10

73
0.4002
1.
0.08110
ILOC8I01C0078T

.074
-0.
00080
-0.38920

l|

a0.0010
-0,01928
0.0328

4
0
8.802

-o.ssOl
4.88)88

-0.80082
-1.08033
-0.09147

-.1.02O
-..2....

-8.88808
.8.2,75

2 o
-3.70399
-.. 81858

..
,.......
0..
......
.
0
.....
.........
o...
....
0

0.3050
-.

.0.+0l,1

-08
o.
0

$
s,.
-. 0)825

-O0l|20,1m~
0.00117
-osaoo8

-,0I92?8
i

I8

cu
-

-.. 233

-0.92110
-5.,200]-8.54.02

-. 099
-1.
IF018
-0.91802

-2.00000
-0772
- CO#

V . 1.
.....
o.T.i
..
8

0020

-0. 80000
-0.107)1

-4,0.
80

-. 1106
-1,8184
-2.50 A4

-0.20020
-a.
30820

88
00

6.01852
0.0089

0.24059

-0.48500
-1.smsn6
-. 5081
-3.35885

3,120

0.08113

-0.14005

0l
os

58

T
*0.!&flop

-5.0088
-S.2410

~
X'

0'T
$$

CM

0.08803
0.0852
0.0soon

-1.441

SLO
OIr

808v840nW

-~.2..69
-S.30 '
-5.IsOo

5.0

0.10000

asx-

h/a-5

08 FREE Sw290ct
I - 5.80000
"
-. om
S
-0.
200

0 haX
a4,)

Here, A* can be thought of as the compex


amplitudes of the radiated waves due to a

(dimensionat solution for a-l.0 m)


real formulation
0

Is x cosb a,(+h)

os)m
x csh may8
0oeh
cosh m h

whereas

-un,

(
+ Te

as N + wo

8o
50

s,0$01
-.058a

-0.05209

0.98881

-0.93859

8
5

-0.O01s1
0.023

.50
l
*I11

Table I
Coparison cf Solutions Based on seal Formuleti-n
and Complex (-ctms) Pormulacion

187

..............
+ .o

0.3009
0,Is0" q
0.0)

.802

-7.088150

0.984

surging motion of the body, R as the


reflection coefficient and T the transmission
coefficient due to an incident wave from 'he
downstream side. Thus, in contrast to the
asymptotic behavior described by (2.6) for
the real formulation, these time-harmonic
problems possess a certain amount of mathematical symmetry on the upstream and downstream
They are ammenable to the solution
ends.
technique described by Yeung (1975) which was
well validated. The solution for the original
steady-state problem can next be obtained by

V1 ''.
*2..l.0
5/4.3.

520)04
ios-svro. ,"'t'
./ ,u--1.4 .0133
-1,0 .. 1.,
-O.S .37ms

.33

5.

the relation

o7

.2416
0.5
1.0 -.

(r)

.d -d4

2d-

(s)

.0112
.90
.1218
.3511

W13
.. s07

is

-.

-6.207
.

.241l

.711.
-.-

.o -.

which satisfies the radiation condition (2.6)


by construction. The calculations involved
in this approach are considerably lengthier
than the real formulation described earlier
in 3, but the procedure was nevertheless
programmed to provide a consistency cbeck of
our results. Table I compiles the solutions
of a uniform subcritical flow about a circular cylinder with its center submerged at
two times its radius. Results for both the
real and complex formulations are shown side
by side for the purpose of comparison. Within
the accuracy of a 6 significant-figure machine
(IBM-360), it is clear that the two sets of
numbers are practically identical. This
provides the evidence that the Integralequation technique discussed in this paper can
be used to solve the steady-state problem in
the real domain without resorting to the note
complicated and expensive complex-time forrmolation.

."33
.1343
.1244
.3912

-.
..V3.9.

6419

002-.

Y .00.7 -0.)437

7.4603

-0.415

0.3100

.3134

4.311

0
-.

.7773
-.0.5
.06
-. M011
-.00

.W071

.7100

.0316
-. 5
-,0005

.3246
-..40
.,0010

t.,.,a

-. n

-. 0,6t0

3,-11,2

-.043

c-.-'
4
a-3.d
(,4

.075

c'

'.-'

0077

.326
,,00,4
.oon

-.0750
2

.oo'

Table 2.
Solution of Flow shout Circular4 " Cylinder
for Different Values of y and F-

Next, a uniqueness check on the coefficients of the eigen expansion was conducted
in the following fashion. The problem of the
flow about a circular cylinder is solved thrice
with three different locations of the radiation
boundaries, E + and E - . A correct formulation should yield the same solution regardless
of the location of these boundaries. Table 2
Is a collection of the numerical cesults
obtained by using the firmulation in 3 for
xf /a =. .2, - 4, t8, where a l the radius
of the cylinder. Note the excellent agreement
of the predicted free-surface elevation
n(x)/d among all 3 cases. The coefficients of
the eigen expansion are also quite consistent,
although the s'curacy of the higher-order coefficlents in the expansion tend to detertoiati,
as x+ or x- becomes large. In view of
the fact that the solution in the outer region
is always dominated by the first few terms,
clueto the exponential decaying factor In
front of CU In (3,5), such inaccuracies
hsve little overall etrect .2 the nouIutil'.

resistance and lift coefficients are in very


good agreement with the results of Mel and
Chen (1976). Comparing with Havelock's (1916)
lvflntte-depth results, one may notice that the
fluid bottom has a stronger Influence on the
wave resistance than the lift for this partitcularconfiguration. The wave pattern for
i oupercritical case or the smiqoconflgureti'n
which one notices
is shown in Figure lb In
that only r local disturbance exists. Once
again, the lift force is in good agreement
In checking our
with Mel and Chin (1476).
computed results. it was noticed that Bat's
(1975) published results for the vertical
force coefficient was In error while lis
resistance coefficient was In apparent agreement with the present authors and Met and Chen.

In Figure In, the velocity potential


and the free-surface elevation correspood to
a nubcritical flow about a circle submerged
at two times its radius are plotted. At this
particular speed, even though the depth/wavelength ratio Is 0.995, the effect o,' the bottom
is tnut entirely ou-tliibIe.
The computpted

In Figure 4A itod 4., we displav the


results of CR and CL verso" Vh for
ellipoes of various length ratios of minor
to major axes. Tht,center of the ellipee is
located at 'me body length beloh the free

le

Li"V-772

dM- Rk -ASS)dla-Z
Wd-14

LI
-DW0.7
1.4 Wd-

1.204
.2

(h

0.4
0.5
0.4
-0.5

0.0

L.

3a.

(IPYUh

Ce C;0.3

3b. -Supercritical

-Subcritical

Figure 3.

Potential and Wave Elevation for Flow About a Circular Cylinder

0.5

da

21

0.4

S0.2

---

0.2

03

C14

MS

0.6
Fh

0.7

125

O.B

0.9

1.0

Figure. 4a. -Wave Resistance of Elliptical Cylinders


o'fVarious Thickness at 10' Antle of Attack

0.5

-----

d/a - 2
h/d - 2

0.0-

so

1.,5

0.2

0.4

0.6

0.6

1.0

1.2

.4

1.6

Figure 4t,. - Lift Forc-eutai


liptical CVlinders of
.artoua Thtc,neaa at l10 Angle .'tAttack

169

1.B

surface with the major axis tilted 100 upwards


from the horizontal. These results assume the
absence of circulatiun in the flow. From the
figures one notes the rapid decrease in wave
resistance as the body thickness is reduced,
Another interesting feature is that while the
horizontal force increases monotonically as
the speed Increases, the vertical force
reverses its sign at Fh approximately 0.6.
The discontinuity of the linearlzed solution
at the critical Froude number is well known.
This can be remedied only by considering a
non-linear solution of the problem,

number. When nondimensionalized in the conventional manner, both lift and drag coefficients are observed to have turning
points in the subcritical range. For most of
the range of the Froude number, the lift
coefficient Is considerably lover than the
inflnite-fluid value of 1.08
S. CONCLUSION
In this paper, a novel Integral-equation
method of solving the steady-state shim-wave
problem with the linearized free-surface and
exact-body condition is presented. The method
is tested for lifting- and non-lifting flows
about a number of two dimensional bodies.
Numerical results obtained using our method
agree very well with existing calculations.
The formulation incorporates a rational, yet
remarkably simple, treatment of the radiation
condition. The current investigation shall
provide a sound mathematical basis for
tackling the more practical three-dimensional
problem. Such an extension is conceptually
straightforward. The source function will
be the simple three-dimensional Rankine source,
1/11. The contour integrals will now be
replaced by surface integrals. Extensions
using similar techniques have already been
carried otitsuicessfully for the time-barmonic problems (Yeung, 1973). The present
mathematical formulation should provide
additional insight into the understanding of
the Neumann-Kelvin ship-wave problem. Since
our approach does not utilize the traditional
Havelock sourc, .unction,it will allow us
to bypass the controversial issue of what
the rational treatment of the "line Integral"
(see grard, 1972) around the ship hull is.

For a body with circulation, our forzulation was tested by calculating the flow
about a NACA 4412 hydrofoil submerged at one
chord length from the undisturbed free
surface. Figure 5 shows the pressure coefficient on both surfaces of the airfoil,
Only 34 segments were used to represent the
foil geometry. The gutta condition (2.9)
was handled by a three-poit finite-difference
scheme and was evaluated at the field points
adjacent to the Lcciling edge. The results
are t.,good agreement with those of Glesing
and Smith (1967), particularly in view of the
sensitivity of the solution to a precise treatment cf the Kutta condition (see Hess, 1975).
Figure 6 shown the wave profiles generated by
such a hydrofoil translating in water of depth
equal to four times the chord length. It is
interesting to note that the initial
depression of the free surface moves further
upstream as the speed decreases in subcritical
flow. In the supercritical case, the disturhance generated by the bitdvis felt at a
much larger distance upstream. Figure 7 show;
the hydrodynamic lilt and drag coefficient of
the same hydrofoil versus the depth Froade

t.s

10ww suace

Cp
0.0

-0.2

Os

0.44

0.

rWMt
Ging
G4 Smth (1967)

,- F;41
d/1 - 10
CL.756

0.9

.-.
-1.0

-0.9

. 8 -0.?

-0.6

0.5 -0.4

06s

-0n -0,1.0.1

0.0

Figure 5. Pressure Diatrilhsi on to a NACA-4412 Hydrofot, at 5' Anglo of Attack

170

-. 5

f-

Figur- 6. Wfave Profiles of a NACA-4412 Hydrofoll


at 5* Angle
of Attack at Various Froud. Numbers

d1 - I

1.2

07~

Q~r

'.rure

~03

7 DrFLif and Wav


of-

We ou
t&AkDT
dC,c.
lke Not .J.lka
aMRC.nmi
Prfts..r
,f MI

of a

1 Hydrofoil at

ofAbramouttz.
f~r

provldlt~L~os coater Prlnto.,ts for the


PurP"@ Of cocking our program.

rng a. Na'oe

'9,btelu.,
l.A. NMbok
ofhwia
Standord.,.
Na9b of
a
AT.
fSadrs
94
94l. K. J1. A l
F~llo
initr-F.rmet Method
for Steed %~-lomwsomal
py@#Surface PTm Probia., lot
.Cy'
Ii
or
..
'7.1570

Ackoom.edg..ews, for support of thle


reatorch to msa :. the ..av~l
Sea Sy.tesmp
C ndConowl y romochan IC. Restarckc
Prort Subprojwcr SRO') 0101,
& I nistared
by ti. DIldIdW.Taylor Kaal
Ship kvsearc,,
0083yloun Cmnttr, Contract U00li.77-c.

Sa.

I1

. I
A 'oa
Fl.. j st,-le.sr
hetlod
frFr~ a-lt
bstlDis~o,.
&I Hv,rofoll*a R'aos.tpr for .1.ship

Bai, K. J.; Yeung, B. W. Numerical Solutions


to Free-Surface Flow Problems. !2t
Sigip.NavaZ Hydrodyn., Cambridge,
Mass., 1974, 609-633.

Yeung, R. W. A Singularnty-Distribution Method


for Free-Surface Flow Problems with
an Oscillating Body. College of
Engrg., University of California,
Berkeley, Report 5A73-6, 1973.

Brard, R. The Representation of a iven Ship


Form by Singularity Distribution When
the Boundary Condition on the Free
Surface in Linearized. J7.Ship Pes.,
Vol. 16 (1972), 79-92.

Veung, R. W.

Method for Time-Harmonic FreeSurface


Flows.
lst nt. Conf. Noner.
Ship
Hydrodyn.,
Gaithersburg,
Maryland,

Chan, R. K.; Stuhmiller, J.h. Nume rcal Solutnon of Unsteady Ship-Wave Problems.
11th S
Navp.N,,al Hydrodun., London,
1976, 303-313.

1975, 581-608.

Chen, H.S.; Mel, C. C. Oscillatio.,s


and WaveForces in a Mon-Made Harbor in the
Open Sea.
10th Sjurp. Naval Nidrodun.,
Cambridge, Mass., 1974, 573-594.
Gadd, G. E. A Method of Computing the Flow
and Surface Wave Pattern Around Full
Forms. 7Wrmn..TNA
(lq76), 207-216.
Gle"Ing, J. P.; Smith, A.M.O. Potential Flow
about Two-Dlmenrlonal Hydrofoils.
.J. Fluid .Veh., Vo. 28 (1967).113129.
Havelock, T.H. The Forces on a Circular
Cylinder Submerged in a Uniform
Stream. Proc. Nor,. .c., .te. A.,
Vol. 157 (1936). 526-534.
Hausaling, H. J.; Van Eseltine, R. T. Numerteal Solution of Planing-Bodv
Problems. D.W. Taylor NSRDC
Report 76-Otl8, 1976,
Hess, J. L. The Ise of Ilgher-Orde Surface
Singularity Distributions to Obtain
Improved Potential-Flow Solutions
for Two-Dimensional Lifting Airfoils.
('r'. f'6th. Appl. Vech. am Fndqr.,
Vol. 5 (1975), 11-35.
Mel, C. C.; Chen. H. S. A Hybrid Flemeert
Method for Steady Linearirea FreeSurface Flows.
Jt.
d. Vw',er.
Aoerthn
in E7n;., Vol. 10 (1976), 1153-:17S.
Newman, J. N. Blockage with a Free Surface.
.1. zShip Re., vol. 20 t1976), 199-20).
Salvesen, N. On Higher-Order Wave-Theory
Submerged Tw-Dimenslonal Bodies.
C. Fli.;

Me.A.,

Vol.

'R (1969),

A Hybrid Integral-Equation

for
Ii1-

432.
Tuck, E. 0. The Effect ot Non-Linearity at the
Free Surface on Flow paNt a Submerged
Cyl nder. -% Fluid Mech., Vol. 22
(1965).401-414
Iehausen, .J. V.; Laitone, E.V. Surface Waves.
"Kandhuch der Physik," Vol. IX, pp.
446-178.
Springer-Verlag, Berlin, 1460.

172

which follows from the fact that the derivative


of any analytic function is independent el LoU
W(z),
direction ol approach. Now to evaluate
an integration by parts yields

APPENDIX A

L-

Jm

7(x-1,y)

defined

and

Consider the integrals

by

i,

Fk and

The Integrals

log r

w(z)

+ Jnsinh mr+ih---)

i {sinh(inh)iog

--

dt.}

(A)7
sin(mh) log z + i

log r

do
m(z+ih)

-h

-m z

We will show that they can be written in terms


of exponential integrals. The derivation to

a -

y.

The paths of the integrals of


plane are shown in Fig. A.-.

differs only hy a sign for6

In the complex plane

the opposite case.


is given by:

ly)

- MZ

(z+fh)

where for practical purposes one only has to


since , rema:ns
consider the case (-)<O

G(

(A.4)

(A.4) in the u-

J M(
u)

p + i ,

the same while

u-- n

-M(z+ih)

follow is considerably simpler if we introduce


the following complex variables:

z =

-m(z+ih)

d , cosh m( +th) m

=CCt

t;(z)

log(&i}

Fig. A.2

tA.)

W(t)
7H'.

integrals can he replaced by a pair of


integrals extending from the end points to
4
Exploiting the definition of the ex.
-o
Both

where the contour of integration


to
, -- lb
vertical line frm
in Fti. A.].

ro

is a
;)mown

-0 as

FI,)

0-

5)

n-a+lv

ii Ni() were known, the evaluatton of


wold ie atraigihteorvard since
Wit) I

(A.1l)

dt

, jarg zt<v

I-E,(af) + E,(m(a+ih))
ez
.-m(rtilh)

-I

[d.

--

(A.5)

sin(Mh)log I

Fig. A.1

-I(.YS,

where the Rienann cut is along the negative treal


axis, we obtain for (A.4), after accounting
or
the pole at u-0 for the first integral, the
following expression:

1(z)

-lb

El(z)

ponential integral

.d(AA)

- 2r)

I-r(-z) + Ej(-m(+ih))]

Whence,

imge terms corresponds to a choice of


l

G(o,y) -sin(mh) log [a2+y V2 -T cos m(y+h) ea

Fe

1
2

z t )

em

z - a - t(2h+y)

[ l (z
tI(mz) -E,(m(z+ih))]

f
-e m~z

[)[E,(-mz)
-E(-m(z+ih))]

-which

(A.7)

Next foi F(,


rule

APPENDIX B
Relation Between Blockage Constant
and Body Potential

(A.8)

A simple relation exists between the


difference in upstream and downstream potential, C+ -C5 , and the potential on the
body. This can be obtained rather expediently
by applying Green's second identity. The
derivation below does not appear to be available in the literatur.

By (A.3) and (A.6). the normal-derivative


integral is given as follows:

msign(o) e-'cos s(y+h)

+ +

in (A.2) and (A.3) . Thus, the poilt mz


in Figure A.2 Is always above the real axis,
implies that the contrilution from the
pole at u-o
(the term "2r" in A.6) should be
discarded. Equation (A.7) without the second
term and tEuation (A.9) without the first term
are now the results, with z defined by (A.13)
and y replaced by -(2h+y).

y), we recall that by Leibnitz'

z P F, (z) - ezE,(z) - 1/z

.(csy)

(A.13)

e(

h)(z+ih)
E(m(+ih)) -E (mz) ]

+-m
(-m(h)[

Let us consider applying (3.1) to the


harmonic functions *,- U%+
. and
where
is the disturbance pitential. This
rime, we take x- to be sufficiently large so
that

i)
1
[ 1 (-m(z+Ih))
-E (-mx)]
(A.9)

(x 4,y)-C
Note that as G-0

+ ON(xl)sin (mx + 6)

the exponential-integral

m(yh)
cosh Moh
0

terms vanish In pairs because

0.1)

El(z*) - [EI(z)]*

where a is a constant and A is s phase


angle. By the free-surface condition, the
integral along S
can be written as

(A.1O)

and (A.9) reduces to merely


F(O,y) - -m sign()

f(tlt

cos m(y+h) ,

(A.11)

i
sF

x[4x(x

x+

(B.2)

Ur

2.*Id-UhC-)(7-)

(.3

ul"

Qh1oglyl
Next. we note that because of the body canditlon (2.2).

+ sin s(rh) (Ci(m(y+h)) - C1(-,y)]

-coo

*An)d

Now, by making use of (B.1), the integrals over


r+ and E- can be carried out in a straightforward manner, and when combined with (1.2),
the result is

which follows naturally from the physical


interpretation of the integral as the normal
velocity of a aource-distribution. In this
same limit, G(O,y) ran be written as ther
sine- and cosine-integrals:
G(O,y)- sin

0(y+h) [si(a(y+h))

If '

SiC-say)j
(A.12)

-#,;')da

U'(V,,+V.) -t4 #a~ds

SOUSI

(3.0

where Ci ad Si are those defined in


Ahramowits sad Stegun (1964).

where (V.+Ve)
is the 8a8 of the aubrgmd
area of the Ldy and the net protruded area

For the integrala defined by (3.9),which


1%0olve4 log rr', one simply observes that the

of the bottom. F:ally. by the conditions


(2.7) and (2.8) across the gimas, cut

174

d
-urJnda

ur(h+YT.)
5)
(B.

denotes the vertical coordinate


where YT E
of the trailing edge.
If we now equate the au of (B.3), (B.4)
and (B.5) to zero, the following simple
formula results

SoRS
(i.6)

which is actually valid even for supercritical


(F >1) flow. Recalling that the first two
terms represent the dipole strength associated
and the otton, one notes that
with the hndv
76
Newan's(19 ) result is recovered when rO.

INTEGRAL-EQUATION METHODS FOR


CALCULATING THE VIRTUAL MASS IN WATER
OF FINITE DEPTH
P. Sayer and F.Ursell
Department of Mathematics,
Universty of Manchester
Manchester MI39PL, England

Abstract

be applied to the numerical solution of problems


involving the half-immersed circle and the
half-immersed ellipse. We hope to publish some
of the theoretical considerations in greater
detail elsewhere.

In the present work Green's theorem is


applied to the potential and to a fundamental
solution (wave source) satisfying the
conditions at the free surface, at the bottom
and at infinity, but not nectusarily on the
body. An integral equation for the potential
on the body is thus obtained. For the simplest
choice of fundamental solution the method
breaks down at a discrete infinite set of
frequencies, as is well known. When the
fundamental solution is modified, however, a
different integral equation is obtained which
is found not to break down at any frequency.
A theoretical discussion is given, and
numerical results ere presented for the halfimmersed circle and the half-immersed ellipse,
If only the virtual mass is required (rather
than the distribution of psessure) much time
can be saved by using an integral equation with
the transposed kernel and a simplified righthand side. The numerical results are in good
agreement with earlier results using the method
of multipoles which for the circle is better
than the method of integral equations but is
not readily applicable to other sections.

2. Formulation of the problem


A smooth cylinder is partially immersed in
a fluid with its axis in the free surface (see
Figure 1 below), acd undergoes a periodic
heaving motion with prescribed velocity
U 0 exp(-iat), where a is the radian frequency of
the oscillation. Viscosity and surface tension
are neglected; thus a velocity potential exists.
The origin of rectangular Cartesian coordinates,
in the mean free surfaceis taken at the mean
position of the axis of the cylinder. The xaxis is horizontal and perpendicular to the
axis of the cylinder; the y-axis is vertical, y
increasing with depth. Also polar coordinates
(r,O) are defined by the equations x - r sini,
y - r cons. Then the velocity potential
O(xy,t) - *(x,y)exp(-iet) satisfies Laplace's
equation

IX

1. IntroducLion
In earlier numerical work on the circle
we expressed the potential as the sum of a
wave source and multiroles, which are simple
but specially appropriate only for the circle.
For more general shapes the method of integral
equations may be use-. In our work, Creen's
theorem is applied to the potential and to a
fundamental solution (wave source). If the
fundamental solution satisfies the boundary
conditions at the free surface, at the bottom
and at infinity, but not necessarily on the
body, then the resulting integral equation has
a complicated kernel but involves only the
values of the potontial on the body. This

2 2.)

(2.1)

*(x,y,tj

jy

in the fluid. The linearized boundary


conditions are

(K u-..)(x,y,t) - 0 on the free surface


Pyy-0, x I x 1, x a x 2 ) (2.2)
where K . o21g;

y(X~y't) - 0 on thA bottom y-h;

formulation has the advantage that the


mathtmtical theory is well understood but that
the solution is usually associated with
resonance difficulties.
There is however much
1953)
theoretical work (beginning with i'rsell
thichshows that resonance difficulties can
Often be avoided by modifying the fundamental
solution. In this way a different integral
aquation canT be obtained for the sam unknown
n the present work thij idea will
function

t(xy,t) - U

-xp(-iot
In

on the

submerged part 211 of the cylinder.

ds: ance from the cylinder


Alv, woves aa
travel outwards: thus there is a radiation
condition

46e

(2.3)

(2.4)

KO =

Uocexp (iut)

.X

D2

K(P+

X' X2

y0

sD

24,

isa

)24,

ry

4x

= 0

=0~
y=h
Fiqure 1.
i(xThe
0)i(x,y.)

+
-

0 as x

Green's function G(x,y;C,n) is a


potential which is haronic ezerywhere in the
fluid except at the point ix,y)
(i.n) where
it has a source singularity. It also satisfies
(2.2), (2.3) and (2.5). Such a pott;otia!
given by Thorne (1952)

(2.5)

",

where k 0 is the unique real positive root of


the equation
K - I

coshk(h-y)cosh kK
kb-k sib kh

+
+

-kh
e
sioh ky sinh
k

nsk- --)
k

J rush

1,ricoal.k0 (h-y) cosh k0 (h-n) cos k0(x-)


---2k0h - stub 2k~h

The problem is solved when the value of the


potential *(x,y) is known on the submerged
portion Dl of the cylinder, for then *(x,y) can
be found everywhere in the fluid by Green's
theorem (cf. Ursell 1953). In an earlier paper
(Sayer and Ursell 1976) numerical results for a
circular cylinder were found by using a wave
source and siltipoles,which are simple but
specially appropriat, only for the circle. For
this reason, an integral equation fir the
boundary values of
on 3D1 is used in the
present work. This equation can be obtained by
applying Green's theorem to the two haronic
functions O(x,y)and (;(xy;t,v), (defined in
(2.8) below), whre ((,n) is on )DI . Thus

log

iY"
2
x-0), + (Y+v)

(s!y;v), say.

(2.8)

y-,)2
lyvr)2

2 +

If the cross-sectional profile lies entirely


between the two vertical planes x-x and xx 2
then it is known (cf. John 1950) that the
above boundory-value problem has a unique
solution. For simplicity we shall consider
only the heaving motion of a smoth cylinder
which is sysmetric about xO and which
intersects the free surface y-0 at x-a, but
the method is applicable to unsyw'etrical
sections and to other notions.

Jf (my)

j log

G(x,y;,n)

(2.6)

tanh kh.

fhe bar through the integral indicates that the


Cauchy principal value is to he taken.
M

Cirr,.E
der r - a, 1i
SL
I

This was the problem studied by Sayer and


Irsell (1976) using the method of sultipoles.
O
Here D, consists of the semi-circle r - a,

xy;

101 ir. We write (0) a (a sinx,,a cosa) and


G(O,a) a G(a sinO. a eosO; a sina, a rosn).
Then O(a) satisfies the following Fredholm
integral equation of the second kind (Ursell
1953)

G(X.y;,n)-3-$(x,y) ds(x,y) - 0. f2' )

Here 3/In denotes diffeventiation normal to the


line element ds(xy) into the fluid. The line
integral (2.7) is taken along DD1 , indented by a
small semi-circular arc round (E,n) where
G(x.y;E,n) has a source singularity. The
contributions to Green's theorem from the free
surface, the bottom and infinity all vanish by

j
eda) +

dO
-(0

-al

co

on 0

virtu* of lhe conditions satisfied by


and G.
It will be assumeU that 6D, meets the free
surface noratly; then an integral equation with
a square- integrable kernel is obtained.

-"
(7.0)

177

Ot

The first term on the left-hand side of (2.9)


is the contribution from the small semi-circle
round (A sina, a coso). Observe also that

log) +~

>

-0

%#(a

-Ut

-K) avelocity

(Kh)
s~l

3Unqeesof sol':cionof intrl eu~ion


The soluticit
of the physical problem is
cettainly unique (cf.

(Kh)

if ai only if the trarnaposed e~uatio,o are non-

IL can h -Sown ti,.t the lat ter


,t ion cf time , teri.,
equation occurs i 11 00e6s
it in.well known
Neumann problem byorce
John) thn' this n o sogular nl)y wben K is
an eigenvele om t he arsnciated interinti
iese eigenvalurs o ccr at
Dirichlet problem.
snet ol values ,t '; the
aneinfiniterdiscreeo
5
theory is tcea te Oy John. The difficulty at
these fcequenc1.s, due to the use of frequencydependent GrCeo' functions, also arises in mny
cuter wav'.problems, e.g. the problems of
sngui'ar.
.9

2s
7r~con2s9*
)~!
I(cf.

~2-1

WY,
.
k___
k
_____h-

2sf cosh k0 (h-y)

--------

2k~h + siW, AkP


(21)

where

C2~

(Kb)
2@

WV.,;

e~remainder
e
(L.12)

(ho,2

(K)

TkF

"d
i

(-1.13)

~mm n

Kh) G o. (fh)-C;

(Kh),

acounc ..s (cf. Jones 1974). (Wiemay not'ithat


K - ', is obviously not an eigenvalue of thu
irerjor Dirichlet problem.) ?Tyrwavenumbers
dla -n I it is known that this difficulty can be
overcomewby putting a wave source of a certain
definite strength at the origin (cf. lirsell
1953, 1961; Rhodes-Robinson 1970), and we shall
do this in the present work. Much of the
of the present work has been
influenced by the observation of Ogilvie (1976)
that itithe modified integral equation the
choice of so~urcestrength at the origin was not
At all critical in his computations. We shall
by showing
now explain Ogilvie's observation
that thsiIntegral equation formed with a
mdified source function

(,)-G(P,Q) - A f;(P,0)G(Q,t0)

And (!*5.0*) and (r.d 5) are poles coordinates


with origins ac li,-n) and (E,1)) 1respectively
'S

John 1950), but our

mavheaa.'itni formulation may not ptssess a


uni.juesoution for every It. In thitsecinw
concerned o.Ath properties or tju!integral
These equations anze
equa.ions (2.9) and (2.14).
O)
non-singular (i.e. mh, Frcdbolm icverninant

2sal
2
4i*) - co( s.l)1
Iare
Ah
(2sn)!

e..*~
(Kb)

o
B-00d

26f

1)Cs o

28+ (Kh)

~~,

where an obviot'aabbreviated notation hos been


used. The tcm U, Binh So cost is rh2!normal
ou the e lipse, were

-c
-

'o,
jc

~an

-(-Kr*)

4Khi

ilsh 0

( ts)
sin .0*

~*

da

Co~0

(2.14)

The expansion if G.(x,y;&.n) near the


origin is (cf. Yu and Ursell 1961) given by

G2

(.0

where, here and elsewhere, angular brackets


deno te that r Isato be put equal to a.

logKr*
1G*(~y;Cn)

()

(3.1)

is in general non-singular, where P,Q denote

~.

points of the fluid. (Wieshall use p,q to


denote points of aD,), and where A, : AMkh) is

stvength Parameter. The


licative factor C(Q,O) is included so
that CA,) is symmetrit (and heoct the kernel
a frequasmcy-depooient

(ii) 11liptizal cylinder A - c sinh OL sina,

ii:-.~uslti

of (3.3) below is the trAniio


(2.9), with G replaced b,-')

Magin &I application of Groe's theorem to

a,,dGCa,y;Eq) y!.elds a Fredholm


integral of :he second kind:
*(z,y)

'IM

of the kernel of

Consider the potential

4(P)

f(q)G(P,q)ds

elgenvalues of tie interior Dirinhlet problem,


as is predicted by the theory.
(3.2)

The numerical study of (2.9) indicated


instability at certain values of the wavenumber
Ka; in particular, when Ka was increased from

DDI

zero it was found that instability firsc


occurred in the range 1.80 < Ka
1.85
approximately. It was therefore suspected that
the first eigenvalue of the associated interior
birichlet problem occurred within these Uimits,
and the following observatiors confirm this.

where G(P,Q) is defined in (3.1) above. Then


the homogeneous exterior Neumann problem yields
the integral equation

TP(p) +
f

a(pq)dsP
5 (q)-L
an
q

3.3)

It is possible to obtain an estimate of the


fundamental eigenmalue KI by using a form
of
Rayleigh's Principle (cf. Lamb 1932, 72, for
his treatment of the analogous Neumann problem).
Let V(x) ie a prescribed normal velocity on D2,
vanishing at the ends, (DD2 is that part of
y-O lying between x-x and x-x 2 ), and let
be the corresponding harmonic potential

If we write

(q)G(q,O)ds

(3.4)
((x,y)

51)

satisfying 4-0 on ID 1 . We then define a


Rayleigh quotient Q[VI by the ratio

it c.n he shown that (3.3) has a non-trivial


soluin only if
( n,O)V(x)dx

--

A 2C (k0 h )
2i1-11Q[v1

0,

( 4. 1

(3 .5)

dD

(4.1)
2

0--,

I (Vx)} dx

by definition,

3D 2
2

4. cosh k h
2kTh + sinh 2kh

Put A
Then if

(3 .6)

where the numerator and denominator are related


to the kinetic and potential energies
respectively. Then it can be shown that

niA
where A and A 2 are real.
and i2 do not fie on the circle
A,
S

A2

2 - 6I
~C

QV)

)
(4.2)

and a method analogous to that adopted by Lamb

C3.7)

gives the estimate K a

1.822 for the

fundamental eigenvalue of the circle. This is


close to the value at which the solution was
fout.dto break down. Higher eigenvalues can be
obtained in a similir manner, but the process
is more complicated since the mth eigenfunction
most be orthogonal to the previous (m-I) eigenfunctions. Estimates of 5.289 and 4.891 foc
the second (anti-sysetrical) and thicd
(symmetrical) eiginvalues of the circle have
been obtained. We note that the elgenvalues
are independent of depth.

the s,, Lion of (3.3) (and hence (2.9) and


(2.14),is unique except at those Dirichlet
eigerstequencies for which the corresponding
eigenfunctiun also vanishes at the origin, it
is believed that there are no such eigenfrequencies. We have carried out calculations
for A -. 1, i and we find they agree to three
significant figures. The calculations at the
end of th, paper are those for which A - I.
In his analysis, Ogilvie considers the
simpler cane of the oscillations between to
vertical plates in infinite depth. He shows
that the intarior Dirichlet eigenvalues are
removed if the central source strength A is
chosen suitably but within wide limits; his
criterion is a limiting case of ours.

(j)

5. Additional modifications
Foforcom.ntof cmery

*(a) is an even function of


and thus
o theo
n
eritte
a
( )
(2.9) my be written in the form

4. Sinjplar behaviour of the solution of


ra- equt ion
.

v(o)

This section deals with tht singular


behaviour of the solution of the unmodified
integral quatIns (2,9) and (2.14). We shall
show that the singular values of the numerical
schemes (see 17 below) do in fact occur at the

.d

(-

-- atlcoso
Cl
1
* U

rooh (tO.a)vG,(-.i)
4

119

aqt(on
(5.1)

a dO.

and

Although the kernel and the integrand on the


right-hand side of (5.1) are more complicated
than the corresponding terms in (2.9), the
range of integration is halved. Numerical
computations indicate that both (2.9) and (5.1)
take comparable times to solve. (5.1), however,
was found to have the advantage that only those
eigenvalues occur which correspond to symmetric
oscillations, and that the calculation did not
break down at the anti-symmetric eigenvalues.

I
PM

6K(,0)(0)dB
= cos 1

(5.6)

J
-IV
The numerical solution of (5.6), together with
the evaluation of (5.4). took approximately
one-third of the computational time required
for the solution of (5.5).

(ii) Use of the transposed interalnquation


6. Long-wave behaviour of virtual mass

The virtual mass is defined by the quotient


virtual mass upward hydrodynamic force per unit lngth
/wavenuser
, of cylinder ir.phase with acceleration
lengt oufcnyde
un..
it length of
.accelerationJmesa r
of cylinder /%cylinder immersed in fluid

In an earlier paper (Sayer and Ursell


1976), on a heaving circular cylinder, an
analytical and numerical study of the
behaviour of the virtual mass as a function of
showed that,
that, for sufficiently deep
showe
wavenuraioniers
waer a turning point (maximum) occurs at a
certain small wavenumber. The result

(5.2)
d
(virtual mass
ddKaro

From Bernoulli's equation, the hydrodynamic


force is -qto-(x,y,t) - Re(ioo(x,y)exp(-iot).
Thus, for the circle, the upward hydrodynamic
force per unit length of the cylinder in phase
with the acceleration is

as a
u

{-ioU0exp(-iot).(,a v)
(5.3)
Re

Hence only the quantity

dO,

rather than the potential explicitly, is


required for the virtual mass of the circle,
Since the major part of the computational time
is consumed in evaluating certain matrix
elements (see (7,14) below) it is worth considering the integral equation which has the
transposed kernel of (2.9) but a much simpler
right-hand aide, vie. cos 0, where 0 is the
angle between the downward vertical and the
normal to the circle. In this case it can
readily be shown that

S- JeF(6hyO)ds,

O,

(6.1)

was derived from the ntltipole


method (cf.
Sayer and Ursell, eqLation (3.3)). The virtual
mass vas found to be greater than unity as
a/h - 0 in the limit .f zero frequency. but
equal to 1 + 3(alh)" for K o- 1; (6.1) then
shows that a turning point (maximum) exists for
Ka and a/h sufficiently small. This was found
to occur in the neighl.'rhood of Kh - 1, where
the wavelength is of the same order as the
depth. The same result has recently been
derived by vs in a different way by atehing
the velocity potentisls in both the inner and
outer regions, and in this form the argument is
applicable to other aectiona.

2J ipotRe<1)exp(-iot)cosO a dO
-

a In

itency

f
2J].ioo{Re<>)exp(-ict)cos0 a dO, whence

virtual mas

1
L46

l-tering the hetaviour of 4 at


Thus, y coo
zero frequency on ihe ellip:;e,i- can be
deduced that

d
""

(rl
vr

4
l

lh h b
4.. a,

r,,uetl

(5.4)

-here ab arc the


in sufficiently deep st,.
draft, half-beam reap,'ti. v, and t is a
typical body dimension. Hence the virtual mss
has a iaxia . which it also found to occur near

where

KhI -h,
*(s)

Ca)
J07.

(O,o)$(0)d5 - F(u)

(5.5)
Numerical ne ode and results
Two ntwurrical aathods ware employed to
tegral equation
solve the

10

Then
K(O,a)*(e)de

0(0)0

A!

A*O - n;

(7.1)

=F(ai

i,j-l,2 .... , n.
Also write

BO .

(7.9)

-B..

i,j-l,2,.n.
Mi

The clasuical Galeknpocdr

2
CO--C;

C.

*-

Let us consider the functional

O~d-F()

() +is (O~a

L~l -

Hence (7.8) reduces to

(.2)

and seek a solutionn

~ap0. ~ 5 ()

n~
n(o) - F(s) + a

i*0,l,2,..,n(7.lO)

By choosing for K(00,a)the mdified kernel


conclude from
-I~ G I(0,a))we can immsediately
.rthe results of 0 that (7.10) is a nonsingular system of linear equations, subject to
the restriction (3.7), except at those
Dir ichiet eigenfrequcucies (if any) for which
the corresponding eigenfunction vanishes at the

such hat

LYj
0[n

+ B..1 - -C.,

(a(73

(7.4)

0.

M l..onare any linearly independent


functions of a.range

origin. No instabilities were recorded in the


10.
0 < Ks

Substitution of (7.3) into (7.2)

(ii)

gives

LiY

du

aloihm
to-

K(6a~.(4d9~equation
(7.1)to a system of linear equ~ations
5f~.()
J
by employing an elementary trapezium rule to
evaluate the integral term:

b
IaKen40d
-

ehd

.. the integral
This second method rred,

,b

n
olyn'

qua~dratr

(73O(aih)

~'(avih.

a~jh)4(sih)

hxo;a,,aP.a n), say


F(a-ib)if., i-0,1,2..,

Now, by virtue of (7.4~),


b [Y()] 0 iMd- - 0.

-,,

wherei

(7.6)

j-O

ternm + j'o term]

(7.12)

whencej0
aand
-c.,

(lA*.+B.
13
3 i3

i-),1,2._n,

E is the it rotrection arising from the


error in the trapezium rile. We then solve
the systemnof linear equatLions

(7.7)

1j

A t

where

~,Fand

* J . Ibwhere
- f:i65)~~dsrespectively.
O~~j.lement
-JK().a)4

1(04 1GOOd d.,


-

jjb

(7.13)

E + t(J)

P.are column vectors whose it

A is the msatrix
are AKmob). M(ah)and F. .
lIK**

(7.8)

a.-IhK(auh,a)

h~~

(4b

l-hk(a~h.ashl )

.- JhKt(a~n,h)

iaA
For the circle, a - -J, and 6

Js; ch,)ooe

(.4
-igha

4 WiChah
-1coos2..

1ei

8. Conclusions

ox and Goodwin (1953) suggest solving


succebz..vely
the equations

A (
h E(

)
(7.15)

E
h E

Sh

-the

giving the solution

(;) +

(7.16)

(Cm)

oinstabilities
The i
element E.' ' of the colun vector
-(j)
is given by Gregory's finite-difference
formula (cf. Jeffreys and Jeffreys, 9.083)
th

Ei0) -+

I- 1
I_

V2_...) K(a-ih,b)() (b)


+

Ca)
(a+ih,a)00C)
K..)
(and
(7.17)

The solution of 17.13) used Grout factorisation


and iteratively refined the solution vectors to
some specified tolerance (see(7.15)). Typical
numerical results for the cirile and ellipse
are given in Table 2 and Table 3 at the end of
the paper.
It is instructive to compare the times
required by the various numerical methods. Let
T be a typical time required to compute the
virtual mass of the circle at one particular
frequency by the multipole method. Then the
corresponding times needed by us for the
integral-equation methods (to achieve the same
accuracy) were approximately as Riven in Table
I below.Wefudtathvita

Method

In the eresent work we have formulated the


boundary-value problem as an integral equation
by means of Green's theorem applied to the
velocity potential, and to a fundamental
solution satisfying the free-surface condition
and the conditions on the bottom and at infinity.
The unknown function is then the potential on
bcdy, and the kernel is complicated. There
are many such integral equations, one for each
choice of fundamental solution. We began by
choosing the simplest fundamental solution, a
wave source in a strip of constant depth. The
numerical solution was satisfactory for small Ka
but instabilities developed near ",a- 1.8. Such
are familiar in these problems; we
showed theoretically that they would be expected
at eigenvalues of the corresponding interior
Dirichlet problem, for which the smallest such
eigenvalue was found to be indeed near Ka - 1.8.
It wa also known that the fundamental solution
could be modified so that the corresponding
integral equation would have no resonances for
large Ka; this equation was studied numerically
was found to he free from resonances for all
Ka. Following a suggestion by Ogilvie, we have
shown both theoretically and numerically that
the choice
of useful
fundamental
solutions
than was
expected.
ide conclude
that is
wider
resonances are probably not a serious difficulty
in two-dimensional problems with constant finite
depth if the fundamentil solution is
appropriately chosen. Integral equations with
modified kernels were solved nuerically for
half-imsersed circles and ellipses, by the
Galerkin method .nd by a quadrature method due
to Fox and Goodwin. These results agreed with
rt other, and (for the crcle) with the
a rest
t
figure
r signfit
three significant figures. Typical results are
given in Tables 2 and 3.
'e found that the virtual mass for the
wafote
circle could be obtained more efficiently by
solving an integral equation with the transposed
kernel and a siupler right-hand side; this
reduced the work by about 70 per cent.

Tim,
We should point out that our values of the
virtual mss of the circle fox low wavenumbers
and shallow water (a/h , 0.4) exceed the upper
bound given by gal (1977) for sero frequency.

__-

Unmodified integral equation

bcr

Modified integral equation

2OT

lnmodlfled transposed integral


equation

)Toccur.

Modified transposed integral


equation

6T

Table 1.

both the Galerkin method and the quadrature


method due to Yox and Goodwin required comparable computer time. For Ka * 1.0 a typical
velu& of T was four seconds on the CDC7600
computer, to achieve an accuracy of four
significant figures.

Our results appear to be in good agreement with


the results of gai and of Young (1975) except
perhaps at small wavenuabers. Neither gal not
Young report any difficulty with resonances, and
it my be ,hat in their mthods they do not

Circle,

a/h - 0.5

VIRTUAL MASS
Ka
0.00001
0.00005
0.0001.
0.0005
0.001
0.005
0.01
0.05
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1.0
1.822
2.5
3.289
4.891
5.0
10.0

Multipole
Metho
Method

Modified
Integral Equation, A-I:
W Galerkin Method

0.49843
0.49845
0.49848
0.49851
0.49855
0.49880
0.49912
0.50180
0.5051
0.51344
0.52274
0.53342
0.54567
0.55957
0.57514
0.59233
0.61099
0,63090
0.80133
0.90606
0,98583
1.07320
1.07705
1.18048

0.49850
0,49851
0.49851
0.49854
0.49858
0.49885
0.49917
0.50189
0.50549
0.51354
0.52283
0.53355
0.54583
0.55972
0.57530
0.59251
0.61119
0.63111
0.80156
0.90630
0.98611
1.07350
1.07736
1.18082

Modified
Integral Equation, A-I:
(ii) Fox-Coodwin
0.49850
0.498f0
0.49850
0.49853
0.49856
0.49882
0.49914
0.50184
0.50545
0.51349
0.52279
0.5335C
0.54576
0.55966
0.57523
0.59243
0.61110
0.63101
0.80144
0.90618
0,98599
1,07336
1.07725
1.18070

Table 1.
1lipse, tanh

- 0.5, w-,dra t

0.5

VIRFUAL MASS

....
. ..
Kh
0.00001
0.00005
0.0001
0.0005
0.001
0.005
0.01
0.05
o.l
0,2
0.3
0.4
0.5
r.6
o.7
0.8
0.9
1.0
2.5
5.0
10.0

Table 2.

eT

ModiT
f-l a - -

Integral Equation, A-I:


(i) Galerkin Method

Integral Equation. A-I:


(ii) Fox-Goodwin

0.22432
0.22432
0.22431
0.224k)
O.22423
0.22401
0.22368
0.22237
0.22094
0.21964
0.21914
0.21909
0.21950
o.22026
0.12135
0.22279
0.22460
0.22681
0.32557
0.45043
0.56,60

0.22431
0.2243o
0.22430
0.22431)
0.22421
0.22396
0.22)62
0.222 v
0.22786
0.21953
0.2191
0.21900
0.21939
0.22014
0.22123
0,72268
0.22449
0.22671
0.12548
o.45084
0.56149

References
BAI, K.J.,1977. The added mass
of twodimensional cylinders heaving
in water of
finite depth. J. Fluid Mech.,
81, 85-105.
FOX, L. and GOODWIN, E.T., 1953.
Numerical
solution of non-singuler linear
integral
equations. Phil. Trans. Roy. Soc.,
A245,
501-5 34.
JEFPREsS,H. and JEFFREYS,B.S.,
1946.
Methods of mathematical physics,
JOHNe,
9, C50o. the motion of 59.O83.
floating
bodies, II.
CoMm, Pntre and Appl. Maths., 3,
45-101.
JONES, D.S., 1974. Integral equations
for
the exterior acotstic problem.
Q. Jl. Mech.
appl. Math., 27, 129-142.
OCILVIE, T.F., 1976. Private
communication.
RHODES-ROBINSON, P.,F., 1970.
On the shortwave asymptotic motion due to
a cylinder
heaving on water of finite
depth. Proc.
Cambridge Phil. Soc., 67, 423-468.
SAYER. P, and USELL, F., 1976.
On the virtual
mass, at long wavelengths, of
a half-inuersed
circular cylinder heaving on
water of finite
depth. 11th. Symposium on Naval
Hydrodlynamics,
University College London.
THORNE, R.C., 1953. Multipole
expansions in
the theory of aurface waves,
Proc. Cambridge
Phil. Soc., 49, 707-716.
URSELL, F., 1953. Short surface
wave- doe to
an oscillating immersed body.
lroc. Roy. Sc.,
A220, 90-103.
URSELL, F., 1961. The transmission
of surface
waves under surface obstacles.
Proc. Cambridge
Phil. Soc., 57, 638-668.
YU, Y.S. and IIRSELL, F.,
1961. Surface waves
generated by an oscillating
nired
body.
J. Fluid Mech., 11, 529-551.
YEUING, R.W., 191i. A hybrid
integral-equat.on
method for time-harmonic free-surfact.
flow.
lat. International Conference
on Ne'rirco
Ship Hydrodyiu6mics,Caithersburg,
Maryland.

184

THEORY OF COMPLIANT PLANING SURFACES


Lawrence J.Doctors'
Aviation and Surface Effects
Department
David W.Taylor Ship Research and Development Center
Bethesda, Maryland 20084

Regarding the theory of planing, this problem has

Abstract

always beenattacked using the assumptions of inviscid


incompressible potential flow. The assumption has also
beenmade that the main effect of viscosity is to generate a
frictional drag which can be accounted for separately.
Sretenskii I I and 21 and Sedov [31 were two of the earliest
workers in the field of two-dimensional planing. The use of
potential-flow theory allows one to represent the action of
the planing surface by a pressure distribution, which they
expressed a.an infinite series. The first term of the series
contains the square-root siugul rity at the leading edge- a
phenomenon which also occurs ix airtoil theory. In linearized planing theory this singularity models the splash jet
that is thrown forward of the boat.

This report describes a theoretical model for the hydrodynamics of flexible planing surfaces. Linearized potentialflow theory is used to obtain the hydrodynamic effects, and
(hesurface itself is replaced by a finite-element representation
of the pressure distribution. The flexaral behavior of the
planing surface is computed with sinall-deilection beam
theory, and the plate is discretized into structural finite
elemcnts. A series of numericrl experiments shows that a
sufficient degreeof cmvergence is achieved with forty
elements, lhe resullant pressure distributions reproduce the
le:rding-edge square-root singularity - which is well known
in airfoil thery. The rigidity of the plat is foundto have
a major effect on all the reilts: thelilt and drag are
reduced, with this influence being stronger at higher speeds,
Tapering towards the trailing edge has a similar effect. The
pressure disi, butions show thit there is a possibility of
negative pr,_iureregions under the deflected hlape of the
surface - indicating that cavitation mightoccur in some
conditions. Curves of the free-surface elevation are presened,
anti inaddition, the results ofapplying a pressure tn the
plate are described,
1. Introduction

Maruo 14.5.6 and 71 also developed the linearized


theory, and in the last paper, obtained experimental pressure
distributions, which tended to verify the theory. The agreement, not unexpectedly, was better at small trim angles, and
in regons away from the singularity at the leading edge.
The work of Stuire (vi will be reneinered, particularly,
becausehe carefully explained the importance of satisfying
the Kutta condition it the trailing edge. A consequence of
this is that if one decides on the wetted length, then the
height of thecraft relative to the undisturbed free surface
has to be treated as unknown. 0 his means that die load,
and the center oflilt, are parts of the silutirn.A Another
approacht is tire high-t:roude-number
approximation of
(ulerbatch (tj. lie alsodeveloped
a parabolic-shaprert
plate which was monre
efficient than a flat plate since it
eliminated thesplash jet. A review of the abovework was
gie-yWlael
n
atn
11
green ty Werauselr and Iairne Il.
Nonlinear
aspects of pLnihg in two dimensions trave

Background
the work descrihed
inthis paperwas prrmpted ty air
intetet
in theapplicion of flexible planing
surfaces
to
Advaned arne craft.
iOne such po igle us.isto support
the weightofit vehc e o thiree
or more
s
itably
splia
ed
theweight
. ifatre etice in theree
ir nreuiblystracit
surfaces. A careful choice oif the degreeoif tlexibility
arid appropriate damping - wouldproducea much smoother
title in toughwater than is given try a rigid
shape.

alsobe.r examined, thus Green 1it, 12 and 1i.1 stlved the


number in
at infinite 1-roude
iof a flat plate gliding
problem
bull, finite and irfinite depthwater. Other gravity-free
by Wit atnt Whitney 1141
trantrit reearch was pertorist
shaps that resulted
1 derived
and lingand Keller 1151,
iii a stlrash-Iree Lrondition. the situatior (it hirh (hut not
ininite)I Iroude number was examined by Wt 1161i anti
ig anti Kelle I 171, who useda singuhaperturbation
scieie lire latter pater took intoaccountthe impingement
of the prriy leton thewater ahead oftire plate

Anotherappolication
offile
con-ept
isit,theseals
o1fi
it an SlS fifted
stal-eclFet ship hSfl A typic:d laytrut
Figure I
with sitlcwalls and txuw anI sterfn sealsis sfown ill
tire train desigin feature of tie sealsis that they call deflect
excessive hs
it%a sea state without
in order to firvit ni.ivel
tire craft
if pressure from tire air cuhion which supports
willuiot he given here, but tie
ilre details ofthe seatldesign
ihii hinbred.
trailer is referred in teart to other works tit
Ore i thephenomena of great interest - Aswell as tire
trenerated force, - istire wavesyster dexehrrd uniter tire
then
(fllireritp
vehicle If tile sidewallnare not
where a
air call ruccueinthrise u i rions
if trrhir.)
venting
of the
attitude
in
a
Iower
[hi
results
exitst.
wave trough
to the
hydrtrdyrnAi drag title
ShESwith antattendianit rie ill
buddur i water Againstti'
seals

approachfor
a finite-elemnt
18 1 developed
Doe
plates of artitrary siape, including tire effects of
handlinig
graviy waves, The methtod Alsotallowed the predtiion of
optinn Irfrris which trircided with thoseof C'umetbatch.
With regard ti thre-dinwnisitmal plning. themait

'Permanent address
Skchil ot Mechanical anti Industrtal Irgineerig
Univerlty
of Ne w SouthWales, Sydney, Australia

problemhere is that the wetted area rif the surtacis


unknwn anti mus 1e fround Aspart )I tile vilution. (Al
mentioned ptrevitusy, this difficully is sitied iv two dimet

185

STERNd
SEAL
SUPPLY

CUSHION
SUPPLY

BOWSEAL
SUPPLY

OWR EIIFNT
1 FRWASRE
SEINFIIT
PRESSURE
RAND

UNOEFI
ECTED
STERN
EEAL
SHAPE

POSSIBLE
CUSHION
VENTING

jf

UNDEFLECTED
BOW
SEAL
SHAPE

FREE
SURFACE
PROFILE

Figure I - T'ypical Layout of Sidewall Craft

4. AFTHALF-TRIANGULAR
PRESSURE
ELEMENT

5. COMPLETE
TRIANGULAR
PRESSURE
ELEMENT

Figure 3 - The Different PresaureElleirents

M-

TYPICAL
PRESSURE

3. FORWARD
HALF-TRIANGULAR
PRE
SSURE
ELECMENT

P.

TRAILING

y\

FREE
SURFACE

.0

EDGE

xi
2-

1).l~

NOTES:1.PRESSURE
91H4A41N
ACTSDOWNONWATER,
AND
UPWARDS
ONSEAL.SEALPRESSURE.
p., NOTSHOWN.
2. CUSHION
ANDBOENO
PRESSURES
UStUALLY
EQUAL:
P. I Pb
Figure 4 - Theoretical Model of Sealand Cushion

Q nFigure 2 - Finite-Element Breakdown of a Seal


sIons - in an inverse manner - by lixing threwelted length,
and considering the weighlt supported by it to be unknown.)

Although ltre rise-height anti weiled-artu predtctions of


Doctors 1371were within a few percent of cnpCriniictal
results for arbttrary Froide number. aspect ratio and deadrise, thle piressre distributions were nilt well behaved. ibis
problem has been tracedt to the crvedt singularity line at
th leadting edgie.

The three-dimensional problem can betsimplified iii


variorusways. For example, Wagner 111 1.tifin 1201,
Shuford 1211 andi('asling 1221usedia low-aspect-ratio
assumption, while Shren(231 and Shren
and OIgilvie 1241
assuimedthat the srect ratio was high. Wagner (2-51 and
Wa(ilin and Christopher 1261ass\uted that the spieedwas
infinite. Marnio (271 exanminedthe linits of high and low
a4pectratlirs separately,

kI was therefore decided to i-nploiy a t wo-imensional


apiproachrsince the beam-to-wet ted-Icith rati ii f threseals
is quite large. Also, the effect tit thIe sidewalls is loi Confine
the generated wave pattern and Iii encourage its Iwni-dirnensioval charadt.
iue2ilsrtsteftireern

Weinstein anti Kapryan 1281 Carried iiut hirdh~ipeerl


experiments and their results comipared well with data fromi
tithertests.the
KiiiiiI
ighFrO~denumer
WinI)ani
Iippieda
ihearry bilt simply assumedia rectangtilar wetted area, while
luck 13011and Oettet 1311discussed ltre piroblemniito
kunonig the coirrect wetted area.1.lsiuaMO

Ffesnt

orkthe

Theorv
aeoml

Further piapers have preseitted experimntal results.


t heweinclude woirk by Clement aird Motrunt 13121,
Ilauller
1111ari
11, .1 Santsk
ard .11 -paitturn

Irmast

eieeiaii

seal itself. while Figure .1sholite different pressure


elenments(oi be used in the hydrordynatnic mod~el.which is
illuistrated in igture 4.
of
.Peua
oa
Seal[
of"

rmssctnu
eli
h elce
is siiwn in Figure 1. "Tis diagramtAlsodefines tire
convention for the nmomentM, the shear foirce V. and
loading p. Therelationts between these quantities uni
the deflectioni w are givert by stan-lard beant theory (we
91W
ong1i,1
n
msek
d
(II
p
'Is

~sign

nalticther
Thetomof
I todevlopin
hiituy
fir the hynirdynarmcnu tifexible pilanringsurfan-es.whtich
coualdthen be atipliest to an SES. One 4imphifyting assumpliron ti lheutiized is t1%4tof' two-stimensi~iurtly.
It is, of course, well knowrt tliat the flow under the
craft u%aiually thrte-dimnsional, and it would therefore
went approriate to use the three-ditnensionat tinite-elentent
planing technique oif Doctors 137). Thin could be continedh
with the theory for the wanesgreneratedby a preaure patch
(itn oeuter tur inodel tte cushion) reported by filuing and
Worq 1381, Ilausullagi and Vin isettirre 1391 and Dcis140)1
ISO

V
aid

1M
x0

2
M.- T)- t
dn

(3)

Forwaed Half-Triangulm Element. For this element it


is necessary to consider three casesseparately: the field
point ahead of the source element (i > j), the field point
located at the source element (i = j), and that of the field
point behind the element i < j). (The last caseis not
actually needed for the calculations here, but is trivial to
obtain.)

where D = El is the local flexural rigidity, in which E is the


Young's modulus of the material, and I is the local second
moment of area. The distance x is measured forward from
the trailing edge.
Wenow consider loading of the beam by four types of
elements illustrated in Figure 3: a uniform i,,ading ove; the
entire seal (Type I ), a forward /alf-iriangular elemeit (Type
31,an aft half-triangular (Type 4). and a complete triangular
element (0 vpe 5).

If the field point is ahead of the source element, then


the moment acting on the beam between stations i and
i+ lis

The uniform loading can be used to represent the


cushion pressure acting down on the seal, while a series of
overlapping complete triangular elements (whose strengths
haveto be found) will be usedto represent the l'ydrodynamic pressure distribution resulting from the water. The
half-triangular elements are usedfor blending purposes at the
seat ends, as seenin Figure 4.

where

3-4

,,,

(4)

M
M =;pX2.
= I ,

(5)

= i-

(10)

centroid of the source element and the field point. The


purpose of the y factor is to be able to handle= the complete
2.
element when its value would be I. Here, '
We use these expressions in order to integrate Fq. (3)
once for the deflection slope, and a second time for the
deflection itself, in a manner similar to that explained in the
previous section:

We consider the deflection of the beam between stations i


and i + I. The rigidity is assumed to vary linearly between
stations, so that

w, = w +
+
i

and

(6)

D = D,(11+ atl,

Eq. (10) gives the dimensionless Iever arm between the

Uniform Loading. Using Eqs. (I) and (2), the shear


force and moment acting on the beam due to a loading p,
are
V = p,

(9)

M = 4p a (r + t)/y,

wa

55

or) In I + a

Pj
a - (I
ui
iy ..

2awi+L

I I

[n2

(xi + I - xi)/2a and 2a is the

Di + I/Di and
n
in w:iich of
station spacing. For convenience, the i index on a will he
dropped.

+ 21l - or)(m I +

As before, the limit of a


(it uniform segment) may he
easily obtained, bui the caseof a = has no physical
application.

The slope of the deflection may be obtained by a


single integration of E.l. (3). after substituting tiqs. (5) and
(6). After substitution or the limits = 0 and I, the result
i3

w=w

(I -i~nl

bill

We now 'onsider the second situation, namely i = j.


The loading, shear force and moment belween stations i and
i+ I are

(24 I)

4p,a["

tail.

(7)

i - I, The defleclion is obtained by a second


in which i
integration of Eq. (3 ,l ut with a free Iiwer limit if
rather than 0 uwd after the first integration. Alter some
algebra, one obtains

a
and

8 pa

W;

+O
t+

ij) 0-lal

luill
+a 1-1

pa(aI-

p
2pja2

(14)

I5
.

"

+ n)

(8)3La
ll + 3a.)Inkl to )
nt

The :XpFresions for the deflection, given by Lqs. (71


and ,8) are ud repetitively. working backwards (rom the
leidise cdve Ihe case of local uniform rigidity, namely
a - 0, is easily obtained by taking the limit of themetwo
esuations. The other limit, when a - -, is needed fsr
representig the first element of the beam i
II when the
thickness tapers down to rero there. For the sake of bwvty.
these two pairs of littits ate sot givemihere.

06)
4

,
and

w " w
- 2a w'.
i + Ia

0Zi

lIS?

(j

I'me last equation may be used is Eq. 13) to yield the


gradient of te defnc.tion. and tile Ieflection itself, after
appropriate integrations

4
,i - L i+I- I20
53sIaoz

wi- wins law,,

(12)

-a

l3a4

L.
)i

(I + ,)

a
L

5
2

bnll +(

(l71

0.12

0n0

10

0__________

0,012 -n1

0.120a.
0.06-

0.2

0.4

0.0

0.8

1.0

0.2

Fi-,ure 5 - Flexural InfluencC oefiets


(a) Uniform Loading
0.016-

C. 0.006

Ca .0

0,4

0.6

0.0

1.0

Figure 5

- Flexural Influence Coefficients


(c) Aft Half-Tniangutar Element

'---0030

____

'.o
n.tO
0.012

:025 0.

7 0

'a.131

-2-

0.020-

10

_5

0004

0.2

0.00--.

0.4

0.6

1.0

0.0

Fi ::'e 5 - Flexural Influence Coeficieents


(hI Forward Half-Triaiagular Element
The third case,nam.ely
two equiations are just

the simplestilla all.

.-

0.2

0.4

t ie

4 p" , [F
W,

"!
--.-+-In
.

w:
4

Du L

IM3

'
the three
riiltereiii aviations bretween thresource elenient id the Iteld
poinlat- as for the loaward halt-triaiular eenct I lie
resuls or lite first case,namnelII j, can he otainecd
tarevctiyfromn those of lite horward elemnent. fil onraly
iflernce o-:Luis Ili colllna
41w
fit oarren arin in 1-,1 (10)
whiicha
shoaaid raw riot
cvrarider

Isurlaice,

r
sthat Val,. It

---

24)
1

Ca

t
a-

ri

Complete Triangular Elemnt


Tis clement ia actually
the haac lite and ii used over threentirv letngtthofi te planing
vstwreasthe hiatt element% are only used at lite rds.
Wt have four dinact casestii canita - i, tar a%thle relative

( 20)1

of lite source elenieit and fheld pint are conicernaed


trosations
lor ltey lost case.thtat Mathe field poini alre.0 ilaftire loru
eleriealti I > I I . we carl rise Eat. iltI and ( 12). but witl%

I aIra
t wiarhirled spralcly. ra.I
varloaading. shear foca lii)
nd~ rllera

arid the moirmenrtarraralterert tar


-I-1.(t
lite, test ic ii that iat lte field ptarlt coinctding with
the source elentent 6 *- i. We ecomabiane
Ui,
"IaI
(with
1 2 atad r
1131twili 1:4. lila toaaitian"

p4

tule a0heltian illv. -od Jelb*a Ia'

1.0

+1]40
Itli third Case -id thaI [h tird Ioint living located
behind file source element II j- I I Ila%already beein
treated, by 1:11s(INt and lit))

anid 112)iare stilt natid

t ie case )I i
ever. I lie equatirair
are reIKectrvety

0.0

Ill 14*

I~

AtHl-iaghEant.We

0.6

Figure 5 - Flexurat Influence Coefficients


(d) Complete Triangular Elemert

-ray 4war ire driveat

I f 3a - 3n + a') In .Ia

lea

(27),

and similarly
4

8pa
,

+34-(1 + 3ao- 3c,2+

a3

Inl+

wvi= w, * i -2--aw

bution on the watur surface is well known, and will not be


repeated here. Instead, the reader is referred to Wehausen
and Laitone [10, p. 601 ) and other standard textbooks on
this subject.

(28)

The third case,that of the field point coinciding with


the alt end of the triangle (i -j - I ), is equivalent to that
for the aft half-triangular element, so that Eqs. t241 and
125) apply.
The fourth caseoccurs when the field point is behind
the source element (i < j - i ), and Eqs. (18) and (19) may
he used here.

Rather than solve the wave elevation


generated by each
type of pressure element, we will construct the results by
the superposition method. This technique is valid since tire
equations of motion for the fluid have been linearized. The
building blocks for our pressure distribution will be the
rcsults for semi-infinite uniform pressare bands given by
Lamb (42, p. 4041.
Forward Semi-Infinite Band. In the present notation,
Lamb's result for a uniform pressure P0extending betweer,
0 and - is
sgn(XO)fX) - 2H I-

=-

Results

Pg/Pj

Some sample beam deflections, due to the application


of these pressure elements, are now presented in Figure 5.

where

X, = xsk0

T he case of a uniform loading, in particular, is seenin


Figure 5(a). The deflection coefficient,

and

k0

w
w --

Pit 4

(2
(29)

is plotted against position along the beam of length Q. Ilere


P0 is the loading and Di is the rigidity of !he cam at its
midpoint. I'hree constant tapers, r, are considered. ihe
taper is defined as the thickness at the anchored end
(xi = I)minus that at the free end (x/t= 0),divided by
tlihc the averagethickness, This means that the rigidity
can he represented as a third-order polynomial:
D [1) 1 -+2

(30)

the flexural response due to the three triangular


elements is shown in Figures 5(b),t), and (d), respectively.
Due !o a need for brevity, an example of tero taper only is
presented. For these elements there are respectively t0, tO
and 9 curves - appropriate to the number of possible
locations of the source elecuent. The deflections frorm
the
forwerd hali element (Figure 5()) are slightly lets than
thosedue to the aft half element (Figure 1(c)) because of
of the curve
the smaller bending moments, rhe psotiotn
behind the source element is a straight line, as seen by Eits.
(I8) and (19f,
rThe case of a complete triangular elentn, is plotted in
Figure 5(d). As noted before, these results may he obtained
by summingthe detlections from the two half triangles
(using n commni
index).
1lt. Hydodyn-sn-c Model of Seall
Theory

ktound, We make tire asual assumptions of inviacid


incompresible flow, A furtiher simpllfit.ation is lo linearise
the tree-surface tondilion. The theory for the wave dinturbnce resulling from the application of a pressure diutri-

) cos(X o ) - H(Xo), (31)


(32)
(33)

gIC,

in which p is the water density, g is the acceleration


of
gravity, " is the wave elevation, c is the velocity of the
travelling pressure, and x is measured forwards from the
point of discontinuity in the pressure. Aio, HIis the
Heaviside step function and f is one of the two auxiliary
functions for the sine- and cosine-integrals, which are
defined by
resin t
.(X(
cos4
(34)
dt
X

,f

in Abramowitz and Stegun (43, p. 2321.


The asymptotic form of the downstream wave profile is
pgf/Po = -2 cos

Figure 51a) shows that increasing the taper decreases the


overall deflection. This is due to the fact that keeping Dm
constant, but increasing r resalts in a genciral
strengthening
of the beam because of the relation 1) P. A taper of
unity implies a tip thickness tif zerol, and consequently
greater curvature in the detlection near the tip occurs.

asX,
X.
0

(35)

Aft Semi-infinite Band. The results from Lamb are


pgi/p

=Isn (X,,) IIX,) + IfI- X,) ( 2 cost(,

f- 1

Cost(, f as X

(3h)

(37)

Forward Hatf-Tringular Eteent. We rnay construct


the required pressure distribution by integrating a large
number of aft semi-infinite bands, each of magnitude
dp' - (pvZat dx'. For each of these hands X = k (x - 0,
where x' is the starting point o tht baind. Thus
I
pg/p

- -a

as

+t'sI
-

sgnlht),)

I[/wnhnfo!

+ It-

:mlx) - I

dx,

ll-a2,:s(htI

('are has been taken here to subtract an aft step if magnitude


po - necessary to bring the prvsure of the element back to
zero at x - -0
For the purpose of the integration, one needs tie
following relationship

ao

2-

0.4

_.k._

2.2

--

-.
Figure 6 - Hydrodynamic Influence Coefficients
Ia) Semni-Infinite presture Bands

0.4

Figure 6 - Hydrodynamic Influence Coefficients


() Aft Haif-Triangujar Element

_____---a

", it.

0.2

Pi 0

0.

-0.2

.,

--

0.025

000l %

-o~N

-o

-4

-8

oeTcet
Figure 6 - idoynmcIflec- Hyrodnandk~nluene
CeftintsFigure
bForward Half-Triangular Eleny.-nt

sg Id
XIf(

6 -Hydrodynaml
Innlunce Coefficients
opeeTinua
wd lmn

hInt(X)
X

Its asylltotki
The results for the waveeleVation, ii,.
are

1(XA)+ t(I A,4(.'%n(I, -A

form,+

4,1
IIIA 4+ it - A, I(2 inB ( A

%gnlh,,
If AXo)4 Itt- An)(2

where

where

as X,,

2at,
2a)

q. (4104
to Li.(431:
p~p

-.

(41t

I~/iI [11 (A.)I - .A.)


w'

2hi,

(A'

2 1

Aft Hit-Trimsptlar
Ele wit . In a %inilar
maniner to the
Previous Lase one can consatructthis rlment usins a (positive)
aft srm-lintlnile
hand sltting AtA 0, and then subtracting
an integrated seriesol' bond, The final result is

~ak,

441

ComplerteTrianlaar Element. We could build this


Clout) with a seriesof small-noagnitude firessun. bands
flowererCIt is eassierto add Eq. 439) to Eq. (421, and

-IeeIe

(09)
ak- (sinh
(A4I- sin1 1)- 2 co, (Xo

(xl + 2 a) k0

if
I-

l)

4 lurtl tak,
skl

(2sin (hA.)Au

aj4X

after som simplflcafion

Igo

X,
(srr1

12u

A)-h

-(

t1(a
45)

Results

the SealDoflection

Figures 6a) through d) display waie profiles generated


by the five different pressure forms. For example, the two
semi-infinite pressure bands are shown in Figure 6(a). It is
seenthat the profiles very quickly develop their asymptotic
forms downstream - perhaps within half a wavelength. Of
interest too, is that the slope of the free surface at x = 0,
as given by Eqs. (31) and (36) for these two casesis
theoretically infinite (according to linearized theory). How.
ever. this behavior is so localized that it is not really
apparent on this plotting scale.

Geometry considerations are used to find the distortion


in the sea]:

The three triangular elements are shown respectively in


Figures 6(b), (0i and (d). Again the asymptotic downstream
wave profiles are very quickly obtained. It is seen that the
amplitudes of the wave is, to the first order, 2ak0 for the
half ?lements, and 4 ako for the complete element.

wi =

h for I C i C n.

(49)

The Seal Forces


S.. Ac, summation may be used to compute the lift,
drag and moment about the sei.l trailing edge:
n
L = a pb + 2a

The kinks visible in the curves for ak0 = 0.2 are due
to the fact that points were computed only for vaues of x
which were an integral multiple of the element length 2a.
They could have been avoided by using a closer spac;ng of
points.
IV. Combining h

-;

i=2

p ,

(50)
n

D =
D

h
Pb"2
+

Elements

wi +

W2- Z1 W

=2 P (i +
(51)

I -I - I - wi -1l

Kinematic Condition
We now apply the results of the previous two sections
to that of a flexible planing seal travelling ahead of a cushion
pressure on the free surface. The configuration is shown in
Figure 4. 'the cushion nressure, p., and the seat pressure,
p, are normally identica;, but will be kept separate in the
problem foimulation.
The solution to the problem is obtained by summing
the wave profiles iesulling from all the pressure elements,
and equating this to the profile of the deformed plate:

(rot )-;iIfi(
j iI
-pb(j-'

pgth +z(z

i
~-expressed
)

fori= I to n.

and

xEP

while the center of lift developed by the seal is just


n = NIL.

The Wave Resistance

(47)

Dw

'
C

pgsA,

"
P ii(" +

Pj
P $i

Pt

tg
448
14asv~

itlak
r ....aku

Pv Pb

4 in'Itki , n
-psinlx
a

Y-'

rin

This Calculation may be carned out once the pressure


distribution has beo determined.

A55)

One therefore needs to find these two wave components.


Eqs. (37), (40) and (40i are used, after taking into account
the longitudinal displacements of the sour.e paints of the
contrihitins to the downstream wave:

and

Elevalion

(54)

A, cos(xku) + Assin(xk,).

the wave resistance is then given by Lamb (p. 4151:

Eq. (47) contains, as input, the undeilected sealprofile.


procedure zi . (Arbitrary seal shapes can be handled by the
length is fixed.
as well as the obvious fiat form,) the wetted
and as a consequence, the equilibrium height, h, must be
considered to be unknown, The set of n equations in n
unknowns represented by Eq (47) may be solved by a
standard matrix Inversion technique.

1531

The lownstreat amplitude of the wavesmay be


in terms of its two components:

Ilere the superscript


meansthat the variable has been
made dimensionless usingp, g und the pressur2for that
element, The double subscript ij refers to the influence at
the i'th field point due to a source element at station j. A
single subscript i implibs that j - i, that is, the source
element is located at the seal trailing edge. The supemcripts
(I) through () refer to the five pressure forms considered
i the previous section, and in the section on beam deflection
laltaough type 2 does not occur there).

-ottPil

52)

i -2

Frw-u e

M=

pg A,

2P

-4

p %

k.)

(5li

xt

saku )

aku

4'.2t"

5
aka

p, Cosi

(57t

1.00----

1.00-0.96-

FG.0D-0.001

0.95-

-------

0.90-

-----

---------

F 6. 00001

0.90-

1.D-0.0

0wit

0.050-

'

..

*wP1.~0

075-

0.790.701

0.70

0.
05

F6D

1.
10

1,D

2.0
20

1.-LOG'
5

2.6
.

0.1
---

.1

0.5

-----

1.5
2.0
2.b
LOG2,,
of the Numerical Scheme
Figure 7 - Convergence
(c) Tip Defletioan

or ItheNumerical Scheme
Figure 7 - Convergence
ia) Center of Pressure

it)

2.0-

2.0

205

f 0,'

CF

iure

onegnc

2.

F-1.0-

of th Nue-

,D .JO

0.VI

Scem

ilicitilonnies rlifidity*

.0

02

0
Fir 7

D*

lilt "WIle'icient

C'

Dlii cereicteirt

(it

)4nQ
1.

Scem

I, Illustralvd Ii
thlie ewt work - lte seal%liffies%. 'his
tgiurv Stall thrOiig fill, III thee CUtirpiCs. lte seil
andt
tife
e ctish
uil
Ih
pomevi, ICiit littitickne-s
seal p;iie se will IseShowin later.

Figuire 8 %flows tile uramatic effect nil stiffness. F;or


examttple,ii Fignire, NOla,lte center tit pressure moinves
fiorwardta%the rigidity is decreaseut. Ihis is resiil tif tite
seat bending. arid lte toad hetugtcarried only near the

( S9t

'/V
-[

of th Nuei-

of the Numica SchiteeO


i
Froweae7 - Cnegece
Wcem

teNmeia

I.

0.4.-06

Co-re

an

Du0.001
Fut1asi

Migure 701,. (h) and (c) demonrstrate lie ciontergveice


ratk! (itt some oflte integrated qtuittities with respect to
10. 20. 40.
Ithenoder iii elementstowd. (Cates ot Ii -,
de shoiwn. Ithc defirittio' tif the imniottnless
00 and 16 art
paramters are
Iroitde nintter.

'00

03

0.5 1.
Figur 7 - Co-rec

p *

(59

talinig cdge.
]c

it(tl1

iir~lit i Ittd (c) Owl fite lilt ainddrag


One teswr, Fiuc
are also greatly redttced when the seali matrde-Altter. fltere
d.-ol Int thosetwto ifuaiittnet at ltne critical Speed
Its itngrltrl
at
nit tllteicaf. that is. nietr F- 0t.9. A crilec or Intterestinlg
onay he used. At high Iroutte vutnoer (when gravity
chteck,%
effect, approach tenii the lilt and dragtcoclfinient for a
x - a result well knoiwn
rigtnsolt t1), -) both appuroachr
lit rirtnrr theorry. Furthermiore, lor this cowe.lite dirnerrsroa
lesscenter tii pressureapproraches tir required value (ift .0J4.

PC" q"2
-

tre dllectuiti thtat i%.


I t,-l.'w n tidr Cornsideration i%flat Moe
rri
tite
sl i alto
%k
, uotif Iis iver try t. - a , where I, ilt
I hecerror Ii i-i nsts apptearstir fic Iniverselytirritir
used It is seen Fiat for
Initial In tile nurtnirfeif elemvents
the twin Irtiude rniver' arid two 10rnvicsts ciirstiered tiat
there i- little diifference tuetweeitite cites "f fit ai~'d tf
rirntients Foir ost fiurpovi. lir fact , 40 cunierts shlti
YietldSat'Cictenly ancurate results, perhapisevenrfor thre nate
of tip uteilection, wn
1 , tin iter 7(aI

iIgure Atd) show% filie tit, deflection (ftuvirsy,


increasinig lt! ie dtly decreasesthe utettecturii, artd thero air
hittererig dipu Ili tire curves at Irudcl irurither lc~uthan
I .0.
flre irtiteince tiC a unfrmrrrr taller Ii the thickness of
tit, plainig snrface is shriwn in Ftgure') fFirestiffIness at
lte nrlndpoint has Freeskept cirtant hiere. at a value of(
- 0.0.15. lie contictiC fressure li I-ifirie q~fatiisoos to
nmrseaft with Increasing taper - althorugh the change is

Figure 7ld)i lluiratcs tie rate of cornergtence ofCthe


pressuiredisttihution unrdier atr-latlvely sirt seat Not
tiurlrsgly. the rivtenrCconvergence is fastest Away fromi0"
edge- where lte spray jet is irrtoned.
the readling

192

---------.-

D - 0.05

'--

------...............................--

t.O 0.. ____0.900..6107

n-001

----

--

- -

- -

0.

x0.750

0.7-~
0.7-

07 0.00

--- 10

O.b
0.5 -

n-so6

3
F

F
Figure9 - Variation of Seal Taper
(a) Center of Pressure

Figure 8 - Variation of Seal Stiffness


(a) Center of Pressure

.i
/"'-

10-

2.0

n- U
- 0.06

1.0-

SO
n-. 00
-

2 5.

-2C.

CI.5
C,150.6-

r-0

1.-

O 0

1
-------------------0.01

--

0.5

5
4
3
F
Figure 8 - Variation of Seal Stiffness
(b) Uft Coefficint
2

" "......
----

0.761
1-

0.4

3
F

Figure ' - Variation of Seal Taper


(b) Uft (oefficient

2
--

2,0-

,.-

r-0-

0 oo
...
:::-_.- -----------4

F3

--

0,001

0
.,r

F
3

Figure 9 - Variatlon of Seal Taper


(c) Dra Coefficient

- 0..

-- ---------...

""

Figure 8 - Variation of Seal Sliffness


(c) Dral Coeffiient

1.0

--------.....--...
-.

......

D'Ove
t

0I

0.41

a
/.01o4

0 . 9o

&4

. . ..

"

I.

8
Figum

025

0,

/0

'O
"

1
FI

13
F

Figum

Variation of Seal Sliffa.

- Variation of SMaTaper
(d) Tip Delctlon

(dI Tip D.Ehctlon

193

0.

02 0

1.

040

in 0

0.2

0.

,4

.0n r

0.

.6

1.2
0

1.56

0.4.

0.

0.6

1.2-

.4

06

0.

0.

///f

naN

060-1

Figure 10 -Presure D~istribution


(b) Da-tdTO

fairly smnall. I he lift and drugtin Figrr 9(h) and 10 are


greatly influenced by the taper. increaaringthe taper rise%
(he value%,of the lift and dragtcoefficietsn - not that
dissimiilar to the effect of iricreang thie rigidity it Figure H.
Pronorunced dipv in the curve% are ntill evident
the tit) deflectio~n lFigure 9(d))iik als i a tritig funtionr
the tape. Ithe deflectimn 3%aiway% reduceid Wrn thieb
thle effect if Irirrie nuimier is also very
tapserin iricreawet
evident.
iif

Presuro istibutonsFigures
Pragar. Dileibetlonaaltered
1,e nuiw turn Ii) F~igunre1ll whnin four part, Ilistrate
the nivid effects of the varii piaratreters irrtronhmevl above.
For the prptne it ilust rationi, thle Irrsure ban cern irade
dirnimonlevn usng the lift vif*the seal. L..and it, lenth, V
A reatively Ilenirle seal in considered tin I ifure I that.
An a renult, negative tirenvures are evident ove r nirom regionis
of the aureface At low Frinide numbtters.tire wavelenglth itt
the prrnuorr nncillationx in practically the natie as the %tattdard result frot linear theory. tits the seal is emnrrualy
caintoratinglvio the natural water iwanegeeratd by thec
forward tirrtiiin irf the seal. wiron deflection in obviusly
lens.
Al higher speed%,ncr) little lift is carried by the Af
pornnit of lire nurfoce. Altar. region of negative vir very
low relative prsares %tilloccur. Of nole, is the fact that
the wavelength iir the otacillatimiais inaci johtialer fiie the
higher speedy. ti's cotttradicts aimple uncirrntrained water
%ave theoaryand porint%
up the influence of the %tiffts
(theit '111411)iofthe Wal.

0.

'Igure 10 - Pessure Distribution


W(do
fl
.3
ad p'*. p* .S

tIt Figure 1() , a rigid surface ha% been cornsidered.


Ihe curveno~fprenniire are artewirt simopler in form thin
for the lenxihie cawe,iii F-igure I (Xa). thie lact that the
teter of tire.nure moves forward with increasnirgFroude
number is ieitniiintrated
ae fuiy
nIrnitdiiFgr
lb
e -I
A
hig f
aperdte uniit if preentd aried neaure
h
odcridna
thg pes h muto
11
stern is evn less than in previout cawe. CI'impanavrn with
I(ta) and ib) shiows that the taper but radically
the loiirr of 1the essuredistr~itionn.
Finill/. in Figure I (ibdI. we coittider a nttualivi iii
nhich a ulitiennionles, cushiontpreure and seal prennure tif
5 are .upjrlied. iheneare definied by the tvimutian

ade

tr

p'/pg On16

P,

p'r,/nga

0n11i

resliectively lire taper and rigidity are tire naloe as fin


cati he inude there.
c, nora commpurison
Fifure IN0
I'lie rrtures in oll care, approach the cushuionpenuure
at the atcn (If - 0)lin a Armooth manner (tMe apparenily
different value, oif the presaure at the %tern is result ofth
(e
particular preaure parameter being plotted I At low alvegih
ap teoa Froade number itf 1.5. the presaure uirvezaill appear
ltopass thrnoughthe same pit
x/f - 01.5, t1i~i. - 0.My1
Hoewever. no particular anatleane~ rutr this hasbeen
iscoivered

~~0
0.3--

0.3

0.2-

0.

0.0

1.5

X\

I""'

-, "

F-

.__________

,6

I -o.

t/

-.

...

___

r0
n0-

/ oNo,..,,

0.
0.

--

Ile

>..As

0.on
-~01.

to0
-2

-1

10.Bo
1

Figure I I - Wave Profile


1
(c) D*O.OS and r

Figure I I - Wave Profile


(a) DO= 0.001 and r - 0
3 -

4-l

6.0

2-

42 --

D1"

- 0106

F 05v-l

-~

-12

'/P*
Oa

:5
n-80
-

-2

-1

2.

-t

x/1

./V

Figure I I - Wave Profile


(b) DO-.'sand -f0

(dl D

Figure I t - Wave Profile


O.O5.r
I and P* - Pl*

WaE Profile

and I Ifd). That is. ib = pe

The last set of results,


ii;Figure t t, show the form of
the watei surface for the same four cases presented in
Figure 10.

value of the blendig pressure were chosen, then a badly


behaved pressure distribution resulted. Surprisingly, however,
the choice of blending pressure had little effec. in lift, drag,
center (itpressure, and tip deflection.

It the examples shown, the plate lies in the rvgion


0 < s/Q < i. Thus, Figure I lai a;, illotrates how much
delormation the plate suflers at different speeds. At the
lower Froude numbers, in fact, the plate sossesses a negative
slope over the stern region. The buildup of the wate ahead
of tie plate is also seen. In addition, the downstream wive
system becomes established in a short distance,
lhe plate remains flatin Figure 110
b , nice it is rigid
The water is seen to sparate smnoothly off the trailing edge
- as it also dre it:Figure II a),

VI.

p.

A'. expected, ifa different

Conclusicls

Prosnt Work
The principal object of the researh described in this
paper w, tii inireoluce the eftect ot cornplio-' e of the body
into planing theory. Flexibitity is seirt l hj, a proftound
effect on allttie quantities of interest. in brief, increasing
the flexibility results in a toss of lift and a reituction iii
Irag. Atso, the cenici tifpresure moves lorward. Incvreasing
the Froude number makes the inorirtance if compliance
greater.

A taper of unity was us.d in the calciulatioi

leading to

Figure I lc). Once again, the water buildup ahead if the


surface. and the wave train in the downsrreamn retiia are
prominent. So too, is the plate deflection.

