A Simple Green Function for Diffraction-Radiation of Time-Harmonic Waves with Forward Speed

FYancis Noblesse, David Taylor Model Basinl Chi Yang, George Mason University2

Introduction

Prediction of the behavior of ships and offshore structures in time-harmonic ambient waves is a core issue in free-surfacehydrodynamics. For offshore structures, robust and highly-efficient panel methods have been developed, and are routinely used, to solve the canonical wave diffraction-radiation problems associated with the definition of added-mass and wave-damping coefficients, and wave-exciting forces and moments. These potential-flow methods are based on numerical solution of a boundary-integral equation formulated using the Green function that satisfies the linear free-surfaceboundary condition for difiraction-radiation of time-harmonic waves without forward speed. Application of this classical approach, often identified as the free-surface Green-function method, to wave diffractiorr-radiation by ships (i.e. with forward speed) has also led to useful methods see e.g. Diebold (2003), Boi,n et al. (2002,2000), Chen et al. (2000), Gui,lbaudet al. (2000), Fang (2000), Wans et al. (1999), Du et al. (2000,1999), Iwashi,ta and lto (1995), Iwashita (1997) - although not to a comparable degree of practicality because forward speed introduces major difficulties (not present for wave diffractionradiation at zero forward speed). A basic difficulty is that the Green function satisfying the linear free-surface boundary condition for diffraction-radiation of time-harmonic waves (frequency u) with forward speed U is considerably more complicated than the Green functions corresponding to the special casesU - 0 or o : 0, which can be evaluated relatively simply and efficiently, at least in deep water, e.g. Poni,zy et al. (1991. A number of free-surface Green functions, based on alternative mathematical representations, have been proposed and used in the literature on wave diffraction-radiation with forward speed. Briefly, two main types of free-surface Green functions have been used: (i) Green functions defined by single Fourier integrals that involve relatively complicated special functions (related to the complex exponential integral) of a complex argument, and (ii) Green functions expressed as single Fourier integrals along a steepest-descentintegration-path (that must be determined numerically) in the complex Fourier plane (Bessho's method). These free-surfaceGreen functions, and related singularity distributions over flat rectangular or triangular panels, have been considered in numerous studies, and relatively efficient numerical-evaluation methods have been developed, e.g. Maury (2000), Chen (1999), Boin et aI. (1999), Brument and Delhommeau (1997), Ba and Gui,lbaud (1995), Iwashi,ta and Ohkusu (1992), Bougis and Coudray (1991), Jankowski (1990), Hoff (1990), Wu and Eatock Taylor (1987), Gueuel and Bougi,s(1952), Ingli,s and Price (1982), Kobayashi,(1981), Bessho (1977), Wehausenand Lai,tone (1960). Nevertheless, Green functions that satisfy the free-surface boundary condition for wave diffraction-radiation with forward speed are relatively complicated building blocks that are not necessarilybest suited for practical applications. These free-surface Green functions are commonly expressed in the form

4nG--Tlr+R+W+L

(1)

Ilr is the fundamental free-space Green function, R stands for an elementary Rankine source - as given by Eq.(9) and the components W and L account for free-surface effects. The component Iztrl, dominant in the farfield, accounts for the waves included in the Green function G, and is defined by one-dimensional Fourier superpositions of elementary waves (i.e. single Fourier integrals). The component L accounts for nearfield free-surface effects and is defined by a singular double Fourier
tCode 52 NSWC-CD, 9500 MacArthur Blvd, West Bethesda MD 20817-5700,NoblesseFl@nswccd.navy.mil 2School of Computational Sciences, Fairfax, VL 22030-4444

