**Page description appears here**

“A Software Framework for Simulating Stationkeeping of a Vessel in Discontinuous Ice”

Authors: Ivan Metrikin,
Affiliation: NTNU and Statoil
Reference: 2014, Vol 35, No 4, pp. 211-248.

     Valid XHTML 1.0 Strict


Keywords: global ice loads, numerical simulation, physics engine, computational geometry, packing algorithm

Abstract: This paper describes a numerical package for simulating stationkeeping operations of an offshore vessel in floating sea ice. The software has found broad usage in both academic and industrial projects related to design and operations of floating structures in the Arctic. Interactions with both intact and broken ice conditions can be simulated by the numerical tool, but the main emphasis is placed on modelling managed ice environments relevant for prospective petroleum industry operations in the Arctic. The paper gives a thorough description of the numerical tool from both theoretical and software implementation perspectives. Structural meshing, ice field generation, multibody modelling and ice breaking aspects of the model are presented and discussed. Finally, the main assumptions and limitations of the computational techniques are elucidated and further work directions are suggested.

PDF PDF (6090 Kb)        DOI: 10.4173/mic.2014.4.2



DOI forward links to this article:
  [1] Roger Skjetne, Lars Imsland and Sveinung Løset (2014), doi:10.4173/mic.2014.4.1
  [2] Oivind Kare Kjerstad and Roger Skjetne (2016), doi:10.1109/ACCESS.2016.2553719
  [3] Marnix van den Berg (2016), doi:10.4043/27335-MS
  [4] Renat Yulmetov and Sveinung Løset (2017), doi:10.1016/j.coldregions.2017.03.002


