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Springer handbook of ocean engineering
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123
Springer
Handbookoƒ
Ocean
Engineering
Dhanak
Xiros
Editors
Springer Handbook
of Ocean Engineering
Springer Handbooks provide
a concise compilation of approved
key information on methods of
research, general principles, and
functional relationships in physical
and applied sciences. The world’s
leading experts in the fields of
physics and engineering will be assigned by one or several renowned
editors to write the chapters comprising each volume. The content
is selected by these experts from
Springer sources (books, journals,
online content) and other systematic
and approved recent publications of
scientific and technical information.
The volumes are designed to be
useful as readable desk reference
book to give a fast and comprehensive overview and easy retrieval of
essential reliable key information,
including tables, graphs, and bibliographies. References to extensive
sources are provided.
H
Handbook Springer
of Ocean Engineering
Manhar R. Dhanak, Nikolaos I. Xiros (Eds.)
With 1001 Figures and 150 Tables
K
Editors
Manhar R. Dhanak
Florida Atlantic University
The Inst. for Ocean and Systems Engineering – SeaTech
Dania Beach, Florida, USA
Nikolaos I. Xiros
University of New Orleans
School of Naval Architecture & Marine Engineering
New Orleans, Louisiana, USA
ISBN: 978-3-319-16648-3 e-ISBN: 978-3-319-16649-0
DOI 10.1007/978-3-319-16649-0
Library of Congress Control Number: 2016937503
© Springer Dordrecht Heidelberg London New York 2016
This work is subject to copyright. All rights are reserved by the Publisher,
whether the whole or part of the material is concerned, specifically
the rights of translation, reprinting, reuse of illustrations, recitation,
broadcasting, reproduction on microfilm or in any other physical way, and
transmission or information storage and retrieval, electronic adaptation,
computer software, or by similar or dissimilar methodology now known or
hereafter developed.
The use of general descriptive names, registered names, trademarks,
service marks, etc. in this publication does not imply, even in the absence
of a specific statement, that such names are exempt from the relevant
protective laws and regulations and therefore free for general use.
The publisher, the authors and the editors are safe to assume that the advice
and information in this book are believed to be true and accurate at the date
of publication. Neither the publisher nor the authors or the editors give a
warranty, express or implied, with respect to the material contained herin
or for any errors or omissions that may have been made.
Production and typesetting: le-tex publishing services GmbH, Leipzig
Typography and layout: schreiberVIS, Seeheim
Illustrations: Hippmann GbR, Schwarzenbruck
Cover design: eStudio Calamar Steinen, Barcelona
Cover production: WMXDesign GmbH, Heidelberg
Printing and binding: Printer Trento s.r.l., Trento
Printed on acid free paper
This Springer imprint is published by Springer Nature
The registered company is Springer-Verlag GmbH Berlin Heidelberg
V
Preface
It is our honor and pleasure to be part of this Springer Handbook that is intended to
serve as a ready reference for ocean engineers, including practitioners in the maritime
industry and government, as well as for researchers, educators, and students, providing
a review of important fundamental and applied materials as well as updates of the contemporary topics in ocean engineering and ocean technologies. The handbook should
be of interest to those involved in the many aspects of ocean engineering, including the
design, development and operations of marine vehicles, coastal systems, and offshore
technologies, as well as in the extraction of renewable ocean energy. At the same time,
it will serve as a guide for anyone interested in the ocean and human activities in the
ocean and the coastal environment. The handbook is divided into five parts comprising
49 chapters that cover ocean engineering basics and four important areas of application: autonomous ocean vehicles, subsystems and control; coastal design; offshore
technologies; and renewable ocean energy. The coverage includes fundamental concepts, basic theories, methodologies, tools, and techniques involved in various aspects
of the subject. The authors of the chapters of the handbook are specialists in their respective fields worldwide, and include well-accomplished individuals from academia,
industry, and government. Each chapter has been peer reviewed. The participation of
these select authors and peer reviewers has helped ensure that the handbook is an excellent and timely reference. The Springer editorial team has beautifully produced each
chapter, including numerous custom drawings and figures. Keywords on each page are
properly indexed for the convenience of the reader browsing through the handbook,
enabling relatively easy location of material of interest in the handbook.