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35

integral, which can be expressedin terms of single Fourier integrals involving the complex exponential integral or related special functions. Alternative mathematical expressionsfor the wave component W and the local-flow component L are given in the literature; e.g. in the studies of free-surfaceGreen functions listed in the previous paragraph, Noblesseand Yang (1996), Noblesse (1951). The most complicated of the three componentsin the decomposition (1) is the local-flow component L. The Green function (1) satisfiesthe Michell linear free-surfaceboundary condition, Eq.(3), everywhere, i.e. in both the farfield (where the linearized free-surface condition is valid) and the nearfield (where the lineartzed condition is only an approximation, becauseof nearfield effects). Thus, a natural alternative to the Green function (1) is a Green function that satisfies the Michell linear free-surface boundary condition accurately in the farfield, but only approximately in the nearfield. Such a Green function cannot be obtained by simply ignoring the local-flow component L in the alternative mathematical representations(1) given in the literatur, ffi can be seene.g. from the representation(82)-(84) of the Green function for steady flows. Specifically, the wave component W and the local-flow comp-onentL in this representation of the steady-flow Green function C;d), where fr - (*,A,2) anrl - (,Tl,O respectively stand for the singularity point and the field point (where the flow is observed), involve the sign function sign(( - r) and the absolute value lt- " l, respectively. Thus, the wave component W and the local component L do not satisfy the Laplace equation (although the sum W + tr does), and Eq.(t) with L - 0 therefore does not yield a satisfactory Green function. We obtain here a Green function that satisfies the Laplace equation, more precisely the Poisson equation (2), the radiation condition, and the Michell linear free-surfaceboundary condition (3) in the farfield - and approximately in the nearfield - by extending the analysis of Noblesse (2001). The Green function given here is expressedas the sum of a local-flow component defined by four elementary Rankine sources and three wave corrponents, which represent distinct wave systems generated by a pulsating source advancing at constant speed. These wave components are given by one-dimensional Fourier integrals with limits of integration that are independent of the field point, and continuous integrands that only involve elementary functions of real arguments. Thus, the Green function given below is considerably simpler than the free-surface Green functions that have been used in the literature on wave diffraction-radiation with forward speed. The four elementary Rankine sourcesin this "simple" Green function account for the dominant terms in both the nearfield and farfield asyrnptotic approximations to the non-oscillatory local-flow component associatedwith the Michell free-surfaceboundary condition (which thus is satisfied approximately in the nearfield and accurately in the farfield). 2 Basic Rankine-Fourier representation

The Green function G(i;r-) associated with diffraction-radiation of time-harmonic waves with {brward speed is considered here. This Green function, which represents the velocity potential of the flow created at a field point d: ({, q,e) by a moving pulsating source located at a singular point fr: (r,U,z), vanishesin the farfield limit ll d- frll + oo and satisfiesthe Poissonequation

:6({ - ")a(rt- a)6G- r) Gee * Gq,* Gee

and the Michell linear free-surfaceboundary condition Ge r F|G* - f'G * i,2rGq - e(F,Gs * if G) - g

(2)

(3)

at ( - 0; e.g. Noblesse(2001). Here, 0 < e ( frequency f, and r are defined as

1, and the Froude number .Fi, the nondimensionalwave

Fn:ulJsL

f -,1fi1s

r:

Fnf -Uwlg

(4)

g is the accelerationof gravity, U is the ship speed,L is a referencelength (typically the ship length), and c..'is the frequency of the waves encountered by the ship. If the reference length is chosen as L -Ulu, expressions(4) yield F3: r and f' : r, and the free-surface condition (3) becomes

- o G e l r +( 0 e + i l z G- e ( 4 * z ) G
36

(5)

Schiffstechnik Bd.51 - 2004lshap Technology Research Vol. 51 - 2004

This boundary condition only involves 0 < e (

1 and the parameter r:Uulg.

The coordinatesiand fr arc nondimensionalin terms of the referencelength tr. The Green function G is nondimensional with respect to a reference potential U L, where the referencevelocity [/ may be chosen as JgL. Alternative choices for (J are aL and the ship speed U. The flow is observed from a Cartesian system of coordinates that moves with speed U along the path of the ship. The r-axis is chosen along the ship path and points toward the ship bow. The z-axis is vertical and points upward, and the mean free surface is taken as the plane z - 0. Define

X-{-r Y-q-y Z:e -z Z*:C+, h - JT'TP

,-tffaT r*:lFl@# rF:W rI:W rFf :

(6)

The horizontal coordinates X and Y. and the Fourier variables a and 6 used further on. may be expressedin the polar forms ( X , Y ) - h ( c o s0 , s i n ? ) with -r 10 S r and -z- 11 I n. ( o , 0 ) : k ( c o s7 , s i n T )

(7)

The Green function can be expressedas 4nG--Llr+R-FR (S)

R is defined in terms of elementary Rankine sources and FR is given by u two-dimensional Fourier superposition of elementary waves. In deep water, the Rankine component R in the Rankine-Fourier decomposition (8) can be chosenas the single Rankine source

R - Ilr*
The Fourier component FR associated with this Rankine component is given by

(e)

l TouTo**y'! rio, FR: e--++o tt *'ieD1 7r J L

-oo -oo

(10)

e.g. Noblesse (2001). k - JFT@ is defined as

is the wave number related to the Fourier variables a and p. O Q-Xo-+YP:hkcos(7-d) (11)

The dispersion functions D and D1 are given by

D - k - (P,o - f)'

Dt:F"a-f

(r2)

The elementary wave function expfk( - i(" + grt)] satisfies the Laplace equation and the free-surface condition (3) if the Fourier variables a and p satisfy the dispersionrelation D +'ieDr - 0. Eqs.(8)-(12) define the Green function in terms of two elementarv Rankine sources and a two-dimensional Fourier superposition of elementary waves. 3 Rankine component

