OTTO

September,

1986

THEORY

MANUAL

TABLE OF CONTENTS

I .

INTRODUCTION......................................I-1
A.

II .

I I I .

IV.

V.

A n a l y s i s Overview.............................l-2

V E S S E L R I G I D B O D Y MOTIONS.........................ll-1
A.

S e a / S t r u c t u r e Interaction.....................ll- 2

B.

F r e q u e n c y D o m a i n Analysis.....................ll-7

C.

Spectral

Analysis.............................ll-10

STRUCTURAL ANALYSIS...............................III- 1
A.

S t r u c t u r a l Modelling..........................lll- 2

B.

C o m p u t i n g t h e S t r u c t u r a l W a v e Loads...........lll- 3

C.

R i g i d B a r g e Idealization......................Ill-5

S P E C T R A L S T R E S S ANALYSIS..........................lV- 1
A.

C a l c u l a t i o n o f M e m b e r S t r e s s RAOs............IV- 2

B.

C a l c u l a t i o n o f C u m u l a t i v e D a m a g e Ratios.......IV- 5

C.

J o i n t Classification..........................iV- 7

M A X I M U M S T R E S S ANALYSIS...........................V- 1
A.

T i m e D o m a i n Loads.............................V- 2

B.

Gap

Element...................................V-

I*

INTRODUCTION

OTTO is a program which simulates the ocean tow of a jacket on a barge.

primary

objective

ate the stresses

Its

i s t o p r o v i d e t h e e n g i n e e r w i t h a n a n a l y t i c a l t o o 1 t o e v a l ui n b o t h t h e j a c k e t a n d i n t h e b a r g e w h i c h r e s u l t f rom the

various seastates that the tow might encounter.

The purpose of this document is to describe the theories and assumptions made
by the program.

It is not the purpose of this paper to fully develop all of

the theory; for example,

the elastic modelling of the jacket/barge structure

is accomplished via standard finite element techniques which are widely known,
and which will thus be only briefly outlined.

In areas where the theory is

not widely known or universally accepted (e.g., joint type classification),

more detail will be given.

l-l

I.A ANALYSIS OVERVIEW

The basic function of OTTO is to perform a stress analysis of a barge/jacket

combination subject to a seastate.

Thus,

the governing equation of motion is

..

MA+KA=$+;+;
--5
-

(I-1)

where
A

= structural deflections

K, M = structural stiffness and mass matrices

,
2

Next,

= sea/structure interaction forces

ii

= dead loads

= other applied loads (e.g., wind, current, etc.)

suppose that we can decompose a into two parts

(l-2)

A=x+u
w

where x is the rigid body motion of the system and u is the elastic deformation.
In OTTO we further suppose that
1.) The acceleration of the elastic deformation can be
neglected,
2 . ) T h e s e a / s t r u c t u r e f o r c e s , 3, a r e i n d e p e n d e n t o f t h e
deformation, u, and
3.) The jacket is not in the water, so that the sea
forces act only on the barge.
Then, writing 5 in terms of the six rigid body degrees of freedom (DOF),
6

i=l,6, w e g e t

x=$4

(I-3)

w h e r e e a c h o f t h e s i x c o l u m n s o f 5 r e p r e s e n t t h e s t r u c t u r a l d i s p l a c e m e n t , li,
due to a unit rigid body motion of the system.
yields

i-2

Combining (l-l) through

(l-3)

..
M;$+ku=<+:+;

(I-4)

which can be decomposed into two separate problems:

and one of a static stress analysis.

one of rigid body dynamics

Thus, w e o b t a i n

..
gg=Fj+i
-

(l-5)

..
A
*
Ku=$+d+k-M&
x
z 5 -

(l-6)

where

M=s
-TMx
r;:

The first equation is a six by six system to be solved for rigid body response,
i a n d t h e s e c o n d e q u a t i o n i s s o l v e d f o r t h e e l a s t i c d e f o r m a t i o n , ,u.
-,

l-3

I I.

VESSEL RIGID BODY MOTIONS

As was outlined in Section I,

the stress analysis is based upon loads derived

by first considering the response of the barge/jacket combination as a rigid

body.

I n t h i s s e c t i o n , w e w i l l b r i e f l y out1 i n e t h e m e t h o d o f d e t e r m i n i n g t h e

forces which the sea imposes on the structure.

jacket is not in the water,

the problem is then that of a floating vessel.

Since we have assumed that the

I l-l

1I.A SEA/STRUCTURE INTERACTION

The analysis of the interaction of a floating body with the surrounding fluid
has a lengthy history.

I n p a r t i c u l a r , S a l v e s e n , T u c k , a n d F a l t i n s e n [I] p r e -

sent not only a concise statement of the current state of the art, but also a
reasonable history of the subject.
work.

Most of the following is based on this

For purposes of calculating the sea/structure interaction, we will assume

that the barge can be considered to be composed of a collection of rigid elements,

each of which is prismatic.

We will also assume that the flow induced

b y t h e m o t i o n o f t h e v e s s e l ( e l e m e n t ) p a r a l l e l t o t h e l o n g i t u d i n a l a x i s i s neg1 igible.

Mathematically,

this can be shown to be the case provided the wave

lengths of generated waves are short in comparison to the length of the barge.
The assumption of no induced parallel flow allows us to reduce the mathematical
problem from a three dimensional one to a sequence of two dimensional ones.

