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1 Introduction 1

Denitions of motions 3

Traditional ship problems 5

Oshore structure problems 8

Hydrodynamic classication of structures 10

Engineering tools 11

2 Sea environment 13

Basic assumptions 13

Regular wave theo 17

Statistical description of waves 23

Wind 31

Current 33

Exercises 34

3 Linear wave-induced motions and loads on oatingstructures 37

Response in irregular sea 37

Response in regular waves 39

Discussion on natural periods, damping and excitationlevel 68

Linear wave-induced motions and loads on a tension legplatform (TLP) in the mass-force domain 74

Heave motion of a semi-submersible 76

Minimalization of vertical ship motions 81

Roll stabilization 85

Exercises 89

4 Numerical methods for linear wave-induced motionsand loads 102

Source technique 103

Alternative solution procedures 118

Forward speed and current eects 122

Exercises 127

5 Second-order non-near problems 131

Mean wave (drift) forces and moments 134

Slow-drift motions in irregular waves 155

Slowly-vaing oscillations due to wind 166

Sum-frequency eects 168

Exercises 170

6 Current and wind loads 174

Steady incident ow past a circular cylinder 174

Boundary layers 178

Wake behaviour 181

Vortex shedding 184

Current loads on ships 187

Current loads on oshore structures 200

Wind loads 207

Vortex-induced resonance oscillations 207

Galloping 212

Exercises 215

7 Viscous wave loads and damping 223

Morison’s equation 223

Flow separation 228

Oscillato non-separated ow 234

Separated ow at small KC-numbers 238

Separated ow at high KC-numbers 244

Experimental tools 249

Exercises 253

8 Stationkeeping 257

Mooring systems 257

Thruster forces 270

Thruster performance and dynamic positioning 276

Exercises 277

9 Water impact and entry 282

Slamming 282

Water ent problems 296

Exercises 308

References 316

Index 324