The effect of taper is tond to inluence the lift, drag.


ceiiter of pressure and tip dellectin iii a iiianner similar to
ihaluitinmreaaing tire rigidity,

I he last figure to be presented, Figure I Id). detnonstrates tilepowerful effect of applying a pressure it the

It was also found that appllication of a pressure on the


seal, and mi the water behind. has a miator effect on its
Irfs.rnanc.
lt lilt is increased, an.' at hlw speeds tire
drag ii iiucth large(.

cushit
,1 the teal. In this case, sie seal dellect,
dawnuws, .
inal is, a ieialive deflection iscurs). Ihis4 efre.t
is due to the pressure acting down on the seal. Very large
downstream waves are also generated. A cirrisr nin ofiware
heights with the previous parts of Figure I I highlights this
feature.
Inctitentally, it thould be pinnted rut here that the
value of the lending pressure element, pi. was cbson
p ovide a continuous presure distnhbuion in Figures Il(d)

Future Work
An obvious improvement in the ruleot convergence ot
the numercil stherue coiuld he achieved through use of a
st ctil pressure elensent at the leading edge ti the planing
surface
Ihis element would need ti pisa
the situare--rt
singularity referred to before. Fsaminati,i of sorneof the

pressure distributions presented in this paper would indicate


that sonsewh 'fewver than 80 elements should be needed to
faithfully represent htem, if the singularity at thit leading
edge*were handled in this manner.

9. (umbeebatch, E., -7sst--dinesionavl Planing at


Ifigh Froutde Nu~mber,'
"I. Fluid Mechanics. Vol. 4. Part 5,
pp. 466 -478 ( 1958).

The work sh~uld definitely be extended in various


directions. For example, a three-dimensional model of the
surface would biean improvemnent on the present twodimensiovat one. However, the greater performance of the
theory wouldl he at the expense of somewhat more analytic
and computational cffort.

ae,
.- "ufc
.,adLioe
1.Wlisn
Encyclopedia of Physics, ''o. 9. Fleid Dynamics 3. ed. by
S. Flitifc, Spcinger-Verlag, Berlin, pp. 446-.815 (1960).
0

The final goat, naturally, is a complete model of an


SES. Such at theory would have ts include the influence tof
both the stern and the bow veal- as melt as thc eflects of
the twit isehull%.

11. G;reen, A.E.. "The Gliding ssf a Plate sot a Streant


inite Depth, Part 1. - Proc. Ckitheidge Phil. Soc., Vol. 31,
589-603 11935Y.
12. Green. AFE., Ibid. Part 2. Vol. 32. psp.67-85 (193o1.

13. Green, A, ., ''Nite otn rthe Glidintg otf a Plate otn


lt'e Suirface uofa Stream," Proc Cambridge Phil. Soc.. Vol.
32, pp. 248- 252 (1936).

Acknowledgemenits
'fie research described in this paper was perfPrmed
while the writer was loicatedl in the Aviation and Surface
Effects Deparl cot I ASli) sof the David W. Taylor N-it
atring
Ship ResearchiandI Develospment('enter (1 1YINSRI),
leave from the University oif NeswSothtl Walesin Sydney,

14. Wu, T.Y. and Whitrey. A.K.. 'Thetort, of Optitint


Sae
nfreSraeFos
at1 piunPoieo
SttevitFe'nraeFal'i atI
Otivttftj~
s
Sprutkvns Planing Suerute'.- . I liiMe hacct:, Viii. 55.
Part .,, pp 439 -455 (19721

Australcs.15.

ring, L anid Keller, . B . l"lytinvul Shape (it a

The writte' would particularly like to t(tank those wise


helpedi lto makee his slav tit (lis U.S. scissible. Ias intcilde
Mr. S. DVvis01fthle Surface Ft ccl Ships Proigramn
Officse
I SESlPtl, Mr. A.C. Fcord (ASFI ). DTN SRI))'
Mr. R. U. (sooper oif thieOffice iot Naval Rev-earch((IN R.
anti Pttlsfesir J P. Breslin tif lte Stevens levi itte sit
I chnitoit
sy.

PlantingSurface at hligh )-rsovd Nuvthis-, - J Still) Research.


V'tl 2 1, Not I1, pp,4(1-.43 (('(771,
it. Wit. I., V "AcSingular Plertutrhatisv ilwsri jite
Nssitvtvr l-reve-Surfttv FI ...Ihlinti. - lot Sipbvuldits1
lr~tes Viii. 14, N's. 151. pp 889-'(7 ( I lif,7I
17. 1ing, .Ianttd Keller. J B_ "Planting is) a F-latPlateHight Fressii ,'Number.'Ilie Pl'lts ofi IHlii, Viii. 17,
N1, 6, Ipp (thu. 1086 (941)

lie work was suipportedlby the -val Sea Systems


(Comndti (SPOWI antI admeinisteresd
sy tINt flirousgli
Conitract Nit. NII(X114-7--.I1 , I a K Ni, NR((t,2-St,.

sit

[lie writer wouldl also, like is, thantk D~r P R. Zirdat sil
tile Nuntiticl Structutral Mclhit cs Blranichof L)IINStRl)
tsr help1 that lie gase.

I8 Doctor%,I A1, K i-Isssitatlsl I laing stiefiiiihi Fial Prnstir- Flertnin(, Prsic PIlth Atslt.i.-ant
tislilericec
llvs uhclsvitli E'litis Ms-cl.voscv,Viol. 2.
1,1t' O 4,148 (1974)

Rohietr

i ,o s a (;ltiirs
1 Srvlettskss.IN. -0iv thst ...
,auk ShSR tisel Mkt. I steil
Deep Waler, Its. Akad
Nati, Vist (i3t till 8178His (i I t11illit I'1131

1t Wargit, Hi., I 'her Sit's.- ('id lh~ls'stoonge an ltr


thi, f tac(est von I-lissigkoen. Z-itti.. - r i u- Anwantts
Millemitik siu Mechisik, Visl 12. Nit 4, ppIi3.
(19(12)

2Sretc

ii.

I N

"Or
t

thf

ithn ot thle Gidier

SS'KkislNasi
leo
ittel.I e~iss
pspiit..1.2l,1
titif
140

~ti

3Sediss, I I ,

'tunale

(I11fi
1 17)
4

Aiss

'021Ihls
.. It
lss
i fithrSalc'
Iloatiug at tHier Yteetls." Scltil istec(iltk ViI. 4, Ni

I'(4),

ssslttteiiisl

1t ,.

)SJ7)

21 Shufordti.I L . -I4 hhisiri-ttil arid ,5tperitial

pi

.*r'.o,
toissl
fil
Ac-Gisstiiaui.i hut M....Iisiswlf;

PWstIsle,,

... nl.- , Mu

is

-,

Mantis

1Il irs I-tiflithh

Gidtsing .. , the

, 1-idy- Kisitteisvtol

I ceitlrili

I1I

_______

Il '5

hlIts-Pane Nbhli

a thillind
So

Nisk. Vt

I lie.., ioif

Narsra
*NtoalAiif
Rtesr

(NAtAl.

li1.1

isliilslte

(otlifc
1

'e

sI

ci~t

tt

((1158K1

oI
lt. I. MI. /.it, Plann ',I a hi- I ilsist-Rait,
m~eli
be' 1,itihil
I nse"t
lnitficeIstie7ii~r
Iinicsteir M.ithetvia.t!" If pti 1197 1

22

the II Irs

ov! Aplll, M,,I , 's~vn


lust Lajiast Nit
plAane. 'Pro,
4lt0e) 41 S II 'I 21J
'lj s.I
i
l i kyis. I,
.....
$

Ikit Ships~al
/~li

hlifdrit illit , . leu,lw, ., the


sI Maoui, It
,s"1i Ktilkat 0I S... N,, An,lI
hIiiIpsline hur I. I
,ll~olAtilt
Vo ti, ilup ti, .R
jilins
11 Nit,

Atsest Kirk Planting


i''
sttheo
,Izih,2I Sltei, Y I ..
.Siirai i, I k-;i Nit A rell utid Miie Iu It, nl Mis 11ig4ii,
Artl, . Nlti.s.. Ret' 1112. 12.1 t in I'll I I9701t

11M.imoii It . lIil

Pitt 2 Vil '12t. PPl s

24t Sliest.Y. I will (lgiI'ie. 1.1-. ,%s

114-st
7

Mari. t 1

(Isi1.

P'il I Vol

10 s. ('t

21

lo I lI~
o' )

M Sitare. It B. Jnn .411110Htis) J Vimple Wllitr


tile Ilote, .Stirtas
Pos R,
I o.niii Sries A.
41 pp1 4K4 6.4 111)57)

~i%

5fi

Rts'irt,i VsiI

aIthjling2

Vis

dile

41 pp
lob

"i.
lii.

Wtit,
sniitteh
('14141

emit.paii Puinting Stisr

lrniienidi.
''i.I Slu

Ni,. 1, ,1, 1 .1) 197.'t


t.Ptisg

isj Watieflirfi.'
eltiiisiINtlIMI

I lrauis]tln i of

t'h,, Ja- itetln

.itiiil
s

soi

%Wase.srahr~rugen.-jzliihah der Schilflhalccnnik, Vol.


3-4.pp 205 - 227 (113o
26. Widlin. K L. and ('hrstoher, Y W.. "A Method
1-, (alcrlatk,,t of Ili-deodinamtiw Lift for Submerged and
laninagRetatgular Lifting Surfaces. -N-tional Aet,.nsatics
and Sp.ce Administration iNASA), IllRR-14, 13 pp. (1959).

35. Saivitsky, 1., "Planing Oafl." Panel Discussion,


Proc. Seventh Sympos urn on Naval Hydrodynamics, Office
of Naval Research.August 25-30, Rome, pp. 1163 - 1168
(1968).
36. Sdvitsky, D., Hfydrodynamnic Developmert of a
Ifigh Speed Mlanring Hull for Rough Water,.Proc. Ninith
Symposium on Naval Hydrodynamic%, Office of Naval

n'
?w-Aspert Ratio .4pproxi27. Marur. It.. "hlig'
matio iof Pbr "tg Sw'fa'-s.'" hifL~technik. Vol. 14. No.
72, pp. 57-64 fin Englishlll9ti7)

Research,August 20-25. Paris, pp. 419-461 (19721.

2M1.Weinstein, 1. and Kapryan. W.., "The High Speed


tizning (liarcteristics, of a Rectangular Flat Plate over a
Wide Range oif Trim."- Natiorl Advis;ory Comtmittee for
Aeronautic, (NACA), TN 29111,29)pp. (1953).

Conference on Numerical Ship Hydrodvnamics, David W.


Taylor Naval Ship Research and Developmsinl Center and the
Office of Naval Research, Washington, pp. 517 - 537 119 75).

2Y. Wing,.D.P. and Rispin, P., "Three-dimensional!


Planing at higlt froude Number,"- J Ship Research, Vol. 15,
No 3. pp 221-230 1071).

by a PressureDistribution Moving Over a Free Surface


J. Ship Research, Vol. 14, No. 3, pp. 195-203 (1970).

30. Tuck, EQO.. 'Loar-AspectRati Flat-Ship Theory,.


i lydronjulics Vol. 9),No. 1. ppt.3- 12(1975).
31. Orciel. It P.. 'The Steady AI-tion of a Flat Ship
Including an Investigation of Locul Flo~wnear the Bt,"
Ph. D. thesis. Dept. Applied Mathematics, Univ. Adelaide,
Adelaide. Australia. 113+vii pp, (19751.
32. Cltement. h.P. and Blount, D.L.. "Resistance Tests
oif a Scsternatlc Feries of] Planingfhull Formrs." Trans. Soc.
Naval Architects and Marine Erineers, Vol. 7)1,pp. 491 -579
119t3).
3-3. lladler. J., "The Prediction of Power Perforprance
on Plning Sail."-I rans. Soc, Naval Architects and Marine
Lngnwor , Votl. 74, pp. 563 -WO01196.
34. Sanitsky. D., "IHydrodyvnatnic Design of Planing
Hfulls." Manne Technoluily. Vol. 1, No. 1, pp, 71 -95 (1964f.

37. Doctors. L-.


Representa:'on of Three-Dimtensional
Planing Surfaces by Finite Elements,.' Proc. First International

38. Huang, T.T. and Wong. K.K., "'isurbance Induced

39. Haussling. Hi,. and Van Eseltine. R.T., "Unsteady


Air-Cushion Vehicle IHydrodynanics Using Fourier Series"
J. ShhpResearch, Vol. 20. No. 2. pp. 79.84 11976).
40. Doctors. [..J., "The Effect of Air Compressibility
on thit Nonlinear Motion of an Air-Cushion Vehicle over
Wares,'" Proc. Eleventh Symposium on Naval Hlydrodynamics,
Office of Naval Rrsearch, Washington. 16 pp. (1976).
4 1. Timnoshrtko, S. and Young. O.H., "Clemnentsof
Strength of Materials,." 4th Ed., 0. Van Nostrand Company,
Inc., Pinceton, 377+x pp. (19621.
42. Lamb, If., 'hlydrctlynaricrs," 6th Ed,, Dover
Publications, New York, 7381+vv pp.1194S).
43. Abramowitz, M. and Stegun, L.A., "Handbook of
Mathematical Functions." Applied Mathematics Series- 55,
Nat Bateau of Standards, U.S. Govt. Printing Office,
Washington, 1046 4s iv pp. (1965).

DISCUSSIONS
of three papers

HYBRID INTEGRAL-EQUATION METHOD FOR THE STEADY SHIP-WAVE PROBLEM


Ronald W.Yeung and Yann C. Bouger

INTEGRAL-EQUATION METHODS FOR CALCULATING THE VIRTUAL MASS


INWATER OF FINITE DEPTH
P. Sayer and F.Ursll

THEORY OF COMPLIANT PLANING SURFACES


LJ. Doctors

Invited Discussion

equation. Some singular behavior Isanticipated


at the intprsection between thebody boundary
and the free surface, whirh annarently Is related to the line-integral
three-dimensicnal
problem.

H. Maruo
Yokohama National University
Dr. Yeung and Mr. Bouger have developed a
method that looks quite novel as a treatment of
steady free-surface flow problems. The special
feature of this method is first, the employment of the ordinary source potential inplace
of theconventional Havelock source, and second,
the division of the fluid domain into an inn,!r
region and outer regions. The first point is
advantageous inmaking the computation of the
kernel much simpler but the evaluation of th"
second derivative of the velocity potential on
the undisturbed free surfac necessitates some
special technique such as t:-employment of the
spline function. ",ne
division of the fluid
domain in inner and outer regions at proper
radiation boundary isconvenient especially for
the case of an Irregular bottom. This Idea
reminds us of the method acopted by Yamamoto in
1975. Inthe outer regions the potential is
expressed by an asymptotic expansion. If the
radiation bundaries are taken far enough from
the body and from the irregularity of the
bottom, only a few teres are necessary; otherwise the local irregularity will cause some
complication. This situation is particularly
important in the case that the bottom isnot
flat. Unfortunately, only the case of a flat
bottom Isgiven as a numerical example. Further
calculation for irregular bottoms isexpected.
The authors have also referred to the NeumannKelvin problem and have expressed optimism
about the resolution of theline-integral controversy. However, thediscusser is rather
skeptical about this. A numerical method of
this kind can be safely applied to a problem for
which the existence of a unique solution has been
proved. In the case of fully submerged bodies,
this might be allright, but there isno evidence
of existence of a stable unique solution In the
case of surface-piercing ites, because the
linearized free-surface condition is quite artificial. An interesting result obtained by
Bessho concerning a vertical plate Inserted In
a uniform flow with free surface showed a nonuniqueness of the solution of the boundary-value
problem with exact boundary condition on the
pte and linearized free-surface condition.
9esho has proved that the integral equation has
aigensolutions that satisfy the homogeneous

The paper of Dr. Sayer and Professor Ursell


deals with several problems of practical as well
as theoretical interest relating to the classical
problem of heaving two-dimensional cylinders in
a fre surface. The authors employ the method
of integral equations in the computation for
arbitrary shape of cross section. The discusser
wonders ifconformal mapping, which is conveniently used in the case of infinite depth, is
applicable to the case of finite depth too. When
the integral equation isemployed tosolve the
boundary-value problem, there appear frequencies at which the solution cannot be determined.
These so-called irregular frequencies correspond to a physical phenomenon of resonant
oscillation of water inside the cylinder which
is assumed to exist when the boundary of the
cylinder isreplaced by some singularity distribution. The existence of the irregular frequencies does not present as serious a problem
in the computation of hydrodynamic forces in
steady oscillation of a cylinder, but makes a
trouble In the analysis of thetransient oscillations. This problem has been studied by
Ohmatsu of the Ship Research Institute. He
pointed out that the irregular frequency could
be removed by suppressing the resonant oscillation inside the cylinder by means of a source
distribution over the interior free surface. If
the irregular frequency can be removed by a
single wave source at the center, the computation
N-omes much simpler than the application of the
source 4distribution. The discusser wonders if
the 01mination of the irregular frequency by
means of themodification of the kernel has a
connexion wit some kind of physical phenomenon
in the interior regio.i.
In this work, the
authors employ an expression derived by Green's
theorem, but there isanother formulation expressed by the distribution of wave sources only.
The authors propose a transposed Integral equation which Issimpler than theoriginal equation.
The discusser fels that the transposed equation
looks, In appearance, like theIntegral equation
which appears in the source method, and the solution determines the source density. There is a
simple relation, first indicated by Bessho. that
detemines the Integrated pressure by a simple
Integral of the sot -ca dansity. Therefore the
authors' conclusion sem to imply the superiorIse

ity of the source method. The discusser wishes


to know whether the irregular frequencies are
the same in the source method and the present
method. Another question is the following. The
irregular frequencies result from the resonant
oscillation in the inner Dirichlet problem, while
the resonant oscillation of the liquid in the
container is related to the Neumann problem. Are
the eiaen frequencies in both cases the same or
not?
Dr. Doctors h,.s presented a method for
solving the flexible planing-surface problem.
The detemination of the pressure distribution on two-dimensional planing surfaces is now
a classical problem. Nevertheless there still
remains an unsolved difficulty, the indeterminateness of the wetted surface. The length of
the wetted surface depends on the elevation of
the free surface to a great extent. Although
the elevation is a small quantity of 0(m), a
being the angle of attack, the change of the
wetted surface due to the surface elevation is
0(1). Therefore the position of the leading
edge cannot be determined beforehand. This
fact may not matter mch in the case of steady
planing of a plane surface, but it seems to
yield a considerable difficulty in the determination for a flexible planing surface. The
boundary-value problem of the two-dimensional
pluning surface is formulated as a Fredholm equation of the first kind. The author's calculation
is, in effect, the solution of this integral
equation by means of the discretization of the
integral equation. According to my experience,
the method of discretization of an integral
equation of the first kind with logarithmic
kernel is likely to show an unsatisfactnry accuracy sometimes, especially at low Froude numbers.
In this case, the expansion by mode functions may
give a more stable result.
Discussion
by-T rancis Ogilvie
of paper by P. Sayer and F. Urse11
It is worthwhile to say something about the
practical utility of what authors have demonstrated. Many ornpnizations have computer programs similar to Frank's for computing ship
wotions and wave loads on ships. Of course,
these all give difficulty at the irregular frequencies discussed here. But these program can
all be modified by the insertion of a single
step, equivalent to Equation (3.1)In the paper
presented here (with any non-zero value assigned
to the constant A). Then, regardless of the
frequency under consideration, one can be certain
that the elgun, frequencies of the internal
Dirichlet problem wfil have been displaced to
other frequencies.
This sowm to m to ba much happier solution of the practical difficulty then using such
devices as putting a "lid" on the inner-flow
region,

Discussion
by-wa-ng-June Bai
of paper by Ronald W. Yeung and Yann C. Bouger
The method presented here was applied previous by Yeung to two-dimensional time-harmonic
free-surface flow problems and the results were
presented at the First International Conference
on Numerical Ship Hydrodynamics in 1975. The
same method was also applied to the same timeharmonic problem by Kim (1976).
For solving the uniform steady-flow problam considered here and the time-harmonic problemsconsidered in Yeung (1975) and Kim (1976),
I personally do not see any advantage In using
the present hybrid integral-equation technique
over the conventional Green-function method
(distributing singularities on ony the body
boundary). It sees to me that the computation
of the coupling terms, which result from matching the elgenfunction representations (i.e.,
cosh m (y+h), cos m (y+h) and the fundamental
singulgrity distribItions (i.e.,log r) along
the artificial juncture boundaries, is as conplicated as the computations involved in the
conventional Green-function method for the
finite constant depth case. This fact is obvious when the Green function (in the conventionalGreen-function rxethod
is expressed in
series form.
In the earlier work of Yeung (1973) and
Bai & Yeung (1974) the fundamental singularity
method is used without matching of the eigenfunctions. In this case there is a computational
advantage over the conventional Green-function
method since the kernel is much simpler. However,
in this approach, the computational boundary
domain is increased as a trade-off since the
fundamental singularities (logr) are distributed
along the entire (closed) boundary.
I would appreciate it if the authors could
express their view on the advantages (or disadvantages) of , , present method over the
conventional Green-function method for the case
of constant water depth. It would also be
useful for the authors to discuss the improvement of the Yeung (1975) and Kim (1976) methods
over the ear'ier work by Yeung (1973) and Bai
i Yeung (1974) for the general cases including
the case of variable depth.
Py second coment concerns the authors' use
of spline-function approximations along the free
surface in the present work. It seems to be
necessary in the present formulation to use the
spline functions due to the presence of the
second derivative *xx in the free surface Intogral. However, the seco
derivative
in the
integra1 along the free surface In Equallon
T3.3 can e eliminated by Integratn by parts,
resulting in a slightly different fom which
involves only the first derivative as the highestorder derivative. Then, in the new formulation,
It Is not necessary to use complicated (and more
sophisticated) splin functions. From W own
experience. it is mch easier to use simple
piecewlse polynomial functions which permit discontinuities in the first derivative, #x, at
intersecting points of two adjacent segments.
I
would 1iLe to ask the authors if there Is any
other significance or advantage in using the
splice functions.
Finally I would like to point out that the

tions of the problem. We all hope to get to


the bottom of the matter soon.

error in the vertical force in Figure 7 of Bai


(1975) which Yeung and Bou~er referred to in the
present paper is not due to any error in my
numerical computations, but to an unfortunate
misprint. The2 vertical force scale should have
been Y/(5egwa ) in Figure 7. Also I would like
to take this opportunity to point out one more
typographical error in Bai (1975), namely, the
scale factors (102)and (10-1)in the abscissa
of Figures 10 and 11 should have been interchanged. I would also like to correct two
misprints in Bal and Yeung (1974) which were
also pointed out by Yeung (1975). In Figure 5.7
of Bai & Yeung (1974), the abscissa scale should
have been divided by the factor of four and moh
should have been m b. The correct scale was
given in my origingl paper (Bai,1972) and the
results were confirmed by Kim (1976).

In response to Dr. Bal's first query, related to the computational difference between
our hybrid method and a traditional Greenfunction approach, I want to point out that the
coupling terms that Dr. Bai refers to, when
computed from the expressions in closed form
that we obtained, are about the 'aie order of
complication as the Green funrtion itself. However, in applying the Greon-function technique,
one is required not merely to be able to compute
the Green function, but also 'o be able to integrate such a function over a segment of finitesize. This requirement of the distribution of
singularities is well known to ThoseappTying
the singularity methoo. Generally, integration
of a Green function over a segment cennot be
carried out in closed form;thus it must be
irtegrated numerically. lherefore, our ability
to obtain closed-form solutions of the integrals
associated with the radiation boundaries means
that we are one step ahead of the Green-function
method. Such closed-form solutions are central
to the success of uur 'cheme, a fact that was
pointed out previously in Yeung (1975) and in
my student Y. H. KIm's thesis (1976). As far as
computation time is concerned, the hybrid method
of Yeung (1975) was about two to three times
more efficient than the original formulation of
Yeung (1973). A recent work due to Harten and
Efrony (1977, J of Comp. Physics) indicates
that by block structuring the matrix a further
improvement by a factor of 10 is possible. Thu
it appears that our hybrid formulation has a
tremendous amount of potential in computation
economy.

Eai, K.J.,1972, "A variational method in potentialflows with a free surface," Ph.D.
Thesis, Dept. of Naval Arch., University of
Calif., Berkeley
Kim, Y.H., 1976, "Hydrodynamics of cylinders in
water of arbitrary varying depth," Mastci's
Thesis, Dept. of Ocean Engineering, MIT,
Cambridge Mass. 67 pages.
Author's
21R
by R.W.Yeung
to discussions by H. Maruo and Kwang June Bal
First, concerning Professor Maruo's comment
on the possibility of complications in applying
the method to the case of non-flat bottom, I
would like to point out that similar techniques
were used very successfully for such a case in
my previous work (Yeung, 1975) for the timeharmonic problems. Although we give no results
in the present paper, we anticipate no difficulties in that direction. A distinct advantage
of our hybrid method is that the choice of the
truncation boundary can be quite arbitrary and
in fact can be as close to the body or the Irregularities of the bottom as one desires. Any
localdisturbances can be absorbed automatically
in the series expansion,

While computation costs may be important in


the production stages of every method, it is not
of primary concern in this paper. This paper
serves to demonstrate that the hybrid-integralequation formulation is applicable to either
time-harmonic or steady-flow problems. This is
in great contrast to the finite-element formulation of Bai and Yeung (1974), which had to
undergo fundamental modifications to tackle the
steady-flow problem (Bal,1975).

The idea of matching a solution expressed


in analytical form with a localnumerical solution using an integral-equation formulation was
carried out to fruition In my initial work in
1973. At that time, only a single (wave) term
was taken. This was later generalized in Bal
and Yeung (1974). I am glad to learn of
Yamamoto s (1974) work, related to stress calculation problems, which was also in that direction. His later work, related to free-surface
flows and presented at the First Conference.
indicates thit we have a cmmon philosophy of
approach.

With respect to the point Loncerning comparison of computation time of the traditional
Green-function method with our method, it appears
that there exists no published computational
data using the finite-depth Green funztion for
two-dimensional steady flow; hence such a comparison is not possible. Perhaps this is an
indication of the fact that the Green-function
approach has not been too attractive computationally,
The second point concern% the treatment of
the second derivative term of # on the free
surface. We want to emphssize that a spline
approximation is not absuiutely necessary, although it was found to be most helpful. We
could have used piecewise polynomial approximation between successive grid points on the
free surface and this will result in the sam
type of Interals as in (3.14). Inasmuch as
the usage of the spline functions hardly cowplicated the calculations, that one obtains
smooth first and second-derivatives at every
grid point, and that very fewpoints are necesary to rtpresent * in
a J. The high
quality of the differentiated curve as shown
confirms the usefulness of the techniqie. The
application of spline functions to finiteelament methods such as Dr. al's, however,

Professor taruo's point on the uniqueness


of solution of the Neumann-Kelvin problem is a
point of common concern in our field. Bessho's
work on the two-dimensional semi-submerged
vertical-plate problem Is an Interesting contribution. It Is clear that he experienced difficulty in constructing a physically plausible
solution. However, it is not entirely clear
whether or not this difficulty was implicitly
associated with the method of solution. His
solutiont always preJuce a continuous freesurface elevation across theplate which seams
to be against intuition. Also, I don't believe
he has proved that the integral equation hos
algen solutions satisfying homogeneous condi-

rC,

would likely destroy the banded structure of


the resulting matrix and is therefore, not
very desirable In that respect,

is to specify thewetted length instead, and


consequently the planing height is found as part
of the solution. Although not carried out here,
one could then iterate the wetted length until
the desired planing height is achieved.

Finally, concerning whether one should


perform an integration by parts to reduce the
order of differentiation of the # x tern:we
examined this during the course o1 the work and
found that no particular advantage resulted. In
fact, this will bring about concentrated singularities at the end of the interval of Integration, which is highly undesirable,

In the case of a flexible planing surface,


the identical stumbling block occurs, except,
of course, the planing height is now reducEd
by the influence of plate compliance. Once
again, an iteration procedure would be needed
to determine the actual wetted length in a
practical situation.

I am glad that Dr. Bal agrees upon the


errors we found In both our joint work as well
as his paper in the First conference. Both
discusser's comments on this paper are appreciated by us.

With regard to the second comment, the


writer found no problems in accuracy for low
Froude numbers--suggested by Professor Maruo.
Typically, it was found that thenumber of
elements needed to achieve, say, one percent
accuracy in the lift force, was independent of
the speed. Perhaps the reason for thisis that
the logarithmic kernel is smoothed out by the
use of triangular pressure elements. These
yield a continuous pressure distribution, which
could not-be ob-taTned
by cruder elements--such
as rectangular ones.

Author's Reply
by . ayer and F. Ursell
to discussions by H. Maruo and
T. Francis Ogilvie
We are grateful to Professor Marjo and to
Professor Ogilvie for their illuminating comments. In addition, Professor Maruo ha.;put
some searching questions to which we offer the
following replies:
(1) We have riotsucceeded in applying conformal
mapping to the finite-depth problem.
(ii) We should be glad to know more about
Ohmatsu's work on transient problems. The work
done on transient problems at Manchester has
proceeded along different lines and does not
involve the complete determination of the water
mot )n. (See S.J. Maskell and F. Ursell, J.
Fluid Mech. 44, 1970, 303-313).
(iII) We agree that our device of using the
transposed kernel must be equivalent to the
source method used earlier by Besshu, and that
theadvantages of that method (provided that
only the total force is required) deserve further
study. The irregular frequencies remain the
same when the kernel of an integral equation is
replaced by the transposed kernel. Thus they
are the same for the Green-function method as for
the source method.
(iv) The eigenfrequencies of the interior
Dirichlet problem are in general distinct from
the eigenfrequencies of the interior Neumann
problem. We find it difficult to attribute a
physical meaning to the interior Dirichlet problem in the present calcuiations. Indeed, if
the source potential is modified, then the corresponding irregular frequencies are also modified and are no longer related to the interior
Dirichlet problem.

A second advantage of the use of triangular


pressure elements--as opposed to mode functions-is that one can more easily obtain the flexural
influence coefficients for a plate of arbitrary
stiffness distribution.

Author's Reply

by L.J.octors
to discussion by H. Mauro
The author would like to thank Professor
Maruo for his interesting comuents.
The first point concerns the unknown length
of the wetted surface. As pointed out, the
position of the leading edge cannot be determined beforehand--assuming, of course, that
the height of the leading edge Is specified. The
only practical method of skirting this difficulty

2I

NUMERICAL SOLUTION OF THE NAVIER-STOKES EQUATIONS


FOR 2D HYDROFOILS IN OR BELOW A FREE SURFACE*
Samuel P.Shanks* * and Joe F.Thompsont
Mississippi State University
and Aerospace Engineering
Depertment of Aerophysics
Mississippi State, MS 39762

Abstract

The numerical solution of the Navier-Stokes


equations for flow with a free surface is complicated in particular by the fact that part of
the boundary of the calculation region, i.e..
the free surface, is deforming. This makes the
accurate representation ot boundary conditions
on the free surface difficult; yet this solution, as other partial differential equation
solutions, is most strongly influenced by the
boundary conditions. The most critical need
for accuracy thus lies in precisely the region
of the most utfficulty of attainment.

Th
-Its of an investigationof the applicatio. of ... -4cally-genetated boundary-fitted
curviline- coordinate systems in the finitedifference solution of the time-dependent, twodimensional Navier-Stokes equations for the
laminar viscous flow about hydrofoLls moving
either in a free surface or subserged at a
finite depth in a fluid of infinite or fi-Lite
depth are presented. The hydrofoil may te of
arbitrary shape, and its motion may include
pitcbing oscillation or oscillation normal or
parallel to the plane of the undisturbed free
surface as well as translation parallel to
this plane. A computer code has been developed that is capable of predicting the flow
field, pressure distrt -',ns, and force
coefficients for this contiguration at low
Reynolds numbers. The finite-difference solution is implicit in time so that all the
difference equations are solved simultaneously
by iteration at each time step.

The basis of the present numerical solution


is the technique of numerically-generated
boundary-fitted curvilinear coordinate systems
reported earlier in Reference 1. This is a
procedure for automatic numerical generation of
curvilinear coordinate systems with coordinate
lines coincident with all boundaries of a general multi-connected, two-dimensional region
containing any number of arbitrarily shaped
bodies. The curvilinear coordinates sre generated as the solution of an elliptic partial
differential system. No rastrictions are placed
on the shape of the boundaries, which may even
be time-dependent, and the approach is not
restricted in principle to two dimensiona. With
this procedure the numerical solution of a
partial differential system may be done on a
fixed rectangular field with a square mesh with
no interpolation required regardleesof the
shape of the physical boundaries, regardless of
the spacing of the curvilinear coordinate lines
in the physical field, and regArdless of the
movement of the coordinate systro in the physical plane. A number of examples of coordinate
syatma and application thereof to the solution
of partial differential equations are given in
[21 along with a discussion of the technique.

I. Introduction
This report presents the results of an inveatigation of the application of numericallygenerated boundary-fitted curvilinear coordinate system in the finite-difference solution
of the time-dependent, two-dimensional NavierStokes equations for the laminar viscous flow
about hydrofoils moving either in a free surface or in a fluid of finite or infinite depth.
The hydrofoil may be of arbitrary shape, and
its motion may include pitching oscillation or
oscillation normal or parallel to the plane of
the undisturbed free surface a well as translation parallel to this plane. A computer
code has been developed that is capable of

predicting the flow field, pressure distribu-

This procedure essentially eliminates the


boundary geometry as a complicating factor in

tions, and force coefficients at low Reynolds


numbers. The finite-difference solution is
implicit In time, so that all the difference
equations are solved simoltan- usly by iteration at each time step.

the numerical solution of partial differential


equations. The use of boundary-fitted coordinate systeme for the solution of the Incompressible Naviar-Stukea equations for the flow

This reeearch was sponsored principally by 0g, Contract NOOO4-74-C-0373.


Section V1 wae sponsored by NSRDC,Contract 100167-76N-8359.
e* Ph.D., Present affiliation
General Dynamics, Ft. Worth, TX
t Professor, Ph.D.

2V2

The work reported in

about two-dimensional airfoils has been reported by Thames, et. al. 131 and by Hodge [4].
The latter reference uses the pressurevelocity formulation used in the present work,

In any case, the nterical generation of the


coordinal, system is done automatically for any
shape boundaries, requiring only the Input of
points on the boundary. The technique has been
described in detail in earlier reports 1-2],
and the com-puter code, together with instructiona for and examples of its use in the numerical solution of partial differential equations,
is given in Ref. [5].

The use of boundary-fitted coordinate systems


is particularly attractive for free surface
problems, since a coordinate line will remain
coincident with the free surface sa it deforms
under wave action. The physical flow field is
transformed to the curvilinear coordinate ayetem as discussed in more detail in Section II.
The field in the transformed plane is rectangular with a fixed square grid regardless
of the movement of the physical boundaries,
With the partial differential equations of
motion and their associated boundary conditions
transformed to the curvilinear system, all
computation can be done on the fixed square
grid in the transformed plane regardless of the
motion of the free surface or the hydrofoil.
It Is even possible to allow the hydrofoil to
oscillate without really complicating the probIas, since a coordinate line can also remain
coincident with the hydrofoil surface as it
oscillates.

The technique is described in general in


this section. Each of the three parts of the
present study used a different variation of the
basic procedure as is discussed for each configuration in Sections V-VII.
As mentioned previously, the curvilinear
coordinates are generated by solving an elliptic
system of suitable form. One such system is
+ t
s
(Is)
(M.0
+YY .
",'

(C)

(lb)

with Dirichlet boundary conditions, one coordinate being specified to be equal to a constant
on the body and equal to another constant on the
outer boundary, with the other coordinate varyIng monotonically over the same range around
both the body and the outer boundary.

The present solution is capable of treating


the low Reynolds number viscous flow about a
translating hydrofoi in or below the free
surface of a fluid of any depth. The
hydrofoil may also be in pitching, plunging,
or longitudinal oscillation as well as translation. The hydrofoil starts from rest with a
flat surface and accelerates to full speed at
any acceleration desired. The general solution
procedure is discussed iu Sections Il-IV, and
facets peculiar to each of the parts of thie
study together with typical results are given
In Sections V-VII.
1I.

iY

Since it Is desired to perform all numerical


computations in the uniform rectangular transformcd plane, the dependent and independent
variables must be interchanged in Eq. (1).
This results in the coupled system
n
(n + yx
Cc

.-

2
J Ix1 1(tPti)+ x Q(C,")]

--

Boundary-Fitted Coordinate System

ay

The basic idea of the boundary-fitted coordinate systems is to numerically generate a


curvilinear coordinate system having some
coordinate line coincident with each boundary
of the physical region of Interest, regardless
of the shape of these boujdaries. This is done
by taking the curvilinear coordinates to be
solutions of an elliptic partial differential
syetem, with constant values of one of the
curvilinear coordinates specified as Dirichlet
boundary conditions on each boundary. Values
of the other coordinate are either specified in
a monotonic variation over a boundary as
Dirichlst boundary conditions, or are determined by Neumann boundary conditions thereon,
in the latter case, the curvilinear coordinate
lines can be made to intersect the boundary
according to somespecified condition, such as

where
a -

- 20yen + yyn
2[y
2
P(Cn) + yQ(Cr)]

xZ + y y
C'n

(2b)

2
C

+
11

(2a0

- K

xny
x

Th system described by Eq. (2ci a quanlinear elliptic system for the coordinate functions x(CEn) and y(&,n) in the transformed
plane. This set is considerably mora complcx
than the linear system specified by Eq. (1),
but the boundary conditions are specified on
straight boundaries, and the coordinate spacing
in the transformed plane is uniform.

normalcy or parallel to some given direction.


It is also possible to eercies control over
the spacing of the curvilinear coordinate lines
in the field in order to concentrate lines in
region@ of expected high gradients.

The coordinate lines may be spaced no desired


around the boundaries, since the assignment of
the coordinate values to the [x,yl boundary
points is arbitrary. Control of too radial

203

The transformed time derivative is

spacing of the coordinate lines is accomplished


by varying the functions P(ln) and Q(&,n) in
(2).
(jj)

af

- Ft)"
W
ap(E

I .f !X _

+ If

foil solutions, is to choose P and Q as exponential terms, so that the coordinates are
generated as the solutions of
tax +. E7y

(=f ).

.
D(x.y.f) / 3..I
,ii
a(.,.t
= a((.n.t)
xy

The effect of changing the functions P(Cn)


and Q(&.n) on the coordinate system is discussed in Ref. 2. Cne particularly effective
procedure, used here for the submerged hydro-

a.
. an an )( .n!

x..

fx

(4)

at

si-

exp(-cik 7 E

exp(-d

I)-

.(C

?( ,r)

+ (n -

All derivatives are expressed in the transformed variables (C,n); thus eliminating the
need for interpolation between points in the
physical plane. The movement of the physical
(t time
plane grid points is accounted
ax for by the

).

= bj sgn(E J1

(3a)

rate of change of x and y, (

and

in the above expression.


III. Equations of Motion
VI

.
4

Ai an(n

+yy

I b
J-l

sh.tn

(-

n )es(-cjln

ni)

The equations of motion are the complete


time-dependent Navie-Stokes equations with the
gravity term included. The no-slip boundary
condition is applied on the hydrofoil, and the
viscous stress conditions are applied on the
free surface. The free surface deforms in time
as waves are formed thereon.

(3b)

All quantities are non-dimensiomlized with


respect to the translation velocity of the
hydrofoil and the hydrofoil chord. The Reynolds
and Froude numbers are defined in terms of these
The physical coordinate eyevalues.
reference
to be fixed relative to the trensis taken
tem
lational motion of the hydrofoil. In the
physical plans the equations of motion are

nj)

(n - n)

Q(

,n)

shere the positive amplitudes and decay factors


are not necessarily the same in the two equaeffect
the to
term have
the
tions. Here the first constant
lines
C of attracting the
- ti lines in Equation (3a), and attractingut
constaiL lines to the n - n1lines in
n

+ (u2)

+ (uV)

t
-

Equation (3b). The second terms cause


constant lines to be attracted to the points
(J. i) in (3a), with similar effect on n -

constant lines in (3b). Several examples of


the use of coordinate system control are given
in Ref. 2.

(a)

+ uyy)/R -

p + (u

v t + (uv) n + (Vn)y
-

As discussed previously, the physical plane


grid systsm is generated by solving the set of
elliptic partial differential equations. (2),
with one of the (E,n) coordinates specified to
he constant on the boundaries of the physical
plane, and the other (4,) coordinate distributed along the boundaries as desired. If the
boundary values of x and y are changed in the
physical plane by tia movegent of the free surface contours a new solution of the elliptic
eyatm with the changed boundary values is
obtained over the same range Of values Of 4
in
the field. Thus, the transformd
and n
plans rousina unchanged as the coordinate grid
system moves in the physical plane. Only the
values of the physical coordinates (xy) change
with time at the fixed grid points in the
transformed plans.

3 2
2uv
u-

Vet
where I - -- and 7 -

(Sb)

1/12

py + (vX + v yy)/

..
1

D
t

(50

V
-

are the Reynolds and

Frouds numbers, respectively, V being the megnitude of a refereuce hydrofoil translational


velocity. V the instantaneous velocity, c the
chord, v the kinematic viscosity, and g the
acceleration of gravity. The third of these
equations is the Poitsaen equation for the

204

+ [yn(uv)

pressure, derived by taking the divergence of


the Navier-Stckes equations and requiring that
the contiuity equation (D 2 u x + vy - 0) be
y+
satisfied. The time derivative of D, ideally
zero, has been retained in this equation as a
corrective ters in the manner of Hirt and Harlow 16].

(X
+(p

yE (uv) n/J 4 (+C(v)E - xn(V2)C/J

.((

)/RJ iv

+ ov+
n

Ac 2

V(

'n
YvM

i/F

(7b)

The boundary conditions are as follows:


upC

(a) On the hydrcfoil (no-slip condition):


u - u8 (x,y,t), v - v(x,y,t) where (uBV B ) are

the velocity components of the hydrofoil surface at (x,y.t) relative to the coordinate
system translating with the hydrofoil. (These
values are zero if the hydrofoil is not
oscillating.)

- Bptn + yr., + opN + TpE


(U
- yU)2

- 2x u

- (v

(b) On the surface (viscous stress condition):


a v~n2n +! u
(6a)
(p -pPo)n,
UxoI+i(uy+Vx)n2

xNut )(y

y Cv

- x v )2 - j2D t

-tDtx
D x,)J

-D nyt)J -

Xt D

Y(Dx

Yn
nx(D

(70)

where
+
2
+ I
i vyu2 +i (uy +x

)nl - (p

)
p,)n

- yun +

D -(ynut

(6b
(6b)

and

where p is the applied pressure from the


atmosphere, and n I and n 2 are the components

EnV)IJ
-xv
-

j o(nI,

of the unit normal to the surface in the x and


y directions, respectively. These relations
assume no wind stress on the surface,

(7d)

The coefficients a, (, y, and J have been defined in the previous section.

conditions apply on the remote boundary strictly only until surface diavesreach it. At 1oe
to damp the wmvis beore the remote boundary
10 chords distant is reached.)

The time derivatives have also ben tiansformed In these equortens. Thus, time derivatives in Eq. (/) are taken with C and n fixed,
while those in Eq. (5) were taken with x and y
fixed. This transformation of time derivatives
allows the computation to be done on a fined
grid in the transformed plane even though the
physical grid is in motion due to the free surface and hydrofoil moveme

Using the derivative transformation relations


given in the appendices of Ref. 5, these
equations may be transformed to the curvilinear
coordinate system, so that the equations of
motion in the transformed plane are

The transformed boundary coi.2itionsare


(a)
On the hydrofoil (no-slip conditons):

(c) On tie remot 'oundary (undistyrbed flow):


u - -VO, %- 0, p - po + (y. - y)/F . (These

it -

yuQ/J - Yt(XU

u - uB(C,t), v - vB(,t)

- x,1u/)/S

(h) Os the free surface (viscous stiess conditions):


u

S( 2) C

yn(p - po)J

(a)

x NO)C/J
2

+ (yipC - ytPnl/J

=lNu,,-

V Cy /J u_
1nnqn+ (nO + Jxny )v0
2 C(- Jy)u

2$u,, + YunnC

+ Ou

++ [x(uv)

((nB - JXnyn)u

(u2)JC/J

12

+ ru )/tJ +

(Ob)

n(p - po

(7s)
flow):
(c) On the remote boundary (undisturbed
2
- Vo,v - 0, p - po + (Y. - y)/
.

vt - Xt(oqV

The two free surface boundary conditions given


result from transforming the two viscous

- y~v)/J - Yt(X Vn - sv )/j


C Cabove

205

stress equations (6) to the curvilinear cootdinate system end solving these two simultaneous equations for u& and v& in terms f u,
the free surface being a line of constant F in
the configuration used. (See the appendix of
[7) for this development.)

after substitution in the transformed equations.) Derivatives along coordinate lines


emanating from the hydrofoil surface or from
the free surface sre evalurted using secondorder, one-sided difference expressions.

On the hydrofoil contour and the free surface


the pressure is determined by iteratively adjusting the pressure at each point on the
hydrofoil in proportion to the divergence of
the velocity at the same point, so that upon
convergence the continuity equation is satisfied at the hydrofoil surface. Thus on the
0 by the
vhydrofoil surface, since u
C
no-slip condition, we have, using (7d),
(93)

mated by firat-order, backward difference cxpressions, so that the solution is implicit in


time. The set of five simultaneous difference
equations from (2) and (7), three equations of
motion and two coordinate system equations,
with the boundary conditions are solved at each
time step by SOR iteration. The resuic from
the previous time step secves as the initial
guess for the iteration at the next. The solution starts from rest with a flat free surface and proceeds with a specified acceleration
to full speed.

(9b)

The body force components are obtained from


the integration of the pressure and shear
forces around the wetted portion of the hydrofoil surface:

p(k+l) . p(k) - K (xCvn - yEu )IJ

Finally all the time derivatives are approxi-

while on the free surface,


p(kl)

(k) - KD

F - - 2

with D given by (7d). Here (k) is the teration counter, and K is a proportionality factor
gvnbKC2.j2
K
( Iby
y)At
on the hydrofoil and

by

K -

px -pyd

on the free surface, w being an

(lla)

ydC

y C - ycv - x u
( j C
n
n

(1b)

an)/J
)

(12)

Here the n-derivatives are evaluated by the


second-order, one-sided difference expressions
given above, while the second-order central
expressions are used for the &-derivatives.
Finally, the lift and drag coefficients are
given by

The y coordinate on the free surface is


determined at each time from the mvement of
the free surface. Since the free surface can
be described by y - f(x,t) or f(x,t) - y - 0,
the convective derivative of the latter function must vanish:

CL - F7 coee - Fxsine

(f

wdt

,ith vorticity, a, given by

acceleration parameter. The different form on


the free surface results from the need to prevent positive feedback from the surface stress
condition to the surface pressure iteration.
(See Appendix D of [8] for the development of
these relations.)

L -(.t,
,) -

px E

Fy - +

Ia

wd

ydo + R

,m.n

tt
)xtd

0.3a)

bo)

xz

whtere0 is the angle of attack.


Then since y - f. and the surface is a line of
constant C.

(k)

"(k)

lit

Sx C

V.

Fiur

xx

Figure I shows the basic doubly-connected


transformation with a free surface. This type
of configuration has been used successfully for
airfoils in previous studies 131. For a free
surface problem CI would be the arbitrary

and then
y
vX u 1

IV.

Submersed Hydrofoil - Infinite Depth [71

Solution Configuration

hydrofoil, C2 would be the "infinity" boundary.


end C, would be the free surface. Since the
"infinity" boundary is chosen to be ten chords
from the hydrofoil in the present research, the
contour C 5 would be approximately twenty chords

Numerical Solution

All space derivatives in the field are


approximated by second-order, central differsncs expressions.
(At and An are both unity
by construction, the actual values of ( and n
being immaterial since cancellation occurs

long. Thus, fewer points would be on C 5 to


cover 20 chord le.,gths then would be on Cl t
cover approximately 2 chord lengths. Unless
many C-points ware used the wide grid spacing

206

on the free surface would cause large truncation error.

Using Fig. 2, JM- 6, 11


110 and I? = 45. Six
n-lines were attracted to the airfoil with an
amplitude of 1000 and a decay factor of 1.0.

Several modified coordinate systems were


investigated in order to provide more points on
tha free surface (?). The transformation shown
in Fig. 2 was chosen because the number of free
surface (C7 and C8 ) grid points is independent
of the number of points on the body (CI). The

Fig. 5 shows the effect of Froude number on


the free surface movement. Three Froude numbers of 0.5, 1.0 and 2.0 are shown for a constant Reynolds number of 20 and at a time of
80
l three
he cases
se were
eeaclrtdseu
8.0. All
accelerated gradually over a time of 4.0. Also, the same time
step size (At - .01) was used in all three
cases. At a time of 8.0 the airfoil had moved
4 chords. Comparison of Figs. 5a, b, and c
shows that the effect of the airfoil on the
free surface increases am the Froude number

tansfored plane of Figure 2 forms a T-shaped


region. The lower part of the coordinate system is the same as the basic transformation of
C is taker a
I
Figure 1. The cut 12
(2+ 2)
thus creating the two common reentrant boundaries C* and C*. The upper part of the transformed plane bounded by the constant n-line

increases, as would be expected since the


Froude number is the ratio of inertial forces
to gravitational forces.

"),c
(
8, C7 . C 2 are added to the basic
transformed plane to provide free surface and
"infinity" boundaries. The two common reentrant boundaries,C and C
creatn
r are created to pro6 a

Figs. 6-8 demonstrate the effect of Froude


number on the drag, lift, and pressure. The
time histories for three Froude numbers, 0.5,
1.0 and 2.0, are presented for Re - 20 and
t - 8.0. Referring to the peak drag in each

vide more points on the infinity boundary than


are on the body (Cr). The cuts are taken at
I
- I
half indices because the point (II - ,
)
has a zero Jacobian. By taking the cut at half
indices, the zero Jacoblan point is eliminated
from the field calculations,

figure, the drag is reduced as the Froude


number Is increased, because as the Froude
number increases the free surface rises over
the airfoil thus changing the local angle of
attack. From Fig. 7, the lift changes drastically because as the Froude number decreases,
the buoyancy forces become more dominant.
From Fig. 8 the effect of Froude number on the
pressure distribution can be seen. Buoyancy
forces are dominant at , Fro-de number of 0.5
(Fig. 8b), and inertial forces are dominant at
a Froude number of 2.0 (Fig. 8d).

The system of finite difference equations is


solved simultaneously by the successive-overrelaxation (SOR) iterative method. The number
of simultaneous equations to be solved is
(MAX - J1 + I)(DMAX
- 1) + (JM - 1)(12 - 11
1). Boundary values are specified on
J - .MAX for all it[1, IMAXI. Also. boundary
values are specified on j - JMAX for all
i[ II, 121. Boundary values or the Neumann
boundary condition x, . 0 (normal n-lines to
free surface) may be expressed on the free surface contours, I - I and I - IMAX. At the
branch cut for the constant n-line J - J and
ic[1, 11 - 1], we have i, j - 1) - (IMAX - i
+ 1, J). Also, at the branch cut for the
constant n-line J - J3 and ic[I2 + 1, IMAXI,
we have (i, j - 1) - (IMAX - i + 1, J), At
the branch cut for the constant C-line i - II
and jc(1, 34 - 1], we have i - I - 12. At the
branch cut for the constant E-line I - 12 and
Jef l, JN - 11, we have i + I - 11.

Figure 9 shows the pressure distributions


about the Karman-Trefftz airfoil for two
Reynolds numbera. Re - 20 and Re - 100. The
constant parameters ore F - (,.5and t - 6.
The pressure coefficients for Re - 20 are
larger than the presure coefficients for
Re - 100. The lift coefficient for both cases
is due mainly to the buoyancy forces.
Translating Circular Cylinder
Fig. 10 shows the coordinate system for a
circular cylinder located one chord below the
free surface at three times. The flow parameters are Re - 20 and F - 0.5. Two wave iaks
are
shownaffects
on the free
surface.
Themore
circular
cylinder
the free
surface
than the
airfoil, which should be expected. F g. 11
shown the velocity vectors for the circular

The basic hydrofoil geometry and coordinates


era shown in Figure 3. The equations of motion
are those given in Section III except that the
non-conservative form of the convective terms
in the Navier-Stokes equations was used for
this solution.

cylinder. At a time of 6, the stagnution point


ctsrted to move up the front of the cylinder.
Oscillating Karman-Treffts Airfoil
Results are presented in Figs. 12-14 for a
hydrofoil in pitching, plunging, and longitudinal oscillation. All solution are prein the free stream-fixed coodinte
reference frame. Also all solutions were run
so
Re
20tnd Fere1.0.
Alto
usingethe flow
using the flow prametems, Re - 20 and F - 1.0.
The same coordinate system was used for all
solutions. The Katman-Treffts airfoil was
placed at one chord below the fLee surface.
boundary
s loted 0 chords
irfol.
The
from the airfoil.

Typical resultssened
given in Figs. 4-9 for a larmn-Treffts hydrof,01 (Fig. 4) and in Figs. 10-11 for a circular
c) dAerhydrofoil. The airfoil was defined by
37 coordinate points and was located one chord
below the free surface. The field size of the
rh"outer"
coordinate grid was 54 x 30. The
boundary was located 10 chords from the airfoil.

20?

In Fig. 12. the atrfoil is moving in the


negative x-direction. This solution is equivalent to the other solutions of previous sections. However, the hydrofoil is moving relative to 6he "outer" boundary. The coordinate
lines close to the body are moving with the
airfoil. The free stream-fixed reference
frame clearly shows the fluid being pushed by
the airfoil. Also, fluid is moving in at th
trailing edge to fill the space evacuated by
the airfoil.

applied on the free surface, rather than


viscous conditions as in Section V. The
transofrmation configuration is the same as
that used for the infinite depth channel as
shown in Fig. 2.
The two configurations, shown ir Fig. 15,
were considered from the data supplied by
Salvesen [9]. Fig. 16 shows the cross section
of the hydrofoil. To define the hydrofoil,
twelve locations along the chord were specified
with the local thickness. To have the freedom
to arbitrarily place points on the hydrofoil
surface, the data for the hydrofoil was fitted
to the general equation for a NACA modified
four-digit airfoil. The resulting hydrofoil is
shown in Fig. 16. Using a chord of 1.0, the
maximus, thickness of 0.345 hords is located at
0.32 chords from the leading edge. After investigating several airfoil rhapes, the leading
edge radius was chosen to be 0.04 chords and

the trailing edge angle was chose to be 16.5 .


The resulting hydrofoil thickness distribution
agrees closely with the twelve coordinate
points that were given.

In Fig. 13, the airfoil is moving toward the


free surface. As the airfoil moves toward the
free surface, fluid is pushed op and to the
sides. Vortices are created at the leading
edge and at the trailing edge of the airfoil
because the fluid is moving from the upper side
to the lower side. The fluid that is moved up
by the airfoil disturbs the free surfaces by
pushing up the free surface above the airfoil,
In Fig. 14, the airfoil is pitching 5* about
its center chord. Three times (t - 1, 5, 8)
are shown. The airfoil takes a time of 10 to
pitch from 0* to 5" and back to 0*. The
vortices can be seen formin as the airfoil
pitches.

The field size was chosen to be 62 x 60 with


JM - 21, I - 20 and 12 - 53. The coordinate
-6
system was converged to 10 using the SUR
iterative method. Next, the uncontracted
coordinate system was used as the initisl guess
for the contracted coordinate system. Eleven
n-lines were attracted to the body. The first
10 n-lines were attracted using an amplitude
of 20,000 and a decay factor of 0.4, and the
eleventh n-line was attracted using an amplitude of 250 and a decay factor of 0.2. Detail
of the first 17 n-lines is shc'n in Fig. t7.'
The results of viscous flow about the submerged
hydrofoil for low Re'-noldsnumbers are shown in
Figs. 18-28. Three cases were run: The first
case (Fig. 18) involved the deep-water configuration with Re - 100 and F - 0.33. The second
case (Figs. 19-23) presents results for the
deep-water configuration with Re - 100 and
F - 2.0. Finally, the third case (Figs. 24-28)
presents results for the shallow-water configuration with Re * 100 and F - 2.0.

Computer Time
Some of the solutions were generated on the
UNIVAC 1106 single processor and the latest
solutions were generated on the upgraded UNIVAC
1106 dual processor. There are many factors
which determine the computer time required for
a solution, for example, the way the object
program is loaded in the computer code. The
uncontracted coordinate system requires from
3 to 6 minutes to converge depending on the
field size and convergence criteria. Depending
on the type of attraction required, the contracted coordinate system took up to 30 minutes.
The acceleration parameter for pressure was
1.8 and the acceleration parameter for velocity
was 0.8. The constant of 0.1 was used in the
pressure iteration on the body. At Re - 20
and F - 1, the solution took 239 minutes to
generate 600 time steps. The maximum number
of iterations for a time step to converge was
11 at time step 313,
VI.

All three cases had several things in cosm


In each case the hydrofoil was accelerated from
a velocity of zcr over a time period of 4.
For the first case the field size was 62 x 55
and for the second and third cases the field
size was 62 x 60, In each case, JH - 21.
It - 10, end 12 - 53. The time stop else for
each case was chosen to be 0.01.

Submerged Hydrofoil Finite Channel 1e_.th11

The only modification necessary to the submerged hydrofoil solution discussed in the
previous section here wea the change of the
configuration in the physical plans to include
inflow end outflow boundaries with a solid
bottom between. In regard to the coordinate
syetem, this change is merely a emtter of
changes in the input to the program, replacing
the sa-circular outer boundary located at a
great distence from the hydrofoil with a
boundary consisting of three segents--inlet,
outlet, snd bottom. The undisturbed flow
boundary conditions used on the seal-circular
outer boundary were then replaced with undisturbed flow on the inlet and outlet sagments.
and free-alip boundary conditions on the solid
bottom. Inviscid boundary conditions were

The trailing edge pressure wee calculated by


extrapolation of the adjacent surface pressure.
An inviscid condition was used on the from
surface in each case. The free surface pnessure was met equal to the atmospheric pressure.
and the fret surface velocity boundary conditions become

208

Convergence of the viscous solution was


chosen to be dependent on the change of the
velocity and the coordinate system at each
iteration. When the change of velocity and the
coordinate system became
less than the conver-5
gence criteria of 10 the solution for that
time step was stopped at that iteration. The
pressure change was not required to meet a
convergence criteria, but the pressure was monitored.

is rapidly damped by the strong viscous effects


so that the rise is confined to the irmediate
vicinity of the hydrofoil. Furthermore, the
front stagnation pressure on the hydrofoil
increases as the Reynolds number decreases,
since the strong viscous pull of the free
stream on the flow being Oeflected around the
hydrofoil is greater. These effects tend to
produce a pronounced local upward deflection
of the free surface in the imediate vicinity
of the hydrofoil at low Reynolds numbers. The
strong viscous null of the free stream flow
tends to shift this disturbance downstream and
hence aft of the hydrofoil.

The deep-water configuration with Re - 100


and F - 0.33 ot Fig. 18 aows a vortex developing on the lower surface of the hydrofoil, and
the leading edge stegnation point moving up the
leading edge of the hydrofoil as a result of
the small movement of the free surface for this
low Froude number. This separation did not
occur in the insults for F - 2 given below,
Additional results at F - 0.33 are given in
Ref. 11.

VII.

The physical and transformed planes used in


this solution are shown in Fig. 29. Since the
hydrofoil is in the free surface, rather than
submerged, the physical region is simplyconnected, its boundaries being the wetted
portion of the hydrofoil contour, 2 - 3
the free surface fore, I - 2 , and aft,
3 - 4 , and a remote saei-circular boundary,
I - 4 , located at a sufficient distance
from the hydrofoil to be undisturbed by the
flow. The transfcrmed plane is a rectangle,
with the wetted portion of the hydrofoil contour transforming to the upper horizontal side,
the free surface fore and ft transtorming to
the left and right vertical sides, respectively, and the sesti-cireular remote bouidary
transforming to the lower horizontal side as
indicated in Fig. 29. This configuration differn from that used for the submerged hydrofoil
in th, the physical region was doublyconnect,,'
with the submerged body.

The deep-water configuration with Re - 100


and F - 2.0 of Fig. 19 shows the large mowement of the free surface. In Fig. 21, the
pressure distribution is almost symmetrical,
except for the slight movement of the leading
edge stagnation point. The time history of the
free surface shows the large movement of the
free surface. Also one can see the movement of
the first peak from the front of the hydrofoil
to the rear of the hydrofoil,
The shallow-water configurazion results with
Re - 100 and F - 2.0 show the et-cct of the
2
hydrofoil being close to the bottom. 1i 'tg. 5
the leading edge stagnation point is moving
down to the lower side of the hydrofoil. Also
a slight separation is developing on the upper
side of tie hydrofoil.
In Fig. 26, the effect
of the hydrofoil being close to the bottom on
the pressure can be seen.

As noted above, the curvilinear coordinates


(i,n) are taken as the solution of two elliptic
partial differential equations. The particular
equations used in the present solution are
those of 1121, which differ from the original
system of [ S), used for the submerged hydrofoil, only !; the form of the coordinate system
control terms (the terms iiivnv!og the funetions P and Q below and in Eq. (2) above.)
Thus
and n are determined by the solution of

The configuration of Figs. 24-28 corresponds


to one of the feet configurations of Ref. 9
(depth 0.99 ft., foil 0.15 ft. above bottom).
However, the depth-Froude number in the present
simulation is 1.09,while the experimental
results of Ref, 9
had a depth-Froude number
of 0.706 for this configuration. More significantly, the chord Reynolds number of this
simulation is only 100, while that for (he
experimental results was about 200,000, Each
of these discrepancies tends to shift the local
disturbance aft in the bimulation.

*
*

Hydrofoil in Free Surface [8)

+ &yy

Y) P(f)

(n.2 + ny2) Q(Cn)


aI"
y

+ nyy

Both experimental results [101 and tho present numerical solution iiicate that 'he sft
local disturbance moves aft as the Froude
number increases (cf. Fig. 5). The
Reynolds number effect Itithe present results
is even greater, however. The local disturbanes is broader and extends farther aft In the
numerical results at the lower Reynolds number.
At the sast time, the initial rise forward of
the hydrofoil is broader at the higher Reynol(t)
numbir and extende tather forward.

(t2 +

(14a)

(14b)

With reference again to Fig. 29, the boundary


conditions for these equations are as follows:
(a) on the wetted portion of the hydrofoil
contour, 2 :
n - i2
constant,
C varying) sonotonically from CI to C2
U2 1 E1 from 2 to 3
(b) on the free surface,
I

Following this trend, it is conjectured that


at low Reynolds numbers the forward propagation
of the rise in surface level above the hydrofoil that oecus at high Reynolds numbers qf)

I - 2 . anti
i.constant on
I -

- 4
C 1 o
C - C 2 - constant
n varying monotoncally from n I to
(n 2

"1

from I to

2 and from 4

2
to 3.

2OW

40

(c) on the remote boundary,

I -

boundary arcs In the earlier stages of the


present investigation. Later an unequal spacing was used, with the angular separation of

- "il - constant < n2 " i varying monotonically


from
1 to E2 from
1
to 4

points varying on a sine curve, so

that the

closest spacing occurs adjacent to the free


surface.

In t'e present application, the control functions, P and Q, are determined from the specified sparing of points on the hydrofoil contour
fid fre surfpoitose on the hydyofoingconour
and free surface, those on the body being concentrated near the free surface and those on
the surface being concentrated near the hydro'oil as in Fig. 30. The details of this deterviosrion of P and Q are given in [ 8]. The
resuin tceation of
oordQaregivninat
nes
resultant concentration of coordinate lines
rear the body and free surface is evident in
Fig. 30.
In the initial

stages oi

this study,

Since the free surface deforms in time, with


csequent motion of its intersections with the
hydrofoil contour, only the relative distribut
fixed. The points thus slide along the wetted
portion of the hydrofoil while maintaining the
prino

yrfi

hl

anann

same relative spacing from adjacent points as


time progresses. This is accomplished by loeating the points on the contour at fixed percentages of the angle subtended by the arc
between
surface.

the
twosubtended
intersections
the free
This
angle,with
of course,
ose,
of
e
t
anges ibis
oscilhydrofoil
the
When
time.
in
changes
lates, the movement follows the oscillating

the

awen
control functions, P and Q, were taken as sums
of decaying exponentials that caurs attraction
and/or
lines
of coordinate lines to specified
points as used for the submerged hydrofoil.
Some of the results given below were obtained
on coordinate systems using this type of control as will be noted. The new control procedure has the advantage of automating the control and e,iminating the need for judgmental
estimation of the attraction amplitudes and
decay factors necessary to achieve a desired

he points oa the free surface are initially


determined by a Neumann boundary condition
that requires the coordinate lines to be vertical at the moving surface. The local elevation
of the surface is determined by the equatlons
of motion for the free surface as Aiscussed in
og
s li
Section for the points t
The points thus slide along the

111.

lie
o
degre
cnceraton.Section

free surface as the surface deforms it,time.


With the current modification in the control
functions, Eq. 2 in the transformed plane are
replaced by
x

aYF -

26x 0

+ Yxnn + aPx

28yq
E "y'
cy + + Pp+

+ fQx - 0

YQy

Results of the numerical solution are presented for a circular cylinder hydrofoil In two
flow configurations:

(15.)

(a) Accelerating translational motion


parallel to the plane of the initially
undisturbed flat free surface.

(15b)

(b) Oscillatory plunging motion normal to


the plane of the initially undisturbed
flat

The boundary conditions for x and y are as


follow&:
(a) On the hydrnfoil:

except by the free surface, with no disturbance remote from tha hydrofoil.

y specified by the chosen spacing of


rd
points around the hydrofoil contour,
rhese points move on the contour with time
as a result of motion of the hydrofoil an!
also because of movement of the free surfae-body contact points on the contour.

Is the translational case (a) the acceleration is linear, with the Reynolds and Proude
numbers given by
P - 2t

r - 20t

(h) On the free surface:

tree numbers being based on the cylinder die- toe and current velocity.

*.0 Initially, fixed toafter, y

(c)

free surface.

In each case the axis of the cylinder is in the


plane of the initially undisturbed flat free
surface. The fluid is physically unbounded

from the surface movement, Eq. (i0).


(The first of these allows the points to
slide along the free surface so that the
coordinate lines are initially vertical
at the free surface.)
On the remote boundary:

For the plunging ce* the motion of the byr.foll is einusoidel with the elevation of the
cylinder axis relative to the plane of the
intiUlly .ndisturbed free surface given by
y - A sin(--) where A nd P are the amplitude
and period,

x and y fixed and specified by the chosen


spacing of points along the remote btund-

respectively. u, the motion.

The

velocity of the cylinder to thus


V .-

This point dietribution on the body and remote boundary wes taken ccording to equiangular epacing over the body and remote

cue
ooA

11 and the Reynolds and Prowls

numbers or* then given by R respectively.

210

20y and P -

2y,

In etch case the coordinate system Is of the


form shown in Fig. 30 and discussed above in
thia section, vith 37 pcints on the body and 30
point: on the tree surface on each side of the
body. The remote boundary where the fluid is
-andiaturbei is located at a radius of 10 cylinder diameters. The convergence acceleration
parameters used were 1.0 for the monntua equations (Ya-b),1.8 for the Poisjon equati'n (7c),
0.45 for the surface pressure equatlon (9), and
1.85 for the coordinate system equations (15).
The iterative convergence criteric used were
4
10-5 for the coordinate system ar lC' for che
veloity and pressure,
The initial point distritutiot. on the cylinder was detersined by a sine curve, with points
distributed symetrically and concentrated near
each free surface contact point. The initial
distribution on the fret surface was determined by a.iexponential curve, with points concentratti near the body. It was found neceseary to have the points adjacent to the free
surface-body contact point approximately equtdistant from the contact point else stability
problems arose with the 7urface. The points
move on both the hydrofoil and free surface as
time passes, but the ams
erelative distributions are maintained as discussed in the previous section.
AA noted in the discussions above, the
curvilinear coordinat- system continually deforms as time progresses, always keeping a
coordinate line coincident with the deformiung
free surface. This behavior is evident in
Fig. 30 which shows the coordinate system at
four times for the translating hydrofoil. The
free surface rises in front of the hydrofoil,
and the fore contact point slides up along the
hydrofoil contour. At the rear of the hydrofoil, the surface falls, and the aft contact
point moves downward,
Velocity vectors and the hydrofoil pressure
distribution for this solution are shown at
one time in Fig. 31. The vectors clearly show
the fore and aft stagnation points to b well
below the corresponding surface contact points
on the hydrofoil. The pressure distribution
shows a positive pressure spike adjacert to
both contact points, but a smooth distribution
elsewhere on the hydrofoil. This spike is due
to numerical error resulting probably' from the
modeling of the contact point moviment.
The initally undeformed coordinate system
used in the oscillatory solution is shown in
Pig. 32. A stronger concentration of lins
near the free surface and hydrofoil contour was
used in view of the results discussed above,
Fig. 33 shows the temporal oscillation of the
lift coe'ficient. fhe curve is seen to be
deformed from a pure sinusodial oscillailon.
After an initial rise, the force remains upward
throuchout the cycle.
fig. 34 shows a series of plots of velocity
vectnrs at several time during the cycle,
while Fig. 35 shows the same thing, but in
detail of the region around the right surfacebody contact point. As the body rises initially, the fluid moves downward from the surface

and inward toward the void being left by the


rising body. However, due to the viscous noslip boundary condition, a vortex Is created
near the contact point (T - 0.01 in Fig. 35).
(A similar vortex, but of the opposite rotation is, of course, created off the left contact point.)
These vortices move away from the
body and decrease in intensity as the quartercyle is approached (cf. T = 0.11 in Fig. 35).
At the quarter-cycle (0.157), the body
reaches its highest point and then reverses
its motion to move downward. This forces the
fluid beneath the body to the aides. The beginning of this sideward notion can be seen at
T - 0.17 in Fig. 34 juat beneath the body. At
this time, inertia causes most of the fluid to
still reflect the previous upward movement of
the body. This inertial effect is evident also
in the corresponding detail plot in Fig. 35,
where the fluid adjacent to the body has reversed its motion and is moving downward with
the boly while the rest of the fluid notion is
qua]itatively similar to that at T - 0.15 before the quarter-cycle.
As time passes, the Influence of the dovnwari
motion of the body sprcas progressively
throughout the fluid so that more and more of
the fluid acquires downward anc sideward motion
beneath the body, with consequent apward motion
toward the surface (cf. T - 0.21 and 0.31 in
Fig. 34). This annihilates the vortices, and
new vortices of opposite rotation to the orginal form just off each surface-body contact
point kcf. T - 0.21 in Fig. 35) These vor
tices also move away from the body and decrease
in intensity as the body moves toward its loweat point at the three-quarter cycle time
(T - 0.471).
At this tite the motion of the body again
reverses, and the body starts back upward.
This causes inward motion to begin jtst benoath the Lody (T - 0.49 in fig. 34) with
upward motion adjacent to the body (T - 0.49
in Fig. 35).
This new pattern of motion then
spreads out into the remainder of the fluid,
competing initially with the Inertially persisting motion from before the last body reversal. As at the quarter-cycle, the existing
vortices are annihilated, and new ones of
opposite rotation again form off the contact
points (cf. T - 0.53 in Fig. 35). The general
fluid motion is again downward from the surface,
with inward and upward motion beneath the riaIng body (cf. T - 0.61 in Fig. 34) as at the
beginning of the cycle.
The movement of the hydrofoil free surface
contact points along the hydrofoil contour is
modeled by a coedition of continuity as discussed ii detail in Ref. 8. Essentially this
model causes the contact points to slide along
the hydrofoil contour in response to a net
imbalance of flow into the cell at the contact
point. Net inflow will thus cause that contact
point o slide upward along the contour.
Another model based on a condition of zero
stress at the contact point wes also inveetigsted but was found to be unsatisfactory as also
discussed in Raf. 8.

Figs. 36 and 37 show the surface elevation


and pressure at ipprorisately the quarter, half,
three-quarter, and full cycle times. The elevation curves show that the mean surface position is not flat. but is depressed in the vicinity of the body. Tht; result is in qualitative agreement aith a periodic boundary
layer solution and expe':Iment.l
flow visualization results given in Schlichting [13] for a
circular cylinder oscillating in an unbounded
fluid. There it is shovn that a mean secondary
motion exists in which fluid moves from the
sides toward the body (normal to the direction
of oscillation) and then away from the body
parallel to the oscillation direction (cf. Pig.
11.7 of [131).
In the present case this type
of mean flow would be toward the body, parallel
to the free surface, and then away from the
surface beneath the body. This then would
result in a mean surface depression,
VIII.

advantages as noted in spite of the presence of


the zero Jacoblan. The cotifigurations used for
the hydrofoil in the free surface (.nd for the
external flow about airfoils in other studies)
do not have any zeros of the Jacobian in the
field. Further study would be necessary to
develop better configurations for the submerged
hydrofoil case.

Concerning the hydrofoil In the surface, the


L oordinate configuration was less of a problem,
asidno zeros of the Jacobian occurred in the
field. The results given in the present work
are all at very low Reynolds number, but the
solution can in principle be run at any Reynolds
number by increasing the attraction of the
coordinate ines to the body and free surface at
higher Reynolds numbers in order to maintain a
sufficient number of lines in the viscous layers. Such a procedure is currently under lnvestigation in coanectioa :1th the flow about airfoils. The problem is made more difficult,
however, with increasing Reynolds number. More
Investigation of the control of the coordinate
system so that sufficiently close spacing is
maintained user the free surface as it deforms
is necessary, as is further study of the modeling of the hydrofoil-free surface contact point
movement.

Conclusion

The technique of numerically generated


boundary-fitted coordinate systems is clearly
an effective aid in treating flow problems
involving both free surfaces and solid boundaries. With this technique the complication of
the boundary shape is essentially removed from
the problem. It is possible to obtain numerical solutions for viscous fl:w, with viscous
boundary conditions on the free surface as well
AS on the solid body.

Finally, the hydrofoil and/or bottom could be


allowed to deform in time without complicating
the problem unduly, This is because all of the
computation is done on the fixed rectangular
transformed grid regardless of the shape or
movement of the physical boundaries. Wind shear
on the free surface could also be added by a
change in surface boundary conditions Io include
applied external shear as well as pressure.

ihe research results presented in this report


leave several problems unresolved. Regarding
the submerged hydrofoil solution, the coordinate configuration used had a zero Jacobian
between grid points in the field of calculation
Ihis zero Jacobian made it difficult to contract coordinate lines near the branch. Also,
an ambiguity in the finite differeoce expressions for the crose derivatives at the point of
zero Jacobian led to ambiguous results in the
coordinate solutions.
Thirdly, the coordinate
control functions were found to be inadequate
in controlling coorditittelines in the field,
An arbitrary change in the coordinate control
often led to unpredictable results for the
physical coordinates. Some progress was made
in this area during the latter stages concernIng the hydrofoil in the free surface with the
incorporation of an automated control. finally,
at project termination, the solution could not
be run successfully for Reynolds numbers
greater than 100 for the submerged hydrofoil.
The combination of the coordinate contraction
functions and the field .oint with a zero
Jacobtan is believed t. be the cause of a
pressure source that occurred at the trailind
edge of hydrofoils zor Re 1 100. finally,
since higher Reynolds numbers were not obtatne.,
the method could not be verified with the axperimentl date available for submerged hydro-

References
1. Thompson, J. F.. Thames, F. C., and Mastin,
C. W., "Automatic Numerical Generation of
Body-fitted Curvilinear Coordinate System
for Field Containing any Fumber of Arbitrary Two-Dimensional Bodies,' Journal of
Computtional Physics, 15, 299 (1974 .
2. Thompson, J. F., Thames, F. C., Inetln, C.
W., "TOMCAT - A Code for Numerical Generation of Boundary-Fitted Curvilinear Coordinate Systeme on Fields Containing any
Number of Arbitrary Two-Di ensional bodies'.'
Journal of Computational Physics, 24,2/4
T1977).
3.

Thames, F. C., Thompeon, J. F., at. al.,


"Numerical Solutions for Viscous and
Potential flow about Arbitrary Two-Dimenatonal Bodies usiag Body-Fitted Coordinate
Systems," Journal of Computational Physics.,
24,245 (1977.--

0.

W dge, J. K., "Numerical Solution of In-

foils.
The "reesace of a zero Jacobian in the field
is not a universal feature in the boundaryfitted coordinate syste, but is peculiar to
the type of configuration adopted for the
trasformed plans in the submerged hydrofoil
solution. TtVUsconfiguration did have certain

ooeproasible Laminar Flow about Arbitrary


Audie in Body-Fitted Curvtlinear Coordimates," Ph.D. Dissertation, Mississippi
State Univertt), Htssisippi State,
Mississippi (1975).

212

II

Thompson, j. F., Thawes, F. C., and Masatin


C. i., "Boundary-Fitted Coordinate Systems
for Solution of Partial Differential Equa-

5.

'I
j~.1

Containing any Number of


tions on Fields8
NACA
Arbitrary Two-Dizansional Bodies,"
CB-2729, 1977.

General
6. Hirt, C. W., and Harlow, F. H., "A
Corrective Prccedure for the Numerical
Problems,"
Value
Solution of Initial
Journal of Co.mutatiOnal Physir., 2, 114
(1967).

PLA
YSICAL

of
7. Shanks, S. P., "Numerical Simulation
Viscous Flow about Submerged Arbitrary
Hydrofoils using Non-orthogonal, Curvilinear Coordinates," Ph.D. Dissertation,i
State University, Mississip
Mississippi
State, Mississippi (1977).
8.

9.

,Is
...

Thompson, J. F., and Shanks, S. P.,


"Numerical Solution of the Navler-Stokes
Equations for 2D Surface Hydrofoils,"
EIRS-ASE-77-4, Mississippi State University, Mississippi State, Mississippi,
(1977).

'1
-"

rsaNsFroflO PLANk
Figure I. Doubly-Connected Region with FreeSurface
C ,r

Salvesen, Nils and von Kerczek, C.,


"Nonlinear Aspects of Free Surface Flow
Past Two-Dimensional Bodies," the 14th
International Congressof Theoretical and
Applied Mechanics,Delft, the Netherlands
(1976).

for
10. Salvesen, N. "Second-Order Wave Theory
Bodies," ProSubmerged Two-Dimensional
Hydroceedings of Sixth Symposium n Naval
dynamics, Washington, D.C. (1966).
11.

c2
PHSKAL PAE

Thompson, J. I. and Shanks, S. P.. "Numerical Solution of the Naviet-Stokes Equations for Arbitrary 2D Submerged Hydrofoils in a Channel of Finite Depth," 094SfEIRS-ASE-77-6, Mississippi State University, Mississippi State, Mississippi
(1977).

12. Warsi, Z. U. A., Thompson, J. F., "Machine


Solutions of Partial Differential Equations in the Numerically Generated Coor-

dinate System," MMSU-EIRS-ASE-77-1,


Engineering and Industrial Research
St aion, Mississippi State University,
(1977).
13. Schlichting, H., undary
4th Ed., McGraw-Hill, (1960).

"

L
PLANK
THAN$FOMKo
Figure 2. Modified Doubly-Connected Region with
pr,-Surface

Theo.

In the interest of spae, all figures


Hots:
have been ad small, and consaquently, some
scales sre difficult to ,ed. Therefore.
sxtreme ordinate values heve been added in
larger type. Larger versions of all figures
can be found in References 8 and 11, available
the
from Mississippi State University through
second author.

Figurs 3. Hydrofoil Geometry end Coordinates

213

I13

1.26

Figure

4. KarmanTreffz Airfoil

I'

Continued

Figure 6.

. -. . .

,.

,. .; . .' ,.....

(a) F

049-

0.1

(bF

18
191.1

___L

.
) r - .0

1.}1o .o

Figure 7. Time history of lift for three Froude


numbers, Re - 2.0 - Karman-Trefftz
Airfoil located I chord below free

-/:

Q'~

/surface.
-*jA\
.
-

7.0

- ----

(,),.,.o"-"n.I
Figure 5. Coors.nate system for three Froude
numbers, Re - 20. t - 8.0 - KarmanTrefftz Airfoil located 1 chord below

fre

-'__

.5

,,

-4.0.__

surface.

6.0

0.01

; -7.0

50-

--

-6.0

, -5.0
.455,5.5

Figure 8.

Figure 6. Time history of drag for three Froude


numbers. Re - 20 - Kamn-reffts
Airfoil located I chord below free
surface,
214

No

Preseure distribution f%;rvarious


Reynolds and Froude nizabers at
t - 8.0 - Karmn-Treffts Airfoil
located I :hord below free surface.

7. 0

a-7.01

j4

"I

Figure 9. Pressure distribution


for -twoKarmenReynolds6
numbera
F - 0.5, t - 6.0
Trefft. Airfoil located 1 chord below
a f ree eurfsce

Wat

(b) t-.

'-

2.0

'

11. Velocity vector field at three ties,


- 20, F -05Circular cylinder
located I chrd below free-surface.

-\Figure

VRe

J4

l~

N.
-

Figure 12. Velocity vector field of Kar:anAirfoil translating in the


negative x -direction.

\-'~Trefftz

Figure 13. VelocIty vector field of KermanTrefftg Airfoil translating toward


free eurface, Re - 20, F - 1.0 and
t - 1.75 (free stress-fixed coot-a

Figure 10. Coordinate system at three times,


is * 20, F - 0.5 Circular cylinder
locaed 1 chord below free-ourface.

dinates).

215

Figure 17. Coordinate System

-First

17 n-lines

Figure 14. Velocity vector field of Karmanthe


nga tihout
soyich
itseter
its a ente
thre tiesshowing
Chod
Re - 20, F - 1.0 (free streamfixed coordinates).
F.,

Figure 18. Velocity vector field at two times


close-up of body, Re - 100,
F -0.33 - Airfoil located 0.841
chords below free surface and 2.2
chords from bottom,

Swim.

22a
Sn,

5,.,S~fl,,nI,.
3.55. SM,,

Figure 15. Deep and Shallow Water Configurations


(Non-Dimensional)

Test hl rofoil (Dimensions in Feet)

$I

Figure 16. NACAAirfoil epproxima, Ing the test


hydrofoil. Chord - 1, moximum thiceiness - 0.345 located at 322 chord,
leading edge radius a 0.04. end
trailing anogle -16.3'.

Figure 19.

215

Coordinate syste at two times, Re. 100, 7 a 2.0 .. Airfoil lorated 0.841
chords below free wirface and 2.2
chords from bottom.

2.0

Fiur 23. Tiehsoyffe-ufaemvmn


showing~

FRe
chor0sbelc

cls-pofb-.Re-10

Aiocatedt 100 F -20


841o chords

084

A-fl
fre-urac

and2

chords from bottom.

4.0

4.0-

.1c3

Figure 21.

Pressure distribution at two times,


Re -100,
F - 2.0 - Airfoil located081chords balow free surface and
2.22 chords from bottom.

0.16

*..

WI

Figure 24.
I

0.0

-chords

0 .0

Coordinate system at two times, Re100, F -20Airfoil located 1.56


chord blow free surface and 0.27
from bottom.

0.8

Figure 22.

Tine history of lift, drag and leading edge moment, Re - 100, F - 2.0 Airfoil locatad 0.841 chords below

Figure 25. Velocity vector field at two tines


showing close-up v'
dy, Re - 100.
F - 2.0 - Airfoil jucotod 1.56 chords

iris surface and 2.2 chords from


bottom,

below free-surface and 0.27 chords


from bottos'.

211

4.0

4.

..

Figure 26.

.-.

(a) Phyxical Plane

Pressure distribution at two times,


Re - 100, F - 2.0 - Airfoil located
1.56 chords below free surface and
0.27 chords from bottom.

1.6--..

.(b)

Transformed Plane
i

o00

Figure 29. Relation Between Physical and Transformed Planes

-- '_______-4--

0.32,Figure 30.

Deforming Coordinate System - Translating Hydrofoil


3.0

LIFT CoippICIiwT
0.032672
DRMCCOYRFICIENT
0.743114
'CS4ERTCOEFFICIDIT 0.251998

0.0 .r
Figure 27. Time history of lift, drag and leading edge moments, Re - 100, F - 2.0Airfoil located 1.56 chords below
free surface and 0.27 chords from
battom.
t--

r-

Velocity Verter
ForsSouton
Figuret31.

of free-surface movement..
Figure 2B.Tie
28 1ir6~ history
hord: beow fro-urfca mn
Re - 100, 1 2.0 - Airfoil located
0.27 chords fro

bottom,

foil. T - 0.84

21

Tanlaig

ydo

Figure 32.

Initial Coordinate SystemPlunging Hydrofoil


Figure 34. Continued

T -. 0

Figurot 33.

Lift Coefficient
Hydrofoil

1 -I,

-Plunging

AI

-M.1

Ii

Figure 34.

-.

43t.f

Figurs 35.

Plunging
Velocity Vectors
Hydrofoil (0.001 Amplitude.
0.628 Period)

219j

Contact
tody
Detail of Surface
Region - Plunging Hydrofoil
Period)
0.628
(0.001 Amplitude.

Figure 35.

Continued

0._

-0.1
Figure 36.

0.'

Surface Elevation - Plunging


Hydrofil (0.001 Amplitude,
0.628 Period)

----

Figure 37.

Surface Pressure - Plunging


Hydrofoil (0.001 Amplitude,
0.628 Period)

220

FINITE-DIFFERENCE COMPUTATIONS USING BOUNDARY-FITTED COORDINATES FOR


FREE-SURFACE POTENTIAL FLOWS GE. ."RATED BY SUBMERGED BODIES
H.J. Hausellng and R.M.Colema
David W. Taylor Novel Ship Reeach and Development Center
Batet**K Maryland 20054

Abstract

grid using finite-dif' -iceformulae for


unequal mesh spacing (irregular stars) at the
boundaries as 'n the marker-and-cell method [2].
Irregular stars can sometimes be handled
efficiently with imbedding techniques [3). In
another approach, which is used in the present
work, numerical transformations map arbitrary
geometries into rectangular regions (4]. The
resulting boundary-fitted coordinate systems
simplify the application of boundary conditions
at curved boundaries, are applicable to threedimensional problems, and are particularly
useful with time-dependent geometries such as
those found with unsteady nonlinear water-wave
problems.