In

a d d i t i o n , we will suppose
1 .) T h e m o t i o n s o f e a c h e l e m e n t a r e s m a l l ,
2.) The fluid is incompressible and invisid, and

3.) T h e f l o w i s i r r o t a t i o n a l .
These assumptions are standard in the study of ship motions, and they allow us
to reduce the problem to one of linear potential theory.

In particular, for each element of the structure, the force due to interaction
i s o b t a i n e d b y i n t e g r a t i n g t h e p r e s s u r e , p , over the submerged portion of the
element.

Here, t h e p r e s s u r e i s g i v e n b y t h e l i n e a r i z e d B e r n o u l l i e q u a t i o n

P = -p ( 2 + gc z )

I i-2

where p is the mass density of the fluid,

is the acceleration of gravity,

and $ is the velocity potential for the flow which must satisfy
02$ = 0 , o n t h e e x t e r i o r o f t h e e l e m e n t ,

(11-2)

a26
--+gcz

(I

I-3)

(I

l-4)

at2

VQ -

= 0, on the free surface,

n = v, o n t h e s u b m e r g e d s u r f a c e o f t h e s e c t i o n ,

and an appropriate radiation condition.

These conditions simply state that the

v e l o c i t y p o t e n t i a l m u s t s a t i s f y LaPlaces e q u a t i o n ,
condition,

the linearized free surface

the velocity of the flow at each point on the element must equal the

v e l o c i t y o f t h e s e c t i o n a t t h a t p o i n t , and the generated flow must behave as an

outgoing wave at infinity.

A s i s t r a d i t i o n a l l y t h e c a s e , w e w i l l c o n s i d e r t h e p r o b e m i n t h e f r e q u e n c y domain.

In other words,
@ =

where

R e

suppose that the velocity potent al has the form

(I l-5)

(4eiUt)

= G-i-, a n d 4 i s a c o m p l e x p o t e n t i a l w h i c h

this point,

is independent of time. At

it is convenient to decompose the prob em into seven pieces.

These

pieces correspond to a wave induced by a motion of each degree of freedom, and

by the scattering of the incident wave by the vessel.

Thus,

7
~

~0

~jj

(I

t-6)

(I

l-7)

j=l
w h e r e C#I~ i s t h e i n c i d e n t w a v e p o t e n t i a l

$. = v

exp [-k(z +

i x

COSB +

iy

sin@

1,

For clarity, in this section, we will use

to components of tensors.
I l-3

ind cial n o t a t i o n w h e n r e f e r r i n g

6 = the angle that the incident wave makes with

the X-axis,
n = the incident wave height,

(II-7

cont.)

6j = t h e m o t i o n o f e a c h d e g r e e o f f r e e d o m ,
67=n,
a n d e a c h p o t e n t i a l 0. s a t i s f i e s
J

v4. -

n = iwn
j
-

-J

(I

where n is the unit outward normal to the surface, and n.

.J

t-8)

is the generalized

normal given by

(n , n
1

(n
n

,n)=n
3

n6) = r x n , and
-

=Q$
-0

(1

l-9)

en
-

r being the position vector.

If the preceding results are combined with (Ii-l), and the results integrated
over the vessel surface, we find that the generalized force on the element can
be expressed as

7
= -P ,f
i
5

[io (n40

or, if this is combined with

= -p ( zni dA
S

+ 1 4.6.
j=l

) + gczl

ni

dA

(I l - 1 0 )

(II-~),
- npi(ti f(4 + @ ) ni dA
7
s
O
(11-H)

l-4

This is not, however, the case.

Notice that the first appears to be constant.

Instead,

it can be shown that, for small motions,

-09,

,f

zni

dA

si

- Rijj

where s

is the generalized force on the vessel due to buoyancy with the vessel

in its mean position, and R..

IJ

is a matrix of hydrostatic restoring coefficients.

The second term does not depend on the motion,

tude.

but is linear in the wave ampli-

This is the force on the vessel due to the presence of waves, and we will

denote it as

qi = -iwo

I(@0 +

4,)

n.

dA

:(I l - 1 3 )

F i n a l l y , s i n c e r$; i s c o m p l e x , w e w i l l d e f i n e

Re

(p

~Ec$J~

ni

dA),

and

j i
(11-l

j i

= Im (5 104.

s-J

4)

n ni dA).
-

C o m b i n i n g (11-12) t h r o u g h (II-l+), w e f i n d t h a t t h e t o t a l f o r c e o n t h e v e s s e l c a n
be represented as

9i =

S.

+ qi

[-02Hji +

ioDji +

Rj

il ~3~

(11-15)

j=l
which is the des red result.
seven potentials

Oj

Unfortunately,

the problem remains to solve for the

so that the quantities in

(11-15)

can be evaluated.

While there are several techniques available which will solve for the seven unknown

potentials,

the one which appears to be the most satisfactory is the one

devel o p e d b y F r a n k [2].
part i cular,

His technique is based on the results of John

[3]. I n

except for the set of discrete frequencies, the solution of each of

II-5

our problems can be expressed as

(I i-16)
5 = Ej G ds
where Q.
J

is the distribution of source intensities, and G is the potential of a

pulsating source along the surface.

conditions of our problem except

Since this representation satisfies all the

(II-B),

the final solution is obtained by solv-

ing the integral equation

[V *

iQj

To solve this equation,

ds]

iwnj

(11-17)

F r a n k a s s u m e s t h a t t h e s o u r c e i n t e n s i t i e s c a n b e approx-

imated a s c o n s t a n t s o v e r s e g m e n t s o f t h e s e c t i o n .