References:
[1] Algoryx Simulation AB. (2014). AgX Dynamics library, https://www.algoryx.se/products/agx-dynamics/. [Accessed 1 Dec 2.
[2] Ardakani, H.A. and Bridges, T.J. (2010). Review of the 3-2-1 Euler Angles: a yaw-pitch-roll sequence, Technical report, Department of Mathematics, University of Surrey, 2010.
[3] Autodesk. (2014). 3ds Max, http://www.autodesk.com/products/3ds-max/, [Accessed 1 Dec 2.
[4] Blender Foundation. (2014). Blender, http://www.blender.org/, [Accessed 1 Dec 2.
[5] Boeing, A. (2009). Physics Abstraction Layer library, http://www.adrianboeing.com/pal/, [Accessed 1 Dec 2.
[6] Bonnemaire, B., Lundamo, T., Serre, N., and Fredriksen, A. (2011). Numerical Simulations of Moored Structures in Ice: Influence of Varying Ice Parameters, In Proc. of the 21st Intl. Conf. on Port and Ocean Engineering under Arctic Conditions (POAC'11). 2011.
[7] Catto, E. (2005). Iterative Dynamics with Temporal Coherence, Technical report, Crystal Dynamics.
[8] Catto, E. (2006). Exact Buoyancy for Polyhedra, In M.Dickheiser, editor, Game Programming Gems 6, pages 175--188. Charles River Media.
[9] CM Labs Simulations Inc. (2014). Vortex Dynamics, http://www.cm-labs.com/market/robotics/products/vortex-dynamics-software/, 2014. [Accessed 1 Dec 2.
[10] Coumans, E. (2012). Bullet Physics library, version 2, 81. http://bulletphysics.org/, [Accessed 1 Dec 2.
[11] Coumans, E. (2014). Physics for Game Programmers: Exploring MLCP and Featherstone Solvers, In Proc. of the Game Developers Conference. 2014.
[12] Dawes, B. (2012). Boost, Filesystem library. http://www.boost.org/doc/libs/1_57_0/libs/filesystem/doc/, 2012. [Accessed 1 Dec 2.
[13] Derradji-Aouat, A. (2010). Critical roles of constitutive laws and numerical models in the design and development of arctic offshore installations, In Proc. of the International Conference and Exhibition on Ships and Structures in Ice (ICETECH). Banff, Alberta, Canada.
[14] Erleben, K. (2005). Stable, Robust, and Versatile Multibody Dynamics Animation, Phd thesis, University of Copenhagen.
[15] Gebhardt et al. (2012). Irrlicht Engine, http://irrlicht.sourceforge.net/, [Accessed 1 Dec 2.
[16] Gehrels, B., Lalande, B., Loskot, M., and Wulkiewicz, A. (2014). Boost, Geometry library. http://www.boost.org/doc/libs/1_57_0/libs/geometry/doc/html/index.html, 2014. [Accessed 1 Dec 2.
[17] Green, M. (2013). Constrained Delaunay triangulation library Poly2Tri, http://code.google.com/p/poly2tri/, [Accessed 1 Dec 2.
[18] Hamilton, J.M. (2011). The Challenges of Deep-Water Arctic Development, International Journal of Offshore and Polar Engineering. 21(4).
[19] Heyn, T., Anitescu, M., Tasora, A., and Negrut, D. (2013). Using Krylov subspace and spectral methods for solving complementarity problems in many-body contact dynamics simulation, International Journal for Numerical Methods in Engineering, 2013. 95(7):541--–561. doi:10.1002/nme.4513
[20] Kapoulkine, A. (2014). Pugixml library, http://pugixml.org/, [Accessed 1 Dec 2.
[21] Kerkeni, S., Dal Santo, X., Doucy, O., Jochmann, P., Haase, A., Metrikin, I., Loset, S., Jenssen, N.A., Hals, T., G"urtner, A., Moslet, P.O., and Stole-Hentschel, S. (2014). DYPIC Project: Technological and Scientific Progress Opening New Perspectives, In Proc. of Arctic Technology Conference. 2014. doi:10.4043/24652-MS
[22] Kerkeni, S., DalSanto, X., and Metrikin, I. (2013). Dynamic positioning in ice: Comparison of control laws in open water and ice, In Proc. of ASME 2013 32nd International Conference on Ocean, Offshore and Arctic Engineering. 2013. doi:10.1115/OMAE2013-10918
[23] Kerkeni, S. and Metrikin, I. (2013). Automatic Heading Control for Dynamic Positioning in Ice, In Proc. of MTS Dynamic Positioning Conference. 2013.
[24] Kerkeni, S., Metrikin, I., and Jochmann, P. (2013). Capability plots of dynamic positioning in ice, In Proc. of ASME 2013 32nd International Conference on Ocean, Offshore and Arctic Engineering. 2013. doi:10.1115/OMAE2013-10912
[25] Kjerstad, O.K. and Skjetne, R. (2014). Modeling and Control for Dynamic Positioned Marine Vessels in Drifting Managed Sea Ice, Modeling, Identification and Control. 35(4):249--262. doi:10.4173/mic.2014.4.3
[26] Lee, S.-G., Zhao, T., Kim, G.-S., and Park, K.-D. (2013). Ice resistance test simulation of arctic cargo vessel using FSI analysis technique, In Proc. of the International Offshore and Polar Engineering Conference. pages 1162--1168.
[27] Lindenhof, W. (2012). Wavefront OBJ Mesh Loader library, http://www.limegarden.net/2010/03/02/wavefront-obj-mesh-loader/, [Accessed 1 Dec 2.
[28] Lu, W. (2014). Floe Ice - Sloping Structure Interactions, Phd thesis, Norwegian University of Science and Technology.
[29] Lubbad, R. and Loset, S. (2011). A numerical model for real-time simulation of ship-ice interaction, Cold Regions Science and Technology. 65(2):111--127. doi:10.1016/j.coldregions.2010.09.004
[30] Mamou, K. (2013). Hierarchical Approximate Convex Decomposition library, http://hacd.sourceforge.net/, [Accessed 1 Dec 2.
[31] Metrikin, I., Borzov, A., Lubbad, R., and Loset, S. (2012). Numerical Simulation of a Floater in a Broken-Ice Field, Part II: Comparative Study of Physics Engines. In Proc. of ASME 2012 31st International Conference on Ocean, Offshore and Arctic Engineering (OMAE2012). 2012. doi:10.1115/OMAE2012-83430
[32] Metrikin, I., Kerkeni, S., Jochmann, P., and Loset, S. (2013). Experimental and Numerical Investigation of Dynamic Positioning in Level Ice, In Proc. of ASME 2013 32nd International Conference on Ocean, Offshore and Arctic Engineering (OMAE2013). 2013. doi:10.1115/OMAE2013-10910
[33] Metrikin, I. and Loset, S. (2013). Nonsmooth 3D Discrete Element Simulation of a Drillship in Discontinuous Ice, In Proc. of 22nd International Conference on Port and Ocean Engineering under Arctic Conditions (POAC'13). 2013.
[34] Metrikin, I., Loset, S., Jenssen, N.A., and Kerkeni, S. (2013). Numerical Simulation of Dynamic Positioning in Ice, Marine Technology Society Journal, 2013. 47(2):14--30. doi:10.4031/MTSJ.47.2.2
[35] Metrikin, I., Lu, W., Lubbad, R., Loset, S., and Kashafutdinov, M. (2012). Numerical Simulation of a Floater in a Broken-Ice Field, Part I: Model Description. In Proc. of ASME 2012 31st International Conference on Ocean, Offshore and Arctic Engineering (OMAE2012). 2012. doi:10.1115/OMAE2012-83938
[36] Nevel, D.E. (1961). The Narrow Free Infinite Wedge on an Elastic Foundation, Technical report.
[37] Nevel, D.E. (1992). Ice forces on cones from floes, In Proc. of IAHR Ice Symposium. pages 1391--1404.
[38] Nvidia Corporation. (2014). NVIDIA PhysX library, https://developer.nvidia.com//gameworks-physx-overview/. [Accessed 1 Dec 2.
[39] Osthus, V. (2014). Robust Adaptive Control of a Surface Vessel in Managed Ice Using Hybrid Position- and Force Control, Msc thesis, Norwegian University of Science and Technology.
[40] Palmer, A.C. and Croasdale, K.R. (2013). Arctic Offshore Engineering, World Scientific Publishing Co. Pte. Ltd.
[41] Scibilia, F., Metrikin, I., G"urtner, A., and Teigen, S.H. (2014). Full-scale trials and numerical modeling of sea ice management in the greenland sea, In Proc. of the Arctic Technology Conference. Houston, Texas, USA. doi:10.4043/24643-MS
[42] Servin, M., Wang, D., Lacoursière, C., and Bodin, K. (2014). Examining the smooth and nonsmooth discrete element approaches to granular matter, International Journal for Numerical Methods in Engineering, 2014. 97(12):878--902. doi:10.1002/nme.4612
[43] Skjetne, R. (2014). Arctic DP: The Arctic Offshore Project on Stationkeeping in Ice, In Proc. of the IBC Maritime Ice Class Vessels Conference. 2014. doi:10.13140/2.1.2843.1360
[44] Smith, R. (2014). Open Dynamics Engine library, http://www.ode.org/, [Accessed 1 Dec 2.
[45] Su, B. (2011). Numerical Predictions of Global and Local Ice Loads on Ships, Phd thesis, Norwegian University of Science and Technology.
[46] Tasora, A. and Anitescu, M. (2011). A matrix-free cone complementarity approach for solving large-scale, nonsmooth, rigid body dynamics, Computer Methods in Applied Mechanics and Engineering. 200(5-8):439--453. doi:10.1016/j.cma.2010.06.030
[47] Tasora, A. and Anitescu, M. (2013). A complementarity-based rolling friction model for rigid contacts, Meccanica. 48(7):1643--1659. doi:10.1007/s11012-013-9694-y
[48] Tonon, F. (2005). Explicit Exact Formulas for the 3-D Tetrahedron Inertia Tensor in Terms of its Vertex Coordinates, Journal of Mathematics and Statistics. 1(1):8--11. doi:10.3844/jmssp.2005.8.11
[49] Valanto, P. and Puntigliano, F. M.E. (1997). A numerial prediction of the icebreaking resistance of a ship in level ice: Final report, Technical report, Hamburg Ship Model Basin.
[50] Wang, J. and Derradji-Aouat, A. (2010). Ship Performance in Broken Ice Floes - Preliminary Numerical Simulations, Technical report, National Research Council of Canada, Institute for Ocean Technology.
[51] Wang, J. and Derradji-Aouat, A. (2011). Numerical Assessment for Stationary Structure (Kulluk) in Moving Broken Ice, In Proc. of the 21st International Conference on Port and Ocean Engineering under Arctic Conditions. 2011.
[52] Wright, B. (1999). Evaluation of Full Scale Data for Moored Vessel Stationkeeping in Pack Ice (With Reference to Grand Banks Development), Technical report, B. Wright and Associates Ltd.