The Rankine-Fourier decomposition (8) may be considered for alternative Rankine components R, notably Rankine components that approximately satisfy the free-surface boundary condition

fre+FlRu-ftR*i2r0q-s
Research Vol. 51 - 2004 Bd.5L- 2004lShipTechnology SchifFstechnik

(13) 37

at ( - 0. Here, ii -

-Llr -f R. The boundary condition (13), which corresponds to (3), becomes

R<-f'At,i2rfr.q-o

(14)

for wave diffraction-radiation by a ship at low forward speed or an offshore structure in a current, and

e+ rjilee *i,2ri4-s

(15)

for wave difiraction-radiation by a ship advancing in low-frequency (long) waves.The analysisgiven in Noblesse (200,1/ shows that the local Rankine components

R - Ilr* R- -Ilr*+2lrr R-Llr*-2lrr

(16) (17) (18)

with r*,rf, rp given by (6), approximatelysatisfy the conditions (13), (L4), (15), respectively in both the nearfield limit r* ) 0 and the farfield timit r* -+ oo. Specifically, the foregoing Rankine components account for the dorninant terms in both the nearfield and farfield asymptotic approximations to the local-flow courponentsassociatedwith the boundary conditions (13)-(15). The more general local Rankine component defined by (6) and

R- Ilr* -2lrr *2lrpy

(1e)

isidenticalto(17)if F , : 0 a n d ( 1 8 ) i f f : 0 . I f F n l 0 a n d f + O , t h e R a n k i n e c o m p o n e n t s ( 1a 9n )d (16) are asymptotically equivalent in both the nearfield r* ) 0 and the farfield r* -+ oc. Furthermore, (19)isidenticalto (16) if Fn:oo or f _ oo. If F, - 0and f :0, theboundarycondition(13) becomes Re :0, and (19) accordinglyyields R - -llr*. The Rankine component -If r in (8) satisfies the Poissonequation (2), and the Rankine components ,R defined by Eqs.(16)-(19) satisfy the Laplace equation in the lower half space ( < 0. 4 Fourier cornponent

The Fourier components f'n that correspond to the alternative Rankine components (16)-(19) in the Rankine-Fourier decomposition (8) of the Green function are given by

1T r Ae-iv+z.k T FR: lim l a p Jl a o ^ D : +,ieD1 e-+*or J

(20)

A is a function of the Fourier variablesa and 0. Eqs.(9) and (10) yield A - | for the Fourier component FR related to the Rankine component (16). The amplitude functions A associatedwith the Rankine components (17) and (18) are given in Noblesse(2001). These amplitude functions correspondto the special casesF, :0 and f : 0, respectively,of the amplitude function

A _ r - e-F?*(t _ e-k/f")Dlk

(2r)

associatedwith the Rankine component (19). The dispersion function D in (21) is defined by (12). Eqs.(21)and (12) yield

k A- l - z k l f , iff+ol ,+o ask Fik'(i l ir'y +.or27) s t t

kA t-t
38

(22)

1) I Il$ - Flkcos2 fir'lk

if F, + 0 I ask-+oo \ri;- ol'

(23)

Schiffstechnik Bd.51 - 2004lship Technology Research Vol. 51 - 2004

Thus, we have AID < Ilk in both the limit k + 0 and the limit k -+ oo. This property, which holds for the general caseF"f + 0 and the special casesf : 0 or Fn: 0, confirms that the Rankine component (19) accounts for the leading term in both the nearfield and farfield asymptotic approxirrtationsto the nonoscillatory local-flow components associatedwith the boundary conditions (13)-(15). as Noblesse(2001)shows that a singular double Fourier integral of the type (20) can be expressed the sum of a double Fourier integral L that represents a local-flow component, and a wave component W that is dominant in the farfield limit h -+ oo and is given by one-dimensional Fourier superpositions of elementary waves along the dispersion curves associatedwith the dispersion relation D - 0. Thus, expression (8) for the Green function becomes

4n G - -Ilr + /? - W - L

(24)

nor the local-flow Fourier component L in the decomposition Neither the Rarrkine component -Ilr+R (24) contributes to the wavesassociatedwith the Green functionG, which are entirely defined by the wave component W . Accordingly, the amplitude function A in (20) is equal to 1 at a dispersioncurve D - 0 for the Fourier components -PE associatedwith the Rankine components (16)-(19), as can indeed be verified in (2L). A general expression for the wave component W in the Rankine-Fourier decomposition (2a) is given in the next section. 5 Generic wave component