Our sincere gratitude are due, first of all, to the part editors for their efforts in
scoping out the five parts, identifying and enlisting subject-matter experts as chapter
authors, guiding the arrangement of the chapters in the parts, following up with authors, and finally seeking peer reviews of the chapters, thereby determining the scope
and quality of the handbook. Second, our sincere thanks to all the authors for taking
the time from their busy schedules to participate in this project, and devoting much
time to carefully preparing their chapters. Further, we very much appreciate the selfless efforts of the peer reviewers for providing critical reviews of the chapters. Finally,
we are significantly indebted to Springer’s entire publishing team, including Werner
Skolaut, Leontina Di Cecco, Veronika Hamm, Judith Hinterberg, and Constanze Ober
for their knowledgeable advice, guidance, dedication, significant patience, and effective and efficient editing, which have been instrumental in ensuring timely and quality
production of this handbook in support of the ocean engineering community. Part C on
coastal design is dedicated to the late Professor Robert Dean for his many important
contributions to coastal engineering.
Manhar R. Dhanak and Nikolaos I. Xiros
VII
About the Editors
Manhar R. Dhanak, PhD, is Professor of Ocean Engineering and Director of the Institute for Ocean and Systems Engineering (SeaTech) at Florida Atlantic University
(FAU). He is the past chair (2003–2009) of the Department of Ocean Engineering at
FAU and a graduate of Imperial College, University of London. He served as a Research Associate at Imperial College, as a Research Scientist at Topexpress Ltd.,
Cambridge, UK, and as a Senior Research Associate at University of Cambridge before
joining Florida Atlantic University. Dr. Dhanak has research interests in hydrodynamics, physical oceanography, autonomous underwater vehicles (AUV), and ocean
energy. His sponsored research activities have included development of advanced
energy-efficient autonomous surface vehicles and tools for assessment of advancedhull ships, characterization of electromagnetic fields associated with oceanographic
features in a coastal environment, and assessment of electromagnetic field emissions
associated with live submarine cables.
Nikolaos I. Xiros is an Associate Professor of Naval Architecture and Marine Engineering at the University of New Orleans. His career spans more than 15 years in
both industry and academia and his expertise lies within the fields of marine, electrical and ocean engineering. He holds an Electrical Engineer’s degree and a Marine
Engineering doctorate. His research interests are process modeling and simulation,
system dynamics, identification and control, reliability, signal and data analysis. He is
author of several technical papers and a Springer monograph. His current research encompasses projects within nonlinear process dynamics, applied mathematics, energy
engineering and watercraft systems.
IX
About the Part Editors
Manhar R. Dhanak Part A For biographical profile, please see the section “About the Editors”.
Cortis K. Cooper Part A
Chevron Energy Technology Corp.
San Ramon, CA 94583, USA
Cortis Cooper is a Chevron Fellow. His primary job is pollutant modeling and
providing wind, wave, and current criteria for Chevron’s worldwide operations. He
received a BSc and an MSc in Engineering at MIT, followed by a PhD from the
University of Maine. Outside the industry, he has served on seven National Academy
of Sciences committees and boards, testified before Congress, and been a frequent
advisor to government agencies.
Thomas B. Curtin Part B
University of Washington
Applied Physics Laboratory
Arlington, VA 22205, USA
Thomas Curtin has served as Chief Scientist at NURC in Italy, Chief Knowledge
Officer at AUVSI, Program Manager at ONR, Assistant Professor at NCSU, and
oceanographer at the Fisheries Research Institute in Malaysia. He received the
BS degree in Physics from Boston College, MS and PhD degrees in Physical
Oceanography from Oregon State University and the University of Miami, and the
MBA degree from Massachusetts Institute of Technology.
