Abstract for The 21st International Workshop on Water Waves and Floating Bodies, Loughborough, England, April 2-5,

2006.

Symmetric Resonant Modes Between Twin Bodies

Robert K. M. Seah and Ronald W. Yeung

Department of Mechanical Engineering
University of California at Berkeley, Berkeley, CA 94720-1740, USA
E-mail: [email protected] & [email protected]

We wish to convery our very best wishes to Pro- created much interest in the so-called “trapped
fessor Evans, on the occasion of his retirement. mode” resonance. Newman (1999) investigated
He has made impressive contributions to the lit- the torodial form of the McIver streamlines and
erature of water waves and floating bodies, chal- Shipway and Evans (2003) studied the wave trap-
lenging fields that he has very successfully ex- ping behavior of concentric cylinders. Yeung and
plored. Seah (2004) investigated the effect of viscosity
on the McIver streamlines. It was found that
1 Introduction the time-domain solution of these shapes did not
When a moonpool is present between two bod- easily excite the oscillations at these trapped fre-
ies, its resonant motion introduces complex be- quencies. In a number of common shapes like
havior of the water column and accordingly alters circular and rectangular cylinders, the Helmholtz
mode of resonance reveals itself readily. This
the hydrodynamic field around the bodies. Com-
monly studied resonances include the Helmholtz, mode is characterized by the absence of radiat-
or “pumping mode”, and other symmetric res- ing waves but with an appreciable, yet bounded,
onances. Antisymmetric modes, referred to as amount of moonpool motion.
sloshing, are well known in its effects on motion
of floating bodies. Sloshing has been a subject In order to provide a better quantitative un-
addressed in several papers in recent Workshops. derstanding of these Helmholtz modes and their
One of the first studies of symmetric resonances modal shapes, the present study is directed to
was performed by Wang and Wahab (1971) who obtaining a semi-analytical solution of heaving
investigated the resonances of a moonpool be- twin rectangular cylinders. These results can
tween two semicircular floating bodies and noted also be obtained by an integral-equation formu-
the vanishingly small damping near the “zero- lation (say, Yeung, 1982) and other means, but
th” resonance mode. Similar behaviour can be the present analytical procedure is very accurate,
observed in Miloh’s (1983) work on waveloads and convergence of the solution is not an issue as
on solar ponds consisting of a two-layer fluid. the frequency approachs the Helmholtz and other
Helmholtz modes also occur in closely related resonance frequencies.
problems such as harbor resonance (Miles & Lee,
1974). More recently, Mavrakos (2004) studied w

the heave hydrodynamic coefficients for concen- b

tric cylinders of finite drafts. d

McIver (1996) derived the streamlines of a

twin body which does not radiate waves at in-
h 2 3 1 1 3 2

finity for a characteristic frequency. In essence,








































































































































waves generated by the body only persist in the
moonpool and local area near the bodies. This Figure 1: Schematic of the fluid domain.
2 Methodology
∞
ih
(C1n X1n + C2n X2n )Yni (6)
X
φ =
2.1 Division of solution domain n=0
The approach used in this study is similar to that (
1 for n = 0
developed by Yeung (1981) and Fotsch (1997). X1n = (7)
cosh γn (x−w)
for n ≥ 1
Whereas the domains in these previous studies cosh γn b

were subdivided into two subregions, the geom- for n = 0

(
x − w/b
X2n = (8)
etry here requires a subdivision effectively into
sinh γn (x−w)
sinh γn b
for n ≥ 1
three regions. (
1 for n = 0
Figure 1 shows these regions as the inner Yni = . (9)
for n ≥ 1.
q
cos γn (y + h)/ 12
moonpool water-column, exterior fluid domain
and the fluid domain under the body. The dis- C1n and C2n are unknown coefficients subject to
tance from the axis of symmetry to the centerline information in the other regions. Note that Yni is
of the bodies is denoted as w and each rectangular a set of orthonormal functions such that the inner
body has a half-beam of b and a draft of d. Water product can be defined as follows for any integer
depth, h, is considered to be deep when h/d is pair l and m:
greater than 20, for most wave-lengths. The fluid 1
Z −d
is taken to be inviscid and incompressible, with < Yl , Ymi
i
>≡ Yli Ymi dy = δlm (10)
h−d −h
the amplitude of heave motion being small. Thus
the velocity potential can be represented as: In a similar fashion, the linearized free-surface
and bottom conditions for the remaining two re-
Φ(x, y, t) = Re[−iσζ2 φ(x, y)e−iσt ] (1) gions result in another series of eigenfunctions
with eigenvalues satisfying
where σ is the angular frequency of oscillation,
ζ2 the heave amplitude. The spatial unit poten- m0 tanh m0 h = ν (11)
tial, φ, takes a different functional form in each of
the three subdomains, and is denoted by φe1 , φe2 mk tan mk h = −ν, k = 1, . . . (12)
and φi for the moonpool, exterior and underbody where ν = σ 2 /g, the frequency parameter.
regions, respectively. Each of these potentials is Hence, φe1 and φe2 can be written in the form
subject to a distinctive set of boundary conditions ∞
but the final form of φ should be obtained by the φq = Bkq Λqk (x)Yke (y) (13)
X