The singular double Fourier integral (20) is now considered for a generic amplitude function A and generic dispersion functions D and D1. This integral, where O is given by (11), can be expressedas

FR :

e-+*0

Iim

1 TouTo* TrJ J

Ae-i(@+iZ-k)

D + ieDl

(25)

The analysis of (20) given in Noblesse(2001/ shows that, in the farfield, the singular double Fourier integral (25) can be approximated by a wave component defined as

w - -nDo ffi o,[-oo'

e-io+z*k

(26)

The summation is performed over all the dispersroncurves defined by the dispersion relation D : 0, ds stands for the differential element of arc length of a dispersion curve, and llVDll - JVD.Vn w h e r eV D - ( D o , D p )

Do and D p are the derivatives of the dispersion function D with respect to a and p. The function A in (26) is defined as A - sign(Dr) * sign(doDo + 60ng erf(r/tlo)

i - (6o,,5t3)is a field of unit vectors in the Fourier plane (o, 0) that is roughly orthogonal t o a dispersion curve, and erf is the usual error function. Furthermore, o is a positive real function that controlsthewidthof thedispersionstripsusedinNoblesse(2001) for thefarfieldanalysisof (20), and r/ is defined as { : k(|opa * 5Ppp) with 9 : Q +'iz*k Eq.(11) yields 9a: X + i,Z.af k and pp - Y + iZ.Plk Thus, 'rl is given by

$ : k(6"x + lPY)+ iz*(6"o+ tp0) - xa +Yb *'iz*c

Research Vol. 5L - 2004 Bd.51- 2004/ShipTechnology SchifFstechnik

39

with a - |ok,,b : 6ak and c function of the form

6ou+ |PP. The integrand of the Fourier integral (26) involves a

Xa + yb + iZ.c) ( x . " + yi l + z _ k , ( "_, \ o /

where O stands for the error function, and a,b,c are functions of the Fourier variables a and B. The foregoing product of two functions, and consequently the wave component (26), satisfies the Laplace equation if the functions a,b,c satisfy the two conditions a2 + b2 : c2 and aa + Pb - kc. These c o n d i t i o n s a r e s a t i s f i e dt if hefieldof unitvectorsdischosenasd- (o,P)lk. Indeed,thischoiceyields (tr:2trb:/rc-kand

: X a + Y p + ' i z * k- Q + , i z * k 4s
byvirtueof (11).Furthermore,wehave 6oDo+6PDp:VD.(",,Olkof the dispersion function D in the radial direction (o, p)lk. Thus, the function A in (26) becomes DpwhereDlristhederivative

A - sisn(Dr)* sign(Dr) O

(27)

with O - erf(O/o * i'Z.klo). The error function erf may be replaced by the simpler hyperbolic function tanh. Thus, the function O becomes

+iV\ _tanhQ0lo) +isin(zVlo)lcosh(2alo) O _ tanh (a o / 1+cos(2v|")lcosh(2Dlo) \ with Q - Xa+YP in accordance with (11)and V - Z*k.We have O =sisn(o) if 1 < N <l2alol

(28)

(2e)

This approximationcan be usedfor N = 10. The function O is finite exceptif

O:0 If O : 0, we have O: -'dtan) with ).- -Z*klo The function f/ : \10+ ^4lc4) has a maximrm H* - cJ3l414 for ) : \* : clTrla. The function tanH is finite if H^ l rf 2,,i.e. if C <2nlT3l+. Thus, v in (2g) is modified as and cos(2Vfo):-1

V_

z*k
L + (Z.k)n l(C")a

(30) (31)

with C <2rl33la x2.756

The error in the Laplace equation associated with expression (30) for V is insignificant if - Z*k < Co. This error is negligible also for sufficiently large values of -Z*k becausethe exponential flnction ez*k io (26) vanishes as -Z*k + oo, and the wave component W is insignificant in comparison to the local-flow component -Ilr * R - L in Q\ for large values of - Z*. The value of the exponential function ez*k - e-o\ in (26) for .\ : \^ is smaller than the small positive real number e if 1n(1/e) < oA^ - Co l3tla. This condition yields Jrl4:o'1le) < co W e t h e n o b t a i n 3 < C o f o r e - 0 . 1 , 6 < C o f o r e - 0 . 0 1 ,a n d 9 l C o f o r e : 0 . 0 0 1 . If Z* - 0, (28) yields O - tanh(O/o). The variation of the function Qlo that correspondsto one period of the trigonometric function e-iQ in (26) is given by 2rlo. We have

O . e e < l t a n h ( o /s ") 1l
40

if

2.65<lall"