Finite-difference techniques are used with


boundary-fitted coordinates to compute the twodimensional unsteady potential flow generated
by a circular cylinder in motion below a free
water surface. Both linearized and nonlinear
boundary conditions are employed for swaying
and translating cylinders. The time-dependent
physical region is transformed into an H-shaped
computational region. Since the geometry of
the flow region is not known in advance, but is
part of the solution, the transformation must
be computed simltaneously with the flow field
for each time step. When nonlinear freesurface boundary conditions are used, a
numerical filtering procedure is needed to
eliminate numerical instability. A comparison
of linear results for surface elevation and
forces with existing steady-state solutions
shows that accurate "esults can be obtained
with such a numerical scheme. Nonlinear
results indicate that the scheme is useful for
analyzing nonlinear free-surface flows
involving nonbreaking waves.

This paper describes the application of


boundary-fitted coordinates to the computation
of unsteady potential flows generated by a
circular cylinder in swaying or translating
motion below a free surface. Both linear and
nonlinear problems have been considered.
In the nonlinear case, the initial numerical scheme was found to be unstable. Therefore,
a numerical filtering scheme proposed by
Shapiro (5) and used by Longuet-Higgins and
Cokelet 6 was used to stabilize the calculations. Comparison of the linear results for
surface elevation and forces ith solutions
obtained by other methods indicates that these
finite-difference techniques can yield accurate
results. Results for nonlinear problems
indicate that the method is useful for analyzing
nonlinear free-surface flows as long as wave
breaking does not occur.

I.introduction
In a previous paper Haussling and
Van Eseltine (1]discussed the application of
finite-difference methods to two-dimensional
potential flows generated by pressure distributions moving over a free water surface,
Such unsteady problems were solved with a
scheme which combined a numerical solution of
the Laplace equation with numerical approximetions to the time-dependent free-surface
boundary conditions. Both linear and nonlinear
boundary conditions were considered. In the
linear case the Laplace equation was solved in
a rectangular region. in the nonlinear case,
the physical region, bounded above by the wavy
free surface, was transformed into a rectangle
to facilitate the numerical solution of the
Laplace equation,

I. Mathematical Formulation
The Initial/Boundary-Value Flow Problem
Consider a circular cylinder in motion in
water of depth d with submergence h below a
free surface as shown in Figure 1. An (x,y)coordinate system is chosen with the origin
in the undisturbed free surface. The coordinate
system may be fixed or It may move with the
body. It is assumed that the flow Is irrotational and that the fluid is incompressible and
lacks surface tension. It is also assumed that
the surface elevation can be described at any
time t by specifying y as a single-valued
function of x: y - Y(xt). This assumption is
made for convenience and is not valid if the

When the flow is generated by a body


rather than by a surface pressure distribution,
the numerical problem is more difficult. The
geometry, evem in the linear case, is much more
complex, and the simple transformation used in
(1 for the nonlinear problem cannot be
applied. Such complex geometries are often
treated with a rectangular finite-difference

221

d(x)

Figure 1.
waves approach breaking conditions,

Body in Notion in Water of Dep'h d(x).


represented by i. Arbitrary initial conditions

are represented by *0 and Y0"

nondimensionalized
The variables are
according to the scheme
(x',y') - L(x,y),

t'- Lt/U.

(1)

p ,pU p, Y'

*' * LU

The dynamic pressure on the body surface


can be computed from the Bernoulli equation
without the hydrostatic term as
(9)

p I -+t+6ux-(#x2+#y2)/2

LY

where the primes denote dimensional variables,


*(xy't) is the veloity potential, p is the
pressure, p is the density, and U and L are
characteristic speed and length scales associated with the body.

The resistance and lift coefficients are

The initial/boundary-value problem is


defined by

R - reststance/pLU
L

-fpn

(10)

ds

ids
ip

lift/PLU

(11)

#xx+oyy . 0. -.<x<-, -d<y<Y

(2)

where i and j are unit vectors in the x- and


y-directions, respectively, and where the
integrations are over the body surface.

Yt " 6u(t)Yx-XYx+#y at y-Y

(3)

When wave slopes are small, the linearized


free-surface boundary conditions

#t " u(t)X'Y/Fr2'( x2+ Y2)/2

at y-Y

at y - -d
at
at the body surface

Ox

at x t-

40* Y "YO at t-0

(4)
yat

Yt " 6UYx +y
Ot

U/(gL)

/2

(12)

(5)

(6)

often provide sufficient accuracy. Similarly,


If the body displacements are small. the body
boundary condition in (6) can be applied at the
mean body position.

(7)

The Transformation
To simplify the numerical solution of the
problem, the time-dependent physical region
(Figure 1), cut off suitably far upstream and
downstream, is transformed to a tim-dependent
computational region which, as shownIn
Figure 2, Is composed solely of rectangles. The
body is apped onto the slit LE, the free
surface onto AB. the bottom of the water onto
the upstream boundary onto ANar4 J1. and
III,
the downstream boundary onto BCand 61. The
and CKEFGrepresent cuts within
boundaries JKLMN
the fluid.

The subscripts x. y. and t denote


differentiation. The velocity of the body is
t t) with horizontal component u. For a
reference frane moving with horizontal speed u,
6.1 and approprite convective terms are
present in (3) and (4). For a fixed frame, 6-0
and those terms are absent. The dimensionless
parameter Is the Froude number
Fr

y0

SU#x - Y/Fr I

(8)

where g is the gravitational acceleration. The


unit normal vector to a boundary is

Similar transformations represented by

222

IIII1II
11

1 11

- l

11

L!11
1 I II...
1- IIIII'

'''"
";''''''""

Figure 2. The Trantformed Coemputational Region.


n - n(.yt)

tl(X.yt)

KJ ML and KL,and BE and FE are similarly


matched.

(13)

have been computeo by Thonpscn et al [4) as


solutions to thePoisson equations
E"+Cyy

=P(&,n,t)

rlx+
fyy

Fora circular cylinder inwater of


constant depth this transfornation yields the
coordinate system displayed in Figure 3. Lines
of constant n extend between the upstream and
dwnstream boundaries except near the body
which they encircle. Lines of constant run
between the free surface and the bottom, of the
water except where they intersect the body
surface. The coordinate system is cylindrical
near the body but also conforms to the shape of
the region occupied by the water.

(14)

Q~~~)(15)

with appropriate boundary conditions. The


source functions P and Qare specfied such
that an efficient numerical scheme results,
The use of theH-shaped region in Figure 2 is
an extension of the work of Thompson and his
co-workers which, as willbe seen, leads toa
numerical scheme with niceproperties for the
problems under consideration,

Again for computational reasons, the


governing equations and Lcurdary conditions are
transformed to the (r,,n)-coordinate syste.,
Equation (2)
I s rewritter

For computational purposes, thegenerating


to the
system (14)and (15)istransformned
computational space by interchanging dependent
and independent variables toyield
20X, +x
yX + J2(pX +QXn)0
(16)
Cay
E -28y~El +y n

J2 (Pyt+QYn)*0

0
I1111 C
where

Equations (3)and (4)transform to

(17)

(Ytxconstant 'E
2

+ yn2

xC + yj
t2

a .x
1

(9

a.JP(20)

where
XT

4 +#*~~#C
E

ll ly

nt

E#yCn]E/

at nil it

(xE-x#
l

(t 'tn-constant"
t4
(eyn#,E
r
Y

- YC4

(21

t( Ex'

-$nxE)IJwuu(y n# -yC#)/J-Y/Frl

The transformation can than be determined by


solving (16)and (17)subject to thefollowing
boundary conditions: The (x~y)-coardinatas of
thefree surface are specified .in AB (Figure 2),
thecoordinates of thebody are given on LE
(top 3ndbottom), thecoordinates of the lower
boundary are given on Hi,and the coordinatesI
of theupstream and downstream boundaries ae
specified onAN. J1.SC. and Gi. Pteentranttype boundary conditions are applied onthe
cuts as follows: The(x,y)-coordinates on CO
match those on6F; the boundary pairs IiN
and

nC
y
-t(Y* Cyt

2
i+(

E
(

x*)
E n-#
at

]/(2j 2 )

(22)

n-n

Since the coordinate system is time dependent,


time deiivatives of the x- and y-coordinates
appear in (22)
At the upstream and downstream
Loundaries (6) Is replaced by

223

Figure 3. The Boundary-Fitted Coordinate System as it Appears in Physical


Space for Both theLinear Problem and theNonlinear Problem at t=0.
#n-0at &-t
1 andr-t
1

(23)

The normI derivative of # at a boundary

[7])
can bewritten intheform (ref.

(Jlg2
/2

(16)
and (17)are replaced by central difference

2}=/)

1+,I

(24)

whiere g *dy/dx is the slope of the boundary.

multiplying numerator and denominator byXt.

2(i~~~i2

By

equation (24)
can be rewritten in the form
V~l(
*
11(~/
YOs
(25)

~/22~
1Y'~j
1 ~2

+VY
1 l+ilq~
2f

Thus (5 becomesjQ
8

at '1"

Since theshape of the fluid region is not


known in advance but is part of the solution,
the transformation cannot be carried out In
advance. Equations (16) and (11). which
generate the transformation, must be solved at
each time inconjunction with thesolutior of
(2l)-(23). and
thefluid flow problem (19).
(26).
1ll.The Numar'"aI Scheme
This sectiorn
presents the nuirarical
aspect%
of both thetransformation and flow problem
solution. Further detali concerning the
numerical transforma.tion
canbe found in
ref. (0].
The domain of Integration in the(t,s)plane is replaced by *uniform network of
poinits
specified by
-* 1,Ij
, - j),with
(Fl
gure2). The
,.,2B
i .19and4-1..
differential equations arereplaced by
values of
difference equations involving t:,e
the variables at thesi grid points.
To compute the transformation. equations

/2 i'Yi'j?1

*xi

(2)J'''

v~)/J t n-nb

(27)

1 1
1

10.
1,Y/Jl/2

y1J

5--x-'~

yIIJIY-JIy.~+
2

/ (mij , 'tjj)
-Yi+l'j-l
O8'j
i. anid
'f
j are central
difrneapomtos .(1)
dfeec prxmtost 1)
where

The transformation hassingularities at


the points M, K, 0, and F in the transformed
plane (Figure 2) which correspond to on'y two
points Inptysical space, With zero source
terms. (P40), very large grid cells would be
present near these points. The source terms
are specified so as to attract grid point%
toward these singularities to improve the
resolution In their neighborhood. Source terms
of exponential form as suggesteod byThompson
et &1 [9)are used for thispurrtose.
For rn~nvenience.
equation (27)is solved
by successive overrelaxation (SO0).Similar
difference equations have been solved with
by Gisia,
altaflnating-direction Implicit schremes
Glia. and Studerus (10], Although the present
calculations were carriod out ona CDSC
6400
that
comuter, other research (11] has shown

I
with a sector processlnq computer such as the

yn+l and

Texas Instruments Advanced Scientific Computer


mesh generation equations such as (27)can be
solved very efficiently using SOR by sweeping
the mash in the so-called "red-black" manner.

i,'ne
are computed according to the snoothing
formIla
fi . -fi+- fi.24(ft lfil)O ]1
1
i

Equation (19)is replaced by the


difference equation

nl

(31)
(31)

Such filtering schemes were discussed by


Shapiro [5]. They were used successfully by
Longuet-Higgins and Cokelet [6] to eliminate a
similar instability encountered in the numerical
calculation of the development of breaking
waves.

[(ai,j+xij/2)#i+l

=i~j

+(3j'Tij/2)i-.l~j+(Yi~j+oi,j!2)4i,j+l
(28)

rri~~jI.$)+lil.rldljl)(/2(l
,Pi~)

IV. Results

The translating cylinder is considered with


nonlinear boundary conditions for three submergence depths. For the smallest submergence
the linear boundary conditions are also used for
comparison with other linear solutions. The
swayi'q cylinder is considered with lhear and
nonlinear boundary conditions for one submergence depth.

which is also solved with SOR.


Euler's mdified mthod of time differencing is used to replace the free-surface
boundary conditions (21)and (22) by
yn+l. n + At(F1 +I + Fn)/2

(29)

Translating Cylinder

and
. n
ilT1
t
n+l

+ 6t(G

+I

+ G0)/2

(30)

The first problem considered is the


linearized one for a circular cylinder accelerating from rest to a constant speed. The
moving coordinate system is used. Thus 6=1 in
(21)and (22). The characteristic length scale
L is the diameter of the body and the speed
scale U is the finalspeed. The center of the
cylinder is one diameter below the undisturbed
free surface and the depth nf the water is
2.5 diameters. The body is accelerated with
constant acceleration from rest at t-0 to
dimensionless speed -1 at dimensionless time 1.
Thus

1,n

where the superscripts refer to time levels,


at is the time increment, and Fi and Gi are
finite-difference approximations to the righthand sides of (21)and (22).
The implicit equations (29) and (30) are
solved iterativel. for * and Y at the advanced
time level. '2 Iterative solution of these
equations is combined with the iterative
solution for the velocity potential and the
mesh point coordinates. A time advancement
of the surface elevation and the potential on
the surface according to (2^) and (30) is
followed by an updating of the grid point
coordnates according to k27)and then an
adjustment of + below the surface according
to (28) and finite-difference approximations to
the boundary conditions (23) and (26). Thus
the new grid point distribution and flow field
are computed simultaneously. The iteration
procedure is started with initial estimates of
11+ n+l n+l
n+l
I
I J , and ylij obtained by
extrapolation from two previous time levels.
The iterations are halted when the percentage
change of x, y, #, and Y from iteration to
iteration is lss than some specified small
number, 'isually
en the order of 0.1%.

(-t
u

S t 51
(32)

S t
The grid used is shown in Figure 3. The Froude
number Is Fr = 0.566. This particular case was
considered first for accuracy comparison since
Giesing and Smit [12)have presented solutions
to the steady version of this problem.
The evolution of the free surface is shown
in Figure 4. Initially thesurface ispushed
upwaid ahead of and pulled downward behind the
cylinder in an antisymmetric manner. Then a
wave train gradually develops downstream. By
t - 9.6 the surface elevation near the body is
close to the steady proftle predicted by Giesing
and Smith [11], This linear resulipredicts
that the free surface is tangent to the body
surface. Such a solution must be far from
reality since the exact boundary conoitions
applied to such a surface configuration would
predict that no water flows over the top of the
body.

When linearized boundary conditions are


applied, the Laplace equation is solved in a
time-independent region in (x,y)-space. Thus,
forthe linear case, the grid system need be
generated only once.
To eliminate the numerical instability
encountered earlier by Haussling and
Van Eseltine [1] using a similar nonlinear
numerical scheme, a filtering procedure is
applied. After each advancement of

In Figure 5 the corresponding lift and


resistance coefficients for the linear problem
are plotted against time. The resistance is
nonzero at t-0 because of the acceleration

225

t - 2.4

7 .2

V7-

----- L

""G
-2

-1

t.-

- !-

__

x
Figure 4. Linear Free Surface Evolution fo~r
the 7ranslating Cylinder Comipared
with the
Steady-State Results of Giestig and Smith 12]; h 1, d -2.5, Fr - 0.566.

_i

0
-M

ICTEADY STATE, I
I
I

A20

2.4

4.6

13

& MI)-

7.2

t
Figure 5, Time History of Linear Resistance and Lift Corresponding to Figure 4 Comaered
with the Steady-State Results of (ilesing and Smith.

no

3.6

0.011

Y 0.0

UNFILTERED

Z I

4.
-1.5

1.b

Figure 6. Nonlinear Free-Surface Profiles for the Translating Cylinder at t


Computed With and Without Numerical Filtering: h - 1, d 2.5.
reaction. There isa discontinuity in the
resistance at t - 1 when the acceleration
ceases. The forces appear to be approaching
thesteady values predicted by Giesing and
Smith, although at t = 9.6 the force values
are still changing significantly.

0.75

0oe

A 1- 0.3

0 t,._

[.5]

The next case considered is the fully


nonlinear version of the same problem. Calculations were carried out without the filtering
ofequation (31) from t - 0 to t- 0.75 when
growing free-surface oscillations c smell
wavelength were noted. The calculatio.s were
rerun from t - 0.6 to t " 0.75 with the
filtering. The filtered and unfiltered results
are compared In Figure 6. Note that the
smoothing eliminates the unwanted high frequency
waves without otherwise significantly altering
thesurface elevation.

0
.
0--o

.
A

o6
0

#
a.m
6

The calculations, however, could not be


continued much beyond t - 0.78 since by tnis
time features had appeared In the velocity
potential near the surface which could not be
resolved by the finite-differece grid. These
features are displayed InFigure 7 where the

I AA 0
IA

free-surface potential is plottd for several

-.

times. Continuation of the computations would


hemeaningless. Such a breakdown of the
calculations might indicate a deficiency of the

resolution. On the other hand. a deficiency of


themathematical nodel
might also be indicatedfor example, wave breaking cannot be handled
within the present potential-flow theory.
Comparisons with other nonlinear solutions and
experiments can help determine which of these

-eu
-e.u

two possibilities is being encountered.

,A
0000 ' 0000
A

o
[

ooOB
f

Q0

'
-a

Figure 7. Evolution of the Nonlinear


FreeSurface Potential for the Translating
Cylinder: h 1
1.d - 2.5.

It Isappropriate to note at this point


thet steady, large-aiemvitude. ncw!breakin 0 waves
227

I2.

.5

t -4.1

LINEAR (ZARDA & MARCUS)

-0.5
-2

-1

Figure 8. Nonlinear Free-Surface Evolution for the Translating Cylinder Compared with SteadyState Linear Results of Zarda and Mvrcus [13]: h = 1.25, d = 2.75.
can exist Incertain situations where an attempt
to reach such a steady state with an unsteady
numerical calculation for an accelerated body
would fail because of wave breaking during the
transient period. Such steady, nonlinear
solutions might have to be approached in a
different manner. It seems quite likely that
at least some of the nonlinear problems considered here fallinto this category.

1
-

LINEAR (ZARDA & MARCUS)


NONLINEAR

The translating cylinder was next


considered with a submergence of 1.25 instead
of I and a depth of 2.75 instead of 2.5. Once
again filtering is needed to eliminate an
instability which appears early in tbe calcu-

nPi--

lations, but in this case the flow development

ILOWER

can
be followed to t : 4.8 before features
develop
which cannot be adequately
handled by
the numerical scheme. Figure 8 shows the freesurface evolution aleng with the steady linear
surface profile comput,, by Zarda and
Marcus [13]. A trough develops downstream
from the body. As the gap between the body and
the surface narrows, t.', flow speed in the gap
increases. This increased flow speed leads to
increased downstream convection which prevents
the trough from moving to a position over the
oody as it does In the linear case. The
computed pressure distribution on the body at
t - 4.8 s compared with the linear steady-

SURFACE

4.8 a very steep slope dY/dx

U R
SURFACE
-3.5

0.5

Figure 9. The Nonlinear Pressure Distribution


on the Translating Cylinder at t - 4.8
Compared with Steady-State
Linear Results
of Zarda and Marcus: h - 1.25, d - 2.75.

state distribution computed by Zarda and


Marcus in Figure 9. Although the linear and
nonlinear pressures are essentially the same
on the bottom of the cylinder, the high flow
speed over the top of the cylinder in the nonlinear case results in a shift of the pressure
minimum
on the upper surface toward the
trailingond.
By t

exists on the upstream face of the growing wave.


In reality a wave developing in this manner
would break, and continuing the calculations
without a more sophisticated mathematical model
would be maningless. In any case, the grid
cannot adequately resolve such a surface

3.3

configuration and the calculations break down.


22

Figure 10. which shows the computed grid at


t - 4.8. reveals that the resolution is bad in
the area of high surface curvature In the trough
and near the wave crest. If meaningful, the
calculations could be continued with better

pared with linear steady-state results of Zardo


and 4arrus. Once more a very steep wave slope
of about 3.5 develops and the calculations break
down. However this condition is not reached
until t - 6.0. The trough near the body is not

resolution by allowing grid points to move along


the surface to critical areas and by attracting
constant n grid lines toward the surface through
use of the transformation source terms P and Q.

as deep as with the samller submergence but its


horizontal location is roughly the same in both
cases. Since the steady-state linear solution
exhibits a maximum slope of aOut 0.3, it Is
very likely that this is a case where a steadystate nonbreaking nonlinear solution exists but
cannot he reached with the present approach
because of breaking during the transient period.

By increasing the submergence to 1.5, the


relative magnitude of the nonlinear terms is
further reduced. In Figure 11 the nonlinear
results computed with filtering are again coe-

NTV=

FREE
SUR AC

Figure 10. The Boundary-Fitted Coordinate System for the Translating


Cylinder at t = 4.8: h - 1.25, d - 2.75.
t - 1.5

41

-.
-4

-- LINEAR (ZARDA

.t L

MARCUS)

..

-1

Figure 11. Nonlinear Free Surface Evolution for the Translating Cylinder Compared With
Steady-State Linear Results of Zarda and Marcus: h - 1.S. d - 3.0.
no9

Swaying Cylinder
In addition to the translating cylinder, a
saying cylinder is considered, A fixed
reference frame is used so that 5 = 3 in (21)
and (22). In the nonlinear case the finitedifference grid must deform in response to both
the surface waves and the movement of the body.
The center of the cylinder is one cylinder
diameter below the undisturbed surface, and the
water depth is 2.5 diameters. The characteristic speed U is the maximum
speed of the
cylinder. The dimensionless frequency
(frequency *L/U) is 4 and the Froude ntAber is
Fr - 0.354. The horizontal position of the
center of the body is
x - 0.25 cos (4t)

For the cylinder translating near the free


surface nonlinear effects are important. The
wave trough associated with the body is further
downstream than in the linear case (Figures 8
and 10). Low pressure values occur on the body
between the top and trailing end (Figure 9).
Nonlinear free-surface effects are not significant for the particular swaying cylinder problem
considered (Figure 12).

(33)

The evolution of the free surface, computed


with both linearized (free-surface and body)
and exact boundary conditions, is shown in
Figure 12. For this problem there is no
significant difference between the linear and
nonlinear results. Comparison of the surface
at t - 2.1 with the profile at t - 3. the two
times being roughly 1/2 period apart, shows
that the surface elevations above the cylinder
(near x 0
0) are essentially temporally
periodic by t - 3.
Figure 13 shows the time-dependent grid
system. By the time the body rearhas its
maximum displacement (near t = 1.5) a lar;
grid cellis present on one side. Time4
dependent source terms P and Q in th- gr'
generating equations should be .Qfin
maintaining a suitable mesh system.
The nonlinear swaying bodv ralculations
remained stable without filt.riyg. Pe, ips the
instability would have appeared if the mi1niilations had been continued or if the nonlinearities had been more important. On the
other hand the inrreased stability might be due
to the fore of tee equations in the fixed frame
of reference. Additional rejearch should be
carried out to determine the condition, which
necessitate the us4'"f thp filtering.
V. Conclusions
Finite-differencr
techniques have been
applied with boundar fitted coordinates to
solve water wave problems for flow generated by
a submerged circular tylinder. The coerdinate
system used (Figures 2 and 3) leeds to efficient
distribution of grid points for free surface
problems. The method is general and can be
extended to three-dimensional, time-dependent,
arbitrary geometries. Kutta conditions can be
applied when necessary.
A comarison of the numerical solutions of
unsteady linearized problc- with other
solutions to steady-state problems (Figures 4
and 5) indicates that the finite-difference
schemes can provide acc'jrate
estimates of such
phenomena as surface elevations and wave forces,
Numerical filtering is useful for stabilizing
nonlinear calculations (Figure 6). When high

.. ._i._ [I I~i
Im i

velocity gradients or very steep waves develop,


the calculations break down (Figures 7, 8 and
11). Higher resolution and/or improved
mathematical models are needed. Adjustments to
the coordinate system are needed to resolve
flow fields associated with steep waves and
moving bodies (Figures 10 and 13).

VI. Acknowledgment
This work was supported by the Numerical
Naval Hydrodynamics Program at the David W.
Taylor Naval Ship Research and Development
Center. This program is jointly sponsored by
the DTNSRDC and Office of Naval Research.
References
1. Haussling, N.J. and R.T. Van Eseltine,
"Finite-Ditterence Methods for Transient
Potential 'n-, ,ith Free Surfaces," Proc.
of the First International Conference on
Numerical Ship Hydrodynamics, David W.
Taylor Naval Ship kR.earch and Develooment
Center, Bethesda, Md., 1976, p. 295.
2. Nichols, B.D. and C.W. Hirt, "Calculating
Three-Dimensional Free Surface Flows in the
Vicinity of Submerged and Exposed
Structures," J. Comp. Phys., Vol.12, 1973,
p. 234.
3. Ohring, S. and J. Telste, "Numerical
Solutions of Transient Three-Dimensional
Ship Wave Problems," Second International
Conference on Numerical Ship Hydrodynamics,
Berkeley, Calif., Sept. 1977.
4. Thompson, J.F., et al, "Solutions of the
Navler-Stokes Equations in Various Flow
Regimes on Fields Coataining Any Number of
Arbitrary Bodies Using Boundary-Fitted
Coordinate Systems," Lecture Notes in
Physics, Vol.59, Springer-Verlag, Berlin/
Heidelberg/New York, 1976, p. 421.
S. Shapiro, R., "Linear Filtering," Mathematics
of Camp.,{tion, Vol.29, 1975, p. 1094.
6. Longuet-Higgins, M.S. and E.O. Cokelet, "The
Deformation of Steep Surface Waves. I. A
Numerical Method of Computation," Proc.
Roy. Soc. Lend. A, Vol.350, 1976, p. 1.
7. Thompson, J.F., F.C. Thames, end C.W. Mastin,
"Automatic Numericl Generation of BodyFitte,,
Curvilinear Coordinate System for
Field Containing Any Number of Arbitrary
Two-Dimensional Bodies," J. Comp. Phys.,
Vol.15, 1974, p. '99.

INEAR

-O -

I f-I
--

1,

tt- 1.8

2A

tJJ2.L
t

--

-0-

v-

t- &0t

.
"

-4t
I

2o-

0*

Fre

ura

I
Evlto/o
e

-.

wyn

yidr

Fiur Fre
1. url

T
Figure,
1

I-

uin

or

heS

lidr

3'

.,.

'

II

I3

1~

~ fl~

t 1.8111

Figure 13.

Time-Dependent Coordinate System for the Swaying Cylinder.

232

8.

Coleman. R.M.,* "NMMSH: A Computer Program

to Generate Finite-Difference Meshes for


Arbitrary Dov~iy-Connected Two-Dimensional
Regions." Computation, Mathematics, andI
Logistics Department Report 01.0-77-05.
David W~.Taylowr Naval Ship Research and
Development Center, March 1977.

9. Thmson, J.F., F.C. Thames. C.W.Mstin.


and S.P. Shanks, "Use of Numnerically
Generated Body Fitted Coordinate Systems
forSolution of theNavier-StokeS
Equations," AIMA Second Computational
Fluid Dynamics Conference , Hartford,
Conn., June 19-20, 1975.
* i.N. Ghia, and C.J. Studerus,
10. Ghia. U..
Coordinates in
of Surface-Oriented
"Use
of Flow in a
Simuliation
theNumerical
Turbine Cascade," Lecture Notes in
Physics, Vol.59,Spring~r-Verlag, Berlin/
Heidelberg/New York, 1976, p. 197.
"Boundary-Fitted
11. Iaussling, li.J.,
Coordinates for Accurate Numerical Solution of Multi-Body Flow Problems," to
appear, 1977.
12. Giesing, J.P. and A.M.O. Smith, "Potential
Flow about Two-Dimensional Hydrofoils,"
p. 113.
J. Fluid Mech., Vol.28, 1967,
13. Zard,, P.R.and M.S.Marcus, "Finite
Element Solutions of Free-Surface Flows,"
NASTRAN: Users' Experiences, NASA
Technical Memorandum, to appear,
Oct.1977.

233

.~

DISCUSSIONS
of two popc

NUMERICAL SOLUTION OF THE NAVIER-STOKES EQUATIONS FOR 2D HYDROFOILS


IN OR BELOW A FREE SURFACE
Sniusl P.Shanks And Joe F.Thompon

FINITE-DIFFERENCE COMPUTATIONS USING BOUNDARY-FITTED COORDINATES


FOR FREE-SURFACE POTENTIAL FLOWS GENERATED BY SUBMERGED BODIES
HJ. Hausaling and R.M. Cokln

Invited Discussion

independent variables of the coordinate transformation are then interchanged so that the flowfield computations can be conveniently performed
on the fixed (&.n) grid which does not change
with time. The flow equations to be solved must
also be transformed to this computational grid.
Although this step introduces cross derivatives
and complicates the solution of these equations
somewhat, the advantages gained by performing
the calculations in the transformed region
include the convenience of a uniform rectangular
grid and greater accuracy in applying the boundary conditions along straight lines. There is
considerable flexibility in the choice of the
configuration for the traisformed region which
depends both upon the geome,-v of the physical
flow domain and the extent to which grid-point
density is desired in critical locations. For
submerged-body problems, Haussling and Coleman
chose an H-shaped transformed region which
exhibits certain advantages over the T-shaped
region employed by Shanks and Thompson.

Joanna W. Schot
David W. Taylor Naval Ship Research and
Development Center
The two papers just presented demonstrate
quite impressively how far finite-difference
methods have evolved in dealing with initialbounoary-value problems for two-dimensional
irregularly shaped flow domains that deform with
time. The authors circumvent the well-known
difficulties associated with the use of rectangular coordinates for computing free-surface
flows around arbitrarily shaped bodies by employing numerically generated curvilinear-coordinate
systems in which a coordinate line coincides
with each of theboundaries of the physical region. This means that the curvilinear finitedifference grid must be numerically determined
at each time step along with the solution of
the fluid-flow equation
It is especially .,eresting to note that
the technique for generating such curvilinear
coordinate systems is very general (conformal
mapping is a special case), and is independent
of the flow equations to be solved. Thus, it is
.appropriate that at this Conference we are exposed to the results obtained with the use of
this approach for two different types of flow
formulations. Shanks and Thompson have solved
the difficult Navier-Stokes equations of viscous
flow past hydrofoils moving in or near a free
surface at relatively low Reynolds numbers. In
a complementary effort, Haussling and Coleman
have treated the infinite-Reynolds-number case
of unsteady potential flow past submerged circular cylinders with both linear and non-linear
free-surface conditions,
While there are various ways of setting up
the numerical procedure for defining the curvi near grid system and performing the flow calculations, both papers here use an elliptic system
of equations with Dirichlet or Neumann boundary
conditions to transform the physical flow domain
in (x,y)-spatial coordinates into a region composed of rectangles in (c,n)-coordinates with
constant mesh size. The use of elliptic aquations for the coordinate-generating scheme
appears to be a natural choice suggested by
the extrmum principle for certain elliptic
boundary-value problems. The dependent and

234

The grid-generating elliptic systems used


in both papers are Poisson equations with special
funcions P(t,n) and Q(t,n) for the inhomogeneous
term. It is these functions, called source
terms or driving functions, which provide a means
el controlling the density or spacing of the curvilinear-coordinate lines so that greater accuracy may be obtained where details of the flow
behavior are important. Although neither Shanks
and Thompson nor Haussling and Coleman discuss
how the functions P and Q are determined, they
define them in terms of exponential functions
in their papers. I would like to suggest that
further research be undertaken by the authors
on a rationale for choosing, or specifying, these
functions because of their Influence on the spacing of the curvilinear-coordinate lines. In
this connection, the use of computer graphics
consoles as an aid to ,,sualizing and influencing
the final choice of the grid system becomes very
important, especially for computing free surface
flows around large, complex ship structures.
Another important aspect of the numerical
procedure is the behavior of the Jacobian of
the coordinate transformation. If the Jacobian
vanishes, or becomus sufficiently close to zero
at certain grid points, inaccuracies in the
solution of the flow problem may result, depending on various circumstances. Shanks and
Thmpson point out; as a result of their experience with a variety of problems, that the pres-

ence of a zero Jacouan deptis on the type of


configuration chosen for the transformed plane.
In order to avoid unaccetable configurations and
the ensuing inaccuracies, it is probably advisable to automatically monitor the Jacobian as
part of the grid definition procedure, as recommended by Oberkaor,[1].

shown that there are steady-state conditions with


stable non-braking waves that can only b ohtamed by accelerating the body through intermediate conditions where wave breaking is present.
Figure 1 shows the results from an experiment
conducted at the David W. Taylor Naval Ship Research and Development Center in a 40-foot tank
having two-by-two-foot cross section. A submerged foil which spanned the width of the tank
was used as the wave generator. The foil which
was towed by a submerged wire, generated waves
which were sufficiently uniform across the tank
to be considered as two-dimensional waves.

In both papers, the systems of finitedifference equations approximating the coordinate transformation equations and the flow
equations and the flow c tuations are solved
simultaneously using the asy-to-prog-am SOR
(Successive Over-Relaxation) method. Much faster
methods could be applied, and are indeed under
investigation by several researchers, for example
, GhIa and U. Ghia of the University of Cincinati. Haussling and Coleman rr'er to their work
on alternating-directior implc(it methods in
their paper, and they have recently reported

2rjr

further advances which illl lead to eve: raster

met'~ods 121.

ti

The four authors of these two significant


papers are to be congratulated for carrying forward the numerical solution of very challengingN
flow problems to a point where they can begin
to be applied to three-dimensional ship hydrodynamic problems. However, as these authors
indicate, there is still much work to be done,
nut the least part of which is to improve the
handling of steep surface waves in the case of
potential flow, and to increase the range of
the Reynolds number for viscous-flow problems.
[1] Oberkampf, W.L., "Domain Mappings for the
Nuerical Solutiun of Partial Differential Equations," Int'l.J. Numerical Methods in Engineerng. Vol.10, 211-223 (1976).
21 Ghia, U., Hodge, J.K., and Hankey, W.L.,
An Optimization Study for Numerically Generating Surface-Oriented Coordinates for Higher
Reynolds Number Flow," Wright-Patterson AFB
AFFDL-TR Report (to appear, Fall1977).

K M

1,

Mra
r

"

"

N
.

AKI.G

_._

'a

30,40

to
INFT/Ut
WEDO

Discussion
byNl-s-Salvesen
of paper by H.J. Haussling and R.M. Coleman
The steady-state nonlinear problem of uniform flow past a body may be solved by two
approaches: (1) It may be solved in the time
domain as an initial-value problem advancing in
time until a steady-state condition has been
reached, and (2)it may be solved as a steadystate problem where the free-surface shape is
initially assumed and then through an iteration
scheme systematically changed until the freesurface conditions are satisfied. Since it
would be extremely difficult to construct an
iteration scheme that would work for the thr,:edimensional ship-wave problm, it might seem
that the initial-value approach would be the
most suitable for three-dimensional problems,
even though we have had more success with iteration techniques than with the initial-value
approach for two-dimensional problems.
However, as shown by Haussling and Coleman,
the numerical time-domain solution may often
break down before a steady-state condition has

been reached.

The shaded region in Figure 1 indicates the


combined conditions of foil submergence and
speed for which breaking occurred. The numbers
next to each point in the figure give themaximum slopes measured at the first crest of unbroKen waves. The inception of wave breaking is
affected by the acceleration of the foil before
breaking occurs. The left- and right-hand parts
of the dotted lines in Figure 1, which we shall
refer to as the lower and upper speed limits for
nonbreaking waves, have been obtained by two
different acceleration patterns. For the lower
speed limits, tha foil was accelerated very
slowly until breaking occurred, whereas for the
upper speed limits, the foilwas accelerated
rapidly to a speed somewhat higher than the
limiting speed; then after uniform nonbreaking
waves had formed behind the foil, it was slowly
decelerated until breaking occurred. Thus. the
breaking conditions were always obtained by
approaching from an established stable condition.
These experimental results seem to indicate
that there are steady-state conditions that

Model-tank experiments have

cannot be obtained by accelerating the body from


235

rest without wave breaking occurring at intermediate stages and therefore it seems likely that
any numerical scheme modeling such cases would
also have to break down at some intermediate time
step. I would like to use this opportunity to
suggest some initial-value time-domain approaches
where this wave-breaking problem can be avoided.
For the two-dimensional case of a submerged body
as Investigated by Haussling and Coleman, one
could, for examsple,
let the starting condition
be the uniform flow past a daeply-submerged body
and then slowly decrease the submergence until
thedesired condition is reached. One could
also let the starting condition be the uniform
flow past an infinitesimal thin body, and then
slowly increase thethickness of the body. Such
an approach would be applicable to both two-and
three-dimensional bodies. However, these approaches have the disadvantage that the geometry
of the problem would change with each time step.
Therefore, the best approach seems to be one
suggested to me by K.J. Bai,namely, to consider
the body as a porous medium. One would start
with uniform flow, going completely tnrough the
body and then in the time domain change the bodyboundary condition so that less and less fluid
goes through the body until it finally becomes a
solid body.

Author's Reply
WysJWIIfisling and R.M. Coleman
to discussion by Nills
Salvesen
We would like to th.nk Dr. Salvesen for presenting some interesting experimental resulcs
which support the plausibility of our numerical
solutions. To continue his discussion of methods
for avoiding transient breaking waves we point
out once more that the boundary-fitted coordinate
systems can handle time-dependent geometries.
Thus changes in body thickness or depth of submergence could be treated. However, the most
satisfying solution to tne wave-breaking problem might evolve from the current studies of the
physics of this phenomenon. With the development
of mathematical-nuzerical models of breaking
waves calculations could be carried out beyond
the time at which breaking first occurs.

236

A REVIEW OF NUMERICAL METHODS FOR SOLUTION


OF THREE DIMENSIONAL CAVITY FLOW PROBLEMS*
Robert L.Street
Stanford University
Stanford, California 94305

three-dimensional, linearized asymptotic


theories wvhere numerical computation is not a
major feature. Reference to Gilbarg (1960),
Gurevich (1965), Wu (1968, 1972) and Acosta
(1973) provides the basic background,
Wu
(1975) gives a more recent overview. Leehey
(1973) and Leehey and Stellinger (1975) cover
the linearized asymptotic theories. We also
shall not review the classic numerical calculations performed prior to, say, 1965 as these
are well reviewed in the literature just cited.

Abstract
Available and developing techniques for the
numerical solution of three-dimensional, fullycavitating flows about hydrofoils and other
bodies are reviewed. Three areas are examined, viz. , linearized methods, methods based
on matched asymptotic Expansions, and fully
nonlinear methods. For the first two areas
there are presently available two specific techniques usable for quantitatively accurate design; interestingly both techniques rely on the
use of two-dimensional characteristics o" the
flow applied stripwise in the three-dimensional
flow field. The area of fully nonlinear methods
is still developing. The finite element method
and the inverse, stream function and potential
method have both been applied successfully to
three-dimensional free surfa:e flows,

We focus on three aspects of the numerical


simulation of steady-state t-'e
dimensional
flows. We begin with an exa-ination of the
linearized techniques. Next we review the use
of matched asymptotic cxpansions. Finally we
close with an examination of fully nonlinear
techniques. While the linearized rnd asvmptotic expansion methods yield viaole design
techniques for finite span hydrofoils, none of
the nonlinear techniques is yet ready for design
application. Several of the fully nonlinear
methods do look ripe for exploitation, howevr.
and in the end we focus on the finite element
method.

Introduction
It was just over eleven years ago that
Widnall (1966) published her numerical simulation of three-dimensional, fully-cavitating
flow about hydrofoils. That work and work preceding it incorporated a number of limiting

assumptions. Only within the last year or so


new techniques have become available so that
there are now available quantitatively accurate
methods for the design and analysis of threedimensional, fully-cavitating flows.

Linearized Methods
Widnall (1966) derived a linearized threedimensional, lifting-surface theory for fullycavitating hydrofoils of finite span in steady or
oscillatory motion through an infinite fluid, The
planform of the cavity was assumed to be a rectangle of finite length and of span equal to that of

The purpose of this paper is to review a set


of available and potentially valuable techniques
for the numerical solution of steady-state.
three- dimensional, fully-cavitating flows about
hydrofoils. This review is niot intended to be
comprehens!ve: indeed, it Is focused on a few
techoute
repesntriv
tec'hii 4 ues and a represenitttlve set of refershoes.

the foil. Widnall (1966) argued that the predicticn of lift and moment on the toil is not aensitive to the assumed cavity length when it exceeds
about twice the chord of the foil. It s well
twic

th

oft the foi.fernel

known that this approximation does not hold for


shorter cavities, and indeed Is not an accurate

We assume that the reader Is well acquainted


with the inviacid theory for steady-state, fullycavitating flow and with the state-of-the-art in
two-dimensional, in axisymmetric, and In the

representation of the cavity shape for longer ones


(see the discussion of Furuya and Acosta, 1976.
below).

*This work was supported In part by the Naval Sea Systemrs Command General Hydromechanics
Research Program, Subproject SR 023 01 01, administered by the D~vid W. Taylor Naval Ship
Research and Development Center, Contract N00014-75-C-0277.

237

IL

W ~ea~~

In Widnall's (1966) analysis a pair of coupled


integral equations are derived by use of the
pressure potential and Gteen's theorem. The
known boundary conditions on the foil and the
assumed cavity pressure (i. e. , cavitation number) provide enough information to determine
the unknown distributions of pressure doublets
on the foil and pressure sources on the foilcavity surfaces if the cavity planform shape and
length are assumed and the cavity is terminated
by requiring the pressure source distribution to
go to zero beyond the cavity trailing edge.
The numerical problem is solved by representing the pressure-doublets distribution in a
series with unknown coefficients while the source
terms are represented as simple delta functions,
The coefficients -re found by satisfying the
boundary conditions at a suitabkc series of collocition points. The results showed reasonable
agreement with available experimental data,
indicating the efficacy of the lifting-surface
theory.
Nishiyama (1970) made an important contribution to the linearized theory by illustrating
how two-dimensional theory is relevant to the
three-dimensional problem (this had been done
many years ago, of course, for the fully wetted
flow; see Va,, Dyke, 1964).
This concept of
using essentially two-dimensional (or streamwise) components of the flow was to reappear
in the paper of Jiang and Leehey (1977), which
in many ways is a synthesis of the Nishivama
(1970) and Widnall (1966i concepts, and in the
work of Shen and Ogilvie (1972) and Furuya
(1975b).
Nishiysma (1970) expressed the flowfield
over a fully-cavitating hydrofoil as the superposition of pressure doublets on the foil and
sources over the foil-cavity surface. For linearized flow and large aspect ratio (span b > >
chord c), he demonstrated that, with sufficient
accuracy, two-dimensional flow is maintained at
each spanwise location over the foil with respect to an effective angle of attack. This angle
is the actual physical angle of attack less the
induced angle, produced at each spanwise localion by the induced velocity of the trailing vortex
sheet springing downwards from the cavity termination. The induced angle depends on the
circulation about th- foil plus cavity in each
streamwise plane.
Nishiyama (1970) formulated and solved an
integral equation for the circulation with a
specified cavitation number. He expanded the
circulation in a trigonometric series and satisfled the integral equation at an appropriate number of points over the foil to find the unknown
coefficients in the series. A key is that no a
priori specification ii needed for the cavity
length which is found to vary with spanwise
position.

Interestingly, Nishiyama's results seem to


follow the trend of the lift data, as it varies with
cavitation number, better than Widnall's results
do. However, her results are generally closer
in magnitude to the actual data, except in the
case of lowest angle of attack and largest aspect
ratio presented by Nishiyama (1970).
Although
Nishiyama begins with a lifting-surface theory,
he effectively reduces it to a lifting-line theory
through the use of large aspect ratio approximations. It is not surprising then that his theory
works best for large aspect ratio, but that there
is little to choose between the Widnall (1966) and
Nishiyama (1970) results,
Tsen and Guilbaud (1974) solved the lifting
surface, linearized flow problem, usir , a refined version of Widnall's (1966) approach.
While they apparently achieved improved results, the results of a comparison with tneory
were not satisfactory according ti them oecause
the angles of attack for much of the experimental
data were beyond the range of linearized theory
and because the nonlinear lift from tip vortices
is important for smaller aspect ratios. Their
paper suggests strongly the need for nonlinear
methods.
Jiang and Leehey (1977) have refined the linearized lifting surface theory and achieved an
impressive correlation between linearized calculations and their experimental data for an
elliptical-planiorm, flat-plate foil of aspect
ratio 5. Interestingly. the angles of attack for
,
the experiments range from 110 to 180 well
beyond the normal range of linearize, theory.
Jiang and Leshey (1977) employ distributions
of discrete vortices (on the foil) and sources on
the foil and cavity. The unknown distributions
of the strengths ot the singularities are found by
satisfying coupled Integral equations at collocation points on the projection of the foil plus
cavity plenform. A key element in their solulion is an Iteration procedure in which the spanwise variation of cavity length is adjusted until
a uniforin cavitation number is achieved across
the entire opanwise range of the cavity. Thus,
Jiang and Leehey (1977) combine two of the most
important features of Widnall's (0"66) liftingsurface theory and Nishlyamas lifting-line
theory in their new method.
Jiang and L.eehey's (1977) method appears to
represent the best that can be obtained with linearized theory and clearly provides a usable design tool of quantitative accuracy. While the
linearisd method has well known limits and has
boon developed so far only for infinite fluid flows,
it does offer simplicity and reasonable cost as
attractive features.

236

Asymptotic Expansion Methods

planing surface becomes representable by a line


of doublets in a uniform flow, In the near field
view we hold the local chord constant as C. 0
so that the span approaches infinity and the flow
in this region becomes approximately tcdimensional.

Van Dyk. (1964) describes the concepts of


singular perturbation analyses. He gives a
rule, viz. . a perturbation solution is uniformly
valid unless the perturbation parameter is the
ratio of two lengths. In cases where the perturbation parameter is a ratio of two lengths
singular behavior is to be expected and the
method of matched asymptotic expansions is
applicable. The flow past large aspect ratio
wetted and fully-cavitating hydrofoils both offer
cases in which the perturbation parameter, the
aspect ratio, is the ratio of two lengths,
namely the span and the effective chord
(strictly speaking, the chord of the foil plus the
cavity is the proper length for scaling). Far
from the body the primary reference length is
the span. Near the body we recognize a secondary length scale, the local chord length,
Thus, these large aepect ratio prublemsi are
naturals for solution by the method of matched
asymptotic expansions in which the asymptotic
eapansion of the far field solution is expressed
in terms of the inner variables (i. e. , variables
scaled on the chord) and then matched term-byteir. to the asymptotic expansion of the near
field solution expressed in terms of the outer
variables (i.e. , variables scaled on the span).

Solution of the far field problem is straightforward. The key idea of Shen and Ogilvie (1972)
was to solve the two-dimensional near iield
problem exactly, I. e. , without introducing tinearizing approximations. The method of matched
asymptotic expansions was then used to maich
the near field and far field solutions. The result
is a uniformly valid nonlinear solution matched
(in this case) to the second order in the small
1
parameter f = AR- . In addition, this method
yields an unambiguous definition of the height of
the planing surface above the undisturbed free
surface at infinity.
The hydrofoil problem corresponding to Shen
and Ogilvie's planing problem was solved by
Furuya (1975b). His objective was "to provide a
simple yet accurate method for design of supercavitating hydrofoils of large aspect ratio near
a free surface, having practically no limitations
on the admissible foil profile and angle of
attack. " In the context of matched asymptotic
expansions as described above, Furuya (975b)
employs a two dimensional nonlinear freestreamline theory for the near field flow region
and Prandtl's lifting-line theory for the far field.
The small parameter c = I /(Aspect Ratio) is
used as in Shen and Ogilvie (1972), with (Aspect
Ratio) = (span)Z/(projected area of the foil on the
horizontal plane). The matched asymptotic expansions are taken in the limit as
..0.
The
effect of this approach, it should be remembered,
is to eliminate consideration of the '-'havior of
the flow near the foil tips. Thus, the cavity
width (spanwise) is equal to the foil span exactly
at and near the foil. Furthermore, for the far
field problem to be a lifting line flow, it is
necessary that the foil plus sit3
chord be
small compared to the span. Accordingly, the
theory is valid in principle only for "short"
cavities.

Leehey (1973) and Leehey and Stellinger


(1975) have successfully applied the method of
matched asymptotic expansions to linearized
flow past large aspect ratio fully-cavitating
hydrofoils. However, their method is essentially analytic, involving no substantial numerical analysis. Accordingly, we do .t review
their work here.
Shen and Ogilvie (197L) developed a nonlinear hydrodynamic theory for the planing of
large aspect ratio Surface- by the use of the
theory of matched asymptotic expansions. Although their work is also essentially analytic,
we describe it briefly because of its relevance
to the numerical method developed by Furuya
(1975b) which ts the focus of this section.
Shen and Ogilve (1972) treated tha threedimensional flow generated by a high-aspectratio planing surface gliding with constant
speed and at arbitravy angle on the free surface of an infinitely deep weightless fluid,
After defining the small parameter f = ARwhere the aspect ratio AR=(Span)Z/WettedPlaning-Area, they sought a solution asymptotically valid as C - 0. This leads to the definition of a near ;laid where distance from the
planing surface is comparable to the chord
length of the planing surface and of a far field
where distance from the planing surface is
comparable to its span. U the span is normallized to Z. then the chori vanishes in the far
field view as t. 0. In the far field view the

Furuya's (1975b) configuration is shown in


Fig. 1: the notation is self-explanatory. The
spanwlse foilsubmergence h(i) is taken to be
of the order of the chord length so h/(span)
O(C).
In the limit as ( .0 with foil span (=k) held
constant the far field flow appears as a lifting
lins (the foll) with trailing vortices, all lying in
the free surface (Fig. Z), The solution to this
Z
problem to order ( had exactly the same form
as that for a fully wetted foil except for a factor
of 2 in the first-order term, cassed by the
imaging at the free outface. This lifting line
solution has in it an unknown vortex strength

239

y(z), to be determined in the matching process,

(5)ikl~iina

P0

/a
Se.e
Fiur
t~ds~stwDmnsoalFo

Schemati

E
17b

trke
uua
te

j oA-f
Coodinte

Two

3ofSchreeiDimensionalield,

Figure
1. Schematice
() Fl
Ac.

wofigrtin
k-

Diesoa

Flwi

FuruCorinta

Te

tece

[After)] Furuya:.( 19-

corNearpandin
FarFiedaBounda

fbor

d '
Hydrofoil

Flow~~~rblm

)4.

roVluem

TPr~) Aerfter

(1975b)b.,

Furuuruy

Two-dim.eoalanonlar
Largeolem
tal
LAAfter10

er-fiedr soluo

Asec
parAfeter
Hydrofoil
Furuya (1975b)],
The tue

rgeittin

dumeptrhs is

rltd

The
~ ~ ~ ~ ~ nerfedcniuaiousfudb
~ e- ~ rsaof
a
~ting ~~ ~ ~ie. ~ m.ifiel
(-0wttecodhl
~ ~ ~ a

thirolem byeling-ln sofuthen locatioe


stgain etramlne. i purs
of cth
usthe
dmethod onlitie nemrositeod sldti-

accmplshe
bydesribngthenea fild n
Figurve

(xlf sy/,
i af).
th cas ofShe
Q. ) tcheaine ar Fd lw Flon

an
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theTThe
doubleaprl voex odeluato
(i.
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tin

hechod
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-~F

Su

o-f( NerFel.
i

ol

fxe

T isto

aieedb
c m
in. heurnnears
and asifiel
f
solutionfIr term a tansbtrctintei
dfndsubmergence depth ()s
nreated to he
rsth problem
oy inatlodimen ion).
teloato
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amine

rua219

5b

acopih db eciigt en a il nus st emto fadtv oniinho

MAWRO
CJVITATION

The full set of nonlinear equations relating


to parameters of the problem contains five
ur'-mowns. The last of the equationa is ob-

tained by specifying the flow angle of the upper

e
"

cavity sheet et downstream infinity in the twodimensional solution to be equal to the "down.iash" angle obtaine in the three-dimensional

solution.

Of the previous four equations, two

were generated by the near field solution and


two by the far field solution through the match-

..

..
t

ngprocedure.

r-tLFi

Furuya (1975b) describes a numerical iterative procedure to solve the system of five
nonlinear equations described above. His procedure converges rapidly and stably in 4 o 8 - 3
iterations to relative errors of less than 3x0

FI

i:

.
.0

for rectangular flat-plate foils. For these


foils the numerical results are in excellent
agreement (for lift and drag) with experimental
data for aspect ratios of 2.5, 4 and 6 at various
angles of attack and cavitation numbers. Although the theory assumes large aspect ratio,
short cavity and shallow submergence the numerical results are good even for f = 0.4,
=
at 0. l and h = 2 chords.

ri

-''
o. a s

'=
...
01o

.OS 0a.

re 5. Typical Results for Drag Coefficient


Versus Cavitation Number a and
Aogle of Attack " [After Furvya
and Acosta (1976)).

Goo Experimsnol Data


Theory 1975 b]

Furuya and Acosta (1976) present a set of

experimental data taken to test the Furuya

(1975b) theory. The test hydrofoil had a fiat


lower surface, sharp and straight leading edge.
and a partially tapered planform. The taper
served to simulate somewhat an elliptic loading
and to avoid strong tip vortices observed on
rectangular planforms. The theoretical predictions are excellent for lift and drag (Fig. 4
and 5) and give impressive agreement for cavity
shape (Fig. 6). It is clear, from Fig. 6, that
the variable cavity length with span approach is
an appropriate improvement employed in the
recent models of Furuya (1975b) and Jiang and
Leehey (1977).

6. Spanwise Variation of Cavity Length

SFigure
-

at One Chord Submergence and or 150.


(a) or = 0. 13. Wb ao- 0. 07Z,

Furuya (1975b) notes that, while the method

his only been applied to flat plate foils, the teche


eFLATo-FLA
of AT

nique is applicable to arbitrary planform and


foil profile, including a rounded leading edge and
a small dihedral angle. Thus, although the actual
flow behavior near the foil tips has yet to be
this nonlinear method is a powerful and
accurate design tool for large aspect ratio fullyhydrofoils near a free surface.

..

____

'treated,

".
""-

CA
*

Figure 4.

K 0cavitating
0
a

Typical Lift Coefficient Versus


Cavitation Number a and Angle of
Attack a
[After Furuya and
Acosta (1976)J.

24

L,

Fully Nonlinear Methods

location of an initially unknown free surface (see


Larock, 1977. in these proceedings). In principle this technique can be extended to general
three-dimensional flows. Interestingly, a very
similar technique wus developed by Armstrong
and Dunham (1953).
They applied a vortex
sheet singularity to free streamline flows.
thereby generating an integral equation whose
solution formed part of an iterative procedure
to locate the initially unknown free surface.
They solved several axisymmetric cavity flows
in an infinite fluid field and obtained reasonable
agreement with experiment.

An Overview
There are several major categories of numerical techniques applied to free surface
flows, including finte-differ-nce and finiteelement methods. Amongst the finitedifference methods we also find formulations
in which the problemi is solved in a stream
function and velocity potential space or in
which the formulation is based on the distribution of singularities on the free surface of
the flow (normally called a boundary integral
equation technique).

The application of the finite-element method


to free streamiine flows was first made by
Chan, et al. (1973a. 1973b). They showed that
the finite-element method could be used to
solve for the velocity potential in two-dimen-

Our work in numerical simulation began with


a study by Mogel and Street (1974) involving
two-dimensional cavitating flows. We used a
finite-difference technique and solved a problem of flow past a plate in a water tunnel by
employing a Rirbouchinsky model and imaging
to achieve an exact formulation. Irregular
finite-difference stars were employed along the
curved free surface boundary. We also employed a refinement of the finite difference grid
in the neighborhood of the separation point on
the flat plate. The solution of the finitedifference equations for the velocity components
was achieved by successive over-relaxation
(SOR). Because the velocity components were
employed as the unknowns, the solution required
simultaneous satisfaction of the Laplace equation for each velocity component and of the nonlinear free s irface boundary conditions. The
solution converged and gave reasonable results.
However. the cost for the two-dimensional case
was equal to the cost for a solution of similar
accuracy for a three-dimeusional disk-in-watertunnel flow by the finite-element method,

sional and axisymmetric ideal fluid flows involving a free surface. The trial-free-boundary
technique used involved assumption of the location of the free surface, solution of the resulting
well posed problem, and relocation of the free
surface according to the free streamline bounda ry condition.
In the next two sections we follow up on two
methods. First. we review a three-dimensional
formulation of the inverse stream function and
velocity potential by Jeppson (1972). Second,
we deucribe our own progress in the application
of the finite element method to three-dimensional flows.
The Inverse Method
Working independently Jeppson and Brennen
both developed inverse solution methods for free
streamline flows and presented these results In
their Ph. D. dissertations in 1966 (see Brennen.
1969, and .eppson, 1969 and 1970. for example).
Jeppson (197Z) and Davis and Jeppson (1973) subsequently developed an inverse formulation for
three-dimensional flows in which a velocity
potential and two stream functions were used.
By changing the conventional roles played by the
variables of the problem, the inverse method
converts a free surface with an unknown position in physical space into a plane of known
position in the inverse stream function and
velocity potential space. The major disadvtntag# of the method is that the shape of curved
solid bodies cannot be exactly prescribed in advance in physical space. However. ,eppeon's
method has been successfully applied to a
three-dimensional groundwater flow with a free
surface and to fully-wetted flow past a body
moving beneath a frue surface. Accordingly. it
seemed appropriate to review here the fundamentals of his formulation.

Brennen (1969) combined a finite-difference


technique with a mapping to the stream function
and velocity potential space to solve the sxisymmetric flow past a circular disk in a circular water tunnel using a Riabouchinsky
model. A difficulty with the extension of this
technique to more general bodies is that the
solution te inverse because the stream function
and velocity potential space solution must be
mapped back to physical space to obtain the
final geometry.
White and Kline (1975) developed a general
tthod for the solution of turbulent separated
.xisymmetric flows. In their general development they employed a boundary integral technique for the potential flowfield outside the
bounaary layers developing in their diffuser
flows. Unlike grid techniques, the boundary
integral method requires computation of unknown only over the flow boundary. The
solution technique obtains the potential flow
from the numerical solution of Green's third
identity and iteratively solves for the correct

Consider an inviecid, steady-state flow in


three-dimensions past a body in the presence of
free surfaces or cavities. Let the magritude
24m

of the c
irtesean
coordinates
d.
a) be the
-L8--"
0-z .dx ' - b
potn-_
velocity
2 2X
and define( a y,
dependent variables
tial 0 and two additional functions 6P. , #) asa
the Independent variables. The two streamThsaraseofculdnnier.ist
funn.tions defined by Yih (19S7) us surfacesThs
rasto
opldnoierist
normalto equiptentil surfaces and angeorder prtial differential equaons. When ombined with appropriate boundary conditions this
tial to the velocity vector (such that their inset comprises a well-posed boundary value
tersections define the stream lines of the flow)
problem. This coupled set of first-order equameet the necessary requirements. As a result
tions must be solved simultaneously and has
aean a major stumbling block to more aggres_

!!f

use of the method.

ID.ye

By as

"a

S-

as

B
x
aBrennen,

8-y

by

Bx

Jaeppson (1972) says,

"They cannot be combined, at least in an obvious manner, by differentiation, for example, to

080

Sh
By

ex $I

obtain a reasonably simple higher order equa-

__

(3)

tion for only one dependent variable, " [cf..


1969. 1 Davis and Jeppoon (1973) add,
"The writers believe a more satisfactory

(4)

method (or methods) must exist for solving the

(4

space boundary v-alue problems associated with


three simultaneous, nonlinear partial differen-

in which, ,. v, and w are the components of


velocity vector I in the x, y, and a coordinate
+ vT + A
directions, respectively, 1.e. ; .
Using vector notations Eqns, 2, 3. and 4 can be
written as

Ox

By

by

Suppose we consider the flaw past a body in


Then Figs. 7 and 8
a rectangular channel
from Davis and Jeppson (1973) Illustrate the
coordinate systems and boundary conditions in

Ba

Se
3s:

tial equations."

84A
0.0

&a

grad 4 x grad4o*

(5)

..

It follows that V. I a 0, i.e., the incompressible, steady-state continuity equation is satis-

fied.
The surfaces formed by holding %P and
*
constant are orthogonal to equipotential sur-

3f..e..

Howrever, the two surfaces formed by

holding 4# and 0* constant are not necessarily


orthogonaL Jeppson (1972) imposes the re-

quirement that 41 and ** are orthogonal axes


and demonstrates that the selected functions
are orthogonal. This yields a wel defined

orthogon

.3-space
for (4, *,

-----------

'

)..

Employing implicit function theory one finds


hee mathentical formulation governing the in-

vera.,

uctions

(,4,.4*),.

Vial.,,L
5040.0),
Bx . !
It ." AL
85
SO

*. ,.,*)d

|6)

Figure

84* 34-

Coordinate Systems and Boundary


Conditions for a Rectangular Chan-

nel in the Physical and Inverse


!

!a

a.
0

OZ s
34

(7)

(After

Spaces.

3(1973).

243_

__

avis end leppson

settled on a modified Gauss-Seidel method.


Because only first-order differences appear in
the three, coupled nonlinear equations, which
must be solved simultaneously, only first-order
differences can be used in the finite -differencea
scheme; otherwise, point-iterative methods
will not converge. Eight possible combinations
of first-order differences (forward and backward) exist and can be used to represent Eqns.
(6-8). Davis and Jeppson (1973) use a weighted
sum of these e.ght, the weights depending on
the location of a given node point in the */e

I -

finite-difference grid.

Jeppson (1972) presanted a successful simulation of a three-dimensional porous media


flow with a free surface. Davis and Jeppson
(1973) solved three-dimensional flow past
spheroids in a rectangular duct and in
a rectangular channel with a free surface.
They also formulated, but did not solve, the
flow problem. No comparisons to ex-

S..prolate

u,
'......

Ccavity

perimental results were made.

/
a,

F ,re 8.

.-

A major advantage %. the inverse method is


that the solution is carrd out in a simple
domain of known geometric properties, in
spite of the unknown locations of free surfaces. Major disadvantages lie in the inability
to prescribe curved body surfaces directly in
th3 physical space (the shape is given parametrically in the Oijq(, space and known in
physical space only after the solution is obtained) and in the difficulties associated with
solving the set of coupled, nonlinear, first
order partial differential equations. It appears,
however, that this method deserves further
study.

Illustration of the Formulation of the


Problem of Flow Around a ThreeDimensional Body in a Rectangular
Channel in (a) the Physical Space and
(h) the Inverse Space. [After Davie
and Jeppson (1973). )

the physical and inverse spaces. Sides 5 and 6


represent the inflow and outflow sections.
Sides 1, 2 and 4 are solid boundaries, while
side 3 is the free surface. The location of the
free surface can be found from application of
the Bernoulli equation during the solution process if the total head in the flow is specified,

The Finite Element Method


Larock and Taylor (1976) applied finiteelement techniques to solve the jetflow from a
circular pipe and orifice under the influence of
gravity. The resulting flow is three-dimensional, namely, the jet remains essentially
circular but droops under the action of gravity
creating a three-dimensional flowfield. They
employed the velocity potontial as the dependent variable and allowed it to vary quadratically within each isoparametric hezahedron
element. An iterative approach was used to
determine the free surface position whose
precise location is initi&lly unknown. The
formulation of their problem is relatively
straightforward and they are able to prescribe
the flowrate in the pipe and then proceed with
their iteration to find the location of the stream
surface.
Street and Ko (1977) solved
the problem of a
fully cavitating finw past a disk in a water tunnel. To illustrate the use of a finite-element
technique. we repeat their formulation here

Equations (6-8) are solved oy the method of


finite differences. The *++* space is replaced
by a three-dimensional finite-difference grid,
with the values zijk, Yijk, Sijk to be found at the
node points of the grid. Jeppeon (1972) did not
difference these equations directly. He first
combined them by differentiation to obtain sepsirate second-order equations for x, y, a in
different planes within *+al* space under the
assumption that certain relatively small crossterms could be taken as known at each level of
an iteration scheme. He then solved the resulting porous media flow problem by SOR and LSOR
methods. The details are given in Joppeon
(197Z).
On the other h., Davis and Jeppeon (1973)
attacked the first-order equation system directly. After testing several methods they

244

Ce

me*

m~

and apply it to the case of flow past an elliptic


plate in a rectangular water tunnel.

r 0

The flow is assumed to be incompressible.


steady, and irrotational. Hence, it is governed
by a velocity potertial O(x, y. z) which satisfies
the Laplace Equation VZ = n within the fluid
and generally

0= N 1 ,N-N

so, in the usual notation and Cartesian coordinate system,

dx

dz

dx

-80/az

2i0

=N]
I
to

I
(15)

We employ a quadratic variation within the


hexahedral 20-node element. In Eqn. (15) the
4i are the values of the velocity potential at
the corner and mid-side nodes of the element,
while tho N i are the 'veil-known shape functions.
(c) The isoparametric element.

(9)

u = -P "lax; v = -80/8y:

(10)

We have chosen, as noted above, a 20-node


hexahedron element. Figure 9 shows a schematic of our isoparametric element in the physical Cartesian space and in its transformed

space.

(I

describe the free surface, where in the absence


of gravity influence

2
u

2
+v

+w

= q

= constant

(1z)

As a consequence, in terms of a coordinate


system oriented along the streamline, the
change of potential on the free surface is given
by
"

(13)

qcs

te4.m Co-ow.dhs

Ca-adkw
Laceg(WNurol)

In the finite-element method we represent a


problem solution as a continuous function in
terms of values at the edges of finite volumes
in the problem domain and with a specified variation locally within such volumes as functions
of the edge value. Partial differential equations are replaced by integrals which are subsequently
a setdirectly
of algebraic
equations whichreplaced
can be by
solved
and exactly.

Figure 9.

The Isoparametric Element.

Now the functional in Eqn. (14) is minimized with respect to the nodal values oi
within each element (Huebner, 1975).
Thus,
|

There are three parts to a finite-element

8-'=
,I
"

method formulation-

9N.

(a) The variational principle.

Functional:

I N, ON

MI
|

dV =

(16)

f
fl

v z-

NJ

'-

-!T 2

By

'

for each elment

2or

h] jol s - 0

azON

in which the functional )


is minimized with
respect to the velocity poteea.sl values opecified at finite elament nodes V~i.

(17)

The global sum over all elements produces a


linear algebraic equation set

(b) The functional represntation within an ale-

(I)

A unique solution is guaranteed by specification

Within element:

2f4

of
the 0 t or 4P derivatives along the flow
boundaries.

v.

For the isoparametric element of Fig. 9 we


write a transform from the physical space to a
set of natural local coordinates (t.,.) such
that each element occupies the cube bounded by
1. Generally then (Huebner, 1975)
17,,

20

20

. So,
S .

centerline section for one qLarter of the flow.


The flow velocity is prescribed upstream
while a Riabouchinsky cavity model is used;
thus, only the forward half of the cavity is
shown. The upper half of the flow (not shown)
is symmetric to the part shown.

20
Ni(C, 1. ;)a.

S(R, I,)

z0
Ni(4,.,t.)0i

4(0,,,)

Schematic of Cavity Flow Problem.

10.

(,9)yFigure
(19)

wher, xi, yi, a 1 , and oi are the nodal values in


each element. The key idea is that the mathematical formulation is easily made on a set of
cubes while physically we can handle complex
curved boundary surfaces.

The boundary conditions for a fully-cavitating flow in a water tunnel are straight forward.
With a Riabouchinsky model, the downstream
boundary is an equipotential line. If the potential downstream is taken to oe aero, then when
a free surface shape is known (assumed or calculated) the potential can be computed on the

The essence of the transformatior. (Eqn. (19)]

free surface by Eqn. (33). The remainder of


the flow boundaries are rolid or no flow bound-

4s in the 3acobian

13]

aries, except upstream from the plate. Typical boundary conditions are illustrated in Fig.

WOEa

ByI84

8xi81)

By/il)

:/9/

By/8

8I8

xet(

10.

/at
(20)

If F. W,

U, P, Q, and L are given, there

exists a unique value of the cavitation number

which relates, for example,

\2

Poo" PC

I
dxdyds

"I
dtd
l3ld

(21)

and
AN

in which o. is the magnitude of the velocity on


the free surfae.e, Uo- ' Lhe prescribed upstream .- component of velocity, po, is the upstream pressure, P. is the cavity pressure,
and p is the fluid density. In our case we

FNI
ex

--

ON,
,

J]

ONj
-(22)

elect to prescribe U4, and to determine q.


and
as part of the solution process.

(N)

by

With

L 0

the given boundary conditions (cf.,

Fig. 10), an assumed free surface location,

ON
J

(Z3)

/u

and specified geometry of plate and tunnel, the


finite element methnd can be used to find the
nodal values 0 of the velocity potential and to
determine the fluid velocities u. v and w. We
next move the free stream surface to a better
location.

Figure 10 is a schematic of the physical


problem. We model the flow past an elliptic
plate of semi-exas P and 0 in a rectangular
water tunnel of half-width W and depth D. The
elliptic plate is assumed to be supported on one
side of the tunnel. In Fig. i0 is shown a

The total process can be sumirarised as


follows:
241,

a. Establish the geometry. Input all data


including locations of all corner nodes. assumed

noticeably from its axisymmetric counterpart


for small W/P. i. e. , where wall effects are

form of free surface, assumed UO, etc.

large.

The

computer program then locates all the midnodes.


b. Generate "stiffness" matrix H (Eqn. 18).
Account for various boundary conditions where

We have bogun the simulation of cavitating


flow past the elliptic plate in a rectangular
water tunnel. No definitive results have been
obtained, but the cavity shape appears to remain elliptical during the first few iteration
steps.

O i or (0 derivatives are specified and for isoparametric mapplngs,


c. Solve for 0i by Gaussian elimination
and back substitution.
d. Calculate fluid velocities.
e. Move the free surface. Movement is
accomplished by integration (cf., Larock and
Taylor, 1976) along free streamlines beginning
at element corner nodes on the edge of the
plate. This establishes a -et of lines which are
tangent to the velocity in accordance with the
streamline equations

d,,

dv dt

1',

LI

,
-_
SYJ T

b..

P1W

L4
L/P 2.

1a).2
-

A periodic cubic spline interpolation is em-

.qI

ployed in planes x = constant to locate the element transverse mid-nodes which are missed
by the in tegration process.
f. Establish new values of 0 on the free

040,

-Some

T~, Fim
T

surface.

Only

0.5

elements near the free surface are changed by


the move so only a small part of H in changed.
h. Rbturn to Step c unless free surface

o.e

movement is less than an arbitrary, preset,


small amount. If this happens the solution is
complete.

02

g.Mdfrthe "stiffness" matrix H.

ro

.WAhns
.lellsp5
-

The solution program has been implemented


on the IBM 360/91 and 370/168 Triplex System
at the Stanford Linear Accelerator Center.

0
4

10

12

w/P

With 13Z5 nodes and Z24 elements in a typical


case. one iteration (Steps a through h) takes
about 45 seconds and solution is achieved in
about 15 iterations.

Figure

Street and Ko (1977) applied the above technique to two geometries. First, they reproduced the geometry used by Brennan (1969). via.,
a Riabouchinsky model of flow past a circular
disk in a circular tunnel. The finite element
results for 9 and cavity radius B agreed to
within 2 percent with Brennan's results when
the physical geometry was specified. Second.
they examined flow past a disk in a square water
tunnel, demonstrating for the first time (a) a
fully nonlinear. three-dimensional cavity flow
and (b) the effect of three-dimensionality on the
wall effect in thic flow (as compared to that in
the axisymmetric case).

Wall Effects in Cavitating Flow


Past Disks.

Prognosis
The prognosis for numerical simulation of
thr e-dimensional, fully-caviiating, steadystate flows is good. Jiang and Leehey (1977)
have developed a linearised method which is in
good agreement with experimental data and is
not limited to large aspect ratio or short cavities. The method of Furuya (1975b), while
having such limitations in principle, works well
ovtside those limits and is nonlinear with respect to angle of attack. Neither of these methods accurately models the tip regions of the
flow, but this does nct seem to be a malor limitation at the moment.

Figure 11 shows the wall effects for flows


past di -s in both circular and square water
tunuels (in Fig. i . the square tunnel flow corra;Ponds f 0
id In W). The square-tunnel
1
flow (which is three dimenalou. ) deviates

Street and Ko (1977) have successfully


applied a finite-elerent method which i fully
247

nonlinear to simple pure drag flows. AS iiustrated herein their simulation can be extended
and is applicable in principle to hydrofoils in
lifting flow. This method directly handles the
tip regions, but may experience difficulties at
low angles of attack due to the rapid changes in
flow near separatior. and the extreme curvature
of the free surface there.
Th(. inverse method of Jeppson (1972) and
Davis and Jeppson (1973) deserves further
associated
study. In spite of the difficulties
with solving the governing equations, the method
has been successfully applied to free-surface,
non-cavitasing flows. An extension to cavitaving flow based on a Riabouchinsky model appears
feasible.
A method likely to make a major contribution to fully nonlinear flow simulation is the
boundary integral equation technique. White
and Kline (1975) used itsuccessf.ally for axisymmetric free-surface flows. Larock (1977)
presents an application of the method in these
proceedings. Finally, Hess (1972) has demonstrated the power of the technique in fullywetted, three-dimensional, lifting potentidl
flows,
Acknowledgments
The finite element work for three-dimensional cavitating flows reported herein is a
joint effort of the author with Peter Y. Ko
under the sponsorship of the Naval Sea Systems
Command General Hydromechanics Research
Program, Subproject SR 023 01 01, administered
by the David W, Taylor Naval Ship Research and
Development Center, Contract N00014-75-C0Z77.
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4.
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N. S.T.K. Chan, B. E. Larock andL.R.
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., Proc. ASC. 29, pp. 959974.
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7.

0.

8.

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9.

0.

10.

D.

Formulation and Finite Differences"


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71, pp. 339-359.
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Experimental Study of a Superventilated
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7
;eory of Jets in
M. I. Gurevich (1965).
1I.
Ideal Fluids (Transl. from Russia Academic Press.
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14.
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Flows" J. Enigrg, Mech. Div.. Proc.
5E
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AS9
"Inverse formula15. R. W. 3eppeon (1970).
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R. W. Jeppoon (l7Z). "Inverse Solution
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3. Engrg. Mech. Div.. Proc. ASCE,
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"A
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17.
Numerical Method for Determining
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P. Lehey and T. f. Stelllnger (1975).
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22.

23.,

24.

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Z6.

27.

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Y.
T. Shen and T. F. Ogilvie (1972).

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pp.

44

A NUMERICAL METHOD FOR DETERMINING FORCES AND


MOMENTS ON SUPERCAVITATING HYDROFOILS
OF FINITE SPAN
C. W, Jiang and P. Leehey
Masachusetts Institute of Technology
Cambridge, Masshusetts 02139

Abstract

solution for large aspect ratio has been


derived by Leehey (1973). The paper by
Leehey and Stellinger (1975) showed good
agreement between asymptotic theory and
experiments for lift and drag coefficients in a certain range of j/a (cavitation number divided by angle of
attack). Theoretical moments were too
large, indicating the need for lifting
surface corrections.

A numerical lifting surface theory


was derived for a supercavitating hydrofoil of finite span in steady flow.
Discrete vortices and sources were used
to represent the physical model, and
the coupled integral equations were reduced to a set of simultaneous algabraic equations. The cavity length was
iterated to get the desired cavitation
number over the cavitated planform. The
calculation of supercavitating hydrofoils of elliptic planform was performed and compared with analytical solutions and with experiments. Results of
these calculations indicate that this
numerical solution gave a more accurate
prediction of lift and moment coefficients on a supercavitating hydrofoil
than existing asymptotic theories,
I

This numerical method in a lifting surface theory for a supercavitating


hydrofoil of finite span. The discrete
vortex and source method is used to
formulate the equations. The governing
equations for this problem are a pair of
coupled-integral equations relating the
unknown boundary values of the upwash
and the cavity pressure to the unknown
distribution of vortices and sources on
the foil-cavity surfaces. An iteration
scheme is used to alter the cavity

Introduction

length until the desired cavitation num-

Considerable theoretical and experimental work has been done on threedimensional supercavitating hydrofoils,
but the agreement between the theory dad
experiment is not fully satisfactory.

bar is reached over the cavitated


planform.
The numerical accurary of the
present method is tested in twodimensional flow. The results zompare
well with the linearized analytical
solution of Geurst (1960). The predicated results of elliptic foil were
compared with analytical solutions by
Leehey (1973), end with experiments by
Leehey and Stellinger (1975). The
results show that the improvement has
been made after considering the lifting
surface effect.

A few attempts have been made to


apply a numerical lifting surface
technique to cavitating hydrofoils.
Widnall (1966) and Unruh and Bass (1974)
used a double lattice - source representation for the prediction of forces
on suporcavitating hydrofoils of finite
span. Both make priori assumptions of
cavity length which are not appropriate
for short cavities. Efremov and Soroka
(1975)used the Lawrence approximations

It

and an elliptic source, vortex distribution along the span to transform the
three-dimensional problem to twodimensional equations for rectangular

Linearised Theory

The linearized problem for a


cavitating hydrofoil of finite span in
steady
flow can be represented by a

supercavitated wings. Nishiyema (1970)


made no a priori assumptions regarding

set of coupled integral equations. The


deriation proceeds
ther from Green's

the cavity length, which was determined


from the two-dimensional results and
corrected by using induced angle of
attack. The integral equations were

theorem of from the solution for the


velocity field induced by a distribution
of vortices and sources. This distribution must be chosen to satisfy the

simplified by the condition of

revelant boundary -onditions.

aspect ratio.

large

A matched asymptotic

The

numerical model we are about to describe

250

is

shown in Figure 1.

(1961) proved that for two-dimensional


steady flow, the re-entrant jet end
Riabouchinsky models for cavity termination reduced upon linearization to a
statement that the-cavitv is closed at
its end.
The recruirement that the
_-.-'

source strength be zero beyond the cawity trailing edge and the sum of sources

is zero are necessary to meet this


condition.

CAVITY4)

Based on the boundary conditions,

the integral equations for three-

dimensional

CONTROLPOINT
AT((k i
/wI

0-

steady

flow can be writ-

ten as

(X
o-- 3)

, )~~SriE

fJJ

Figure 1. Foil Planform and Typical


Vortex Source Element

The source distribution

q(x,z)

represents the slope difference between

the upper cavity surface and the mean

qI

cami'or line of the foil or the lower


cavity surface at the point (x,o,z).
The vortex distributions (y(x,z),(xz))
create the perturbation velocity differences in the x and z components between
the upper and lower surfaces at the

point (x,o,z).

-___

()
'p.

This leads to the

2"

u,-

result
'-(vo,))-vx,-o.)),

( s,),,L (

(+o,)

(4,), )

us

(4-)

r(J,-.,4).

The boundary conditions specified


are the normal velocity on the wetted
surface of the foil, a constant pressure
in the cavity, and closure of the cavity.

where S a is the projection of the foil

U.

,.-O.)

P(,to',),

PC-

surface on to the x-z plane and S. in


the projection of the wake region on to
the same plane. p. is free stream
pressure. The unknowns are the source
strength, vortex strength and cavity

9I,)),

(Z)

surface location.

where h(x,z) is

"

The solution of these integral

e(,S)4Ed$,

equations will represent the linearisrd,


supercavetating hydrofoil of finite
span in steady flow. The forces and
moments can be calcualted usinq the
Bernoulli equation.

III Numerical Method


The solutiun of the problem is

the y-ordinate of the


is the surface of

wetted surface. Sc

the cavity as projected onto the x-a


plane. Pc is cavity pressure. Geuret

251

wJ se integration becomes

obtained by reducing the coupled integral equations to a set of simultaneous


algebraic equations.

, 1(t)

The surface is divided into smallj

The element used in this


elements.
model is one obtained by dividing the
foil and cavity semispan into strips
with cosine spacing, while the chord is
divided into strips of constant spacing
on the foil and on the cavity behind
the foil. In order to increase the rate

of convergence for the number of ele-

ments used, the first two elements of


each chordwise strip, near the leading
+

where xY(O and

'I$)

(,

0.

(7)

The first integral is zero if the


cavity is closed both at its leading
edge and trailing edge. The second
integral is zero due to the symmetry of
the cavity. This integral therefore
represents the stripwise closure condition.
The effect of all singularities
must be calculated at each control
point. The Biot-Savart's law is used
to calculate the induced velocity at a
control point due to a constant strength
discrete vortex segment. The lirchhoff's
law and Kelvin's theorem must be satisfied for the vortex distribution. Consider the vortex segment (x1 ,o,z1 ) to
(x2 ,o,z2 ) with strengthY per unit length.
Defining (,C) as the coordnates of a
general point on the vortex, and (x,z)
as the coordinates of a control point,
the induced velocity at (x,z) due tothe
bound vorticity, ya, is
"
(s.o, )
2a + b
IL
-.
----1
8

Since the cavity length is unknown,


a closure condition is applied to individual spnwise strips in the calculation.
Otherwise, the iteration technique does
not converge. This condition satisfies
the overall global condition. It also
allows the variation of cavity length
along the span to vary. This approach
is exact for a aymetric foil. The
source integration along a stripbetween
2 .'l and x -al is

JSJ)I

A/0)

The model uses discretv vortices


and sources to represent the foil ane
cavity. Each element contains a bound
line vortex, a trailing vortex and a
line source. The quarter-chord line of
each element contains the bound vortex,
and the induced velocities are calculated for all elements at their midepan,
three-quarter chord positions. James
(1972) showed that for the best efficiency the vortex and control points
should be arranged according to the
Pistolesi approximation, i.e., at the
quarter and three-quarter chord points
on each element. The concentrated line
source is taken to be a constant distribution across each element at its
three-quarter chord position. Since
the source distribution is singular at
the cavity leading edge and termination
point, these control points should be
placed away from the singularities.
Therefore, the first control point is
located at the three-quarter chord and
the source is located at the quarter
chord. The local vortex or source
strength in given by the discrete vortex
or source strength divided by the element width,

1) Ais,
55

(vU%.s-

a -as

1w)

edge,
one-half the chord
ing of have
the only
rest of tho elements on spacthe
foil.

2a(24

CI

,(8

I t.

'

+c~

~
4

() are the spanwise

profiles of the leading edge and cavity


termination points, respectively. Let
9+ (x,a,) represent the profile of the
cavity-foil combination. Then the strip-

C a e'

252

()

(2) for Z<z

The induced velocity due to the trail-

ing vortex (x,o,z1 ) to (x3 ,o,z3) with

The total velocity induced by a

vortex distribution is the sum of the


influence of all the spanwise and chordwiet vortices.

(3)

for z>z
IT

According to the linearized


Bernoulli equation, the pressure induced
by the source component is

OX

2a'

+ 2--.f-1,

(9Sdncavity
is the source potential. The
P. due to the line source ((x ,O,Z ) to
(x2 ,o,z2 )) can be calculated by the line

t,

I,,

An interation is used to alter the


length until the desired cavitation ni:aber is reached over the cavitated
planform. A cavity length is assumed
and the matrix coefficients are calculated. Solving the matrix with appzopfiate boundary conditions, we can get

where

integratio.,
(I.A)

the distribution of vortices and sources,

and the cavitation nun er on each strip.


Then a new cavity length is chosen using
the calculated cavitation number. The
length is adjusted by using Newton's
method with Geurst's steady state
analytic solution.

i Oz)

ZW

W1
be

((-+(

)P

The linear algebraic equations

()

which satisfy the boundary conditions

are solved by using Gaussin elimination


with equilibration and partial pivoting
(e.g. Isaacson and Keller (1966)). The
convergence tests had been made both on
two-dimensional cavity flow (Uhlman &
Jiang (1977)) and three-dimensional
supercavitating hydrofoils. Table 1
gives the number of elements chosen in
the numerical calculation.

a,b,d are defined the same as


e.

Equations (8) and (12) are not


suitable for numerical computation if
Oppenheim
d//E becomes small (Kirwir
(1974). The following approximate
formulas are used for this special case.
(1) for z 1 <z< z 2
4-1 0.
ti Y
Ir

Table 1

Valuen of Vortex and


Source Element

No. of element
along the chord

b
(24+6

12

oa the foil
(i) l

No. of element

7-

in the cavity
behind the foil

a to 14

No. of element

along the

(14)

~t

emispan

253

IV Comoarison Between Theory & Experiment


P -esent numerical results for twodimensonal eupercavitating flow are
compar!d with Geurst's analytic solution
(1960) and Golden's numerical scheme
(1975). Golden used a uniform distribution of the si:,gularity in each
element and the best choice of control
points. Figure 2 simply confirms that
these methods of solution lead to identicle results,
The lift and moment calculation
for supercavitating hydrofoils of
elliptic planform was performed and
compared with analytic solutions by
Leehey (1973), experiments by Leehey
and Stellinger (1975) and experiments
by Maixner (1977). Leehey utilized the
method of matched asymptotic-expansions.
The theory is valid to first order in
angle of attack and second order in the
ratio. In the
reciprocal ofof aspect
experiments
and Stellinger
forces, moments Leehey
and cavity lenths were
forcesemomentsrandlcavityrlengthswwer
measured for aspect rato 3 and 5 supercavitating hydrofoils of elliptic planform. Mainer investigated the water
tunnel wall effects on supercavitating

Figures 3 and 4 show the ratio of


the lift coefficient to the angle of
attack, CL/. versus a/a for the aspect
r
The agreement between theory and experiment is
For
values of a/,
there is good.
much better small
agreement with
the
present numerical theory than with
Leehey's asymptotic theory. The foil
and cavity combination is no longer of
large aspect ratio at small o/n, so the
asymptotic theory is not valid.
The moment coefficient is taken
about the mid-chord, consistent with
the right hand rule. Figures 5 and 6
show the moment coefficient for the
aspect ratio 5 and 3 hydrofoils.
expanmatcht'theasymptotic
Leehey's
Since
sion theory
neglects
lifting surface
effect, it is expected that the present
numerical lifting surface theory would
show better agreement with experiments.