Jennifer L. Irish Part C
Virginia Tech
Dep. Civil and Environmental
Engineering
Blacksburg, VA 24060, USA
Dr Jennifer L. Irish is an Associate Professor of Coastal Engineering
at Virginia Tech. She is an expert in storm dynamics at the coast,
vegetative effects, and coastal hazard risk assessment. She received the
Department of the Army Superior Civilian Service Award and Texas
A&M University’s Civil Engineering Excellence in Research Award, and
has served as Secretary of the Coasts, Oceans, Ports, and Rivers Institute
Board of Governors of the ASCE.
James M. Kaihatu Part C
Texas A&M University
Zachry Dep. of Civil Engineering
College Station, TX 77843-3136, USA
James M. Kaihatu is an Associate Professor of Civil Engineering and
of Ocean Engineering at Texas A&M University, where he has been
since 2006. He has also previously held positions at the Naval Research
Laboratory (1995–2006) and the Coastal Engineering Research Center,
US Army Corps of Engineers (1987–1989). He received his PhD in
Civil Engineering from the University of Delaware in 1994. His research
interests include nearshore wave modeling, nearshore nonlinear wave
dynamics, nearshore circulation, and wave propagation over cohesive
sediments and vegetation.
R. Cengiz Ertekin Part D
University of Hawaii at Manoa
Dep. Ocean & Resources Engineering
Honolulu, HI 96822, USA
R. Cengiz Ertekin has been Professor of Hydromechanics at the University of Hawaii’s
Department of Ocean and Resources Engineering since 1986. Before that he worked
for Chevron and Shell oil companies. He holds a PhD degree from UC Berkeley. He
has been teaching and doing research on marine renewable energy, hydroelasticity,
nonlinear waves, wave loads on offshore structures and motions, among others. He is
a fellow of SNAME and ASME.
X About the Part Editors
Dominique Roddier Part D
Principle Power
Berkeley, CA 94710, USA
Dr Dominique Roddier is a Naval Architect specializing in complex hydrodynamic
problems. He serves as Principle Power CTO and is responsible for the WindFloat
technology development and manages the company engineering team. He is actively
involved in ASME OMAE conference management and in SNAME. He also serves as
Associate Editor of multiple journals in the field of offshore engineering.
Nikolaos I. Xiros Part E For biographical profile, please see the section “About the Editors”.
XI
List of Authors
Raju Abraham
Naval Research Board
Pallickaranai Campus
Velachery-Tambram Road, Pallickaranai
600 100 Chennai, India
Gabriel M. Alsenas
Florida Atlantic University
Southeast National Marine Renewable Energy
Center
777 Glades Road
Boca Raton, FL 33431, USA
Pak-Cheung Edgar An
Florida Atlantic University
Dep. Ocean and Mechanical Engineering
777 Glades Road
Boca Raton, FL 33431, USA
Palaniswamy Ananthakrishnan
Florida Atlantic University
Dep. Ocean and Mechanical Engineering
777 Glades Road
Boca Raton, FL 33431, USA
Alexia Aubault
Principle Power Inc.
2321 4th Street
Berkeley, CA 94710, USA
Alexander Bahr
Ecole Polytechnique Fédérale de Lausanne
ENAC IIE DISAL
GR A2 454, Station 2
1015 Lausanne, Switzerland
Promode R. Bandyopadhyay
Naval Undersea Warfare Center
Undersea Warfare Weapons, Vehicles, and
Defensive Systems Dep.