He also employs the assump-

tion that the longitudinal flow is negligible so that the three dimensional probl e m c a n b e reduce d t o a s e q u e n c e o f t w o d i m e n s i o n a l o n e s .

The result is a set of

algebraic equat ons which can be solved for the source intensities, and hence,
by employing (I
(I

-16),

the velocity potentials.

These results can then be used in

l-15) to obta n t h e s e a / s t r u c t u r e i n t e r a c t i o n f o r c e s .

II-6

1l.B FREQUENCY DOMAIN ANALYSIS

T h e r e s u l t s o b t a i n e d i n t h e preT/ious s e c t i o n f o r t h e s e a / s t r u c t u r e i n t e r a c t ion
f o r c e s w e r e i n t h e f r e q u e n c y d o m a i n , w h i l e t h e f o r m u l a t i o n o f t h e structura 1
While it is possible to transform the frequency

problem was in the time domain.

domain forces to the time domain via an inverse Fourier transform, it is more
efficient,
main.

if

possible,

to consider the structure response in the frequency do-

Thus, w e f i r s t c o m b i n e

(i-5) w i t h (11-15) t o o b t a i n

..

-.

MG=s+nq-5
v

(11-18)

[-u2H + iwD + R] 6 + d
--

t h e n w e t a k e t h e F o u r i e r t r a n s f o r m o f (11-18) t o o b t a i n

[-w2 (E + H) + iwD + R] 6: = nq:

-w
-

--

(I l--19)

where
K = structural mass matrix
;:
H = hydrodynamic added mass matrix
z

D = hydrodynamic damping matrix

6 = complex motion
q = complex linear wave forces
n = the wave height
w h e r e a $: i s u s e d t o i n d i c a t e a F o u r i e r t r a n s f o r m .

N o t e t h a t i n (11-19) a b o v e ,

w e h a v e t a k e n R t o b e e v a l u a t e d a b o u t t h e m e a n v e s s e l p o s i t i o n , s o t h a t -s + g
- = 0,
2
5
and 6
is the dynamic response relative to a position of static equilibrium. If
the vessel is not in equilibrium,

then errors will result when computing the dy-

namic response.

I l-7

Not ce
0.

that

the wave force,

is complex and depends upon the wave direction,

i f ( I I-19) i s s o l v e d w i t h rl = 1, t h e r e s u l t w i l l b e a c o m p l e x v e c t o r ,

Thus,

2 , which depends upon both the wave frequency and direction.

Cdl

This vector is

ed the response amplitude operator, or RAO, and it represents, of course,

the response of the structure to a unit amplitude regular wave of frequency w

The actual response of the structure to this wave is obtained

and h e a d i n g 8 .
from the RAO as

6(t) =

R e

[6(w,O) eiwt]

(I I - 2 0 )

9;
By replacing 6

w i t h i t s p o l a r f o r m , IS:/eiiri, w h e r e @ i s a p h a s e a n g l e , w e c a n

wr i te
c(t) = R e

Of course,

/$lei (wt @I

since (I i-19) is linear,

(I I-21)

the response of the structure to a sea com-

posed of many regular waves can be obtained from superposition.

In other words,

i f t h e s e a c a n b e r e p r e s e n t e d b y t h e s u m o f N w a v e s q.(w.,O.), t h e n . t h e s t r u c t u r e
J J J
response is given by

(I l-22)

RAOs of, I n e r t i a L o a d s

O n c e t h e v e s s e l RAOs a r e o b t a i n e d ,

t h e RAOs o f t h e m o t i o n s a t o t h e r p o i n t s a n d

of the dynamic forces acting on bodies attached to the vessel can be easily obtained.

To accomplish this, we will define

(I I-23)
I I-8

where x is the vector of RAOs of translat ion of the origin, and 0 is the vector
of RAOs of rotation.

A g a i n , assuming sma 11 a n g l e s ,

the RAO of the motion of a

point r from the origin can be computed as

X

-r

=X+Oxt_
_

(I l-24)

where x denotes the vector cross product.

To obtain the RAOs of the velocity

a n d a c c e l e r a t i o n o f t h e p o i n t , o n e s i m p l y m u l t i p l i e s (11-24) b y iw a n d (iw)
respectively.

The RAOs of the motions of a point can be used to obtain the RAOs

of the harmonic forces which act on a body whose center of gravity is located at
the point by
f = M [_xrw2

+ gcO_l
(I l - 2 5 )

w219
ii-

where
f, t = the RAOs of the force and torque on the body
M

gC

I
z
?

= the mass of the body

= the acceleration of gravity
= the inertia matrix of the body
= a v e c t o r w h o s e c o m p o n e n t s a r e (6, ,-01,0)

These forces and torques are represented in the vessel system, and this is the
reason for the second term in the equation for the force.

This term is a contri-

bution from the weight of the body as the vessel pitches or rolls.

II-9

I I. C

SPECTRAL ANALYS I S

S i n c e t h e r e s p o n s e o f t h e s t r u c t u r e c a n b e o b t a i n e d f r o m (11-22) o n c e t h e s e a
is described,

it would appear that the problem is solved.

Unfortunately, we

r a r e l y h a v e e n o u g h d a t a t o a d e q u a t e l y d e s c r i b e t h e s e a a s r e q u i r e d b y (11-22).
Instead,

what is normally reported is the sea spectrum.

The spectrum of the

sea is a function which yields a measure of the energy in the sea as a function
of frequency and direction.