Gt

o 60"
o e0 , MMe

hydrofoils of finite span by using a


geometrically similtr family of three
hydrofoils (.
5). He showed that the
previous tests by Leehey and Stellinger
were reliable. The standard wind tunnel wall correction is adequate when
the foil span is equal to or less than
half of the tunnel depth. It should be
noted that the data of Leehey and Stellinger was based on the cavitation number
calculated by using the vapor pressure
rather than the measured cavity pressure. In the comparison with present
results, for the aspect ratio 5 foil,
experimental data for the medium foil
is taken from Maixner's results where
measured cavity pressure were used.

4..

s.

',

I
0

a *.I,'

bo

4.

z 4

.l

10

.o I1
a

Figure, 2. Cavit'., engh vs. i/o Flat

....

__

__

_|

Ia,

10
pl'ate

figure 3. C /a vs. 0/a,

ZI

M -5

..

I
0~~~

i i.

1,

Ep~c

aa.S

Leehey 5 StenltaQw

1.41
a0
Ew.15
a
POnM.1
12

15:::
aItWq a

U..

o..3

to

-a

-10

2.

&

W/o

3.0

2.0

1.0

0.

oT/a

Figure G. CM/a
Figure 4. CL/a vs. co,

vs.

a/a, Ai-3

Mt-3

The nondimensional cavity length


Versus the ratio of cavitation number
to ang Ie o attack is shown in Figures
7 and S. The cavity length is measured
aP to"
from te leading edge at the spanwise
foil
srae
the
of
of the centroid
area.
speaking, the agreelocationGenerally
ment between the theory and experiments
is very good.

/.

experiment, the

In Maixner's
cavity pressure was measured with a foil
surface pressure tap. A noticeable
in
the
and (Figures
moment
"hook at " higher
foundangles
of lftattack
data
3 & 5). Ram effects on the cavity
pressure measurement, due to the dynamic
pressure, were further investigated on

"
0[ ________
0
1
1
3 4
Figure 7.

The cavity pressure readings are taken

--

C/h vs. i/c,

vs.

L/C,

UC
)R-

headtub,
an
onthefoils
Ik

,el

im,.I

Figure 5.

a. /a

A-s

to/ta,

I----

Figure 8.

L/C,

t.

..

/.'

is

*1
6 Ilhu*d:

,.ma,.

Figure 9. cc vs. av
downwards into the cavity from the upper
tunnel wall so that it was parallel to
the oel1surface and pointed towards the
leading edge, away from the impinging
re-entrant jet. Figure 9 shows that
the readings from the fol surface
pressure tap are consistently higher
than the measured cavity pressure,
especially at higher angles of attack
and shorter cavity lengths. If the
improved cavity pressure measurements
had been taken in the experiments of
Maixner, the discrepancy from theory
at higher angles of attack and shorter
cavities would probably hlave been smaller.
V Conclusions
The discrete vortex and source
method was developed for supereavitsting
was
hydrofoils. Tho cavity ]-.!,gth
iterated to got a uniform cavitation
number over the cavity planform. The
lift and moment coefficients for supercavitating hydrofoils of elliptic planform in steady flow was performed and
Acopared
more accurate
prediction
lft and
well with
previouso experiments.
momtent coefficients was obtained by the
present numerical method than with
existing asymptotic theories.
Acknowledgement

1!leading

This~~~~~~~ reerhwscridotudr
ThNv hir
sachs
c.aid,outenra
edge, awa
frau the impingingIi
Hydroaschanics
Research
Progra-m, Sub-EnnernN

project SR 009 01 01, administered by

2 Geurst, J. A. 1960 Linearized Theory


for Fully Cavitated Hydrofoils. Int.
Shipbuilding Progress, Vol 7, No. 65.
3 Geurst, J. A. 1961 Linearized Theory
of Two-dmensional Cavity Flows
Drural Dissertation, Technical UJniv.,
Delft, The Netherlands.
4. Golden, D. W. 1975 A Numerical
Method for Two-dimensional Cavitating,
Lifting Flown, M. S. Thesis, MIT.
5
Isaacson, E. & Keller, H. B. 1966
Analysis of Numerical Methods. John
Wiley G Sons.
6
James, R. M. 1972 On the Remarkable
Accuracy on the Vortex Lattice Method,
Computer Methods in Applied Mechanics
and Engineering, 1.
7 Kerwin, J. E. & Oppenheim, B. W.
1974 A Lifting-Surface Program for Trapc:oidal Control Surfaces With Flaps,
Rep. No. 74-15, MIT.
LahyP.17Surcvttn
Hydrofoils of Finite Span, Proceedings
of the IUTAM Symposium in Leningrad,
Nauka Publishing House, Moscow.
9 Leehey, P. & Stellinqer, T. C. 1975
Force and Moment Measurembnt of Supercvitating
Hydrofoils of Finite Span
With Comparison to Theory, J. of Fluids
,

exn

.1.97A

x;r

na

the Naval Ship Rsearch and Devalopmont


Center.

ta
97AnEpim
10RinrR.M
Investigation of Wall Effects on Supercavitating Hydrofoils of Finite Span,

Reference s
1 Xfremov, 1. 1. & 8oroka, R. A. 1975
tuPrOX at Comtatit wa parallelto
th oal
urfund
Soan in t
hnite

MIT Dept. Ocean ring. Report No.031481-3

Fluid Dynamics.

11 NishiyU,
T. 1970 Lifting hine
Theory of upercavit tng Hydrofoil of
Span Pogr, Vol. 50.

jNo.

83481-2

13 Unruh~, J. Ri.a Bass, R. L. 1974


A General Theory of Unsteady Load on
Cavitating Hydrofoils, J. Hydraulics,
Vol. 8, No. 4.
14 Widnall, S. E. 1966 Unsteady Loads
on Supercavitating Hydrofoils of Finite
Span, J. Ship Research, Vol. 10, No. 2.

267

SUPERCAVITATING FOIL OF AN ARBITRARY SHAPE


BENEATH OR ABOVE A FREE SURFACE OR INA CASCADE
David W. Taylor Naval Ship Re, ir n rn Development Center
Betheada. V,
tw"
d 20084

1. INTRODUCTION
Linear and nonlinear models of supercavitating foils
14
have been investigated extensively.
' All investigations
involve a considerable amount of numerical work. Thus the
advent of high speed computers naturally requires efficient
numerical methods to be applied to the solution of the flow
field and the design of supercavitating loils. Recently a large
effort has been exerted toward numerical computation of
5
16
cavity flowl either
by the singularity method
the finite
17
difference scheme
or by thefinite element tlechnique.rt
This effort seems to be particular;y fruitful for threedimensional flow, highly complicated boundary, and
consideration of nonlinear effects. In the present study, "n
application of numerical technique to a linear twodimensional supercavitating foil is considered, especially
from a design point of view.
Fourier series have long beer.used in linear airfoil
19
theory.
And a theory of hydrofoi-airfoil correspondl
encet1i has made the Fourier series useful for the linear
theory of supercavitating foils, lowever, when the boundary
conditions become complicated as for foils in a cascade
Fourier series become cumbersome'when carrying out
computations. Fortunately, as ir other applications of
Fourier series, such as to informlion theory,
the use of the
t0
Fast Fourier translorm (FFTt technique
greatly assist
numerical computations.
In tlhe present theory, in order to use tire FFT
effectively, many physical quantities are convenieritly
represented by Fourier series and its coefficients. It is
demon.raled thai FFT computation can be performed
accurately in a relatively hurt lme, By a simple change of
the transformation fur,.lion. le meihrd can be earl),
applied it different boundary conditiliss such as those for a
infinite medium. beneatl
a free surface, or ii a c ascade,
lie linear theoryofsupercavitatiig toils is particularly

uwful trr designing the foil, since. in addition to the great

advanlages r superposilion, the usual foil at its deign


cornditionf has a %msallanle itattack and a thincavity,
Besides, many paramelerst uch as cavity thicknss, angle of
attack, lift coefficient, and camber can be contirolled easily
in Ih linear theory.
There are three importaut increla.ed general requifemerits fir supercavitathlrg toils large lift-dral ratio, lilt fce
cavitatlion, and adequate cavity thickness. Although the
I "
linear theory indicates%
that the center if pressure should
be nearfiretfailing cdge,
fin tilev Oirenent oftaige liltdrag ratio, this kinl of toil may base negative cavity
5
thickness.
A negatlve cavity thicknvess iould be avoided ty
supeeiponinganle o ittack, b i still the camber shape may
be vulnrale to lace cavitation,
Although the conventional
dvsign metli(si ha' been conrsidered tor
live a ltavorable

5 1

pressure distribution,'
0 this does not guarantee satisfactory
foil performance. One other possible design method would
be to specify the favorable camber shape first and then
determine the angle of attack and the leading edge cavity
thickness. For this purpose, it is necessary to have a method
for computing the flow field about a supercavitaring foil of
arbitrary shape. The significant physical quacirties of the
flow field include not only the pressure distribution, the
lift and tile
drag coefficients, but also the shock-free angle
4
of attack. and the foil cavity shape.
The present study deals with these problems, exploiting
many advantages of FFT. A particular advantage is that the
shock-free angle of attack is readily supplied by FF1.
Numerous results o computattvns are shown for "
c of
a cascade. The design of a sup'.aviiirng foil isaccornplislicd by combining three different elementary foils. a
shock-free foil with a given camber 5shape, a flat plate witll
an angle of attack, and a point drag to increase the lcadirrp
edge thickiess. The relative effectiveirs of the angle of
attack and the pointdrag in increasing cavity thickness is
examined numerically.
The present method and tile
pr igi may i'i
flriprIer
utilized effectively forthe desigin f ..
itsting roil
for a high speed hydrofoil or a superc:ril-iting propeller.
2. FORMULATION W[.iROBLEM
A supercavitalifig toil with i irnfinitely lung cavity is
first considered rear a free surface or in a cascide. 'lie
angle of altarik rif tie fril is 'ui rod the flow periurballoin
due hlitl :oil i assumed to he silalL. i,- A ilicar theory
is consideed to be applicabi. l,,
I ii. rn-alii, I riM'
statical boundary for Ihe foil and svi i; nir"aiong the s axis which is palnel to tie velocity at v - -where the velocity is unity. Four pissible flow geometries
tif a foil mt,
s
ire trrir
",l l rlt lrrfr ;In, cat.:l
'-r
vt Figll-",
I
For convenience, the complex perturbation vel .ity.
v
u-iv, is changed to a modified c'ompleil,
vd,!
Fitji I t, 0u2 - IV-_) where t i the , ,.' - ,trir
derinedt by tife pressure u 5
"t. P. arvi the pressufr
it
tile
cavity P,
P

"P
Pv,
l

where p is the deity of wa.er I i bouldaro are Iran.


formed to th h!dfplarnresdli-wi in Fliguirs I b,c 4b,. , and
the coilsttnding
rnlormrtlvt futt,..l al %flown ilk
4
Fligures I, , 1h- it r us uigto tre tilersoilt .,itt
i IO
correusponden.ia the tiri;otsutic praite bcttirie the
airfirt plane where airfoil tireory c4rt Ileapplied.

288m

ql,

mm

,,m

r.

B..

A..

_____D____B__

A--.

Vi,

iAt THE PHYSICAL PLANE


U-0

A--

a-0B.

(A) THE PHYSICAL PLANE


00

.0
u-

0 VIA
1

B..Yi,
E_

rX

1)

il
2

iPLN
1

or

where

=K+

8-.X

u-0/2

.(.) A

lig

d..= K .

..

Iy

PLANE

-1(2

and

E.

uO

-t

;q)

(Ct
Figure I

(d/2w)(cos - Iot (I - 2at sin y +a

dx

+,

in y tanl I

a2

cos )/( I - at sin

co, -y/4 I -

4111y+ a

'

- l?

PLANE

A Supercavilating Foil Beneath a Free Surface


D-

;-0

;Ip

-1

-+PLANE
rl

B.

-.----

intle Ca sy Cascade

Figure 3 - An I

C
8U.

(A) THE PHIIICAL PLANE

A.-

O0

-0o

EC)

o.a

Ct1,0-)

Il0)

a.0

A..

tA) THE PHtYSICAL PLANE

(11 g - w 4 iv PLANE
KC

dz

j -

0 '0

4*v-

0a-K

._''

t)

*0*/
,-,

A4 ..

C 'u,42

A3 u*"

+ a lo

whicr+
K.

_((

and

K -

9) a"

ly PLAN&

Ih[

K-

A.--

5t1t-

e
IC

Figue 2 -

A SupeYi(

03 1-aI2

.1

t-

(Ct
Fir

a Fm Swfb

250

-3

,.n0/2

A,

U..

PlAsqP
iANE
Iunl Foil Ab.c

-1

Illl
'PLANE

4 - FIeate

avityCacde

&. FOURIER SERIES EXPANSION

B.csn()
".0

It is well known in airfoil theo~re that when the


circulation distribution is represented byan expression

i
0> t-10l-Cosa)>-,

Acot!+,PAnSin no
2
2'-

(I)

4. LIFT. DRAG. AND NORMAL VELOCITY

on the two-dimensional wing ir. the domain

In equations (1), (3) and (5), Fourier coefficients can


beeasily and quickly computed on a high apeedcomputer
by the Fast Fourier Transform (FF1) technique. Then the
lift coefficient of the transformed airfoil is:

0>t> -

~<

-~e

to
(- 202K di
22
I - 2at Siny +

(2)

Isin Oda

dt

0 <6< I

then the velocity F normal to the taxis on the wing can he


written
A. sin nO) sin 0

K(A cot~+
n--A+Z A cosnO

rx

(3)

n1I

dO
_
+a(i - cos 0) siny + a (I -CosO9)

and4
G/2 - v/2 - u
vo.-

2jf {A(l + cosOfZ Hitcos On

v
(3a)

A av_ -A,

Bn cos O sin0) dO
A~sin nO
+f
n-0
n.1

That is,in the transformed plane, equations (0-03) hold


Ilis the trailing
0 is the leading edge,and
where(
edgeof the foil. The rirmal velocity repreusted by
A. cos nO -f,,

v.

nenl.

0B+nj..

32e1

(3b)

a-0

is the Fourier expansion of the foil shapedy/dx -f,(x) in


the transformed plane. *Thus the coefficients An change-co
when the translormAd plane changes. Then, even if the
samefoil is given in the physical plane, the aigle of attack,
Aa s differvint depending on the boundary shape.That is,
A0 is not only relatvid to the geomtry of the roil itself in
relation to the velocity at a - - but alsodepends upon
the boundary surfaces of the fluid. On tuacvher hand, the
effective angle.A, isuniquely related to the pressure
edgeasIsseenin equation (1).
singularity at the leadir.g
According to equations 0sa, h) - A0 is the ingle (31attack
with respect to the velocity at a - - wand A is the angle of
attack with reapect to the direction of the flow at x -*
According to TablelI, when the lift distribution is
sasedwto begiven by
2to - 2ul fi

-45(j)

(4)

-cs(

)0
0 o 0Od
n+IOj2.Bacn d
5 .0

4+-BA,
i
- 2wA /IB+!B

~B,,(An,

2
+~BA

221

I A,

(6)

n-2
The moment coefficient of the transformed airfoil Is
2

0'l2a - 7u)

ise

where T((l - I In an Infinite medium,


TQ
TOC)

the freesurface, and


for ahove or beclow
K

in a casicanle,-

517+03t,
I -2 sin

then there exist simple relatios between the coefficients of


lift, moment anddrag in the phtysical and transforned
of lift and moment, tL and
obtain caeiienta
To transforissd
aie. ithe
plane, T(Il In equation (4) Isrepre
arented by s Fourier martes.0

04
+

{Ail -cos~t)f .

Asin n

cot rig

I -cuoa) fin 0)dY

Baxis

-00

JEA

I5-cI

B os.
.

Tabir

Flow~
Charaeamas oi

rniet.

Foss AndCorreponding Alaods

TT
ingle toil,

i
toad distribution!
-2U(x)+o

Airfoils in

I
maI

nfintjt
mediu m

i",

the trnsfortmed

,Cscatdes

plane

wlor

-2

hi

in'ii

)4t

Lift Coefficient

Drg C oefi i n

Lea

la in y

upper

l~ds
boun
c"

otpr
-from
of

Xc-

shurrey'

tt17

h =the distance
the leading
to the free

1.1edge

d-

iin -1CLXQ)

I
----

--

or mornt About
1theleadingedge

--

No.

~. n

- CosIn + Il)f}
n1
Ij co I.
n Co

An- 1 0~
f

Transforma-

+a.M

Chordlength I

KI

fhc' coefticients of iiff and drag,C. and Ct0,r

~cuE

, ,i te j from T able 1 .11

B.nA:.nO a 0,l- I)
n0~~

&i'Yk
ev

+t

idih

b velocity rtormsal
gote
0) canbeobtaimed by

A~~~
(Bf-1 )

Ga

oldt
stagger
angle

v,

(.1,Surface

-r
(.rvit atIA

+ a

+nl7
A,Qa~
I
1

anin In I < 1nd


a in

uA

~A,.12+

261

FAn

in RO Ain$

In

Usually Al, and v, are negative se that A has to hi


positive to prevent face cavitation. Thus. in general. IA I
will be much smaller than I An 1. Shock-free entry can be
obtained by setting A = 0, or
Fi

<-I
! r

v-v=-

Anjcost-l1l0-costn +tIt0

AII+cOs61t+.I

a +adO

=-

A,
1

In this analysis, it is interesting to note the relations


h-twee,.n[ihc angles of attack and the velocity tt .
F, / (4 K in Equation (141 is lte angle of velocity at - due
to pure camber on a shock-free foil. If : = f. ihen in lite

a + cos 0
a

17

case.er
nat plate
A=
in

/I

- I

On +

A,

where

n-4K

=A.
=

___

Aa-I-Antl~an
v

7
with a = -

(14A)

4K

2a sin '

n I

(BO
+! u)(B,

tl)

+ 4K

the general ase. II -A0. we can write

2 > I

A=

In t > 0

l,-

(AO,- F i / 4Ktl

This. when we consider that any foil is represented fy

16)
=

of attack angle and camber, the effective angle


of aftack ttle to camber is the sarmeas that due to a flat
plate with the attack angle, - F, /4K.,
Ssuwrposition

a+I

vA--

nv]-1-"

+LAni -

tOI+

6. CAVITY THICKNESS

with al I 4 21>1I
The velocity at x
and FM-

as may

4wK

tIlie cavity thickness is obtained by integrating v shown


in equations (9) and 10t along x. To build an actual
supercavitating foil, the cavity thitukness has to be thick
enough to provide adequate foil strength. The cavity thickness is not known a priori, whether the given value is the
pressuredistribution on the foil or the shapeof the foil.

be expressedn in terms of C1

f-a si y

As in the case of designing a supercavitating foil with a


givn load distribution, the cavity thicknes may still be
negative even when a camhcr shape is given. Then either
angle of attack and/or a point dragllcan be suprposed to
provide cavity thickness. In the present solution, an

_o a
2 4
T xnk Cos7

5. SHOCK IREE ANGLE

unreasonable cavity shape of the liven foil near the leading


edge can be detected easily by simply observing the sign of
the constant A. Low-drag cambers such as two- or three
term cumbers in an infinite medium have been chosen for a
shock-free foil in an infinite medium. However when this
camber shapeis used near a free surface or in a cacade i
will no longer be shock free. In the present analysis, from
equation (14), it is easy to ind th= angle of attack that
makes the given camber shock-free. If the camber shape
iha pusitise curvature everywhere on the foil, the shock-free
camber shape has no negative cavity thickness although the
evity thickness near the leading edge may be too small. Li
general. shock free entry of a low-drag cambered foil does

From Equations (31, flit. (9) and (I I.


v- - A+ AO

f(2)

2{
4K La
4

I,

sin + 2
n 7 'T

',

--

.
2

4K

where
-

I AA]
2a

n- z

not necessarily make the cavity thickness non-negative


A,

,- 0'

-r

it1 )

5I-(Av.-'t)

Illencl. Itiv eteslltetv angle o

The cavity shape due to a fat plate can be obtained


by integrating
:2 . (A 0- .i)
-/
)
(17,i

,
si

n-

iltackl. A, is given by
where v2
is the y component of velocity at
- dun to
just the flat plate.
Mle fl-plate contribution :o cavity thape is obtained trom

F, -4K An
( 1I1

A
{:a,,.,-

(B4+

B)lei
+A-(Ilo

)}t4K

22

vx) dx

q)

nol intended to be mathematically optimum. This optimizalion aspect is investigated in the following section for a
supercavilaling foil in a cascade by systematic change of

dx
dt

parameters. A mathematical formulation of a general


problem is not very neat becausewith a shockfree foil. neither negative strength of [Ihe point drag. kO, nor
negative
ein
angle of attack. at is allowed. However. when a(
increa-s.kt, has to decrease becausethe cavity thickness is
given. thus. th pernissible range of a and k0 fall in a
narrow domain for a given camber shape,rendering an easy
numerical plot.

2variational
Si

d
I - 2av

I 1X)

,Y+ .,2t

The inlegrand with respect to t behavcs helter in the


neighborhood of e = x = 0 than in the integration with
respect to x without using the transformed coordinates.

8. OPTIMUM ANGLE OF ATTACK

The cavity shapedue to a unit-strength point-drag


singularity at the leading edgeis"
y -viny
. - ,xil
S-ra

-.. lan
cosy

The cavity thickness of tie foil is considered at a given


point xI as a superposition of a shock-free camber, a flat
plate, and the cavity of a point drag. Tile cavity thicknesses
may be writtco respectively as

sn
+
Cos7esy

which restls from integration of the y component of


velocity

Y/CX =

lie present analysis asnhe msed for either a given


arbitrary shape of foil fact- or a given load distribution on
the foil. If tile shapicof Ils loil is giveinin the physical
plane. say
y = fIx)

y, + y.

Y+
"

t f, + kvi

=c i

hen from linear theory,

(2I1

t ite drag coefficienst is, from Table I.

I(x iQ)

tlus, v in esulition (3 is known. If the toil has a biit


leading edge. I f I may be infinitely large at the leading edge,
andIeqtuationlOf can not bieused. In this case, the foil is
considered to consist of two foils: a thin !cading-edge foil
Ii and a non-lifling foil consisting of a point drag.12 that is
V s f, Ixt l . flit (xQ1))K

20)

where f , f, ind f3 are function! of cascadeparameters.


For convevience y . y , y ). c. a. k, and the cavity thickness
of ile composile foil. Ii, ) are all considered to be divided
by a given design tift coefficient. (I or all the quantities are
cionsidered for a unit ('L If tile comnpositefoil is considered.
rise cavity thickness i.

with respect to x.

v=

f, /('L

y /('L =
/('.
Y/('L = ki f1 i

k0 / I t i
S- asin

a s"il 'Y
'- + -a viny
sr(

+2
+ a

(2

where

a sin

i,

+k

(L23

where fil
-f-k IKill 1/$- siny) is small and can he
be expanded in a tourier series. After performing an
analysis with fis, tile point drag will be added sparately in
a simple way as shown in the following sections.

11(

7. FOIL DESIGN

where C'1 and ('au are given by equalions (i, 17), and
113t fisr a given foil. (r and CkI are very isccinctly
reprenlted by equatois h), (7, and ( 13) because tor a
fliarrie, An - OItn I, 2-...) with only non-tero
13
cefflicient All, and for a point drag,

I-cC

OC a c

1>14

M"l

the deaign method for a sut'crcavilaling foil near a free


surface has been studied for zero cavitation number. For a
cascade, a given11,pressure
mode was considered to create a
13
reasopable foil
It would he very useful to design a
supercavilating foil with a circular-arc camber or so-called
two-term camber or any other given cimber shapesIn a
'
cascde or beneath a free surface. A typical lechnlque tti
involves a superposition of three elementary foils, a shock
free foil with a given camber shape,a flat plate with an angle
of attack, and the point drag, for which all the useful
formula are given In the previous sections.

('L

-I

1251

Now is a given t. tlre ratio of the cavit


given C' -

Ihe philosophy of superposition of the three eleni.


tary foils to design a good supercavilatlng foil involves first

yI

eavily thicknes positive by angle of attack and then


the cavity thickness near the leading edgethicker by
drag. Although this philosophy has been bsed on a
knowledg of low-drag nonfifting thick foileat the
combination of the angle of attack and the point dragwas
naking
making
a point
general

" to

I -

I - a( '
-(s

thickneso lil te

isl

ut

ki,, k, v k+o

263

1-271

where
t
f,
k -t"
" f _ I-

(281

and
k M2 I'r

k2 F-

f2

(2)

Csi and CLI are tunctions of cascade parameters: l are


I
functions of x, as well as the cascadeparameters. Therefore,
if the camber shape, cascadeparameters and x, are fixed,
Clfi, CLi and fi are all constants. Thus, c and k0 are linear
ft.nctions of a and CD ICl is a quadratic function of a.
Thus the optim'um value of a should be either the point at
d/da (CD /CL) = 0, or atthe boundary of the significant
(, ko ) domain.
If o = 0 and a = a, in equation (271,and correspondingly k0
kR and k = 0, then physically significant values
of (a. k 0 ) lie in the domain
0 < a < 0,
0 < k0 < kg

(30)

the cavity pressure and thedown stream pressure, with a,


and a3 coresponding to cavity ends as shown in Figure 4,
However neither the pressure distributions on the foil nor
the foil shapes of thesolutions w and w, are necessarily the
same. because the cavitation number changes according to
the cavity length. If the lift distribution of the infinitecavity foil is kept the same when designing foils having
finite cavity length, the above theory can be conveniently

used.

10. COMPUTATIONAL PROCEDURE AND


NUMERICAL RESULTS
When the foil shape is given in a cascade, or beneath a
free surface, the foil offsets in the transformed plane have
to be represented by a Fourier series. Thus, for a given
boundary geometry, transformation parameters a and K are
computed. In general, "a" is computed by NewtonRaphson's method for the given geometrical parameters.
The initial approximation
of "a" can be selected from the
0
corresponding graphsm Then for a given t in the transformed plane, the corresponding x of the physical plane can
easily be computed from the transformation equations in
Figures tI) through (3). The offsets in the transformed
plane are expanded in a Fourier series by FFT.
There are several FFT routines available at the David

with increasing a corresponding to decreasing k0 .

W. Taylor Naval Ship Research and Development Center.


These can be used to obtain either the Fourier coefficients

When the amount of camber factor c is given, the angle


of attack has to be determined from

or the sum of Fourier series at each small interval. The


number of intervals or the number of terms in the Fourier
series is20. The routine which was used here to get the

I-

Ct
M2

Then the condition of the leading edgethickness will determine the strength of the point drag, kq. Since the large
camber may induce facecavitation. the camner naturally alto
hasan upper limit.
9. FINITE CAVITY EFFECT
For a design problem with an arbitrary lift distribution
given on the foil, the solution for the supercavitating cascade
12
witha finite
cavity
length
has beenreadily
obtained by a
superposition of a simple functton of cavity length parwmeters;
onto the solution furthe infinite-cavity problem with the
same lift distribution, When
W I au - in1
(31

Fourier coefficients of v ina cascade in Equation (3b) took


0.18 seconds of computing timi with n = 8 and 0. 11 seconds
with n = 7 on a CDC 6600 computer. With these two sets
of Fourier coefficients, the computed values of CL and
CD /('L differ by less than 0.1 percent with the solidity
c/d -I, and the stagger angle "y= I radian. If the solidity
is larger than 1.5, the accuracy is decreased slightly. Fourier
coefficients A0 from Equation (3b) and An from the shockfree relation in Equation (14) contribute to *he actual shock.
free angle of attack. The difference between these two
numbers, o%, isthe extra angle of attack to be added to the
givenfoil in order to make it shock-free. Thus, the shocktreenose-tail line is the sum of ao and the nose-tail line
angle of the given foil with respect to the x axis. In Figure
5 a circular arcfoil and the two-term camber foil in an
inflni:e medium are shown at the shock'fre angles. The lift
coefficients and the dra-lift ratios at the shock-free niles
of these two foils in a cascade are computed front t16i ations
(6) through I), and are shown in Figures 6 and 7 as normalizedby the lift coefficient in in inflnite medium. A

in a complex velocity of infinite cavity length with a lift


distribution,

noticeable
Is that the curve of drag-lift ratio is almost
paedlel nafeature
very close
to the curve of noa-taill line
shock-free angle. This means,the drag originates mostly

then, a solution w for the finite-cavity length with the same


lift distribttit can be writen

from the shock-free angie of attack, and very little drap


mltis from camber. Also shown In the figures are the
considerable cascade effects rissalttingf. om Increasing
sollditle. However, the circular arc and the twsa-term
cambers have relatively samallcascade affects compared with

(1,2)

where

waf)

rIs
J-

a
2

__

dl "i

u)

a"
lotg
- 3

u + iv,
133)

nJ
w,(i-O,w,(r)-=0
i

forx-.'..

w] Is the complex velocity


due toa constant negativepresute
distribution on thecavity and foil equal to the difference of

those of flat plate shown in Flure 7. The two-ters


camber foil performs very slightly better than the circular
arcfoil.
The cavity shapeisobtained by computlannormal

velocities on the cavity from Eqtion (10) andnuanerictaiy


integrating them with respect to A. For the flat plate.
Equations (17) sad A(I) are used Foe the point dreg,
the
cavity lsapeisavailablein Equation (19),With the cavity
shapet,the cavity thickner i,computed and flin Equation
(20) i prepap d. Thus, fou lsapi of composte foll witha
given cavity thick4neeat a riven x,or x I , ae salysed for a
shock-fre circular arc foil. When the le.41-dg cvty
thickners divided by the chord lkngth and the lift coeffilent

t3

I'mq

0.2
5O

1
CIRCULA
ARC

0.2

CA

10C1

TWOTERM
CABER1.

TOTR

ABR

-0
-020

0.6

0.8

1.0

DC

'F

TPLATE

FNgue 5 - Supercaviting Shock-Free Foil Shape


Y/CLOin1an Infinite Medium
*/CL

_.0_

1.0

0.8

Figure 7 - Lift Coefficient CL Dragt-Lift Ratio


Camber Foil
D/L of Supercavitating Two-Term
3 2
Y/CLO 415v (x+ 8/3 X -4.2) insa
Cascade of Stagger Angle I Radian, at
Nose-Tail ine Angle n/C
10

CAF

-a/CLQShock-Free

0.4

0.6
0.4
SOLIDITY, c/d

0.2

Co
0

0.2

04

0.6

.0

0.6

0
1.

1.0

,%./10CL

SOLIDITY. iid
Figure 6 - Lift Coefficient C Drsgl-Uft Patio D/L of
FI y/CLO - 16(a - x)(w
Supercavltatla irclr-r
in a Cacade of Stan" Angle I Radian,
Angic, a/CL 0
Free
at Shock
is 0.1 at XI - 01 C /C 2 and the point dragsingularity0
ke/CL Versute agle Ci' tie flat plate superposed are
is positive. A
shown In Figure 8, where (d/da)(('D/C()
Q. where
at at - 0.5 is shown in Figure
s(dad)((
imilar curve
when the cavity
0 /( 1 ) is negative. in general,
is positivei..the point drag is more efficient for increasing
th edn-dethickness,

When the cavity thickness is

specified near the trailing edge,Id/do"t 0 /'


i rglic
i.e., the flat-plate angle of atak is more efficient tu
increase the trailing-edge cavity thickness. However, ilopei
of (d/d*)(C1 /CL2)arevery small, i.e., the cavity tthickvt%
and the amount of camnbermostly determine

irespiective or the shapeot camber.

~'

~~

o the
To investigate the intfluettce of camber shaper
vriaionof cccslarsrccamer
Uft raioa
sid11wde~-l~t
is conasidered
s in FWgsse
10. The n-coordinate of the
bya factor (01l 4 bit)to (he
isVan~ed
maximum Camber
circular arc y - 44x - x3) where a tilts, - i~l)tI + hxj))
makettotaa
maximumic
thee
cabe
toe eamual
iscuse
the
is tete
Wirmximm
o mkefato
cmberequl
1,and
thesx coceinas of the maxismunm
camber is
X I-S
a . /S1-4A)/(2A) with A -3b, and R- 2(t -hb.
osfattack, and the
The lift coeMcient. the shock-freer artajei
dnagfl ratio of the defored circular arcort ahown in

C, 0

5 cu /C"
*400
0

0
a/CL "Galt'S

Figure 8 - Draii-Uft Riou avidStrength of Point-Drait


for Compsilte Fail of Shock-Fr Circular
Slngsslanhy
of Sta=rr AngleI Radius with Cavity
Cascades
Thickseut IteCL( -O0t at x - 0.1
t-lgure It. Asexpected, the smaller the x-coordinate of

maximum camber, the larger the shock-free angle of attack.


The dragdue to the comber alone is negative when the xcoordinate of manisisam camber is les,than 0,5, Tiat is,
the amount of negative pressure nearthe leading edgecvcrcowts the positive pressure nn the foil. The dragl-lift ratio
when the
deformed circular arc decreases
of the shock1-free
x-oordinate of maximum cansber
Increases, even when the
shsbe
eda decvt hcns .seiid
peat theife. Afcambesen
ledinusedgofteIy thc~
on lift and dragIs related to thsecavity thickness distribustion
on the foil. Thua. with a&
Sven cavity thickness at only one
shape
point, the diianon cl the Influence of the canmber
on the lift and dragcannot becompletely general. In general.
when the curvature of the foil face Ispositive everywhere.

CL/f

ko
Ci-

10
20
30
40
FLAT PLATEANGLEOF ATTACK.ck/Ci IDEGREEI

Figure 9 - Drag-Lift Ratio for Composite Foil of


Shock-Free Circular Arc, Flat Plate and Point D~ragin ab
Sopercavitating Cascadeof Stagger Angle I Radian
with Cavity Thickne. t/cCL- 1 0.5 at X 0.O'

CL
b

R CIUL
RCR RC bto

1).2

.-COORDINATE
OFMAXIMUM CAMBER

0.4

Ott

0.5

Figure ItI - Lilt Coefflcieat, Drag-Lift Ratio of


Superclavitating Deformed Circular Arc
y/fu - a I - %IfI I + bvt in v Cascadeof
Sol: 1tv 0.984 and Stagger Angle 1.1868
Raton at Shock-Free Angle of Attack

1.0

a/e

a/f0 . Normalized by (amber fu

Figure 10 - Variatiotn of Circular Arc


Y'f a I x - Xtt + hot
.1hsftffto tire maximum v-amrbertowa~ds thectrailing vdiii'
slightly reduces the lift-drag ratio and tire section modulus,
for a given Ivadinitrie cavity thickness.
Aui examptle of afoil cavity shltaie with two-tein0*p
cavity thickness is stiown
ciittli. and a given IrAhling-edlge
in I'igure 12 top their with the coirrespovndinh
tift ditit'i
ho.). The analysis fif a supecanitaling calicadeis particularly
uw.fut for designing mipercavilating; propelers. As an__
example. the cascadeinarameters for d model of a supercavitaling; propelter tested at the David W. laytor NavalShipi
Resericht and Developiment ('enter ihtodel J1770)are shown
inIifugre t .I. lhii rangesol solidities and staggeraiigte irt
very iarfe,
ttikeeffect of fitit cavites is directly relted] to tile0
cavitation ni-iter OIfcot-se. for ati isiolated suapercavitaitug
fint beneath tofree surface, the cavitation nunmbetis rirk
Mtsen the cavity length iv infinite lFor a cascade,the chokeCow cavitation numbter is ;I functioin (if cascadeponameoters
In Figure 14, it Is shtownl
atti the leaingf-edge thickness.
5
c4 wiiii Inuher is a linear Iticiton
that thle hkikvid-I1,kw
,the cavity thrickiiess per utit t',. itt a -- ca ct ot
s-,,le l'iatuictet, .1iti a tised c of a in I quitii I (-ti
Oni Figures 14. 1 c, S , Ii',o two tert j itiil
I )ie
larger lin: sittiity. dII larget it. "h ofe
itt
ace cI the ,
dliikd t11Wcaviltivin numtbet %ktilneicti Ithe oucreaiigi
-,,1iy
IfIkues
Ass tt
n
haf
ll tie It.4 clsiiutiili ott t
t~itie~i~
t suer.at taiiiltil
is the acas v thm1,
as5. it

1.0
.
C,
-_________________

ICL

*0.5
-1.0

0.

0.

0.

10

1.

14

irk

andLift Distribution
Figure I2I Foll.4ianity Shape
with c/d - 0.471118
in a Supeecanllatift Cascade
-I

(Ct .1015 kind. CDW

01231I

chtittel cavity. the~finite cavity etfect i%anatyzed as %flowti iii


Eitattonsi I1 -111t using te technique of Refortniet I I
Ihrict the lift, the dragand the cavity-fool shape
wilt be
fiinlIwsin of the cavitsair' number. Of course. th- cavitation
ntutmber is a function of cav ry tengrh.1 I'i h relations

1.0

028

0.00.

0.

Figure 13 - CascadeP. amtee in upecvlit


PropellerModel37

,0
.

DESIGN
SECTION4

R/r
CAVITY- LENGTH.

0A~
25
(avity-L

(01Figure

SIt,1,

0,4RiO~n

0 .6

0S
0.6Aflthough
> 0.4

0.7
Li

0.n
01

9use

0.2
0t
0.16
Cos
LEADINGEDGETHICKNESS.
I/CLlit'I 'a'iii'
1

0.26

Figure I .- Rellam Hewen 0hokd Flow Cavilaims


Numbser
and LeawlgFdo Thiems '( Supez,-is"
Is n
Catscaide
in Bladesee'mmsof Sape .'
Ii,
Propeller Moidel.l'/0
lie'weenth
11w rtimiato numb"r and lIhe cailhy ictill Arm
shown in Figure 15 for propefler Model 3770 Figrur IS
shvonsthat near the lsvb where the solidily :s larg. the
sAvilaluirn number divtided h) timelift coefflceenl SartesIefl
lttle wmibcavity lenigth Throughtout tmost%eiltun%of ti,
proller-bidei a cavity of lIo and orr-half chord knolli.
givesthe sameeffect as a Ce&nity
01 infinite length the
dlemnnsection c;avitallii numbe" divined by lift dueffu,vcnt
foe propeller Model 3770 is shown us Figure I4 for cA~b
sccrIje. 11w cainty-thiclea of Wh(odi I"iure I iis
aibusledto the desagnvalue of cavitationr
:iurnberper unit
lift toefficent. Aotdmg to desAInerrequirements to make
the entire sectionsuoerianitale, the foil shApecould be
desmwwd
1o have routgi ily thekknessi
at A lsen desin

secton
nube? cvirs"

lion Between Cavitation Number and


.f Supercavitaling CascaderinBlade
..

Propeller Model 3770

most cxampc m the preset study are for


awicde,. the foils kortili or Aixvc a ree 7iurface can he
treated in [hte same w,, by lost changing the trainsformation
function for the tourict ,zoefficicrits B, in I-quition (5. In
Ihe caiw of in ifinie fluid. where B.
I and H,, = 0
I. 2.. I, Ihe problem liecoose much simpler. and the
of 1-6* ouild sinpltfy the Analysis of arny foil shape.

ACKMCJLEOGEMENTS
%ml, ii'
-ii
r, upoiled b%tire N'ii 1l.1i,,
I iimari)s,,I I.,I.,miir I uirdringt 0 , Irj'
ons Pfl'tulf'i
,s lnith!siuer %asal kvhtude.
I II, aijthi' A"s, sst, I"i
prt- hisapriii,
II
I,- Il, Niufin,- M %title lir
iiti
rumi uith i tr, -i,l,,
arid tou1), Will,,,,,I B Shnpr.,
.,i Mi Jiisn Ii Wdiwi
ft I,,, lirr-ir mii %i..l,icu

REFERENCES
1. Tulin, M.P., 'Supercavitating Flows - Small
Prtiurbation Theory, " Journal of Ship Research, Vol. 7,
No. 3 (January 1964).
2. Betz. H.,and E. Peternobs, "A.4pplication of the
Theory of Free Jets,'" National Advisory Committee for
Aeronautics TN 667 (April 1932).
3. Cohen, H., and C.D. Sutherland, "Finite Cacity
Cascade
Flow."-Proceedings of the 3rd U.S. National
Congress of Applied Mechanics (1958).
Jhnsn,'he.E.Iflunceof ept of
4. Jr.
4. Jhnsn,
r., TheInflenc
y.,
of ept of
Submergence. Aspect Ratio, and Thickness of Supercacieating
Hydrofoils Operating at Zero Cavitation Number,'" Second
Symposium on Naval Hydrodynamics, Office of Naval
Research, Washington, D.C., pp. 319-366 (1958).

5. Auslaender, J., "The Linearized Theory for


Supercavitating Hydrofoils Operating at High Spends Near a
Free Surface.'" Journal of Ship Research, Vol. 6. No. 2,
pp. 8 -23 (October 1962).
6. tHnu,C.C.,"Some Remarks on the Progress of
Cavity Row Studies,." Transaction of the ASME. Vol. 97,
Series1, No. 4, pp.439-452 (Dec 1975).
Flow
7. Oha. R., "Theory' on Supercavitating Cascade
for Arbitrary Form Hydrosfoils,.' Proceedings ASME
Sytnposium on Cavitation in Fluid Machinery, pp.70 -90
(1%5).I1.
8& Furuya, 0., "Exact Supercaiating Cascade

Theory."-Journal of Fluid Engineering. Vol. 97, ASME.


pp. 419-4 29 (Dec 1975).
9. Furuya, 0., "Numerical Predures, for the
Solution of Tio-Dimenskseal Superc-atitating Frows Near a
Free Surface.'- Procedings of First International Conference
on Numerical Ship Hydrodynamics. David W. Taylor Naval
Ship R&D Center. pp. 155 - 176 (1975).

t0. Yim. B.. 'OnLow-Drag Infiite-Cavity Foils Near


a Free Stwiace or in a Cascade."Proceedings of the Second
International JapaneseSociuly of Mechanical Engineers
Symposium, Tokyo. Japan.pp. 257- 266 (1972).

11I. Yim, P., and L. Higgins, "ANonlinear Design


Theroy of Supercavrting Cascade,' Transaction of the
ASME. Vol. 97. Series1, No. 4. pp.43G-438 (Dec 1975).
12. Yim, B., 'Fnire Cavity Cascedes
with,Low-Drag
Pressure Dlstribotlo' Transaction of the ASME. Vol. 95.
Series1, No. 1, pp. 8-16 (Mar 19731.
13. Yir,. B.. and L Higgi.s Linear Design of Supercaritating Cascade
Sections.'" David W. Taylor Naval Ship
R&D Center, NSRDC Report 4239 (Mat 1974).
14. Laroek, BIE.,and R.L. Street, 'A No.-linear
Solution for a Fully Cavitating Hydrofoil Beneath a Free
Surface,'"Journal of Ship Research. Vol. 11, No. 2.
pp. 131-139 (1967).
I5. Wu, T.Y., CGavity
Row and Numerical Method"
Proceedings of the First International Conference on
Numruicst Ship Hydrodynamics David W. Taylor Naval Ship
R&D Center. pp. 113-136 (1975.

16. Jiang, C.W.,and P. Leehey. "A Numerical Method


for Determining Forces and Momnents
ontSuperca cit ative
Ijydresfoils of Finite Span.' Proceedings of the Second
International Confercece on Numerical Ship Hydrodynamics.

David W. Taylor Naval Ship R&D Centr ( 1977).


17, Mogel, T.R., and R.L. Street. "A Numerical
Method for Steady-State Cavity Flows. "- Journal of Ship
F search, Vol. 18. No. 1, pp.22-31 (1974).
Street, R.L., "Review itf .umerlcal Methods for
Solution of Cavity Row Problem." Proceedings ur the
Second Infernational Conference on Numerical Ship Hydrodynamics, David W. Taylor Naval Ship R&D Center ( 1977).

19. Glaueet. H.. "The Elements of Aerofoil and Airscrew Theosry."-Cambridge University Pris, London (1926).
20. Cookey. 2W., and J.W. Tukey, "AnAlgorithm for
the Machine 0caukllon of Comnplex
Foutler Ser-ies,"
Math.
Comp. 19, 90. pp. 297-301 (Apr 1965).
21. Gilbe -1 D.. Jets and Ctacl~ies.
Encyclopedia ot
P'hysics, Vol. 9, Fluid Dynamics ill, Springel'-Verlag, DeilIm.
pp. 311-445 (1960).

AN APPUCATION OF THE BOUNDARY INTEGRAL EQUATION


METHODTO CAVITY AND JET FLOWS
Bruce
E. Larock
Ulmiyof
Calilfornia
D.Is, C.1fomnlagW18

Abstract
A discussion of the use of boundary integralequation techniques to solve cavity and
jet flow problems is presented. The need to
model such flows as a mixed-boundary-value
problem isdemonstrated. Application of the
basic method requires four steps: a suitable
discretization of the problem, formation of
the resulting matrix of linear equations, solution of these equations, and use of a systematic shifting algorithm to improve the free
surface location. Although progress has been
made recently, examples show step four isstill
in need of further research and improvement.
To illustrate procedures, simple two-dimensional jet and cavity flows are presented.
I. Introduction
In recent years the design of high performance surface vessels and other marine vehicles
has continued to focus attention on the need
for computationally practical solutiois to
progressively more complicated jet and cavity
flow problems. Iydrodynamicists have now
sought these steady-state solutions for over a
century; to date no totally satisfactory
approach has been presented which allows a
convenient and suitably accurate fully nonlinear computation of these flows, especially
in throe dimensions.
During the past decade the use of conformal
maping, finite difference and finite element
techniques have allcontributcd substantially
to progress in understanding jet and cavity
flows. However, none of these approaches is
free of limitations or shortcomings, and the
great majority of the work has been restricted
to two dimensions. Conformal mapping Is of
course limited solely to two dimensions. From
a conceptual point of view, finite difference
and finite element approaches to jet and cavity
flows can be formulated in terms of a velocity
potential so that there is little if any difference between a two-dimensional and a threedimensional problem; the shortcomings here are
mostly practical ones.
toth finite difference .idn finite aiwmnt
techniques must fill the tire flob J-main.
The physical doeMin is always -ret ja - in
shape and often possesse, cur.
t, nadir

surfaces. Trial free-boundary techniques depend upon shifting of the free surface portion
of these boundaries as thesolution proceeds
iteratively. Finite difference methods are not
ideally suited to the treatment of boundary
conditions at non-rectangular boundaries, and
so they usually either (i)useirregular computational stars there and suffer some loss of
accuracy, or (ii)solve the problem in a velocitypotontial and stream function domain [1,2]
and tr.sform the solution back to the physical
domain, thereby sacrificing theability to prescribe the physical geometry a priori. Finite
element techniques do not have these problems
but do require an automated mesh adjustment
scheme near free surfaces, preferably a quadratic representation of the velocity potential
and possibly the use of isoparametric elements
along the boundaries.
Injet and cavity flows the most interesting
and useful infonrmtion from a solution are the
spatial location of allfree surfaces and a
knowledge of velocities and/or pressures along
the boundaries. This realization causes one to
feelthat full-domain techniques stch as the
finite element technique are ina sense computationally inefficient, for in the course of
developing the required boundary information
it literally generates reams of interior data
which isoften of minor use.
For these reasons the search for superior
computational techniques for high-speed free
surface flows continues, This presentation
suggests that a variant of the boundary integral equation method holds promise of being
such a technique. In this method allcomputations dealdirectly with domain boundaries.
For free surface flow problems the vital missingingredient inprevious Implementations of
the method was a systematic algorithn for
shifting the trial free-boundary between successive iterations; the present paper presents
two possibilities.
II.

Basic Theory

Several basic ideas underlying themethod


have been understood for a very long time
(e.g.. see [3]), but most computational pr,gress has occurred in thelast 20 years during
the computer era. Hess, Smith and co-workers
at Douglas Aircraft have been among
the most

persistent contributers to developments over


this entire period (see review articles [4,5]),
while a more diverse interest in applications
such as solid mechanics [6]and seepage flow
[7) is becoming apparent in the last few years.
In retrospect the approach proposed herein is
closely related to boundary integral techniques
developed at Stanford University by Kline et
al. as part of a continuing investigation of
stallprediction in diffusers [8-11].

this particular technique offered at best a


'cut and try" approach to adjusting free surface boundaries until all appropriate boundary
conditions are satisfied.
The next sections will demonstrate how solutions to jet and cavity flows can be sought
systematically by use of Eq. 4 as the basis of
a numerical treatment of a mixed boundary value problem.

The method is based on Green's theorem for


III. The Present Technique
2

f(FV G - GVF)ds = JFG - GVF)-ndr


r

(1)

Implementation of the current BIE method


depends on four steps (Hess [5] has written
extensively or the first three steps and can
be referred to for a mere ccmplete account).
These steps are: discretization of the problem, computation of the coefficient matrix for
the unknown values of 0 and fan, solution
of the resulting linear equation system, and
adjustment of the free surface.

a domain 2 bounded by a surface F having


a unit outer normal n. The functions F and
G are to be continuo sly differentiable.
When both F and G satisfy the Laplace equation, the left member vanishes and one obtains
a boundary integral equation (BIE). In the
present case one function is chosen to be the
velocity potential 0 (let F = *) and the
other to be a fundamental solution of the
Laplace equation. The most common choice for
1 is
G - In r

in two dimensions

(2)

G - 1/r

in three dimensions

(3)

I. Discretization
Equation 4 normally can not be solved in
closed form for o and aOs n. The usual
approach is therefore to discretize Eq. 4 to
obtain a set of N algebraic equations in the
discretized unknowns 0i and (a n), where
1 = 1,2 .... I, j = 1.2,...J and I t
N so
that the equation system is determinate. This
process involves i discretization of both the
boundary geometry and the urknowns.

3=

where

r = rpo ; the
from any arbitrarily chosel point distance
P Iii , to a point
Q
on the boundary r. By use of a limit process
in the neighborhood of P, one finds
0bp

*k

-G

dF

(4)

an 3 an)(4

noting that VG'n is equivalent to aG/In. If


P does not lie on F',
a 2nZ in two dimensions, a - 4n in three dimensions. If P
lies on r, then a is the "internal angle"
subtended in passing around P. Subsequent
sections of this paper assume P lies on F.
When a problem is well posed, either 4 or
at/In will be known at each point along the
boundary, and Eq. 4 then becomes an integral
equation relating the known function G and
the complementary function * which is to be
found. One additional noteworthy point is
that the technique is inherently mesn-conservIng in itsexact form; that is,

11

(a) Exact domain


Z
2

J~drsON-1
(b) Approximation by N segments
Figure 1. Discretization olfboundary

Since the form of the fundamental solution


chosen for G ha, the same mathematical form
as the velocity potential for a point source
of fluid, the approach is called the surfacesource method. Hess at al. have fashioned
this technique into a'i"iilly efficient method
of
aelving the0lure
zovin
Neumnn
Remnn
thepur
roblm o extri-

Geomet.
Figure I depicts in two dimensions the process of approximating the true
b
g
by ddividing
i
i into N segboundary
geoetry
by
It

or flow over solid objects of knownshape in


two and three dimensions. However, Ness corrtctly remarkad [7, p.1] a decade ago that

line segmnt t us his


se. Straight lnes
are simplest to use. Higher-order polymial

problem of exteri-

ments of known
(by coolce) shape -- straightl
segoentn thi
sap straiht

270

segments can better approximate the boundary


but require more effort to implement. Circular
arcs
closely approximate
parabolic
[12]. arcs
In and
threeare
halthematically
mre tractable

0(s)

dimensions the line segments become plates of


quadrilateral or triangular shape; both have
been used. Some [13]have rejectpd the use of

and

quadrilaterals because adjacent segments sometimes can not be aligned to give a C continu-

11a
j'(s)

oux approximation to the original surface and


the elements "leak"; Hess [5] discounts this by
considering this discretization as a mathematicalapproximation rather than a physical one.

nn

j+ (0j+l-0j)(ss )/(sjl-s )

1j

at

;Aj,

an
do
a Iii n

s-s/s

(6)

l-S j
(7)

where s is the coordinate along the segment


connecting points Pj and Pj+l"
Unknowns. The simplest approach is to assume thatand
a/an are constant on a
discrete boundary segient, and historically it
is the most frequent choice. Assuming a linear
variation of the unknowns on a segment is becoming more common, however, and higher order
interpolation functions have been used on occasIon 12].
The choice of order-of-approximdtion for the
boundary geometry and the discretized unknowns
is still regarded by many as an independent
pair of decisions, but Hess [12] has shown by
series expansion techniques and numerical experiments for the Neumann problem that mathematical consistency requires the approximation
of the geometry to be one order higher than te
approximation of the unknowns. Although the
selection of straight-line segments and linear
interpolation of the unknowns is thus deemed an
inconsistent approximation, this choice is becoming common and often yields good results.
(Itwill also be used in the examples in this
paper.) Finally, fur two-dimensional BIE formulations based on complex function theory,
order-of-approximation arguments appear not to
be applicable because the resulting expressions
become path independent so that ooundary curva-a
ture does not play a role (14].
As an example of approximation of the unknowns, refer to Figure 2. For the linear

2. Equation Matrix
When Eqs. 6-7 are employed in Eq. 4, the required integrations can be completed in closed
form to yield expressions linear in the 0j'
and (a0/n)j s and involving logarithmic and
inverse tangent functions. In a higher-order
approximation the superiority of circular arcs
over parabolic segments becomes apparent here
due to greater ease of integration. In axisymmetric problems where integrals can not conveniently be evaluated in closed form, one must
use numerical integration with care to achieve
accuracy. On the other hand, when rpQ is several times the segment size it is often possible to use simplified results in place of
lengthier, exact expressions; this factor becomes most important when three-dimensional
problems are considered.
When Eq. 4 is evaluated for each of the 14
points Pi (I - 1,2....
N), the result is a set
of linear algebraic equations of the form
1t '1 *
+

,
im

Q
P

'PQ
/

Figure 2. Portion of discretized boundary


approximation on4

write

(8)

where summation over j - 1,2,...N is implied.


At each of the N discrete points on the
boundary either *0 or (ao/an)1 is specified
as a known boundar4 value, and the final N
equations to be solved are
Aij qj

V -'J,

(9)

Equation g is obtained from Eq. 8 by transposing to the right side the N terms known
from the boundary conditions, and qj is the
remaining vector of unknowns.
At some points on the boundary of the flow
it is desirable to represent exactly a discontinuity in ao/an; in particular, this toccurs
at a corner where one segment represen ing a
wall connects with another which has fluid flowingacross the domain boundary. To medel this
case exactly. one simply places bio nodes t
and j atop one another at the corner (they a,e
connected by a bo,,diry segment of zero length)
One can then ass
, bondary value for aoan
to fode i andi
.kij J; if only one value of
p i n Is speciticvi, cm:n * can be specified
271

at the other node. Equation 9 must also be


augmented with the equation *i - . Normal
computations for the segment of zerb length ar,then omitted from Eqs. 8-9.
3. Solution of Equations
The coefficient matrix Ajj is fulland unsymetric in distinct contrast to the finite
element formulation of these problems, which
would yield a symmetric, banded matrix. But
the number of equations N via the BIE method
is much smaller than.
for a fulldomain method.
Moreover, the diagonal coefficients tend to be
the matrix is not
although
large
relatively
strictly diagonally dominant.
in two dimensions and in smaller threedimensional problems this kind of linear equation set is solved directly (e.g., Gaussian
elimination). For large three-dimensional
problems, iterative solution techniques may be
preferred,
4. The Free Surface
It is the treatment of the free surface itself that spells success or failure for theBIE
method in jet and cavity flows. Earlier BIE
techniques concentrated on formulation of the
pure Neumann problem. Once a tentative free
surface location was assumed, a jet flow could
be formulated and "solved" as a Neumann problem. but after a check had ascertained that the
trial location did not satisfy both the streamline tangency and constant pressure conditions,
no algorithm was available to adjust the free
surface systematically to an improved location,
Cavity flows were even less susceptible to such
a treatment.

progressing from a downstream reference value


of * to the upstream lip from which the free
surface springs. Here V - fluid speed on the
free surface. After Eq. 9 is solved for values
of 0*An)i along the free surface, the
streamline tangency condition is used to adjust
the surface, beginning now at the known coordinates of the lip (|rst the new localfree
surface slope m(n1j1 is compue4 at each node
i in terms of the old slope ain;, localtangential,speed V and current value of
(/an)ni;
the relation is
(

W
t (n)
Vm(n)+
onTnnT
V - m(n)(a 3

(10]

with use of an outer normal. It is convenient


to insert these slopes directly into a cubic
spline interpolation scheme to find the new
free surface. Whether V varies along the
free surface because of gravitational effects
is of little consequence. The sirgle remaining
problem is proper selection of the downstream
value of V; as the next section indicates, no
one approach currently appears superior for
both jet and cavity problems.
IV. Exanles and Discussion
BIE techniques [8-11] at Stanford University
have in the last couple years been applied to
the (assumed) potential flow core of stalling
flows in two-dimensional and axisynmetric diffisers and are typified by the flow shown in
Figure 4a. Line AE is the centerline of the
diffuser where a OAn - 0. Flow across the

It now appears that the BIE method should


properly treat jet and cavity flows as mixed
boundary value problems which are solved in
conjunction with the kind of general surface
shifting algorithm used by the writer and several othrr investigators over the past five
years [8,9,15-19].
The essence of the scheme is to assure a
constant pressure on a trial free surface,
Fig. 3, which may initially be incorrectly

l)

E
(a)Diffuser jet

C'

2--2
Figure 3. Schematic of free surface
located, by assigning nodal boundary values of
* by Integration of 34/3s - V. usually

A_

R2

----4'E

(blJet or cavity
cigure 4. Jet agd cavity fow examples

is
BEprooutlet section
section iJ.
iiiet
c,
s-dimensional;
thecndvelocity
aq01n is

5.9
withlip Vto conspverl
lower value;
caused
the velue
of 3iterations
$fn at the

scribed at AE and computed at DE at the


beginning of each computational cycle from continuity. Along the solid wallBC 4Pl n - 0.
The free surfacrx Co separates from the wall
at C; ths fluid outside surface CD is assumedto
at coastant pressure. With the
',elocitV computed at 0, boundary values of
y are assigned ilong the trial free surface,
,d Eq. 9 is formed and solved. The computational cycle
repeated until a ctonvergent
sol;ltion is attained. In axisymnetric problem
[9] the lnvestigatu; iiac to undercorrect the
amun of the local slope adjustment
(n+)-m(n))
strongly to assure convergence
of the technique; only 10 to 20% of the computed change in slope was actually used in adjusting the surface at one time. Undercorrection
was apparektly not needed in two-dimensional
problems. All work employed straight-line sagmeats and a linear approximation for unknowns;
apparently each free surface experienced a totel angle change of d50 or less (localfree
surface slope Iml 1.0) with no more than a
50 change in direction per segment.

verge toward a positive value. Hence, the correct value of V must lie in between, end several automated interpolative sequences gave a
final free-surface value for 3a/n at the lip
which was appcoximately -C.036 when V - 5.94.
The initial and final free surface ar plotted
in Figure 5.

2.0

Lip
.5
Final
e"
1.0 Initial

The author applied the foregoing procedure


to the configuration shown in Figure 4b; it is
a two-dimensional jet flow from a slot with

a- 70 and yl/y 2 - 4.0. Twelve segments


were used to model the free surface; for convenience the velocity across AB was unity. Unaccountably the scheme did not converge to a
solution even though the initial trial free
boundary was a smooth exponential curve located
reasonably close to the expected solution.

Figure 5. Initial and finalcavity 'Free


surface
The general free surface adjustment scheme
seems to perform differently when implemented
in the BIE technique rather than, for example,
the finite element method. The probable cause
is that the BIE approach is inherently massconserving, as Eq. 5 states :1early. Consequently, when a portion of a trial free surface
is too low and causes computed local values of
D$/3n to be positive. Eq. 5 apprently ensures
that 3$tdn willbe negative over another portion of the same free surface to conserve ass.
Possibly this effect Is more pronounced for
axisymmetric flows and led to the need for
undercorrection of the free surface.

With a different physical interpretation and


a different assignment of boundary values, figure 4b depicts a Riabouchinsky cavity flow past
half a symmetric wedge in a water tunnel. Let
AE be the tunnel wall, BC' is a line of symmetry, and C'C is half the wedge; along all
these boundaries assign a0)n - 0. Thus DE
is at midcavity and is a line of constant velocity potential *, but the normal velocity
across DE is nonuniform; assign * - constant
across DE. Across AS the oncoming velocity
Is uniform and * is also constant but unknown; for convenience assign a unit velocity
to section AS. On CD * can be prescribed
once V is selected. Again yl/y2 - 4.0, and
for this example x1/y2 - 7.73 and
x2/Y2 - 1.57. At this point C a double node
was placed so tnat a3/an - 0 on the wedge.
but * was also prescribed at the lip from
free surface considerations.

V. Pr

g.

Formulation of the boundary Integral equation method as a mixed boundary value problem
holds promise for the efficient solution of jet
and cavity flows. In several respects the
technique is still not well developed, hcwever.
Although some free surface location techniques
have been shown to work for certain kinds; of
problems, much room for both Innovation and for
improvement remains. Extension of thee techniques to the much more challenging, prac:tical
and exciting three-dimensional jet and cavity
flows remains to be accomplished, but prospects
uf eventual success appear reasonably good at
this time.

The free surface was sought by the followifa;


procedure. By comparison with the related jetflow whose solution is known [(0J, V - 6 was
chosen. Several computational cycles were
computed without adjustment of i; tVe trial
free surface location converged toward a stable
location during this process. It was observed
that aq/fn at the lip end of the froe sur.,
face. whi-h was not prescribed and which can
play no role in free surface adjustment because
t
the lip lec&tIon is fixed, also convergd teward a negative value rather than the desired
value of zero which mouldindicate proper flow
behavior at the lip. Next V was changed to a

Refer
I.

273

S)nnon, C.. "A numerical solution of

axisymmetric cavity flows," J. Fluid


Macn., 37,4, 1969, pp.671-68
"Inverse solution to
2. Te-Fpson, R. Wr.,
three-dimensional potential flows," J.
c. i. ASCE,98, EM4.197r.
In
pp78-82.
3. Kellogg, 0. 0.,Foundations of Potential
Ihjedry,tklgar, New York, 1929.
4. kei.. L., and Smith, A.M.O.,
"Calculation of potential flow about
arbitrary bodies," inProgress in
Aeronautical Sciences, B.Pergamon, New
York, 1967, pp. T-I
5. Hess, J. L.., 'Review of integral-equation
techniques for solving potential-flow
problems with emphasis on the surface
source method," Cm.Mt.in
1
Mc.and En n ., 5, 1975, pp. 14-166.
6. Zruse, . _., and 'kizzo, F. J., ads.,
cat6 ns Tn Aplied
o
Coiu
AMD 11, 1975.
Mechanics, ASME,
7. lig-gett,
3. A.,"ioca-ton of free surface
l~4.iv..ASCE.
in porous. melia," J
103,HY4, Apri 197,p.
3635.
R. L.,and Kline, S.J.,"A
8. Wooiley,
method for calculation of a fully stalled
flow," Report MD-33, Thernoscienrces Div.,
Mechanical Engineering Dept., Stanford
University, November 1973.
9. White, J. W.,and Kline S. 3.- "A
calculation method for incompressible

axisynmetric flows, including unseparated,


fully separated, and free surface flow.,"
Report 111-35,
Therinosciences Div.,

Mechanical Engineering Dept.. Stanford


University, May 1975.
10. Ghose, S.,and Kline. . J., "Prediction
of transitory stallin two-dimensional
diffusers," Report MO-36, Thernosciences
Div., Mechanical Engineering Dept,
Stanford University. December 1416.
method
I1. Rinehart, F., "A boundary inte"',il
for the solution of twf-dimerision,

Laplace's equation using the Pleinelj


forimula," unpubli.hed rej;-t, Therm,Mechanical Engin'eering
sciences Div.,
Dept., Stanford Univet-Ity, l416.
12. Hess, J. 1..'Higher a,.. r numericitl
Pertion forthe
solution of the intefirdl
two-dimensional Neum...n r,,,ue,. Coo
and -nj!, 2.19%3,
13 th inAp.Mc
1,Webster, W. C., "The V ',4 bot orbitrary
three-dimensional smooti hndic

3.*"
Shi

Res.. 19, 4, ieceebet , 7. PP. 2t!18.


1977.

15. Chan, S. T. K., and ',rock, Bi.t., "Fluid


flows froni axisymetric or iices and
valves.' J. iHydr. Di, ASCE.99. HVI
1973. np.'N97
16. Chan. . T. K.,Larock, B E., and
Hernsiann,
L. R., "Free-surface ideal fluid
H d4r. Div.,
flows by finite elements,"
ASCE. 99. HY6, 19/3, pp. 959-97.
_.MglT.
R.. and Street, R. L., "A

rumerical method for steady-state cavity


1. 1914, pp.
flows," J. ShipRles., 1_4,
22-31.
18. Larock, 8. E., and Taylor, C..,Comp~uting
three-dimens IonalI free surface florws,"
.
1976,
Int.J. NTn. Mth._Enun.

pp.1143-1152.
19. Street, R. L.,and Ko,P. Y.,"Numerical
methods applied to fully cavitating flows.
with emphasis on the finite element
method," Symposium on Hydrodynamics of
Ship and Offshore Propulsion Systems,
OatNorska Veritas, Oslo, Norway. March
1917.
"esfo w-iesoa
20. Larock, B. E.,*Jt rmtw-iesoa
symmtric nozzles of arbitrary shape,"
J. Fluid Mach., 37,3, 1969, pp.479-489.

DISCUSSIONS
of three papers

ANUMERICAL MErHOD FOR DETERMINING FORCES AND MOMENTS ON


SUPERCAVITATING HYDROFOILS OF FINITE SPAN
C.W. Jlang and P Leehey

_BENEATH

SUPERCAVITATING FOIL OF AN ARBITRARY SHAPE


OR ABOVE A FREE SURFACE OR IN ACASCADE

AN APPLICATION OF THE BOUNDARY INTEGRAL EQUATION METHOD


TO CAVITY AND JET FLOWS
Bruce E. Larcck

Invited Discussion
M.P. Tulin
Hydronautics Inc.
The vastness of the literature for steady
plaii;,r
free-streamline f;ow attests to the power
of available analytical tools for the solution
of certain physical problems (especially supercavitoting flows) through their reduction to
mixed. boundary-value problemrs.
These tools
include: suitable modeling (cavity termination
and wakes,, analytic functions and mapping,
bounuary integral equations, asynptotic (i.e.
linear) approximations, and combinations
thereof. A sizeable number of important engineering problems have by now been given adequate
tionthroughi
the application of theory. I
wo; d mention especially the design of supercavitating propellers. The second paper (#18)
today, 6y Ym. isa further and very elegant
contribution to this literature, He utilizes
known tech.ques of supercavitating-foil theory:
linearizations and mappings to the "airfoil"
plane, co-inations of incidence, camber, and
"paraboli type" thickness (really a leadingedge sinliarty). He has succeeded in a very
useful sfithesis of these methods and finally
applied ,ne fast computing techniques. I was
especi,,
y pleased to see the hydrofoil-3irfoil
equival ace generalized, as these rules Imnediatel,ivcmuch insight as to the relation
thechordwise pressure distribution (at
betweef
design) and the lift/drag ratio.Yim's results,
which include free-surface (infinite Froude
number) and cascade effects, attest again to the
power of analytical methods, more so inthis case
than to the power of numerical hydrodynamic techniques.
Uieful and general as Yim's results are, I
would like to suggest a little warning in connection with their jtilization inhydrofoil or
propeller design. Inboth cases, it isoften
necessary to utilize non-linear corrections based
on theory. For foils it isalso of someimportance to take Into account the down-wash due to
gravity effects on the cavity, Further, I have
some doubts about the utility of the planar
cascade model in application to propeller design,
except to estimate cavity-section interference
during off-design uoeration--and this is the
design region where we most need better methods.
In the off-design regime non-linear effects are

due to the large cavity thickness clearly become


Important. Non-linear cascade calculations have
been mad* qarlier by Furuya, (ref. 1),based on
the approach of Wu and Wang to the non-linear
supercavitatiq flow past a given isolated hydrofoil. and Yim himself has earlier considered the
non-linear problem (ref. 2). The superproblem
for the supercavitating propeller and a great
challenge for numerical analysis involves the
calculation of the flow past the collective blade
cavities treated as a fully-three-dimensional
oroblem, but which more resembles a short axisymnretric
cavity (inthe limit of many blades)
shed by a porous disc (the propeller blade) than
itdoes a cascade. I refer to the model I suggested in ref. 3. It is the inflow distribution
to this disc Just as much as the flow over the
blades considered as a blade element that requires
numerical calculation, since at the present time
we have available for the inflow estimation only
the results of supercavitating propeller momentum
theory. Yim is,I know, working on the full
supercavitatlng-propeller problem, toward which
the present work is a step, and we should all
look forward to his future results.
The gap betweer three-dimensional supercovicating flow theory and the present status
is being losed with efforts such as those of
Jiang and Le-3hey
(paper #17).It is the latest
result inthe long effort to develop a practical
numerical lifting-surface method for supercavitating wings, a history beginning with the rneoelecteic analogy work of T.S. Luu inParis in the
early 1960's (ref. 4).It is a difficult problem,
avon in itslinearized form (as is the case with
allnumerical attempts), as it involves two
coupled integral equations and an unknown area
of integration; the authors have made a prodigous
effort. They have tested their numerical techniques in the two-dimensional case by comparing
with analytic results; they obtained a good comparison, but first Iwould like to suggest the
possibility of an additional perspective that
arises through coparison of numerical calculations such as these with approximate theories
that are more or less well-proven. I refer to
the semi-empirical methods startin? with linear
two-dimensional theory, factoring n liftingsurface corrections such as the Jones edge
connection, plus corrections for non-linear
effects based on theory, both for the section
effectiveness and cross-flow drag. In 1975, C.C.
Hsu presented practical formula* for wing force
coefficients together with comparison with the
_

data for rectangular wings of Reichardt and


Settler, Schiebe and Wetzel, and Dobay, includand for angles of
ing free-surface effects

attack as high as 16 . The comparison with the


data lend confidence that Hsu's formulae may be
used for preliminary design with confidence.
The Jones'edge correction for supercavitating
wings, oriinally proposed by V.E. Johnson, has
been well-confirmad, Incidentally, by the numerical lifting-surface calculations of Tsen and
Guilbaud (ref. 5) carried out In France and which
are the a - 0 counterpart of the results of
Jiang and Leehey, and which would make a very
important additional reference in their paper.
In Figure 1, 1 show a comparison of predictions using Hsu's formulae for the aspect ratio
5 elliptic wing tested by Leehey and Stellinger
for a - 210. The data are those reported by
Maixner at the recent ATTC conference in Annapolis (ref.6). Note first of all the relative
agreement of Hsu with the small foil data, which
are, according to Maixner, free of wall effects.
Note also that Jiang and Leehey actually lie
under Hsu for the values of c/o reported. This,
to me, poses a grave difficulty for the
TF-s-eems
theory of Jiang and Leehey as non-linear effects
are very large at this angle of attack. Most
probably at this aspect ratio, the non-linear
effects must reduce the linear predictions, thus
worsening the compar'son between the present calculations and experiment. To drive the point
home, I show in Fig. 1 the predictions of Hsu's
wing theory, omitting the non-linear corrections.
I believe that for this aspect ratio any "correct"
linear theory must lie closer to the dotted line
than to the da-ji"and I wonder whether or not the
authors would agree and whether they can illuminate the situation this poses for their numerical
results. Incidentally, Tsen and Guilbaud show
that for an aspect ratio 4 wing, the data of
Schiebe and Wetzel and Kermeen lie in genei_'
well below both their own linearized numerical
calcuTations and those of Widnall, even at an
angle of attack of 10 . Finally, I hope that the
authors persevere and eventually go on to consider the practical problem of the free surface
for high speeds, and pod-strut interference with
wings, for which numerical computation methods
should be welcome,
Howto do truly non-linear free-surface
problem? This is the subject of Larock (paper
019) whohas earlier been Involved In the
numerical calculation of such free-streamline
flows as from orifices and valves. In particular, he addresses the question howto carry
out a stable iteration for the free-surface
configuration In space, In conjunction with boundary integral techniques. The method seams
natual, and I believe that essentially the
s
tochnilue has been used previously In conjunction with finite-element calculations (I
refer to the work of Chan, Larock, and Nerunn,
and to Sarpkay). I would ask the author two
questions, though: 1) is the algorithm optimm
in any sense (speed of convergence, for xmple).
that is. why this method rather than any other?
and 2) is It possible to optimize an aloritth
through mthietical analysis?
Finally, in designing nurical methods and
in testing their accuracy. I think it is tmpor-

tent to keep foremost in mind the results needed


from the computation and to test the computations
in terms of the accuracy of those results. These
may often involve (jet flows, for instance) the
pressures in regions where cavitation is to be
feared, as at bends--I think of the crest of
dams or spillways, wnich were many decades ago
being studied numerically using relaxation techniques, or at the entrance of valves as studied
by Chan and Larock. Sometimes very sharp corners or discontinuities in shape or boundary
conditions are involved, and it would then seem
appropriate and even in somecases n-cessary to
supplant numerical calculations such as proposed
by the author with imbedded analytic expansion.
REFERENCES
T. Furoya, 0., "Exact Supercavitating Cascade
Theory," Trans. ASME,J. Fluids EngineerVol.97, 1975, pp. 419-429.
1noi,
2. iim,
B., and Higgins, L., "A Nonlinear Design Theory of Supercavitating Cascade,"
e
, Vol.97,
Fuids
3
Trans.
175pp420433.
3. Tulin, M.P.,"Super,avitating Flows and
Practice. Applicat' is,"Cavitation in Real
Liquids, Robert Day Ps (editor), Elsevier
Pess,Amsterdam, " ,
4. Luu, T.S., "Hydrofoils supercavitants
rh~odenvergure finie. 'mnulation
6lectrique," CoJjo11 international las
techniques de calcul analpique at Jirique
Liege, September 1963.
in e6roneutt
5. Tsen, L.F. and Guilbaud. N., "Mithode du
potential d'acc&1gration pour le calcul des
ailes supercavitantes finies," Bull. Asso.
Tech. Mar. A6ron.. Vol.70, 19767
6. Mexiner, M.R., "An Experimental Investigation of Wall Effocts on Supercavitating
Hydrofoils of Finite Span," Cavitation
Committee Report, 18th ATTC, Annapolis,
August 1977.
Author's Re 1
y C.5 Jtan9 and P. Leehey
to discussion by M.P. Tulin
The authors appreciate the cents of
invited dis sser e',d will endeavor to reply
the questions raised by him.
The discusser madethe comparison between
our linear numerical results with su's (1975)
non-linear empirical expression. Our present
numerical lifting surface theory isas good as
Hsu's non-linear results 'see the figure prepared by the discusser). The mpirical expression of two-dimensional asults of Hsu was
based on the results of -eessor W (1914).
near and non-linear
Based upon a compriso, of
results of Hsu, discusser eajected that our
linearized results woull overprodict the results. Wu't (or Hu',I linearized theory,
however, Is not the sa as oura. Our numaercal method Is based or rte '1Ierized tadimensional theory of 6,mtirst as expressed by
our Fig 1. The following romprison of twodimensional 'ft coefficiemt is instructive:
n-O.1
a-0.436
a-0.1
r-IIner(u)
lineer(Geurst)

a-IS
O.X?
0.4.

a-10*
0.20
0.29

610*
0.$6
0.54

These relative errors are far less


than
those quoted by the discusser. One may refer
this to the discussions following the
paper by
Leehey and Stellinger (1975) for details.
We also wish to mention that the
state experimental data have have been steadytaken
for different reasons by several investigaters
during past four years. A dynamometer
and the
hydrofoils heve been modified for special
purpose at each test. We do believe those data
are reliable.
15.Hsu. C. C., 1975. Some
on the progress of cavity flow studies.remarks
Trans. ASNE. J.
Fluids Engineering, vol.97, pp.
439-448.
16.Wu, T. Y., 1965. A note on linear
and nonlinear theories for fully-cavitated hydrofoils.
CIT Div. of Eng. & App. Sci. Rept. No.
21-22.
Author's Rel
to discussion by M.P. Tulin

*
*It

Tulin directs two questions to this writer.


MYresponses follow.
1. The major alternative
the present
free-surface adjustment scheme to
is somehow to
satisfy initially the streamline tangency
dition with chosen boundary values, then conthe corresponding boundary..value problem, solve
and
finally employ the constant-pressure
condition
to adjust the free surface; this scheme
apparently is always non-convergent for
flows. The algorithm Presented in the high speed
paper is
'optimm" only in the sense that
It
ful and the major alternative cited is successabove
is
not optima because it fails. In
more conventional sense, the writer would the
not
claim
any
optimality properties for the present
algorittm.
is indeed quite possible that the global
adjustmnt scheme proposed by Hess (paper
20)
possesses advantages over the present
approach.
2. 1 do not know if it is possible, but
would welcom the interest of mthemticians I
and specialists in numierlcel
analysis in freesurface adjustment schemes. Perhaps
they could
answer the question positively.

Ta

JI

PROGRESS IN THE CALCULATION OF NONLINEAR FREE-SURFACE PROBLEMS


BY SURFACE-SINGULARITY TECHNIQUES
John L Hess
John L.Hess, Asoclates
Long Beach, California

sihgularity distributions - source, dipole,


vorticity -on the surface of all bodies and on
the true location of the free surface. This is
in contrast to small-perturbation approaches
that use singularity distributions interior to
the bodies and/or on the undisturbed location of
the free surface. In the surface singularity
approach, the strengths of these singularities
are determined from the boundary conditions in
terms of integral equations, which are approximated by matrix equations for numerical implementation. The singularities used are of the
simple "Rankine type,' which are appropriate for
problems without a free surface. For example,
the point source potential is log(l/r), where
r is distance between the source and the point
where the potential is evaluated.

Abstract
This paper describes the status of a computer
program for solvinq the full nonlinear problem
of a two-dimensional body performing steady
translation near a free surface. The method of
SolUtion Is based on distributions of simple
Rankine-type singularities on the body and on
the true location of the free surface, which
must be obtained by iteration. The key is the
iterative algorithm for determining free surface
shape. It must account for themutual influence
of various portions of the surface. Various
stages of development of the procedure are des.cribed, including the final successful technique based on a higher-order singularity procedure. Comparisons are presented of freesurface shapes calculated by the present method
with those calculated by a previous finite-difference solution for a submergoO point vortex.
For the higher-order solution, agreement is
quite good. Futu" directions of the work are
indicated.

General Description of the Flow Problem


It is supposed that a body Is translating parallel to a free surface with uniform velocity
U. By superposing the negative of the body's
translational velocity on the entire velocity
field, the problem can he stated as shown in
Figure 1. The body surface S. which my he
multiply-connected, is stationary in the prtsenct
of a uniform onset flow of magnitude U perallel
to the positive x-axts. Above the body at a location y - n(x) that must be determined is the
free surface, which Is a streamline of the flow
along which the pressure is constant, The flow
field for y n(x) Is a potential flow, which
has zero norml comonent on S and approaches
-- or y .
the uniform freestream for x
(For definiteness the Infinite-depth case is
considered, but the finite-depth case mayb
handled by use of a siugle Image of the body and
free surface.) The undisturbed position of the
free su-fpce is y - n - 0.

Introduction
The problem of Interest is that of the
steady translation of a body in the presence
of a free surface. 1he fluid below the free
surface is inviscid and incompressible, and the
flow is irrotational so that it is a potential
flow governed by Laplace's equation. The fluid
pressure is constant all over the free surface,
In three-dimensions this probam finds Its chief
applicatin in the calculation of wave resistance both for surface ships (the surfacepiercing case) and for undersea vehicles (the
submerged case). In two dimensions the flow
about hydrofoils Is chief application. Although
the problem of main practical Interest is the
three-dimensional one, becauso of its very formidable nature, the present aIffu.his been
devoted to the two-dimensional problem, Whre
the only solution techntques considerejd are
those with direct three-dimensional analogies.

If the tangential velocity at any point on the


free surface is denoted V, the constant-prossure condition can be written
(1)
2

The intention is to attempt to solve this


problem In its full generality, I.e. without
any ass-options of smll perturbations In regard
to either the body or tm free surface. This
is a nonlinear problm because the location of
the free surface Is unknown and mist be solved
for as part of the rolm. The method of solutin to be used is the surface-sIngulrity
approach (reference 1). which utl ices

or

V*"'t-ztg
where

(2)

q Is the accele-ation of gravity.

To solve this problem by a surface simngjlirIty approach, the body surface S is covered
1

Strictly speaking, it is not sufficient to


,.consider

l.

Fig.1 A two-dimensional lifting body performing steady translation near a free


surface.
with a source density distribution. (There ir
also vorticity to produce circulation about S
in lifting cases.) The free surface is covered
with either a nource or a vorticity distribution. The two distributions, i.e. on the body
and the free surface, are determined from the
boundary conditions on the body and free surface.
However, there are three boundary conditions,
i.e. zero normal velocity on S and on
y - nix) and constant pressure on y - n(x).
Thus, two singularity distributions are insufficient, and an additional "degree of freedom;
is necessary. This is the location y - n(X).
which Is determined from the boundary conditions
along with the source and vorticity distributions.

The Prototype Problem


To conserve computing time during the search
for a convergent iteration algorithm, the eachanism responsible for disturbing the free surface
has been taken as a submerged point vortex, as
shovn in Figure 2, rather than a lifting body,
as shown in riqure 1. Somedistan'e from the

The surface singularity method requires that


the locations of all boundaries be known. The
7re-surface problem must be attacked by iteration. At any stage the location of the free
surface is assumed ard a flow calculation is,
performed. PresunAbly one (or both) of the
boundary conditions on the free surface are not
sat!:ied. Based on some algorithm the location
of the free surface is then changed, and the cclculation is repeated. The above process Is
iterated until convergence (insome sense) is
obtained. The algorithm for altering the freesurface location Is highly nonunique. Many
possibilities can be postulated and probably
most of them lead to a divergent process. The
mein task in applying the surface singulerity
method to the free-surface problem Is selection
of a convergent algorithm. This is somewhat
similar to the classic inverse problem, where
the velocity distribution on a surface is specifled and the surface shape mist be computed,

' W
T
-

-*"--fi

-.-

''

Fig. 2 The prototype problem. Flow about a


sbmrgd point vrtex.
body its velocity field approaches that of a
poiht vortex, so this appears to be a reasonable
approximation. In any case I is know from the
literature that the shape Of the free surface
due to a submerged point vortex is qualitatively
similar tO that due to 4 Subm 0ged
lifting body.
Thus, It sW likely that any proposed Iterate fee-surface
tice V -oritleftr dotenrimnin
shape would either converge for baita point vorteaxand a lifting body or diver
for both. The
saving In ,o puting tim comasfr,. the fact that
only the free surfe Mee be defined by surface
elem ts. Thus, the ondr of the matrices that
mast bn formed and solved is reduced. Aother
iNprtmt re4on for considering ti point vortex
is t"t this cas? hen been conside 'd by previous
I nvstligatort. notably van ierc.ek end M
en
(references 2 4nd 3). T , solut'ons obtained

Basically the calculation can procead in one


of two general ways. At each stage it can satisfy the condition of zero normal velocity on
S and on y -n(s)
and then kerate to obtain
constant pressure on y - n(N). Alternatively.
at each stage it can satisfy the condition of
zero normal velocity on S and the o.aliton of
constant p essur& n y - eix) and then Iterate
to obtain zero normal velocity . y - n(x).
While both possibilities mast bo kept In mind.
It is the second one that has been used scoessfully in inverse roblema, and It 4s bean given
fir't attention. Similarly either a source or a
vortIcity distributica my be used on t f
surface. So far the wae of s vortex distributio
on the fre surfac. has proven mre effective,
Z1

Lt

only the tree surface and the body as


boundaries of the problem. The domain should be
closed by the addition of three more boundaries:
(1) an x - constant boundary at a large negative
value of x on which freestream conditions (normal velocity equal to U) are prescribed; (2) a
y - constant boundary at a large negative value
o y on which zero normal velocity is prescribed;
and (3)an x - constant boundary at a large
positive value of x on which a "radiation condition" of downstream waves is applied. However,
the philosophy that has been followed in the
present work has been to try the simpler
approaches first and to add comlications only
when these simpler approaches prove inadequate.
Accordingly, the above three additional boundaries have been Ignored in the work to date.
This is equivalent to the assumption that these
boundaries will have weak enough singularity
strengths to give a negligible effect in the
vicinity of the body. Almost certainly it wli
always be possible to ignore boundary (2), but
some form of boundary (3)may prove necessary
in the future.

normal and
(ifany). Then thetotal
itsimiage
tangential components of velocity at (ii~
are

by the present method of this report can be comnpared with theirs to yield anessential quantitative test of accuracy.
The essentials of the point vortex problemEA
are illustrated inFigure 2. The vortex which
hasa strength K. is located at thepoint
xi;0, y --h. Here K -r/2w where r is the
cirulation. The problem has been addressed bothE
with and without an image vortex of equal and
opposite strength at the point x - 0, y - +h,Vi
and itwas encouraging to note that the convergent algorithms yielded exactly the sam results
in both cases. Durina most of the work to date,
an image vortex was included. All cases follow
references 2 and 3 in using a freestream velocity
Ui of 10 feet per second and a submergence depth
h of 4.5 feet. Various vortex strengths K are
considered, which lead to various wave heights.0()
During most of the present effort only reference
2, not reference 3,was available. In tnispaper
allcoparisons are for the twovortex strengths
of reference 2, K - +1.15 and K - -1.4. It
should also be noted that the results of references 2 and 3 have been ootained for a finite
fluid depth of 9.5 feet, so that perfect aqreewent with the infinite-deoth results of the
present method cannot be expected.
The free surface Is represented by singularity distributions from MI or x ( see below)
to Xlg(Figure 2). From x~to Nthe
velocity is required to sati sfy the free-surface
condition of constant pressure and the shape is
allowed to vary to produce a condition of zero
normal velocity. The physical variables are
u. h, and K. The "numerical variables' are
length ax x +-I
xg. , xNz. and the elemenit
-iwhich is used to define the free surfico.
spacing is
a
constoat
Inill cases presented,
usad. and Ax is a single number.