SchifFstechnik Bd.5L - 2004lShipTechnology Research Vol. 51 - 2004

the function lOl becomesapproximately equal to 1 within n periods Thus, if o 12nr12.65 = 2.37n,, (wave lengths) of the function "-iQ. The choiceo - 2.4 ensuresthat local-flow effectsare insignificant at distances greater than approximately one wave length. Thus, acceptablechoicesfor o in (28) and Co in (30) are o - 2.5 and Co: value of C, equal to 2, satisfiesthe restriction (31). 6 Dispersion functions and dispersion curves 5. The corresponding

The dispersion functions (12) and the related dispersion curves, defined by the dispersion relation D - 0, are consideredin Noblesse(2001) and lfoblesse and Yang (2003). These studies show that the dispersion curves, which are symmetric about the axis 0 :0, intersect the axis c - 0 at P - *.f2, andtheaxisp-0at a:Lkf, anda -+k; with
hl: t"l JI

t 2 lt lrr l l rI l tt , t I
l \ v - / -

,' r Lt 1 - l / 'r l\ 2

k * : ( y q l 4 + " + r l 2 ) 2l F 3

(32)

The roots kr+ and kj are real for every value of. r. However, the roots ko and k; are real only if l a s er : 1 1 4 , w e h a v ek ; : f l F " - k ; . r < I 1 4 . I n t h e s p e c i ac If r {I14,, the dispersionrelation D - 0 definesthree dispersioncurveslocated in the regions a<-k; -k;1>o<k{ k!<o

(33)

If Ifr_Il4,thedispersioncurVeSintheregionsa1-k;and-k1< < < it o. However, is kf, and k{ ll4 < T, we have two dispersion curves located in the regions a useful to subdivide these two regions into the three regions

a{-flF"

-flF"<o<k{

kI<o

(34)

Thus, the dispersion curves can be decomposed into three branches, identifie<l as the inner branch 1 and the outer branches O- and O+. The outer branch O+ correspondsto the dispersion curve in the regio" k: ( a in (33) and (34). The outer branch O- correspondsto the dispersion curve in the F i n a l l y ,t h e i n n e r r e g i o na < - k ; i n ( 3 3 ) i f r 1 L 1 4 , o r t h e r e g i o n o < - f l F n i n ( 3 4 ) i f L l 4 < r . -k; I a l kf in (33) if r !lla, or the to the dispersioncurve in the region branch l corresponcls region -f lF" I a I kf in (34) if Il4 S r. The dispersion curves in the regions o < -f lFl,.,and - f F" I a 1. k{ in (34) are connected at I

*: -f lF"

-If 16r'2

lF"

k:4f2

(35)

Tlre wave numbers kr+ and kf defined by (32) and the wave number k : 4f2 in (35) provide reference wave numbers for the dispersion curves in the five distinct regions (33) and (3a). The functions sign(D1) and sign(D7r) are constant along the three dispersion curves I and O+ related to the regions (33)-(34), arrd equal to I Og+ sign(Dr): -l sign(D1): -1 s i g n ( D 1 ): 1 sign(D6) - | sign(D/,) - -1 sign(D6) - -1

(36)

The property that sign(D1) and sign(D6) are constant along the three dispersion curves I and Ojustifies the subdivisionof the dispersion curves for Il4 ( r into the three branches (34). At a dispersion curve (defined by D - 0), expressions (12) and the relation k - 6+F the Fourier variables a and B in terms of the wave number k as define

a:

f lF,*sign(D){ElF"

P-+Jk2 -lf lF"*sign(D){nlP,l'

r v L U

(37) 4L

Vol. 51 - 2004 Research Bd.51 - 2004lShipTechnology SchifFstechnik

If the wave number k is expressed in terms of a parameter f, expressions (37) define the dispersion curves in terrrs of parametric equations

k : k(t)

a - a(t)

0 : 0(t)

(38)

Specific parametric representations of the dispersion curves are given below. 7 Wave components At a dispersion curve, the vectors VD : (Do,Dil and dl : (da,d,p) are orthogonal. Thus,

J=

-w _ - ' _ kldol_*rlo',,1 dt )yl, llvDil vJl lpl*"

(3e)

Here, expression(12) for the dispersion function D was used, and at stands for the derivative of the function a(f) in the parametric Eqs.(3s). Thus, (20) and (27) yield

w - -oLo

-W( ,*

s i g n D*l s i g n D *@)Ae-iF+z*k

(40)

where O - Xa * Y p in accordancewith (11). Furthermore, signDl and signDp are given by (36), and the function O is defined by (28)-(31). The regions (33)-(34) and the related branches 1 and O+ of the dispersion curves yield distinct contributions to the Fourier representation (a0) of the wave corrponent W. Specifically, the wave component W may be expressedas

w - i , ( w i+ w - - w + )