In other words,

if the sea spectrum is given as

s(e,w), t h e n
02

w2

1 /s(e,w) dwde

:( I l-26)

01 Ml
i s a m e a s u r e o f t h e e n e r g y i n t h e s e a w h i c h h a s f r e q u e n c y b e t w e e n w1 a n d w2,
a n d d i r e c t i o n b e t w e e n 8, a n d 02.

For simpl ici ty,

suppose that the sea is uni-directional, i.e., that all waves

come from a single direction.

Then, mathematically,

the sea spectrum is de-

f i n e d i n t e r m s o f t h e F o u r i e r t r a n s f o r m o f t h e a u t o c o r r e l a t i o n o f t h e w a v e amp1 itude as
co
S(W)

2~ 7 [ I rl(t)n(t + T) dt] e
--co

-iw-r do

(I

I-27)

-co

If this relationship is inverted,

t + T) dt = 7 s(w) eiw dw

-03
and

for

-c

(11-28)

-a3

0,

u2

7 r12(t)
.-CD

dt

= 7

s(w) dw

(1

l-29)

--co

so that the root mean square of the wave amplitude is simply the area under the
spectrum.
I I-10

T h e s m p l e r e l a t i o n s h i p (I l-29)
estab
words

is quite important since it has been empirically

ished t h a t t h e p e a k s i n a s e a f o l l o w a Rayleigh

distribution.

In other

t h e p r o b a b i l i t y , P , o f a p e a k e x c e e d i n g n, i s g i v e n b y
P

wE
(W~IO) = I - exp(-C2/2a2) d5 ,
n o cl2

P(Wr70) =

o r

(I I-30)

( 1

e x p

- 2a2

N o t i c e t h a t t h i s p r o b a b i l i t y d e p e n d s o n l y o n CT w h i c h c a n b e o b t a i n e d f r o m t h e
spectrum.
-_

Notice also that since our original prob lem is linear, the peaks in

t h e s t r u c t u r e r e s p o n s e s h o u Id f o l l o w t h e s a m e d i s t r i b u t i o n a s t h e i n p u t . . T h u s ,
i f w e c o u l d o b t a i n t h e spec t r u m o f t h e r e s p o n s e , w e c o u l d s i m p l y u s e (11-30) t o

o b t a i n t h e p r o b a b i l i t y t h a t a given response will be exceeded.

Therefore,

the goal is to obtain the spectrum of the structural response which

is simply related to the sea spectrum by

sob) = Ix?w)/ s(w)

(1 l-31)

Finally, for each degree of freedom of the structure, the RMS can be found by
c o m p u t i n g t h e a r e a u n d e r t h e o u t p u t specfirum, a n d t h e p r o b a b i l i t y t h a t a n y g i v e n
v a l u e w i l l b e e x c e e d e d c a n b e f o u n d f r o m (11-30)

I l-11

III.

STRUCTURAL ANALYS I S

In Section II we outlined the method of solving the response of a rigid body

subjected to a long-crested, unit amplitude wave train which yields the solution to

(l-5).

To determine the stresses in the structure, it is then neces-

s a r y t o s o l v e e q u a t i o n ( l - 6 ) w h i c h y i e l d s t h e e l a s t i c d e f o r m a t i o n , IJ, o f t h e
structure which corresponds to the same wave train.

The primary difficulty in doing this is the inherent incompatibility between

the hydrodynamic model and the structural model.

This is most evident in the

t e c h n i c a l d i f f i c u l t i e s i n d e r i v i n g t h e s t r u c t u r a l w a v e l o a d s , ?j, i n

(1-6).

The next two sections discuss the steps taken in OTTO to resolve the two models.

I I l-l

I I I .A STRUCTURAL MODELLING

OTTO employs s t a n d a r d f i n i t e e l e m e n t m e t h o d s i n m o d e l l i n g t h e e l a s t i c c h a r a c teristics of the jacket and barge.

The structure is idealized as a number of

elastic elements which are interconnected at a finite number of nodes.

node may have up to six degrees of freedom,
lations and three orthogonal rotations,
have N =

Each

those being three orthogonal trans-

The structural system is then said to

6 -- N N t o t a l d e g r e e s o f f r e e d o m , w h e r e N N i s t h e t o t a l n u m b e r o f n o d e s .

The elements may be of three different types:

beams,

plates, or restraints.

By assembling the stiffness characteristics of the elements, the system stiffness matrix is formed, where
Ku=F
-...
-

(I I l - 1 )

and
K = the N x N stiffness matrix
u = vector of nodal displacements
F = a p p l ied f o r c e s .

_-.

I I l-2

III.6 COMPUTING THE STRUCTURAL WAVE LOADS

In Section II we discussed the calculation of the wave loads which act on a

vessel.

In order to perform a stress analysis,

these loads to the structure.

it is necessary to transfer

In doing so, we must reconcile two distinct

models -- the hydrodynamic model and the structural model.

S o u r c e s o f incom-

p a t i b i l ities a r e
1.) The hydrodynamic model is based upon the shape
of the wetted surface, whereas the structural
model depends upon structural framing; and
2 . ) S t r u c t u r a l m o d e l s m a y b e h i g h l y simpl i f i e d ,
even to the point of a single beam at the vessel center1 ine.
Thus, e a c h n o d e o n t h e h y d r o d y n a m i c m o d e l d o e s n o t , i n g e n e r a l , h a v e a c o r r e sponding node on the structural model to receive the load.

S o m e t y p e o f map-

ping scheme must therefore be developed in order to transfer loads from the
hydrodynamic model to the structural model.