VNI 2

Usit +
11"1jr
-u5n~+v
11
UCoa+V
u cso
+
v

+i

iivi

(3
(3
(4
(4

where ij Is the slope angle of the ithelement


as shown in Figure 2, and where the summations
are uver all Plements. The equations that must
be satisfied dre
r"0()
VT '4

-2Qy

Vi(ii)

(6)

in the present pr'ocedura- 11 free-surface shape


are outained as soluis assumed, and thet
tions of thesieultan?,s linear equations (6)
with left sides given by (4),i.e.the pj are
determined to satisfy the constant-pressure
boundary condition. These values are then used
in (3) to calculate normal velocities. which are
not, in general, equal to zero. An iterative
algorithm is then applied to alter the free-

surface shape.

Local Algorithms
The simplest algorithm computes the ciange of
slope angle 6'Oi of each element as
6o0 . tan'(V1 /Vri
NiT
These are added to the -I to obtain new 1
which in turn are used to calculate new y
successively, beginning with som fixed upstream
value,, The t# enieclua Ioni eetd
This agorithm converges fur theclsia
iitvorse problem of potential flow, in which the
prescrie value of tangential velocity at each
(ii.ji)is independent of location, but It

To Implement the surface singularity method


of reference 1. the free suiface or its approximotion is represented by a set of points (xj.
y ). During the course of iterating for the
flee-v urfece shape, the Ki rmin fixed end
tey are altered. Theportion of the sur(si. yj)
facb~bve
sucesiv
SF.11OPoints
is a surface elemen on which
(xJ#l' y ,)
:ad
singularity RIthis case vorticity) is distributed. In the "first-order* version of 14e
method the surface element is a straigfi. line
frm xw*y) to (U41 - VJ41) on which the
singular ty5 constant. In the mire accufte
,hIgherorder* version (references I and 4) the
elmnt Is a parabola and the singulatity varies
liarily. Boundery conditions are applied at
y) of each Sle.
a single control point (1-1.
meet, and this poist is thielioit of the Ilemeet In both versions.

diverges inthe present application.

This algorithm may be called local because the


local slope correction Is detarsTn-Wfrom the
local deviation of the calculated results from
the satisfaction of the boundary condition.
rhr"e such algorithm have bean investigated
and all diverged.
1l108l Aloogrithm
Toobtain convergence It is necessary to
emloy a jg~ iterative algorithm which considers fthiffiects at grelements ofa
1CON- l
Chtage In *is and whic TOSM

Lot ~ dewte the varticity strem~th at t'e


contel 21nt of the Ith element, Ondlot AJ
and 41, be. respectively. the mormal and
tanemtgl
~mnntsofyi)of
eloityat he eeri.I
deeto awrit
psle (as
te it .le
valdo of vorticity at the control point af the
aOW vTi be.
ith elmet. Futher. Iet V
and9Mia 41"on
respectively. 3he wroml
(ats at (is. yj) A* to the point vertex endA

putes (to ft t order) changes in slope angle

and vortici ty strength that correct the normal


velocities while maintaining the cotant rs
It should be
stve condlition on all elmet.
emphasised that the final coverged shape Is
not In any %aem a small-perturtetion solution.
While sml 1-pertiorbation formlai are wood to

compute shape correctins, each iteration performs a fullputential-tlow solution in the


sense of reference 2. Thus, the converged solution has the correct normal velocity (zero) and
the correct tangential velocity for constantpressure. Deviations, if any, of the computed
shape from the correct shape can only be due to
nonuniqueness of the basic problem and to numericaldiscretization, namel) the fiite length of
the elements and the finite locations of the
xM , x0 and xN.

In all cases the initial approximation to the


free-surface shape is the undisturbed loratlon of
the free surface y = 0.
Reresentation of the Free Surface
Wth No Flat
The initial form of the global alqorithr,
fixed the upstream end of the free surface at
x = Xq.y = 0 (Figure 2) and applied the above
equations to the entire free surface from xO
to xN . Someof the results obtained for the
free-surface shape are compared with corresponding results from reference 2 in Figures 3 and 4.

Basically, a change of shape of the free


surface affects the localvelocities in four
ways:
1. Rotation of the localsurface through a
fixed velocity field.
2. Change of vorticity strength with fixed
induced-velocity matrices.
3. Change of induced-velocity mdtrice. with
fixed vorticity strengths.

"___7
\J

4. Effect of vertical translation on vortex


velocity and on the constant pressure boundary
condition.
The localiterative algorithm accountsbelow
only for
effect 1, while the global algorithm
accounts for effects 1, 2, and 4. Experience
indicates that effect 3 may be ignored safely
if surface slopes are as low is those occurring
in surface wave problems.

---Fig. 3 Free-surface shapes for K = 41.15.


First-order solution, no flat. Ax 1.

When the free-surface shape is altered, firstorder changes in the velocity components (3) and
(4) are
Ni

LAijavj
+

NVi

(eVi

(8)

6VTi E Bijllj + VNi1

--,(VvTi) ii
A s gFig.

(9)
i Free surface shapes for K-1,4.
First-order solution, no flat. Ax - 1.

A simle geomtric calculation


6i -

Ejj

(0)

expresses thechanges in vertical displacement


in terms of slope angle changes. The conditions
to be satisfied are
6VN * -VNI
6VTI " 6Vi(j
i)

(11)

[Vi(ji)]vyi

(12)

UNing(8),(9)and (10)in (11)and (12)gives


a set of linear equations for do and I, ,
the latter of which yields a new ree-surfaie
shape v. Thus, theflow calculation can be
repeated.

One very gratifying result is evident from


these figures, namely that the present ca 'lations yield waves. This was not at all oL ,us
a priori. A monotonic shape might have been
obtained. Howover, theone constantly occurring
result in applying the present method Is that It
always gives waves, even In divergent cases.
Moreover. the waves have approximately the correct wave lengths.
hiilethe results of Figures 3 and 4 are
not
absurd, they are clearly unacceptable as results
of a method of quantitative p diction. However,
attempts to improve the resats oy decreasing
the point spacing Ax lead to divergence. In
fact, any change In Ax leads to divergence.

261

The iterations only converge for Ax = 1, a


clearly unacceptable situation that requires a
new approach.

solution is sensitive to the magnitude of the


numerical variables. Figure 7 shows free-surface
shapes calculated by the present method for three
values of the downstream termination point xN.
All three calculated shaoes have the same wave
length (which is somywhat in error) and the same
locations of peaks and zeros. However, the wave
height is evidently dependent on the downstream
termination point.

Representation of the Free Surface


with an Initial Flat
To render the calculation more stable, the
free surface is preceeded by an initial "flat"
that is constrained to lie along tht x-axis.
Specifically, the portion of the free surface
from xM to xO (Figure 2) is required to lie
along y - 0. and the tangential velocity is
required to equal the freestream velocity U.
The remainder of the free surface from x0 to
XN is treated as described above. On x,, x
xo both source density and vorticity aVe
used to handle the two boundary conditions, and
the above iterative equations are modified in
that region to account for two singularity
changes with no change of shape. It was found
by numerical experiment that as long as the flat
has a certain minimum length necessary to ensure
convergence, further increase in the length of
the flat has virtually no effect oi the results.
Computed results are presented for flats of sufficient length without specifically listing that
length. Usually xM --20 is sufficient. Moreover, unless otherwise stated the end of the
flat x0 is at -10.

I
,

'

'
,.,.
-- - ,, .,:,
::

...

Q,,,.

,
,

,,,.

Fig. 7 Free surface shapes tr K - +1.15.


First-order soluti,;n.
a4 - 1. Effect
of downstream termination.
An effort to increase the accuracy of the
calculated solution by reducing the point spacing to Ax - 0.5 is shown in Figure 8. The
wave height is significantly overpreelcted for
the case with the flat extending to x
-10.
and an erroneous "bump" at negative values of
x is evident. Moving the flat termination to
x0 - -5 removes the bump and reduces thewave
height, but the wave height is still incorrect
and the wave length is still in error,

Calculated results for the two vortex strengths


considered are shown in Figures 5 and 6 for a
very short representation of the free surface
(termination on the figure) and a unit point
spacing. The wave heights agree rather well

Fiq.5 Free surface shapes for K +1.15.


First-order solution. Ax - 1.

Fig. 8 Free-surface shapes for K . +1.15.


First-order solution. Ax * 0.5.
Effect of flat termination.
A Nonnigueness Due to NumericaL Inalcracy
\

, /\\

It turns out that the above-described sensitivity of the results to thenumrical parameters
is due to a nonuniqueness arising from Insufficiant numerical precision in the first-order formulation of the surface-singularity technique.
This can be illustrated by a saI*le calculation.
An original shape was selected that is flat from
x . -30 to x - -10 and that has a wave-like
shape for x -10. It Is sho" as a nolad curve
in Figura 9. Flow about this shape in the
oresence of a uniform onset flow parallel to the

-.. ...,,. . .
Fig.6 Free surfve shapes for K * -1.4.
First-order solution. ux 1.
1
with those of reference 2, but the wave lengths
are somewhat too lonq. Unfortunately, this

Mi

i
...-

wi
t
, . m
MTIMU
Sf, n

.......n

*flICACMLtM.
-

M,,

U,-,
, ,

Fig. 10 Free-surface shapes for


Higher-order solution.

Fig. 9 Nonuniqueness study


x-axis was calculated usin a surface source
distribution and a point spacing Ax - 1. The
resulting surface velocity distribution was input

into a program using surface vorticitv that was


required to reproduce the surface velocity.

kMII

w11
f b

K S+1.15.
AX

1.

,,,

If

the problem had a unique solution. theresulting


normal velocity distribution should be vanishingly small. Instead it was a periodic function
with maximum value equal to 5% of freestream
velocity. When the shape was allowed to alter
itself iteratively to produce both the prescribed
tangential velocity and zero nral velocity,
shapes like those shown in Figc-e 9 were obtained
for different downstream terminitions. These
differ from the original curve ty amounts similar
to those of the preceeding figuts. it is not a
question of the finite length of the shape,
because termination at x , 50 s!ve essentially
the sare results as that for x 50 (Figure 9).
If theabove procedure is carried cut with the
same point spacing using the higher-order version
of the surface singularity technique (references
I and 4). the magnitude of the normal velocity
that expresses the degree of nonuniqueness is
reduced from 5% of freestream velocity to 0.5%.
Thus, with sone suitable upstream point fixed,
the iterated shape would be only about a tenth
as far from the original shape as the iterated
shapes of Figure 9. This would be quite acceptable accuracy, and it implies that use of the
high,--order version Is the key to quantitative
accuracy of the present method. This appears
to be the case.--

In

"

n ,- ,,,
,
,,,
..... "
UO *,So.
-,LCMC,''U.
,

Fig. 11 Free-surface shapes for K = -1.4.


Higher-order solution. Ax - 1.
solutions obtained for the same three locations
of downstream termination that are shown in
Figure 7. Figure 11 shows two barely distinguishable results obtained for two downstream
terminations. Thus the higher-order iterative
procedure is apparently an accurate reliable
method of obtaining nonlinear free-surface
shapes that had previously been obtained only
by a much more time-consuming finite-difference
technique. No further refinement seems to be
required at least for the two vortex strengths
shown, although some additional testing with
different spacing ux is planned. Stronger
vortices having greater wave heights remain to
be investigated (see below).
Summary of Iterative Algorithms
For the two vortex strengths
considered

above
the results of tests of the iterative algorithms
may be sunmaized as follows:

Higher-Order Procedure
When the higher-order surface singularity
procedure of reference 4 is incorporated Into
the above-described global iteration procedure
with initial flat, the result is a method that
oppears to be quite successful in predicting
free-surface shapes. Moreover, it appears to
be stable with respect to the numerical parameters. Calculated results for vortex strengths
of +1.15and -1.4are shown in Figures 10 and
11,respectively. rheagree:Bent
of thewave
shapes obtained by the present method with
those from reference ;', is essentially exact
when due account is taken of the fact that the
shapes from reference 2 have been calculated
for a finite depth by a numerical procedure.
The curve of the present method in Figure 10
represents three graphically indistinguishable

I. Local alqorithms - always divergent,


2. Global algorithms, no flat - divergent
except for Ax - 1.
3. Global ealorthn with flat
convergent
but results sns itive to numrical parameters.
4. Higher-order globel algorithm with flat always converqent. Results insensitive to numericalparameters.
irectionsAfFuture Work
One modification will be made to the higherorder procedure. It can be noticed in Figures

263

---

I0 and 11 that the calculated curves have erroneous bumps or bulges immediately downstream of
x = -10,the end of the flat. These are due to
the fact that the numerical differentiation procedures in the higher-order method are somewhat
unstable at the junction of the flat and the
curved portion of the free surface. A straightforward modification should remove the instability and smooth the bulges. Evidently, this flaw
in the method does not have a large effect on the
calculated free surface for these vortex strengths,
but it might at larger strengths.
Some improvement of the iteration procedure
seerfdevirable and quite possible. FPIiro 12
shuws Oev free surface shape computed by the
present method in the first iteratimn and in the
final sixth iteration for which the normal velocity is everywhere less than 0.1%of freestream

The most important area of future effort is


the calculation of free surfaces having larger
wave heights. Recently data were obtained from
Dr. von Kerczek that define the free-surface
shapes obtained for a large nuner of vortex
strengths as reported (but not presented) in
reference 3. Cases have been successfully
computed using the present method for vortex
strengths of +1.7 and -2.3 for which the wave
heights are approximately 50% larger tha those
for +1.15 and -1.4. The calculated free-surface
shapes are only slightly less accurate and
slightly more sensitive to downstream termination than the cases shown in Figures 10 and 11.
of graphs of Lhese
Time did rc* ;'ri,2tn.l1usion
results in the present paper. A case has been
attempted fur K - +2.7 for which the wave
heights are twice as high as the above and of
the size that experimental results indicate are
on the verge of breaking. This case did not
converge, and it is planned to devote considerable effort to obtaining convergence in cases

of large wave height.


References
1. Hess, J.L.: Review of Integral-Equation
Techniques for solving Potential-Flow Problems
with Emphasis on the Surface-Source Method.
Computer Methods in pplied Mechanics and Engineering, Vo. 5, No. 2, March 1975.
"""

'

'

von Kerczek, C.H. and Salvesen, R.: NumericalSolutions of Two-Dimensional Nonlinear Wave
Problems. Presented at the 10th ONP Symposium
on Naval Hydrodynamics at M.I.T., June 1174.

"'I("'*2.

Fig. 12 Free-surface shapes for K - -1.4.


Higher-order solution. Ax = 1.
First and finaliterations.

3. Salvesen, N. and von Kerczek, C.H.:


Comparison of Numerical and Perturbation Solutions of Two-Dimensional Nonlinear Water-Wave
Problems. Journal of ShinResearch, Vol.20,
ho. 3, pp. 160-170, September 1976.

velocity. Thus, one iteration carries the


solution from the x-axis (the initial guess)
to the substantially correct first-iteration
curve, while five more iterations are required
to make the relatively small adjustment from
this curve to thesixth-iteration curve, It
seems likely that this performance could be
Imprved and the number of Iterations reduced.

4. Hess, J.L.: Hiqher-Order Numerical Solution of the Integral Equation for the TwoDimensional Neumann Problem. Computer Methods in
Applied Mechanics and Eigineering, Vol.2, No. 1,
February 1973.

264

THE WAVE RESISTANCE FOR FLOW PROBLEMS WITH A FREE SURFACE


C.Korving and A.J.Hermans
Delft University of Technology
Department of Mathematics
The Netherlands

Abstract
A numerical procedure is presented for solving
free surface flow problems. The boundary value
problem in terms of Laplace's equation subject
to non-linear free-surface boonrlary conditions
is considered to be composed of two fundamental
subproblems.
The first problem is defined on a fluid domain
with a fixed boundary and is known as the Neumann
problem whereas the second problem consists of
the determination of an improved position of
this boundary. The solution is obteined by a
process of successive iteration on both subproblems. In view of the intended extension to
the three-dimensional case, the Neumann problem
is solved by a procelure using finite elements
in a dimension lowered by one as a result of
an approximation by splines.
Up to nov the correction of the free surface
has been developed in a two-dimensional version.
The procedure was applied to the two-dimensional
steady state problem of a running strew with
a flat bottom. Then, somewhere upstream a
disturbance of the free surface is introdaced
in order to calcalate the effect in downstream
direction. Besides this, numerical results were
obtained for a running stroam, upstream undisturbed, with a bump on the botts.
I. Introduction
Contrary to methods using singularities * at
the boundary of the flow region, the solution
of the problem of determining the wave resistance of a moving obstacle partially immersed
in the fluid in based on a direct numerical
method. The advantage of this approach arises
when the method is extended to cover the case
where the non-linear effects resulting from the
dynamic free-surface bundary condition is taken
into account and atteaps are made to solve the
three-dimensional problem. The direct approach
appears from the simplicity of the procedure
to solve basically the Neumann problem on the
one hand, and the problem of iproving the
free-surface elevation on the other hand. The
difficulty, however,is hether convergence can
be achieved when both subprotleu are solved in
an Iterative way. Starting to solve the Neumann
problem which is formulated on a fluid domsn
of a known shape, it is evident that the results
can be used to calculate a new free-surface
elevation from the dynamic free-surface boundary condition. The kinematic free-surface
Srot

, 2,

3, 4, 5

condition is again satisfied if the calculation


is continued by solving the Neumann problem for
the new fluid domain etc., but generally the
correct solution is not obtained. This" is
illustrated in the example of a symmetrical
bump on the bottom of a running stream.
Assuming undisturbed flow upstream of the bump
the above-mentioned procedure leads to a
solution which reproduces an unchanged symmetry
of the free surface with respect to the vertical
axis through the top of the bump. In fect, a
singularity is creatcl it the free surface. As
a result, no waves are found downstream of the
bump. The example demonstrates that the procedure must be extended in order to satisfy the
radiation condition downstream of the obstruction. This paper contains an explanation of
this extension in the two-dimensional
representation.
The Neumann problem is solved by a procedure
which is based on an approximation with splines
,along one coordinate. This coordinate is
eliminated by a collocation method which is
combined with a transformation of the system
of differential equations into a system of
dominant diagonal terms. Each equation,
described in a lower dimension ie individually
solved by a Galerkin finite element method, this
operation being part of a process of successive
iteration on the complete set of equations, The
procedure was developed for three-dimensional
flows *. but in view of the low computation
time the method is successfully used in the
two-dimensional version for the problems in
consideration.
II. Mathematical Formulation

Ay

We consider steady uniform flow past a fixed


two-dimensional buip on the bottom. The .undieturbed free surface upstream of the bump Is at
ref. 7.8

free nurface y = ri (x). The x coordinate


coincides with the vertical coordinate y
and xI is the ccordinate perpendicular to both
2
.
x and x
(Fig. 3.1).
yX

a constant value h. above the bottom. The flow


is treated as steady and irrotational. It is
assumed that the fluid is inviscid, incompresbible and without surface tension. This
two-dimensional steady-state potential flow
problem is formulated in terms of a velocity
potential s(xy) which satisfies Laplace's
equation

--

Y(2.1)

everywhere in the fluid domain. The potential


must also satisfy the following boundary contitiono:
1) on the unknown free surface y = n(x)
a) the kinematic conuitior is:

no

Fig. 3.1
- 4 +
y

x = 0
xn

(2.2a)
The known free sjrface elevation y = i 0
corresponds to x 3 - 0 and toe bottom y .-E(X)
corresponds to x = -I. Using the metric tensor
g.., Laplace's equation is described
by the equatign:

b) the dynamic condition

_{x2
(12
(2. :b)
2 =quantities

11 2

a- (ij 2-4 ) = 0
x
3x

where g is the acceleration of gravity an'


in
U is the undisturbed uniform velocity
upstream direction.

an

where
and

2) Far upstream the flow is assumed to be


uniform with no waves:
U0

(note: g is the acceleration of gravity, to be


distinguished from )

iU

The dynamic free surface condition (2.2b)


changes into:
0 0

at hI
h

det igi

(,.3)

3) Far downstream at a station where the mean


value
hhd of the free surface above botton
V
is originally unknown, the flow is also
assumed to be uniform, hence

an

(3.1)

ax

ax'

'h 0

41 The bottom condition at depth

,32(O as

u_

g n

Il) X

anSInstead

ax

U0
y - n*(x) we look for a new position
free surface determined by

of th

y - r(x)
Ill. Comrutation of the free-surface elevation

3')
as + , 33((-(A

_ 3
ax

, (x)

X(a)

or

An impurtant part in the solution procelure


consists of a correction of the 1osition of the
free surface with respect to the fix d pcesition
of this curve during the preceding calculation,
Consequently the Neumann problem being solved
with a free-surface elevation y - no the
dynamic free-surface condition is generally
not satisfied. tlines the pressure distribution,
tien involved at the free surface can't lead
to convergence of the perturbation method,
outlined below, first t'e value of no has to
be replaced by th, corrected value nto' "
It is calculated from the dynamie free-surface
condition after te substitttien of tile surface
velocities following from tire nolution of te
Neumann problem.
We consider the problem iii a curvilinear systm
of coordinates where x' is defined as a
coordinat, which follows the bottom and the

x
ar

Z(x

The transformation to the new variable


using thn reiations
'1

dO3

d
ii

d
or

*r

. 22
dx

dx

d
dx

or r - r 0 *
(n can be approxiM
leads to the kinematic free-surfat

206

)
condition

33 at
3

3x

3a
2
ax

22 at
3

d
2
dx

23 3
ax 3

and

and

q .

(.b

I_

dx3

3cosh
x

wer
-

x
-0
inwhere

a
2

2
3X

,,23

2
8 is equal
to the mean value of 0 in
2,
an interval ix
Furthermore, the boundary condition at the
bottom xj - -1

The potential 4 in Laplace's equation (3.1) can


0
be replace by the perturbation potential *.
In order to produce an equation which can be
treated by the method of separation of the
variables the quantity X is introduced accordirg
to the relations;
_22 It

2
d 2h.
d3)2L- - 2 isi
h
dx

If the fluid domain is divided into intervals


2
of small Ax the solution of'above equations
in each interval can be represented in the
form :
x
i
Ai
i
x2
f
A. ConB
x + B i sin ai x
(3.6)
3
cosh a.(m *,(.)
and h. =
a (
(3.7)
ai

3a)

wheru

(3.5)

2
2
a. 8(x )f.i 0

22
(dx) 2

(U3 - q') - g no

)-t-33 G4 ?J-

3
him)

and we arrive at the ordinary differential


equations

The new variables


0$ and ( = n-no
are substituted into the free-surface
boundary conditions (3.2), which are linearized
under above assumptions.
As a result, we have

3s
.'

and

Besides this, the derivative of


with respect
to x2 is assumed to be much smaller than 1.

ax22

(ax3)

xx,x ) = { f.)x)

21x3 so 1

2 cc __ cx '
3m
ax

(x

is solved by the method of separation of the


varibles:
Then, we substitute the s,rieu

(3.2b)
Now, the potential $ is considered to be
composed of a contribution of the potential
determined by the solution of thi preceding
Neumann problem and a perturbation potential
with the assumed property:

2)

2 2
(x )

or

30ax3

is atisfied,

Now, we approximate the func-ion


enpresnion

3m m

a. cod a.$0 X'

,xs)
s~a.

by the
5i

and

'

o(m ) 31 3_
)x

+ :3
3x

#_3
3

3x

which is also valid in a small interval Ax


The constant a is added to the expression in
ordcr to elIminate the imaginary parts of the
roots q.. These roots need not to be considered
because their exponenLial contribution to the
free surface elevation 'orrespondo to nearly
a constant il a small interval IAx.
The substitution of the expressiona (3A. (1.),
(3.'() and (1.8) into the free surface conditioni
(i.)
leads to equations containing terms of
three interindependent types. These terms are
the constants (the mtric tensor quartities,
the velocity q ete. are avesged in an interval,
the cosine and sin terms.
Comparing the coefficients of similar independent terms we obtain:
1
(,.,,,
33 ac
c
0

'Ihis transformation turns out to be an


tpproximation because the necessary condition

ax2

)~

(-)

(1.)
-I

can partially be fulfilled f.i. for one


3
position
- const Ant or for an averaged value
3
about x . The best results can be axpected if
condition f3.4) ii prescribed at the free
)
surface x3 . 0. rom this a relation for O(x
can be derived.
Before doing tbis, the partial differentiil
-.u.tios (3.) espressed in the form

267

The dispersion relation (3.10) is reduced to:

wher, qC is a corrected value for q in rela.-

tion to the change in the mean level of the


free surface.

2
0

sg tanh

a H -0

2) a local dispersion relation for ai

'3
2
q

If

(3.10)

1 one real root a is of significance

in the solution for t. So, starting upstream


where f i. a free-surface elevation occurs
of the form:

t
tanh ai

> i we find one real root from this


qg22(0)

- c, A

r.clation.
The value of 0 being known, the solution can

ax +

solution for

)=aecos

be found in this step 9f the iteration process.

we find the

Starting upstream at x4 - 0 where Z and


be computed
are known the value of Z coin
dx 2
in the firnt interval by means of the
expression (3.9).This expression gives so
while the initial conditions give a. and b.
Then, the values of
and 1C
2 are calculated

a sin a x) in the first apprcximation.


From (3.9) follows a0 . 0 and the initial
conditions give:
+ a
c and a = 0
c an
2
As a result, we get

dx
at the eid of the interval. They are the initial
the
next
interval
and the calculavalues for
tion of C can be started again. This process
is sequentially repeated until the end of the
region in reached,
As mentioned earlier, the value of 0 in an
from expression (3.4).
is calculated
interval
of the approximated solution (3.5)
Substitution

(3.12)
F = c cos a x
Continuing the process we find that above
first
result represents the solution in the free
order approximation for the complete
surface. Subsequently, the Neuman problem is
solved for the new fluid domain bounded by a
free surface nl which is equal to above value C.
With respect tR the velocity field obtained
this value is replaced by a value n* in
agreement with the dynamical free surface

combined with (3.6) and (3.7)produces the


relationt
(Pb;+ Qa(cos
1

condition. The procedure for correcting the


free surface can be started again and this

(psi - Qbi)sin a.ox"

ail x.
1

process is repeated until the free surface


does not change in a complete loop
iteration.
of
Thethe
difference
between n0 and no at the end of
the calculation indicates the error as a result

where
Po23

aelevation
+ 1
3 _
ax
5 0t2nt +
023

the numerical approximation.

i 0of
and

401, +

ax2

(033

an

a h

If above procedure is applied to the example

of the symmetrical bump the symmetry of the

2 2

problem disappears and waves come into existence


downstream of the bump. The emoothi.lg effect

a G

of the method on the course of the free surface


suppresses the singularity which arises if the
waking part of the procedure is omitted.
Naturally, the character of the solution is
completely different if no roots a. 0 0 are

The value or 0 is calculated from the requirement talt the rorm P2 + Qcal
e
fr, minimum
23
constnt
imave
In the cae when
f 0
0 and G"
which occurs at the firs and p - and Q can
be simplified to:

22

P-2tan

dx

found from relation (3.10). In thelexample of


the ftat bottom thisis the case when
, I. The solution of the problem is then

20

33
2
tenh ai (O - *Go")

and the minimm is arrived at

ohtsined if the expression (3.8) is replaced


by a polynomial approximation of the second
degree in x-so + sO 2 * a

(3.1)

For demonstration, the example is chosen

....

(3.13)

One constant is determine, "roa the dynamic free


surface condition and similarly to above

((22

procedur, the other two constants follow from

the initiml conditions in the considered

a uniform flow of vcl;ocity UO along a flat

interval.

bottom, being at distance H below the free


ourface.

"

IV. The solution procedure concerning


Nemnnpole
th
the
orblempolynomials
euman
Y
x t
X

an

x3

x3 .x,1
resulting in
of the third degree.
'Sheapproximation (4.1) is used to produce a
set of ordinary differential equations,
following from the requirement that Laplace's
ion isor.ly satinfied on the curves
x
Arrang ig this system, the result of
J
method is represented in a set
the collo'eation
of n ordinary differential equations of the
form:

Xerat

x .o
4
3
x=-

CU
0

Fig. 4.1

d (G 2
2.((
dx'

A part of the procedure is represented by the


solution cf a Neumann problem in terms of
Laplace's equation subject to boundary
conditions of given normal derivatives (fig.4.1)
Because of the two-dimenionl character of
the problem the 8oluti- can be obtained by a
direct numerical method of integration. Since
the solution of this problem, is a part of an
iteration process in order to solve the
complete problem, the computer tine required
.111 be reluced an much as possible. This in
achieved by adopting the following approach.
1.

1 n

~--. 3.3
-- n
~(J-------~ -x
-

-- ------

whr
whr

d
2i '

(4.2)

+ 3
x

()

-x

1
1I

AJ

ij,.:
Ij n

-2 -I
1
7,
'
1'1
1

combined with n-2 relations, actually resulting from the requirement of the continuity 3
of the second derivat~ve
with respect to x
3
at the intercurves; a = X3 (jC,(I)n-II.

3
j+1

3x.

and

~Next, the complete

met of equations in,the Cm


is olbtzifedif the boundary
condition at the bottom and the free surface
Fig. 4,2
are added to the system.
3
Considering che system of equations (4.2) it
A regular set of curves of constant x , the
oan be rioted that the interdependency of the
same system of coorduiiates is used a in chapter
variousa e
.' ior
4 ; rodusrd by the first
J. is loesano III the dliisans Ltween tine bottom
two terms. The elgen functions being determined
and the free surface.,
the syotem of equations our be transformed
Or.theme curves x3 3
1(0n) (Fig .4.C)inoastedmnnterswh
2nt
ayse containingdoiatersw h
the functions *i(x ) (p0,1I) are defined
reopect to one dependent variable is each of
rereeti,
tep teia
(p0 an is
theaiustions. Each equation can then he solvsd
derivative with respect to K3 (p-1).
idvdal
ymaso
ilri
lmn
method, thin, operation being part of a process
The potential # at an arbitrary point in
of succrniie iteration. It turns out to be a
asle..lomsin ij ) lying between the curves X3
quicker procedure of' solution, in comparisoti
*
swndt
et"veil
and x3n
+
to qtwo dimesional finite element method.
otoiin thr deie
x
inwse
iheefc
i

quantitis

-unknownis

at their boundaries. It

nl

is

V. Numerical results

expressed by
(J

'5

In this
3

3
~(1
(su

(J)
1 2X3Q)
I

Firat,
iare presroted for two different exasaplee.
nu~merical
metho)dwast rheciod inttheccase

ithe
+.)ji

of

runn

trew

o
local disturbance at the free ltb
surface
represented by some de-iation with retipectto

k.0
3

paper some results of calculations

(.

an originally undisturbed level. in introduced


to study its effect in downstreams
directio~n.
The results are shown in rig. 5.1 indicating
thredifference between the simple harmonic
solution I 3.2
in the first order approximation and the son-linem:- solution B after three
complete loops of the iterstion (Fig. 5,1).

The coefficients of the isterpolation polynomia.le


I andi is are clculatedl fromithe condition
t~
th*A&pproxisvmted potential
and its
3
Aerivative with respect to g corres~xind
exactlyvto the qJuantitieaas at.the boundaries

20

0.02

. ...
-

-+'t
-L

I_

-A'

ii

+,

--

-~-

--

,,.
0=

0j
V

0.33

_.

0.2

i ig.

Fig. 5.1
The method turns out to be stable producing
results characterised by an unchangable
difference between the free surface elevation
aluen
during the last"
and its corrected
c

5.2

loop of the iteration. The accuracy of the


results expressed by the above mentioned
difference is still not sufficient to evaluate
the results on its quaititive aspects. Then,
the number of subdomains n-I in the solution
of the Neumann problem has to be increased.
The computations performed with n=3 involve
too large errors, which can be reduced as soon
as the computer program is extended to cover
the case of a variable n.
Tue calculations were carried nut on an
IBM 3L0/65. The computation time require!
amounted to 12 seconds. The number of intervals
2
in x or x direction war 50 and the Neumann
problem was solved for IA3 using 50 elements
on one curve u-- is constanT.
A special procedure has been incorporated to
take account of the shift the woxveundergoes
during one loop of the iteration,
Effectively the free surface in an interval
is iteratively determined from data blonging
to n cumparaible position in the period of the
preceding wave. Since unilorm flow is imposed
at the vertical boundaries of the fluid domain
the wavo is somewhat deformed In the neighbourhood of L ,:
locations. Since the exanple
serves for a qualititlvi
atadlysiu of the method
To. attemps were iaide to ciimit.ite these effect:a.
The middle of the fluid region provides good
results indicated by the conformity with a
:itokes wave pattern.

---

--

o0.
1.75

I
V!.

Fig. 5.3

Conclusions

A stable met.d was developed for predicting


the wave pattern downstream of an obstruction
in a running stream. In this respect the
calculations were only performed ror an
obstruction at the bottom, but the method
presented lays the foundation of the solution
for the problem to find the wave resistance
for obstructiont located at the free srface.
The most importwt contribution to the soldtion is produced by the addition of the second
correction of the free surface elevation to
the iteration process. The first correction
intended to satisfy the dynamic free surface
condition is not accurate enough to prevent,
the penetration of aiegularitiei in the
solution. It is demonstratod for the example
of is running stream with a symetrical bump
on the bottom where a singularity is created
in this way and no aves are found in donrstream
direction. Oil the contrary, th second correction
jiocat .
.nrurve, thA fuanction value and its
derjvatives beig continuous up to and ici...
order two, wtich is sufficient to preserve the
accuracy of this approximatLon durin the
iteretion. The stability of the sethod, however,
is guaranteed if the first correction pr +cedes
the second te.
The method was applied to some
examples mainly intended to investigate the
qualititive aspects. It may be concluded that the
calculatins
produce
reliable results
being of interest to cmpare with experimental
results, To this purpose the accuracy has to be
increased expec ially a tar as the solution of
the Neumss problem I* C,idfrafid. Therfurs,
the eomputer program must be adjusted to operate
with a variable nuaber of tubdomains. In addition
the objective in future is t0 chock the method

The method is lso applied to the problem


a running stream wion in oaaumed to be
undisturbed upstream of a sio t bump or, the'
tu~tom, 'The results are illustrated fo" sul'critieal flow in Fig, ).2 and for supererit joal
flow in Fig. 5.3. The latter agree with
analytical results as far as the 1$niitn
f
the fr
surface at the end lieation downstream
is conceised. A amK!I 4hrinkige of the mosti
leve is 'borrved in%the cse o the suticritical
flow. file calculations were done for P, inter
vala, and I loops were necesary to find the.
solution. Dfiubliig of the nerter of intervals
did not afect the -eaults, but the same
remarks as for alie example cani Oe made it
relati .o lo the accuiracV.

290

on the problem of a cylinder partially


im.ersed in the fluid. It should be emphasized
that the considerations are presented in order
to extend to the three-dimensional case.
References
1. A.S. Peters New Treatment of the Ship Wave
Problem.Communications on Pure and Applied
Mathematics,vol 2, p 123
2. E.O. Tuck On line Distributions of Kelvin
Sources. Journal of Ship Research, vol 8,,
no. 2,pp. 45-52 (1964).
3. E.O. Tuck Shallow-water flows past slender
bodies. J. Fluid Mech. (1966) vol 26,
part 1, pp 81-95.
4. Bruce H. Adee Calculation of the Streamlines About a Ship Assuming a Linearized
Free-Surface Boundary Condition.
Journal of Ship Research, Vol 17, No3,
'73, pp 40-14o6.
5. FO. Tuck A Systematic Asymptotic Expansion
Procedure for Slender Ships.
Journal of Ship Research, vol. 8, no. 1, 15-23(1964).
6. Nils Salvesen and C. von Kerczek
Comparison of numerical and pertairbaton
solutions of two.-dimensional nonlinear
Water-Wave problems, Journal of ShiD
Research, vol. 20 (1976), 160-170,
7. C. Korinhg, A Three-Dimensional Method for
the calculation of Flow in lTrbomachineo
Using Finite ELements on a Blade-to-blade
Surface of Revolution.
PhD thesis, Delft, 19"(4,
8.
C. Kori-g,
A Method of Calculation for the
Three-Dimensionrtl Fluid Flow in Turtomachines,
Proceedings of the fourth
International Confereose ol Numerical
Methods in Fluid Dynamics, (3%), ) )14,
..'3
K.J. Bai, A ls'calized Finite- Klement Method
for Steady, Two-Dimensionul Free-Surfce
Flow Problems, First Int.Conf. on Num. Ship
Rydr. 197%.

NONLINEAR FREE-SURFACE EFFECTSTHE DEPENDENCE ON FROUDE NUMBER


C. von Kercuatsand Nile Salvesen
David W. Taylor Naval Ship Research and Development Center
Betheeda, Maryland 20064

ABSTRACT
Nusineical solilsIouIs
Of tIre nonlris-ar tproblem of twrodinrensional f-inite-depth piotential flow past a fined pressure
distribuion on a free surface are given. lice niinerical
imertiod approsimais.s ihe enact piroblern by finite differences
thle nxrverical sOiriitions presented hcrc .re-for a rangefsif
values of the Fronde number based on the length characterizitugthe free-surface pressuredivtiiutin. Thre numrerical
solutions ate ctompared ixsfar atspossible with first-., seconud-,
and tlrird-order pertiebatron-t heory solutions andI it is ftiris
that the second-order perturbation theory can give accurat,
solutions of thns problemi for the iange cif Friutde tnnmbers
iivostigated. I lie details itt the free-surface deforination
s:-aused
by lte suface-pressure distribution arc-presented ill
graphs. these graphs illustrate bele
efcts Of rthenonirvneatit c-soft the piuohicr on the description osf the wasc-making
action ruf tIIresurfact-pressure ilisirihuirion.
NOMENCLATURE
C

ftpg 21,1- wave-resistance coefficient


ltedphwv eitaiecw cen
C iei-ler
linir heoy inie-dpthwae
tm~tncecoincent
linear-theory irnite-deprlr wave-resistice ctot*ificie- t

horwwavesaregexerated by
pocssible abouts

IIi InIiatiosuis
C Ik
10 reIPOIgIlit

C~~~~~~~~~~~~
Ilippglresteclfcitobtacles

It

and the effectiveness,


technisises in sinning such problems. It is
that tici inflorirarron cart yield riportant clues (n
Insw tr litnrle lie inure itrtrrtait Instldifficult threeuptltit-wave
Iidtteui
probnlemt althoughrtire twit-diniuSiotrat
il frbcniictv
ltiupaper nay also be if some
taictical ,uir la[ice,
::I "prturbaltiOn

vfj Frucnumertotted
* I) f~T Frirideirisribe
I. effective length (if press/ire itrtnitioti letI-r
Ylitni (7) ritFigure I -i
dirrierusori
Ii

gas atrural

It

wave resuxtar~etier runt xIdti

velocity sif ireitr dirtaricc or unii:ni


velocity far iitntrearrr
K

It

Ii a twur-dimrensiounal
iram

water deptht

ft

trernrI

hereare twor train I ronie rititrr assotiated wins the


twcr-direistoial wave-resistance iribterir. (lie uif these
is based sir tire sdepth ) irf Ilitest reamiand
irruie nurmbe-rs
It itetired as IN VdfjT where It is threitreri of tire uicotming
streari [t xlsiiem tot the wave-geonerating
Obstracleand S is
the acc:elerrtirr cit gravity. I Ie eflects onsirte flow field of
r ie varsationisif this deirIt(ide uiber Wich were
esarrird ti Reference J41. are tnotor prirary trite .r rIn
iris traller. thoiugh they sti r16y air rrrrtrcrrtrtie here Oir
ltunir
inrrst niow is t, esiire tire rnnlirear free-surtace
ettects at ltre levtbl-Frsriiie niuirber 1F 1J/,/j it varied.
lire lengithI It the charactenstic length rut zie wi.e-

seleratrisi

nieth sius
V- lengthsIstetited Ini tigrire I arid in,I 'ultonrr 17;

I',, xi

irliirinrl sAlte oft ressuredIr ait pvi


rut
lice-sirtac presosre drstrrtLuitsnrr delifrid In tsqlrtsrt
171And sir Figure I

it

fivee-uraeled,
c
rn

p,

A
A5 s~

flow past a fixed pressure distribution on a free Surface. the


numerical method that we use has heen described in Referexce IlIlI. We
usedthe method previously to investigate
the1nonlinear , -surface effects of a submerged vortex at a
fixed Fronde number 121, a vuhmerged cylinder (3!, and
thresubtcritical shallow-water flow past ax obstruction 141.
We have fo ad in the studies 12-41 that certain nunlinear
features of the flow field which can he calculate,] accurately
using perturbattioi methoids are also predicted accurately by
sournun rical nmethod. For example, in numerorus enxpertmnrcni our mnethord( seeespecially 1411 has acurately
predi *ed rtheinfluence of the fre<,urface nonlineariltes ron
the wave length of' free waves. Fuirthermiore, in finire-depth
wa'e r there is atlowering of the mean level tif the free
sin .ace in the don nsiearn wave field ischind an obstacle
sce15(1. Ibis nonlinear effect depends only sin the wave
_sistance ruf Ire obstacle, It has been fiound in 141that
this characteristic louwering rif the mean level cif the free
viirface is Irrediclid well by sut numerical me trod It is for
these arid sinmilarreasons;that we haveconic tio believe that
fist a 5 eitai range of ptaineters. orir nurrencal method
preiticts rthewave resistance and free-surface elevation% tin the
vicinity of at boidy that appear to be accurate tir within at
last 2 Our3 percent sif the exact silutitsi. Accordingly.- tire
numnerical
riretlios shoruld Iherusedlii obtain as much iurfsr-

gicerratitg oiixtac. Weire interested in using tr results


fist the twtr-slirrntrnat
ierssac prirblen i tspeculate
Abovuttlie strili-wave prirbtc ii It tenriet)Irs 11141rthe tworslonettitrrra tiuacte that I. clorsestin t-one see tt a shvip
is lte free-%tiiace pressurethsttbxlitn wrirl clraracterssts
lerrath I auit pressure armiplitade p, Fintrimne, tire waveettectsi titairrira hulls anti air- xiihionrveiiles sti
ruHaing
be mod~selest
by a tr murtacepirssre dtstribivn. t he
stulni it the I wrunitnensnl free-suirtAcepressure dfitiIlticn tirilerr Inraytrssit i a rarty acxlate descnipiri
sI the li-s-al Peesrurface disturbance hitvrsr
tire very thin

waveleert~

lunrar-trety infirrite-slith wavelength


tiass ste. ly if wittr

stream tsninn

tnfudsioiir;
In thusprapwrwiepresert t iunrr at s-loi
.I-- tire
rtnrtrrvea i role iuf r wv-drrnsensrtni rinite-depthr posterntial

29

ti

It lg h rlto t

iili 11
pivon1 l lis
pilo ir.10O ilslltlilt'

I vrtitoine -. itl
Icn,1j't'ollt'l

Iii,

p, Ii

imviltric
u
lic

,il

lord werirv oilifl

i i

tl i'

tK'llit'it'ni

itt deo %a l 0p'tll,

1:

i'

mIt ptt

l t t1rill Ilitt t

i ltrtirt

ot i

'.JLC

to F

m
tislil

n
.w

ifF

lollfiln

C!i

in

Ifl

nricir

sHomrI-

s u e

~,I F.W ~

of

thel Pcrblem
obaie

lrplvt 2. lit ilft'F l

ho.t'i
i
).-

li ti Ill, ntIl

~ilitc,

,-w

[ti

ciii s o : psil
diet10iir
otlnl

ici=c

fi il I 1t ttli,

'1I F.11

i trl uI w r " ( )

Ii

-rlnie

itOl
" 5'

"

Ii

t1tt' If ''

I!-cll

l
,

I5lie

th

141

h~ ~
~~ ~ i, ~ m ~ae.n ~le iilulc

~trhcict

Figure~~~~~~~~~~~~~o
Ih rcSracPOFI
0
.1ti Ill011~l"'Ilcir
\k trm lt Iikpolle

jilt't

il i c

tIillitl

iiorllpi linlt''illt'l'ilt
IF iKtr'iii

V.lrii ill~ur F'iliti.i'tl+

Ig lii iirMethod
,t't''Flll lltrilU1t'1
tg

it

it

i l
Mid.

w t"

liii

ilttt'ilt'll

lllll'tl

thi

Isigi

=c\ji
rc-,il

11111

ucer alM to

illir

tiretili
il!i~n

Ii_

'_

trw

lilt' tthect'itlt
e

tilirililior

Ilil Ill's ktttN1tuu.1t


i' I
etitlllill I CL 4\IF1i
I~it

itlil litT

t11
.lii.11
\IF

cin

itioFl

All
millio
%ril

i'W lj

kI

L-elocd

hs

lvir

i''41h

. F rto

nlni-ipt .- fo

rnvoulto

liill

Ikli

lt

o td

~~l',1"'ie
-\,c

is

(IlWe'rF
I

111

'rcmi
l'ltcil

jelil tilr t he
l ll

~~

itio

lt1.

or

tlicet

iii

tluntO
t l e
~i
t thtt-t'in I
111

ito o1 1 I

r ill

Ii ll

Aritittli

p.r

ite i'

+Il

'1111

tlr o i

i- i iiR leene

l~lliriie
0 1ti,
1.

n~ C

inth

n a211

grid whic
ii. I I I I c o

hical it

i~j- slp2i93i

wll rocdur ;le olilnedhow


ldw tluvilI(mis(11the'Ir,111
i~ilcni~iiI'
W

11

it

til t' w~iltI

in +l h wiiterercpowii tt' 1 ntr tilw oiiln


te
wi't Xl IFlilt t'i'il
t'111
IIV
.
Wl'tliv
iii

iuesm 2oc 1 1't toiHi

lt

i establishted 'p alt interpolation iolyomial ii foirth


degree. tite interpolation polynomial isdeterined he lte
height slope. atid curvature ol thle free suirfaiceat i* + I aoil
lte height and slope at i' + I + VI. Ible height, slope.maid
curvature of 71at i* + I is determinevdappiroxiima~tely
by
f~initeditferences using t1i. - 1. ?, and 71, + 1. Simoilarly.
the height and silope at i* + I + Q is determined from
si + Q attd tti. + + .
Ivt

Sleti0lis

where thle compttlexfuncttiolt It


extponentiail integr1alJ1

ltqt = -4

/c
-f

now retpeated.

1!5)

&'l
pol I Illt
Of

00i1
77(

+ ) 091

VWg,4n
ite

.
,ii

2I

where glllx ) are futtcttns ot t[le !ower-order


I o I~ lkiilioits " 1 ai
jld 2.2)

..

(8

ttliotis

Ilie soluitionv I 141aire hiouinted wnly if cacti function


fIl 5Mis iiiiioscillitory for large tegative values of x. I i
refnires that (lte tiertiirhatioiis of tie iiikniiwn unlfrinsOcail teliicilp are given tip

tlit wave resistaince oft tile suirface pressure distribiloin

ix giver tbp

dx

aid

imu) i' t I replacesi* hot is CalledI* tie.. i* + I - i.


Ifi* is near (lie end oif the field Wi = N - SI. the prioblemiic
teriniates, If' i is tot near the endi iif [ili I eld. tu
procediire relti-rii to step IVit.

i~xl

do .
i

Ilte first-aind Iiigter-nrder tree-surface elexatiot are

lvi) Each term of Equation (31 is recoittuted atit


11'(3)1,istot satisfied . i* to sotne sciedactiracy. lien
tile procedure retulrns to step tint. If' 43) is satisfied at i
to ttte specified iccuracy, thentitle proceditre cutinnes it)
thle next slen.

IR=-

is definied iii terms of thre

Il

Ihe initIcg
ral In ilt91is over ttie lenItgIt(IIf lie p1ressurI
e distni-I
luion atid is evailiiated tos~rgIratWieeoitutadra tiires. thle
f'ree-suruace slope I dhtids I is coimputeutusing lir'it-iirder

10)

VI- 11
1I2

cetitral differeiice,.
where a, is the first-order Par-dnwnstrean waxe amplitude,
This implies that the wavelenigth, according to the thirdorder theory, is

Perturbation Method
It is Issumei thai~t thlt stirLac liressure idistibution isa
weak distitrber vii that tile pertuirbiatiois ibtit le uiiifoirmi
[liiw are eserywhiere stmail.and that ithe streami
i-ell las
lite fiilloiwiiig exniion initernti t 1 perturbiation

X=

inf

'n

I tie wave letigthivne1 lip

tpaaneteri

lW

where &iil is uit le"). Furthermnore, it is asst tied haltilev


free-siurlace elevatiTitls)I has tle ex panision
r~~~~nI~n
+n
11i1

R,-

wtiere YINlatid u~"l are borthior lOlt"'Ii


SubsOtiioti if expatnsionis4 01114,ll, and I.4 inti
lie enact tree-surface coniditions ill and Of inresthe treesurtace conditions
u~)(")~
0)-

'in y - II, 11-l, 2.3.1...


tIA

are!
where I'l - troWtlu and lik5 with t - 2 -.
snlions 0i - 1 anid I?("-It
Paintonsiif tilehiiwerniriler
Ire lii. Irliaions
.1ASand L174and where Li wi is
socittn are giveit
deptht thle
Fourittinite
tile wane oniie
integral 1171 1i. 60i1ith
tbylie conilitiion

o tiil te liinear attd seetiiiild

I lie liiieiri/ed
and Itwoi higher-order wave resistanes
for the lurtsisrt distrthiiioit lane tet obtained tip
numterical integratiotiti

I)C

( 121

ui + u(" + ka,

pt i

its

,n

1 2. j .. 114f
I

.qt 1. 2.l

dx,,,,r
n1X.nl.
2i

1224)

A serious deficienceyof fte ciiitiari ins btweent the


ntmerical and lie seed.Aaiii tirdiurder perturbatiointheory results that we wilt make is that the formter is ror
nite-depth I)and the latter in (tie infinite depth., IjilorInnately, the nuinerteal
method is restricted Vi'streams
effects are
whticlt are iuatceil deer that the biottir
completely negligible, Also, we did nut have the capability
ito calculate tinite-depill second- and thirit-irder perturbation
thieoiry
sidlion. Suichtheori remain itohe deneloped and
wiould be of considerable tutrinse interest. but see (sir
instance 141lour
a start on this probletn. However, it is anl
elenitarp mlatter to comtttnie tle fiutite-deptti linear-theory
ItI
fnrinula
wane-resistance LCIefticient l usingi thle
t
k a,*'
*
k,' , # t
-

'

__________

2p (I -ylitch
s~n)! ibfNh~l~eI 1iir

1211

order thieiory is X, =h, -I 2nfgttJ .

and tiat thle iuni~ifit-siteatn velsiuty U) is ati utukitowni ot


tileirolilt
with;
tile
expanisioit
2)

Ut 1v

ii

k.
0 DI

where

Suikupt.
aretused
It, mniiate
thata quantityit w'inci within therorderof tbnWtlrblttui thilyas isenst
by inia
index.

(1)

2.0

1.5

/i-

/
a1

a-

/NO.43

'A.

01.

0 .5I

NO.3 2
I

UNO

0.50

0.40

0.30

0.80

0.70

Figure 3 - tInfinjite Depth Litrear-Theory Wave-Resistao r Coefficient


versus Froade Number, for VarrioinsPressure D~istributions

it

I, ()

theory given by formuala (23) describes the maw , .ituren of


the waoo-niakiirg actiont orfle prcssurc distribuli'o defii
bry 7). 1lie main foature oif lte wave-trrakirrg is [lhe gineririd slerrt' waver by the front arnd rear
"fhow"
t
djiribution and th cauncelation or
pire
Ite
Ito
i
I
portiu
roforccinient of Itese waves detwuurig (tit '1c Pihasing
I le objectivre htere is to investigate in what
(trotietit.
bll-e
lire noirlincarity of this problem mo'tifie% thnelinearhrry dcripeitiiti of the wuemaking actijolt of the pressure
distiruvion.

co k, x dx

poI I in k,,x dx
p1in

~~,e

It

roni ho ottaionwy
arrd,,
oniive li. ootof
andosiive
,, s t.,
ootof
ral he euaton
irh k,, 1) - 0.
I- Ptu
Rautts andDiseussitn
We first examine the linear-thetury waneresistance oif
free-%urfaceprressure dirlhutloni of tile turin liven by (7
it Figure 1. Figure 3 shws tihe infisite-de~pit
shorwn
and
*linear-thory
wave-reisnance coetficienit (l. - vernnsFroude:
number IF forr the four pressure disitrbtions shown iNns. 1
truh4) "1lepesrnitiutosI-4alhv
tte
I4 asihoan
throuh
rrestate I. iintrbutiors
characteristic lengthr1. srid corrrsprord to ratios of It,R,2
1, 1/4, undt It. reirectinely: I P, and q, are defined in
Eqation (7) and in Figure I). ntrustfIere
Wenorte that thCgaexitpak
at'a

In lte modelling tif atr-2uihior veiricleni'I it is


nrecessairy to tine a presutif distribution wilth a fairly siretr
ltina
ned.nii ndnrbto ribr!
Ftture 3. (Onecart iofer this fuct from tire wave,resisturice
eorn-. for ntr-cthiiort oehicie% givot in Reference IFl
Ir-51
h
aerxnate ovngvnitRtrt
19(1exhribit twit nearty equalliy large 1eaks at roughly lte
ame vaittet of tire Frtrude nunmberIFas tire iwo licali
n itrr rFigure 3. tlovever, for all ti lte resutitsgtivn
this paper itrer tinal Figure 3). pre!-stire distributiorn Nor.')
r
hshr xi ean esuedsrbtosNn
-annot be resolved accurately with the finite-dfference

infinite number rr cach cornverging at F - 0, Int only the


two outermolst peaks at shown) at values of Froude trurmber
F which correspond to castenis wihcO the riiltrns lintear-

e arte soat
sizs udintathe effercslo itnlin
mneste
ota
th puroslie. rf
nualvefo
itistehoisnt

thleory wanelength A,. - Is aprorimately a certain rmtitipleFte4shw


2rFl.
Xat
.- - 'stl/6 t rtat it.d.
t
of L. We recal Il
Mhe troughs at which F " 0.28 and (.40 correspornd to
I!j, 2.0 gird 1.0, mapetively. I'he peaksat whnith
3/1 artd 112,
IF - 0i.1. it 0.57 corresponrd lto [./A ,,respectively. It will be seen hiat the linear waoe-eemiltsrce

av
ftitieriery
thgrp
ae
ftelna-wr
hw h rp
Fgr
reqnitaric coefficient CI versus the Frxiide number 1: (atid
the wanelength depth ratio. , -~ID) for presaure dixribtition
No. 2 anti for tinite deptti D. lIt th0sgraph. the depth irf
the water in cinistarit arid erinua'tr rnhail tire pirciniire
distrilvitior lenthi 1. '1 he isoirrt in Figure 4 are the

2.0
3.0

25

LINEAR THEORY.X I.D


- LINEAR THEORY, L/D= 2.00
* C =040
P I.
I NUMERICAL
=0
RESULTS
CP ao
AC =.
=.0
-20
-/ 2.0-2.o
2C.00

A,=o

1. -

.
0.50.U

0.3

IL

I
0.4

0.5

.,

0.6

0.30

1.6
2.0
2.0
WAVELENGTHDEPTtI RATIO, A1

'

0.40

FRaUDE NUMBER, F
1.0

=2.00

0
- Cp 0.64 NUMERICAL
RESULTS
a C 0.96
rI-2C,=126
1.2
l./
2.
a

0.50

0.60

FROUDENUMBER F
4.0

3.0

1,D

Figure4 - Wasve-Resistance
Coefcient versusFroude
Nmlselr ft=. Various Valuesof Era sure Co(efficient
C'p,
Comparedto Fuite-l)epth LiuearTheory

nmneric'al prediclions of thme


wase're'sistanc:e
:oefic'ientt('at
varimnis
saloes of'ilt' pressure 'os'fticiett ('. We.nolte frott
te A1, /D ahsc'issathat for lined nahmes
of l and D,
inceasing timt'Froude: nu11tibr F:results in an inceel it.i
. l the
waiveleitgllh-dcitlt ratio. A'1n/1).
Ihits at lie tigger speeds
F >1().401, the waveleugtlh-tteptlt ratio be'omes' lrge
IA1l ,/D > 2.0t so rtat the higher-spe'ed cases :orres pond
to shallow wlier wilth respectlto the wavelength,
We findl
in ]iiere 4 thaI the nonlinear effectls are
sil'stan halia
at nost or"the Frotide numl,,r. thle enception
is in the-areas tear the'ptaks of the li-tear-theory resistanc'coticiet
urse. Befv
ore discossingl these resoltsfarthter,
:considerthe similar graphs of wawe-resivtanc:e
cofflic:iettt
shownin Figure 5. The ntumerical resnlts is Figure ;
c'orreslmild tt a fiveil nale of the matioh )1/1 2.11
lhmos.as the Froude imer 1:increases, thle lenoth-delh
,~~~
m ratio LID dec:rease,
mmmmmm as indicated by Ie second thlhstsa in
Figunre 5. In other words,the water gets shallowserrelative
to Ihtec.harac.teristc
lenglth L tmfthe Itres~sure
distrihu ion as
the Froude numberdecreases.The physical situation is that
of an tuir-etuahiun
vehicle,say. ruttning into increasinly
shllow water and decreasing its speed in sar.h
a way Iltat
the ratmoA't 1/Dremains cotnstant,
What Isttotalhte in romp-mugl FIglures 4 and$ is tlu'lr
itialitatine similarity. An InterestingI findit is that for the
ratligs'of F:
oncerwhtirlhIhteIinear-thmeor (t curvehaslsslit!ve
sloe, thenottlittear free-surface effets, result in inrreaulttg
values of wave-reslstatce c.uflciettt ( wittt Increas
es in the
press'.u. coef.xfient ('c. lfnac.tly the opposite efflec.tocc'uel
toe Itheranglesof F:over witich the linear-theory (' cure
htas negatliveslope. "rhis
eftlect oh"
the mtonllsealies indicates
limit the glraphof ('versus F hasessentially the sate form
I the
graphof (C
F hutit isshif'ted to toweevalues
1 versus

tif F for Inc.reasingl valttes of the pressurecoeffic:ient


('n.

20
1.5
LENGTH.DEPTH RATIO, LID

1.0

Figuire5 - Wave.Resislanee C'oefficienl versusFroude


Number for Varius Valuesof Plressu|re
C oeffic'ient
Cp, Colnparedto Finite-D~epthLinear Iheosy

It is ot essentialprac.tcadinterest to kno~wif"
highe'rorder pertnrhlation theory for the twrdimernsionat waveresislanc'e problem acco'ratetypredicts the nonlinear
variations of ('with ('p,
as shownin Fignres4 and 5, The
reults resented ilnFigne Ii gist'some indication that
secont- andJthird-order pertarhalionl theory nay predict the
waveresistance coefficient C'fairly accerately. In t*his
ligate thle ratios taf thle wave-iesitance 'oef'ficients ('C 1 ,
Ve~tls the ptrssnre coe,.ffic.ient r'pat nariotts valuesof
Frotide number,F are compared. The open symhols denote
the numeric'altinile'deth resultInand thle sotlidand dash,_d
curves demotethe sec~ond-and third-order infinite-depth
iterturbation-theory re~sults. The value of the ratio A)I/D
is less tttan 2 f'or aSlof the numerical resultsshown in
Figure: It; hncne this is almost ettuinalent to infinite depth as
far as the desc:ription
of the wavesis c:oncerned.However.
enaminatmonl of the nutmerical resultsin Figure6 showsthat
the characteristic lenglthI. is tot lrge relatine to the depth
I) for nonlinear bottom effects on the wane-makingl action-of the pressure distribution to be neligJible.
on can estintate (ro'ughly)I
the wave-reslastance
cefficient for intinite depth, LID * 0, at fined valuesof"
Froude uuntber F and pressure
coefficient ('pby eatrupolshugi to L,/D=0 the finlte'depth itnmericul data given In
F'igureIs. A hand-ahetched
eatrapolatlon of the finite-depths
values of C/C'1= Is presentedin F~igure
7 for F * 0.461 and
0.357 andit indl'aten that theenac:tInfinite-depth values of
wave-renliatance coef'fic~ent
C"wIll he either closeto the third'
order perturbation theory vlues U,C!or atl
lent between
the .second and third order valuesa
o(. Plgtarsa6 and? s7eem
to indicate thatfor F 0..S7,the thlrd-oeder theory fal=
For tite larger valuesof C9 . Weconcludnthat perturbation
theory can be enpectedto predict fitly well thewane
resistanc'e
of twra-dlmenslonal
pressure distributions, at least
for Frotide nutubem F >fO,.t. At high speedsIF > 0,55)

.5;)
'

SECOND-ORDER
THEORY L/D-01.
THEORY j-1
THR-ORDER
THIR

--

1.6

] 0 -0

F 0.451

NJ9IL

r.15)M~O

LD1.751A4

~*~0JClR

00

1.2

0
cc

D-.3
LID 1.31

-Z
1.

1.5
2.0
0.5
1.0
RATIO, L/D
LENGTH-DEPTH

0.

256

F- 0.357
36

1.

.6

51.2

Lu0.4
o

.8-

:TER

METHOD0 a'UMWRICAL
a 0 0
U~CONO-OROE5
THORY
0 0

00
0

2.5

Lo
1.5
2.0
0.5
RATIO, L/D
LENGTH-DEPTH

0.66

leA

Figure 7 - Wave Resistance versus Ratio lof P'essure


Distribution Length. L and Waler Depth. It
for F =0.357 and 01.461

.40
I&

0.21

near anti beyond the second hump o1 tile C versus l corses


of Figures 4 anti 5.linear wave-resistance theory is expected
it, be fairly accurate in predicting the values 1sf C.

1
1.5

1.0
0.5
PRESSURE
COEFFICIENT. Cp

A L/D - 3.32
2.2 -0 L/D -2.761
O L/D -2.00
8 2.0

In Figure 6., Ihe open symbols given for C

(23). These values show that Ithedifferences besween finitedepth linear theory and infinite-depth linear theory are no
more than t 10 pe,rcent for Ihe easespresented in Figure 6.
whereas the differene,~ between the finite-depth nonlinear
numerical results and the infinite-depth perturbation-theory
results are Much larger. For example. tfle F -0.302 and

A
-0

1I.8

C P . 1.00, the finite-deth numerical and tile infinite-depth


differ by about a fActor of 2.0. We
perturbatioln resu~lts
conclude from thlis that the finite-deplth effects on the wave
resistance for Iwo-dimensional flow past firee-sllrface pressure
distributions are highly nonlinear and that litnear theory
cannot be waed to estimate accurately the bottom effects
even for disturebances with moderate str.nglths. Similar

t,
W

= 0 have

beenobtained by the linear finite-depth t~heorypEqutlion

I
F -0.302

0.

1.
4W
1.4

conclusions were reached in Reference 141with regard to


finite-depth effect: on the wuvetet~itth of free ruttning

~the

One can detect a small amount of scatter (oe irregularity)

1.2

numterical results thown in Figure 6. The tttestions


of2acuray will be discussed later and nome results of
numerical experiments to answer some of these questions
1of the

will be Eivea.

~0

Let an now examine the free-surface elevation% in


Figure t in order to more futly understand the wave-making
actios of the pressure distribution. Wecompare in Figure 8i

1.6

1.0

COEFFICIENT.
PRESSURE

free-surface profiles obtained by the numerical method


three Froude ttumb~er
cass alt with CP- 1.60. For the

6 Wae rawPresurethe
Reistnce
Figue
Coefficient for Various Freoude Numbers

numerical results shuwn inFilure Kiboth LID and X,../D)

aresufficiently small (both consaiderably tessthan 2) to that


theycan be cotmpared Is lnflle-depth lttear-theor" resutlts.*

Infreesurfceenationsbetweetnflnlteath andtllta-stepth
*Fut linsaartheory,
lthadifference
wisent
bathLID andX1.ee/D arels than2
ialessthanI perenst

97-

-.

NUMERICAL

LINEAR THEORY.LID

I
0.02

0.461
- I.00

0.04-F
0.04-

*0

-L

.0.02

-0.04-'
S0.02F 0.300
LI

- 1.3-

s.-0.02-

F- 0357
.00
L

'

4.02

.0.04[
.3.0

.2.5

.2.0
.1.5
10
HOISIZONTAL
DISTANCE,
x/L

.0.6

Fi'lure 8 - Free-Surface Elevations Obtained by Numerical Method


and Linear Theory for VarirousFronde Numbers and CFp I 1s0
Figure X how% the very interesting fact thui tic
difterence isiween the nonlinear and linear-theory wane
resistance muist %tein almost entirely tromnthe phase shilt of
the rear portion of the local disturban, , relative to the front
portions. Note that the amplitude of the forward part of
thXe
local disturbance is predicted to healmost the marneby
thecnonliuc :ir and linear calculations. Thlus, at the ttigh
speedi, 1: > 0t.55, where the pressure distribution rides
lntircty on thfeforward tportion of the local disturbance,
very sntall differentces are faund betwren litnear arid nonlinear
results.

A general dnclusion seemsto be that the predominate


nonlinear effect is the ptiaseshift between tile waves
generated by ditfferent portions of the disturbance. Furthermore, as the speeddecreasesand the wavelength becomes
smaller relative I,, the disturbance lengthi, this phaseshift
results in an increcsingly larger difference between the enact
aind the linear theory wane resistance. It seenms tilansble
that this conclnsiii ror the twir-ditnenional pressure case
may carry over to tht tiree-diniensional ship casw, Namely,
liat us tte %hip speed decreasesone may enpect larger
nonlinearitles due it the nonlinear phasing between the
walvesgenerated by the how and the sternt. This in In Agree
tarot with the welt-known fact that linear strip-waverevislaice theory agreesbetter with expaerimnrrtal results at
thighership speedy.

Free-surface elevations obtained by second- 'ord thi~d


order perturbution theory (which we do riot show beret Also
shorwthe same nonlinepr tihase shift for the r5.wrporetion of'
the local disturlbance. irie perturbation results jio siow
Ltthe frontt ption of tte local reeuttace elevations
predicted by the second- and third-order theory is almostl
identical torthe inear-theory results,

As previously diicoumed,the ncnlintar elTcts%


are very
ticeahie when L.ID > 2, even when the waves thetmselves
are close to being derep-wnterwaves, i.e., XI../[) < 2,

206

r:i
A particularly interesting case with strong nonlinear effects
is shown in Figure 9. Here L/D = 2.33 and F = 0.357.
Free-surface elevations are shown for two pressur cofficients. C. = 0.80 and 1.6O. Note that tle doubling of the
pressure coefficients from ( = 0.8 to ( = 1.6 results in
only a very slight increase at"the wave ieight land waveresistance coefficient C) although tie amplitude of the iocal
disturbance is almost exactly doubled. I has. we we that
the main effects of the nonlinearities of the problem are to
change the phasing (increase the distance between) the
front and rear portions of the (cal disturbance.

An interesting phenomenon connected with the nonlinear variations of the free-surface profile with increases in
coefficient (' is more thoroughly illustrated in
pressure
Figure I0.
lere we slsow the variation of the waveresistance coefficient (' and the actual wave resistance R
(made dimensionless by the hydostatic head pgI ) with
pressure coefficient (p. Note that as (' increases towards
.,. the actu'i wave resistance R increasesto a maximum at
Cp = 1.4 and de(rcusesagain with a further increase in ('p.

This curious phenomenon means that beyond a certain


loading. it is economical in an absolute senseto actually
increase itle loading lurther (at least when sinning at Froude
number. F = 0.357 in water depth of D = L/2.33).
We have alluded to the slight irregularity of some of
the numerical results shown in Figure 6. We note in particular that the numerical resuits for lIn values of (p seem
to be displaced from the main trend of the numerical
results. This is due to tile fact that ill thc nuincial method
we use ait absolute tteasure of the local error in the freesurface condition. This results in higher relative accuracy in
satisfying tile free-surface condition for larger free-surface
disturbances. Some numerical results illustrating this effect
are sthownin Figture t I. This figure show%the effect of the
variation of tie finite-difference mesh size ott tte waveresistance coefficient C for various values of (p at the
values F = 0357 and LID = 2.0. Note the somewhat lower
accuracy achieved at lower values of ('p and larger vales of
the mesh size h/L if one assumesthat the values of C at
li/h = 24 represent accurate values. Most of the numerical
results given in this paper were obtained for values of
['/h = 20 or 22 although some of the results were obtained
at ./h= 24.

0,03
/

0.01
w
W

e ---

.001

4'

\istributions
..On

--

S.006
2.5

-w
--

Cp- 1.60
.w=

-1.5
.1.0
-0.5
x/L
HORIZONTAL DISTANCE,

.2.0

Figure 9 - Free-Surface Elevations Obtained by Numerical


Method for F - 0.357. Cp 0.80 ard 1.60. and L/D = 2.33

Wehave found in the numerical investigations described


in this paper that the first- and second-order perturbation
theory of Itl is probably adequate for predicting the wave
resistance coefficient C of two-dimensional surface pressure
oininfinite depth streams and for Froude
nntber F > 0.3. We expect that a second-order perttrbalion
f.heory for finile-depth streams, similar to the infinite-depth
perta-bation theory of fI also will predict accura!ely the
wave-resistance coefficient C' for surface-pressure distributions.
We note in Figures 4 and 5 that the relative accuracy of the
hincar-theory wave-resistance coeffident Cl is very low at
the sloping parts and near the troughs of the C vesus 1:
graphs. However. the absolute magnitude of the difference
between tile exact and linear-thery values of C is not large

Ac
1.4-

,0

RE

NC
IST

- 0,00

a c

- 1.20

~A

WAVERESISTANCE

NMEOFHWAVEERESISTANCEN

PRESSIRE COEFFICIENT Cp
Figure tO - Nstndtmenatomat Wane Rentlaanee
and
Wave-Reabstanee
oeffkclent sessurn
049
Prrs ar C'oeffient toe F - O.357

SCALEOF PRESSURE. Lih


Figur I I - Wane-Reniatans-e
Cuel~ilentl seeus
Number of Meshu tee
, I enllt Scale
fu~rF - O t'. inst Ill) - 21OO

erutC
Figre
I-aveRiiisant
Figre10
Nndfrwisonal
ad
PaveReisanc
R oelicew

that we arty hiu' o!ne.4a putnibenyond


('|, .
wth huw
l=
li dccit.-., in tie wane/ t~e t e hm cnoisIs~rt the ae
cmneelltlunl
srtntnn~m al.
intl nadertheprensardiattnion. thisdecreasea celat
hle.
1 )iam

eWnrecaopime

compared with say the maximum value Of ( a F = 0.57.


Thus, it seems that the tinear-heory wave-resistance
coefficient C, i%an adequate prediction of thc value of C in
most practicat circumstances. The improvement of the
prediction of the wave-resistance coefficient C given by
second-order theory then gives accurate estimates of C for
Froude numbrernF > 0.3. We enpect that simitar accuracy
for first- and second-order wave-resistance theory of threedimersional surface pressure distributions can be obtained.

AcknowldgYl
This work was supported by the Numerical Naval
Hydrodynamics Program at the David W. Taylor Naval Ship
and Devetopmient Centr. This Program is join ty
Reseatrch
.sposored by the DTNSRDC and the Office of Naval
Research.

REFERENCES
"Numerical
IlI von Keeczek, C. and N. Salv~sen.
Solutions of Two.Dimnrnsioistl Nonlinear WaveProblems.
Office of Naval Research Tenth Symposium on Naval
Hydrodynamics. Massachusetts Institute of Technology.
Cambridge. Mass.,pp. 649- 666 (1974).

121 Salsesen.N. and C. von Kerczek, 'Comparion of

Numerical and Peturbaelon Solutions Of tsso-Dimrnsioral


Nonlinesar Water-Wave l'lolms, "sJournal of Ship Research,
Vol. 20, No. 3, pp. 160- 17u (1976).
131 Salvesen, N. and C.von Kerczek. "Numerical
Soluiona of Two-Dlmnsional Nonlin-vr Body-Wave

ftroblems,'" First International Conference on Numerical


Ship Hydrodynamics. Gaithersburg, Md.. pp.279 - 293 (1975).

141 Salveses, N. and C. son Kerczek, "Nonlinear


Pat tWoAspects of Subcritical Shallow-Wate? Flowv
Dimencsional Obatructions,- submittd to Journal of Ship
Research(1977).

51 Benjamin, T. Brooke, "Upstream Influence,.


Jouirnal of Fluid Mechanics, Vol. 40, Part 1, pp.49-479
it1970).
161 Salvesen, N., "On Higher-Order WaveTheory for
Submerged Two-Dimenslonal hodlea.- Journal of Fluid
Mechanics, Vol. 38. Part 2, pp. 415-429 (1969).
171 Wehaunen, I V. and E.V. Laitone, "Surface Waves."

Hsandbuchder Physik. Vol. 9, Springer, Berlin (1960),

181 Mantle, P.J., "A Technical Summary of Air


Cushion Craft Development." David W.Taylor Na. atShip
R&D Center Report 4727 (1975).

I3

DISCUSSIONS
of three papers

PROGRESS INTHE CALCULATION OF NONLINEAR FREE-SURFACE PROBLEMS


BY SURFACE-SINGULARITY TECHNIQUES
John L. Hess
THE WAVE RESISTANCE FOR FLOW PROBLEMS WITH A FREE SURFACE
C.Korving and A.J. ermoana
NONLINEAR FREE-SURFACE EFFECTS - THE DEPENDENCE ON FROUDE NUMBER
C.von Kerozek and Nile Salvesen

fying and removing the defects of the previous

Invited Discussion

solutions, not just finding new ways of doing

the same old things. And we should be trying to


develop numerical methods forthose problems
that cannot be solved at allby classical
analytical methods.

T. Francis Ogilvie
University of Michigan
Before discussing the three papers at hand,
I wish tomake a general comment about the subject of this meeting: Numerical Ship Hydrodynamics.

During this meeting, I have heard very few


authors give any reasons for undertaking the
studies that they are reporting. Itwould be
entirely proper ifsome of them were justified
purely on the grounds that they would improve
our basic scientific knowledge of fluid mechanics. I would accept a statement that our
practical capabilities in ship hydrodynamics
would be improved even ten years from now
because of these studies. But, quite frankly,
I do not seean indication that most of these
papers were prepared with these general goals
inmind.

I do not ":Ir. that the subject exists.


Long before the first meeting of t 'sseries, I
asserted this publicly. Now itis obvious that
I have been overruled by consensus, but I still
believe what I said several years ago.
There is such a subject as "ship hydrodynamics," E"t a good ship hydrodynamicist has
a toolkit with many tools, including numerical
analysis and the computer. Itshould, however,
include many other things, and everything is
useful only if the person has a good understandingof the physical phenomena involved. Most
important of allis an appreciation of when to
use which tool.

For example, we have heard much discuss3t.


about the significance--or lack thereof--of the
Kelvin-Neumann problem. Dut the authors who
have addressed this problem have not generally
discussed why they are bothering to study the
problem at all. Ithas been the discussers who
have brought up the question. I myselTftried to
defend these authors earlier in this meeting.
But why did these authors not investigate thoroughly for themselves whether this problem was
relevant to anything at all,especially before
beginning the horrendous task of trying to
solve it? Or. if they did investigate this
matter, why did they not tellus about it?

I have arrived atmy present cge without


ever having written a computer, program. But I
am certainly not "against" numerical ship
hydrodynamics. I feel that I appreciate the
importance of numerical solutions aswell as
anyone, if they are developed and used sensibly,
I established my position mary years ago. For
example, many of you know the work of Frank
(1967), to which reference has been made here
several times. When Werner Frank developed his
now well-known procedure, I was his supervisor.
I had assigned the task to him, after doing a
fair part of the numerical analysis myself. We
had visions then of eventually doing the full
3-D ship-motion problem in a similar way. But
we aborted that effort when we realized that we
could combine his2-D numerical solutions with
appropriate analytical techniques to obtain
rather good solutions of real-world 3-0 problems,
even those involving ships inwaves with forward
speed, We made the best use of numerical and
analytical tools.

So now I cr. to the three papers that I am


supposed to disLss. The three deal with practically the same problem, presenting three dfferent approaches. Now, I am quite aware that
nonlinear effects may be very significant in
many practical problems of ship hydrodynamics.
In steady-motlon problems, such effects are
likely to be most important near the Junction of
the free surface and the leading edge of the
ship (or other body). However, allof the
authors have avoided having such a junction in
their problems, and none of them suggest how or
even whether their methods can be extended to
cover such important matters.

Those hybrid solutions were very successful


for certain important purposes, but they had
many defects too. And so we should be studying
new and better ways of solving those problems,
We should be directing our efforts toward identi-

301

Perhaps the difficulties will be less when


these methods are auplied to 3-0 problems. Or
will they? Isit worth allof this work on 2-0
problems unless we have anticipated how we shall

be able to handle real problems? It is encouragIng that these authors do treat the full nonlinear free-surface conditions, and I do not mean
to imply that this is easy. But where will it
lead?

after, each advocating his own approach as bst.


I congratulate Chris and Nils for their long
cooperation on this problem.
Salvesen's early work on this subject was
the direct inspiration for me to investigate
the asymptotic low-speed problem. My elementary
analysis has now been developed by Baba and
Hara into an elegant theory that for the first
time really appear; to explain some important
low-speed phenomena of surface ships. This can
all be traced back to Salvesen's observation
that steady-motion free-surface problems appear
to become more and more nonlinear as speed becomes smaller and smaller. Many years ago, I
found this to be a very disturbing observaticn,
but I finally rationalized it on the grounds
that the generated waves become shorter and
shorter as speed decreases, and so gradients
and higher derivatives of the field variables
could become larger and larger, even though
wave amplitude itself becomes negligible. Such
behavior could occur only in a surface layer,
of course, and so we were led to the low-speed
singular perturbation that Baba and Hara have
developed.

Leaving aside for the moment the discussion


of perturbation theory by von Kerczek and
Salvesen, I think that It is fair to say that
the major difficulty in all of these papers lies
in finding the location of the free surface. A
different method is used in each paper, and each
seems to be more-or-less successful. This is
art, of course, not science. Hess has concluded that a global correction must be made to the
free-surface location in each iteration, but
the authors seem to have managed to use procedures that adjust the location stepwlse in the
downstream direction, Perhaps Hess' claim is too
strong, but it may still be the best way to proceed.
There is one fundamental difference in approach between Hess and the others. There are
two free-surface conditions, of course, and
the unknown location of the free surface must
be determined as part of the solution. Hess
satisfies the dynamic free-surface condition
first on an assumed location of the surface,
then computes the velocity components and uses
the kinematic condition to correct the surface
location. The other authors use the two boundary conditions in the opposite order. There
are heuristic arguments on both sides, but I
cannot see any definitive argumEt in favor or
either approach.

Now von Kerczek and Salvesen again observe


that the linear theory is best If the speed is
quite high (F > 0.55) and their higher-order
perturbation theory is fairly good for moderate
speed (F > 0.3). But their explanation appears
not to be quite equivalent to what I concluded
nine years ago. They claim that tic phase of
the generated waves Is sensitive to "nonli near
effects." This strikes me as being quite close
to the approach that has been developed r'-ently at the University of Tokyo by Professo, 'nui
and Kajitani, who consider that the shipgenerated waves propagate on a nonuniform stream
the streaming flow around the body, satisfying
the rigid-wall free-surface condition. The
phase velocity of waves propagating on such a
nonuniform stream may vary remarkably. There
Is no body In the problem of von Kerc, ek and
Salvesen, but there is a correspondi-j rigidwall solution. I wonder whether the observed
phase shifts could be obtained from a linear
analysis involving perturbations about the
rigid-wall solution. I also wonder whether the
interpretation of the phase sensitivity Is in
fact just another way of looking at the surfacelayer phenomenon that I analyzed qualitatively
many years ago, or is It really something
different?

It is remarkable in what a cavalier way


these authors can treat the radiation condition,
For those of us who are accustomed to perform1ng analytical studies of similar problems, we
expect to have to impose explicit radiation
conditions, but this seems to be a trivial matter In a purely numerical analysis. Presumably,
this situation is characteristic only of a 2-D
problem, and radiation conditions may cause much
difficulty in the corresponding 3-0 problems.
I am troubled by Hess' device for smoothing the incident flow. He requires that both
components of the perturbation velocity be
zero on an upstream segment of the undisturbed
free surface. This kind of overspecification
would lead to disaster In an analytical solution:
It would require that the perturbation velocity
be identically zero everywhere, But there is
certainly no disaster here, just snoe questionable results. Presumably, both components are
very small on the upstream "flat." and approximating them numerically as zero is simply a good
approximation that causes no fundamental ditficulty,

Discussion
y5-yilsSvesen
It is difficult in most cases to determine
the accuracy of numerical nonlinear solutions
of body-wave problems. First of all, there
exist very few published nonlinear solutions and
very often the published data are for conditions
slightly different from those modeled in our
own coiputer methods. For example, von Kerczek
and I were forced to make comparison% between
nonlinear numerical results for finite-depth flow
and perturbation results for infnTfe--de-'flow.
The reasons for this are that 'ahlgher-or er
perturbation theory for finite depth has not
been developed and that our numierical
method was

Finally, I wish to make a couple of comments


about the perturbation analysis in the paper by
von Kerczek and Salvesen.
First of all, It is commendable that two
Investi getors should carry along an impartial
parallel development of two quite different
approaches. We are all too accustomed to seeing each person going off In his own direction,
pursuing a particular approach and, forever

302

not suitable for very large depths. We assumed


in our earlier work that the bottom effects
could be considered small when the depth was
equal to one-half of the wavelength since the
differences between finite-depth and infinitedepth linear-theory results cre no more than
one-half a percent at this depth.

Author's Rep1
by A.J.Hermans and C. Korving
to discussion by T. Francis Ogilvie
The remark of Ogilvie about the radiation
condition suggests that in performing analytical
studies for similar problems a different radiation condition has to be imposed.

However, our recent results (to be published


in the Journal of Ship Research in 1978) show
that our assumption is incorrect for the nonlinear case. Figure 1 shows, for free waves in
finite-depth (h/v
1 = 0.486) and infinite-depth,
the proportional change in the wavelength
(A-xl)/0as a function of the dimensionless
wave height H/xI. Here x, is the first-order
wavelength. It is seen that according to linear
theory (H/A
1 = 0) the difference between the
finite-depth and infinite-depth wavelength is
about one-half a percent, whereas for steep
waves (H/s\= 0.10), the fifth-order perturbation theory shows a five-percent difference
between finite-depth and infinite-depth wavelength. The nonlinear numerical results agree
well with the fifth-order finite-depth results.

In our numerical analysis we used the following radiation condition:


a) The flow is undisturbed upstream.
b) A continyl y requirement for the surface elevation (C 2)).
The downstream condition is just a condition to
close the region in an appropriate way. lhe
region is closed at a oosition where the mean
surface elevation equals zero. In each iteration
step this leads to a different position. This
disadvantage can be handled easily in the numerical scheme. The advantage is the very simple
boundary condition imposed on the nonnal velocity.
This closure condition has nothing to do with
the radiation condition. By the way. in nonlinear theory it is an approximation. In linear
theory it is fulfilled exactly. Therefore our
radiation condition is a) and b). The question
arises what "radiation" condition is used in
theoretical studies. The analytical studies
are on problems with a linearized free-surface
condition. In the two-dimensional case use can
be made of function theory to construct the
solution of a vortex in a moving idealfluid
with a linear free-surface condition. Ogilvie
dsuggests
thatin that case somesophiticated
radiation condition has to he formulated tn obtain a unique solution, with a physical meanng.
However, the condition that Is used is the reIquirement
that the upstream potential is undisturbed. See for instance the book of Kochin,
N
FINT.
Kibel and Rose on Theoretical Hydrodynamics,
N.
page 479. We may say that our continuity re,quirement
implies that the free-surface eleva2 is an analytic function.
tjo?
It turns tooutlead
that
C
is a condition that is sufficient

"T.-,
Z
*
-o0
J
4
it
-0o.

.0.08

NUMRIAL
NU
IC AL
IE

-010 -

INFINITE
NFINET

to a unique numerical procedure. I hope that


the discusser agrees that the radiation condition in similar analytical studies is the same

\ *

trivial matter as in pure numerical analysis.

FINIT
I
EXPERIMINT
*DEEP WATER,hIXu 2.0

Soon we will solve 3-0 problem numerically and


i
am sure
that again
the samestudies,
radiation
condition
as thewe
onewill
in use
analytical

THIHO-ORDIN THEORY

-0.12
0

-I-TH0KDOERTHEORY

\
\\
O.
014
O.K
O.K
0,10
DIMENSIONLESS WAVE HEIGHT, HI/X

Author's
byoh iiRepl
. ess
to discussion by T. Francis Ogil'!Ie

0.12

Figure
I

First, I would like to thank Prof. Ogilvie for


his thoughtful comments and to remind him that
similar comments of his at a meeting several
years ago initiated the work that has led to my
present paper. I do not pretend to have enswers for all the questions he raises, but I
have a few thoughts that seem applicable.

We wanted to bring these results to your


attention since the wavelength is often used
in evaluating the accuracy of numerical results
and since the effect of the bottom on the nonlinear chanIe In wavelength has not generally
been recogn zed.