1176 Howell Street
Newport, RI 02841, USA
David R. Basco
Old Dominion University
Dep. Civil and Environmental Engineering
135 Kaufman Hall
Norfolk, VA 23529, USA
Pierre-Philippe J. Beaujean
Florida Atlantic University
Dep. Ocean and Mechanical Engineering
777 Glades Road
Boca Raton, FL 33431, USA
James G. Bellingham
Woods Hole Oceanographic Institution
266 Woods Hole Road
Woods Hole, MA02543-1050, USA
Michael R. Benjamin
Massachusetts Inst. of Technology
Laboratory for Autonomous Marine Sensing
Systems
77 Massachusetts Avenue
Cambridge, MA 02139, USA
Michael M. Bernitsas
University of Michigan
Dep. Naval Architecture & Marine Engineering
2600 Draper Road
Ann Arbor, MI 48109-2145, USA
Rémi Bourguet
University of Toulouse, CNRS
Inst. Fluid Mechanics
Allée du Pr. C. Soula
31400 Toulouse, France
Mario P. Brito
University of Southampton
Centre for Risk Research
Southampton, SO17 1BJ, UK
XII List of Authors
Robert A. Brizzolara
Office of Naval Research
Sea Platforms and Weapons Division
875 N. Randolph Street
Arlington, VA 22203, USA
Stefano Brizzolara
Massachusetts Institute of Technology
MIT Innovative Ship Design Lab
77 Massachusetts Avenue
Cambridge, MA 02139-4307, USA
Wendell S. Brown
University of Massachusetts – Dartmouth
School for Marine Science and Technology
706 S Rodney French Boulevard
New Bedford, MA 02744-1221, USA
Andrew Cairns
AECOM
125 Broad Street
New York, NY 10004, USA
Thomas J. Campbell
The Shaw Group
Coastal Planning and Engineering Inc.
2481 NW Boca Raton Blvd
Boca Raton, FL 33431, USA
John M. Carel
13658 Lucera Court
Estero, FL 33928, USA
Bruce Cathers
University of New South Wales
Water Research Laboratory
110 King Street
Manly Vale, NSW 2093, Australia
Ioannis K. Chatjigeorgiou
National Technical University of Athens
School of Naval Architecture and Marine
Engineering
9 Heroon Polytechniou Ave
15780 Athens, Greece
Cortis K. Cooper
Chevron Energy Technology Corp.
6001 Bollinger Canyon Road
San Ramon, CA 94583, USA
Joseph A. Curcio
P.O. Box 1259
Gray, ME 04039, USA
Jason Dahl
University of Rhode Island
217 Sheets Laboratory
215 South Ferry Road
Narragansett, RI 02882, USA
Michael S. Dean
Naval Sea Systems Command
1333 Isaac Hull Avenue, SE Stop 1075
Washington D.C., DC 20376, USA
Robert G. Dean (deceased)
Manhar R. Dhanak
Florida Atlantic University
The Inst. for Ocean and Systems Engineering –
SeaTech
101 North Beach Road
Dania Beach, FL 33004, USA
Alana E.S. Duerr
New West Technologies LLC
10333 East Dry Creek Road, Suite 200
Englewood, CO 80112, USA
Gerald D’Spain
University of California San Diego
Scripps Inst. of Oceanography
291 Rosecrans Street
San Diego, CA 92106, USA
Frank Ehlers
Bundeswehr Technical Center for Ships and Naval
Weapons (WTD 71)
Klausdorfer Weg 2-24
24148 Kiel, Germany
List of Authors XIII
Naomi Ehrich Leonard
Princeton University
Mechanical and Aerospace Engineering
D-234 Engineering Quadrangle
Princeton, NJ 08544, USA
Karl Dietrich von Ellenrieder
Florida Atlantic University
SeaTech Inst. for Ocean Systems Engineering
101 North Beach Road
Dania Beach, FL 33004-3023, USA
R. Cengiz Ertekin
University of Hawaii at Manoa
Dep. Ocean & Resources Engineering
2540 Dole Street, Holmes Hall 402
Honolulu, HI 96822, USA
Merv Fingas
Spill Science
1717 Rutherford Point S.W.
Edmonton, T6W 1J6, Canada
George Z. Forristall
Forristall Ocean Engineering, Inc.
101 Chestnut Street
Camden, ME 04843, USA
David Fries
University of South Florida
Inst. for Research in Arts
4202 E. Fowler Avenue
Tampa, FL 33620, USA
Gwyn Griffiths
Autonomous Analytics
14 Bassett Close
Southampton, SO16 7PE, UK
Patrick J. Haley Jr.