BibTeX:
@article{MIC-2014-4-2,
  title={{A Software Framework for Simulating Stationkeeping of a Vessel in Discontinuous Ice}},
  author={Metrikin, Ivan},
  journal={Modeling, Identification and Control},
  volume={35},
  number={4},
  pages={211--248},
  year={2014},
  doi={10.4173/mic.2014.4.2},
  publisher={Norwegian Society of Automatic Control}
};

News

May 2016: MIC reaches 2000 DOI Forward Links. The first 1000 took 34 years, the next 1000 took 2.5 years.


July 2015: MIC's new impact factor is now 0.778. The number of papers published in 2014 was 21 compared to 15 in 2013, which partially explains the small decrease in impact factor.


Aug 2014: For the 3rd year in a row MIC's impact factor increases. It is now 0.826.


Dec 2013: New database-driven web-design enabling extended statistics. Article number 500 is published and MIC reaches 1000 DOI Forward Links.


Jan 2012: Follow MIC on your smartphone by using the RSS feed.

Smartphone


July 2011: MIC passes 1000 ISI Web of Science citations.


Mar 2010: MIC is now indexed by DOAJ and has received the Sparc Seal seal for open access journals.


Dec 2009: A MIC group is created at LinkedIn and Twitter.


Oct 2009: MIC is now fully updated in ISI Web of Knowledge.