@r)

where the components Wi and,Wr are associated with the inner branch .I and the outer branches O+, respectively,of the dispersion curves. In the special case r - 0, the decomposition (a1) of the wave component W can be expressedas W-iW'_WO where Wo - i'(W+ - W-) accounts for the contribution of the two outer branchesO*. 8 Wave component lV+

(42)

The wave component W+ is associatedwith the outer dispersiorrcurve O+ located in the outer region k: < a in (33) and (31). The reference wave number for this dispersion curve is taken as kj defined by (32) as

k! : (\FU +, + rl2)2 lFi

Thus, k[ : I|FS for r - 0 and k[ - flF"as O+ is expressedas with - oo

(43)

r -+ oo. The wave number k along the dispersion curve (44) a : kfa and

K: KIJTTP
p - (sig"t) kIJTTF:E with
a - L * trq.(11) then yields

( t + t 2 ) r l 4- r

JTF+r+rl2

(45)

qYh + t, - "r) a : k [ ( x " + (sign

42

(46)

SchifFstechnik 8d.51 - 2004lship Technology Research Vol. 51 - 2004

Eqs.(40) and (36), and the foregoing parametric equations of the outer dispersion curve O+ show that the wave component W+ in (a1) is defined as

ltl 147+_L+\nJE f o, AF,i J (1+ 121t1+uf 1P -P

(1 - o)

Aez.k-ia

(47)

The function O is given by (28)-(31) with (46) and (44). Equation (45) yields

Itlltn + t' - "?- r/t * Llttr + 4, ast -+ 0

Thus, the integrand of @7) is continuous for -oo ( f ( o o . 9 Wave cornponent Wfor r < Ll4

(48)

If r I Il4, the wave component W- is associatedwith the outer dispersion curve O- located in the outer region a < -k; in (33). The referencewave number for this dispersion curve is taken as k; defined by (32) as

ko:(\F+rlD2

lFy

r4q\ \ ^",, number k along Thewave

-0and k; -I|(4FZ):flF"-4f'forr:L14. T h u sk , ; -llFlforr as the dispersion curve O- is expressed

k: ki\n +t'
and, B - (signt) k; \trTF -ffi with

(50)

with -oo { f ( oo . Expressions (37) and (36) then yield the parametric representation a - -ki a

a - I * Equation (11) then yields

( t + t 2 ) r l 4- r

\Frc- +Ll2
(sign t)Y,'n +t' - "'

(51)

Q: ki (-t"*

(52)

Eqs.(a0) and (36), and the foregoing parametric equations of the outer dispersion curve O- show that the wave component W- in (41) is defined as

, , ( 1+ o ) l r l4 " Z " k - i o _r+\E= 7 -" w_ r (r 4F3 I ( 1 + t2\Lt t2\Lt4rETP=i ) IETP=;Z

t r t ' t r -

(53)

-oo

The function O is given by (28)-(31) with (52) and (50). Equation (51) yields

Itllttr+tt-"'-@

asr-+o

(54)

Thus, the integrand of (53) is continuousfor -oo ( I ( oo 1f r 1L14. 10 Wave component Wfor 7f 4 < r

If ll4 I r , the wave component W- is associatedwith the outer dispersion curve O- located in the outer region " 3 - f I Fn ir (34). The wave number k along this dispersion curve is equal to or greater than 4f2,, in accordancewith (35) Thus, 4f2 is chosen as reference wave number, and k is expressedas

(55)
Research Vol. 51 - 2004 Technology Bd.51 - 2004lShap SchifFstechnik

43

with -oo ( f { oc. trqs.(37) and (36) then yield the parametric representation a with B - (sign I af2/1 a[P

-4f2a

and

a-[2(r+t')rl4-ll@r)
Eq.(11) then yields

(56)

Q : 4fz (-t"*

(sign DY\n + t2 - a2

(57)

Eqs.(a0) and (36), and the foregoing parametric equationsof the outer dispersion curve O- show that the wave component W- in (a1) is defined as

WL

n . n
n

dt

( 1+

l4 1 +t2)1t4frTP=;2 -

o LI tl Aez-k-io

(58)

The function O is given by (2s)-(31) with (57) and (55). Eq.(56) yields

- ", - lrl ItV\n+P l\F-Ug,y

as r+ o

(5e)

Thus, the integrand of (58) is continuous for -oo <, < oo if Ll4 < r. 11 Wave component Wx for If 4 < r

If I l4 ( z, the wave component Wi is associatedwith the inner dispersion curve 1 located in the inner region -f lF" ( a ( k{ in (34), and we have n{ S k < 4f2. The reference wave number fbr this dispersion curve is taken as k{ defined by (32) as

k{: f'tf[t++r+Ll2)2

(60)

