[Yoshimi Goda] Random Seas and Design of Maritime Structures, Second Edition.pdf PDF

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RANDOM SEAS AND DESIGN OF MARITIME STRUCTURES ADVANCED SERIES ON OCEAN ENGINEERING Series Editor-in-Chief Philip L- F Llu (Cornell University) Vol. 1 The Applied Dynamics of Ocean Surface Waves by Chiang C Mei (MIT) Vol. 2 Water Wave Mechanics for Engineers and Scientists by Robert G Dean (Univ. Fl...

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RANDOM SEAS AND DESIGN OF MARITIME STRUCTURES

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ADVANCED SERIES ON OCEAN ENGINEERING Series Editor-in-Chief

Philip L- F Llu (Cornell University)

Vol. 1 The Applied Dynamics of Ocean Surface Waves by Chiang C Mei (MIT) Vol. 2 Water Wave Mechanics for Engineers and Scientists by Robert G Dean (Univ. Florida) and Robert A Dalrymple (Univ. Delaware) Vol. 3 Mechanics of Coastal Sediment Transport by Jsrgen Fredsse and Rolf Deigaard (Tech. Univ. Denmark) Vol. 4 Coastal Bottom Boundary Layers and Sediment Transport by Peter Nielsen (Univ. Queensland) Vol. 5 Numerical Modeling of Ocean Dynamics by Zygmunt Kowalik (Univ. Alaska) and T S Murty (Inst. Ocean Science, BC) Vol. 6 Kalman Filter Method in the Analysis of Vibrations Due to Water Waves by Piofr Wilde and Andrzej Kozakiewicz (Inst. Hydroengineering, Polish Academy of Sciences) Vol. 7 Physical Models and Laboratory Techniques in Coastal Engineering by Steven A, Hughes (Coastal Engineering Research Center, USA) Vol. 8 Ocean Disposal of Wastewater by /an R Wood (Univ. Canterbury), Robert G Bell (National Institute of Water & Atmospheric Research, New Zealand) and David L Wilkinson (Univ. New South Wales) Vol. 9 Offshore Structure Modeling by Subrafa K. Chakrabarti (Chicago Bridge & Iron Technical Services Co., USA) Vol. 10 Water Waves Generated by Underwater Explosion by Bernard Le Mhhaufh and Shen Wang (Univ. Miami) Vol. 11 Ocean Surface Waves; Their Physics and Prediction by Sfanis/aw R Massel (Australian Inst. of Marine Sci) Vol. 12 Hydrodynamics Around Cylindrical Structures by B Muflu Sumer and Jsrgen Fredsse (Tech. Univ. of Denmark) Vol. 13 Water Wave Propagation Over Uneven Bottoms Part 1 - Linear Wave Propagation by Maarten W Dingemans (Delft Hydraulics) Part I I - Non-linear Wave Propagation by Maarten W Dingemans (Delft Hydraulics) Vol. 14 Coastal Stabilization by Richard Silvesfer and John R C Hsu (The Univ. of Western Australia) Vol. 15 Random Seas and Design of Maritime Structures (2nd Edition) by Yoshimi Goda (Yokohama National University)

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Advanced Series on Ocean Engineering - Volume 15

RANDOM SEAS AND DESIGN OF MARITIME STRUCTURES

Y. Goda

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University of Tokyo

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World Scientific

Singapore New Jersey. London Hong Kong

Published by

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World Scientific Publishing Co. Pte. Ltd. P 0 Box 128. Farrer Road, Singapore 912805 USA ofice: Suite lB, 1060 Main Street. River Edge, NJ 07661 UK oflce: 57 Shelton Street, Covent Garden, London WC2H 9HE!

British Library Cataloguing-in-Publication Data A catalogue record for this book is available from the British Library.