In OTTO this is accomplished by taking the total load on a strip as the point
of organization.

The total load on a strip is found by integrating (I t-10)

over the wetted surface of the strip.

Es =
where F
and F
-SR
-Sl

:SR

This complex load is called F, where

(I I t-2)

+ iF
-s I

are the real and imaginary parts of the load.

These loads

are to be mapped to a set of joints which are specified by the user when defining the shape of the strip.

Since any number of nodes may be contained in

t h i s l i s t , a least square technique is employed to obtain a distribution of

the loads.

I f w e l i m i t c o n s i d e r a t i o n t o t h e r e a l l o a d , ,FSR, a n d p a r t i t i o n

this load into forces and moments as F

= (R,M), t h e n w h a t w e s e e k i s a s e t
-SR
- I I

l-3

of loads which minimize the function

c = ; IFj12
j=J

(I I l-3)

w h e r e N i s t h e n u m b e r o f n o d e s w h i c h a r e t o r e c e i v e t h e l o a d , a n d F
vector at the jth node.

is the force

These nodal loads must satisfy the following equations

(111-4)
and

j=l

(11 l-5)

w h e r e rJ i s a v e c t o r f r o m t h e v e s s e l o r i g i n t o t h e j t h n o d a l p o i n t

To solve

t h i s p r o b l e m , w e r e w r i t e (Ill-T) a s

; jFj;
j=,

where X
-1

X
-l

1 Fj
j=l

- Ri

a n d ,h2 a r e LaGrange mu1 tip1 i e r s .

equations which

i s s o l v e d f o r t h e F .
-_

,x2

Minimizing

This procedure

nary part, F
-SI

II

i-4

(II f - 6 )

(111-6) y i e l d s a s e t o f
i s r e p e a t e d f o r t h e imagi-

I I I .C RIGID BARGE IDEALIZATION

In OTTO, there is an option for treating the barge as a perfectly rigid body
during the structural analysis
idealization is warranted.
as follows:

in cases where the engineer feels that this

the solution of

In this case,

(I-6) is simplified

t h e s t r u c t u r a l w a v e l o a d s , g, a r e s e t t o z e r o , a n d t h e s t r u c t u r a l

d i s p l a c e m e n t s , u,

involve only jacket node points.

Ku=d^+i&M,-,

=:-

.z.

Thus,

(I I l - 7 )

is solved for the jacket displacements, u.

In constructing the right hand side

of this equation, we will attack the problem on an element by element basis

r a t h e r t h a n f o r m a l l y c o n s t r u c t i n g t h e r i g i d b o d y t r a n s f o r m a t i o n , %.
Note that
z
..
.. ..
s c a n b e d e c o m p o s e d a s 6 = (_x,$) wh e r e x a r e t h e t r a n s l a t i o n s a n d Q a r e t h e E u l e r
angles.

T h e a c c e l e r a t i o n a t s o m e p o i n t , ,p = ( x , y , z), i s t h e n e x p r e s s e d f r o m

kinematics as

..

..

..

p=;+VP+V(sxP)
-

(I I 1-8)

The inertial load on a member is computed by lumping one-half the member mass at
..
each node, t h e n m u l t i p l y i n g b y -p a b o v e .

I I l-5

IV.

SPECTRAL STRESS ANALYSIS

H a v i n g s o l v e d f o r t h e c o m p l e x e l a s t i c d e f o r m a t i o n , u , o f t h e s y s t e m , i t i s then
necessary to compute the stress RAOs.

These stress RAOs are the basis for eval-

uating the fatigue life of the structure, and hence,

it is necessary to incorpo-

r a t e e m p i r i c a l s t r e s s c o n c e n t r a t i o n f a c t o r s (SCFs) w h e n c o m p u t i n g t h e s t r e s s
RAO s .
-

The following section details the development of the stress RAOs, and

t h e c o m p u t a t i o n o f t h e c u m u l a t i v e d a m a g e r a t i o s (CDRS).

IV-1

1V.A CALCULATION OF MEMBER STRESS RAOS

For a given wave case, i.e., period and direction,

Next, for each of the N points around the circumference

act ions are computed.

of a member,

the member end complex re-

three complex normal stresses are determined:

from axial load,

stress arising

stress arising from in-plane bending, and stress arising from

T h e s e s t r e s s e s a r e c a l l e d oA, o,, a n d oo, a n d m a y b e

out of plane bending.

written as
A

7
ao

=u
= u
=U

R
.I
A+oA
R

io

(IV-l)

R
.I
O+u0

The stress RAO at a given point is determined by factoring each of the above
s i x s t r e s s c o m p o n e n t s t o g e t h e r w i t h s t r e s s c o n c e n t r a t i o n f a c t o r s (SCFs) b a s e d
u p o n r e s u l t s o f K u a n g , e t a l [4], a n d S m e d l e y [5].

The sequence of calculations to be performed at a joint are as follows:

1.) Determine all braces which lie in a plane.
For
each brace in this plane, compute the complex
a x i a l l o a d , and in-plane and out-of-plane bending
moments at the chord end of the brace.
These are
called P, M
and M
I
0
2.1

B a s e d u p o n t h e r e a l p a r t s o f P , M,, a n d M D , d e t e r mine the classification of the joint for that

load path.
The classification will be one of the
following designations:
1.) K; 2.) T (or Y); or
3.) X (cross joint).
Repeat this classification
b a s e d u p o n t h e i m a g i n a r y p a r t s o f P , M,, a n d MO.