The "toolkit" metaphor Is a good one.


Hcwever, it should be kept in mind that the
subject of this conference (only the second
such conference) is in its infancy and that
the calculational tools we are presently developing are accordingly very primitive ones.

303

These simple tools probaby will not be the


ones that are used to solve the problems of
realinterest, but rather they will be used
to construct more powerful tools that will be
applied to these problems.
In accordance with theabove it seems to be
quite appropriate at this stage of development
to consider two-dimensional problems, as long
as the solution techniques have direct threedimensional analogies. The failure of a twodimensional approach would clearly preclude any
three-dimensional effort, while its success
would furnish a good deal of guidance for the
attsck on the three-dimensional problem. The
history of numerical analysis shows few if any
solutions of three-dimensional problems that
were not carried out initially in two dimensions. For the same reasons, it seems legitimate to attempt a solution for submerged bodies
before addressing the additional complications
of the surface-piercing case.

The phase shifts do occur at first order. The


reason we believe this is that when the perturbation theovy is applied to the free-stream
solution, the second-order problem, in which
the phase shift does occur, accounts mainly
for the effects of the local distortion of the
free surface in the first-order solution.

As regards the significance of the KelvinNeumann problem, I am not competent to discuss


the issue. However, as long as the problem has
not been oroved to lack significance, work on
its solution appears valid, if for no other
reason than to determine its significance
"empirically". There is after all some doubt
as to the significance of the Navier-Stokes
equations.
Prof. Ogilvie has put forward several technicalpoints. I can report the results of our
numerical experiments but cannot draw any farreaching conclusions with any degree of certainty. First, we have never obtained convergence
with any sort oF localiterative algorithm,
including ones that use the two boundary conditions in the opposite order. Second, in a case
run after the conference, the normal-velocity
condition on the upstream "flat" was eliminated
with a resultant divergence of the procedure.
Elimination of the tangential-velocity boundary
condition has not been attempted as yet.
Finally, I certainly do not minimize the
possibility that a radiation condition will
have to be applied on some vertical downstream
surface. I consider the inclusion of a radiation condition to be one of the better possibilities for obtaining convergence in cases
having large wave heights.
Author's Reply
Ey-. von Kerzek
to discussion by T. Francis Ogilvie
We thank Prof. Ogilvie for his kind
coeents. We do not fully understand what
Prof. Ogilvie means by the "rigid-wall snltion" in his first question to us. If he
means the uniform free-stream flow under a
planar free surface, then the answer to his
question seams to be no! The phase shifts do
occur at second order when perturbing about the
free stream. However, If Prof. Ogilvie means
theflow under a rigid freesurface whose shape
is that of the static free surface under a
stationary pressure distribution, then it does
sea to us the answer to his question is yest

30

FINITE-FLEMENT AND FINITE-DIFFERENCE SOLUTIONS OF


NONLINEAR FREE SURFACE WAVE PROBLEMS'
S. M. Yen, K. 0. Lee and T. J.Akal
Coordinated Science Laboratory, University of Illinois
Urbana, Illinois 61801

Abstract
In this paper two time-dependent numerical
schems for solving steady and unsteady potential flows for nonlinear free surface problems
are presented. In one scheme, the finite
element method is used to make the field calculatrionof the velocity potential and the finite
difference method is used for the ttee evolution. The feasibility of this scheme has been
demonstrated by numerical golutions obtained
for the two-dimensional problems of the pressure distribution and the submerged body.
In
the other scheme, a finite difference method
that couples an explicit, single stage,
second order time integration scheme with the
solution of the Laplace equation for the velocity potential is used. The feasibility of
this scheme has been demonstrated by numerical
solutions obtained for a two-dimensicnal
pressure distribution problem and a threedimensional accelerating strut problem,
1. Introduction
Free surface wave problems are characterized
by complexities in flow geometry, flow features
and boundary conditions. The flow has an unknown free surface end it is propegative and
transient. The boundary condition at the free
surface is of a mixed, parabolic type and it
contains highly nonlinear terms. In the
steady state, there also exists a radiation
boundary condition, since the waves, once
generated, propagate dowstream. These complexities have lee to several computational
difficulties: accuratel) accommodating the free
surface geometry, satisfying the boundary condition uniformly over the free surface, and
treating the radiation boundary condition,
Computational methods have been developed to
deal with some of these difficulties and have
been used to solve several free surface problow. These methods have advantages as wel
as problms in their Implmentations. Some of
these advantages and probsms furnish possibly
useful guidance for further development of
computational echase.
Van Krcsek and galvesen [1.2] adopted a
marching technique to eliminate the necessity

eaeer5

s upported by NSF under Grant

of the radiation condition by guessing and correcting the free surface for steady, twodimensional flow. Their dovnstreat. closure
condition is simply an extrapolation of the
streamlines, but it may be useful in evaluating the nonlinear effects. Steady stare solutions can also be attained by using a transient
approach. The works by Chan and Hirt [3) and
Haussling and Van Eseltine L4,51 showed that a
local steady state solution is obtained relatively soon after a sudden start. It seems
that one of the most general methods for free
surface probLems is MAC[6-10 or its modified
,erston SU,2AC [11-13], which is an Eulerian
method with Lagrangian u"
ling of the free
surface geometry. However, aestions still remain concerning overall offic uncy and applications to problems with complex geometry.
Lagrangisn methods [14-181 look good for simulating free surface flows in confined regions,
but are more complex for problems of flow past
obstacles. Furthermore, the Lagrangian mean
would be distorted so severely s to produce
serious questions of accuracy.
Several investigators [19-26] have succeeded in applying the finite element method to
several free surface problems. However, there
are many unsolved problems concerning acturacy
and covvergence of the finite elment solutione, especially for nonlinear free surface
problms with far-field radiation conditions.
Chan and Mai [25] and sit and Yeung [26] used
the known radiation condition at a suitable
distance and atched It to their interior
numerical solution at the truncation boundary
by u.Ing an sigenfunction expansion.
Further application of methods developed to
find accurate solutions of aore compies probIoea depends on the success of future efforts
to alleviate the computational difficulties
associated with each of these methods. We
shall describe in thiv ,aper our research
effort in the development of computational
methods for nonlinear free surface problms.
The focal point of our study is the nonlinear problm for a disturbance in uniform or
accelerated motion on or near a free surface.
Our objactive is to develop numerical nethode
for solving steady and unsteady potentLal flows
for free surface problems.

g80--S _0Oo

J4:

We have developed a time-dependent finite


element scheme [27] to deal with the geometritel complexity and the free surface boundary
condition of the nonlinear free surface problems. In this scheme, the finite element
method is used to make the field calculation
and the finitethe
difference
method
used for
imeevoutin.
e hae
ued is hismetodlere
the time evolution. W1e have used this method
to solve two problems: a pressure distribution
mving with a constant speed and a moving submerged elliptical cylinder or a hydrofoil.

# - x
-

p is the applied presaure on the free


surface. When the solid body contains a sharp
trailing edge, the Kutta condition is also to
be satisfied there. That is

For the accelerating strut problem, we use


the elliptic cylindrical coordinate system
(8,8,y) to discretixe the computational field.
The constant A and constant 0 level curves are
respectively confocal ellipses and hyperbolas
with foci (-c,O) snd (c,O). Here. c is the
semifocal distance
2

c - (a - b)=
where a and b are the semi-major and semi-vino
axes of the base ellipse respectively. The
base ellipse is represented by b- nJ(sab)c .
The metric or scale factor h assoclated with
the transformation from the Cartesian to the
elliptic cylindrical system may be expressed
by
h2 _ c2(ainh28 + stn29).
The problem considered is defined as follows:

We shall sumarize below the basic equations


and the boundary conditions. The coordinate
system (x,y,o' is attached to the disturbance
with negative y oriented towaid the Acceleration of the gravity. The flow variables are
the potential function 4. the velocity
V(V .V ,V ), and the pressure p. All the
vorab.es ln the basic equations end boundary
conditions are nondimensionalised with respect
to U. L, and P which are the reference values
of velocity, ldngth snd pressure respectively.
We introduce two flow paraonters:

in f.

" # -

on y

0
2
2
1y-(+TI 0)/h 2
44

cUt cosh 6 cos 02

Fr

(6)

2
(04)

where (7#)2 - 42y4 2 4 2)/h2


w
0
- ellrosh A coo G

on a

The cut-off bounda;, ts 6.,


At the bottom
boundary y - yt, it a ao'.med that 4 is
equivalent to the vteniatl functiem for a twodimensional flow por. an elliptic cylinder.
After a slight msd: catloo
to obtain compat0
ibility with the Ncuedery
condition at 6.A
e get

(2)

The free surface height to defined at


y - (X,s;t).

#644 8h2#yy

#t

()

P0
"L

at the trailing edge. (5)

The computational domain is bounded by the


free surface and three cut-off boundaries
approximat-ng boundaries at infinity.

II Fonsoderm
olat ofthe Proe
We consider the Potential flow produced by
a disturbance moving forward on or near a free
surface. We areume that there are no secondary
motions such as pitch. roll. heave, sway, or
surge snd Lhat there are no ambient waves.
The flow is governed by the potential equation,
free surface boundary conditions and conditions
at other boundaries. The free surface is
characterized by two distinct conditions,
kinematic and dynamic couditions.

and

on solid boundary.

an

We have also developed an explicit timedependent finite difference scheme [28].


Explicit schemes nay be nore favorable for
solving large scale problems on "superomputers" which have more stringent implementstion requirements. We have used this method
to solve two problems: a pressure dist:ibution
movIng with a constant speed and an elliptic
cylindrical, surface-piercing strut accelerating from rest. Our solutions serve to demonstrate the feasibility of using the method to
solve two-dimensional as well as threedimensional problems.
II.__Formulation of the problem

on cut-off boundaries.

0't
0

(3)

U(oh A ,)(co o)

cosh 6-b slt h


as rush A-h slob V1

A two-dimensional probins of a mowing disturbance can be defined as follows:


* s 44 yy - 0
t
t

1x.
22
x Y

o4y - yi.

i n.

ll,
Il

y -

.
Fr 2

rC

finite
Kl owt
1Z i

retho

In this method. the finite lenat vethod


to used for the field calculation of the
ls
velocity by
potential
the time evolution is
updated
using theviile
finite differece
method.

We shall describe here the finite elment

30

formulation ad the hybrid approach that we.


use to solve the free surface problem.

where the right hand side is obtained from the


boundary conditions.
That is, Eq. (12) is the
discretied form of Eq. (9).

There are twmobasic a-eps in formulating a


given problem using the finite element method:
I. Discretize the computational f'eld into
elements.
2.
Select a method to implement the governing equations and the. boundary conditioas on the discretized field,

When the finite element method is applied to


lergcr and more complex problems, it becomes
increasingly more difficult to construct the
system matrix equation and to develop a method
to solve it. Also, the implementation may
require excessive data handling that usually
leads to additional computational errors. We
have developed an iterative scheme [27] called
the sector method that is more efficient to
implement,
In our method, a sector is defined
by a codination of elements surrounding a node
or nodes as shown in Fig. 1. Its boundaries
dr.notethe finite cut-off zone of influence of
the interior node or nodes since the effect of
any noa'eappears only in elements wVere that
point is involved.
That is, the field variable
at an interior node is affected only by the
field var.Able at other nooes in that sector
through the finite element algorithm. The
sector stiffness matrix is constructed by the
element stiffness matrices of member elements
in that sector. Similar to Eq. (11), it is
N

For the solution rf the free surface prublemo presented in this paper, we use an
iterative scheme to solve the matri;. equs.ins resulting from the finite element formulation and a mesh system which is generated
nusmtrically
in an optimas way. we shall
describe here th iterative finite element
method, the rethoJ we use to generate the
mesh system, .rs. their significances.
In the variational finite element method,
the form of the unknown solution in assumed in
terms of known (trial) functions with unknown
adjustable parameters. The sasumed trial
functions are defined in each element with
continuity requirements across the boundar'es.
'he fin-te element solution is to obtain the
combination of trial functions that extremize
a given functional for each of the elements
in the computational domain. The solution of
the Laplace equation over an element is
approximated so that the approximate solution
minimizes the functional
] -e[
_ ,(vo)

dV

[")] [k 8

[K]

(7)

the necesary coudition for Eq. (7) to have a


stationary value is

Th_,sector method provides a way .o avolV


the tedious data handling in constructing the

.,0

system stiffness matrix and facilitates the


treaLment of boundary conditions. Since it is
used with an itecative scheme. the values at
non-Dirichlet boundary points are updated
separately from the field computation after

(9)

101
which yields

l(-Jf0I)

(10)

each iterative step.

whre the matrix [KaJ is the element stiffness


matrix.

The accuracy of the finite element method


can be increased by using smaller elements
and/or higher-order polynomials.
But the
degree of freedom in diarretization is limited
by considerations of economy and computer
capacity. For a given degree of freedom, it
is essential to choose a proper mesh system
and a finite element algorithm to obtain the
maximum possible accuracy. The choice of sa
optimum mash system should be based upon a set
of guidelines that are applicable to any field
of computation. We have made a comprehensive
parametric study of the effict of mesh systes

The element stiffness matrix is a submtrix


of the system stiffuesc matrix. Hence, the
system stiffness matrix can be constructed by
N
ki,,],
aYI l
e-

(U

shre N@is the total number of elements in


the domin,
he system matrix equation to be
solved become
[K]{

J - {S

i(14)

sector and to iterate by sweeping all the


sectors. Any itotative acheme such as the
successive overrelaxation method can Le
incorporated.

(8)
(

[f(xyz)]i

(13)

Instead of constructing the system stiffness matrix and rolving the reaulting matrix
equation, the solution precedure is to construct the sector stiffness ritrl.xfor each

If the approximate solution in an element is

kC]

where N is the number of elements in that seccoi. The matrix equation in a sector is
to
re

in
that element, thus satisfying the Laplace
equation, For the boundary eln t, bot
the non-Dirichle boundary conditon and the
governing equation should be satisfied.

Ce

E
e-l

on the computational errors. This study has


led to the formulation of a set of guidelines
that may be followed in designfng an optimum
finite element mash system. To meet these

(12)

307

guidelines, the mesh structure should be


regular and of simple pattern, the shape of
the basic element should also be regular and as
equilateral as possible and the distribution of
size of elements should be consistent with the
flow variables to insure maxiimm uniformity iL
the erior distribution.

algorithms.
However, when the triangular mesh
is used, the der,vatives have comparably larger
errors.
In this case, the spatiA). derivatives
are obtained from polynomial approximations
after the iterative solutions converge at each
time-step.
The successive overrelaxation method is used
to solve the Laplace equation iteratively with
the specified values of * on the given
boundary 1). The updating of 1 and P* is carried
out by the predictor-corrector method after the
iterative solutions converge within a required
limit. The predictor-corrector method has less
stringent coeitions for stability and converges even in nonlinear problems; huwever, it
does require two solut-oni for each time-step.

We have developed two methods [27,29] that


can be used to numerically generate mesh
systems that meet -he guidelines listed above,
The methods are based on the numerical transformation obtained by sol,.ing the Laplace
equation to produce an orthogonal grid system
in the physical plane.
The node distribution
of this system satisfies the geometric potential to ensure maxima uniformity, and the
structure of mesh is orthogol and regular.
The bolndary geomet y is accooodated accurately and the implementation of boundary conditions is simple duc to the orthogonality.
Horeover, all the data for the finite element
algorithm are computer-generated, thus reducing
the data handling for the input to the finite
element program. The mesh generating schemes,
therefore, provide a way to -onstruct a mesh
system which minimizes errors associated with
the finite element mehod. We believe that it
is important to use such en optimum mesh system
in the finite elem'ot solution of the free
surface problems because of their complexities,

The computational domain always includes the


updated free surfqce boundary in the finite
element formulations and computation of the
stiffness matrices for the boundary .Imments is
therefor necessary at each time-step. When
the elevacin of the free surface is large,
several rows of sleignts near the free surface
are reacranged periodically to maintain maximui
uniformity in element sizes. For example,
Fig. 2 shows the case when four rows of elements
are rearranged to accommodate the elevation of
the free surface. It would be beat to find an
optimum mash system at each time-step, but It
would be cumbersome to change the whole mesh
since new stiffness matrices or all the
elements would then have to be recalculated.
Since the Eulerian approach t used, no Interpolations are necessary for the field variable
at new interior points. The mesh rearrangement
does not lead to any difficulties since no
transformation is included in the formulations.
Once the coordinates of new nodal points are
assigned, the stiffness matrices for the changed
elements are recomputed, but the finite element
algorithm is not changed.

The finite elemant algorithms developed are


used to solve the Laplace equation. The compurational domain is divided into triangular
elements for simplicity, but quadrilateral
elements can also be unrd. The time advancement of the free stirface I urdary conditions
is carried out through the finite difference
method. A predictor-corrector method is used
for the timu updating. Let the free surface
boundary conditions be expressed by
,-F(xy;t)

The computational domain is expanded down-

and

stream periodically as ths disturbance on the


free surface is propagated close to the downstream boundary. Therefore, the undisturbed
condition is always applied on the cut-off
downstream boundary, This can save unnecessary
computations in the undisturbed regions. The
numerical scheme used is tested for the flow
generated by a pressure distribution moving
across the free surface snd is applied to two
free surface problems due to an obstacle in a
uniform stream.

(15)
"

G(xy;t).

The Euler method predicts the values at a


particular x position at the new time-step by
n

' n + at Fn

and

(16)

-=*
+ At G,
n+l
n
where #* denotes # on the free surface, the
subscript n refers to the time level, and 4t
is the time increment.
The values at the new
time-step are obtained from the corrector @tep
by
I
n+Il

in + "(F
+ FV
n
n

IV.

Our finite difference method is to couple


an explicit, single stage, second order time
integration scheme with the solution of the
Laplace equation for the potential tunction.
In this method, the free surface conditions
are integrated to provide a Dirichiet condition
CL the Pucface for the Laplace equation, the
Laplea" equation is solved, and the solution is
used togrther wit. rho free surface conditions
to determine the dertvatlves needed for another
time integration.

end

(i7)
9*
n+1

9* + '~G

+ C
n+l

Finite Differece Mrhod

).

Itncomputing F and G, the spatial derivetives can be computed from the finite element

The time integration soctum in expressed by

30

n+l

In

6t(t)n+(At / 2)(tt

(18)

#yt'*xits-tx t-o.t,

Titt

and

on y -1

1).t

2
tnxt

(22)

(u)t-nx/Fr - pFr24xx

(#* )44t(f* ) I .
+ ad (4*),,+(af/2)
y(
yyU
ytfn

-#

-#

(19)

on y - 'n

(23)

on y - 7i

(24)

on y -7

(25)

The subscript n denotes values at time t w tn,

4y

" 44yy~yy-4

4"denotes 0 at ymi
(

n+
tozt

at - t
and

F2

t
)t-11z/Fr2.U

- yy-44#z

A' - ln+l " ln2


Equation (18) is a second-order Taylor series
expansion in t. Equation (19) is an expandion
in terms of two variables because 4* is to be
computed not only at a new time but also at a
new position - y - 1). The attractive features

t "x(u)tt+z(
)ttw-1/Fr 2+(u )
+ w (wtPt/Fr2_
+
t
r
xt
4
-44
on yy yt z z.t

(26)

of the scheme given by Eqs. (18) and (19) are


that only one solution of the Laplace equation
is required at each time-stop (predictorcorrector schemes require more than one and
Implicit schemes retuire additional solutions
of two simultaneous systems of equations for
and *+l) and that implementation is

The sequence of computations for determining


thn derivatives in Xqs. (18) and (19) are
summarized below.

straightforward. Also. since separate rather


than indtrdepeandent computations are made at
nodes on the surface, the method is wellsuited to creating large problems on parallel
process machines which are currently available
among modern, large-scale "supercomputers".

2. All first and second derivatives of 4*


with respect to the space vs:i'jblea from
the solution of the Laplace eqution.
th stn
of t'n
Lr l e42an
.
%tn snd (%tn from Eq@ V20) and (21).

1. All first and se:ond derivatives of Tin


with respect to the space variab.es by
numerical differentiation.

4. (#* )nl (t* ) , and (4*t)r from Eqs.


(23)-(25).
(ntdn and (#)n from the 'tee surface
conditions.
6. ('1tt)n from Eq. (9) and ($I!,),from

The Dirichlet condition at the new surface


provided by the application of Eqd. (18) and
(19) and the other boundary conditions for the
problem are used to solve the Laplace equation.
Since there are a variety of conditions that
asy be encountered, no single method of solving the Laplace equation is suggested here.
We simply point out that the method should be
chosen on th basis of accuracy, efficiency,
and suitability to the problem considered as
well as to the computer used to solve the
problem.
The final step of the method is to compute
the derivatives appsarins on the right hand
sides of Eqs. (18) and (19). In order to do
this, jo make use of a sec of auxiliary
equations which are obtained by differentiating
the free surface
conditions.
For example, the
autiiar
equations
for a thre-dimensional

5.

Eq. (26).
V

Nuerical Soluitimn
u
l
Finite element Solutions
Presure Distributions Problem. The problem of pressure distribution Is shown schematically in Fig. 3. We consider the distribution

.L0
p

((x)

problem in Cartesian coordinates are as


follows:

2
o2

0 A
L

(27)
(27)
elsewhere

where P
57

5t

-#slrx

y-xzx~
y,

-1las

is the maximum preeeure in the &urdistribution. It is initially at rest

55 5face

,n y -

lxa'1

and starts to moes with the uuiform speed U


in the negative direction on the s-axis.
The span of the applied pressure is chosen as
the length unit. The computational domain is
bordered by the free ourfece al three cut-off
boundarims
The grid system extemde initially
a distance of 6 smite on the x-exi, with 2 of

(20)

ls~

on y - T

(21)

s00

of the presthese units on the upstraam side


2
and xd 6. The
sure distribution, i.e., xu-

implementing the boundary condition at the


solid surface.

depth of the domain yI is chosen as unity.

The coordinate system is fixed with respect


to the solid body with its origin at the
center of the body. Two different shapes are
chosen for the solid body: an elliptic cylinder
and a symmetric hydrofoil. The length scale
in the nondimensionalization is the body
length. The body is located at one unit
beneath the undisturbed free surfact and has
a thickness of 0.2 units. The problems are
illustrated in Figs. 8 and 9.

The downstream boundary is expanded periodically to contain the entire region of disturbante within the computational domain. The
domain is initially divided into regular
triangular elements with Ax - Ay - 0.05.
Equations (4) are solved by the finite
element method with the finite-difference timeupdating scheme for the pressure distribution
of Eq. (27). The linearized boundary condition
is also used to show the differences between
the linear and nonlinesr cases. Tv- time-step
used is At - 0.002 for the nonlinear case and
At - 0.005 for the linear case. In order to
make comparisons with the results of Hauseling
and Van Eseltine [5] , the Fronde number is

For the hydrofoil problem, the implementation of the Kutta condition is not simple in
the finite element method, the first-order
approximation
4 - Constant for all e t

chosen as (4n) i and the parameter a is 0.01.


Comparison is also made with the analytic
steady state solution derived from Lamb [30]
in order to determine the transient development of the flow.

is used with e

The evolution of the wave height is displayed in Fig. 4 for the linear case and in Fig. 5
for the nonlinear case. In Fig. 6, the nonlinear result at t - 1.0 is compared with the
corresponding linear calculation as well as
other solutions. These results show that the
local steady a
e solution can be achieved by
the proposed
-dependent approach and
indicate that the numerical scheme developed
yields reasonable numerical solutions for the
free surface problem. The numerical test
given here is only for small heights, but the
numerical scheme proposed can be applied
easily to cames of larger heights by restructuring the finite element mesh system.

The mesh generating scheme we have developed is used to obtain the initial finite
element mesh system. As time increases, the
boundary elements near the free surface follow
the free surface geometry and the mesh system
is rearranged when the surface elevation becomes large. The initial mesh systems are
shown in Fig. 10 for the ellipti: .ylinder and
in Fig. 11 for the hydrofoil.

When analytical or experimental results are


not available for comparison with numerical
solutions, energy conservation serves as a
useful check for evaluating the numerical
results. For this problem,

Finite Difference Solutions

A-

The development of the wave height with


respect to time is displayed in Fig. 12 for
the elliptic cylinder problem and in Fig. 13
for the hydrofoil problem. The results tend
to approach local steady state solutions.

Pressure Distribution. The problem was


solved on a domain bounded by the free surface,
so - -6, yt - -2, and xd - 10, A uniformly
spaced grid with Ax - Ay - A - 0.0625 was used
except for the spacing between nodes at the
surface and those at y - -A. The spacing

(28)

between such nodes was Ay - (A + 1). Successive over-relaxation (SOR) was used to solve
Laplace equation in its finite diffarenre
f
toni
form.

in which E is the total energy and W is the


work.
The energy and work are computed by
work Th enrgyandworkarecomute
bythe
numerical integration, and the rate of energy
finite
change is computed by the second-order
difference scheme
n
t

(3

+
n-I
n
+
- 4

-2
e)/2&t

Haussling and Van Nseltlne [4,5] used an


implicit scheme to solve this problem. Their
solutions oscillate about and slowly approach
the steady state, and their early linear end
nonlinear solutions ,re similar, Our (nonlinear) solutions at t - 0, 1, and 2 are shown
with the linear, analytic, steady-state solotion in Fig. 14. We can see similar oscillations of the wave amplitude about the steadystate solution and the wave trough position
about x - 0. The profiles shown are also in
good agreement with those ir,[4,5]. An overall comparison between the linear results in
[4] and our results Is shown by the variation
of the drag coefficient

(29)

and is compared with the rate of work. The


result is shown in Fig. 7. It can be seen
that the numerical values of the rate of work
and the resistance approach asymptotically
the analytically predicted steady-state value.
The condition of the conservation of energy is
preserved throughout the computation,
Obstacle in a Mvin Stream.
The finite
elment method is now applied to the free
surface problem of a submerged body. Such a
problem has the additional difficulty in

310

-..

representing the elements

which include the trailing edge. This approximation works well when the element si7es near
the trailing edge are relatively small.

must be made if an inltial value problem is


Cd -

used to seek steady state -olutions. Otherwise, phenomena such as the wavebreaking as in
this ease may occur. Another important indication is that numerical solutions fr threedimensional problems other than very simple
ones tie feasible with current computer
technology.

pT11dx

Frf
Fr

with time in Fig. 15. The major difference


between these results is in the camping rate.
ArtLf., ai damping was introduced in [4] to
maintain stability in the upstream wave
height because the upstream boundary was
placed relatively close to the pressure distribution. In our case, the upstream boundary
was farther away and such mec.suras were unnecessary. Our results indicate that the explicit

VI,

We have developed two time-dependent


numerical schemes to solve free surface problees.
In one scheme, we use the finite element
method to make the field calculation in order
to deal with the complex flow geometry and
boundary conditions of the free surface problem. The feasibility of this scheme has been
demonstrated by numerical solutions obtained
for the two-dimensional problems of the presIn
sure distribution and the submerged body.
the other scheme, we use an explicit finite
difference method which is simpler to implement
and, therefore, can be applied to more complex
and large scale problems. Its feasibility has

method yields accurate solutions,


We have compared our finite difference and
finite element solutions and have found these
two solutions differ after t m 1.4.
The difference is il: istrAted in Fig. 16 which shows
the compariso' of resulcs on the drag coefficient. The agreement of the wave height
at t - 1.0 ts shown in Fig. 17.
An Accelerating Strt.

The problem was

been demonstrated by numerical solutions obtamned for a two-dimensional pressure distribution problem and a three-dimensional
accelerating strut problem.

solved on an elliptic cylindrical coordinate


system. The parameters ?f his problem are:
a - 0.5, b - 0.05, and Fr
= 0.025. The outer
boundary of the domain used is an ellipse
with axes

It would be of interest to study further


application and extension of our methods to
For example, a hybrid
more complex problems.
method that combines the finite element and
finite difference grid syst-ms can be devised
for complex flow geometry to increase the
computational accuracy as well as efficiency.

a. - c cosh 6

and
where

bm
2 - t sinh 2
c - a2 _ b
. -

and

Conclusions

r + ln[ (a+) /c .

We illustrate in Fig. 21 a hybrid system that


has two regions. We propose to use the finite

difference method in the outer region and the


The other boundaries were the free surface,

finite element method in the inner region that

the symmetry axi_, the surface of the strut,


and y - -4rl/25. At the boundary y . -4TT/25,
the flow is assumed to be completely horizontal
The twoas it would be at infinite depth.

h
ial
element
inner
The
The inner
has triangles as basic elements.
outer
boudary
that
aetchregion has a square
em the inner boundary of the outer region.

dimen
uiial
flow past an elliptic cylinder is
Su.:h a scheme can be applied to problems such
therefore used as a condition at this boundary.
the
The application of any time-dependent
The initial conditions for the problem
The initial mccelarat ionThaplctoofnyim-endt to find the steady state solution of
at rest.
conditionscn aapproach
n
used is g/lO. The grid used to solve this
problem was uniform with spacing A - n/50 in
all three directions of the elliptic cylindric-

free surface problems is possible only it we


increase the
theaccumulacomputaar,
able
to find ways
tional
efficiency
and to
to control

l coordinate system.
lea,

the spacing

and those at y

These two diffition of the diffusive error.


cult tasks will challenge us in our attempt to
solve numerically complex free surface

As in the previous probbetween nodes at the surface


-4 was y * (
.

problems.

Our solutions for the strut problem show


the wave formation at the ends of the strut at
t - 0.05 in Figs. 18 and 19. Shortly after,
at t - 0.058, waveabreakLng occurred near the

Re,
1.

dosmstream end of the strut. Profiles along


the strut before and Just after savebreaking
ar shown in Fig. 20. The profile at
t - 0.5878 is similar to that of the breaking
The wavebreaking is caused
Stokes wave [311.
bya
combination of the short wavelengths
associated with low speeds and the relatively
larSe ameplituas associated with the high
initial
acceleration.

2.

311

~-.
.

-..

~.----,--.-.-.1"'

'Numeri-

cal Solutions of Two-Diensional Mono


nals
linear Wave Problems," Poie

the

Tenth ONK Svmoaium on


vce,
Cambr
Mes., Jn
1974, p. 649.
.
9
Cambridge, Mass., June 19R!

C.,
Salvsen, N.
nd von Kerek,
"Comparison of Numerical ark Perturbation
Solutions of Tso-limensional NonliceAr
Water-Wave Problems," J. Ship Rea..
vol. 20 (1976), pp. 160-170.

The solutions for the strut problem exhibit


expected behavior and, more importantly, show
that a careful choice of initial conditions

-.-

Von Kercaek, C. and Salvesen, N.,

ing the Dynamlce of an Incompressible


Fluid vwih Free Surface," Journal of
Comutational Physics, Vol. 5, No. 1,
Feb. 1q73, p. 103.

Chan, R.. .- C and lirt, C. W.. "TwoDimensional Calculations of the otion


of Floating Bodies," oroceedinal of the
on Nvel KYdroSei
Tenth
dnamic, Cabridge, Masa., June 1974,
p. 667.

3.

4.

Haussling, H. 3. end Vaa Eseltine, R. I.,


'A Combined Spectral Finite-Difference
Method fot Linear and Nonlinear Water
Ship R & D Center
Wave Problems," Naval
Report 4580.,:kov. 1974.

5.

R. T.,
Haussling, H. J. and Van sseltine,
"inite bifference Methods for Transient
Surfaces,"
Free
Potential Flows with
First nternational Conferenceon uaerical Ship Uyrod'...ics, Galthersburg.
rylad, Oct. 197j.

6.

Harlow, F. N. and Welch, J. E., "Numerical Calculation of Time-Dependent Viscous


Incompressible flow of Fluid Vith Free
Surface," Physics of luids, Vol. 8,
No. 12, Dec. 1965, p. 2182.

15. Brennan, C. and Whitney, A. K., "Unsteady


Free Surface Flows; Solutions Employing
the Lagrangian Description of the Motion,"
Poeeedinas of the Eichth ONR Symposium
Rome, Italy,
i
d
a
on
August 1970, p. 117.
16. Brennan, C.,

"Some Numerical Solutions of


Unsteady Free Surface Wave Prcblems Using
the Tagrangian Description of the Flow,"
Vol. 8 (edited
c
Lecture Notes i
by Ehlers, J. et al.), Springer-Vorlap
Berlin, 1970, p. 403.

17.

8. Nichols, D. D. and Hirt, C. W., "Improved


Free Surface Boundary Conditioas for
Numerical Incompressible Flow Calculsomuational phsics.
tions," journal Of
Vol. 8, No. 3, Dec. 1971, p. 434.

19. Taylor, C. J., France, P. W., and


Zienkiewict, 0. C., "Some Free Surface
Transient Flow Problemnsof Seepage and
cs Of
Mat
Irrotationel Flow," The
Finite Flementa and Applications
(edited by Whiteman. J. R.), Academic
Press, New York, 1973, p. 313.

9. Nichols. B. D. end Hirt, C. W., "Calculating Three-Dimensional Free Surface


F1)ws in the Vicinity of Submerged and
Expoed Structures.' Journal of Coputational Physics,Vol. 12, No. 2, June 1973,

20.

Chan, S. T.-K., "Finite Element Analysis


of Irrotational Flows of an Ideal Fluid,"
Thesis, University of California at
Davis, California, 1970.

21.

Visser, W. and van der Wilt, M., "A


Numerical Approach to the Study of
Irregular Ship Notions," Lj~k leefla
Methods in FlowProblem, (edited by
Oden, J. T. et al.) UAH Press, Alabama,
1974, p. 277.

22.

van der Wilt, M., "Ship Motions: A Test


Case for a NumericMl Approach," Thesis
Delft University of Technology, the
Netherlands, June 1973.

23.

Nickell, R. I.. Tanner, R. I., and


Caswell, B., "The Solution of Viscous
Incompressible Jet and Free-Surface Flows
Using Finite-Eloment Methods," Jrao
[ijechauxce, Vol. 65, pt. 1, 1974,
p. 189.

24.

Bai, K. J., "A Localised Finite Element


Method for the Uniform Flow Problem
with a Fr" Surface," First International
oferencs on Nsrical SbimHtoroGaithersburg, Maryland,
1zgLUi,
Oct. 1975.

p. 234.
I0. Nichols, B. D. and lirt,C. W., "Methods
for Calculating Multi-Dimensional,
Transient Fros Surface Flow Past Bodies,"
tiloallConference on rHumeri"M
Gaithersburg,
al Shin vdrovndamicl.
Maryland, Oct. 1975.
11. Chan, R. K.-C. and Szreet, 1. L.. "A
Computer Study of Finite-Amnlitude Water
Waves," Journal of Computtional PhySics,
Vol. 6, No. 1. Aug. 1970, p. 68.
12. Chan. R. K.-C., Street, R. L.. and Prom,
J. I., "The Digital Simulation of Water
Waves: An Evaluation of SUI4AL," acturp
Vol. 8 (edited by
Notes in hysic,
Ehlers. J. at at.), Sprinper-Verlag,
Berlin, 1970, p. 429.
Street, R. L., Chan, R. K.-C., and Frc'n,
J. E., "Two M&hods for the Computation of
the Notion of Long Water Wavest A Review
end Applications." Proceedings 0 the
hedsCz
Italy, Aug. 1970. v. 147.
e., Rom

14.

Hirt, C. V., Cook, J. L., and Butler,


r. D., "A Lagrangian Method for Calculat-

"A Generalized Arbitrarjr


Lagrangian-Rularan Method for Incompressible Flow with Sharp Interfaces,"
of Computational Physics, Vol, 17,
M
I
No. 3, Mar. 1975, p. 311.

18. Boris, J. P. and Hain, K. L., "Free


Surface Hydrodynamics Using a Lagrangian
Triangular Mesh," first 1,ternat no
Conference n Numerical Ship HydoIlcm,.!.,Gaithersburg, Marylend, Oct.
1975.

7. Harlow, F. H. and Welch, J. E., '"Huerical Study of Large-Amplitude Free-Surface


Motions," Physics of Fluids, Vol. 9,
No. 5, May 1966, p. 842.

13.

Chan, R. K.-C.,

311

25.

Chen, H. S. and Mei, C. C., "Calculations


of Two-Dimensional Ship Waves by a Hybrid
Miethod Based on Variational
Principles," first international Conference on NEmrical Shin Hyrodnamics,
Gaithersburg, Maryland, Oct. 1975.

Free Surface

~Element

26.

Bai, K. .J. an Young. R. W., 'rNumerical


Solutin.oaoFr-Surf~ace Flow Problems,"
Svmoostum
inceda of the Teth,
on Naval Hyvdrodynamics, Cambridge, Mass.,June 1974, p. 609.

27.

Lee, K. D., "Application of the Finite


Element Method to Potential Flow Problems,"
Report T-32, Coordinated Science laboratory, University of Illinois, Oct. 1976.

28.

Akai, I. J., "Numerical Solutions of


Nonlinear Potential Flows with Free.
Surfaces," Report T-30, Coordinated
Science Laboratory, Untiversit7 of
Illinois, Sept. 1976.

4.d.

Lamb, H., "Surface Waves," Hvdrndvnsmics,


Chapter 9, Sixth edition, Dover Public&tions, New York, 1932, p, 363.

31.

Stokes, J. J., Water Waves. Interscience


Publishers, Inc., Mew York, 1957.

i
.A
xml
fRsrcuigEeet
near the Free Surface.

(
y"7(,;)

Yen, S. M. atid Leop, K. D., "Application


of Finite Element Method to Potential
Flow Problems," Proceedings of the Second
International Symosium on Finiite Element
Methods in F'lowProbleMs, Rapollo, Italy,
June 1976, p. 539.

30.

, 7 F(.,yi

"'(-Y

l0~

.I

Fig. 3. Schematic of the Two-dimensional


Pressure Distribution Problem.