First published 2000 Reprinted 2000

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RANDOM SEAS AND DESIGN OF MARITIME STRUCTURES (2ndEdition)

Copyright Q 2000 by World Scientific Publishing Co. Fte. Ltd. All rights reserved. This book, or parts thereof, may not be reproduced in any form or by any means, electronic or mechanical, including photocopying, recording or any information storage and retrieval system now known or to be invented, without written permissionfrom the Publisher.

For photocopying of material in this volume, please pay a copying fee through the Copyright Clearance Center, lnc., 222 Rosewood Drive, Danvers, MA 01923, USA. In this case permission to photocopy is not required from the publisher.

1SBN 981-02-3256-X

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This book is printed on acid-free paper.

Printed in Singapore by Uto-Print

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Forthcoming tit/es: Tsunami Run-up by Phi/@ L- F Liu (Cornell Univ.), Cosfas Synolakis (Univ. Southern California), Harry Yeh (Univ. Washington) and Nobu Shufo (Tohoku Univ.) Introduction to Coastal Engineering and Management by J William Kamphuis (Queen’s Univ.) Beach Nourishment: Theory and Practice by Robert G Dean (Univ. Florida)

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Preface ......................................................... Preface to the First Edition .......................................

xv xvii

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PART I. RANDOM SEA WAVES AND ENGINEERING APPLICATIONS Chapter 1 Introduction

1.1 Waves in the Sea ............................................ 1.2 Outline of Design Procedures against Random Sea Waves ........ 1.2.1 Wave Transformation .................................. 1.2.2 Methods of Dealing with Random Sea Waves., ............ Chapter 2 Statistical Properties and Spectra of Sea Waves

2.1 Random Wave Profiles and Definitions of Representative Waves ... 2.1.1 Spatial Surface Forms of Sea Waves ...................... 2.1.2 Definition of Representative Wave Parameters ............. 2.2 Distributions of Individual Wave Heights and Periods ............ 2.2.1 Wave Height Distribution ............................... 2.2.2 Relations between Representative Wave Heights ........... 2.2.3 Distribution of Wave Period ............................ 2.3 Spectra of Sea Waves ........................................ 2.3.1 Fkequency Spectra ..................................... 2.3.2 Directional Wave Spectra ............................... 2.4 Relationship between Wave Spectra and Characteristic Wave Dimensions ................................................. 2.4.1 Relationship between Wave Spectra and Wave Heights ..... 2.4.2 Relationship between Wave Spectra and Wave Periods .....

12 12 14 17 17 21 24 25 25 31 39 39 42

Chapter 3 Transformation and Deformation of Random Sea Waves

3.1 Wave Refraction ............................................ 45 3.1.1 Introduction .......................................... 45 3.1.2 Refraction Coefficient of Random Sea Waves .............. 47 vii