IV-2

3.) Determine the stress concentration factors, SCF,

f o r b o t h t h e r e a l a n d i m a g i n a r y l o a d p a t h classT h e SCFs a r e c a l c u l a t e d b a s e d u p o n
if ications.
the formulae given in Table IV-l, and the equaare used for stresses due
tions below, where SCF
A
t o a x i a l l o a d o n l y , and SCF, and SCFO are used
f o r d i r e c t s t r e s s r e s u l t i n g f r o m i n - p l a n e a n d outNote that Kuangs results
of-plane moments only.
are used for K and T joints, and Smedleys are
used for X joints.

SCFA =

( T 3 , T5)

; for K joint

(Tl , T 2 )

; for T joint

1.33

fi

MAX

(Tl,

T2)

1;

for

MAX

(T13, T14)

; for K joint

MAX

(Tll , T 1 2 )

; for T joint

(IV-2)

joint

SC F, =

1
!

.33

MAX

:c

AMAX

(Tll

, T12)

:( IV-.3)

; for X joint

(T15, T 1 7 ) ; f o r K j o i n t w h e r e d/D<0.55

MAX (~16, T 1 8 ) ; f o r K j o i n t w h e r e d/D>0.55

SCF, = i

Same as K joint; for T joint

(IV-4)
1 . 3 3 :c a b o v e v a l u e ; f o r X j o i n t
i

4.) For each stress point around the circumference of

the brace, calculate the complex axial stress o
A
a n d t h e c o m p l e x d i r e c t s t r e s s e s r e s u l t i n g f r o m inp l a n e a n d o u t - o f - p l a n e m o m e n t s , U, a n d ao.
5.) The total stress RAO for each point is then calculated from
RAO(o) =

[ (0; SCF; +

0:SCF; +

~0 SCF,R) +
(IV - 5)

(u: SCF; +

-.

0; SCF; +

o; SCF;)2]

where the superscripts R and I refer to the real

and imaginary parts, respectively.

IV-3

TABLE IV-1
FORMULAE FOR ESTIMATING SCF IN TUBULAR JOINTS

-.808

e -1-2(d/D)3

Tl

= l.l77(T/D)

T2

= 2.784(T/D)-55

T5

= .825(T/D)-.157 (d/D)--441

Tll =

T12

.463(T/D)-*6

(d/D)-.04

= 1.109(T/D)-23

T 1 3

T 1 4

ltiT).56 (g,D).O58 e1.448

(t/T)*86

sin570

(d/D)-.38 (t/T)*38

(d/D).787

sin-*0

(t/T).88y

sin*557e

( d / D ) *80 (t/T)*543 sin2-0330

= .42(T/D)-.852 (d/D)--28 (t/T)*543 sin2*033@

where
D,T = diameter and thickness of chord
d,t = diameter and thickness of brace
L = length of joint can (assumed 10 ft.)
g = gap distance (assumed 2 in.)

IV-4

.nl.6~4,

sin*y4e

= .199(T/D)--4 (d/D)-*6g (t/T).88y sin557@

T 1 7 = .803(T/D)-852

(t/T)(D/L)-.*

= 2.827(T/D)-*35 (t/T)a35 sins50

= .465(T/D)-4

cD,Ll-.057

= 1.4(T/D)-*38 (d/D).06 (t/T).94 sin.8

T15

e-.35(dD)3

ct,Tjl.33?

sin 8

iV.B CALCULATION OF CUMULATIVE DAMAGE RATIOS (CDRS)

T h e d a m a g e i n c u r r e d i n a g i v e n s e a s t a t e , s , i s d e n o t e d CDRs.

Thus,

it fol lows

that, for a transit consisting of NS different seastates, the total cumulative

damage ratio, CDR, is
NS
CDR = 1 CDR
S
s=l

(IV-6)

C D R i s c o m p u t e d a s fol10ws:~
S

First,

note that the stress RAO at a given point

i n t h e s t r u c t u r e i s d e n o t e d S R A O (w,f3). T h u s ,

CDRS f o r t h i s s t r e s s i s

CDRS

=$yf#$ d r
0

where
= T i m e d u r a t i o n o f t h e seastate

= average period for stress variation

AV

P(r) = probability density function of the stress range

N(r) = average number of cycles to fai 1 ure at a given
stress range, r.
The above formula is, of course, a continuous form of Miners rule for cumulative
damage.

The terms are computed from the fol lowing equations:

(IV-~)
c2

(mom4

P(r) = + e

(IV-91

mz)/(mom4)

-r2/8m,

(IV-10)

(IV-11)

N ( r ) = At--
and the spectral moments, m., are defined as
I
-&I/2
m. =
I

I
8=8-n/2 w = o

SRAO (w,@) / 2 SHH (w)

iv-5

cosz(e-3)

dclidO

(IV-12)

where
s

HH

= the wave spectrum

= mean wave heading

= spreading function

= wave frequency

= wave heading

I V-6

1V.C J O I N T C L A S S I F I C A T I O N

Note that the stress RAO depends upon the SCF, wh ich
t h e j o i n t c l a s s i f i c a t i o n , i . e . , K, T , o r X .

s in turn dependent upon

That the j o i n t

classification

is

dependent upon the geometry of the joint and also the load path is pointed out
i n A P I - R P 2 A 161, b u t t h e m e t h o d o f c l a s s i n g t h e j o i n t i s n o t s p e l l e d o u t unambiguously.

T h i s s e c t i o n i s i n t e n d e d t o d e f i n e t h i s c l a s s i f i c a t ion

in

form

s u i t a b l e f o r i m p lementation.