Thus, kf --4f'16[2+D2 =0.6863f2 f o r r - r l | a n d k o + - f l F n a s r - + o o . The wavenumber k along the dispersioncurve 1 is expressed as

k:kf\n+t,
w i t h- t t l t l t 6 a n d

(61)

tt: Thust ,o- tl6/Z+L)4 -1=

\/ (t + t/t + +r)a - t
-A

(62)

5.742forr:Il4and.ti-4r

a sr - + o o . E q s . ( 3 2 a)n d( 3 6 )then yield

with (63)

the parametric representation cy- kf, a and p - (sign t) kf \/TTP a - I Eq.(11) then yields (t+t2)ll4-L

\frI[+r-rl2
(sisn ilY\n +t, - "r)

o - k{ (*"f

(64)

Eqt.(40) and (36), and the foregoing parametric equations of the inner dispersion curve / show that the wave component Wi in (a1) is defined as

ti f l F , wi: or 0-")lrlo"t.r-.o* 1 a 'f aE !,0*" Q + t2)tl4fiT t'fz=;t

The function O is given by (28)-(31) with (6a) and (61). Equation (63) yields

(65)

+ p - ", ^, {t - Ll\nTC Itll,,/L

44

as/ -+ o

(66)

SchifFstechnik Bd.SL- 2004lShipTechnology Research Vol. 51 - 2004

Thus, the integrand of (65) is continuous at f : 0. The integrand of (65) is also continuous at t - Ltt 1fLl4 < r. L2 'Wave component Wi for r < Ll4

with the inner dispersioncurve l located in the If r .,.-L14,the wave componentWi is associated -ki 1a 1kf, (33), a can be expressed as a - f2a with and region in inner

__ _K , _Ln____!_ _!d - K ; + cosf a 2____-!_

and -zr < t < n. Here, K.i- _ - kf lf' K{: Thus, K ! - l f o rr : 0 , are definedby (32) as

K:+Ki

(67)

r l (\ @ + r l z ) 2
K !
- - l

K, :rl(\F1+-"+ rl2)'

(68)

- 4l U2 + I)' = 0.6863andKo - 4 for r - L f 4 , a n d

4l(t/r+D'<K: <1< K; <4

The dispersion relation D - 0, (12), and the relation a : f2a show that the wave nunrber k along the inner dispersion curve ,I is given by k : f2(r - ra)2 Thus,thisdispersioncurVeisdefinedbyo-f2aandp_(signDf2ffiwith_r3t3n. Equation (11) then yields / e : f 2"( X\" * ( s i g n
- ra)4 -)

(69)

(70)

Eqs.(40) and (36), and the foregoing parametric equations of the inner dispersioncurve .I show that the wave component Wi in (a1) is defined as

wi: u rrK{2 t N ; iJ o ,
-'|f

(1- O) lsinll4"Z"k-iQ

(71)

with (70) and (69). Eq.(67) yields The function O is grvenL b y (28)-(31) lsinll

, fl Ll1/fl Ilffl
T as1

as

- 0t,r , ) w i t h { r o : ( r + K ; l K { ) ( L l 2 +-' r [ p t -+ as1 J L rn: (1+ K{ lK;)(rlz "lK;)

] )

g2)

Eqs.(68) yield T n - > 0 rl4t-trifr< 13

-+ Lla. Thus,

the integrand of (71) is continuous at t - 0, and also at

Wave component

W' for r - 0

to the limit r -+ 0 of the wave component Wi given The wave conrponent Wi in (42) corresponds by (67)-(7t). This wave component is associatedwith the inner dispersion curve 1 located in the inner yield Kf,:1, a: cosf and k : f2, and the region in (33). In the specialcaser - 0, trqs.(67)-(69) curve 1is the circle (o,g) - f2(cosf,sint) with -r 3t ,..-r. Eqt.(70) and (71) then yield dispersion
,17

wi : f "2! [*a t 6 - o ) 4 " 2 * k - i ' Q

where k : f2 e : f2(Xcos t+}'sinf)

(73) (74) 45

Research Vol. 51 - 2004 Bd.51 - 2004/ShipTechnology Schiffstechnik

and O is defined by (28)-(31) with (74). The wave component (73)-(74) correspondsto the limit Fn :0 with f + 0, i.e. diffraction-radiation of time-harmonic waves without forward speed. 14 Wave component Wo for r - 0