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3.2

3.3 3.4 3.5

3.6

3.7

3.8

3.9

Random Seas and Design in Maritime Structures

3.1.3 Computation of Random Wave Refraction by Means of 52 the Energy Flux Equation .............................. 3.1.4 Wave Refraction on a Coast with Straight. Parallel Depth-Contours ....................................... 55 Wave Diffraction ............................................ 57 3.2.1 Principle of Random Wave Diffraction Analysis . . . . . . . . . . . . 57 3.2.2 Diffraction Diagrams of Random Sea Waves . . . . . . . . . . . . . . . 59 3.2.3 Random Wave Diffraction of Oblique Incidence . . . . . . . . . . . . 66 3.2.4 Approximate Estimation of Diffracted Height by the Angular Spreading Method ............................. 69 3.2.5 Applicability of Regular Wave Diffraction Diagrams . . . . . . . . 72 Equivalent Deepwater Wave .................................. 73 Wave Shoaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 Wave Deformation Due to Random Breaking . . . . . . . . . . . . . . . . . . . 78 3.5.1 Limiting Wave Height of Regular Waves by Breaking . . . . . . . 78 3.5.2 Computational Model of Random Wave Breaking . . . . . . . . . . 79 3.5.3 Computation of the Change in Wave Height Distribution Due to Random Wave Breaking ......................... 81 3.5.4 Diagrams for the Estimation of Wave Height in the Surf Zone . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 3.5.5 Formulas for Wave Height Estimation Within the Surf Zone . 94 3.5.6 Wave Setup at Shoreline by Random Wave Breaking ....... 95 3.5.7 Other Models of Random Wave Breaking . . . . . . . . . . . . . . . . . 97 Wave Reflection and Dissipation .............................. 98 3.6.1 Coefficient of Wave Reflection ........................... 98 3.6.2 Propagation of Reflected Waves ......................... 100 3.6.3 Superposition of Incident and Reflected Waves . . . . . . . . . . . . 103 Spatial Variation of Wave Height along Reflective Structures . . . . . . 105 3.7.1 Wave Height Variation near the Tip of a Semi-infinite Structure ............................................. 105 3.7.2 Wave Height Variation at an Inward Corner of Reflective Structures ............................................ 107 3.7.3 Wave Height Variation along an Island Breakwater . . . . . . . . 110 Wave Transmission over Breakwaters .......................... 112 3.8.1 Wave Transmission Coefficient .......................... 112 3.8.2 Propagation of Transmitted Waves in a Harbor . . . . . . . . . . . . 115 Longshore Currents by Random Waves on Planar Beach . . . . . . . . . 116

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3.9.1 Longshore Currents by Unidirectional Irregular Waves . . . . . . 116 3.9.2 Longshore Currents by Directional Random Waves . . . . . . . . . 120 Chapter 4 Design of Vertical Breakwaters 4.1 Vertical Breakwaters in Japan ................................ 4.2 Wave Pressure Formulas for Upright Sections ................... 4.2.1 Overview of Development of Wave Pressure Formulas . . . . . . 4.2.2 Formulas of Wave Pressure under Wave Crests ............ 4.2.3 Pressure under a Wave n o u g h .......................... 4.2.4 Accuracy of Wave Pressure Formulas ..................... 4.3 Design of Upright Sections ................................... 4.3.1 Stability Condition for an Upright Section ................ 4.3.2 Width of Upright Section ............................... 4.3.3 Precautions against Impulsive Breaking Wave Pressure ..... 4.3.4 Comments on Design of Concrete Caissons ................ 4.4 Design of Rubble Mound Foundation .......................... 4.4.1 Dimensions of Rubble Mound ........................... 4.4.2 Foot-Protection Blocks and Armor Units . . . . . . . . . . . . . . . . . 4.4.3 Protection against Scouring of the Seabed in F’ront of a Breakwater ...........................................

126 132 132 134 141 144 146 146 148 153 159 160 160 161 164

Chapter 5 Design of Seawalls 5.1 Wave Overtopping Rate of Seawalls ........................... 5.1.1 Overtopping Rate by Random Sea Waves ................. 5.1.2 Wave Overtopping Rate of Vertical Revetments and Block Mound Seawalls ....................................... 5.1.3 Influence of Various Factors upon the Rate of Wave Overtopping .......................................... 5.2 Crest Elevation ............................................. 5.2.1 Design Principles for the Determination of Crest Elevation . 5.2.2 Tolerable Rate of Wave Overtopping ..................... 5.2.3 Determination of Crest Elevation of a Seawall . . . . . . . . . . . . . 5.3 Additional Design Problems Related to Seawalls ................

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167 167 169 176 177 177 179 181 185

Chapter 6 Harbor Tranquility 6.1 Parameters Governing Harbor Tranquility ......................