NumberLierFeSufcCodtosFr(r1.,0
Elemrent
,7

~~~~~~~NodeNumber

LferFe

ufc

ol~,OF'4f

.1
oOO

1.0.0

(0)

(b)

t. 130

(d)
(a) Six'triangular elements, one interfor nods, (b) Ten
triangular elements, two interior nodes, (c)
Six triangular elements, seven interior nodes,
(4) four quadrilateral elements, one interior
nods
Fig. 1.

0.02
t'2.0O__

Finite Element Sectors:

0
-002

Height Computed
Fig. 4. Tim Evolution of Waive
with Linear Free Surface Conditione.
Fr (4")" and a 0.01.

313

Nonlinear Free Surface Conritions, Fr =(4y)

- 0.0)---Re
0..2

soe
Rateof W(rk

t:0.

Growoth
Energy

t'0.5

1.0

Fig. 7. Variation of ComptitedRate of Work


Energy Growth, and Resistance. Fr
(4- _
and cr - 0.01.

0.02

Frand
Fig. 5.

Fny

u~t,0.~~0.02u

.01.U'1

Time Evolution of Wave Height Com-

X_-05

Fig. 8. Schematic of Two-dimensional Problem


of a Submerged Elliptic Cylinder.

\.

X=0.5

-001~

Fig. 6. Comparison of Wava Height,

057-

.01

and Fir-(4r)_11

V2,, -

a Ionlnasr
aolution at L - 1.0.
b

Linear solution at t . 1.0.

c- Linear solution At t -0.96 by Rausaling


and Van Sestine.
d - Analytic linear steady state solution.

L.

Fig. 9. Schema tic of the Hydrofoil Probles.

314

Iuit

-~I,

Fi.1.Initial Meah System for the


Elliptic Cylinder Problem,

}~

FigIl

Initial Mesh System for the Hydrofoil


Problem.

315

EllipticCylinder

t-.5
0.0010

t-10

o.O
\ oo000000
IL- PresentStudy \
0.001 0 Hojnslitnq8, 8riEseltln
1.6

1.2

Oh

0.4

* 1~

Time,t

t.0.-02

ig.
-05.5

..

~.-]O02

15. Comparison of Wove Drag with a Linear

Numerical Solution.

Fr

.0

-(41r)k

0.01.

16

Fig. 12. Development of Wave Heights for the


Elliptic c-linder Problm.

Hydrofoil
0.001

I' 1.

~~1
~
__________________

_0.8

Time,i

(4oY)k and a

Fr -

0.01.

-0.00

0.1

-0.5

0,4

Fig. 16. Comparison of the Finite Element and


Finite Difference Calculations of Wave Drag.

--

002

Finite Differemc
Finite Elemnent

000 -

Fig. 13. Devuuopment of Wave Heights for the


Hydrofoil Problem.

001
10

0.0

20_
.0----

0.02.

Fiit Elementtn.t5dtat

00
001

---

-001Psiio

,.

0.2

LQ

Longi

t t-0
Wveproils

10 ad

Fig. 17.

.0

Comparison with the Linear Steady State Soluandc - 0.01.at


tion. Fr -(4r)-k

att

10
-10

318

Comparison ci frt~t

(r-k

Fr-(v)an

Element and

.1
-0..

Distance, x

0.6

-0.1

-- 0.0012

Fig. 18.

-0.4

-0.5

17
-0.0020

-- 0.0008/

--- 0.0004/

-/1

*--C

Contour Plots of the Free Surface Positiou nfir the Upstr.m End of the Strut at t

-0.05.

Distance, x
0.4

0.5

0.6

-0.10008

-- 0.0016

C
.4in

Fit

19

Contour Plots of the ?re Surface Position near the Dovuetream gad of the Strut at t -0.05.

317

0.01
.=0.05

0-

-0.01

.0
t =0.0555

S0-

-0.10

_--___
-----

I-

i =0.05878

0.05

0.04

003

0.02

0.01

Distonce to Downstreom End


Fig. 20. Sequence of Wave Profiles at the
Surface of the Strut vs. the Distance along
the Arc of the Strut Prior to and After
Wavebreaking.

Fig. 21. A Grid System for implementation of


a Hybrid Method. Inner Region for Finite
Fleamnt Method. Outer Region for Finite
Difference Method.

318

TRANSIENT FREE-SURFACE HYDRODYNAMICS*


M. J.Fritts and J. P. Boris
Naval Research Laboratory
Washington, D.C. 20375

Abstract

II. The Control-Volume Approach

The control volume approach is used to ohtain a finite-difference scheme for a Lagrangian forazlatio. of inviscid incompressible
flow using an irregular triangular mesh. The
method permits grid reconnections and allows
local vertex addition and deletion. Algorithms
are presented which onserve divergence, vorticity, mass, momentum and energy even during
grid restructuring. Examples are taken from
simulations of shear flow and flow overshydrofoil in which the restructuring algorithms are
crucial. Although the structure of the code is
highly scalar, techniques are outlined for producing efficient code even for the new vector
computers.

For a Lagrangian formulation of inviscid,


incompresoible flow, the basic equations are
d
P
g
- and
V .V

together with the conservation of mass, rmomentum and energy. There are, of course, many
possible ways to design finite-difference
schemes for these equations. However, it is in
general not poscible to determine which ap5
proach will be successful.
For the case of
triangular grids, and in particular reconnectlog grids, there does not exist a literature of
proven techniques. Therefore the method chosen
for SPLISH was the control-volume approach, in
which the finite-difference equations are forislated to satisfy the conservation laws macroscopically, over a computational cell. In this
way the conservation of physical quantities is
explicitly satisfied by the scheme at the outset, and rcrections for non-conservation are
eliminated. .

I. Introduction
The hydrodynamics code SPLISH is designed
for Lagrangian simulations of transient freesurface phenomena. The present version of the
code was developed for inviscid, incompressible
flows in two dimensions. The method uses a
triangular finite-difference grid in which triangle sides are aligned along free-surfeces,
interfaces, boundaries and the perimeters of
submerged bodies. The grid internal to these
surfaces is left free to reconnect, adjusting
1'2
to the time-dependent flow.
In addition,
vertices can be added or subtracted as they
accusalate or become sparse in convergent and
divergent regions of flow. The added flexibility gained through such grid restructuring
permits the application of Lagrangian techniques to large classes of problem which were
formerly considered solveable only with the aid
4
of diffusive Eulerian rezone methods.?'
For
example, tha simulation of shear flows about
obstacles are possible with only local changes
in the grid. This paper will present the formulation and the motivation of several such
grid restructuring techniques, the algorithm
used in implementing them end examples of thai:
use in SPLISH. Because the lack of global ordering in a reconnecting grid is a drawback to
its implementation, a discussion of techniques
to produce more efficient codes is included.
Examples will be given of calculations performed on NRL's TI ASC pipolins computer.

The definition of the control volume will


of course depend on the location at which physical variables are applied on the grid. it is
natural to specify positions and pressures at
vertices, since the Lagrangian surfaces cointide with surfaces on which pressure is defined as a boundary condition, In our formulation velocities and densities are trianglecentered, yielding a staggered mesh, Pressure
gradients are therefore piecewise tiaear within each triangle and discontinuous at triangle
sides, as are the triangle velocities and
densities. Therefore all the variables in
Eq. (1) are triangle-centered and it is easy
to advance the triangle velocities either
implicitly or explicitly.
The vertex-centered control volumes, cv,
are used to define the new pressures chrough
Eq. (2), expressed as an integral invariant:
V

tv
This research was supported by the Offi:e of
Naval Research.

31e

dV

o-

There is another constraint Implicit in


Eq. (I). Taking the curl of both sides, we
have

dt
.
iffL

(4)

For homogeneous systems this implies that V x V


is an invariant for every control volume since
X VP s O. Wth a properly defined VP, the
finite difference formulation also yields V X
VP - 0, so that the vorticity cannot be altered
by the pressure gradients alone. However, this
invariant does not ensure the conservation of
vorticity over a complete tisestep by itself.
The velocities are triangle-centered, and advancIng the vertex positions means altering the
size and shape of the control voluaes while
leaving the velocities unchanged. In other
words, the integrated region is changed but not
the Integrand. Therefore the updating of vertex Pui. 1cii .-1ctatesan accompanying change
in triangle velocities to keep the vorticity
Figure
intriangle
explicitly
is shown
This and
conserved.
3.
The rotation
stretching
of the
ha neccsitated a rotation and diminishing of
di
ine
ath
he tria eveloi u
the triangle velocity such that the V -dt line
contributLions within the triangle for
each of the three vertex control volumes remains constant.

V2

~itot

Figure 1. Definition
F~gue 1 of
ffnlton
a control volume
olue about
aout
an interior vertex, Vl. The area of triangle J
is apportioned equally to the control volumes
and V .
abut V
2 aintegral
V
That is, the pressures at the vertices are
iterated until the resultant triangle velocities reflect a divergence-free condition for
each control volume. An obvious construction
for a control volume for this application in
shown in Figure 1. %be vertex-centered control
volume is defined by lines extending from the
triangle centroids to the triangle side midpoints. This permits a unique, uniform and
complete tessalation of the entire computation&1 region. The control volume for each vertex
contains exactly one-third of the area of each
of the adjacent triangles. Because pressures
are defined as boundary conditions, the control
volumes are altered near boundaries as shown in
Figure 2. In this way the pressures at vartices near the boundaries enforce a divergencefree condition over the additional area as well.

()

V,

V2

V5

(b)

V,

V2
rigure . Conservation of vorticity while advancing vertex positions. The triangle veIncity is altebrd such that the V'dL line Intsret ce triution within the rotated eand
stretched tringlA remin the s, for each
vertex.

Figure 0. Alteration of a c ;rol volume near


a boundary. The portion of triangle j noremily assigned to the vertex V It ditded
between vertices V,,and V

320

shown in Figure 4(b). Although the area of


and each coneach triangle remains constant
tiol volume divergence-free) the convergence of
errors
and
truncation
slow
would
the iteration
build rapidly as the triangle sides lengthened.
The very appearance of the grid reflects the
non-physical situation in which pressures far
removed from their co-triangular points on the
interface directly influence their behavior,
whereas those in the immediate vicinity have
little effect.

Thus 'ar we have shown only that a logical extension if the control volume approach is
applicable to a eneral triangular mesh. It
formulations
can lead to finite-difference
U
which macroscopica ly conserve approprinte physical quantities, rgardless of how irregular
The real utility of this
the mesh becomes
approach can be seer, however, wen we allow
the mesh the freedom to reconnect,
111. Reconnectios13

Clearly allming the mesh to reconnect


can solve this dilemma. After reconnection the
finite-differences will again only involve
neighboring vLrtices. The most obvious critenion for reconnection is based on this premise. Any interior mesh line Is associated
with a triangle on either side. The line can
therefore be viewed as one of two possible
diagonals of the quadrilateral formed by these
two triangles. One reconnection prescription
is to select the shorter of the two diagonals,
provided the resulting triangles are not too
unequal in size. This last caveat can be
quantified in a number of ,qays,o. course. For
example, this algorithm would remove the line
from vertex I to vertex 3 and subtract a line
from vertex 2 to vertex 4 only in Figure 5(a).
In Figure 5(b) the new line would lie outpide
the quadrilateral and in Figure 5(c) the post
reconnection triangles would be vastly different in size. Thus reconnection should not be
performed,

Despite the assurance that both the curl


and divergence can be conserved, soluions
through auh Lagrangiam algorithms can still
yield grossly erroneous results. Figure '(a)
illustrates a sample calculation of shear flow.
Triangles below the center of the fluid are
moving to the left with velocity - U, and
those above are moving to the right witf.velocity U. The vertices lying directly on the
shear interface are stationery, while those
and below move with the triangle velocie'f.ovc
ties. The shear layer is in an unstable equilibrium and should persist until round-off
errors accumulate enough to perturb the layer,
Howevex, even in the absence of round-off in
the positions the achem will quickly fall
since the tri ngles on either side of the
boundary will tecome treiched. Very soon
will be calculated wbich
pressure gradier.:s
involve vertices far removed from each other as
(a)

,3

..............

Pigure 1j. The "nearest neighbor" reconnection


algorithm. Lines are reconnected to choose the
shortest diagonal of a quadrilateral (a).
Lines are not reconnected for "inverted" quadrilaterals even if the exterior diagonal is
shorter (b). Nor is the reconnection performed
if the resultant triangles are too dissimilar
in size (c).

U
-.-

Despite the simplicity and physical motivation of such an algorithm, it is nor obvious
that it is the preferred one. The expression

figure 4. An emample of stretched grids in Las.


The initial grid has trigra4ian simuletio

for a general

angle valocIt'as to the right in the upper half


of the fluid and to the left in the lower half
conditions
of the fluid (a) Periodic boundlary
are specified on the sides of the region. The
of
vicinity
the
in
distorts
quickly
very
grid
the shear layer (b).

iangular mesh Poinson equation

1 TKI ij

;x(rc-ri)
r4

+ 9i+l ix(rirc)
x _

321

!p

4b

yc ix(r,+l-r

cv(

Vlcv-

term is negative only when 0+ + V- > 180O


sinc e

t o )

2sinG+BinOTherefore the matrix represented


by
Eq. (5) is
+
-1
8oec
diagonally dominant if 6 + 0 f 1800 for each
I. This provides another uniquely defined
reconnection algorithm, since the sum of both
such pairs of angles in the quacrilateral is
.
just %.'
Whenever 0+ + 0- > 183, the line
is reconnected to the opposite diagonal. In
other words, we have a reconnection algorithm
which automatically ensures the dinginal dominance of the Poisson Equation for an irregular
triangular mesh. This algorithm also autoImaitclly ensures that a diagonal outside the
-quadrilateral
is never chosen.

1+

I-,
(b)

Whichever reconnection algorithm is choseq


during a reconnection the smallest physically
definable cell is the quadrilateral, and not
the triangtes. it is reasonable then to ensure that quadrilateral properties are unchanged during a reconnection. In other words,
the quadrilateral becomes a control volume over
which certain variables must be conserved. The
reconnection is further complicated by its
alteration of the vertex control volumes of
each of its vertices, as shown in Figure 7.

j+ 1

3
Figure 6. The reconnection Algorithm to preserve diagonal dominance of the Poisson Equation. The triangle and %ertex labelling user
in the Polsson Equation is show
in el.
Fig+
ore (b) iodicates the angles 0 and 0 used in
the reconnection test for the line from vrrtex
c to vertex l.

The vertex c is the central vertex as shown


is a sum over all triin Figure 6(a).
Me
angles ad acet to ci
the labelling for the
i + ith triangle is as shows in the figure.
A
Is the ares of the i + th triangle. Acv
islhe arcs of the control volume abouz vertex
c and kV V) v is the finite difference form
of Eq. (0.
Toe coefficient a of the P. term
is
c ,
It ,-r
1

a
and is always negative.

A i+J

Nevertheless, it would ha desirable that the


vertex
through
enforced
on laws
control volumes
conervati
remain
in force
during the

(6

reconnection. For exampls, to keep the vorticity and divergence conserved the portions t
the integrals

. AI
14*es
i-I Yc

V " VdV end


f
asurface

Vx

- dA

within the old and new triangles mat be the


before and after the reconnection. Since
I I-I

there are four vertices with two equations fot


each
only four triangle veloctitycomponants
to haand
chanSged,
It would ease that both
integrajl cannot rasin unaltered. In fact, the
eight squations aor not independent. Thoro
exists a utique solution for every inter!or
v tax which atisfie s both constraints. It
is gives by

This coeffictent reduces to


,

Figure '.
The alteration of control volumes
by a reconnection. Portions of the control
volumes about vertex I and vertex 2 are shown
before and after the ieconnection,

The coeffiielnt of the


qt term has contributions fron just two triangles A1 . and At 4 , and to
(7 4CV
t .

jcot 0+ cot o+

where 0" and 0" are shown in Figure

;(b).

Since 0 and 0" are both within the range of O0


0
to 181 (in positive area triangles ,then this

.22

VT

Therefore strict mass conservation cab also be


enforced despite the destruction and creation
of triangles by constraining the new densities
through Eq. (13). By Eqs.(ll) and (13) VQ and
Mi are both separately conserved, and therefore
Q
so is the quadrilateral momntum and kinetic
energy. The pressures at. 4efired at vertices
do not change
positions
tion, and
the potential
energy during
can b reconnecaltered

where

V
V
V V
Rwhose

BY
VT0

"
FX

VLxl

(V

Ly/

R2D

A,

R-C

2A\

2A

R-C

-A

R'D

RA

2A

2A

R.A

RB
2A B
Balternative
2

R'B)
(10)

where the vector definitions of A, B C, I,


and i are given in Figure , V and VL are the
triangle velocities before reconnection and
VB, V. and A., A. are the triangle velocities
and areas after the reconnection.

D
L

Reconnections then offer a very attractive


to global rezoning. The control
volume approach leads to algorithms which conserve vorticity end divergence in the control
volume about each vertex despite the reconnections. The algorithms also conserve mass, energy ind momentum on the basis of triangular
and quadrilateral control volumes and further
exhibit time reversibilty. Finally, the prescription for tht occurrence of reconnections
can be chosen to preserve orderitg by nearest
neighbors or to preserve the difnconal
dominance of Poisson's equation over the irregular
grid.
SHEARFLOWWITHNO PENTURBATIONS

R
AB

Figure 8.

only by the different definitions of VPip.


Since we are free to choose both new densities
and have only one equation, Eq. (13), to satisfy, we also control the change in potenial
energy through Eq. (4), which provides the
second density constraint. This specifies that
the amount of vorticity generated within the
quadrilateral is the same before and after the
reconnection.

Te

labelling for triangles and

alde vectors used in the reversible algorithm


to determine new triangla velocities.
This solution includes a valuable bonus.
Not only is it unique, but it is reversible.,..
Re-reconnecting a line yields the original
triangle valocities as well as the original
vertex control volume configurations.
This is
a desirable feature sinces it irrors yet
another implicit property of the basic equations, tit reversibility.

*,

..

As stated above, Eq. (lo also preserves


rho quadrilateral velocity, That is
V - A

+RAL

- Ap +-

"VB (I

whore
A-

AN + A

A + A1.

Figure

. A test of the reconnection algorithm

SPLISH.

.in

(Q)

mh was

of the quadrilateral is just the sum


of the triangle clssaes,or
O + 1 1,
%P + A89.
A
(lI)

The grid at various time is presented for a simulation of an unperturbed


shear layer. The *rid at t - 0 coiresponds to
that in Filgure 4(a).
However, hers the grid
reconnects as it stretches, as shown between
t - .036 see and t - .03 see. In this simlation 6t - .94 sac, P - 5 cm/sec and the
length of 'he syete is 2 cm. At t - 2.)
see
each vortex in the upper layer has passed each
vertex in the lower layer ten times. Any
errosa in easigment of trisngle velocities
wou d have perturbed the unstable equilibrium
of the layer.

.2

MARKERS

Figure 10. The grid and


Here it - .Ml sec, lUl..
bed layer has grown to a
turing the grid. A, t -

5.?IS________________

marker partitles at two times in a siimlation of a perturbed shear layer.


5 cm/sec and the length of tt~e system is 1 cin. At t - .300 sec. the perturmature Kelvin-Helmholtz billow. Only reconnections were used in restruc-329 sec the billow is shearing. Two grid anomsalies
are circled.
to a denser grid before and after the hydrofoil and a spare grid along the hydrofoil
itself,

These routtineshave been tested on the


problem of shear layer instabi lity.
Figure 9
illustrate& a simujlation
in which the initial
shaar layer was not perturbed. The grid has
not changed although each vertex in the upper
half of the fluid has traversed the entire
grid tetntimes. Figure 10 shows the grid and
a marker particle display for the case of an
initial perturbation which has grown to a
Kelvin-Ilelmholts billow (top row), and after
the mature biliow begins to shear.
The calculation agrees well with the predicted growth
rates. only the reconnection algorithms were
used in restructuring the grid, and the grid
at t - .329seecexhibits two irregularities.
Two
of the vertices have becomes
too close, forming
thin along& ,Itriangles, and a third vertex

LIS
I
SP
__________________

bas become -closed within a triangle. Other


grid res--cturing in clearly needed. These
additionai techniques will be discusaed in the
following section.
IV. Vortex Additioniand Deleton
.

The fluid flew near a soeratrix is another area in wh~ch traditional numerical La5rantgimn treatments fail. Figure 11 illustrata@ a sample grid for a aubstergod hydrofoil near a free surface. The flow it,directei
to the right Initially with velocity U. Clearly of the flow develops vertices will tend to
accumulate at the i.rward stagnation point. At
the so time the vertices on the hydrofoil
will move withs
the flow alonit the hydrofoil
and accuausate (by pairs) in its wake. After a
very sbort tim the griddtng wilt deteriorate

Figure 11. The grid for a hydrofoil near a


free surface. The flow is jpitially directed
to the right with velocity U.
These problem do not derive from an illchosen initial grid but ss Inherent in U.grangian treatments. By thoosing the mid-line
of the hydrofoil between an initial row of verticee, a situation develops in which vertices
of the samstriangle flow toward opposite eides
324

I
2

non effective. A tangled grid results from


inverted triangles forming over the hydrofoil.
a
The advantage of the present treattnnt using
control volume formlation is that while these
problems are difficult, they are sttli soluble.

Figure 12. Triangle configurationo Immediately


before and after the removal of a vertex. Vertax 4 is enclosed within triangle I either as
a result of normal reconnections or by 2.forciob
reconnections as it approaches vertex

The problem of representing flow near


could be resolved if it were posseparatrices
atble to add and subtract vertices from tha
calculstion as needed without altering the physically conserved properties of the flow. F,,rtsuately, uch schemes Ore possible, and may be
derived in the sam spirit as the reconnectiOU
algorithm by using a control volume approach.
For example, the simplest way to add a vertex
to the fluid is at the centroid of a triangle.
Lines are drawn from the new vertex to each
of the existing vertices, leaving three new
triangles in place of the old one. If all
triangle varimbletare chosen to be identical
with the original variables of the old triangle
the behavior of the three triangles clearly
does not alter the fluid motion since it is
.
If
identical to that of the initial triangle
the vertex pressure is chosen as the average of
the three vertex pressures, we have likewise
left unaffected the pressure gradierts throughout the area occupied by he old triangle. In
other words, the three new triangles behave
exactly as the former one, and are indietinremains enguishable from it since the vertex
closed within its forner boundaries. However,
we know that the reconnection algorithm will
a
eventuall]ialter one of the triangle sides if
triangle was
vertex in the vicinity of the old
really needei. Otherwise the new vertex will
continue to behave as if it were not there,
But the reconnection is also conservative as
shown above, and once a reconnection occurs we
have successfully introduced a vertex while
promaintaining strict conservation of flow

This claim requires elaboration. The remoal of a vertex implies the alteration of
four vertex control volumes, one of which is
removed, and such a drastic change does not
seem consistent with a mere change in resolution. Figure 12 illustrates the triangles before and after vertex removal. Before the verthe
tex is deleted the relevant contribution to
vorticity integrals about each vertex are
3
_
)
"
+ Vk
2

(r.r 4 )
2

C
+
+V

(r,
V

V di

4
g3
(j

-r1 )
2r
2
+
2

.dl-

(.r)
+ -(15
2
-

After vertex 4 is eliminated, its vorticity


must be apportioned to vertices 1 through 3 in
some manner;
(r -"
+
= 1+
V" di-

_ _
d'-"V

of that triaugle is not altered if the vertex


is removed and the new larger triangle given
the velocity
V2 + A

r)
2

V..i-

The converse is a s.otrue. If a vertex


becomes enclosed in a triangle, the behavior

A4 V4 - A1 V1

of the obstacle, leading to a nonsenaical calculation of fluid pressure gradients between


vertices separated by an obstacle, Fixing the
allowing
surface anddesirable
on the
vertices
neither physically
Ishydrofoil
reconectio...

)
_
_ _2v.

"

and

+(14)+1a
Eliminating I' t2 and
(16),we have

where triangle 4 encompasses the three triangles 1, 2, and 3. Since the mass of the resultant triangle can be defined in a similar
manner, the momentum of the larger triangle
has not bean altered. Therefore for both addition and subtraction of vertices, the larger
triangle aets as a control volume in exactly
the saw sense as the quadrilateral for the
recormections. What has been lost is the information about the behavior of the pressure
gradients and ,elocity gradients within the
triangle. This information has been averaged
out and replaced by a linear vartatitn across
the triangle. All we have suffered is a loss
in resolution, exactly what wu $et out to do in
removing the vertex.

i i.r) +)
+

vk"

'

+k

"(T4

between Eq. (15)

4r
) V"
'V"4

and

(r.-r2 )

(=YI-Y)

1-2,
2

12

(17)
-V + A
Aj,

Sbstitutin

Eq. (17) yields, after ems

+
i
algebra,

V
k into

32

sens

directions, and resolution of the leading portion of the hydrofoil is being lost. A point
may be added along the body as in 13(b). The
result may be viewed as the addition of a point
within a triangle, but one in which only two of
the three sweller triangles survive.

A JA,

Ak94/A,
A i,~i/ALl
where

- F

(b)
since A + A + Ak*A

Therefore, conserving momentum exactly over the


large triangle yields exactly the conservation
of vorticity within the affected vertex control
volumes. The vorticity carried by the expunged
vertex is apportioned by area to the neighboring vertices. If the deleted vertex lies close
to one of the remaining vertices, that vertex
will carry most of the reassigned vorticity.
Therefore the total vorticity is accounted for
in a reasonable and natural manner, and momentum is still conserved. Since a similar argument holds for the divergence equations, conservation of flow variables is demonstrated,
and a loss in resolution is the only effect.

tc)

Figure 1I. The deletion ,f a boundary vertex.


The flow is converging at the trailing edge of
a submerged body (a), resulting in a clustering
of vertices and the formation of long thin
triangles. 7- '"' a vertex is removed by drawing A new line to fon the enclosing triangle.
is added within the elonIn (c) a new vet
gated triangle to preserve resolution of the
fl.owat the trailing edge. Subsequent reconnecrio
'ill remove the thin ti,.-gIel.

For the case of an added vertex, the vertex control volume integrals are trivially left
unchanged, and the added vertex initially carries no iorticity. Vorticity can accumulate
about the added vertex only through reconnections with triangles having dissimilar o. Thet
is, vorticity is generated only by density
gradients, as expected.
Therefore, vertices can be added and subtracted rithintriangles while conserving flow
properties exactly. In both cases the usefulness of this result derives from the reconnection algorithm. Used in tandem with addition
and deletion within triangles it provides a
general algorithm for altering the grid without
disturbing the fluid flow. It has already been
shown that reconnection used after addition t
a vertex at the triangle centroid liberato .
vertex in . conservative manner and permits it
to behave no longer as the centroid of the triangle. The process can also be reversed. The
- isolate
reconnection algorithu can be use'
any vertex within a larger triangle. Once this
is accomplished the vertex can be averaged nut.

(5~ ((b

idrel(a) illustrates the reverse aitustion at the rear of the hydrofoil. Thernew line is dran to enclose the unw~antedvetLex in a triangle. In Figure lh(b) the vertex
'i_
ved from the body, leaving the way
clear to add a verL- in the fluid, if needed
to preserve resolution, , in Figure 14(c).
the use of the control volume approach has
nade possible the dynmic aittion
there,
and subtraction of vertices exactly wi.,. desired and in a fashion which locally and globally conserves the properties of the fluid
flow. The combined use of local resolution
alteration and reconnectiun algorithms permits
Lsgrangian calculations of extremely compli-

~V.

Efficiency

It is obvious that for a code such as


SPLISH any global ordering of the grid would
soon be invalidat"d by reconnections and by
the addition end deletion ot vertices. Since
standard fast Poisson solvers rely on such an
iw',licit ordering among vertices, it is appropriate to conclude this papec wu1,1sow remarks
an its efficiency.

Figure 13. The addition of a vertex at a boundary, The vertices on the bounday are moving
along opposite sides of a submerged body (a),
and resolution Is lost for the leading edge of
the body. In (b) a new vertex is added on k,,
boundary. The ol4 triangle is delated and
new triangles are added.

The new generation of vector computers


.,)vides a good starting point for such a discussion. The increased speed of these computars is stiained in large part by their ability
to perform quickly a given operation on large
numbers of membera of an array, which are preferably stored contiguonrlv in memory. Calcuiations on a vector copter are therefore
performed operation by operation for all array

The utility of this technique is not limi


ted to interior mah points. Figure 13(s)
illustrates a triangle at the leadink edge of a
submerged body. The flow is forcing the triangle vertices on the boundary in opposite

328

members Instead of performing r?n whole sequence of operations in turn for each member of
an array. The ordering of the vertices becomes all important, and a highly disordered
code such as SPIASH is almost totally unsuitable for efficient operation. However, despite such obvious problems, the entire SPLISH
code has been optimized for the NRL TI ASC
vector computer.

vertex. These "alias" arrays can be ordered


consecutively in core in exactly the ordering
necessary for efficient vectorized code. Therefore, although a 'od deal of extra scalar computation is performed, the increase in speed
obtainable for the vectorized code more than
compensates for the extra time. The use of
"alias" arrays has yielded decreases in computation time of roughly a factor of three.
Typical timings for the Poisson solver are now
6.8 milliseconds per iteration for 121 vertices
or about 6) mlcroseconds per iteration per
vertex.

Our first example is the reconnection


algorithm itself. The heart of the reconnection algorithm is based on the quadrilateral
about the line. However, every reconnection
that is performed redefines the quadrilaterals
for each of the four lines which make up the
original quadrilateral. This situation is
highly scalar, in that a tingle reconnection
may invalidate the possible reconnection of
four neighboring lines. Therefore it is impossible to allow reconnections to proceed in
parallel, and the complete calculation for one
must be performed before the next is initiated,

Although such increases in speed are encouraging, they are not the final solution.
Large calculations will require faster solvers.
The most promising approach is through the use
of direct solvers, rather than iterarive ones.
Although the matrix representing Eq. (5) does
not exhibit the ordering of rectangular meshes,
it is nontheless sparse. Furthermore, if the
vertices are preord2red by position, the nonzero members will lie along rather diffuse
bands. Recently, there hss been an increase in
interest in fast solvers for such banded wqtrices and several techniques look particularly
The outlook is very good.
encouraging,"'
Not only is a large class of problems now
amenable to Lagrangian calculations, jut also
at a computational cost per zone competitive
with other techniques.

However, even iii this situation some increase in speed may be gained through efficienc coding. Clearly s good deal of the time
in the reconnection algorithm is spent in testing each line for a possible reconnection. In
general, very few of the Iines reconnect for a
given timestep. The flow is following local
streamlines. Therefore the test can be vectorized provided its output is a list o' lines
which may want to be reconnected. Each of
these ffew) lines is then passed through the
scalar reconnect routines, in which they are
retested and the reconnection performed if it
is still desirable. An iteration -rough
this procedure may b desired, but in most
cases is not necessary since most reconnections
occur remote from each other. In no realistic
case tested were more than three iterations
required to reach the final grid.

References

The savings in computer time,of course,


depends on the number of lines reconnected.
For roughly one percent of the lines reconnecting per timatep (an average case), the vettorixed test followed by scalar reconnect is
ten times faster. The same is true of all the
grid restructurins algorithms. Large saving
in time can accrue through vectorizing the
tets which must be performed on every line or
triangle. lbs grid alterations must remain
scolar, but are relatively few in number,
The second example is the solution of
Poisson's Equation. In SPLISH the presaures
are adjusted at each vertex Iteratively to
enforce a divergence-free condition for each
vertex control volume. As shown by Eq. (5),
coefficiente of each term are expressed in
terms of the positions of co-triangular vertices. Since there is no global ordering, such
a calculation accesses storage almost randomly.
That is, the coda is highly scalar, and its
efficiency on a vector machine is correapondingly poor.
Newertheless, it is also possible to obtain vectorixed code in this situation. The
solution is to precomputs arrays which duptlcats the position data for each neighboring

1.

J. P. Boris, M. J. Fritts and K. L. Hain,


"Free Surface Hydrodynamics Using a LaProceedings
grangian Triangular Mes."
of the First International Conference on
Ship Hydrodynamics, Oct. 23, 1975.

2.

W. P. Crowley, "Flag; A Free Lagrange


Method," Proceedings of the Second International Conference on Numerical Methods
in Fluid Dnamics, Lecture Notes in
t'hysics Springer-Verlag, New York, 1971.

5.

R.K.-C. Chan, "A Generalized Arbitrary


Lagrangian-Eulerian (Cale) Method for
Incompressible Flows with Sharp Interfaces," SAI-73-575-LJ, November 1973,

4.

C. W. Hrt, "An Arbitrary LagrangianEularian Computing Technique," Proceedings


of the Second International Conference on
Numerical Methods in Fluid Dynamics,
Lecture Notes in Physics, Springer-Verlag,
New York, 1971.

5.

P. J. Roache, Computational Fluid Dynamictj


Hermosa Publishers, Albuquerque, New
Mexico, 1972, p. 25.

6.

M. J. Fritts, "A Numerical Study of FreeSurface Waves, "SAI-76-528-WA. March 1976.

7.

M. J. Fritts, "Lagrangiar Simulations of


the Kelvin-Holmholtx Inetability,"SAI-76632-WA, September, 1976.

327

7i

.,'.'|

'1I

N.J. Fritto and J. P. Boris, "Solution of


Translent Problems An Free-Surface Hydrodynamics," MIL Memorandum Report 3446,

Feb. 1977.

9.

D).S. Kershaw, Private Coaunicstion.

D5. N. K. Winsor, NEL Memorandum Report 3481,


June 1977, to be published in Nuclear
Science and Engineering.

DISCUSSION$
of two papers

FINITE-ELEMENT AND FINITE-DIFFEFENCE SOLUTIONS


OF NONLINEAR FREE-SURFACE WAVE PROBLEMS
S.M. Yen, KD. Lee endT.J Aka!

TRANSIENT FREE-SURFACE HYDRODYNAMICS


M.J. Fritts and J.P. ors

Invited Discussion

direction is nonstable.

Figure 10 shows the

development of the nonstable situation. For


certain combinations of density and fluid
velocity there exists a stable situation. An
interesting check of whether the described picture isa physical one or just a numerical
failure could be to run the program for a stable
situation. I hope that this kind of information
can begiven in orJer to furnish more confidence
in the method.

Aad J. Hermans
Technische Hogeschool Delft
The authors should be congratulated for
their contribution of numerical tools to be used
inship hydrodynamics. Both papers present
methods to be used to solve the complete nonlinear free-surface problem in two-dimensional
problems, while the paper of Yen et al.presents
some results inthree dimensions as well. Up
to now these problems are considered as too comlicated for solving with purely analytical tools.
Papers of for instance Ogilvie, Dagan and myself
show that the linearized Kelvin-Neuman problem
leads to erroneous solutions at low Froude number, at least in certain two-dimensional problems.
For three-dimensional problems the same errors
are expected locally. Therefore it issuggested
that one take into account the non-linearity in
the free-surface condition,

The paper of Yen et al.brings up some questions as well. Inour paper earlier this mornIngwe presented a numerical technique that may
be modified to solve the same class of problems
as treated here, but in stationary situation.
In shallow-water problems it turns out that the
mean surface elevation infront of the disturbance is different from the mean elevation
behind the disturbance. This difference in mean
level in the steady-state problem isdue to a
phenomenon described by Brooke Benjamin and
drawn to our attention by a paper presented at
the IUTAM meeting in Delft by Salvesen and von
Kerczek in 1975.It turns out that ifone starts
at rest and gives the disturbance a constant
velocity suddenly, hydraulic jumps move forward
and backwards with different heights. These
jumps have to be found if one describes the
initial-value problem properly in the snallowwater case. Especially in the supercritical
case this effect is important. Inthe deep-water
case this effect isof no importance; therefore
the results look reasonably good. However, I
doubt whether inthe shallow-water case the
correct physical solution will come out of the
numerical treatment. At last I would like to
remark that the authors in their paper do not
pay much attention to the Kutta condition. It
may be of interest to present more details
about the vortex that is left behind and Its
influence on the free-surface elevation.

With the aid of the very fast new-generation


pipeline computer, and perhaps in the future
with more sophisticated parallel processors,
large computations may be carried out at rather
low costs. The disadvantage, however, of the
use of highly specialized numerical procedures
may be that a gap will grow between numerical
specialists and the physicist who likes to obtain a description of a particular physical
phenomenon inship hydrodynamics.
There are some well-known examples where
computational results look similar to physical
ones, although it Is impossible for the mathematical model to have such a solution. However,
errors inthe numerical procedure make the results look that way. For instance, solutions of
models without viscosity may look like solutions
of equations with viscosity terms, because of
the use of certain difference schemes. Therefore a sufficient amount of testing hasto be
carried out before the programs can be used
generally,

Discussion
b-ywa--ngune Bat
of paper by S.M. Yen, K.D. Lee and T.J. Akat

I would like to start my discussion with


the lest paper where many details are presented
concerning a Lagrangian method. The shear-flow
problem, treated as an example for the reconnection procedure, brings forth some questions.
The nonviscous interaction between two parallel
streams of fluid with equal density and opposite

Professor Yen and his associates should be


congratulated for thair successful attack on an
exact nonlinear free-surface flow problem. I
have only a few specific comments on their paper.
(1) Itseems to me that in treating a hydrofoil
problem, the boundary crindition
V-O at the trailing edge is not convenient for the numerical
329

solution of potential-flow theory. From my own


experience in treating a hydrofoil problem (Bai,
1178),itwas convenient to use the 'numerical
Kutta condition' following Hess (1972), namely
that the tangential velocities on the upper and
tower surfaces at the trailing edge have the
same magnitude.
(2) When the Kutta condition is used, the domain
of the potential flow is no longer a simplyconnected region but a doubly-connected regon.
Therefore, there should be a cut connecting the
hydrofoil surface and the outer boundary (i.e.,
the bottom, the free su face, or the point at
infinity),
(3) The mechanism of vortex generation used here
for a tire-dependent potential-flow problem is
not proper. For thisInitial-value problem, the
authors make no provision for the trailing vortices which necessarily liewithin a finite domain downstream of the hydrofoil.
(4) In this paper the authors propose a hybrid
method that combines the finite-element method
and the finite-difference method. However, I
do not see any advantage of this hybrid method
since it is known that the finite-element method
and finite-difference method both reduce to the
same final matrix equation if a proper choice
of the trialfunction is made.

Equal attention should of course be given to the


sources of ereor that are common to the solution
of any fluid-mechanics problem, such as that due
to artificial viscosity.
We used the "water table" to study qualitatively the features of high-speed compressible
flow in the earlier days; therefore, we can
appreciate the comments on the hydraulic jump
and other features in the shallow-water freesurface flow. lhe observation that these flow
features may lead to difficultires in solving
numericaliy the initial-value free-surface
problem in shallow water serves as a caution to
people in their attempt to solve such a problem
and suggests a new area of study in the numer:
cal solution of free-surface problems.
The discussion of the treatment of the Kutta
condition for the hydrofoil problem is given in
the reply to Dr. Bai.
Author's Re l
by S.M. Yen, K.D. Lee and T.J. Akai
to discussion by Kwang June Bal

,he supercomputers would undoubtedly be useful to us in applying the existing numerical


methods (the validity of which has been established) to more complex, large-scale problems
such as those encountered in ship hydrodynamics
and in developing more accurate computational
schemes for solution of these problems. Furthermore, the computation power of such computers
will enable us to treat these problems in considerably more detail; therefore, we expect that
the numerical solutions obtained from the supercomputers will exhibit more accurately the
physical phenomenon to be simulated. The supercomputers do present a problem to the users in
that they should understand the machines' architecture (either pipeline or parallel design) in
order to obtain the maximum possible computetional efficiency in the implementation of a
numerical scheme.

Our attempt is to develop numerical methods


to solve the nonlinear free-surface wave problems in general. The first step of our effort
is to devise computational schemes to deal with
the nonlinear free-surface boundary condition,
the radiation condition and the free-surface
geometry. The seconl step is to study the
feasibility of these schemes by applying them
to problems of increasing complexities. In this
study, methods used to treat someof the other
boundary conditions encountered may have to be
simplified in order to facilitate numerical
experiments that are necessary to study systematically the accuracy of computations. The
third step is to refine our basic computational
schemes as suggested by these numerical experiments. The final step 4s to find the detailed
solutions of nonlinear problems of interest by
applying the revised methods. It is in this
step that we intend to mke further refinements
of the treatment of bousdary conditions, if
necessary, that are pcculiar to these problems.
In our feasibility study, we applied our methods
to the nonlinear problems of pressure distribution, submerged bodies and a surface-piercing
body. For the hydrofoil problem, we chose a
thin, symmetrical hydrofoil and neglected the
circulation generated by the free surface. In
the future, when we attempt to find the detailed
numerical solutlon of the lifting-body problems,w will ii~e
more accurate implementation
of the Kitta condition and consider the potential
Jump. (Tue comments made by Dr. Bai on the treatment of the Kutta condition are pertinent, and
the method he suggested to implement this condition is of interest and would indeed be useful.)

Free-surface wave problems introduce computational difficulties In accomnodating the


free-surface geometry, in satisfying the boundary condition at the free surface, and in treating the radiation condition. Methods devised
to deal with these difficulties will introduce
errors. The focus of our effort in developing
numerical methods to solve these problems is to
minimize equally the error from each source.

In our proposed hybrid scheme, our intention


is to accommodate more accurately the complex
flow geometry (e.g., the free surface in the 1direction as shown in Fig. 21) by using the
finite-element method in the near field and to
facilitate the treatment of the hyperbolic feeture of the radiation condition at the free surface by using the f!nite-difference method in
the far field (in the X-Z plane).

Bai,K.J.,"A localized finite-element


method for two-dimensional steady potentielflows with a free surface," (Submitted to J. Ship Research), 1978
Hess, J.L.,"Calculation of potential flow
about arbitrary three-dimensional lifting
bodies," Douglas Aircraft Company, Long
Beach, California, Rep. No. M4C J5679-01,
Oct., 1972, 160 pages.
Author's Rep y

67-.U-'Yen, K.D. Lee and T.J. Akal


to Ciscusslon by Aad J. Hermans

330

Ck

Author's Reply

b-1TR7.ri tts and J.P. Boris


to discussion by Aad 1. Hermans
We would like to thank Dr. Hermans for his
remarks. His suggestion that the program be
used to study a stable shear layer is well taken.
We have conducted these tests and the detailed
results may be found in our reference 7. Speciof density
fically we used several cenmbinatlons
gradients and shear layer depths at a given
wavelength to test whether the unstable growth
was indeed restricted to the spectral band which
is theoretically predicted. For allof our calculations, the layers were stabilized In agreement with theory. Similarly, whenever the
density gradients or layer depths were insufficient to achieve stabilization numerically,
the theoretical limits were in agreement.
Although these calculations were performed
primarily to test the program and had insufficient resolution for highly accurate results,
we feel they carry more than the usual weight
associated with routine testing of code. The
tests also indicated thepresence of symnetrical waves on the stabilized layers which were
experimentally observed but not theoretically
predicted. Furthermore the long-time solutions
indicated that the shear layer between the
Kelvin-Helmholtz billows remained stable even
during the coalascence of the billows into a
turbulent layer. lhd;provided a plausible exphenomplanation for the previously uizexplained
of the appearance of density gradients in
eunrn
the micro-layers of late-time turbulent regions
formed by shear layers.

ADVANCES INTHE CALCULATION OF STEEP SURFACE WAVES


AND PLUNGING BREAKERS
Michael S. Longuet-Higgins
Dept. of Applied Msthematics and Theoretical Physics
Unlvrlty of Cambridge end Institute of Oceanogrsphlc Sciences
Wormley, Suny, England

Abstract
This paper describes some new and
accurate methods for the calculation of
the form- of steep gravity waves, and of
the time-history of unsteady, breaking
waves,
For steady waves, one method has
been to use the small-amplitude expansion due to Stokes, but introducing a
new expansion parameter which (unlike
the first Fourier coefficient)
increases monotonically over the permWith the aid of Pada
issible range.
approximants, satisfactory convergence
can be obtained with the use of about
10 terms.
These calculations have
been facilitated by the recent discovery of u new set of quadratic relations
between the coefficients in Stokes's
opansion.
The author and M.J.H. Fox have
developed a different approach for
waves of nearly limiting height, where
the wave crest is still rounded. They
have shown that the flow near the crest
tende to a certain asymptotic form,
is proportional
whose length-scale t
to the (non-zero) radius of curvature
at the crest. This asymptotic form is
the same for steady waves of any type,
whether in deep or in shallow water,
Using this as an "iruier solution", and
matching it to an "outer solution" representing the rest of the wave (wavelength L ), they have shown how to describs a steep wave by an expression
involving two terma onll for sufficiently small values of XL
. The
expression derived for the phase
velocity confirms very accurately the
previous calculations by Padi sums, and
shows in particular that the phasespeed in not a monotonic function of
the wave heightt the highest wave is not
the fastest,
For unsteady breakers, a new and
accurate method was proposed by the
author and developed in collaboration
with E.D. Cokelet. This sei-Lagrangtan method uses the values of the coorand of the velocitydinates X,

at the free surface


potential
only. At each time-step an integral
equation is solved for the normal component of velocity ao/an . The method
is free of analytical approximations.
It was found possible to follow the
development of the free surface well
beyond the point of overturning.
In more recent work Cokelet has
followed the flow to the point where
the tip of the breaker touches the
forward face of the wave. The momentum
in the jet has been found numerically
to increase almost linearly with the
time after overturning.
A recent calculation of the dynamical stability of steep waves has shown
that as well as subharmunic instabilities of the Benjamin-Feir type there
also occur local instabilities, on
waves whose steepness exceeds about 93
percent of the maximum. These instaband their corresponding growth
ilities,
rates, were calculated by a normal-mode
analysis. A quite independent check
has now been carried out using the
tia-stepping method described earlier.
This has accurately confirmed the initial rates of growth and displayed the
later stages of development of each
type of instability. The local
instabilities develop rapidly into
plunging breakers. The subharmonic
instabilities grow more slowly at first,
but at a later stage local instabilities
develop at the wave crests.

I.

Introd~gtAo

Most theories of surface waves are


valid only when the surface slope is
sufficiently small, the particle accelerations are small compared to 9 , and
the particle speeds are much lees then
the phase speed 0 . But observations
of waves under the action of wind, or
near the caustic of a ship-wave pattern,
commonly show the wave form as quite
steep and sharp-crested, sometimes
breaking by turnirn over onto the forward face of the wave. Laboratory
observations of plu1ging breakers also

332

-how the particle velocity in the forwards jet may exoed 12 times the
phase-velocity for low waves of the
same length ().

of the higher waves is actually less,


and their speed also.

1.0

Here we shall review recent calculations under three heads (a) steep
symmetric waves (b) the deformation of
the wave which lead
to breaking and
(c) the flow in whitecaps after
breaking. We also describe a new calculainstabilities
normal-mode
tion of the
of steep gravity waves, which indicates
that there are two different types.
First, there are subharmonic instabilities of the Benjamin-Feir type. These
tend to modulate the wave envelope, so
that the difference between high and
low waves constantly increases. Secondly there is a local type of instability,
concentrated near the wave crest, which
leads directly to plunging. The rates
of growth of these instabilities have
bee.1 accurately checked by the independent time-stepping metlhod described
under (b).

.....

LOW-WAVE SERIES (L-N 1975)


L
STEEP-WAVE ASYMPOTE

'

1-0

>
I
I
1.090

042

0-44

0.43
WAVP AMITU09

0443

t)

Figure 1. The phase velocity C of steep


gravity waves in deep-water, relative
to the speed c, of waves of infinitesimal slope.
Circles represent calculatons by use of small-amplitude
series, carried to high order. The
broken line represents the asymptotic
expression, (3.2).

This paper is about waves without


ships. Nevertheless there is reason to
suppose that numerical techniques
similar to those for pure gravity waves
may be extended to problems involving
solid bodies, and with analogous results.

II.

------

These results ale similar to those


fourd for solitary waves ().
The
nuaerical computations have been extended systematically to waves in water of
finite depthi by Cokelet (5) who has
given tables of important wave properties at different values of 0-h and h.

Steady symmetric waves

It vas Schwartz (2) who discovered


that for steep gravity *aves, not
necessarity the highest, Stokes's
series must fail. This is because the
parameter used by Stokes, which is
effectively the amplitude O. of the
first Fourier harmonic, does not
increase uniformily with the wave height
Djutl constant wavenumber I .
In fact
O., reaches a maximum at about ojt . 0.1j00
whereas the highest wave corresponds to
o-kO.443 (see 2Figure 8). For the
Same value of 0, , therefore, there can
sometimes be two possible waves of the
same length, with differing heights 20._

Numerical calculations have been


facilitated by the discovery of a new
set of identities betueen the coefficients in the expansior of the suri'ace
elevation *y as a function of the velcity potential
at the free surface.
Thus in deep water, If9qA=
I and

and if we write
Schwartz (1) overcame this obstacle
by -,in as expansion parameter not Cj
but o.C, each value of which defines a

unique wave.

+/
I/C

Convergence was acceler-

ated by use of Pads sums.

-H5 /c

,-

Soon afterwards (.) it was estabfished that not only each coefficient
4Lt,but also the phase-speed C attains
a maximum for waves lees than the highet,
in fact when oL.-O,43 6 (see Figuro i). The physical reason is connected with the fact that the highest waves
surface
are so sharp-crested that their

l-+,,,
.

then we have
+

-2

a.

profile intersects that of the waves


that arc slightly lower. So the profile of the higher waves lies below that
of the lower waves over most of their
wavelength. Hence the potential energy

333

kCo+

\ C, +"
I%0,

IO3
- ,

OL

A
. a.,

y I

+ I
-.

'"

Figure 2
from Longuet-Higgins and Fox (21.
of a steep, progressive gravity wave.

Asymptotic form of the profile

Her., X is an eigenvalue, equal to - H C


The above relations are quadratic in
o.
,o1 ..-ird A .
So they are both
simper a
more efficiet then those
previously used (2).

To calculate the complete wave


profile (10) we define a small parameter
F
by
,,
C
=
16-2

The above relations were discovered accidentally by comparing two columns


in the output of a computer program (6).
But a formal proof has now been preyided (8).

so that for steep waves C is small.


The fluid is then divided into three
zones of dimensions 0(0L), WeL) and
0(L)
respecively (see Figure 3).
In
the inner zone I the flow is given by
the asymptotic solution of reference
(2).
In the outer zone III the flow is
given essentially by Michell's limiting
solution for the highest wave, perturbed to order C 3 so as to accom-odate
the rounded crest.
Xateh:ng of the

-II,
Asymptotic methods
For steep waves, the above methods
requiri summation of series to high
order N
where N may exceed 80. A
different approach (2, 10) reduces the
expreesion of c and other integral
quantities to only two terms.

It was noticed (2) that for very


steep waves the forms of the wave
profiles at the crest are self-similar,
being scaled Oy the length

where 9/ denotes the particle speed at


the wave crest, seen by an observer
moving with the phase-speed C. ,
For
liniting waves the crest is a stagnation point at which -k vanishes.
In
general I is proportional to the rediie of curvature at the crest. The
limiting form of the crest, at distances
comparable to I , has been calculated
by Longuet-liggins and FoA (see Figure
2).
Because the profile crosses its
asymptotes, the maximum slope slightly

Figure 3.
culeting

inner and outer solutions is accomplished in zone II.


e quote the followlng results (a1).
To order G* , the
wave amplitude ti- and phase speed C
are given by

0 44343 - 0.T9
o
3
eWa (2. I't
+ Q0

exceeds 30. a suspected by Saeki and


Murakami

30-370

(11)

(as*

Zones of validity for calthe aLmost-highest wave.

The actual value is

(2)).

.I3

C
--

33

As 6 - 0 * the cosine gives an oscillation in C , damped by the factor t.


The values are in excellent agreement
with those found previously by the summ-tion of high-order series (see Figure 1).

IV

To proceed to the next time-step


we need to know both components of the
velocity on C --t dt) . We can obtain
the tangential component & / . immedib(t- 4 dt-)
ately, by differentiating
along the new surface. However we still
lack the normal component of velocity
on

Unsteady surface waves

C (t

Now because of the space-periodicity we can transform Cinto a closed


contour C1 (Figure 5) simply by writing

For calculating unsteady motions


and breaking waves a fully nonlinear
method was proposed by the present

(x t(X ))f

author (12) and developed in collabora-.


tion with E.D. CokeleL. Though applied
first to w&ves in deep water (T) (
(1U)
it h as also been extended to finite
depth by Fenton and Mills (16).

The domain of the fluid goes into the


interior of C, and the points at infini01. We
te depth go into the origin

is assumed to be irroThe moti~n


tational
end periodic in space (see

then have to solve, in effect, the wellknown Dirichlet problem, namely to find

Figure 4) though not generally periodic


All calculations are carried
in time.
cut with the surface values of the space
coordinates (x, y) anO of the velocity
For the rates of change
potential 5 .
these quantities one has

on

tatona
prioican n sac (se

' I/,,Y

on a contour C' o given


on a c

0
(.

everywhere inside C

~-plane

where
/')it denotes differentiation
following the motion. The last equation follows from the time-dependent
Bernoulli equation and the fact that

(VN

Hence

given the surface va ues of 3k, 3 , 0


aat some instant t on the ourand
one can calculate c, 'Y and
f c4
on the displaced
ttim
at
2urface C (t-4t).

Figure 5.

The surface

In

the trans-

formed plane.

C
/

--

/07

//from

Figure 4.
plane.

This problem can be solved as


Let Rew denote the polar
follows.
coordinates of a running point P on
the boudary, relative to a fixed point
Then it follows
, also on C j.
_
Green's theorem that

-____

The free surface is

the (:.j)

integral we take
where in the right-hn
Since 0 Is known
the principle value.
everywhere op C ' . the right-hand is
given, and the equation is then a linear
equation for "'L./jn with given kernal

of initial conditions.
examples.

cf thi equation gives


,
.Solution
, and the
on '(t'+l)
us
time--stepping can proceed.

We quote three

In (,U) the authors assumed an


initially regular progressive wa'e train
of finite amplitude and applied to it
P, surface distribution of pressure such
as to raise the energy of the waves
smoothly to a level greater *han the
maximum possible (E--..)
for a steady
wave train. The pressure was theA released, so that the waves were free.
They thin became unsymmetric and overturned forwards (see Figure 6).

Numerical solution of the integral


equation has been carried out by
Longuet-Higgins and Cokelet (12) replacing the boundery by a finite number
of integration points.
Typically
for one wavelength. Details of the
method, which are vital for its accuracy and success, are given in their
paper. The method was tasted for accuracy on a free symmetric wave of finite
amplitude for which the foim and phasevelocity were calculated independently
by the method
' Section II, and good
agreement was obtained,

It will be noticed that the computation points, which are also marked
particles, have a welcome tendency to
collect near points of marimum curvature, where they are most needed for
computational accuracy.

The method is evidently quite flexible and can be applied with a variety

C)

Id)

Figure 6 (from Longuet-Hliggns end Cokelot


when raised to an e%ery level L a
at the ar ac
.
(a) to(c'.

(j)).

Jfb

335

Overturniz
of a free wave,(d) to (g),
by a smoothly applied pressure

In a second example Cokelet (L)


begun with a free wave of exactly
: incioidal form but moderate or large
amplitude. Thus it is not a steady
w
Vttbout
tve. aplying any pressure at
the free surface, he follows the developeent of the wave in time, shnwing
that it, too, curls over forwards (see
Figure 7).
This occurs though the
total energy
of the wave may be less
than /: a.The
momentum of the Jet,

which lies between the two vertical


tangents to the surface has been ollOwed numerically as a function of the
time (see. Figure 8).
Once started, it
appears to increase almost linearly with
the time, until the tip of the Jet meets
the forward face of the wave.
A third example of the application
of this method is given in the next
section.

defined as that part of the breaker

E/E.s = 1-67

0.61.
0.2

--

-0.2

-0.6

21n
Figure 7.

(from Cokelet (14)) Overturning of a froe wave, initially a pure sine-wave


of finite amplitude.

0.2:

613

"~

EIE .. n 613-

5W3

0.'

O.OS

313213

0. 1
0.

Figure 8.
(from Cokolet (,4))
of ti..
a,

2.

-4.

Growth of the momentum

337

1.

in the Jet as a functin

V.

The instabilities
of steep
gravity waves.

In order to understand the processes leading to wave breaking, the


author (, 2) has recently investigated
systematically the stability of regular
finite-amplitude gravity waves with respect to arbitrary small perturbations.
In a frame of reference moving with t1e
phase-speed of the unperturbed wave, the
So for
unperturbed motion is steady.
the perturbed motion we may write

nI+

-"

is then unaltered, this perturbation is


independent of time; its frequency is
zero, for all a
. However, as 0, increases from zero, each of the super2 ',4
... tend& generally
harmonics ka
to decrease in frequency, in this reference frame. The frequency (72 of the
lowest superharmouic tends towards r -a
at precisely the steepness o- ..
for which the phase-speed C is a maximum, indicating the onset of a looal

instability at this critical amplitude.

where 1,
4- are the velocity potential
and the streamfunction taken as independent variables; A , '(
represent the
unperturbed, finite-amplitude wave calculated

by Stokes's method

NORMAL MODE

or otherwise,

and
, V? are small, time-dependent
perturbaeions. The free surface is

given by V?

'

g,

where F

PERTURBATIONS

OF DEEP-WATER WAVES
_

-3

also is

small, and ail squares and products of


'? and r are neglected.

--

--,-.-

An arbitrary perturbation may be


resolved into

normal modes of the

.__--_____-2

form5

ZW 3

where 7 denotes the corresponding eigenfrequency. If C is real, then the


If on the
modes are neutrally stable.
other hand c is complex, with a nonzero imag. ,,ry part, then the modes will
grow or deciy in time.

00

01

02

WAVE AMPLITUDE
A
In (6) and (2) the normal mod,,
were computed by resolving X, 'f
.,
and
each into a Fourier series in
.
The calculations showed that for suffC inetly small values of the ateepness C.A'
all normal-mode
of the unperturbed
'',ral,
and resemble
perturbations are
travelling waves v-,n frequency r * In I
where n is the wavenumbar of the perturbatlon. Thus ^w I corresponds to a
perturbation that shifts the unperturbed
we%. through a cona .Lai
phase.
Since
the phase-speed of the perturbed wave

L330

04 0-4434

(ak)

(from Longust-Higgins (2))


Figure 9.
Frequencies of normal-mode perturb&tioni, as a function of the dimensionless amplitude t.k of the unperturbed
wave. The ratio
M corresponds to the
wavenumber when A
is small.

Still more intqresting are the


i~g A
instabilities
aubharmonic
er) are shown in
whose frequencies
Figure 10. As &Rl increases, the noutr&modles n = 1* 11m coalesce in pairs
to form subbarinonic instabilities of
the Benjamin-Feir type. Their rates
of growth Tevqr) are shown in Figure 10.

PE.

Consx.der for example the subbarmoaAsk )


nic mode ?AwK(,i2), that is t
whose basic length is twice tohatyof*(i1k:;*
unperturbed wave. From F~gure l0,this
first becomes unstable at o.h

It has a maximuim rate of growth when


and then dies out at aboutI
-32
h q:)Q
Then at about ckka L' A
-L,.
3
,~f
p =
a new instability arises. resulting from
a coalescence with the mode A - I . It
can be shown (2) that this in to be
expected at about the value of cv.A which
The new instabilmakes C a maximum.
ity is localleed -!,ar the crests of the
It has a much greater
original wave.
rate of growth (I.* Figure 11) and is
expected to be tae forerunner of a
plunging breaker.

.. f

-toE

0.

ee

04 "4
04
5
o'
WAVE $7I0"ePIIs (.6)WAESIH14(k

Figure -)
(from Longuet-Higgina.(8)
The frequencies of normal modes of
oscillation (subbarmonics) having a
horisontal periodicity of M wavelengths, when nNv $ . 7Te real part
of the frequency is shown as a function of the steepness ok of the
unperturbed wave,

40

4t

04

.3

Figure 11
(from Longuet-Higgins, (~)
The ratej of growth of normal modes of
oscillati on (subbarmonics) having a
horizontal periodicity of f" wave. The imaginary
lengths, when m~part of the frequno.y is shown as a
function of the steepness (J?~ of the
unperturbed wave.

To check these conclusions, obtained by a normal-mode analysis, and to


the perturextend them in time until
bation* themselves became nonlinear, the
author and E.C. Cokelet (15) have used
the time-stepping method described in
the development of
Section IV to fo l
The motion
.
the normal iode(1

the results for the


Figure 12 show
fastest-growing subharmonic instability,
are
On the left
when 06 w O 32
showrn two wavelengths of the perturbed
wave, with time increasing down the
The wave is progressing to the
page.
right, in general. In the right-hand
column is shown, at the top the initial

the condiions of the analysis,


satisfies
being periodic in space (not time) but
every two wavelengths
repeating itself
The perturbation,
(see Figure 11).
being odd, in of opposite sign on adjacont waves.

perturbation imposed on the wave, with


vertical scale exaggerated x 20. At
subsequent times the perturbation is
defined as the difference between the
and
perturbed wave as shown on the left,

': j, 2/2)
Time-stepped calculation of the growing perturbation
Figure 12.
is the calculated profile, as it
.
On the left
when oJR .Q.3
develops through one half-cycle or the perturbation (time increases
On the right is shown the perturbation magnified
downwards).
vertically times 20.
340

the unperturbed wave advanced to the


right with the phase speed. Figure 12
encompasses one half-cycle of the perturbation, during which the perturbation
can be seen to have grown and to have
reversed in sign, relative to the unperturbed wave. Thus the wave crest which
more peaked has become
was initially

more flattened, and vice versa.


Figure 13 shows the results of carrying the computation of the unstable mode
('/- /1) for a further half-cycle. By
this time the steeper crest has developed
a sharp curvature.

3-1

Figure 13.
(continuation of Figure 12).
Further development
of the growing perturbation (*I/;Z 3/2])' when t.i.
.

The rate of growth of the perturbLet


Stion was calculated as follows.
denote the perturb(])
.00) and

(a
tions at tifses L- 0 and 'A/ a,
Then the
half-period) respectively.
apparent rate of growth j'was taken
asn

where

Jdenotes
.1

tis
I~

The interval between


of low waves.
successive profiles is only 0-02 of the
basic wave period. so that the final

overtux'ning takes place very rapidly.

the r.m.s. value of


a
the calculated

-02.O.2
wca 1.51 giving
lde
of It/
(see Table 1 ) compared to the *alue
obtained by the normal-Op0; At
mode analysis.

0.2

As a check, the correlation coe-

between 9.x
Q,
fficient C~
w'an also calcula ted, and
and JN4 -tAi
The max-.
maximised with reopect to A, .
mass correlation coefficient
1)'.
(see
Tabld
case
0'039
was in this

2.7

a.,

2as

3.0

3.1

2.t

3.3

The corresponding decaying perturbation was also tested. The rate of


-0 c.
-0
decay was found to be

wcs
Theycorrelation. coefficient C(
only slightly lees than for the 1 creasing soda,
Figure 14 shows a close-up of the
wave profile of Figure 13 during the final stag3 of overturning, as seen in a
frame of reference moving with the speedC.

Close-up of the overturning


Figure 14.
crest corre.pn"41ng to Figure 13
in a reference frame moyO-)
- Cl.m
The time between
Ing with speed C 5 .
successive profiles Is 1/50 of the
wave period.

Comparison of calculated rates

T~able 1.

Time-stepping with integral equation

Normnal-mode calculation

0'10

0.0
0'0

0.25

0'2

0.8

of growth of perturbationa.

1/2
3/2

'2072
'2153

15.17
11.41

.0000
.0000

90
90

1/2

'2098
.2406

14'57
J3.o6

'0003
'0000

90
90

(1/2, 1/2)*
(1/2, 3/2)_

'2150
'2150

14.61
A4.61

'0132
-'0132

90
90

(1/2, 3/2)+
(1/2, 3/2)

-1931
.1931

16.27
16.27

*0234

90

-0234

1/2

'1804
'1309

37.41
24.00

'0000
'0000

17.07

'0000

g0

o064

120

*.3/2

(3/2

0.40

1/2

'184o

o041

(1/2, 3/2)'

0000

*Ooci
-'0001

.996

*0001
'C1

-988

~T

'985

'0138
-'0,125

.800

-'0175

'993
'875

-'0009
-'0040

* 990

o99
.254

90
90
120

-999
- 996

1T

',T

0.5

*a
-85

o.o65

.96

-o65

Figure 15 shows the development of the


the
n= V2.
After one half-cycle
perturbation returns closely to its
original value, with a change of sign
but without appreciable magnification
The magnification of
(see Table 1).
is
thin value of .IR
the mode n37at

the
reIua-mode
A cruci al tetuf
ot
othmoemode
analysi
wa crried
.S.
Accat the besi c amplitude o.01
ording to Figures 9 and 10, the mode at
this amplitude should have become neutrally stable, that is, the rate of
At c...t# 0.3?
cowth should be zero.
there are actually two branches, vhich
for convenience way be designated nV

(th upe rnhJnt%-/~

Figure
~

also small.

oe)

tenurl

oeA
_

11a
_

Onth
ef t hetmestpedwveprfle

; __eopeto

n txrih

is
thetrainelre vrial yafcu 0

34

growu very rapidly, at about 10 times the


rate of the fastest-growing subbaxuonic
instability.

Finally Figure 16 shows the grewing


m~de at 0_~ a 0,41 . Thet original perturbation is clearly very local, being
it
concentrated at the wave crests,

Figure 16.

Development of the unstable mode I'-

"~~.)t 0a?- I.

*the right is
On the left is the time-stopped wave profile;z
the0 perturbation enlarged vertically by a factor 5.

344

References

Figure 17 shows a close-up of the


fluid overturnig. It is so similar to
Figure 14 that we may conclude that in
both cases the dynamics of the final
overturning are governed by the local
flow, and are virtually independent of
the rest of the wave.

()

Van Dorn, W.G. Laboratory investigation of wave breaking. Part II:


Deep water waves.
Scripps Institution of Oceanography, AOEL Report 71 (1975).

()

Schwartz, L.W. Computer extension


and analytic continuation of
Stokes's expansion for gravity
waves.

()

Longuet-Higgins, M.S. Integral


properties of periodic gravity

5*4

J. Fluia Mech. 62 (1974) 553-578.

waves of finite amplitude.


157-.74
Pr*c R
L4)

5.t
0.9

1.0

1.1

1.2

Longuet-Higgins M.S. and Fenton,


J.D. On the mass, momentum,
energy and circulation of a solitary wave.
II.

Po

,_

o.1

1.3

Ro

. on.

. 340 (1974)

1;71-493.

.4

()

Cokelet, E.D. Steep gravity waves


in water of arbitrary uniform
depth.
SOC. A. 286
.
T
h
(1977) 183-230.

(6)

Longuet-HLiggins,

Close-up of the overturning


Figure 17
crest corresponding to Figure 16
0,A)) in a frame moving with
(0o--.
speed
C o is
.
The
between
profiles
1/50 time
of the
wave successive
period.

(1975)
Soo, Lod. A. 342

M.S.

The instab-

ilities of gravity weves on


deep
water. I Superharnonics.
Lond A. in press,
Proc. H .Soc

VI,

Waves after breaking

(1978).

The present caluclation take no


account of surface tension, air currents,
shearing in the upper layers of the
water, or of finite depth, when this is
appropriate.
In principle at least, all
these effects might possibly be included in the numerical method. However,
after the tip of the jet has met the
forward face of the wave, an altogether
new type of analysis is required, in
order to model the entraineent of air
and the turbulent diffusion of' momentum
and vorticity. Whitecaps which ore in
a quasi-steady state, corresponding to
"spilling" breakers, appear to offer
the simplest situation for analysis. A

(2)

Longuet-Higgins, M.S. The instabilities of gravity waves on deep


water. II Subbarmonics.
Proc
c Lnd. A. in press,

(Q)

Longuet-Higgins, M.S. Some new


relations between Stokes's ooefficients in the th iy of gravity
waves.
J I
Ma
lc., in press,
8

(2)

Longuet-Higgins, M.S. and Fox,


M.J.H. Theory of the almosthighest wave. The inner solution.

(1978).

LZ11Ld Mech. 80 (1977) 721-74.

model which represents the whitecap as


a fluid of lower density riding on the
forward face of a steep, steady wave,
has been sugpsted by the authors and
J.S. Turner (1). Whils correctly predicting the conditions necessary for
whitecap formation, this simple model
modificawill undoubtedly require some

(0) Longuet-Higgins,

M.S. and Fox,


M.J.H. Theory of the almosthighest wave. II. Matching and
analytic extension.
J.l.,
in press, (1978).

(f)

tion to take account of the repeated


injection of fluid by overturning at the
crest, and the continuous loss of buoysncy by air bubbles rising through the
surface.

345

Sasaki, K. and Murakani, T. Irrotational, progressive surface


gravity waves near the limiting
height.
.Oeano.. So.
Japan, 2
(1973)

(12)

Breaking
Longuet-Higgins. M.S.
waves.
Proc. D.C.A.M.M. Symposium, Lyngby,
Copenhagen, March 1973.

(1a)

Longuet-Higgins, M.S. and Cokelet,


E.D. The deformation of steep
surface waves on water. I. A
numerical method of computation.
Proc. R. Soc. Lond A. 350 (1976)

(j4) Cokelet, E.D. Numerical experiments on the deformation of steep


water wxves,
Proc. I.M.A. Conf. on Mathematics
in Oceanography, University of
Bristol, June 1977.
UJ)

Longuet-Higgirs, M.S. and Cokelet,


E.D. The deformation of steep
surface waves on deep water. II.
Development of normal instabilities.
In preparation, Sept. 1977.

Sho(j6) Fenton, J.D. and Mills, D.A.


aling waves and tsunamis: Numeriintegexact
of
an
cal solutions
ral equatign.
Proc. IUTAM Symposium on Waves on
water of variable depth, Canberra,
July 1976.
(,L) Benjamin, T.B. Instability of periodic wavetrains in nonlinear
dispersive systems.
Proc. R. Soc. Lond. A. 299 (1967)
59-67.

) Longust-Higgins, H.S. and Turner,


J.S. An entraining plume model
of a spilling breaker.
J. Fluid Mech. 63 (1974) 1-20.

346

NUMERICAL SOLUTIONS OF TRANSIENT NONLINEAR FREE-SURFACE


MOTION OUTSIDE OR INSIDE MOVING BODIES
Odd M.Faitinsen
Division of Ship Hydrodynamics
Norwegan Institute of Technology
rodholm, Norway

Abstract

A numerical method is derived for


study of two-d~mension-l nonlinear
transient problems of a body oscillating
in a free surface. At each timestep the
velocity potential is represented by a
distribution of sources and dipoles over
the wetted body surface and the free
surface. Properties of fluid particles
on the free surface are used to step the
solution forward in time. A formula to
calculate the exact force on the body is
presented. A solution to a linear translent problem is derived. The solution
agrees well with the nonlinear transient
solution. The sloshing pL~blem is briefly discussed,

Y0
a
(
A3
F

1. Introduction
Nonlinear free surface problems are
of importance in many ocean engineering
contexts. An example is sloshing of
fluid in a ship tank. Other examples
are the influence of steep surface waves
on marine structures and the slow drift
oscillations of a moored structure or a
low-waterplane area large-volume structure in irregular waves. Linear theory
is commonly used in predicting waveinduced motions and loads on a ship. But
nonlinear effects cannot be ignored in
extreme weather conditions or for
extreme shipforms (for example ships
with large bowflare).

Nomenclature
(x,y)
O(x,y,t)
t
r(x,t)
g
to(t)

)rdinates, (see figure 1)


velocity potential
time variable
free surface elevation
acceleration of gravity
forced vertical velocity of the
cylinder
n
unit normal vector to the surface (positive into the fluid)
n3
y-component of A
S
wetted body surface (mean
wetted surface in linear theory)
S.
vertical control surfaces at
x - SF
free surface
SB
horizontal control surface far
down in the fluid
b(t)
is so defined that when IxI>b(t)
the flow can be approximated by
a dipole at the centre of the
body
volume enclosed by S, SF, S.
and SB
A
defined by equation (9)
(tj,nj) coordinates of endpoints of the
segments (see figure 1)
(i Yi) coordinates of midpoints of the
segments (see figure 1)
p
mass density of the fluid
A33
added mass coefficient in heave
533
damping coefficient in heave
0

Fourier transform of velocity


potential
Fourier transform of forced
vertical velocity
radius of circular cylinder
small quantity defined by
equation (40)
amplitude of forced heave motion
Hydrodynamic vertical. force on
cylinder minus linear restoring
force (- pg2ay 0 (t))

Nonlinear fy:ee surface problems are


difficult to solve. The mathematical
difficulty of the problem arises essentially from the ne-d to satisfy the
condition of constant pressure at a free
surface which not only is unknown, but
whose form is highly time dependent.
Finite element methods and finite difference methods have been applied with
good results to some nonlinear fren surface problems. Bt in this paper we
apply a Green's functioin L.-idary -integral-equation technique which is thought
to require less computer storage and
computer time than finite difference and
finite element methods. This kind of
method has gained good reputation in
predicting two dimensional added mass
and damping coefficients (Frank (1)) ind
linear wave-induced motions and loads on
large offshore structures (Faltinsen and
Michelsen (2)). Ogilvie (3) suggested

Fourier transform variable

using the boundary-Integral-equation tech-

circular frequency of forced


oscillation

nique to solve a nonlinear tree surtace


problem arising in wave resistance
34?

4UWlaM$5s5a}jI

analysis. A similar technique was


applied by Longuet-Higgens and Cokelet
(4) to study the deformation of ste.p
surface waves. Faltinsen (5) applied
and modified Ogilvie's ideas to study
sloshing of fluid in a rectangular
tank forced to oscillate harmonically
in sway mode.

through the center of gravity' of the


cylinder. The y-axis is symmetry line
for the cross-section. The x-axis is in
the undisturbed water plane.
We assume the fluid to be incom-pressible and the flow irrotational so
that there exists a velocity potential
*that satisfies the Laplace equation

In this paper the boundary-integralequation technique is applied to a nonlinear two dimensional free surface problem with a body oscillating harmonically
with forced vertical velocity in the free
surface. The amplitude of oscillation
is finite. We neglect viscosity and
assume incompressible fluid and irrotational flow. The exact nonlinear free
surface conditions are satisfied. The
problem is solved as an initial-value
problem. When the problem has been
solved for one time-instant, the free
surface conditions are used to find the
free surface position and the velocity
potential on the free surface for the
next time-instant. At each time instant
the velocity potential is represented by
a distribution of sources and dipoles
over the wetted body surface and the
free surface. Unknowns at each timestep
are the velocity potential on the wetted
body surface and thQ normal derivative
of the velocity potential on the free
surface. Those are found by solving an
integral equation. The numerical calculations are significantly reduced by
representing the flow far away from the
body by a dipole with singularity in the
centre of th body.

(i)

Oy-

in the fluid domain. The pressure is


set equal to a constant atmospheric
pressure on the fr~e surface. Neglecting
surface tension, we can write the dynamic free surface condition as

g9 +

(y 2t
(
- 0

)+

on y =

(x,t)

(2)

Here g is the acceleration of gravity,


y (xt), the free surface shape, and
1
-3
the time variable.
The kinematic free surface condition
can be written as
-

- 0

on y - t(x,t)

(3)

We wet the initialvalue condition


0 - 0

A formula to calculate the exact


force on the body is presented. In the
formula it is onJly .ecessary to know the
velocity potential on the positions of
the free surface and the wetted body
surface.
In order toteorain
gain some
in
thInorer
so lconfidence
e
dficin,
the nonlinear theoretical predictions,
the corresponding linear transient problem is solved. The solution was found
by Fourier transform technique. The
nonlinear theory agrees well with the
linear theory for small amplitud*s of
oscillation.

on the free surface C-0

(4)

For a linear system this implies


-(x,0,0)

(5)

Other possible.
initialvalue
conditions
would have
been
We write
the velocity
of
the cylinder as k (t)3, where I is the
unit vector along 0 the positive y-axis,
conditio onithe w-tted
teor
The boundary condition on the wetted
body surface can be written as

-n- 10 (t )

The solution to the interior problem,


i.e, the sloshing problem is only diacussed briefly in this pape, since it
will be published eetel3 (Faitinen
(5)).

0tn3
M

(6)

where A is unit normal vector to the


body and 3/an is the derivative along
this normal vector, We assume A to be
positive into the fluid.

2. Theoretical Formulation

3. Solution Procedure

Consider an infinitely long horizontel rigid cylinder of arbitrary crosssection that is forced vertically in a
free surface. Let the water be infinite
in e"tort and be of infinite depth.
Initially the water is calm. The origin
of the coordinat system is in the plane
of the undisturbed water surface. The
y-axis is positive upwards and goes

By applying Green's second identity


to the velocity potential # and

logVI- TTT-F-j-TY
we can write
:

Pn -

Pn)ds
n

34.

1:1

x-

7)

where
Further we can write

S'rS + S + SB + SF + S1
Here S is the wetted body surface, S.
=
vertical control surface at x s urface far down
vB horizontal control
in the fluid S there surface adw
ialc ylindrical surface of smalwith
Srurh
(xj,yl)
radius r I and with axis through
which is a point in the fluid domain.
The contribution from SB and S are both
zero.zr.Note that for the steady7 statefresfa.
case the contribution fren S. is not
zero,
We can now write
l'Yl
xy l!x
a{ (Xy)

=f

1 ) 2+

(13)

(-x 1 ,y)

The problem will be solved by a time


step integration procedure. For each
timestep equatirn (8) will be solved
along the free
/an as te unknown
as te unknown along the
suriace,
wetted body bourdary and with (x ,y
on the body surface and tW
as
surface.
freepoints
In th numerical evaluation of
equation (8) the free surface SF and the
wetted body surface S are divided into a
num'ber of segments, and 0 and a$/an are
set constant over each segment. An
example of the subdivision of one part
of the surface is shown in Figure 1
where the x - y - coordinates of the
endpoint" and midpoints of the segments

SF+S
-log/(x-x

J(x 1,yl) =

(Y-y-) .(XY )ds(x,y)

are denoted by (j, r>j)and (xj yj),

(8)
The contribution from the free surface integral can be rewritten. For
Ixl>b(t) where b(t) is a large number
dependent on time, we can write
9
-FA
(x, y).

(9)

r+ y

FOORE I
OF D=
EXA.EOF SUOn
SRFAE ANO FREE SURAE

where A is at present unknown.


We can write

(.)
? )o .-.
{,x~)
2

f{@(x2 y)T._.j-y)lo_'(x.x 1 )
b
.J,!,Llog/x7x)
_
anbx,y)

'+(y-y l ) )dxl

-A
bdxEIxly

re
r spectively.

In fia. 1 only segments


on a small portion of the free surface
are shown. In general, it is necessary
to have segments over a much larger part
of the free surface. But by using (10)(13) it is unnecessary to cover the complete free surface. Dup to the symmetry
of the problem, the segeants for x > 0
about the j-sxis to reprecan be rei'lected
sent the body and the free surface for
x < 0.
Using the subdivision in figure 1 as
an example together with the symmetry

y=0

I)

(10)
In a similar wcontribution from
to -b in equati

4e can write the


Integration from
ka) as

properties of the fluid motion we can


rewrite the integral equation resulting
from equation (81 as a linear algebraic
equation with *(xj~yj) (j-1,8) and
(j-9,22) as the unkn,,wn. i.e.

J(xj,Yl)b1
I - 7 log/(x-x.)+y!1 dx
'-n(xj,yj)
x

(11)

It is possible to show analytically that

I-

1n

-Xl+:

x1
-A(

'n

+A ,

+A

,12an
'+..1

1,9an (K99*

2____

+ X 1 7 +Y 1
-qnlyl)arctg(b-x

'j))

(x

Y(,y
22'
-

(12)

349

B1

' +

A22,1O(XY)
A22

22

22

n(V2 2 ,Y 2 2 )-S

22

(14)

Here
i=1,22
Aijj 1:8

either over segment no j A or the segwhich is th imagl of Aj about


ment A
the y-axis. The expression for

2wK+

+(~ -)I d

I o"*l'R

Dny)

[IojjT,)r

a
-nxy

x1)j(j18
follows directly from the body boundary
condition.

']j_)
ds (x,y)

A
-j
A
A ijJ

The exDressions for the velocity


potential * on the free surface and the
free surface position are obtained by
the following timestepping procedure.
Looking on a fluid particle on the free
we can write (see equation (2))

,i,22)=
-9,22

Idsurface

ff
A.

Dt

-J [log/(x-i)

i+j.
where K=J when i=j ard K=O when
Furthet F is zero except when j=22. hen
(

'i+
F=- x 2:
2*2" ' ( tY

'i

Further, from equation (3),

)/A

=.

,i(6

Further

and
-(x
j Iln

j'

y j )C

DxF

jD--

22
+ E Ox ,y)C_.
j=9

f [log/(x'Ri) +(' i)T]ds(x'Y)


A)

(y
)iq((x-7Rl
V j- Ids(x'Y)

i*,22.

2rK -

./(-

" xnxy{ l

(17)

In the numerical calculation procedure the free surface particles will not
always correspond to midpoints on the
free surface elements. When the fluid
characteristic is known at the midpoints,
the fluid characteristic at the fluid
particles will be determined by interpolation, and vice verse when the fluid
characteristic of the fluid particles
are known. The time stepping procedure
is performed by the Runge-Kutta method.
It is possible that a less tile-consuming method could also have been used
with satisfactory results.
4. Force Calculation

(j-9:22)

Knowing the velocity potential at


the free surface and the coordinates
of particles on the free surface at
some (17)
time provide
instants,
equations
(16)
and
means
to find (15),
the
change with time of these variables.

CiJiji-l,22
l,8

f
A

where x is the x-coordinate of the


fluid prticle.

(1-1,22)

where

C i1

(16)
ay

Dt

(15)

ay

+(y-7)'] ds(x,y)+F

.I

After the fluid motion h%s been


determined, 'he Bernoulli equation may
be used to obtain the force on the bodyl
however, we will follow another procedure, which will be derived below.
Salvesen (6) has used m similar proce-

. -

dert, but.one importsnt torn i

missing in

his expromemop.

Analytical expressions for the int"grals Pbove can be derived (se


Faltinsen (5)). The integration is

The hydrotnduced force f on the body


350

iI

can be written
F - -Ifpi'dS + ffpgyidS

(18)

2S

where the total pressure p (excluding


atmospheric pressure) is

ThVO1l
2

p-P1 -pgyl=-2at -

Pg

Again Gauss' theorem can be used to show


that

(19)

-LtVdS - hIffVjV#pjdT
- fi
S+S+San
V

S+6+Sf

Applying Gauss' theorem we can write


-j'plndS- S

fIlVfI2dS
f

pfIf{V- + kVIV{'}dT
at
V

We can now write


-ffpndS-pa If OndS+ffpgy.dS
S
S+SF
SF

SF
SF
SF
+fpyd
+ffp'dS
t8 +kjV 11} dS
P iI_
S.s5t

n
S
.D
+pff(V

(20)

IVI'A)dS

Hence, the hydrodynamic force is


where V is the volume enciosed by S,S
S and SB . Since p = 0 on S the secgnd
Integral on the right hand alde is equal
to zero. We can write;

ddfffV~dT
V

d
P =p;-- If OAdS+ If pgyndS
--S+SF
S+SF

- fffV.- T

-;J1
V44dS
S+SF
an

n + Oilt
IVJ';)dS
(24)
S
The second term in (24) was not included
in the formula derived by Salvesen (6).

(21)

Substituting (21) into (20) gives


"ffPl idS1
S
n

d fffV~dT
"PE
V

-If
V.-tdS

S+SF

In a transient problem we can neglect the contribution from S.. The


hydroinduced force during the transient
phase can therefor be written as
0
't

(22)

n-

fffVj0VtjdT
V

dd If OndS

cases the bcundary condition '0 - 0 is


used on the undisturbed free surface.
Equation (25) can then be written
3- (A3(-)i0(t)

(23)

-If Rd
S

+ ffpgyndS
S

We can write
-IfplndS

(26)

where A3 3 (-) is the infinite frequency


added mass coefficient in heave as a
function of submergence. The last term
is the hydrostatic pressure force as a
function of submergence.

-pd If 4adS-p If VjaSd


S +SF
6 ats+s

fffVjV.I'd1

(25)

zoeor tocalculate hydrodynamic


splash
forces on bowflare sections. In those

Applying Gauss' theorem we can write


datfffVOdT

dS+ff pgydq
S+SF

A special case of this formula is


used in wave impact problems, for
instance to calculate the wave induced
loads on horizontal truss members in the

ffPgyndS
SF

a +SIV, 1)AdS

If
--S+SF

$1fpgyndS
SF

5. Linear Theury
In order to gain some confidence in
the nonlinear theoretical prediction, a

361

This implies

solution to the corresponding linear


transient problem has been derived.
Ursell (7) and Maskell and Ursell (8)
have studied transient free motion of a
two dimensional body in aTree surface,
while we are interested in the transient
f.or motion.

wave componentm.

The formulation of the linear problem


is very similar to the formulation of
the nonlinear problem given in Chapter
2. We assume no motion when t < 0. The
velocity potential 0 satisfies the
Laplace equation (1). The linearized
free surface condition can be written as

The solution to the 0-problem may


now be obtained. The solution is by no
means trivial, but is routine calculation in strip theory calculation of ship
motion, (see for instance Ursell (9)
Frank (1)).

outside
- 0 cn y - 0 the
body

=t.gfy

3dS

0
0

It is the force that we want to


determine here. The Fourier transform
of the force, can be written as

(27)

(
F3

eiWtf (t)dt

(36)

3
0
--iwpfO(x,y;w)n 3dS-pfO(x,y,0)n 3dS
S
S

When w > 0 we can write

(28)

0(

3(

Note that the dynamic effect due to


change in hydrostatic force is neglected.
This can be written as -pgBy 0 (t) where B
is beam at the water line.

33

33

(37)

-PfO(x'y,0)n3dS

where A 3 (w) and B (w) are added mass


and damplng coeffiients in heave,
respectively. When w < 0 we note that

We take the Fourier transform with


respect to tine of the equations. The
Fourier transform of the velocity potential and the velocity can be written as
(x,yJw)=fe it*(x,y;t)dt

(35)

The body boundary condition is given by


(6) but evaluated on the mean body surface position. The initial value conditions are given by (4) and (5). We
want to find the forcecomponent
f3 (t)- -fpn 3 dS -p;an
S
S

accordinq as w > 0

2.

AL4,

0 ;
ar

F 3 (-w) -

(38)

_F31w

where the bar denotes complex conjugate.

(29)

0
iw
Y0 (w)-ieWt90 (t)dt
0
where i is the complex unit.

When F (w) is obtained, f (t) can in


principle ge obtained by Fourier inversion.
Special Case

(30)

a circular cross-section
The integration is only from 0 to -Consider
with axis in mean free surface. The
because the variables are zero for t
radiueisa. The forced velocity i
The inversion formula is of the form
wrtte

O(xy,t). -10
I

t(x,yiw)dw

(31)

To circumvent mathematical difficulties we write

By using the initialvalue conditions


(4) and (5) and similar conditions when
t * - we can write the following
equations
- 0

(39)

O(t) - cost

io(t)
where

(32)

e-'tcoellt

(40)

is a small quantity which

later will approach zero.


g.
- o,

We can write

(see (30))

30
-0 on y

n, on mean position
of the body

(33)1

1 -}Since n(0) - I and O(x,OO)


we can Orite

(34)

To define the #-problem completely an


additional condition in necessary. But
from equation (31) we nott that * can be
written as a sum of an infinite number

-Pf#(x'yO)n3ds-A33

52

(41)
xP

(42)

This implies that

-2si (residue at

Thf

.(-A

B 3 3 (w)W +A 3 3 ()

(0)-

33

1_-- }

P3 (w)- - w .

0 C

for the contribution fro, :he --- r


circular arc vanishes.
e. chom
une
contour of integration a-)ng zie -ay
arg(w) - -arctg(k).

(43)

when w > 0.

We can now write

Using (38) we can write the force on


the body as
f (t)
3
+1

1
7
0

f e 'F_
f (t-2Re(T C
3()dw

Mei

iwt

+ (Qsin Q)tA 3 3l-ob.


,)

(4
(44)

z_.

anc

The last two terms rei sent the


steady-state solution, i., --! solution
transient
when t - -. To calculate
term we need to evaluate
F 3iw)= - - 2
(1A3
(47)
wTid_ +A3

i
B3 3 (i
A3 3 (w)Lp 2 I
4g -2) when w
= -2(
31rWFa

(Q)

where a has been set equal


Re means the real r-rt.

The integrals in (44) converge.


According to Ursell (9)

(45)

"

inuation of
Here A1 is the analytic c
A 334+-iB along the ray ary )= -arctg()
w 33
A can be calculated in th' way presentd by Maskell(10). A computer program
based on his procedure has beern ,repared. Numerical results for A are
shown in figure 3.

This implies F (w) - O(w ) when w *


which ensures hat the integrals converge. Un the other hand they are
cumbersome to calculate due to slow
convergence and singularities close to
the real axis. To circumvent this
+
problem we introduce a path C in the
complex plane (see figure 2). The
contour of +integration is deformed into
a contour C

w)o

which goes from 0 to

Im

(ww)

3
/

p+a

pfa

/
FIGURE 2
DEFORMATION OF THE CONI'OLR
OF INTEGRATION

'

which lies entirely in the fourth


quadrant, which pasees below the pole
w - 0-io, and which also satisfies the..
b
condition that no other rol lies botaxis and C . The gap at"
+
the real
:*on
b,btweenC end the real w-axis Is
closed at - by a large circular arc.
Then by

Cauchy's

',

L20

ALONG THE ARRAY

3I

' -1
-mm mm m m =mm~m
__

--

FiGURE I
CALCULATION OF F'OC

theorem

...

C)EFFICIENT

_', 1-051)

used on the total wetted cylinder surface. In the case of

The asymptotic solution when w


is

0.5, 0.8, 1.0


g
the same length was used initially on
surface elements on the free surQ

A I (W 1q)

P,

UnKayiay 3 2 n2..the

- yf

(lK-w,

~-r 2

Here Ka

and y

n2+.

face.

}(48)

=0,57725385.

Number of free surface elements

were 60 totall,.
b . 7,73 whet'

wi)

1 - lffa(ln
Ka It

This implies that


1. In the case of

When

Lie*tasotter

P9 2 0 A,.

A1
TT

N,~oir

05Transient

part of force
(Lineartransient theory)
FORCED
HEAVE
MOTIONA, sin fit

(9

P-

in

The transient torm a- bc easily calculat.ed when A1 is obtained. There are


no singularities of the integrand close
to C+ and the integrand dec&ys exponentially for large arguments alon~g the

20

30.

&a

r.t

FIUR
HYDODUYNAMIC
FORCE
ONCRCUAR
CYLINDER
LItNEAR
RESTORNGFORCE)
(EXTWOED

inteqrationpath.

1.5, 40 equal sut-face elements


werl used. The results are presented
as hydrodynamic vertical force F on the

6. Nmercal
esutQ/
Results by the nonlinear and the
linear transient solution methods are
presented in figures 4 to 7. The

ngu

-to0

theory
Transient part of force
tLinrio trarlz.rit
ter)A,

-5Noniear

theory A.
t0eo1

HEAVEMOTION
FORCED

11"

FOURE
A

(Lnoor tranrsient theory)


FORCEDHEAVEMOTION
sin nt
.0

Tn'

HYDRODYNAMIC
FORCE
ON4

HDOYAIFOCONCIRCULAR CYLINDIER
(XLDDLINEAR
RESTORING
FORCE)

00ICLRCYLINDER
1EXCLLJOED
LINEARRESTORING

forced oscillation frequencies are


D/ !! or0.5, 0.8, 1.0 and 1.5, respec-

cylinder nondimensionalized by pg2 1 aA3


as a function of nt. in the hydrA-

tively. The results are for a circular


croos-section of radius a& with axis in

dyetoig fore isexcluded


the nnr
ratrn
foc1 method
ga 0egress
t.
Tenn
linear solution
well with
the linear slt ion method. We rt
tha the transienrt rn~i uf theti,'e I"
t-a~ie except
appreciable for small
when n/
1.5. But the transient-

ill)

Aatf.o

theory
Lieartvaesmet
Nonlinarthory.i. 01

force part dies rapidly out and steadytraporth eory)


tI.twa tarretttrvl state oscillation is iiaarly tc.ch*4

-05Wo~oer

within the first oscillati1,

FOCEO HEAVE
.~.

tO 20

10

MOTION A, srnrit
,The

nt

HYDRODYNAMIC
FORCE
ONfCOCjAAR
CYLINDER
IE5CUN3E
LWEAR
WF5TMM FOCE
the mean free surface. The forced heave
motion is A3 sinflt weethe nonlina
results are for A where oF.rutoor
fortee
0f1
elmet
surac
-~Afeqailength
weereached

344

peoriod.

numerical results by the nonlinear method will depeaml ox, the ririrser
and the length of the #un race srol-n
The length of the elements must r't
exam"~ a certain fraction of the wave
The number of surface eileront-i
lengths.
will be a function of *Ime, j. to be
more precise, b is a functi''n of timer.
imatance, the solution p'nocedr'
becomes invalid when a surface wave ham
b. In reality the solution pro-

cedure becomes invalid even before that

One should note that


) aJ
at - (-b_102
a
defines the time the energy in an Airy
wave of circular frequency 0 takes to
rat
.(l)
;
rpgt
seems to be lover thane i

time.' This h.s been studied to some


The initial

extent by varying b.
langth of the iree surfacetelements are
kee equal toN a.
Result for
A
Q/
I.AU and 0.5 are presented in
figures 8 and 9. The amplitude ratio
a
is 0.1. Based on these results

nonlinearity has been studied by


for given a/ 1. Results for

FORCC
10T104:
HEVE
A.mmThe

A,)

1.0vaE~i

TQb

773

a.
1. and a--0.1, 0.2 and 0.25
*....,
3'f.I
Results for
are presented in figure 11.

b.3D

3 2

'

-A

5I

FOURE

aFORCED

-05

-IsEXCLUDJED
.0.5

b-3,24

o3

0.3,

M. and 0.6 are presented in

*.figure 12, Number of free surface elements are 40. Their initial lengtha are
0.3a. To my knowledge there exist
neither analytical methods nor modeltest
31)

2,0

HEAVE

MTM: Asinnt

HYDRODYNAMIC
FORCEON
CCLAAR CYLINDER
LINEARRESTORINIG

FORCED
HEAVE
MOTIONA
sint
b-773
b-&49

REULTTS

F L
AORCES)

:.,9

5 A

bQ

results to compare with in the transient

FIGUR~E
2phase.

~M.

Lec

SELUECE
b
04

THERESUL.TS

For steady-stpte conditions .


(11) has prs..ented nonlinear anaP*

figure 10 haw been prepared.

It shows
a.~

1)325'a

when.

9tt

.&LR is defined as the Ata

"'

FIOLPE
12
IYDRODYNAUIPOF ONCIC~IAR CYLINDER
E.KCt"DELWEAR
RESTORINO
FOt6S)

J..w,.

n If

ID

n~.05

0$

D~.'INAE
,D~i~MN1CI

OF b
04 b

't_
- fails foL gitven b.
Thr
ilaJ'eys .-, somseambiguity Ivolved in daemnn
0)ALR'fluonce

wsien

FORCED HEAVE
MOTION
A~sinnt

the "nIuti.

lytical results for forced vertical


oscillation of a cylinder in a free ourface.
He assumes small amplitude of
ouicilletion., What small amplitude of
oscillation eans is a question of
experience, but it is quottionable if
0.4 and 0.6 can be denoted small
alplitude of oscillation. C.N.Le
solves the problem by perturbation
technique to second order in forced
oacillaticn amplitude. His results inforced oscillations In addition to a
timeindependent vertical force. C.N.Le~u
results do not show a significant inof nonlinosrity. This is logi-

_____

cilly inherent In assuming the linear


first order harmonic term to be dominating. Our results indicate a more
significant influence of nonlinearity.
This is especially true when A /a =
0.6.
1zhough the possibility Af numerical exrors exist, the results for
A3 /a - 0.6 can to some extent be rationally explained. The initial phase of
small Ot-values correspond to high
suddenly exposed forced vertical velocity and resulting high fluid accelerations. As in wave impact problems a
good approximation to the vertical
hydrodynamic force (excluding the hydrostatic force) would be
F-

d (A33
(tW
Ft- 3 3 ( )Y0

(50)

where A (") is the infinite frequency


added mAs in heave as a function of
submergence measured relative to initial
calm free surface. Equation (50) has
been compared with the results by the
complete nonlinear transient method. The
results are presented in figure 13 and
agrees quite well up to nt , 0.5 where
the result by the complete nonlinear
theory starts t. decline. This decline

to
A =Damping
'
ao
Aglmatd o
lets noninear.nethn

65s .,
.e

fit

FIOUE 13
HYDRODYNAMIC FORCE ON CIRCULAR CYLINOER
IEXCLULED LINEARRESTORING
FORCES)
canr t be easily explained, but it
should be noted that the results for
smaller amplitude ratios have a similar
behaviour,

nonlinearity in the free surface condition is much more significant than the
nonlinearity in the body boundary condition.
b) The velocity potential is represented as a distribution of sources over
the body surface and the free surface.
In the exterior problem both sources and
dipoles were used. In principle both
approaches are right.
c) In the sloshing problem the free
surface position and the velocity potential on the free surface are obtained by
following "points" on the free surface
with constant horizontal coordinate. In
the exterior problem we are following
fluid particles.
d) In the sloshing problem it is
necessary to introduce an artificial
damping term of the Rayligh viscosity
type in the nonlinear free surface condition, i.e. we add a term 4 to the
left hand side of the dynamic free surface condition (2). The damping is
small, but essential because there is no
damping in a potential flow inside a
tank. By examining the analytical solution of the linear transient sloshing
problem, we will note that transient
terms will not die out if damping Is not
present.
In reality (i.e. modelteats) a
steady-state oscillation is clearly seen.
is therefore introduced and represents a substitute for viscous losses
primarily in the boundary laer close to
the tank wall.
e) In the sloshing problem it is
necessar to solve the problem over a
substantial number of oscillation periads to achieve steady-state oscillation.
In the exterior problem steady-state
oscillations will nearly be achieved
within the first oscillation period.
An example of the calculations is
bhown in figure 14 for a rectangular
tank that is forced to oscillate harmonically in sway. The tank breadth is

7, Interior Problem
The interior problem, i.e. the
sloshing problem, has also been studied.
No details will be given here since a

separate paper has been devoted to this


subject (kaltinsen (6)). In the sloehing problem we are studying forced
harlsonic away-oscillation of a rectangular tank. But the method is thought to
be applicable for the case of forced irregular oscillation of a combination of
modes and to a wide closs ot tanks with
two-dimensionsl flow. In general the
approach is the same as in the exterior
problem presented above.
differences.
These sre:

There are

a) The body boundary condition is


linearled.

In many cases

this is no

limitation.

In resonance condition the

FREE SURFACE ELEVATION

AT x.-0,5
T. 2 %.5%
03J
02,
01
0
Q2(
-03'
GA1

NON-LINEAR NUMERICAL METHOO


L5N4AR ANALYTICAL SOLUTION

F3URE 14

ri and the mean water depth is 0

std

prbstnle

Engui, I
4e.r.'Og, -

n
ntion

no

7.

qutpeer

Th al.o

,'usria
An

*nonthea

ntns
e andh
Urse

il

hip Resefrh,
Tt'ui

tmarked

ti.

nmOdrStay
trahitiui

Ra

iiu
eet. S t

th74

os1

V,

. a felui "'Ia
Math.n 2, 1 'it
10.

io

of.

inae rBwen the free surface

.
,h

74.irfc
iv
:Med
Apree
b-94u.
,Ii

Maskel 1,
CtUt
I.
1. Thne
fre Fli e.
v 6loti
1
1,
t
Ph.. 303-'ta
1
oi Uivrriyo

9. Lre, .N. '


of
ao hean
"[
i~

12,
fluid
pp

0-i',.
'ec'tdi

qua't i'.'68.

np iniptre

in.

ainesd"
ni

ev[ils

Ith
ppli,21esJ,!9')
sloshing protion Butrbemsn
are
ante-'
cait
when
rm
thefre
suraced
oma andakel
thle ysrfacsen
a
nomaleto thew interDse
sectiintetwe
t free urfe and
hec
bod surfacxenaet cbertoallyexs

.foranked
oscll

g MhiResearich,

j"ss 'on adr Steady2io


D't on ee surc
lwaer' A navesca

'it
hi

hasben ofv ised


tn.hw

"i

olna

netanr
ihF
nr'u
o be pub-

'

Staystt:on ditsions acn


ri'acirle
reachdawth-inte frest sq lation
oii
p e.
ha
plhed
p oit st rue
noin ti
sl ahingprbfmahce ant
tifslsin
*pobl
e rm hina t be intoduced t'
ahiev slteoa- seocllawttine 'henlinear transient methodf osl amp
tuo omeexenicnlelational
ex-hwsths
planin
efuts efoe puroc pdn , fute
withdynumariclntdiites
ar
wisel
frced wihnefrtoscillation

1ee

''

poluiondagrecessr
welth tmahtno-.

-sof
osilos.l
t

wate onteDnmicas
A,
niutleiand Stroctures in
,;-26it Co9 eg,
onon

toa
'

reoud naritegralseqation oft-hnie


hs beeniaie
to satuhe
fo
riir
potaint
roblem of
bodiestse
i0)arv
ieda n
free
h surface
tohe
ss
aThi

Froje Number", Inter-

iea
-tho

Teation hethn
wi
thel ast~
a fncton*
i
o tudy. The foineeail nuef thca et ios
ise copare withak ine eare inure
terstedtin thc gross-motindertedaa
Thin ito conetro th ratheria fwreut
poisn idis
ofeagntude. Th
n0)nar
lneer souton
free sufae
s
tyalo
on
theaf buihaoion. th sth istantce foi
denc ufalee
sutta
to the
ubr
ofuse

dutheteo
o

.o'-'

ean turface latuel toteroug


lc
s~
smle
hnthe
distmt-n.
Anc
atfic i
surface ovf
of the creitia
m n

Theoneio necesar te r-ah


tostdyetie osilldeaiso th

and nichelsen, F.C.

i.sen,

F,

Ms.

ilainperiod is 1.2 s which

,J.o
o.,Uieriyo
acetr

1ylinper

oln

Frakuid'scillation
Wayhinnd.C.
o

Report No. 2375, 1967.

36

lTeoryo

afree

NUMERICAL SIMULATION OF SHIP MOTION BY EULERIAN


HYDRODYNAMIC TECHNIQUES*
G.1. Bourianoff and B. R. Penumll
Austin Research Associates, Inc.
Austin, Texas

This work was sponsored by the Office of Maritime Technology of the U.S. Maritime Administration.

Abstract

boundary location.

A sabstential fraction of

the code is devoted to accomplishing this task


A ship motion simulation technique is de-

accurately.

scribed which utilizes Eulerian hydrodynamic


techniques to solve for the free surface flow
field in the vicinity of the ship.

The main features of the existing code arei

The ship

(1) norlinear treatment of ship-wave inter-

constitutes one of the boundaries on the flow

action;

field.

(3) calculating ship motion in irregular or

The ship motion is calculated by saum-

(2) arbitrary two dimensional geometry;

sing the hydrodynamic forces and couple on the

regular wavest and (4) arbitrary mooring forces

ship and solving Newton's equation.

on the ship.

This

technique has been applied to modeling the


motion of a moored ship in rendom beam seas

The code has been validated against model

in two dimensions and three degrees of freedom,

results for a spring moored vessel exposed to

The computed results agree very well with the

irregular beam seas.

model test results,

very well with the measured quantities.

I.

Introduction

The computed sway agrees

The computer code as currently implemented


runs approximately four times slower than real

The operation of large ships in shallow

time on a CID

6600 computer system.

coastal waters has created a need for predictive methods to analyze the

fluid flow fields

Chapter II discusses the Mathentical Formu-

and ship motion encountered in this environment

lation of the problem.

Existing techniques do not in general handle

the numerical techniques which we have

this problem very well.

The goometry encoun-

employed.

tared is complicated enough that analytic

Chapter

Ill presents

Chapter IV presents the simulation

results while Chapter V gives conclusions.

methods can solve only very simplified models.


Existing numericl techniques generally soles

11.

mathematical Formulalion

the problem in the frequency domain using


linearised boundary conditions and simplified
bottom geometries.
Particle

The equations satisfied by the fluid in the

The Inertial Marker

absence of thw ship are the incompressible

(IMPi method described here is an

viscoj1 flow equations shown in equations


(2.01

essentially new approach to the problem ut prodicting

and

(2.2).

ship motion.

0(.1

div V
The method involves solving thu ruler hydrodynamic equation coupled with the rigid b dy
equation of motion for the ship.

where

fluid

treated an a reactive

boundary which in free to move

-V

at

The ship con-

ltlrutee one of the boundaries ot the


flow region and is

3V

in response

fluid velucity v(ctor.

to

forces exerted on it and obeys the appropriate


equations of motion.
The boundaries will not in general coincide
with the grid lines and it in necessary
interpolate

to

the relevant conditioas to the

artificial sinas4tic viscosity.


vector d'ferentiei operator.

V -

d.1

rhJs

is copled with the equations of ship

motion which are

3M*

dVsI1.

Solution Techniques

(2.3)

Pdn + megJ

dt =f

px (p

(2.4)

where

ms - mass of the ship


S
V
s

velocity of the center of mass of the


ship

n
o
o - surface area in the direction of V
v
s
= moment of inertia about an axis per-cacltos
n~
dclrtto the
tepaeo
pendicular
plane of
i

The solution method to be presented utilizes


the salient features of modified SUWUAC[11
method with respect to the computation of flow
field and free surface and the ABNAC[2) method
with respect to the treatment of curved wall
and moving boundaries.
The computation is performed over a finite difference mesh encompassing the region of interest. For fluid dynamic
calculations it is customary to use a set of
staggered meshes one for each of the primitive
variables (velocities and pressure). The
staggered mesh scheme is the result of considarable experimentation (31 and appears to be
the most successful
scheme for fluid dynamic
tlowalsaildrv-

calculations.

It allows all spatial deriva-

tives to be approximated by centered finite


differences. A typical cell from a mesh is
shown in Figure 3-1 alonq with the points of
P

vector from metacenter to the marker

Saicell
II=angular velocity about the axis of In
n
The motion of the particles is subject to
the fact that the particles are constrained to
lie on the aurZace of a rigid body. If (x, y)
marks the position of a representative inertial
marker particle, then
x
-X
+V
new
old
Xs

t -il p 6t
e y

definition of the field variables. Pressure


ps defined at the center of cell and the
velocities
are defined at the centers
of the
faces. A typical cell (i,j)extends from
s
to (i+l)ix, and y = ily to
x- iixxto(+16,ady-j
o
(j+ l1)y.
v(i,j)
(J+l)6y

(2.5)
u(i-l,j)

'

u(ij)

p(i,j)
y
new

' YoId
ld

6t + f

6t

(2.6)

yj

j6y'

where
i6x
P

p
P y

V ,V
i
la

(i+l)6i

are the components of the vector


from the metacenter to the IMP under
consideration.
are the components of the trenslational velocity of the body.
is the rotational velocity of the
body.

e kreferenced

The kinematical boundary condition at the

ship-fluid interface is that the fluid velocity

Figure 3-1. Typical Mesh Cell with Points of


Definition of Field Variables

Overall calculation for oe time step may be


divided into three phases all of which are
to the Rulerian grid just described.
PHASE It Since we are dealing with arbi-

equal th~e body velocity.

trary curved wall and free surface boundaries,

On a etationary curved wi rigid boundary,


the requirement is thst normal fluid velocity
equal zero. Further all rigid boundaries are
eesmed free sip.
The appropriate boundary

the actual boundary seldum exactly coincides


with mesh cells.
As a result, we need to
approximate the true boundary by a boundary of
mash cells. The first step is to find the
intersections of the true boundary with the

condition on a free surface is that it cannot


support any stress.

mash cells.
Now the true boundary consists of
a number of segments whose union is the total
boundary and has te
intersection, each
associated with a mash cell.
The second step

3Mt

of Phase I is to compute the fluid volume of


the cell bounded by the boundary segment.
If
this volume is greater than a set fraction
(25% normally) of the cell volume (Ox 6y), the
cell is flagged a boundary cell.

V * V 0. Cells with more than one closed face


have more complicated procedures.
The required
velocities exterior to the boundary are set
equal to the adjacent velocities inside the
fluid. The boundary conditions at rigid
stationary and reactive boundaries are implicitly implemented through the pressure iteration.

For the stationary part of the boundary this


calculation need be done only once at the
beginning of the simulation, but for moving
boundary the procedure needs to be repeated
every time step. At this stage the boundary

In the free surface boundary cells the pressure is calculated by a linear interpolation
from the pressure in the fluid cells immediately belm it.

is composed of a number of contiguous segments


each associated with a boundary mesh cell and
characterized by a normal pointing into the
fluid, positioned at the midpoint of the segment and whose magnitude equals the area of the
segment. The logic of the code is built
around flags aasociated with each cell. A
flagging scheme is adopted in which a four

p
iJ-l

to the center of cell (i,]-1) and


grid size.

6y

is the

Outflow boundary conditions are the most


interesting and difficult to implement.
Roach. Is)presents a good survey of different
types of outflow conditions. The most stable
outflow condition is to specify the outflow
velocities apriori. Unfortunately, the kind
of outflow conditions we are interested in are
the so-called 'continuative- outflow conditions,
where the requirement is to permit the fluid
to flow out of the mesh with a minimum of upstream influence. Outflow boundary conditions
are particularly important in wave propagation
problems. A good outflow boundary allows or to
use a much smaller mesh than otherwise needed
because it eliminates the possibility of
reflected waves affecting the calculaticon.
The
prescription we implemented involves setting
the velocity gradients near the outflow boundary to zuro. However, inside the pressure
iteration they are free to change with the
changes in pressures. This eems to work well,
as evidenced by the results presented later.

PHASE II, Consists of setting appropriate


boundary conditions, advancing the velocities
in time and iterating on velocities and pressuras until a flow field is obtained which
satisfies the incompressibility condition,
Viecelli [2) reported a method in which arbk
trary free slip rigid wall boundaries (either
stationary or moving) are treated as if they
were free surfaces with a pressure dietribution applied exterior to the fluid in such a
way that the free surface position coincides
with the wall boundary. The technique involves
an iteration method in which velocities and
pressures are adjusted simultaneously a
opposed to the standard iterative solution of
Poisson equation followed by the computation
of now velocitia as used in the SW 14)
method. It can be shown, however, that the two
techniques are equivalent,

LInflow boundaries are implemented by specifying velocities as a function of depth. The


theoretical velocity distributions of a right
running linear gravity wave in water of finite
depth are given by McCormick [61.

y Conditions
u.

velocitJea on and exterior to the boundary


cells are neceseary in differencing the
mmentum equations as well as to detrmline the
interpolated boundary velocities,
The veloci-

Sk sh
kh)
4k
W
coah (kh)

!
ask

ties on the boundry are set to make the call


divergence sro. This means for a cell that
has only xie closed face, we calculate all the
other velocitis in the usual manner an oemputs the one on the closed face by setting

.1

(I-)
a

p ahere
L the required tor specified) free
surface pressure (normally zero) and a - 6y/6,
where 6 is the distance from the free siirface

digit cell flag is assigned to each and every


cell of the computational mesh. The most
significant digit indicates whether the cell is
empty, full, boundary, or intersection. If the
cell is a boundary type, the next significant
digit indicates the type of boundary (rigid,
stationary, reactive, free surface, outflow,
and infljw). The two least significant diqits
indicate the orientation of the cell in relation to the neighboring cells,

"opa
i,j

. kh
i

h (kehw

where
*k
-

U0

wave number

o
k
t
os (kx-t)
n
i

a
g

A wave corresponding to Eq. (3.2)can be


readily generated by the same procedures described for the generation of regular waves.

wave amplitude
gravitational constant
=wave frequency
-dpth
d
coordinate

Difference Equations and Pressure Iteration

h - depth of water
x - coordinate in direction of propagation
t- time

The specific finite difference equations


used to advance the velocities in time are presented in Appendix A. Time derivatives are
approximated explicitly, and for space derivatives a factor is built into the equations
which controls the amount of donor cell fluxing. A time dependent solution for the problem
is obtained by advancing the flow field variables through a succession of time steps. The
velocities are advanced using the previous
state of the flow to calculate accelerations
caused by convection, pressure gradients,
viscous stresses, body forces, etc. by an
explicit calculation. However, this explicit
time advancement does not necessarily yield a
velocity field with zero divergence. Therefore, the pressure field is adjusted such that
e.h eLl ii,the comr~ltftional yzd has zero
divergence. Since a pressure change in one
cell affects velocities in neighboring cells
as well, this pressure adjustment is done
iteratively until all cells have simultaneously
achieved a zero divergence. The following
algorithm is employed for pressure iteration.
Let 6p denote the pressure correction at ith

In order to specify the velocities at the


boundary, x was set to iero and the velocities were calculated as a function of time and
depth. The initial condition from which we
start has the free surface and velocity field
set to zero. We start generating inflow
velocities, thereby creating a wave. It takes
several time steps for the wave to reach its
steady state amplitude. The waves propagate
?cross the mesh at a phase velocity determined
by the k of the wave and which agrees well
with the theoretical phase velocity,
Irregular waves corresponding to a given
wave spectrum are assumed to be a superposition
of regular waves with different magnituJas and
random phase mix.
Pierson-Moskowitz (7) spectrum for fully
developed seas s

w )
e-(S/

((3.1)(A/w)

iteration for a typical cell (i,1), i.e.


n l

- p(ij)" where superscript,


p(i,j)
denotes iteration number, then for

S(w) - spectal density of wave heights,


2
ft sec,

6p
n,

172.8 h' 7
r

Full Cells:

"

691 T '

circular frequency, rad/sec.


mean of the 1/3 highest peak to
trough values, ft.

where

average period, ses.

Irregular waves with any specified spectrum can

the cell divergence

(o/8t

be modeled by the following equationi

*n

x(t)

cos (mat C t )
0
n

- a relaxatlon factor between 0.5 and


1.0.

(3.2)

n-0

Boundary Cells,

-here
x

free surface height with reference to


the still water

6p

S0

the ai;terpolated velocity vector at


the

illivint of the se'ient

associated

with the boundary cell.

a random number uniformly distributed


between 0 and 25.

H - a reasonably large number such that


(ft covers the frequency of interest.

the boundary velocity vector of

the

midpoint.

381

3e

i
!

ui-li,j) -

(6t/!Sx)6p

vii,j-li * v(i,j-l) -

(dt/6x)lp

u(i-l,j

the unit normal at the midpoint,

pointing into the fluid


dot product
symbol for vector
6

a mesh parameter,

For rigid stationary boundaries Veb is set


identically to zero and for the reactive boundaries
= Vb +
R, where Vb is the
trinslational velocity and % is the rotational velocity of the boundary and R is the
vector from the ceater of rotation to the midpoint,
V
is obtained by a bivariate interpolation oPfthe velocity components which are
defined on mesh lines to the midpoint of the
segment. It is similar to the MAC 131area
weighting procedure used to compute particle
velocities,
Intersection cells are the cells that conlain both a free surface boundary and soue
other type of boundary. Several alternate
treatments are possible for suh cells. After
a considerable experimentation, we found that
ad)usting pressures based on the free surface
part of the boundary works best. This may not
always exactly satisfy the rigid boundary condition for that part of the rigid boundary
associated with the intersection cell. However, from our experience we found that the
discrepancies caused by this are minimal,
Since the free suface segment in the intersection (ell can lie anywhere in the cell,
there is a question as to what surface height
need be used to interpolate the pressure. Ali
extrapolated surface rigit at tin(vnter of the
c(lfltnin which the intersection .ell lies was
utilized because the pressure tinterpolation is
in terms of cell preisuree which are defined it
the center of cells. Seversl extrapolltion
schemes were tried and the most simple linear
extrap lation iseoms to work best. The failure
of high order extraeolation ts attributable to
tire fact that these formulas force A depoendeincy
over a larger domain and as a result tihe bright
at the interelti )ii
-1i
sanntt reat finely to
tho local flow fistd.
Once a
(i,J)

For bouidary cells only the velocities on open


faces are adjusted and the velocities on closed
faces are determined by setting the cell divergence to zero.
one complete iteration consists of adjusting
pressures (and thereby velocities) in all the
cells by sweeping the mesh in an orderly
fashion. It is to be noted that pressure in
each cell gets updated once during an iteration,
whereas the velocities get updated twice. The
iteration is terminated when the ratio of the
norm of the pressure changes to the norm of
pressures, drops below a small positive number
t. Usually sufficient accuracy is obtained
with an t of the order of 10 l. Iteration
normally converges in about 4 to 6 iterations,
provided the flow variations are not too rapid
from time step to next and c is not chosen
excessively small.
PHASE III: Having obtained a consistent
flow field, it is necessary to u| te the free
surface and reactive boundaries in preparation
for next time step.
In the early MAC methods a line of particles
marked the free surface position.
hen these
particles are moved each time step by computing
the velocies of these particles. This is a
Lagrangian procedure and tends to be unstable
after a large number of time steps.
Chan and
Street (i) reported, that the round off errors
-ere patticularly serious in problems involving
waves. To overcome this difficulty an alteenative Eulerian approach has t -1)developed for
two dimensional problems by Chan and Street Ill
Later the method ass applied to 3-D problems by
Nichols and Hirt (Hi.
In this approach the
fluid surface is represented by a single valued
function and is initially defined by the surface height als)'e the bottom of mesh.
Ths
surttaco ('ight is defined at the center of each
colum of cells. The change in surface sievetion is derecmied by the local fluid velocity
and) is governed by the following squation.

the proeures and VOcitiOs are

as follo ,

This equation is

imi,,i
nii,ii

pii.3)

6Op

u(l,)) * itt/dx)ip
,viij

# it/6yi6p

3h
s.-

ulated

esplI
iji

ah

Ah
t

Ap has ben detemined for a cell

it

solved by a space centerud

diffe-encing method to obtain the free

outface position at now tide. This particular


diffseiQ
psioiroximation
is unstable because of
1t niative diffusion truncation error, am a
ac-:11ita otai'lilaing viscous like term of the
ore,

35

I a h

h)

a.2

a vector in thp y-direction whose tag-

itude is

I.,/

ras b en added to the surface height equation.

Mg'

the vector from center of rotation to

is a small positive nmber and is chosen to


be greater than u6t/2. Where
u is the

center of mass

maximUm velocity

sysiol Zor vector cross product

in

the

flow field.

Due to tl.

nature of the difference approxiiatson, a surface height is required in the colm


-diately outside the fluid region.
obtained by setting

3h/in -

In order to deternie

Th

pi

by interpolation, it

is sometimes necessary to know the pressures

O.

Reactive Boundaries

in exterior empty cells

for which a pressure is

normally not compute.4.

Therefore, before

attempting

to detzrmine

pi,

pre3sures are

extrapolated to the cell centers of imediately


These are the boundaries which can move in
response to the forces exerted on

exterior cells by a linear extrapolation pro-

them in a

cedure.

fashion dictated by the inertial characteristics of these boundaries. Let us assume that

Now the motion of the boundary is governed

the rea tivc boundary is characterized bo a set


of N carticles (called lnirtial Marker
arti-

by

cles [9)) located at the mid% ints of the


senments -soiatcd with the reactive boundarv

floating body are at rest and hence

cells.

diffeences are used to solve these equations


of motion. After all the inertial mar par-

(x,

yt} denote the pos it o.

arc zero at

of these

Vb

and

Explicit finite

and center of mass Are moved.

area of the corres}onding


note:

time zero.

tlles are moved, both the center of rotation

parttcles.
A

. i
x Ai. It is assured that
init-ii condition is that the fluid and the

dx:/it

the

se

rents,

This concludes the coeputition

t tal area of reactive

step.

boundary.

At the cor,:lusion of

for one t.ae

Phase III, we are

ready with a new configuration c*7 the comput.r-4ion to go into the


iwe step.

tional
Let

and

be

the mass and inertia ten.or

of the collecticn of these particles.


Cb

and

ti

il and rotational veloo;tes of the bo-in-

A flow chart of progra"


sented

Then, i

in

iqure

orga.

n is pre-

3-2.

are the instantaneous transla-

lary, the dynamics of the boundary

Nuisical Stability and Accuracy

Is governel

Considerations

by the following equations;


1.
5
--dt

It

ritetioni, which says, the distance

the flui. travels in one ti


step must be less
than one grid length is known as the Couract

ndition.

Tis restricto

the time in.re~nt

to
RI-6t

I dt

mn

I')

where
.
A

1 1.
is the vector foce acting at

the interpolated pzessure at


* the uit normal at

X,

the vector
(metacentee)

.the

I....

at

, win Oxs, is)

c - the, ma
from the center of
to the point

accl,rator

it is

pointi.tg away

Irtro flc d
-

free surfaces are present,

to i.sure that the diasae


urf~ce
ttavels during one time step be less than
.

x
p

Since

r:'tat ion

J.

ia,

nmerlical

,,

due to gravity

33

spec'

viscous diffusion
stability [.qut.rs

term

are presera.

au
ax

_u
:;ya

were transformed, using the incompressibility


condition to
a'u otuv

,,

.5.

The difference form of this expression can

simply be written such that flux out of one


side of cell exactly equals the flux into that
same side of the adjacent cell.

?Ie Fiel 1 3

IV.

Results

Several simulations have been carried out


UP",- Pre-.

ar

veloc1ui

for a chip moored between

four horizontal

springs and suabject to beam seas.


A,
me

Results are

compared with the model test results conducted


at Netherlands Ship Model Basin (101.
A sketd

of the model

rif

setup is

test

shvwn in

Figure 4-1.

a
nt
tr-e
ti
;-tt

Model Tet Setup

Figure 4-1.
3-2.

Figure
5.

Instabilities

Flow Chart

may arise if

sharp curvatures

in

As a general

mesh size.

In order to simulate this


situation in two
dimensions, it was observed that the length of

there are

the boundary relative to

the ship is

rule at least 3 to 5

las

com5 .ared to wavelengths

cells should be allowed to define a sharp curve

are asmsed negligible.

in

symmetry may be assumed

the boundary.

By the same token any con-

fined fluid flow regions should be covered by


3 to 5 cells.

In otherwords

floating bodies

6.

iis asreh
a&siuzS,

Et
e

on how well mass

and mmentum are conserved.

accuracy.

The

any further does iot

This value

except Ivy trial

11mmentum conservation is

also an

ot the

part of the mentu

Nh

and

With

improve

(xt,

of the vessel without

reference
be initial

yo)

of point

find this

be the forces
betefrsinx

where

to

in

x, y

of rotation about the

of the mooring system.


hydrodynamic forces.)

(n

the presence

superscript denoting

Figure

4-3,

(equilibriam)

let
position

the ropes are attached

on

the deck.

and error.
smpottant

aspect with oepect to th accuracy of calculain


tions.
In order to achieve this the teei
the tranaprt

Vx, F h
y
IFadN

mtaenter

,s very problem dependent

and we do not know any one method to


value a XEriori,

implicitly incorporated into the body

directions and moment

(i.e., how mall t) is. Practical experience


indicates that below a certain mall value,
t

body free-

The mooring

dynamics as follows.

degree of mass conservation is directly dependent on tow stringent the convargence criterion

cutting down

sway, heave and roll.

system is

regions must be

tailt
uwrca
6.khnone
IWten once nasser
ical stability

(volums)

third dimension

two dimensions with three degrees .f


dom vi.

at least three cells thick,

accuracy depends a lot

As a result, slab
in the

and the simulation may be setup (Fiqure 4-2) in

must be composed of at least thrue cells in


each direction and fluid flow

of

the exciting waves and hence the end effects

be the height o

be

the sprlng constant

rap"

equations

form

38

metacenter below deck


for mooring

(X,y
Cc

be the equilibrium position of

'z

metacenter

__________________________

9Ift

T-5.0
30 ft 6X-20 ft, 6y-6 ft, 6t=0.2 secs.
770 ft

T=15.0

no

n
n
(x,
yp
be the new position of point
p due to a translation of (Ox, Sy) of the
metacenter and a rotation of dO about the
metacenter,
n
P

T-19.0

then

x +6x
p
yo+
p

now define

sin d6

6y-j;

DX

I _.ncosd8)

and

DY

as

!n
DX

x-

6x -7sin

dy
6 - 7(1 - cos d8)

p
T-84.0

dO

(4.1)

(DX,DY)

the effective translation of point

p with respect to main coordinate


systsm.
Figure 4-2. Simulation Setup at Various
Times. (Wave is shown amplified by

By hypothesis,

a factor of 8)
6x-

Fr

,,

L~ldv

(xn

x)

6y_ (yn

Yc ,

(x , v

the new position of metacenter.

where
*[j
..
',

It can be seen that the net force due to mooring system, Fm


28
A DX + 3 2k DY. Where i,
are the unit vectors in x, y directions
respectively. An assumtion has bean made here
that the magnitudes of DX and DY are such
that all four mooring ropes are in the linear
operating range all the time.
Since we have two sets of springs (two
springs each) total force is

4kDX+
U

4kDY-

Kef f DX

iKaf f DY

re
Fiqure 4-3.

Schmatic of Mo-oring
Forces

Kef-

he effective spring .,onstant


for the
4k

to"I mooring system

4_

forces and moment in

Now the total

the combined

system cf ship and mooring ropes are


h

eff

h
y

D
DY
K
+ Keff

y
F-F

actually generated in the model test. This


point is to be born? in mind when comparing the
computer simulations to model test data.

DX

+ K

+ Keff DX (y cos de)

DY7sin dO
Ke ff

-K

.--

OysinO

(
-heoretLeai

tnepcted
s*
:AT. ft.
- 5.2

D.

n
if we use

Thus,

(Hd.I Tetj

n
M

noticeable discrepancies exist between the


simulation spectrum and the one that was

F,

n
F,

n
Mn

in

computing the

new body velocities, istead of


h\xFh,, F) and
Mh,

we are effectively incorporating the

mooring system into the problems


\

Two different irregular beam seas are used


in the simulations whose spectra are shown in
Figures 4-4 and 4-5.

c ,

h 6.6 fl., T - 9.0

0.0

0.4

Figure

IIo

0.I

4-5.

1.4

Wave Spectrum No.

The main particdiers of the ship and the


system are:

Smooring

Length to beam ratio


Beam to draft ratio

Block coefficient

5.3

- 3.65
0.75

- 0.997
Mid-ship section coefficient
Stiffness of each mooring spring - 5 tons/m

Neither the mass nor one of (length, beam or


report to
draft) was reported in the model test
uniquely determine all the ship's parameters.
Hence a typical beam length of 90 ft. was
assumed and all other parameters were determined in
0.7

0.

0.)

Figure 4-4.

0.9
-. ead/

).)

Wave Spectrum No.

produce.

A still

was used in all the simu-

lations.

It was pointed out in Chapter III that a


minimum amount of viscosity must be present
This
make the numerical calculation stable.
viscosity" mesa to attenuae the
"artificial
wavn

which

65 ft.

The simulation spectrum and the spectrum


indicated.
are both
model tcst
in the
generated
the
with
coincides
spectrum
simulation
The
spctrw

conformity with this Length.

water depth of

the model tests attempted to


it is to be noted that
However,

slightly as the wave propagates down

the

mesh.
Therefore, it ie necessary to generate a
slightly larger wave at the inflow boundary so

that we get the right magnitude wave near the


ship.
The initial condition for the simulation is

that the ship and the fluid are at rest. We


start the simulation by impressing appropriatevelocities at the inflow boundary, thereby
creating a wave.

Computed
- - Model Test
m
mean - 74.0 ft.

The generated waves propagate

across the mesh, interact with the ship and


smoothly flow out through the outflow boundary

1.2

(see Figure 4-2). It takes several wave


periods for the wave to get setup. Simulation

2u

results for the setup period were discarded in


the analysis of results presented.

,
-I

'

The computer code outputs time records of


sway, heave and roll. The second central
moment of the sway for two different sea
states is shown in Figures 4-6 and 4-7. The
test model data for the corresponding cases is
also shown in Figures 4-6 and 4-7. No data
were presented in the model test report to compare the motions in the other two degrees of
freedom viz,

heave and roll.


VALUE

In Reference [101, Verhagen gives a plausability argument that the standard deviation
of the sway amplitude is related to the
normalized eoctral density function by a
linear relationship as shown in Figure 4-8. He
conducted three model tests to confirm this
hypothesis as shown. We simulated this series
of model Lests and obtained the results shown
in Figure 4-8.

Nlp fe I-Ss_
Computfd

C-odliutand

est
- - Model
mean - 401.4

Our results showed some deviation from the


linear relationship at large wave amplitudes
(approximately 20 ft. waves). We suspect that
this is a nonlinar affect which would be born
out by the model tests if they were conducted
at large amplitude. Our re! ts also show- a

Sa

4.17
4

slightly different linear constant in the low


wave amplitude results. This may be attributed
to a scaling of the postulated linear relation-

a,

ship to the mass of the ship. The scaled ship


displis(ement was not specified in Reference
[1i. We can bracket the above results by
assuming different dieplacements and should be

able to reproduce the linear relationship mora


closely by assuming a slightly larger mass and
rerunning the three simulations.

Figure 4-6.

Comparison ol Wave and Ship

Notion Distributions, \uctrum 2

3.-n

FREE SURAC-AVE
Mean
a

COPuted
-._-Model Test

74.0 ft.
1.57 ft.

00
0>

/T,

ft' sec"

0i

sueary Comparison of

Figure 4-8.
O

I.

Test and Computer Results

.Model

Concuilons

V.
o

We have developed an Eulerian hydrodynamic


randOapproach to siamulating ship motions in
interseas. The method treats the ship wave
fashion. The
action in a completely nonlinear
co(! as presently formulated allows arbitrary
forces on
boundary shapes, arbitrary mooring
the ship and arbitrary random wave input
validated
spectra. The code results have been
against model test results and shown good
agreement. The method has the capability to be
extended to a very general three dimensional

VALUE

OK

'e'

Computed

predictive technique.

- - - Model Test

Ao FiniteDifference

njppenix

Mean - 405.4 ft.

l.2
11a ft.
The finite difference notation usad in this
paper i
n

0'

"
49t.

at center of cell (i,1) at


p -pressure
time level n

un

x-direction veloity at middle of


right side of Coll (iJ) At time
level n

y-direction vilocity at middle of top


side of cell (i,j) at time level n

representing
The difference approximation
for a
(2.1)
Eq.
quatiOn,
continuity
typical cell (i,j)
is

.
s

LEe

Figure 4-7. Comparison of Wave and


ship Notion Distributions

( n+l

(ul+
.'-

nj)
" "-.)

n+l
n~l
.
d.l"
"
, .i.

Th difference nquations opproximating the


maver-Stokes equations, Eq. (2.2) are,

3r

Ul

+ gx

,-

PUY + VISX

FUY

+V

and

n
v

nil

vii
i

-iV-FV

[i
L

,1il,j

Ps

vsj

..

u~

+,-

"

ru~

6YgM i'j+l
where the convective and vi-ous fluxes are
defined as

rx

Ui+l,j)

(uil,j +

{z-v+

+i'T( i+ 1

L[(

+
iv

4dyL[(V"
+ a vi,

+
i

,Jli,J

)
i,j+/l

2.

+u

+
+

i+l,'-I
'i

-1

)Walls,"
i,)

j +ui,

)(vij

ii

46x

James A. Viecelli,

"A Computing Method for


Incompressible Flows Bounded by Mooring
Journal of Computational Physics.,
Vol. 8, No. 1, August 1971.

Lo0 Alam., NOw Mexico, LA-3425,

+4.

Anthcny A. Amaden and Francis H. Harlow,

March 1966.

"The SMACMethods A Numerical Techniqua


for Calculating Incompressible Fluid Flows,'

_ul
j +i,J+

+vi+,,)

+ 'a +

11

3. i.
R. Welch, at al., "A Computing Technique
for Solving Viscous, Incompressible, Transient Fluid Flow Problems Involving Free
Surfaces," Los Alamos Scimntifi.c Laboratory,

' u'J
" 4
X

Robert L. Street, Robert X. C. Chan and


Jacob F. Fromm, "Two Methods for the Computation of the Motion of Long Water Waves--A
Review and Applications," 8th ONR Symposium
on Naval Hydrodynamics, Pasadena, Celifornia, 1970, pp. 147-187.

'ilj

References

oUI"] U1.
-Y

i' , +u i J- I)

and

.i4'ui ui1 )+lj + i1


(ui,j

"

+ i-l,)

vli "

uij

i+1,j)

Los Alamcs Scientific Laboratory, LA-4370,


1970.

Patrick J. Roach,, C~ o
WA!j cs, Hermosa

)5.

Publiohers,

nsl&;Jm
Flui
Albuquc.-que,

New Mexico, 1972.


+

Ui-.l,j

Ui-l,j+l

i'l,"

i,j)

46y

i.'

+7.
i

'

6. Michael X. McCormick, Ocean Engin.ring


Wave Mechnlca, John Wiley and Son#, 1973.
0. Xsimsnn,

and W.J. Pierson. Priils

Of Phgical OcOsnogrtphy, Prntice-Hall


v ylulishars, Rngle-,od Cliffs, N.J., 1966.

.......
..
.
..
..
...
...
.

8. D). Nichols and C.


W. hirt, "Calcu]at~ng
Three-Dimensional Free
Surface Flows in t.ie
Vicinity of Submerged
and Exposed Structures," Journal of
Computational Physics,
Vol. 12, No. 2, June
1973.
9.

G.

I. Bourianoff, "Numerical
Simulation of
Viscous Flows with
Reactive
Boundaries:
The Imp Method," Computationa
Methods in Nonlinear
Mechaiics, 1974,
Pp. 121-128.
Incompressible

10. J. H. G. Verhagen,

"The Drifting Force


on a
Floatig Body in Irregular
Waves,- Righth
Symposium on Naval
Hydrodynamics, ACR-179,
August 24-28, 1970.

370

A
?

COMPUTATION OF NEAR-BOW OR STERN FLOWS,


USING SERIES EXPANSION IN THE FROUDE NUMBER
J.-M. Vnfden Breeck and E.0. Tuck
Ap .led Metfremahc Depasiment

innivdeityoAisMe

Ar

Such evryehre-d-rent series can te


summured
by a number of stanuard methods. How-

Two-dimensi nal
past a semi-nfinite
slow
body with eonstant araft sH, is solved by
yepansion in a,fo l power
ries wth respect
bu parameter , related to he drft-baed
Fnrzl number F,-lc
.- This
re aeries
e
is
as-, vhere diverge,
but ca be suinuedby
st
p me.thods.
sard
Di,- ae
isrio
e
unique, .nd
one perofular , !!'iciest s-ation
procedure
yields R i-;contit ;ious : tw-e-free free
;:urfa"eIter.!tJ
-echniques are de-eloped

ever, there is necessarily a problem of lack


oi uniqueness about this sm.
Inderld.it is
fortunate that thr. should be the case, snce
the same series represents Luth bow and +ern
flows, which are expected to be quite different in character.
The maor task is then to
choose
summation procedure capable of enr(ting whichever of these possible solutions we
prefer.

to procapp rs
!
tsolution
s a starting
point, to a
ng-ouso
lsunion posessint
non-lnrter wve:,
hiih cAn rwi-tefore serve
asg a stern f
ult!: n-: presented for
the steepness shie eav j
enerted
a and
fucton or F,
i
.s cosflt-uous wve-free
solution appears to
ist,
nd nuorigil
eviden0e p ut ebt th prtnce of a re-entrant
jet in the corres Ioie,
'hw-fw
t
robbl eb

Although work is proceediny (Vanden Broeck


and Schartz, 197) on developmento
dins ,
techniques o echleve such a purpose, we ..
here an indiect techniqe.
First w u e
standard summation prcedure due to ihanks
(195'), which gives good convergence, but
sanard
nericate a physiolly unanceptblsolution, possessia
l
a discotinuou free
surface.
e

p. ln far ecto

Shorizontal.

Sexpansion

owdHoM-

Aebstract

In the present 1,

Apprarpriateptrrtninrtorh
tniss solutioe'e
then used as a "seed" font a direet numerical
attack on the problim, using a form o{" 11owton-

v, we study further

the problem eonsidereb


orstby Dan and
Tulin (1972)
of te
ilow past a semiinfinite two-dmeasit d flat-bottimed body
of draft
an,
in Dfw u and tul t
rmsin
al
problem the body te
a e with a vertical
facet
- we generlie Ais here to include
plane faces at
fr
a15
!frury angle y to the
.lower,
This gKimktr'y can serve an a

san iteration.
This prucedure hs in prinhiple
quite independent of the lw-Froude number
asymptotic series,
ca
hd be viewed as ap
stndard nuerical solution of tie inw.redifferentn[ equation to vhi!h the complete
problem ta b reduced, at arbitrrry Froude
nresher
convergence of the thr tioriv Is very sensitive to the c.ii.e or

model for ither near-bow or near-stern flew d


ae
barg-ite
vessel, depending on the
ignof the flow maanitude
at infinity.

sterin solution,
d sucesa
has bcen tihied only by use of the suitmd series he such
a av
starting solution.
The Iterations apper
to ccnvergc extremely well for stern prow, but
not for bow flow.

Daa an and Tulin found two terms in an


in powers of U'/gH
.
We are able
ts montilnue this serea,in principle indefn-

In the ase of stern flow the final oelwithin the accuracy o


vree
utlionappears to a
bod
convergensed of the Iterations with the wve
series, between the bo(d y and the discontinuity.

n good
t hasaern
in practice
but values
atelgil
numerl
for an t able
he he
ser
These ters are quite uniqueLy determined. and
reande

ndon

of the sign oa

Beyond the previous discontinulty, the final


Into a train of
solution chanes smofhin
wairesritInfinity.
Thiese waves becomec strongly
non-oinuac idel as the Froude number increases.
The prestnt non-lineftrcomputations provide
the first published solutono ror waven goner-

However, it is apparent that the magnitude


of the terms in Increasing at an r.arming rate.
Indeed. convincing numerical evidence is
available to show that the (n+i)xt term in

371j

Uairotica.iv

of orde

timesso&

steadily

ovng
..

st
i-in

wniaetd

.\

'

2. Mathematical Formulation
We assume a two-dimensional irrotationai
flow past a semi-infinite body, consisting of
a plane lower surface y* v -H, x* < 0, and a
-H + x* tan y which slopes at an
ftce y*
Figure 1 shows
angle y to the horizontal.
an idealized flow of this nature, which behaves
e
at infinity as a uniform stream U in the x
direction, witsL the free surface ultimately the
plane y* - O, x* , + . The fine detail of
the flow sketched in Figure 1 (e.g. the tagnation point of contact, and the absence of
waves) may not be representative of .he true
flow to be computed; indeed it is part of our
task to determine If these features are present.
Figure 1 shove a stern flow with U > 0; the
method is, however, equally applicable to bow
flows with U < 0.
.

YOu /s- P

Free Surface/
O.We

Ay"

.*-H,*- X

Y ,

At infinity in non-dimensional so-ordinates,


we have a unit free stream 0 - x and a freeif there is a stag-c.
surface level y
nation point on the free surface, it is necessarily at y - O, and y < 0 for all nonThe normalized
stagnant free-surface points.
flow is shown in Figure 2.
Y
H

4-1
C

X
Sketch of non-dimensional flow

Figure 2.

solve this problem in an inverse manner.


If 0 is the stream function, conju6ate to 4,
Xwe write
f
and

Figure 1. Sketch of dimensional flow


The mathematical problem is thus to determine a dimensional velocity potential 0*(x*,y*)
satisfying Laplace's equation in the field of
S*+ U x* at infinity, with vanishflow, with
ing normal derivative on both the body and free
surface, and with uniform pressure on the free
Iy
surface, i.e,2
+21,

,-

'

(2.1)

Without loss of generality, we can choose the


zero level for the potential 4', such that
00 - 0 at the point of contact between the
body and the free surface.
We now nomalise with respect to a length
scale
L - K/U,

(2.2)

where -K !s the -alue of the velocity


potential 40 a. the corner point x* - 0,
yO- -H.
Thus we define non-dimensional
quantities
(2.3)
x (- i + 2 -ot 3)/L

and

- **IK

(2.5)

us

(2.6)

In terms of un-starred variables, the freesurface condition (2,1) becomes

*
a(

) v y - 0.

=4+

14.8

a +.9)
* i,

of 7,
and solve for z as an analytic unc
in 0 C 0.
The free surface and the -iy are
= 0, on Which
portions of the streamline
(2.7) becomes

AVC

(2.7)

> 0. (2.10)

+ y') + C - 0

y(x

'he boundary condition on the body crn be


written
. 0, 0 < -i
<.in Y).

(cns "y,

O0 -1 <

0 0. (2.11)

tion for a given value of the puvooeter


A ..
can be written
(2.12)
n(f) z(f;C) = x(0,4,r) +

cy(*,0;e).

Note that i ' dependent variables :iso depeni


implicitly on the angle y of the body. The
inverse problem in the f-plane i, Ilnutrat,,i
in Figure 1.
NR

C
Flat Bo
4ta

loping

ody

i,ree L'urface

_...L

*-

Figure 3.

Flow ii (,4)

plane

i,iortIn this inverse formulation, i:


ant to note that the normalisation ch,,& has
forced the body's corner point to lit It $--i,
4s.0,
Our solution will then determine thw
o 'hip poin.tnu
y-coordinate y(-l,0 l)

hence implicitly the normalized draft


the body.
Thas (2.4) implies
_ =x,(4,,o;c)

S-

H/L

y"-l,O;C) - C

of

LI

sF 1

number

Fm
g

= (-

N - y(-l,O;)/2c)

as a function of the parameter

For

(2.23)
(2.23)

dp

(2.15)

(2.10) we obtain a non-linear singular integrodifferential equation for the unknow quantity
Y(Oo;C). , > 0.

(2.16)

- < 43

(2.16

Z'(f) . (frl)

'
0

Upon substitution of the formula (2.23) for


x
into the free-surface bound'-y condition

, y > 11/3

and at the corner point

1i'
-

(21M)
.

Once this equation is solved on # > 0,


the solution caa be continued to the remainder
of the f-plane using (2.20).
In particular,
for -1 < 4 < 0 the integral on the right of
(2.23) (which is no longer of Cauchy princip&lvalue character when 4 - 0), provides a

The function z(f) is analytic in * 4 0


except at the stagnation point f - 0, where
(c f. Dagan and Tulin, 1972)
z'(f) .

!2.13)

from which we find the draft-based Froude


F

4,> 0,

i.e. using (2.19) with

representation for the quantity (cos Y)z,#(#,,;C)


+ (sin y)ye(O,O;c).
In combination with the
boundary condition (2.11), this gives an
expression for Y., -1 < 4 < 0, namely

--1, where
'

(2.17)

71

solution
0, the problem has the exact
n'(f)

(2.18)

=(lI',

irJ\pl

corresponding to flow under a step, the free


surface beirg replaced by the rigid plane y-O.
Note that this is a good local approximation
near the stagnation point f - 0 only if
y > 7/3 but gives the wrong asymptotic behaviour
if Y < T1/3.

it.

x(f)

(2.2h)

This can be used to evaluate y(-l,O;c), and


herce the draft-based Froude number
via
(215).
;ertes in Froude Number

We now assume
the Integro-differentia
equation obtained bythat
combining (2.10), (2.23),

Consider now the function


S

12.9
Z'(f) - I ,

poasesses a formal power-series solution in


the parameter C, of the form

(2.19)

"

which vniushes at c - 0 and an


, and
removes the singularity at f - -1.
If
Y > 11/3,it also removes the singulsrity at
f - 0, but if Y - w/3, we have
- fe
This singularity is weaker than a simple pole,
so that in all cases, we can apply Cauchy's
theorem to x(f)
on a path consisting of the
complete streamline we
0 and a <ii-circle

y(OO;c)

y (+)E'

since X
we obtain

X(f)(( w.

-f

0 as,

On letting

--

I
.-o -o

(
(3.?)

where Y,(f) - s + iy, is the corresponding


coefficient in a power series for the complte
solution z(f;c).
The leading (n - 0) term
in
this solution
expansion(2.18),
is simply
number
i.e. the tero-.Froude-

(2.20)

(3.1)

5-

(f}

(3.3)

\TY

which is real on the free surface

(2.21)
.
O-AP

X(, - i0,-

*>0.

The boundary condition (2.11) on the body


< 0 is equivalent to the statement that the
imaginary port uf the functon X(f) vanishes
for real negitive f . Hence. on taking the
real part of (2.21), we have
itX#

- JLlitl

(2.22)

O,
o

Thus
Y.* 0

the Integral being of Cauchy principal-value


form.

and

x'(#)

Upon substitution of the series (3.2) into


the bounder condition (2.10) we find
y,
-(xl) , and obtain the recurrence relation

ys

,., where

-S

3?3

J.m' n

,,.

2,3,1,...

,;,.

(3.4
(3.)
(3.5)
.

Since equation (2.23) is a linear relationship


between yo and xe, it can be used to compute
each x., once the corresponding y. is known,
i.e. for n = 1,2,...
7/ApT1i"
w

"uninteresting" in the sense that the departure of the free surface from its limiting plane
is required to be quite small, and the inevitable loss of accuracy of the asymptotic expansion takes place before interesting displacements of the free surface (including waves)
have a chance to occur.

sy
1f\(w)
.
'fLl
dp (3.6)

In the present section we show how the

Some care has to be taken in the numerical


evaluation of the derivatives y,'() and the
integrals (3.6),since this is the only numerical limitation on the cumber of coefficients
which can be found.
in order to work with
integrals over a finite interval, we first
re-write the relations (3.5) and (3.6) with
the new independent variable

usefulness of the divergent expansion can be


improved by a simple appro:imate seriescompletion procedure.
We recognise that in practice the following approach is limited by very serious
computational difficulties.
However we
consider it so a useful preliminary motivation
for the exact nurerical scheme to be used in
Sections 6 and 7.

](3.7)

S=
obtaining
( )

)-

and

as

+(6

, "

a.
-s

Ti-")

,
_-,

J6

-'

-a

Let us consider the series (corresponding


to (3.
o
..
z'(O,;,
00.
In Vanden
Broeck, Schwartz and Tuck (1977), a generalisation to the case of complex coefficients of

/
/

the Domb-Sykes procedure (Domb, C. and Sykes,


M.F., 1957) was used to show that, for n

large.

(3.8)

The interval of discretization is specified


an E1
for example, for N equal intervals,
Ex 1/H. The functions y, (0). i > 2, are
evaluated at the points
8,= (k- (tki.2
The derivatives

__

(4.1)

for some complex-valued quantity t,(0). A


reasonable approximation to
,(o( can be
obtained from a finite number of terms,
directly from (4.1), or by extrapolation for

r .

are computed by cubic splines at the points 8k


and also at the midpoints
,hk.3,.
with the end conditions y, (0) - y, (1) 0,
[
2 .
The values
y, /a8 at the points
1, are used to compute the integrals (3,9).
upon application of Monacella's (1967) theorem,
Wrich states that the singularity in the niumrIr"al evYaluatIon of CaRuchyprincip al- value
k
integrals can be ignored, providing the quladra-_
ture is sametrical with respect to Silngo')ity.
In the Integration routine, a cubi, spline fit
wsuetorepresent the integrani, ndt this
'ubic was integrated esactly.

, --

0(k-l
O3

02
1, 135l

_..---02

(0

--0

----- * 6
05

0
0O

run
.a if duble precison
The progr
(.,9 figures) on a CDC 6400 computer, with
N'tOO, and wa
oun t to enable evaluatlon of
With .- figuir, auncy , laid
terati; up U,1 .
uptto yi 1
with h-fIgure accuracy.
4.

n It.1.~
I)

()
-

(3.9)

-02
-01

[livergesre and Non-Uniguenes

Evidenrie lias recently beem, givenl that the


Low-Froude-Tvsber approxlnsttn is problems of
tile prenehlt nature Is singular, and leads 'o
formal series In powers ,f the Froutie numbe.r
with -er( radios of evlsvergence (V
ir,
.--.k,
lchwarto
vd Turk, 197'). Frovidiig the
Froide number is muffIc lest|ly smail (and it
mus indeed b extremely small), tile seres
sewrtheless retains nigni ficatce a. allwaymptotic' expaiolln, with U-ccuracy of tie order of
innatillude of' the first neglecetr tenm.
diwever.
snoh very lhw-Froude-inumber results are

Figure 4.

Polar plot of

(*(.

In Figure 4 we present polar iflte oF the


function t(O) estimated fro (4.1) with
0 - Ii, for different vlues of y, The
points on each curve when moving clockwise
correspond to Increasing values of 4 .
All
these plots apiwsr to be close to a circle
throughithe origin.
This result can be shown
(see Appendix for details) to
374

lieequivalent to the approximation obtairned


by replacing the non-linear free surface by a
Thin
"locally linearised" linear condition.
locally-linearised solution also predicts the
form in which this circular plot is paralsetrized, namely
a~(~
(2

dx

(4.2

a result which appears to be confirmed by theDifrn


1 plo* whre 4
tombSyke
fo
On integrating (4.2) we have
D = real.

~sbe

J1

x'

)dt

(11.3)

Ihe approximation (I.1) seems to fail


close to the stagnation point 0 - 0, suggesting a different kind of behaviou, in this
We shall nee in Section 5 that this
region.
does not constitute a serious limitation to
the final numerical scheme.
S)Iution of (4.1) an a recurrence
yields
z(o) -C(0)(

e(I)(n + a)i

and Stegune,1964, p.22 ).


The
(Abramtowitz
usefulness of the original asymptotic expansion can therefore be increased by replacing
by its "converging
the infinite series in (4t.6)
factor",* i.e.

A0E)-

lt(E
.9)
fucosrelin
'(t
ca
obtained by specifying different cuts it,
l
t
eutn
tecmlxtpae
solutions differ by a term which is exponentitly smell In the limit as e - 0 and all
have therefore the same asymptotic expansion.
The main difficulty about the converging factor
is therefore one of non-uniqueness.
Is particular we canereplace WN(t) in
(4.9) by either of the following two fuctiones:
W (t)
+

(4.4)

..It.> 0,

relation

for some constant a , and some fuiction CWt


which can be evaluated by fitting the last few
Rlecallthat all quantities,
coefficients.
including C, C, and a li (L.4), nay depend
implicitly on the angle
.
Some preliminary'

"

Ft-

<i(-)
0',~
(4..10)

W,(IA -

or

W
W_(t)
N

t + 2lie(-sl'

'N11
1t , 0

(IA

zio

0.

N(.1

One may argo' thast other arbitrary terms (ali':


0)
e,onentially small in the limit an;c
have been Included in the definition of
the ecaiverging factor. We believe that this
is no'.the case in the present problem, And
that the only non-uniqueneas adpearing in
the preurt problem I.:asociated uith
.!
speoificaltion of the branch-cut location. The
os! convincing argurnent for this is ferhaps
Digle I L, 3 ,
Buhann
Follwin (176)ant
the numeri c"l achene prersented in Section 6:
asmuotchaa s19ie) androxigtel byh
we ollowing
we um heasyptticneiesaproxmaelybythe profil1e predicted by Shanks transformation
asasing that
turns6 out t o be1 correct for the ntern flow

0.
ug e tate wit
valhs to
howeerthi
vale hs t be reaed ithcould
caution, as an accurate evaluation of the
constant "a'
based on only 15 term in dirficult.
We will therefore devellp the followlog arguments without aniy assumption on the
constant
a .
cowevrtis

(b.5)

z'i

for all n ;P N + i, where N is a sufficiently


large integer.
Therefore we write
N

0.

(E'
Z.

. (7

.a)I

V~

(46)real
The Infinite series
Fi r (n

a)I

can be stiedi in the Borol rsens

ad
I

~;-r
~( J-~
s\

(4.7)
it-

ster.
lu-b)
e
u'

in define! litthe -voplex


Wt t
axis.
cat ta~nngthe ntegatiee-rcal
t-plan.!.
If a - 0, Wet(t) can be esp-rssed In termswaeatifny.rd
of Ins tisponenetial Integral function&tr

The function

Is- to the body.


Let nosecono ider ii t the hol ce (4.1))
6ince Wite)t)in defined in thre rumples t
plane, cut along the ttegative-real t.-usi, the
c!orreaponding fNqction in k4.9) is define,' in
the vomples t,-plase out along the noilitln,
r.-arils. But Figure 1;shows that this
branc-hcut io necessarily crossed at the valu0 - , for any Y.
iHence the oorrerelsnding
, anid
o
*
Fo.1uolinis discontinuous at
O1 the
thrrfore .ot pheysicailly heccrptabif.
other hand. since the functions We, And Wet
Are defined onta L-plane cut on the 1x~sitive
real t-axio, the oorresp:nding funectionsr li
0 .9) are defined li the complex t-PIan'
cut along the negative real
wtais
hichin
I
not ,roaned by the curses In Figure 4. Itnce
bo~thof these solutions are contintuous, s tA
can
i pretrd to hise a physica eaning.
Note that the t,Iutlcn 'orr-mpondling to Wei
has to eanes C infln't) and has therafrer
bus-fIct, chareacer, wheietave tie solutiont
L'urespntneit

a
and posesestrin
sr-ro
ie

coer
,%r

More precisely, substituting (4.3) and


(4.1O) into (4.9),ve get for
? *, In
I the
stern-flow case,
(0

_ )(
c'x-C(

jr)
.

x)"e'T W

ee -e,

along the real positive x-axis.


Other choices for the cut are in principle
The reason why the Shanks table
possible.
selects this particular cut can be established
It another cut were selected,
by contradiction.
the Shanks table applied to the expansion (5.1),
with x real and positive, would have to

wave on the non-unifor- stream defined by the


The amplitude of the
rigid-wall solution.
waves at infinity is given by:

(5.2)
/

along the real negative t-axis.


(Abramowitz
and Stegun 1964, p.228).
Thus the Shanks
table converges in the complex x-plane cut

'i,.(*)I,
do
(4.12)

-1

E(

where EI(t) is the exponential integral


function defined in the complex t-plane cut

- E-I)

The last term in (4.12) represents a linear

e 0 a-

converge to one of the two complex functions

(C.3)

and is exponentially small as E - 0.

1e4 Ei(

These results are simil-ir to those obtained


by Ogilvie (1968), by carrying out a local
solution
C - 0
linearisation about the
In Ogilvie's method the waver are
z f %o(f).
completely determined by the rigid-,asl solution

(5.3)

i.e. the first term of the low Froude number

(k)
On the other hand el
is rea and cannot
therefore converge to a complex rumber when
Therefore the only possible
x is real.
choice in to cut the complex x-plan, along the
A similar argument hf.
real positive uxis.

expansion.

been used before by Shanks (1955) in the cac

On the other hand, our method

of the function

indicates that the amplitude of Lhe waves


depends on quantities like C(o), a and D
which can only be evaluated by considering
many terms in the low Froude number expansion,
We expect our approt :h to he an improvement on
Ogilvie's theory, as the total information
about the fully non-linear problem is contained
However,
in high-order terms of the expansion.
our approach seems to present serious numerical
difficulties, partly because of the difficalty
a from a small
of evaluating the constant
Other oumerical difficulties
number of terms.
also arise associated with the above seriescompletion method, involving errors due to
In
subtraction of large nearly-equal numbers.
the following sections, a more practical
numerical method is derived, using a similar
philosophy but without the above limitations,
5.

This point can be Justified intuitively


In Section 4 we have chown that
as follows.
the most-divergent part of the series can te
complet-1 with the functions WN(t), Wtj(t) or
W (t) .
The solution corresponding to WN(t)
has a Stokes discontinuity at
# , whereas
the solution corresponding to V'(t)" poss,,ses
a train of linear waves for $ > 4, .
This
procedure could in principle be repeated an
..finite number of times.

Shanks Table Sumation

Transformations that accelerate the


convergence of slowly-convergent series, can
often also be used on divergent maymptotle
expansions.
for example Boxer (1965) proved
that Padi sequences are convergent for divertent expansions derived by confluence.
In
the present paper we make use of the Shanks
transforimtion
e,"
(Shanks 1955).
Although
this transformation is often more powerful
than the Pads sequences for suming divergent
expanaIons. it has not been studied extensively
and the reasons for its "magic" power remain
obscure.

For example, in the second step, we should


find a less-divergent expansIon by extracting
the nost-divergenc part from the original
expansion.
We should then complete this new
series w.th appropriate funct'ons
S(t;, l;(t)
or S(t).
The solutior correspcnding to
Sit)
would have a Stokeu discontinuity at
0
#a
*
ad S(t) would possess, for *
4
OA,
a train of non-linear corrections to the
linear waves found In the first step.
it
seems reaonable to "msumethat the domain in
which we superpose the non-linear corrcctlo,
coincides with the domain of the linear waves.
Therefore 0,,

Useful experience can be gained by considering first the simple divergeot expansion
x* ni

log(l+z).

Our method is now the following.


We
to the complete
apply the transformation e(a|
expansion for z'(0 .O;C).f > 0, obtained in
The above considerations, combind
Section 3.
with the arguments of Section I, suggest that
a Stokes discontinuity han to b- expected for
0 - t'

The Shanks table was foun, to converge


,a pidiy, id gives results will 4-flgure
ccuracy on amost all the rre,
lor moderately large values of
convergence wan even found near
point.vwbre the plots of Figure
informtion.

(5.1)

s~f
where a is a complex table.
When applied
to the series 15.1). the iterated Shanks
,
traLnaformsation
," conerges rapidly,
o longI
as 9
is not real and positive, to the function

Si'

surface, even
c .
A guni
the otsag.at on
4 do not give

I
where

35-

.0

2.0

T'~~~

FM0

Ja(4y~

3.0

0.

is a known function of
-0.1

"9

'g, e 0"65

FEquations

(2.10) and (6.3) define an


integro-differential -luation for the unknown
< -, to be solved
function y,,() , b
subject to the matching condition

-0-2

4 b+ y(P)
lim
-0.5-

(6.4)

ye(b).

After discretisation, the functions Y#(O),


, are represented resp<
y(x), x (), 1,<
eilvely by the vectors

free-surface
Figure 5. Discontinuous
profiles obtained by Shanks
method.

y' = (y',y.,y.
2

(y,y

Typical profiles for t = 0.65, y - r/2, and


0.40, y = 1/3 , are shown on Figure 5.
These profiles have,as expected,jump discontinuities corresponding to a value of 0
relatively close to the points 0 = 0, where
the circles in Figure 4 cross the real positive
r'-axis.

,y

y )

'..yN)

(6.6)

and
a

.x),

= (x,x ,x.

(6.5)

(6.T)

whose components are the values of the corresponding functions at the mesh points chosen.
The fist mesh point is at 0 - b and
i'.,where 0 , is a
the last one is at 0
large number.
The error inherent in approximating an infinite integral by a finite interval was found in most cases to be negligible,
at a distance less than a wavelength from the
last mesh point, for ., sufficiently large.
Using the trapezoidal rule and Monacella's
theorem to approximate the integrals, we get
relations of the form
N
F +
a
1,2.
+I
0

dy analogy with the properties of the


converging factor established in Sction 1,
we arsume hat the portion of the free surface
given by the Shanks table between the body and
the discontinuity is correct for the stern flow,
and that the portion of the free surface beyond
the discontinuity is correct for the bow fiow.
in the eae of the stern flowthis assumption
is confirmed by the numerical scheme of Section
6 and by the fact that the solution given by
the Shanks table between the body and the jump
satisfies the boundary condition (2.10). The
sit
Aon with respect to the bow flow is less
clear.

(6.8)
N
y.

,i

1,2.

N.

(6.i)

6. Stern Flow

,C,, ,F, are known constants.


Substituting in (2.10). we get a system of N
non-linear algebraic equations with N unknowns
(y..yN)that can be written in vector form
where the

In order to solve the fully non-linear


problem, L successful numerical scheme was
developed In the following way.
For a given
value )f E and Y w we seek a continuous
solution of the integro-differential equation
defined by (2.10) and (2.23). which matches
exactly the solution given by the Shanks table
between the body and the discontinuity.
We
slume, therefore, that

",;
- O.

g(

(6.to)

This system is solved iteratively by a


Newton method.
Thus, if X
is an approximation to the solution, a better approximation

Ye(4) - ye(), 04 <

b,

is expected to be

(6.1)

where y(O() is given by the Shanks table.

y;

The value $ a b corresponds to some point


between the body and the discontinuity. Since
y(O) 0 0, the relation (6.1) implies

y(O) - ye($),

0<

Wb,

where A
elements

(6.2)

- A'I(

is the matrix

of the matrix

\4/Jte

(6.3)

a)

Inversion
T
scheme was tound to be rapidly converaent, and a soluton of the algebraic equations

3"-*.

(6.11)

h
with (i,j)t

y' - 0
For the first approximation we take
Each Iteration requires the computatiln nd

Equation
known function.
y"(4)
in the form
be are-vritten
now is
where
(2.23) ema

-v)I

),

2e/2Z

...

with an error less than 10


is obtained in
a "ew iterations.
The accuracy of the
solution obtained is improved by increasing
the number of mesh points.
The residual error
is a direct measure of the accuracy with which
the free-surface condition is satisfied, and
in fact can be interpreted as the difference
between the computed pressure and the required
zero level.

0-09

0.07 0.06
005
"

So far, the solution obtained satisfies


the free-surface condition for b <
< -, and
matches the Shanks-table solution near the
Using (6.3) and (2.10) we can compute
body.
and y, 0 <
< b.
It is quite remarkable that the function y(j,) so computed,
turns out to be equal to y*(O) (see (6.2))
to the same good accuracy as that to which the
free-surface condition is satisfied for y > b.
This proves that our solution satisfies the
2 lete integro-differential equation (2.10),
(2.23) to this accuracy.
It also shows a
posteriori that our vonj.ctoire sbou . he
accuracy of the Shanks-table solution near the
body was correct
It is worthwhile mentioning
that a Newtonian iteration scheme allowing all
the points of the free surface to vary, does
not converge, even if the starting approximation is correct to three places.
This
phenomenon is related to the non-uniqueness of
the solution.

W0-04
0-03
0"02

4 F5

Yigure 7. Steepness (wave height/


wave length) of the nonlinear stern wave as a
function of draft-based
Froude number at

y-90'.

As the Froude number increases for a


given value of y , the steepness of the waves
(i.e. peak-to-trough wave height divided by

the wavelength) increases.


Figure 7 shovs
the steepness of the waves veruli the Froude
.
number F, , for y = 900
When the Froude
number is small, the steepness increases
rapidi~(in fact exponentially) with the Froude
number.
This behaviour can be expected from
the linear approximation of Section 4 (see
,formuln (,. 13)).
However,whcn thu Fruude
number is large, non-linear effects become
and an extrapolation of the curve
of Figure 7 for F1,4 ", suggests that the
steepness tends to a value less than the
m nimum steepness (0.1412) of Stokes waves
(Schwartz, 1974).
In other words, when the
Froudi numbee increases, both the wave height
and the wave length increase but their ratio
(i.e. the steepness) remains bounded by a

6
F
4

.predominant

-----

____

0i
Figure 6.

10

iS

.J

constant less

20

Similar results were found in the case y - 60.


Note that the mathematical formulation of
Section 2 allows in principle negative values
of the draft It, for .hich waves of higher

Relationship between
iu tuid
Fn

Mid

than the maximum steepness.

steepness could be computed.

Sts,,, flows for I - 60*, y " 90' were


computed by the above numerical scheme for
various values of c: .
In each case the
corresponding vau,, or the Froudc nuiter was
computed by use ui (2..14) and (L.15).
In
Figure 6 we present values of the Froude
number F,, versus c, for y - 60
and
,
Y 90
For , wmall,
F11 is proportiunal
to
.
This result is in .areement with
an asyurtotic analysis of (2.24, and (2.15)
in the limit as C
0.
For large values of
the Froude number, the curves of Figure 6
Indicate that aI the values of F,, between
0 and - are mfapped onto a finite range ,f t.

In Figure 8 we present a typical example


of the non-linear computations which can be
performed oy the present method.
The Froude
number is 6.3 and the steeess of the waves
is of order 0.09.
The actual shape of the
body (y - 90*) is also shown on this figure.
Note that the wave height is several times
bigger than the draft of the body, and the
waves are quite noticeably non-sinusoidal,with
sharp peaks and broad troughs.
dote also
that the horisontal scale hue been much compressed compared to the vertical scale. Similar
computations have been performed for a large
range of y and c values.

376

20

t*0
Y/H

20

600

400

-10k
Figure 3,

Stern flcw for y

7..Bow Flow

This scheme was found to be unstable, and


did not converge for a realistically-high
choice of the nunber N of meashpointi. This
numerical evidence seems to point strongly to
the conclusion that no continuous wave-free
solution of the bow-flow roblem exists.
However, some qualitative information can still
be gained frm the present numerical procedure.

For example, a careful analysis of the


first few Nevtunian iterations suggests that
the trouble arises in the immediate neighbourho-d of the stagnation point,
It was found
that excellent convergence of the iterations
could be achieved by decreasin the number of
msh points in the neighbourhood of the stagnation point, while keeping a large value of
N, with mesh poitntclosely distributed over
the remainder of the free surface.
A typica
.
free-surface profile (
9 0 * C - 0.9) is
sbn in Figure 9.

We now attempt to solve the bow-flow


problm in a manner analogous to that for stern
flow in section6. That is, for a gi.en value
of c and y . we seek a continuous solution
of the integro-differentil equatien (2.10)
and (2.23), silch matches exactly the solution
given by the Shanks table for 4 > 4.
We
therefore astm

(*)

y*(#) . b 4 4 % #

F11 = 6.3

Following the procedure outlined in


Section 6, an integro-differential equation is
derived for the unknown function y#('),
0 c<
< b. After discretization, we obtain
again a set of N non-linear algebraic
equations in N unknowns, that we try to solve
by Newtonian iteration.

In the spirt of Section 5, we kay


expect the solution given by the Shanks table
beyond the discontinuity at 4 - $
to be
correct for the (wave-free) far-field solution
for bow flow.
It is interesting to note,
however, that our numerical results from the
Shanks table are slightly less accurate for
$ > 4c than for 0 <
. Thus the freesurface pressure computed from this solution
isessentially zero (t , the accuracy of convergence of the Shanks table) if
#
* but not
quite so for 4 > *.
This is of potential
significance, as discussed below, but since
the error is still only very small we ignore
it temporarily, and assee that the Shanks
table solution is exact for t
aso a
representation of a bow flow.

90,

,
This "solution" is clearly verj aporoxindeed, as the flow between the last
r i t shown and the stagnation point has beec
completely filtered out.
However, it is

fiet

where y:(4) is given by the Shanks table for


come constant b
. '

37

.----.

--

,~Nou-tonian

-0.3

iterations.

Free ruace

-0.6

I-.

x~6

The only effect on the computations is to


replace the free-nurface condition (2.10) by

interesting to note that the free surface is


becoming almost vertical at the last computed
point, antishows no indication of any tendency
to approach the stagnation point.

I~

therefore suggest that$9


These comnputertions
the true bow-flow solution possesser, none hind
of jet. We conjecture that the ippropriate
suit ion at all Froude numbers in of the fore
sown In Figure 10, similar to that suggested
by Dagan and Tulin (1972) at high Froude number,
The fact that the above numerical method, which
ignores the presence of this jet, nevertheless
converges if we m-%e the, mesh sufficIenf, 4
oarse near the body, is consistev* w,4thtl
whole Ict i;Lru,.Lkre being orfined to a very
small region close to the body.

____

it

--

tihetch of conjectured
jet-ilke bow flow

it.iiclear, hiowever, that the whole


snatlytlPal and nuec-rical structure o~f the
presnrt paper is to principle invald :or a
flow such rin that in Figure 10.
For es.iasp Ie,Acnweaat
the f-tIine, sketched 15 Figure I I, mi iixgrrk
atlropiite, xiliwe St
inoect a cut ast shown
iii Piltre II.
Neverthiieesti, we ranl recover
tilt' original r-plitnr geometry by the -ntiotsni
mpitui

I" r-pttn, of tigure ii I rt.


6 Inuteed ,f

,with

that

y(x*'+ y)=0,
;
;7

(7.3)

Note that If 6 -0 we recover the


ormtlnizous assumption used In t-he remainder
it seems likely
..,f ti-o paper, and ? -_f.
that 6 In exporvmtinlly snail in the limiP
If this is the case, the solution
no
- 0.
with atjet hao*exactly the ime asymptotic
enpansion as that without, and the jet struceture
moot be obtained by an appropriate suimnation
technique.

p~o~J

Iir

A)

where 6 is the non-dimensional jet thickness


and A Is its location in the l'-plane. Both
parnmet ers 6,A are unknown and aut be determined as part of the bow-flog solution.

0.0

wtiSch

Modified f-plane with jet

Figure 11.

Figur .e9. Attempted bow-flow splution

Figs'r 10 .

At thin point we can see ow the slight


ppatrent error In the pressure comnputation
For ir
for t 1 , could be bignificant.
(L1.10) is not the appropriate free-surface
cneditlou, but cattier(7.1). the error obtained
by auming (1'.10)will appear to he a non-nero
tree. aurisce pressure, proportional to tie
jet thickness 6. Attempts
eKsponentlslly-esmall
have been made, so far unsuccessful,* to exploit
thio phencomenon to provide an -timate of
andti
Ill
Drest twtonlan-i terat ion methods incorporating the jet geometry are premently being
inveet igdtl.
TIhisis a problem or consideruhii difficulty, since an accurate model of
the ctomplete re-entrant jet geometry to needed,
and this demnit good numerical values For the
unknowni jet paraeters 6 atut A

fihe authors thank Dr. 1.W. liehwart br


asistance gives by active discussion or thi'
wojrk, an part of a research project supported
by the Australian iieneareh Grants Cmittee.

Appendix

References
1. Abramowitz, M. & Stegun L.A. (eds.) 1964
Handbook of Mathematical Functions,
Appi. Math. Bar. No. 55, Nat. Bur.
Stand., Washington, D.C.
2.

Analysis and improveBuchanan, D.J. 1976


sent of divergent series. Quart. J.
Mech. Appl. Math. 2, 127-135.

3.

Baker, G.A. 1965 The theory and application of the Pad4 method, in Advances
in Theoretical Physics (K. Breuckner,
ed.) Vol.1, p.i. Academic Press.

Asmptotic form of Coefficients for Large

Yn =

5.

6.

Dingle, R.B. 1973 Asymptotic Expansions:


Their Drivation and Interpretation.
Academic Press, London and New York.

S3' 5.,+

'[Y..

Y,.

+ 0(x,., Y,..)

4. Dagan, G. 1975 Waves and wave resistance


of thin bodies moving at low speed:
The free-surface non-linear effect.
J. Fluid Mech. j, 405-416.
Dagan G. & Tulin, M.P. 1972 Two-dimensional
free-surface gravity flow past blunt+2
bodies.
J. Fluid Mech. 51, 529.543.

Relation (4.1) can be used to infer the


asymptotic form of the coefficients z., by
considering contributions to the right-hand side
,y.- X.. 2 Y..3 ,' '", noting
of (3.4) from X.
that Q.t depends on all these quantities,
', etc.
but Q., depends only on x.,Y,,.
Thus,

,
y

2'
+

+ yx!)x. +

(y
2x

+ y!QY.

+Y1%Y - +

(A.1)
The leading term in (A.1) is normally domin.nt for large n, and thus the growth of the
coefficients is asymptotically given by

7. DComb,C. & Sykes, M.F. 1957

On the
susceptibility of a ferromagnetic
Proc. R. Soc.
above the Curie point.
London. A2,O0,2114-228.

8. Monacella, V.J, 1967 On ignoring the


singularity in the nmerical evaluation of Cauchy principal value
Rep. No. 2356,
integrals.
D.T.N.S.R.D.C., Department of the Navy,
Washington. D.C.
9. Newan, .T.H.1976 Linearised wave resistInt. Srm. WerveResistance theory.
ane. Proceedings, Soc. Nay. Arch.
Japan, Tokyo.
10. Ogilvie, T.F. 1968 Wave resistance: the
Rep. No. 00.,
low-speed limit.
Dept. New. Arch. & Mar. Eng.,
University of Michigan, Ann Arbor.
11. Schwarts, L.W. 1974 Computer extension
ard analytic continuation of Stokes'
expansion for gravity waves. J, Fluid
Mech. 62, 553-578.
12. Shanks, P. 1955 Non-linear transformations
of divergent and slowly-converent

JMatb.i_
sequences,.
1-42.

y.
s

x',
s

n *

(A.2)

Note that the term

yQiy., must be of lower


order, if the series is everywhere divergent,
since this term can produce only a geometrical
increase in ys , in the absence of the term
The limittng recurrence relation
in
.. I"
(A.2) would have arisen from a model linear
problem. in which the actual free-surface
condition (2.10) was replaced by
y - 2E(x')"' x

- R(4),

(A.3)

Lquation
for any arbitrary function R($).
(A.3) is a linear mixed boundary condition for
sO,
0
y(*, ) on
the potential function y
reminiscent of similar free-surface conditions
obtained by previous authors (Ogilvie 1968,
Dagn 1975. Newman 1976), by carrying out a
"local linearisation" about the c - 0 solution
z
s(f).
If we substitute appraximatiun (4.5) for
z,($) into the asymptotic recurrence relation
(A.2), we see immediately that this relation
holds if and only if tk(#) is given by (4.2).

t.1,

13. Vanden lrock, J.M., Schwarts, LW. L


Tuck, X.0. "Divergent Low-Froud.lumber Serie Impension of Non-Linear
Free-Surftee Flow Proble", Report
No. V-0l, Applied Mathematics Departent, University of AdelaideJnuary
1977.
14. wooden broeck. J.N. & Schwarts, L.W. 1978
A 6eoeralised family of series
transformtions. (In preparation.)

NONLINEAR HYDRODYNAMIC FORCES ON FLOATING BODIES*


B.D.Nichols and C.W.Hirt
ol Califomnia
Univesity
Los Alamos Scientific Labortor
Los Alamos, New Mexico 87545

ABSTRACT

ders in low amplitude


forced heave, sway, and
rollmotions. 2 -4 The good agreement obtained
in these studies with linear theory and experimental data serves as a validation of the basic
calculational procedures. The companion threedimensional code, SOLA-30. has been su' cessfully applied to the calculation of wind loading
on three-dimensional structures' and, in addition, has reproduced selected two-dimensional
calculations for heave and sway motions for
cross checking against the two-dimensional
code.

This study investigates the influence of


nonlinear effects on two- and three-dimensional
cylinders in forced oscillation. For the twodimensional calculations the publicly available
finite-difference code SOLA-SURF i.used. This
code provides a solution algorithm for the full
nonlinear Navier-Stokes equations or, as an input option, the nonlinear potential flow equations. The companion code, SOLA-30, is used for
the three-dimensional calculations. HydrodynamIcforces on two- and three-dimensional triangular cylinders undergoing forced harmonic oscillation in sway are calculated and compared. The
hydrodynamic coefficients for the two-dimensional cylinder are numerically determined for severalamplitudes of motion. At amplitudes larger
than approximately 0.12 beam widths definite
nonlinear effects are observed. However, this
isnot the case for the three-dimensional flow
associated with finite length cylinders for amplitudes of motion up to 0.22 beam widths. The
numerical data support the use of linear potentialtheory for predicting the added mass and
damping coefficients for two-dimensional cylinders in low amplitude motion (up to 6% of beam
width for sway). For finite length cylinders
the linor theory appears to hold fo- much larger
amplitudes (at least up to 20% of beam width).
The numerical algorithms
contained in the SOLA
codes are also shown to work well for the calculation of nonlinear flows generated by rigid
bodies Impacting on a fluid surface. Inparticular. the impact of a circular cylinder iscalculated and found to be in excellent agreement
with experimental data.

We have utilized the two- And three-dimnsional SOLA codes to investigate nonlinear and
three-dimensional effects influencing the hydrodynamic forces on floating cylinders. In
this paper we discuss nonlinear effects arising
during large amplitude swaying motions of a
two-dimensional 60 triangular cylinder. The
results of the numrical studies are compared
with other data, Including nonlinear potential
flow numerical computations. An interpretation
of the observed nonlinear effects it gi.en. We
present a second study that compares two- and
three-dimensional calculations of the triangularcylinder insway. Here the end effects associated with finite length cylinders are
noted. Nonlinear finite amplitude effects for
thethree-dimensional triangular cylinder are
also considered. To further validate our numerical methods as useful tools for studying
nonlinear flow phenomena, we present the results from a circular cylinder Impacting onto
a water surface.
11. NON.INEAR TWiO-DIMENSIONAL
EFFECTS

I. INTRODUCTION

Low Amplitude Studies

inthis paper we discuss nuerically determined hydrodynamic forces on floating cylinder%. Particular attention is given to nonlinear effects and to finite length effects. The
nuperical solution algorithms used for these
studies art finite-differance techniques for
the nonlinear Navier-Stokes equations. The
two-dimensional algoritw Is contained in the
SOLA-SURF
code.' This code has been used in
extensive numerical studies of the hdrodymmic forces on rectangular and triangular cylin-

The hydrodynamic coefficients$ for two-dimensional bodies undergoing low Amplitude


forced harmonic oscillations In an otherwise
quiescent fluid have been determined using the
SOLA-WAF code. In this study added massand
damping coefficients are computed and compared
with the
experimental and analytical work of
Vugts. 7 The results of these studies for the
rectangular cylinder in forced hea e,' and the
60* triangular cylinder in forced sway$ have
previously been reported, but ireIncluded here

*This work wasperformed jointly under the auspices of the lited State. Energy Research and Develop
ment Adinistration and the Office of Naval Research, ONN Task M11062-465.

38

tangular cylinder and B/T 1.155 for the triangular cylinder, where T is the initial draft
of the cylinder. The amplitudes of motion,
normalized by B, for the rectangular cylinder
were 0.025 and 0.050 and for sway was 0.058.
The triangular cylinder in roll motion rotated
about an axis located at the horizontal center
the wedge and the initial free surface position. The amplitudes of motion were 0.025 and
0.050 radians.

for completeness. Presented are also data from


a 600 triangular cylinder in forced roll motion,
The added mass coefficient, ji,and the damping
coefficient, X, are given by
Y Vs(1
(1)

aof

and

In general, the numerical da+" from these


calculations are in good agreement with linear
theory. The sway (Fig. 2) and roll (Fig. 3)
numerical data show some discrepancy with the
experimental data, which Is believed to result
from elastic bending ;n the support bar used to
hold the body in the experimental setup.' Although there was secondary flow at the tip of
t.e triangular cylinder in the sway and roll
calculations, we found, as Vugts suggested from
his observation of these secondary vortices in
h~s experiments, that this did not disturb the
ne, pressure force over the cylinder surface.
We believe these numerical experiments reinforce the usefulaess of linear, potential flow
theory for computing the added mass and dampinq
coefficients for various shaped bodies in low
amplitude motions.

y sin

(2)
where a is the amplitude of motion, w is the
frequency of motion, and y Is the anpltude of
the calculated hamonic pressure force on the
body. The phase shift B was obtained by comparing plots of the body displacement and prossure force acting on the cylinder as functions
of time and measuring the shift in phase. A
detailed description of the determination of
these coefficients is given in an earlier report.' The calculated added mass and damping
coefficients for the cylinders in heave, sway,
and rollare shown in Figs. 1, 2, and 3. respectively. The coefficiet are normalized by
PA (pA for roll)and %/B62g, where p is the
fluid density, A is the mean submerged area, B
is the cylinder beam, and 9 is the acceleration
of gravity. Coefficients were calculated for
normalized frequencies (i.e..w v-Mg ranging
from 0.50 to 1.25 with B/T - 2.0 for the rec2.5 -

v," (196e) 0 a/9-o.o

Large Amplitude Studies


The nonlinear effects associated with
large amplitude motions of floating cylinders
may be illustrated with a two-dimensional triangular cylinder in finite amplitude forced
sway. This study was performed with the twodvnsional SOLA-SURF
code. The amplitude of

25

motion in the low amplitude studies discussed

oo0.O A.

above was 0.058 of the cylinder beam width


(0.02 m) at the still water level. The cylinder draft was equal to 0.865 beam widths. The
finite amplitude studies were performed with
amplitudes increased up to a maximum value of
0.430 of the beam width, at a normalized frequency of 1.0. All other parameters remained
the same as for the low amplitude studies.

v 9K.A-S W C
- Law T"

2.0
1.5 -

1.

a)

.411

The main effect of this increase in aplitude Is to produce a significant decrease in


the phase shift of the dynamic pressure force
relative to the cylinder displacement pnase.
Figure 4 showsthis phase shift and the amolitude of the dynamic pressure force as functions
of the amplitude of motion. The phase shift
reaches a maxims. of 0.90 radians at 0.04 m
amplitude and then decreases nearly linearly
for larger displacement amplitudes. This figure also shows, as expected, the linear Increase
in the displacement
force amplitude
as a function of
cylinder
amplitude.
trends
are reflected
In the
calculationlhese
of the

0.

co .
oWo 026 o0*

.78

1o

La

.AO

v-.

&a
,
O.1 -the

hydrodynamic coefficients sbmwn in Fig. 5.


Added mass and daping coefficients determined
from the linear theory reported by Vugts' are
for comparison. The damping coefficient, Eq. 2, follows the trend of the phase
shift (0) shownin Fig. 4. This is expected

*
0100

0l0

Fig. 1.

00

020

0.15

WO ISO
Leo
Sincluded

because for small phase shifts the coefficient

A comparison of thsoraticl, nwuerice!,


and experimental values of dded mass
itop) and damping (bottom) cofficients
a rctangular cylinder in forced
heive, with B/T 2.0.

is proportional to the phase shift, while the


force amplitude (y) increases nerly linearly
with the displacement 4lItude (a).

383

*EMP.
eM Mqvul
)
0.20

&0*~J

sSOLAMN

2JO-

OAO

2.0

O-U
J8

ro

E.. 4M (A,0.10)
90LA-uJ (AO01)
LI.W ANNNY
CA.OO0
*- UCLA-WAY
bern

726

1.01

oneI
a

000 0.5

.O01.5

0.5007501.00

00

........

125P
def W0

OAS-theoretical, numerical,
Fig. 2. A comparison of
and experimental values of added mass
(top) and damping (bottom) coefficients
for a 60* triangular cylinder in forced
sway, 'ithB/T1.155.
The added mass coefficient, Eq. 1, for the
larger amplitudes of motion varies less than
10% from the lintr theory values. This follows from its weak dependence on B for small
B.
the linear
These results suggest that
theory reported by Vugts does adequately predict the added mass coefficients for the 60*
triangular cylinder In sway at this bew to
draft ratio and for displacoment amplitudes of
motion up to nearly 50 of its beam width. For
the damping coefficitit, however, this is not
the case. For displacemnt amplitudes greater
inan approximately 25% of the bem width, the
damping coefficient is significantly smaller
thin that predicted by linear theory.
The detailed calculations reveal the reason for the decrersing phase angle B with Increasing amplitude. Referring to Fig. 6, we
set the velocity field of the fluid after 1.48
periods of motion for the four different aplitudes of motion, 0.02. 0.09, 0.12, and 0.16 m.
As the sway asplitude Is Increased, for a given
frequency, the average body velocity Increases.
This causes the fluid to slosh further up
(down) the silas of the body, because surface
waves do not move away fast enough. As a consequence the fluid reaction force on the wedge
teds to be more in phase with the body, i.e.,
the phase shift B is reduced. Of course, this
trend cannot continue indefinitely, because the

Fig. 3.

A comparison of theoretical, nuFPerical,


and experimental values of addcd mass
(top) end damping (bottom) coefficients
for a 60* triangular cylinder In forced
roll, with B/T-l.155.

very high amplitudes will cause splashing and


turbulence dissipation effects that must contribute to some damping.
Potential Versus Nonpotential Flow
The flow field In the two-dimensional calculations of the triangular cylinder in sway
shows secondary flow near the cylinder tip (see
H1g. 6). AS notea above, the presence of this
secondary flow vortex has virtually no ffect
on the net calculated force on the cylinder.
In an attempt to understand this, we modified
the two-dimensional SOLA-SURF code so that nonlinear potential flow can be computed as an input option.
The basis of this modificaticn comes from
the observation that the momentum equation differenca approximation can be easily cast Into
the form of the ptential flow equations. This
is done by eliminating all body, convective,
and viscous accelerations, ad also zeroing out
the previous time step velocity field. The potential function, s, Is then formally identIfind with dt - P in the code, where 8t is the
time Incrment end P is the pres. re when the
fullNavier-Stokes equations are used. The Incressibility condition rwains unchanged.
The rigid wall boendary conditioni also remain
unchanged. At the froe surface, however, dif-

384

i.i
I1) -

a P hoto
St
# Force A.2

SOLA-SURF, * Duping
a Added Mass
Linear Theory- Dfmp ng
Added lion

- 0.14
-

0.1201U

0.9-

4+

0o~

0a010.

OL-.

0.8Q9-

0.5

00

0.
0

Q4

0OO

IJD

OA--Oi

o4

o.0
On
Ampltude (ON)I

016

Fig. 4. Phase shift end arplitude of the dynamIc pressure force as functions of the
600 triangular cylinder displacement
amplitude.

ferent boundary conditions are needed for the


variable P when it is identified with the potential. These conditions are derived under
the constraint that the g3s pressure at the
free surface must equal the pressure outside
the liquid. By expressic, this condition in
terms of the potential, appropriate free surface boundary conditions are determined. We
prooftested this potential flow code by calculating the SOLA-SURF test problem,' i.e.,the
formation and propagation of an undular bore,
The results compared well with the original
SOLA-SURF calculation, which makes use of the
fullNavier-Stokes equations.
A comparison is shown in Fig. 7 of the yelocity fields of a cylinder In sway after 1.48
periods from the SOLA-SURF code with and without the nonlinear potential flow option. The
difference between the irrotational and rotational flow fields is obvious. The net calculated forces on the cylinder, however, are
nearly identical for the two methods. Or the
other hand, the pressure profiles along the
cylinder boundaries in the two cases do differ.
Figure 8 capares the pressure (plotted normal
to the boundaries) on the 601 triangular cylinder assuming nonlinear potential flow and using
the fullNavier-Stokes equations, The amplituds of motion for these calculations is 0.173
beamwidths (0.06 ml and the normalized frequency is 1.0. The pressure profile plotted is
after 1.48 periods, which corresponds to the
velocity fields In Fig. 7. At this time the
cylinder velocity is near zero as it ap roaches
the rightmost position of maxim. displacement.
As expected in the potential flow case, the
pressure near the tip on both sides of the cylinder 1S rre negative than elsewhere on the
corresponding side. which Is necessary to accelerate the flow around the tip. In fact, the
pressure is lower over the entire cylinder surface in the potential flow calculation than in
the nonpotantial flow calculation. Although
these pressure profiles differ, the less posItive doastream prissures in the potentialflow

~
0.6
I
0.04

0&-00

012
0.00
(M)
Amplitude

Fig. 5. Normalized added mass and dampinq coefficients as functions of the 60fl
triangular cylinder displacement amplitude.

case are compensated for by more negative upstream pressures. As a result, the net forces
on the cylinder are nearly the same in the two
cases. The eddies generated in the nonpotentialcase do not carry away kinetic energy because they are alternately generated and destroyed as the body moves to and fro.
III. NONLINEAR THREE-DIMENSIONAL EFFECTS
Nonlinear and finite length effects Influencing the hydrodynamic forces on three-dimensional floating cylinders may be studied
using the SOLA-3D code. We utilized this
three-dimensional code to investigate the end
effects and nonlinear large ami! itude effects
associated with a finite length 60" triangular
cylinder in forced sway.
Finite Length
The parameters for these three-dimensional
calculations were chosen for tomparison with
the two-dimensional calculations. Calculations
were made with sway amplitudes of motion of
0.058 and 0.116 of the triangular cylinder beam
width, i.e..0.02 m and 0.04 m, at the still
water level. The cylinder draft was equal to
0.865 bem widths and the normalized frequency
of motion was 1.25. The cylinder length to
draft ratio was varied from two to four. The
resulting phase shift of the dynamic pressure
force relative to the cylinder displacement
phase, and the amplitude of the hydrodynceic
force per unit length for the thre-dimansional
calculations were virtually the same as the
two-dimensional calculations. This brief study
suggests, therefore, that theend effects of
the triangular cylindr are not significant for
low amplitudes of motion and for cylinder
length to draft aspect ratios greater than two.
Length to draft ratios less than two were not
Investigated.

355

.............
..
...........................
...........
I............
...................

...............
................

.......................
................................................
........................................
............................
777
..........

.. ............

....................
........
---

............
....... ...........
..........
- -------------..........
.................

...................
.

.............
...................
. .......
...................

............
..............
.......

.......
....
..

..............
.....................

..........

..............
.
.................
.........

....
.........................
................
- .......................
..............
........
.....................................
................................
.
..........

.......
-- .....
..............
..........
.........
............
........................................
.....................................................................
........

.............
................
......................
.
.....
...
....
...................
.. ......
....................
.......................................
...................................
..........................................
.....

Fig. 6.

Yelocity vector plots %Wftjthe velocity Hold about a swaying


601 triangular cylinder Oter 1.48 periods
Readt
from top V)
bottom. the 4PPlitudes Of 1vtion are 0.02. 0.09. 012, and OJS M,

386

fer14 erosfo..
Fig~~~~~~~~~~~~~~~~~~.
eoiy.i...ou..0traglrcyidrinsa

I..
......
.........

u. a..

sne
........
...........
nswydtemne ro
...
6.:::6 rinulrciidr
Fig.~
~ ~ u.........
~~~............
... .r.ote til.....p.on
cod
..........
with .nd.....iu the nonin