We begin by making the following definitions:

S

a = (a
where SCF K,

SCF

t i o n IV.A, a n d a
Thus,

(IV-14)

K aT aX)
and SCF

(IV-13)

(SCFK, SCFT, SCFx)

aT

a r e t h e s t r e s s c o n c e n t r a t i o n f a c t o r s , d e f i n e d i n Sec-

and a

are components of the joint classification factors.

the SCF to be applied to a given brace is

(11-15)

SCF = c1 . S
-

Note that the idea here is that a joint may transfer loads in more than one mode
depending upon the load path.

Next, we make some additional definitions:

1

= the transverse resultant load on the ith member

o n t h e l e f t side of the chord

r . = the transverse resultant load on the ith member

I
on the right side of the chord

where we consider only those members that, taken with the chord, lie in the same
plane.

Further,

we define

v-7

L+

the

sum

of

all

li w h i c h a r e positi ve

L- = t h e s u m o f a l l li w h i c h a r e n e g a t i ve
R+

the

sum

of

all

ri w h i c h a r e positi ve

R- = t h e s u m o f a l l ri w h i c h a r e n e g a t i v e
and
L = Lf + L-

(Iv-16)

R = R+ + RV = R + L.

The above parameters form the basis for classing a jo nt.

The dec isions t o b e

made will be based upon the following criteria:

1 . ) T h e e x a m p l e s s h o w n i n [6] w i l l y i e l d the same
resulting classifications.
2.) A member will be classed as K if possible.

3.) L o a d s w h i c h a r e t r a n s f e r r e d f r o m o n e s i d e o f
the chord to the other side will be evenly
distributed among ail members involved.
4.) The classification will be well-behaved, i.e.,
small changes in load path will produce small
c h a n g e s i n ~1.

The majority of decisions are based upon L, R, and V.

tion to the braces on the left, then, if L = 0,
or to the chord from this side, and therefore,

If we restrict our atten-

no shear is transferred through

all members on the left are class-

ed

K,

so

that

c1

(1

,O,O).

If L # 0, then the situation is more complex, and

some of the members will be classed as T or X depending upon the total shear, V.
The classifications made in OTTO are summarized in Table IV-2 for cases where
L > 0.

Of course, all other cases can be constructed from the basic cases in

this table.

Iv-8

-.

TABLE
JOINT

Case 1
L=O

CLASSIFICATION

IV-2

FACTORS,

Case 2
L>O;V=O

Case 3
L>O;V>O

(1,090)

(1 ,o,o)

hX' o,(L/L+)l

[l -aT' (L/L+),01

(rK,aT,SiX)

Case 4
L>O;V<O

< 0;'; (l,O,O)

l.>O

(1 ,o,o)

(1 ,0,(J)

[l-(aT+q,/

(L+v)/L+I;Jv/L+/l
4

7:

1.

<

means

all

braces

with

transverse

iv-y

load

are

less

than

zero.

V.

MAXIMUM STRESS ANALYS IS

I n a d d i t i o n t o f a t i g u e f a ilure c r i t e r i a ,

it is sometimes important to consider

t h e s t r e s s i n t h e s t r u c t u r e d u e t o a s i n g l e e v e n t , s u c h a s a s e v e r e seastate
of short duration.

In this case, a strength criteria may take precedence over

a fatigue criteria.

In OTTO, this problem is addressed by allowing the treatment of the structure

statically.

By this, we mean that a snapshot is taken of the barge/jacket

combination in the time-domain, and a static analysis is performed.

of this approach are
1.) The non-linear interface between the jacket and
barge can be treated properly (i.e., gap elements).
2.) Static forces, such as wind, current, etc., can
be treated.

V-l

Advantages

V.A TIME DOMAIN LOADS

For time domain results in irregular seas,

erations must be constructed.

the wave loads and rigid body accel-

Since (I l-19) is linear, the response of the

structure to a sea of many regular waves can be obtained by superposition.

Thus,

i f t h e s e a c a n b e r e p r e s e n t e d b y a s u m o f N r e g u l a r w a v e s , ~.(a.,@.),
J J J

then the response of any given quantity, Q, may be expressed in terms of its
RAOs, Q, b y

Q(t)

Re

!
j=l

nj (wj

-:;
,ej)a

hj ,ej) 1

(v-1 1

If the irregular wave height is expressed similarly as

i
c(t)

(j

t + 4j)

= Re [ f In. / e

j=l

(v-2)

then the amplitudes are found from the wave spectrum, S, by

!qjI

% w
,f 1

S(w,e)

(v-3)

dwde

8 1 Wl
w h e r e t h e p h a s e a n g l e s , c$., a r e c h o s e n a r b i t r a r i l y , a n d t h e l i m i t s o f integraJ
tion are
w1 =

w2 =

(Wj - wj-, l/2

'"j +I

- oj)/2
(v-4)

61 = (ej - ej-,U2
e2 =

(ej+l

- ej)/2

v-2

-,

-,
V.B GAP ELEMENT

-.
During the transi t o f a j a c k e t ,

barge, i.e., it i

the jacket is on ly partially connected to the

welded to the barge at only a few tie-down locations. At

other locations along the launchway,

the jacket is free to slide along the

launchways or even lift off the launchway completely.

OTTO has the ability to

analyze this problem by using a specialized element that is called a gap ele-

ment.

In this section, we will outline the general features of this element,

and the method of solution.