matching of the potentials and the fluid fluxes at k=0

the matching boundaries, (x = w ± b, cf. Yeung, where q = e1, e2 and Λqk , Yke are defined as
1981). In the region under the body, the inhomo-
for k
cos m0 x
geneous boundary condition,
(
cos m0 (w−b) =0
Λe1 =
k cosh mk x
for k ≥1
∂φi cosh mk (w−b) (14)
= 1, at y = −d, (2) for k
(
im0 (x−(w+b))
e =0
∂y Λe2 =
k
e−mk (x−(w+b)) for k ≥1
is used to ‘drive’ the problem. This results in the
sum of a homogeneous (φih ) and a particular (φip ) and
solution: (
cosh m0 (y + h)/N0for k = 0
1/2
φi = φip + φih . (3) Yke =
for k ≥ 1
1/2
φih is an infinite set of eigenfunctions with eigen- cos mk (y + h)/Nk
(15)
values satisfying It should be noted that the expressions for Λe1
k ex-
nπ ploits the symmetry property about the y-axis. Bkq
γn = , n = 0, 1, . . . (4)
h−d are another two new sets of unknown coefficients.
It is easy to establish that The Nk are scale factors to achieve Eqn. (10) and
are given by
1
(5)
h i
φip = (y + h)2 − (x − w)2
for k = 0
 h i
1 sinh 2mo h
2(h − d) 1+
(16)

2 2mo h i
Nk =
for k ≥ 1
h
and + sin2m2mk hk h
1

2
1
 10

-5 µ22
λ22
MOD(DET)
RE(DET)
IM(DET)
-10
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
νb

Figure 2: Heave added-mass (µ22 ) and damping (λ22 ), and matrix determinant (w/b=5.0).
2.2 Matching of solutions shown encompasses the Helmholtz frequency at
To determine the values of C1n , C2n and Bkq , it is (νb)o = 0.262 and the first symmetric resonance
required that the potentials and fluxes be matched at (νb)1 = 0.829 as indicated by zero damping
at x = w ±b. These four matching conditions can properties at these points. The indices of νb are
be used so as to eliminate Bkq from the equations, assigned to the type of modes defined above.
enabling φ be expressed entirely in terms of C1n With respect to these coefficients, it is interest-
and C2n . Thus, a linear system of equations can ing to note that the location of minimum (nega-
be obtained, tive) added mass occurs before (νb)o . In fact, it
C1n − C2n − even preceeds the location where the real compo-
0 nent of the determinant vanishes. In contrast, at
Λ e1
1 ∞ ∞ 0
j=0 Λe1 0 Skn Skj [C1j X1j + C2j X2j ]
P P k
k=0
(νb)1 , both added mass and damping show sin-
h(h−d) k
1 P∞ Λe1 e1 ∗ ip i
= h−d k=0 Λe1 0 Skn Bk − < φ , Yn >|x=w−b gular behaviour preceeding (νb)1 . In terms of
k
k
(17) the determinant, the two characteristic frequen-
C1n + C2n − cies show differing behaviour as well. While a
0 non-zero minimum in its absolute value is seen
e2
1 ∞ ∞ Λk 0
j=0 Λe2 0 Skn Skj [C1j X1j + C2j X2j ]
P P
around (νb)o , it clearly attains a zero absolute
h(h−d) k=0
k
1 P∞ Λe2 e2 ∗ ip i
= h−d k=0 Λe2 0 Skn Bk − < φ , Yn >|x=w+b value for (νb)1 . Note that for the Helmholtz
k
k
(18) mode, though the coefficients vary rapidly around
where the Helmholtz frequency, they remain bounded.
for k = 0, n = 0

sinh m0 (h−d)
Figure 3 are plots of the wave elevation in the

 1/2
 m o No
moonpool region that are in-phase and 90o out-

sin mk (h−d)
for k ≥ 1, n = 0



1/2

m k Nk
of-phase with the body motion around (νb)o . The

Skn = m0 (−1)n sinh mo (h−d)
√1 for k = 0, n ≥ 1
in-phase component has a partial sinusoidal form