Massachusetts Institute of Technology
Dep. Mechanical Engineering
77 Massachusetts Avenue
Cambridge, MA 02139-43071, USA
Andrew Hamilton
Monterey Bay Aquarium Research Institute
7700 Sandholdt Road
Moss Landing, CA 95039, USA
Howard P. Hanson
Florida Atlantic University
Southeast National Marine Renewable Energy
Center
777 Glades Road
Boca Raton, FL 33431, USA
John J. Holmes
Naval Surface Warfare Center
Underwater Electromagnetic Signatures and
Technology Division
9500 MacArthur Boulevard
West Bethesda, MD 20817-5700, USA
Jennifer L. Irish
Virginia Tech
Dep. Civil and Environmental Engineering
Patton Hall 221E, 750 Drillfield Drive
Blacksburg, VA 24060, USA
Dong-Sheng Jeng
Griffith University Gold Coast Campus
Griffith School of Engineering
Griffith, QLD 4222, Australia
Scott A. Jenkins
University of California San Diego
Scripps Inst. of Oceanography
291 Rosecrans Street
San Diego, CA 92106, USA
Jason Jonkman
National Renewable Energy Laboratory
National Wind Technology Center
15013 Denver West Parkway
Golden, CO 80401, USA
James M. Kaihatu
Texas A&M University
Zachry Dep. of Civil Engineering
3136 TAMU
College Station, TX 77843-3136, USA
XIV List of Authors
Tae Won Kim
FMC Technologies Schilling Robotics
260 Cousteau Place Suite 200
Davis, CA 95618, USA
William Kirkwood
Monterey Bay Aquarium Research Institute
7700 Sandholdt Road
Moss Landing, CA 95039, USA
John J. Leonard
Massachusetts Institute of Technology
Dep. Mechanical Engineering
77 Massachusetts Avenue
Cambridge, MA 02139-4307, USA
Pierre F.J. Lermusiaux
Massachusetts Institute of Technology
Dep. Mechanical Engineering
77 Massachusetts Avenue
Cambridge, MA 02139-43071, USA
Wayne G. Leslie
American Meteorological Society
45 Beacon Street
Boston, MA 02108-3693, USA
Xiao Li
4 Macopin Drive
Livingston, NJ 07039, USA
Tapovan Lolla
Massachusetts Institute of Technology
Dep. Mechanical Engineering
77 Massachusetts Avenue
Cambridge, MA 02139-43071, USA
Raymond Lum
DSO National Laboratories
14 Science Park Drive
118226 Singapore, Singapore
Patrick J. Lynett
University of Southern California
Sonny Astani Dep. of Civil and Environmental
Engineering
3620 South Vermont Avenue
Los Angeles, CA 90089, USA
Giacomo Marani
West Virginia University
WV Robotic Technology Center
1000 Galliher Drive
Fairmont, WV 26554, USA
Spyros A. Mavrakos
National Technical University of Athens
School of Naval Architecture and Marine
Engineering
9 Heroon Polytechniou Ave
15780 Athens, Greece
Robert E. Melchers
The University of Newcastle
Centre for Infrastructure Performance and
Reliability
University Drive
Callaghan, NSW 2308, Australia
Yahya Modarres-Sadeghi
University of Massachusetts
Mechanical and Industrial Engineering
160 Governors Drive
Amherst, MA 01003, USA
Stephanie M. Petillo
Woods Hole Oceanographic Institution
266 Woods Hole Road
Woods Hole, MA 02543, USA
Roshanka Ranasinghe
UNESCO-IHE Inst. for Water Education
Westvest 7
2611 AX, Delft, The Netherlands
Muthukamatchi Ravindran
Naval Research Board
Pallickaranai Campus
Velachery-Tambram Road, Pallickaranai
600 100 Chennai, India
List of Authors XV
Dronnadula V. Reddy
Florida Atlantic University
Dep. Civil, Environmental and Geomatics
Engineering
777 Glades Road EW201
Boca Raton, FL 33431, USA
Donald T. Resio
University of North Florida
Dep. Civil Engineering
1 UNF Drive
Jacksonville, FL 32224, USA
H. Ronald Riggs
University of Hawaii at Manoa
Dep. Civil & Environmental Engineering
2540 Dole Street, Holmes Hall 402
Honolulu, HI 96822, USA
George Rodenbusch
Rodenbusch Consulting
213 Heather Hills Drive
Dripping Springs, TX 78620, USA
J.A. Dano Roelvink
UNESCO-IHE Inst. for Water Education
Westvest 7
2611 AX, Delft, The Netherlands
Salvatore Scaturro
Expert Water Modelling
Level 26, 44 Market Street
Sydney, NSW 2000, Australia
Henrik Schmidt
Massachusetts Institute of Technology
Center for Ocean Engineering
77 Massachusetts Avenue
Cambridge, MA 02139, USA
Robert Seah
Chevron Energy Technology Company
Facilities Engineering Dep.