Statement of the Gap Problem

T h e p r o b l e m i n g e n e r a l i s t h a t o f t w o o r m o r e s t r u c t u r e s w h c h a r e h o o k e d together i n s o m e f a s h i o n .
A gap element

is

H e r e , i n some fashion

is taken to mean gap elements.

d e a l i z e d a s t w o n o d e s i n s p a c e t h a t a r e constra ined t o g e t h e r

by the ability o f the element to transmit internal loads.

rigid

-gap

rigid rod
X
79
A A

Figure V-l
Gap Element Coordinates

v-3

rod

T h e X - a x i s o f t h e m e m b e r i s t a k e n a s i t s a x i a l d e g r e e o f f r e e d o m ; t h e Y a n d Zaxes are perpendicular to this axis.

The features of the element are now des-

cribed.

in the element local system

L e t t h e v e c t o r s ?A, a n d ~j,, c o n t a i n t h e d e f l e c t i o n ,
(x,y,z) > of the two nodes :c A and :T 0.

Thus,

the axial stretch of the element

becomes
U

(v-5)

Since the element is rigid when the gap is closed, we can write

the following

constraint equation
U

>

IA

(V-6)

and the element must generate internal loads to satisfy (V-Z). Thus, it is seen
that this element is non-linear in that its stiffness depends upon whether or
not the gap is closed.

Equations of Constraint

T h e e q u i l i b r i u m e q u a t i o n i n v o l v i n g n o d e s -- A a n d +y B i s
Kx=F
,-

(v-7)

Where
x = deflections of the two nodes, in local system
F = forces at the nodes
K = stiffness matrix
Now,

if the gap element is closed, no

al 1 of the x

f r e e d o m s i n c e e q u a t i o n (v-6) m u s t b e s a t i s f i e d .
vector x so that

v-4

are independent degrees of

I f w e partit i o n t h e deflec t i o n

x = (x
-i Cd)

(V-S)

where x are the independent degrees of freedom, and x are the dependent de-d
- i
then equation (V-7) may be written as

grees of freedom,

T h e c o n s t r a i n t s a m o n g t h e xi m a y b e w r

ten as

= G x
--i

:d

(v-9 1

which can be used to augment the equilibrium equation so tha

K.

id

GT .

di

dd

-I

(v-10)

w h e r e qL i s a s e t o f f o r c e s r e q u i r e d t o s a t i s f y e q u a t i o n s ( V - 7 ) a n d ( V - 9 ) . Solving (V-10) yields

K
=:

;:

xi

F:

(V-l 1)
(V-l 2)

i + _!$d fd - !d

!d = tdi
where
K
z
F

-,

where

::

=TTKT
z
z2

(v-13)

=_Fi

(V-l 4)

+TTF
z
,d

and

T= -I{ I
2

I
2

is

(v-1 5)

the i d e n t i t y m a t r i x w h o s e o r d e r

v-5

i s t h e s a m e a s t h a t of x
-i

Solution

Algorithm

T h e a l g o r i t h m f o r solv i n g t h e g a p p r o b l e m i s o u t l i n e d

n the following steps.

1.) Form the K and F matrices as in Equation (V-7).

2.)

F o r e a c h g a p e l e m e n t , g ( g = l...., n u m b e r o f g a p s ) ,
i n i t i a l i z e t h e c o n s t r a i n t m a t r i x , t 9 , a n d t h e internal l o a d s , a s f o l l o w s :

tg =

=:

This effectwhere I
is the 6 x 6 identity matrix.
%6
ively forces each gap to a closed position.

3.)

The system constraint matrix is calculated as

T
,

1 pg
gaps ,

tg
,

w h e r e B t r a n s f o r m s a v e c t o r f r o m t h e l o c a l (x,y,z)

system to the global coordinate system.

4.) Solve the constrained system of equations for the
displacements, x, and constraint forces,
:d

TT K T
25
25

i= TT F
z
-

x=Tx
=: - i

5.)

If t h e s o l u t i o n i s a d m i s s a b l e , t h a t i s ,
gap e l e m e n t s a r e i n c o m p r e s s i o n o r h a v e

if all
zero loads,

and a l l d i s p l a c e m e n t b o u n d s a r e m e t , t h e n a s o l
ution has been found.

If not,

t h e n g e n e r a t e a new

set of element constraint matrices,

turn to Step 3.

V-6

t 9 , and
2

re

-- .-. .--_

REFERENCES

[I] S a l v e s e n , T u c k , a n d F a l t i n s e n , S h i p M o t i o n s a n d S e a
Loads, SNAME Transactions, Vol. 78, (1970).
[2] F r a n k , W . , O s c i l l a t i o n o f C y l i n d e r s i n o r B e l o w t h e
Free Surface, NSRDC Report Number 2375, (1967).

[31

John,

F., O n t h e M o t i o n o f F l o a t i n g B o d i e s II,
C o m m u n i c a t i o n s o n P u r e a n d A p p l ied M a t h e m a t i c s , V o l . 3 ,
(1950) .

[41 K u a n g , J . G . , A . B . P o t v i n , R . D . Leick, a n d J . L . K a h l i c h ,
Stress Concentration in Tubular Joints, Journal of the
Society of Petroleum Engineering, (Aug., 1977).

[51

[61

Smedley, G. P., The Avoidance of Fatigue Failure in

Offshore Steel Structures,
Proc. I.I.W. a n d M e t a l s
Technology Conf., Sydney, (1976).
API Recommended Practices for Planning, Designing, and
Constructing Fixed Offshore Platforms, API RP 2A Fifteenth
E d . . (1984).