I..........
.......

The three-dimensional calculations were


for amplitudes of motion from 0.058 to 0.216 of
the beam width, i.e.,.020 m to 0.075 m. (At
larger amplitudes the free surface slope near
the cylinder end violated the code requirement
that the slope not be greater than the slope
of the celldiagonal.) The draft of the 60'
triangular cylinder was G.865 beam widths and
the length to draft aspEct ratio was two. As
in the two-dimensional care, the force amplitude increased linearly as the cylinder displacement amplitude increase' (see Fig. 11).
However, as seen In Fig. 12
e decrease in
pressure force
the phase shift of the dyn
relative to the cylinder '-,'Iacement phase observed in the two-dimensional case was not observed in these finite-length calculations.
The phase shift is less for all amplitudes of
motion but does not decrease significantly as
the amplitude Incrt , . It is possible, however, that at still ,rger amplitudes of motion
the phase shift woqld show a decrease.

Typical velocity field plots for these low


amplitude calculations are shown in Figs. 9 and
10. The entire velocity field in these planes
is not shown, but only the region near the cylinder. Also, the magnification of the velocity
vectors varies from plane to plane. Velocity
fields in planes normal to the axis of the cylinder are shown in Fig. 9. The left velocity
field is of the plane nearest the cylinder end
and the right plot is of the velcity field in
the plane immediately outside the cylinder end.
At the time of these plots the cylinder is moving to the right after 2.11 periods of oscillation. The three-dimensional effect of the flow
is clearly shown in the right plot. The larger
velocity flow at the left (downstream) edge of
the cylinder does not continue past the cylinder
end in this plane, but flows around the edge.
This is also clearly shown in the right plot of
Fig. 10, which is of a horizontal plane near the
vertical center of the cylinder. The fluid
flows around the downstream side of the cylinder. The velocity field in the vertical plane
through the center of the cylinder and parallel
to its axis is shown in the left plot in Fig.
10. Secondary vortex flow is seen near the cylinder end in all the planes shown. However, as
in the two-dimensional calculations, these vortices appear to have no significant influence on
the net hydrodynamic forces on the body.
Large Amplitude

The added m s and damping coefficients


determined from these three-dimensional calculations are co.vared with the two-dimensional
SOLA-SURF dateand linear theory in Figs. 13
and 14. In keeping with the two-dimensional
data, the a(Jed mass coefficieits are within a
few per cert of the linear theory. lhe damping
coefficie t, again, follows the trend of the
phase shift.

The most significant effect of the increase in amplitude in the two-dimensional clculations, as discussed above, was a significant decrease in the phase shift of the dynamic
pressure force relative to the cylinder displacement phase. The force amplitude increased
linearly with the cylinder displacement amplitude. We made correspondingly large amplitude,
three-dimensional calculations to compare with
the two-dimensional study.

We earlier noted that in the infinite


length case the phase shift decreased as the
body velocity increased (i.e., at larger amplitudrs of motion at a set frequency) because the
ft Id sloshed further up (down) the sides of
tie body and caused the force on the cylinder
to be more in phase with the body, i.e., the
phase shift was reduced. The probable reason
for the phase shift not decreasing significantly in the finite length case is that at large

\ N.r./

//
t

,:>,

-ll ..... \\

/.

".V-

\\\ ''\\
..

.....

...

,.... . .li
.... ',-.......
\................................

Fig. 9. Local velocities In planes normil to the ants of the three-dimensional triangular cylinder in
lo amplitude motion after 2.11preriods.
The left plot is the plane nearest the cylinder end
and the right plot is the plane ceadiately outside the cylinder end.

S0

'/

i ,

'

in a vertical plane through tte center of he cylirder and parallel tr.its axis
I,).
1C. lielocities
(left)and in a horizontal Fiae ntAr the vertical center of the cylinder (right) after
2.11 pertoe.s,

mplitudes of motion fl.id flows freely around

the end for this time.

the cylinder end and does not build up at the


sides.

The resulting free sur-

face configuration is shown in Fig. 17.


IV. CIRCULAR CYLINDER IMPACT

abe flow pattern around the cylinder for


the
large Figures
amplitudes
reinforces
tation.
15 and
16 show this
the v interprethocity
field
near
the
cylirder
for
an
amplitude
of of
0.1(3 beam width% (0.06 m) after two periods
oscitltio. Again. the magnifcatln of the
velocity vectors is different for each of the
planes. Velocity fields in planes normal to
th e axs ihe
cylinder are shw In Fig.
i
.
The left Figprty vector plot Is of the plane
nearest the cy irnderend. A observed
l
n Fig
6 for the two-dtvenscal cate, very strong
seconary ortax flow Is fomed near oftheip
of
te cylinder. The ri t pldfeInf g. 15 It of
the plant Immo
dately outside the cylinder nd.
At the ti e of these plots the cylinder has

The SOI.A-SURF
used tocylinder
calculate
the force
of impact code
on a was
circular
during
constant
velocity
entry
into
a pool of
water. The cyinder boundary was approximated
by straight line segments. The rgd-flu d interface boundary condition applie to each line
segment was successfully used for determining
t
he oa-SR
ces
ue rectangular and
triangular cylinders in forced motion discussed
above. Specifically at the riyid-flu d interface the cell pressure is derived from
ahe
constrain ht the norman fluid velocity be equal
to that of the cylinder. As a free fluad surface approaches a rgi boundary, a simple an-

ear coination of the rigied mfree boundary


condition is used. This Is needed to eliminate
the suddc transition inboundary conditionsn
which may result inexcessively large pressure
spkes. For partially submerged bdies moving

reached the certost point of Itsdispacemnt


afteetwo period; of umnc
llateon. The left plot
in Fig, 16
of the velocity field Inthe
vrtical planetroug ,the c ter of the cylndr
Its
axis. at This
At and parllel
motion ofto the
fluid
the shows
end of the
the

cylinder, resultins in the small vortex ff the


cylinder
The orileft
io.
plot in Fig. 16 shows
the seo1dary flowte the do strem side of
the cylinder In the hoeizontal plan near the
vertical center of the cylider. These veloci-

at
relatively
small ofvelocities,
this ad hoc
linear
combination
boundary conditions
worked very w ell.For the impact problem, however, a modification win necessary beruse the
fluid dd no snticipate the presence of the
rigid boundary in sufficient time before impact
nd the calculation consequently exhibit d un-

ty fields In selected planes show the flow


aro d the cylinder end and doamrd flow lear

acceptaluy large pressure oscillations.


Through a heuristic argument based on the need

300

T1

SOLA-SURF

SOLA-SURF
0.14

1.1 -

SOLA-3D

1.0

0.12
0.10

0.5

0.02
0.00

-0.4

0.12

0.08

0.04

o
---

1,2

* +

:1

o SOLA-SURF
+ SOLA-3D

ery
Lin~
SOS.A-3D

--- Lne r tINO

1.2
,

012

Fig. 12. Phase shift of the dynamic pressure


force relative to the cylinderofdlsthe
placement phase as a function
cylinder displacement amplitude.

S.A -SURIF

-0.--

-----

I
0.08

0.04

0.00

1I.I

1.0

F
Amplitude m)

Fig.11. Amplitude of the dynamic pressure


force as a function of cylinder displacement amplitude,

,.I--

m)

Amrlltuds

1.2

--

[0.6

0.00

o0

0..0
0
0.T

oE

0.04 -

0.9

0.06
ItO.06 -

SOLA-3D

1.1

.. .........

1.0

-.-

+,0

0.0

0.7
0.9

-.

00.5

0.6
0.00

004

0.00

0.00

.12

0.06

0.12

AaPNOWS (0)

Ampltude (M)

Fig. 13.

0.04

Fig. 14.

Iomalized added was coefficient as a


function of the cylinder displacement
ml Itude.
380

Nolized daping coefficient as a


function of ti. cylinder displacemnt
aplitrude.

.. . .......
..

,\-. .

..................

Fig. 15. Local velocities in planes normal to the axis of the triangular cylindcr in large amplitude
motion after 2.0 periods. The left plot Is the plane nearest the cyl;nder end and the right
plot Is the plane imediately outside the cylinder end.

2.0

rids

pe

,I

.
.i

-I

..

_-frequency

pressure oscillation around 6 msec.


These oscillations are remnants of the discretization fluctuations that are not completely
eliminated by the iiproved boundary condition
cominatlon discussed above.
V. CONCLUSIONS
Most ship hydrodynamic problems are solved
by linear potential flow methods. Some limits
of this approximate theory have been demonstrated by comparisons of calculated results
using the SOLA-SURF code for the full, nonlinear Navier-Stokes equations with linear theory
and the experimental data of Vugts. An essen-

tialassumption made inthelinear theory is

Fig. 17. Localfree suriace configuration resulting fromthe trargular cylinder in


sway motion after 2.0 periOdsM

for an applied pressure on the fluid just sufficient to bring the normal component of the
fluid and body velocities into agreement at the
time of impact, a boundary condition comination was derived that did force a smooth transition between the free and rigid boundary conditions. The new comlnation uses a quadrntic
in the relative velocity term instead of the
linear term used in the earlier ad hoc expression.
The average pressure on the cylinder, i.e.,
the vertical force per ult length divided by
the cylinder diameter, was determined for a
cylinder with a diameter of 8.25 inches and an
impact velocity of ?.70 ft/sec. The calculation was run to a time of 18.0 msec.0 At this
time the fluid has reached nearly go around
the cylinder. Velocity vector plots In Fig. 18
show the velocity field with the free surface
and the cylinder boundary at -7.85, 2.48, 10.75
and 18.00 msec. Because the calculation starts
some time before the cylinder hits the surface,
we shifted thecalculated time scale so that
the computed and measured peak forces occur at
the !ame time.

that the amplitude of motion be small with respect to the dimensions of the cylinder. Indeed, when this is no longer the case, nonlinear effects, as shown by the SOLA-SURF code.
can be significant.
Three-dimnSional, finite length effects
were determined not to be significant for cylinders with either low or relatively high amplitudes of motion. Apparently the flow around
the cylinder ends, fir the short cylinders
studied, minimizes the pile up of fluid at the
fore and aft cylinder surfaces, which caused
the large amplitude effect in the case of Infinitely long cylinders.
The calculations of the cylinder impacting
onto the free surface forced a needed improvement of tne transition from free to rigid surface boundary conditions. It also served to
further validate the SOLA-SURF code as a useful
toolfor calculating nonlinear fluid flow problems.

10
Re

A comparison of the insaerically calculated


average pressure and the experimental data are
shown in Fig. 19. (The experimental data are
for an impact velocity of 7.65 ft/sec. and the
computed data have been scaled from 7.70 ft/sec.
to 7.65 ft/sec. for this comparison.) The experiment only had pressure transducers located
along a portion of the lower surface of the
cylinder. When the cylinder was wetted beyond
the highest pressure gauge location the total
force was estimated in twoways. In the first.
extrapolation was used to estimate the unmeasured surface pressures and resulted in the upper of the two experimental curves appearing In
Fig.19 after t-3.0 resec. The lower curve is
the result obtained using only the measured
data and ignoring the pressures in the uninstrumented region. The agreement between the
computed results and the upper experimental
curve is excellent, except for some small, high

S .A-mw

..c

...-Ln
t

Fig. 19.

L. I
4
5
3
MINC)

Corparlson of numerically cnmputed and


experimental data for the average pressure per unit length on an 8.25 in.diamter cylindo.r
impactino with a constant velocity of 7.65 ft/sec.

30

......
~~..........................

..
..... . .l l ........

'' '' ''

..
, ..
.,,,,
,,,,,
,,,
,.,,,................

..........
.......................
. ..........
:: ::
....
lll
I~
llll
l~ llll
.lll
Jlllll
/ltltll~
lllll

l' l

Fig. 18.

i O i I I~ l l l J J l l l l~l l l l l l l l li

* H* .* *'

....

............. ..... ... .....


..

....
,,, lllllf.............

i i

11iii.1
lllJllll

lli

I.......
illl' llt

l t t l l l ll l

~l i l

Velocity vector plots shewing the velocity field near the irpacting cylinder with the free
surface and cylinder boundary at -7.86,2.48. 10.75. and 18.0 mec.

ACKNOWLEDGMENTS

4.

The authors wish to express their appreciation to Leland Stein for writing the SOLA-3D
code and for many valuable suggestions in running the three-dimensional problem and to
Juanita Salazar for so ably composing the text
and figures of this paper.

B. D. Nichols and C. W. Hirt, unpublished


work perfomed for the Office of Naval
Research under contract NR-062-455.

S.

C. W. Hirt and J. D. Ramshaw, "Prospects


for Numerical Simulation of Bluff Body
Aerodynamics," Proc. of the Aerodynamic
Drag Mechanisms Symposium presented by
General Motors Research Laboratories.
Warren, NI (1976).

6.

J. V. Wehausen, "The Motion of Floating


Bodies," jnual Review of Fluid Mechanics,
3. 237 (1971).

7.

J. H. Vugts, "TN Hydrodynamic Coefficients for Swaying, Heaving, end Rolling


Cylinders in a Free Surface," International Shipbuilding Progress, 15, 251flU8?

8.

John J. Carey, Electric Power Research


Institute/Developwtal Sciences, Inc.,
private communication (1977).

REFERENCES
I.

2.

3.

C. W. Hirt, B. 0. Nichols, and N. C.


Romero, "SOLA - A Numerical Solution Algorithm for Transient Fluid Flows," Los
Alamos Scientific Laboratory report
LA-5862 (April 1975); LA-5852, Addendum
(January 1976).
B. D. Nichols and C. W. Hirt, "Methods for
Calculating Multi-Dimensional. Transient
Free Surface Flows Past Bodies," Proc. of
the First Intern. Conf. on Numeric
.
Hydrodynamics, Gaithersburg, NO (115).
B. D. Nichols and C. W. Hirt, "Numerical
Calculation of Wave Forces on Structures,"
Proc. of the Fifteenth Intern. Conf. on
Coastal Engineering, Honolulu, HI (1976).

I0

DISCUSSIONS
of four papers

NUMERICAL SOLUTIONS OF TRANSIENT NONLINEAR FREE-SURFACE MOTION


OUTSIDE OR INSIDE MOVING BODIES
Odd M. Falinen

NUMERICAL SIMULATION OF SHIP MOTION BY EULERIAN HYDRODYNAMIC TECHNIQUES


G..Sourcnoff and S.R. Penumaill

COMPUTATION OF NEAR-BOW OR STERN FLOWS,


USING SERIES EXPANSION IN THE FROUDE NUMBER
J.-M. Vanden Broeck and E.O. Tuck

FORCES ON FLOATING BODIES


r NONLINEAR HYDRODYNAMIC
and C.W.Hi
B.D.Nichols
Invited Discussion

that one can comment only upon the results.


Firstly, one can ask the same question here as
was asked above about the use of the NavierStokes equation by Bourianoff & Penumalli. In
particular, is the viscous-fluid boundary condition used? If this condition is not satisfied,
I find itstrange that vortices can be generated
as in Figures 7 and 9. It is,of course, satisfying to have a numerical assessment of the
limits of validity of linearized theory. Earlier
assessments have been either from experiment or
from second-order calculations such as those of
Lee, Parissis and Potash cited above. A compariso. with the latter would be of interest.

John V. Wehausen
University of Ca~ifornia, Berkeley
I have very few comments on Faltinsen's
paper. Out of curiosity, itmight be interesting to know how big a penalty one pays by replacIng (9)by *(A,y) - 0. Does b(t) have tobc
much larger? It might help some readers if (35)
were identified with the"radiation condition",
At the bottom of p. 9 the author remarks that
C. N.Lee's results do not show a significant
influence of nonlinearity. From hispoint of
view he isprobably right. However, the differEnces
calculated by
Lee, Parissis and by Potash
J. Ship Res.I._5
(1971), 295-324) are significant

Author's
Relt
by OddWN.Faltinsen

enough to be measurable and show reasonable


agreement with experiment when the amplitudes
aren't too large, as shown by Tasai & Koterayama
Rep. Res. Inst. App].
Mech. Kyushu Univ. 24
1976), no. 77, 1-39.

todiscussion by John V.Wehausen


Professor Wehausen asked how large b(t)
hasto be inorder to approximate *(x,O) by
zero when lxi
, b(t).

I have a few problems with the paper by


Bourianoff & Penumalli. The first concerns the
use (f the Navier-Stokes equations and an
"artificial viscosity". Is this aimed at obtaining a more exact model of a fluid or does
ithave significance only as a device to simplify the numerical analysis? If the former, is
the usual viscous-fluid boundary condition satisfled? Anotner question concerns the equations
of moti'(2.3) and (2.4). If (2.3) is the
equation for the motion of the center of mass,
shouldn't the angular motion be referred to a
coordinate system fixed in the body with moments
taken about the center of mass? Other choices
usually lead to more complicated equations. A
similar remark applies to sm later equations.

I have not examined this systematically,


but I found quite erroneous answers by using
such an approximation for the b(t)-values used
inmy paper.
Author's ReDI
by George I. Bourianoff and B.R. Penumalli
to discussion by John V.Wehausen
The coent about artificial viscosity can
best be answered by first supplying some background information. It iswell-known that the
explicit forward time differencing of the force
equation results ina numerical error that is
second order Inax. This error term can have
either positive or negative sign, depending on
the direction of local
spa 'I gradients. The
"artificial viscosity" isa . itive dissipative
term that is larger in magnitude than the largest
error term. Therefore, the net second-order term
(numerical error plus artificial viscosity) will
remain positive and the calculation will remain
stable.

Since drift forces are calculated, itwould


be interesting tosee some cemiparlsons
with
analytically derive1 expression? by Newman [J.
Ship Res. 11,51-60] and Naruo J.Ship Res. 4,
no. 3, 1-101. There are also some recent meaZ
surements.
The paper by Vanden Broeck and Tuck isvery
Interesting. I think I have understood what
has been dons, but I have not digested itwell
enc h to coment s4usibly.

It ispossible tu isecentered tiw di ferencing techniques or predictor-corrector techniques that have smaller or no second-order
error. These techniques require more .omputer
time and am.'
unre difficult to implemnnt. Therefore. theinclusion 'if an artific. viscosity

Th" numerical analysis inthe paper by


Nichols & Hirt hasbeen ouhlished elsewhere, so

3i

term is simply a device to allow the use of a


simple fast numerical technique in the present
analysis. The no-sl!p boundary conditions were
used at all fluid-solid interfaces, and hence
there is no coupling of the viscous drag force
to the floating body.
Dr. Wehausen's second point is well taken
since there is a term left out of equation (2.4).
The term is included when the equation is rewritten on page 6 and it is included in the calculation.

SA

I
a

CONFERENCE PARTICIPANTS
ADEE, BRUCEH., Unive 'ly of Washington, Seattle, Washington, USA
BABAIEIICHI, Mitsubishi HeavyIndustries, Nagasaki, JIapan
BAl. K.J.,DTNSRDC, Bethesda, Maryland, USA
BANNISTER, KENNETH A., Naval Surface Weapons Center, Silver Spring, Maryland, USA
BASTIANON, RICARDO A., instituto tdeTecniologla Naval, Buenos Aires, Argeotina
BORIS, JAY P., U.S. Naval Research Laboratory, Washington, D.C., USA
B#RRESEN, ROLF, The Ship Research Institute of Norway, Trondheim, Norway
BOURIANOFF, GEORGE, Austin Research Aasociates, Inc.. Austin, Teuas, USA
BOYNTON, FREDERICK P., Physical Dynamics Inc., 8erlaley, California, USA
BYERS, DAVID W., Naval Ship Engineering Cent- r, Washilngton, D.C., lUSA
CAGLE, BEN .. Office of Naval Research. Pasadena, California. USA
qALIAL, SANDER Md.,U.S. Naval Academy, Annapolis, Maryland. USA
CHAN, ROBERT K.-C.,JAYCOR, Del Mar, California, LISA
CHANG, Md.S.,DTNSRDC, Bethesda, Maryland, UJSA
CHAPMAN, R. R., Science Applicatilons, Inc.. La Jolla, Califorrnia. USA
CHASZEYKA. MICHAEL A., Office of Navel Retearch, C"hicago, Illinois, USA
CHEN, HSAO.HSIN, American Btbreati of Shippig, Nt
.ork, USA
COLEMAN, RODERICK Md.,DTNSRDC, Bethesda, Maryland, USA
COLLATZ GUENTER, The Hamburg Model Biln, Hamburg, Germany
COOPER, RALPH D., Ottficc of Naval Research, Arlington, Virginia. Ur."A
CORDONNIER, J.-P. V., Unlversil6s de Nantes. Nantes, rrance
CUJMMINS,
WILLIAM F_.DTNSIIDC, eethesda, Mariland, USA
DAOUD, NABIL, University of Michigan, Ann Arbor, Michigan. USA
DAWSON, CHARLES W., DTNSRDC, Betheada, Maryland. USA
!DEMANCHE. JEAN FRANCOIS, Bassly d'Essala des Cardnes, Paris, f-rorce
DERN, J1.C., Bassin d'Essala des Caranes, Paris, France
DOCTORS. LAWRENCE J., DTNSRDC. Bethosda, Maryland USA
EGGERS, KLAUS, Hamburg University, Hamburg, Weal Germany
EUVRARD. DANIEL, ENSTA, Paris, Franca
FALTINSEN. ODD. Norges TelmniakeHogskole, Trondheim. Norway
FEIFEL, WINFRIEL Pd.,The Boeing Comnany, Revlon, Washington, USA
FRITTS, MARTIN J.. Naval ReosearchI .,tb atr Washington, D.C., UISA
GADD,G. L., National Maritime Institute, Feitham. Middlesex, England
OARRISON. C. J., Naval Postgraduate School, Monterey, California, USA
GLEISSNER. GENE H., DTNSF;DC, Bet head,, Maryland, USA
GOODMAN, THEODORE, Stisvens Institute of Technology, Hobokean,Now Jorsey, USA
HAIKOV, ANRI J., BSHC. Verne, Bulgaria
HAUSSLING, HENRY J.. DTNSRDC, Bothea. Maryland, USA
HERMANS, AADJ., Delft ITechnical University, Delft, The Natherravia
HERSHEY. ALLEN V., Naval Surface Weapona Canter, Dahigren, Virginia, USA
HESS JOHN L, John L.Haas Astsociates, Long Beech, California, USA
HIRT, CYRIL W., Loa Alamos Wcentific Laboratory, Loa Alamos, New Mexico USA
HOLT, MAURICE. University of California, Berkeley, California. USA
HONG, YOUNG S., Conaulting NavalArchietr.t Berkeley, California, USA
IIOSODA. RYUSUKE, University of California, Berkeley, California, USA
HSIUNG, CHI.CHAO, Missiasippi Slte, University, Mississippi, USA
HWANG, ALLEN Y.*L, University of California. Berkeley, California, USA
INULTAKAO, U~niversity of Tokyo. Tokyo. Japan
JIACOBSEN, BENT K., Daniah Ship Research Laboratory, Lynigby, Denmark
JIANCJ,CHEN-WEN, Massachusetts Institute of Technology. Cambridge, Massachusetts, USA

391

JIIANG,CHEN-WEN, Massachusetts Institute of Technology, Cambridge, Massachusetts, USA


JONES, GARY, Naval Ship Engineering Center, Washington. D.C.,USA
KAHN, LAWRENCE A., Operat~ons Ressarcni, Inc., Silver Spring, Maryland, USA
KENNELL. COLEN 0., Naval Ship Engineering Center, Washington, D.C., UISA
KINOSHITA, TAKESHI, Yokohama National Univorsity, Yokohama, Japan
KORVING. CORNELIS, Delft Technical University, Deift, The Netherlands
KUSAKA. YUZO, Mitsui Engineering & Shipbuilding Co., Ltd., Tokyo. Japa

KUX JURGEN, Universitit Haniiuug, Hamburg, Germany


LANDWEBER. LOUIS, The University of Iowa, Iowa City, Iowaf,
LISA
LAROCX, BRUCI- E, University of California, Davis, California, LISA
LARSSON. LARS A-,Swedish Slate Shipbuilding Experimental Tank, GOtearg, Sweden
LAU, RICHARD, Office of Naval Rtesearch, Pasaidena, California, USA
LEE, CHOIING N., DTNSADC, Bethesda, Maryland, USA
LOKEN,A. E., Dol Norske Vefitas. Oslo, Norway
LONGUET-HIGINS, N. S.,University of Cambridge, England
LUNDEGARO, R. J., Office of Naval Research Washington, D.C.,USA
MAGNUS, ALFRE'
Boeing Company, Sroatta, Washington, USA
MARIN. SAMUEL, Carnagie Mellon University, Pittsburgh, Pernasylvania, USA
M.ARUO,NAJINE, Yokohama National University, Yokohmna, Japan
NC CATHY, JIUSTINH_,DTNSRDC, Bethesda, Maryland, USA
MILES, MICHAEL D., National Rtesaarch Council, Otiawa, Ontari(, I.;nada
MINER. F 'VADE,Naval Reasearch t aboratory. Waahint31on, D C., USA
MOLIN, BERfJARD, institul Franis du P61roie, Ifueil-MainaIson. Franca
MONACELLA. VINCENT J., DTNSRDr, Bethesda, Maryland. UISA
MORGAN, WILLIAM B.. OTNSRDC, Bethesda, Maryland, USA
MORI, KAZUHIIIO, Hiroshima University, Hliroahima Japa
NAGHOI. PAUL N., University of California, Berkeley. Calilorwe USA
NEWMANJ. NICHOLAS 401ssschusetts Instiltule of Technology, Cambridgii. Massachusati, USA
NICHOLS, S. 0., Los Alamos Scientf ic Laboratory, boa Alamoa. Now Mexico. USA
NOWACKI, HORST, Technical University of Bertin, Berlin, Weal Germany
OGILVIE, T. FRANCAS,
University of Michigan, Ann Arbor, Michigan, UISA
OHAING. SAMUEL, DTNSIC, Bethesda, Maryland, USA
PIENUMALLI, B. REDDY, Austin Rtesearch Asaociates, Austin, Texas, USA
PETTERSEN. OJ0RNAR, Technical University of Norway, Trondheimi, Norway
PINESTER. JO A., Netherlands Ship Model Basin, Wageninguri, The Netherlands
POWELL, ALAN, DTNSRDC, Bethesda, Marylainc, USA
PRITCHETT, JOHN W.,Systems. Scienice &Softwrare, La Jolla, Calif ornia, USA
RATTAYYA, JASTI, L~ockiheed Missiles & Space Company, Inc., Sunnyvale, California, USA
REDDALL, WALTER F., The Asroopaca Corporation. El Segund<o.
Calif orila USA
ROGERS, JOEL C.W., Applied Physics Laboratory, Johns Hopkins University, Laural. Maryland USA
SALVESEN, NILS, DTNSRiOC,Bethesda, Maryland, USA
SAYER, PHILIP, Uli~iorsily of Manchester, Manchester. England
SCHMIECHEN, MICHAEL, Berlin Model Basin, Berln, Germany
SCHO r, JOANNA W., DINSROG, Betfuadt Maryland, USA
SCHUBERT. CHRISTIAN, Technical Univorjity of Berlin, BWrin, West Germany
SCRAGO, CARL A., OTNSAiOC, Bethesda, Maryland, USA
SEIDL., LUDWIG H., Un~veruity of Hawaii, Hlonolulu, Hlawaii, USA
SMITH, NEILL, Navel Coastal Systems Laboratory, Psnama City. Florida, UISA
BOO11ING,
HEINRICH, Technical University of Hannover, Hannover, Weat Germany
ZPARENEENG. J. A_,University of Gron'ngeo. Grurnlngei., ,oliarsi
STREET, R,L., Stanford University, Staiford, California USA
TELSTE, JOHN G., CTNSIIOC, Bethesda. Maryland, USA
THOMPSON. JOE F.,Mlvslanippi State University. Mississippi, USA
THOMBO4. ALFX J., Physical Dynam~cs hiK, Berkeley, Californiia, USA
TSUTSl.MI, TAKAVUKI. fishikawalIma Herlima Heavylodustrlee Co., Ltd.,Yokohama Japan

306

TUCK, E. 0., University of ,delaife, Adelaide, Australia


TULIN, MARSH4ALL P., Hydroiutics, Inc., Laurel, Maryland, USA
URSELL, F.,University of Manchester, Manchester, England
VANDEN SNOECK, J. M., Univeraity of Adelaide, Adelaide, Australia
VANDER VORSY. MICHAEL, JAYCOR, Del Mar, California, USA
VAN DYKE MILTON U., Stan~ord University, Stanford, Califo~rnia, USA
VAN DYKE, PETER, flydronautlcs, Inc., Laurel, Maryland, USA
VAN OORTMERSSEN, GERARD, Netherlands Ship Model Basin, Wageningen, The Netherlands
VINJE, TOR, Technical University of Norway, Trondheim, Norway
VON KENCZEK. C., DTNSROC. Bethesda, Maryland, USA
WALDEN, DAVID A., U.S. Coast Guurd. Washington, D.C., USA
WEBSTER, WILLIAM C., University of California, Berkeley, California. USA
WEHAUSEN. JOHN V., University of California, Berkeley, California, USA
WhIITNEV, ARThUR, Lockheed Missiles & Space Company, Inc., Palo Alto, California, USA
WINTER, DONALD F., University of Washington, Seattle, Washington, USA
WU, THEODORE Y, CailfornIa Institute of Technology, Pasadena, California, USA
YEN, SHEE-MANG, University of Illinois, Urbana, Illinois, USA
YEUNG, RONALD W., Massachusotts Institute of Technology, Cambridge, Massachusetts, USA
YIN, BOHYUN, DTNSRDC, B6, .sUaMarylaesd,.USA
YUEN. HENRY C.. TRW Defense &Space Systems, Redondo Beach, California, USA
ZARDA. P. RICHARD, DTNSRD)C. Bethesda, Maryland, USA
ZIEN. T- F., Naval Surface Weapons Canter. Silver SprinG, Maryland, USA

399

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