188

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6.2 Estimation of the Probability of Wave Height Exceedance Within aHarbor ................................................... 6.2.1 Estimation Procedure .................................. 6.2.2 Joint Distribution of Significant .Wave Height, Period and Direction Outside a Harbor ............................. 6.2.3 Selection of the Points for the Wave Height Estimation . . . . . 6.2.4 Estimation of Wave Height in a Harbor Incident Through an Entrance ............................................. 6.2.5 Estimation of Waves Transmitted over a Breakwater ....... 6.2.6 Estimation of the Exceedance Probability of Wave Height Within a Harbor ...................................... 6.2.7 Estimation of Storm Wave Height in a Harbor . . . . . . . . . . . . . 6.3 Graphical Solution of the Distribution of Wave Height in a Harbor 6.4 Some Principles for Improvement of Harbor Tranquility . . . . . . . . . . 6.5 Motions of Ships at Mooring .................................. 6.5.1 Modes and Equations of Ship Motions .................... 6.5.2 Ship Mooring and Natural Frequency of Ship Mooring System ............................................... 6.5.3 Dynamical Analysis of Ship Mooring ..................... 6.5.4 Acceptable Ship Motions at Mooring for Safe Working Conditions ............................................ 6.5.5 Some Remarks on Ship Mooring .........................

191 191

193 195 195 197 198 202 202 207 212 212 215 217 217 219

Chapter 7 Hydraulic Model Tests with Irregular Waves 7.1 Similarity Laws and Model Scales ............................. 223 7.2 Generation of Irregular Waves and Data Analysis . . . . . . . . . . . . . . . 225 7.2.1 Irregular Wave Generator ............................... 225 7.2.2 Preparation of Input Signal to the Generator . . . . . . . . . . . . . . 228 7.2.3 Input Signals to a Multidirectional Wave Generator . . . . . . . . 232 7.2.4 Data Recording and Analysis ........................... 233 7.3 Experimental Techniques for Irregular Wave Tests . . . . . . . . . . . . . . . 233 7.3.1 Model Tests on Harbor Tranquility ...................... 233 7.3.2 Model Tests for Breakwater Stability ..................... 236 7.3.3 Model Tests for Wave Overtopping and Reflection of Seawalls and Other Structures ........................... 240 7.4 Model Tests Using Multidirectional Wave Generators . . . . . . . . . . . . 241

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PART I1. STATISTICAL THEORIES OF RANDOM SEA WAVES Chapter 8 Description of Random Sea Waves

8.1 Profiles of Progressive Waves and Dispersion Relationship ........ 247 8.2 Description of Random Sea Waves by Means of Variance Spectrum 249 8.3 Stochastic Process and Variance Spectrum ..................... 252 Chapter 9 Statistical Theory of Irregular Waves 9.1 Distribution of Wave Heights ................................. 259 9.1.1 Envelope of Irregular Wave Profile ....................... 259 9.1.2 The Rayleigh Distribution of Wave Heights ............... 261 9.1.3 Probability Distribution of Largest Wave Height ........... 265 9.2 Wave Grouping ............................................. 268 9.2.1 Wave Grouping and Its Quantitative Description . . . . . . . . . . 268 9.2.2 Probability Distribution of Run Length for Uncorrelated Waves ................................................ 271 9.2.3 Correlation Coefficient between Successive Wave Heights . . . 272 9.2.4 Theory of Run Length for Mutually Correlated Wave Heights ............................................... 277 9.3 Distribution of Wave Periods ................................. 280 9.3.1 Mean Period of Zero-upcrossing Waves ................... 280 9.3.2 Marginal Distribution of Wave Periods and Joint Distribution of Wave Heights and Periods ................. 282 9.4 Maxima of Irregular Wave Profiles ............................. 292 9.5 Nonlinearity of Sea Waves .................................... 297 9.5.1 Nonlinearity of Surface Elevation ........................ 297 9.5.2 Asymmetry of Wave Profiles ............................ 299 9.5.3 Effects of Wave Nonlinearity on Wave Heights and Periods .. 302 9.5.4 Nonlinear Components of Wave Spectrum ................ 304 9.6 Sampling Variability of Sea Waves ............................. 307

Chapter 10 Techniques of Irregular Wave Analysis 10.1 Statistical Quantities of Wave Data ............................ 10.1.1 Analysis of Analog Data ............................... 10.1.2 Analysis of Digital Data ...............................