1400 Smith Street
Houston, TX 77002, USA
Thomas Sondergaard
TrackMan A/S
Stubbeled 2
2950 Vedbæk, Denmark
Matthias Stammler
Fraunhofer Institute for Wind Energy and Energy
System Technology IWES
Appelstraße 9A
30167 Hannover, Germany
Milica Stojanovic
Northeastern University
ECE Department
Boston, MA 02115, USA
Mareike Strach-Sonsalla
Fraunhofer Institute for Wind Energy and Energy
System Technology IWES
Am Seedeich 45
27572 Bremerhaven, Germany
Arisi S.J. Swamidas
Memorial University of Newfoundland
Faculty of Engineering and Applied Science
230 Elizabeth Avenue
St. John’s, A1B 2C6 NL, Canada
Peter M. Tate
Sydney Water Corporation
PO Box 399
Parramatta, NSW 2124, Australia
Krish P. Thiagarajan
University of Maine
Dep. Mechanical Engineering
5711 Boardman Hall
Orono, ME 04469, USA
Michael S. Triantafyllou
Massachusetts Institute of Technology
Dep. Mechanical Engineering
77 Massachusetts Avenue
Cambridge, MA 02139, USA
XVI List of Authors
Mark A. Tumeo
University of North Florida
College of Computing, Engineering & Construction
1 UNF Drive
Jacksonville, FL 32224, USA
Mattheus P. Ueckermann
Creare
16 Great Hollow Road
Hanover, NH 30755, USA
James H. VanZwieten
Florida Atlantic University
Southeast National Marine Renewable Energy
Center
777 Glades Road
Boca Raton, FL 33431, USA
Fabian Vorpahl
Leading Expert Offshore Engineering Tower &
Substructure Senvion GmbH
Franz-Lenz-Straße 1
49084 Osnabrück, Germany
Dirk-Jan R. Walstra
Deltares
Unit Hydraulic Engineering
Rotterdamseweg 185
2629 HD, Delft, The Netherlands
Mick van der Wegen
UNESCO-IHE Inst. for Water Education
Westvest 7
2611 AX, Delft, The Netherlands
Robert Weiss
Virginia Tech
Dep. Geosciences
4044 Derring Hall
Blacksburg, VA 24060, USA
Jan Wenske
Fraunhofer Institute for Wind Energy and Energy
System Technology IWES
Am Seedeich 45
27572 Bremerhaven, Germany
Nikolaos I. Xiros
University of New Orleans
School of Naval Architecture & Marine Engineering
2000 Lakeshore Drive
New Orleans, LA 70148, USA
Konuralp Yigit
University of Illinois at Urbana Champaign
Dep. Aerospace Engineering
104S Wright Street
Urbana, IL 61801, USA
Solomon Yim
Oregon State University
School of Civial and Construction Engineering
Kearney Hall 101
Corvallis, OR 97331, USA
Junku Yuh
Korea Institute of Science and Technology
National Agenda Research Division
Hwarangno 14-gil 5, Seongbuk-gu
Seoul, 136-791, Korea