No (m2o +γn
2)


 2
mk (−1)n sin mk (h−d)
for k ≥ 1, n ≥ 1 with a negative mean value leading to the ’pump-

√1



Nk (m2k −γn
2)

2
(19) ing or piston’ nature of the resonance. However,
and 1
Z −d while the form may be flattest at the frequency of
Bkq = φip Y e dy. (20)
∗
h −h x k 0.6
Terms on the RHS of Eqns. (17) and (18) are
known and the ∗ is used to denote terms associ- 0.4
νb=0.200, In-phase
νb=0.262, In-phase
ated with the particular solution. 0.2
νb=0.300, In-phase
νb=0.200, 90oo Out-of-phase
νb=0.262, 90o Out-of-phase
3 Illustrative Results and Discussions 0
νb=0.300, 90 Out-of-phase
η

The results presented here refer to a set of rectan- -0.2

gular bodies with d/b = 1 and w/b = 5. A depth-
to-draft ratio, h/d, of 20 is taken to approximate -0.4

deep water conditions. Figure 2 shows the heave -0.6

hydrodynamic coefficients, non-dimensionalized 0 0.2 0.4
x/(w-b)
0.6 0.8 1

by ρb2 , and the determinant of the matrix formed Figure 3: In- and 90o -Out-of-phase wave elevations
by Eqns. (17) and (18). The frequency range around Helmholtz resonance.
 lines as they approaches infinity. Also, the clearly
singular behaviour of (νb)n frequencies, n > 0,
can be seen as a sharp switchover from black to
white in the contour plot. Examining the loci of
(νb)o in Figure 4, the Helmholtz resonance ap-
pears to manifest initially as having very spiky
behaviour which quickly softens to a modest lo-
cal minimum as seen in Figure 2. As frequency
increases, Helmholtz resonance becomes indis-
tinct. Figure 5 is plotted in logrithmic scale, facil-
itating the identification of the loci of (νb)o . This
loci appears to tend to smaller frequencies as sep-
Figure 4: Variation of heave added-mass coefficient
aration increases, as with all the other resonant
with separation and frequency.
modes.
The results here show the effects of frequency
and separation on the behaviour of the moon-
pool resonances. However, many other parame-
ters, like draft variation, can also effect its behav-
ior. Thus, further results will be presented at the
workshop.
References
[1] A.R. Fotsch, Graduate Student Paper, SNAME,
Northern California Section , April 10, 1997, 31
pp.
[2] S.A. Mavrakos, Appl. Ocean Res. 26 (2004) 84–
Figure 5: Variation of heave damping coefficient with 97.
separation and frequency. [3] M. McIver, J. Fluid Mech. 315 (1996) 257–266.
[4] J.W. Miles and Y.K. Lee, J. Fluid Mech. 67
minimum added mass, the mean value appears to (1975) 445–464.
be most negative where the real component of the
[5] T. Miloh, Proc. Int’l Workshop on Ship and Plat-
determinant crosses the zero value at νb = 0.232.
form Motions, University of California, Berke-
Similarly, the 90o -out-of-phase component ap- ley (1983) pp.110–131.
pears to have a small sinusoidal component with
[6] J.N. Newman, J. Engrg. Math. 35 (1999) 135–
a positive mean value, which decreases to be uni-
147.
formly zero across the moonpool at (νb)o . Be-
[7] B.J. Shipway and D.V. Evans, J. Offshore Mech.
yond (νb)o , it once again recovers its small sinu-
and Artic Engrg. 125 (2003) 59–64.
soidal form but with a negative mean value.
[8] S. Wang and R. Wahab, J. Ship Research 15,
The effects of varying separation, w/b, can be No.1 (1971) 33–48.
seen in Figures 4 and 5 which are contour plots [9] R.W. Yeung, Appl. Ocean Res. 3, No.3 (1981)
of the added mass and damping coefficients re- 119–133.
spectively. The lines clearly visible on these plots
[10] R.W. Yeung, Memorandum of Computational
represent the loci of the resonances, with the bot- Hydrodynamics Laboratory, Mass. Inst. of
tom line being the loci of the Helmholtz frequen- Tech., Cambridge, MA, (1982) 5 pp.
cies (νb)o and the rest being the higher frequency
[11] R.W. Yeung and R.K.M. Seah, Proc. 19th Int’l
symmetric resonances.
Workshop on Water Waves and Floating Bodies,
An interesting feature is that (νb)o approaches Cortona, Italy (2004).
a finite value as the moonpool becomes infinitely
small which is in constrast to the rest of the dark