316 316 318

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10.2 Frequency Spectrum of Irregular Waves ........................

323 10.2.1 Theory of Spectral Analysis ............................ 323 10.2.2 Spectral Estimate with Smoothed Periodograms .......... 331 10.3 Directional Spectra of Random Sea Waves ...................... 336 10.3.1 Relation between Directional Spectrum and Covariance Function ............................................ 338 10.3.2 Estimate of Directional Spectra with a Wave Gauge Array . 340 10.3.3 Estimate of Directional Wave Spectra with a Directional Buoy and with a Two-axis Current Meter ................ 348 10.3.4 Advanced Theories of Directional Spectrum Estimates ..... 351 10.4 Resolution of Incident and Reflected Waves of Irregular Profiles ... 356 10.4.1 Measurement of the Reflection Coefficient in a Wave 356 Flume ............................................... 10.4.2 Measurement of the Reflection Coefficient of Prototype Structures ........................................... 361 10.5 Numerical Simulation of Random Sea Waves and Numerical 363 Filters ..................................................... 10.5.1 Principles of Numerical Simulation ...................... 363 10.5.2 Selection of Frequency and Wave Angle Components ...... 364 10.5.3 Pseudorandom Number Generating Algorithm ............ 365 10.5.4 Simulation of Time Series Data ......................... 366 10.5.5 Preparation of Control Signals for Multidirectional Wave Generator ........................................... 368 369 10.5.6 Numerical Filtering of Wave Record .....................

PART I11. STATISTICAL ANALYSIS OF EXTREME WAVES Chapter 11 Statistical Analysis of Extreme Waves 11.1 Introduction ................................................ 377 11.1.1 Data for Extreme Wave Analysis ....................... 377 11.1.2 Distribution Functions for Extreme Waves ............... 380 11.1.3 Return Period and Return Value ....................... 383 11.2 Estimation of Best-Fitting Distribution Function ................ 384 11.2.1 Selection of Fitting Method ............................ 384

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11.2.2 Plotting Position Formulas ............................. 386 11.2.3 Parameter Estimation by the Least Squares Method ...... 387 11.2.4 Selection of Most Probable Parent Distribution. .......... 390 11.3 Estimation of Return Value and Its Confidence Interval .......... 397 11.3.1 Statistical Variability of Samples of Extreme Distributions . 397 11.3.2 Confidence Interval of Parameter Estimates .............. 401 11.3.3 Return Value and Its Confidence fnterval ................ 404 11.3.4 Treatment of Mixed Populations ........................ 411 413 11.4 Design Waves and Related Problems ........................... 11.4.1 Encounter Probability and L-year Maximum Height ....... 413 11.4.2 Some Remarks for Extreme Wave Data Analysis .......... 418 11.4.3 Selection of Design Wave Height and Period ............. 421 Appendix List of Wavelength and Celerity for a Given Wave Period and Water Depth ....................................................

427

Index ...........................................................

433

Preface

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This is the second edition of the book first published in 1985 by University of Tokyo Press, which was an enlarged English edition of my book in Japanese published in 1977 by the Kajima Institute Publishing Company. The Japanese edition was revised in 1990 with the addition of new material, especially of a new chapter on the statistical analysis of extreme waves. In the present edition, further revisions have been made to update the book’s content. Additions to the first English edition are the new sections on the relationships between wave statistics and spectrum, the longshore currents induced by random waves, the motions of ships at mooring, the tests with multidirectional random waves, the advanced theories of directional spectral estimates, and the new chapter on extreme wave statistics. Several sections have been thoroughly rewritten, such as those on wave grouping, sampling variability of wave parameters, and numerical simulation of random wave profiles. The objective of this book is twofold: to provide practicing engineers with design tools to deal with random seas (Part I), and to se...