The wave component Wo : i'(W+ -W-) in @2) is associatedwith the outer dispersioncurves Oand O+ located in the outer regions a < -k; and k[ ( a in (33). Eqs.(43) and (49) show that the reference wave numbers ki for the outer dispersion curves O+ are given bV k* - I lF3 in the special case 7 - 0. In accordancewith (44) and (50), the wave number k along these dispersion curves is expressedas

k:rlFl with T_ \E+t2 (75) -lhe and -m < t < oo. dispersion curvesO+ are symmetricabout the axesc - 0 andp: 0, and are defined by o +'/TlF] andp - (signt)\tr\/T--I1F3, in agreement wirh (4b) and (51). Eqs.(a7) and (53), (46) and (52),arrd(28) showthat the wavecomponent -W-) is givenby :'i,(W+ Wo
WO:

F3 I

1 T dt JT!
T

a"z*krm(1- o) ,,*

(76)

Im stands for the imaginary part, O is given by

. - (t * (sign t)Y\E-)

ntr:

(77)

and o is the complex conjugate of the function @ defined by (28)-(31) with (77) and (75). These expressionsfor the wave component wo correspond to the limit f : 0 with Fn * 0, i.e. steady flow about a ship advancing at constant speed in calm water. 15 Wave filters

The amplitude function A in (a0) and the related Eqs.(47), (53), (bS), (65), (TI),, (23), (26) is equal to 1. The wave components (47), (53), (58), (76) include infinitely short waves, defined in the limits f -+ *oo. These short waves can be filtered by modifying the function,4. E.g., the function A may be taken as

. - )( 1 "a I "-u(klk--r)2

if k<k* if k* < k

(78)

The filter function (78) yields A < L0-3 for koo < k with k* lk* equal to 1.10, 1.15 and 1.20 if u is taken approximately equal to 700, 310 and 175, respectively. The amplitude function (78) effectively eliminates all waves having a wave length .\ smaller than l* - 2n f k*. The filter function (78) can be used in (aT), (53), (58), (76) and also in (65), (7I), (73). Waves having a wave length ) greater than ,\0 - 2n lk0 can be eliminated in a similar fashion. 16 Summary Eqs.(24), (19) and (41) yield

4 t rG - - L l r * I f r * - Z l r o * 2 f r p y+ i ( W + - W - - W i 1 + t

(7e)

where L - -L- Furthermore,r, r*trFtrpy aregiven bV (6) and the wavecomponentsW+ and,Wi are defined by (+3)-(72) with O given by (28)-(3t). The integrands of the Fourier integrals that define the wave components Wt and W' are continuous and only involve trigonometric and hyperbolic functions of real arguments. Furthermore, the limits of integration for these Fourier integrals are independent of the coordinates X, Y,,Z*. The Green function that is obtained if the local-flow component L in (79) is ignored satisfiesthe Poisson equation (2), the radiation condition, and the Michell linear free-surface boundarv condition 46 SchifFstechnik Bd.Sl - 2004lShipTechnology Research Vol. 51 - 2004

(3) in the farfield. This Green function orrly satisfies the free-surface boundary condition (3) approximately in the rrearfield,unlike the related free-surfaceGreen functions used in the literature, which satisfy the free-surfacecondition (3) exactly everywhere. The Green function given by (79) with L - 0 is expressed in terms of four elementary Rankine sources and three Fourier integrals, which define distinct wave components. In the specialcase/:0, i.e. for steady flow, (24), (18) and (a2) yield 4n G - -Ilr *If r* -2lrr +Wo + L (80)

: 0, i.e. for diffractionwhere the wave component Wo is defined by (75)-(77). In the special case.Flr, radiation without forward speed, (21), (17) and (a2) yield 4n G -Ilr -Ilr**2lry -iWi + L (81)

where the wave component Wi is given by (73)-(74). In (80)-(31), r, r*, rF, ry are given by (6). are defined in terms of three elementary Rankine TIre Green functions given by (S0)-(S1)with L:0 sources and a single wave component. LT Comparison of alternative free-surface Green functions

Alternative free-surfaceGreen functions are now cornpared for the special case/ : 0, corresponding to steady free-surfaceflow about a ship advancing at constant speedin calm water. The Green function that satisfies the Michell linear free-surface boundary condition for steady flow everywhere (nearfield included) is expressedin Noblesse(1981) as

4rFlG- -7 + F 3+ 2 OTx
where k and O are defined as

p2

signX) / dt ez*k I* "ia + r.l J

? [a,r m e z4 ( z )
-l

(82)

k:(r+*)lF:

o : (X +Yt)fi

+ t2lF2

(83)

and r, r*t Xt Y, Z* are given bV (6). Furthermore, Z is defined as

- 7z z - Q.Jt - t, +Yt + ilx11/1 1Pz

(84)

,81 stands for the exponential integral, e.g. Abramowitz and Stegun (1965). The first integral on the right of (82) is a wave component and the second integral corresponds to a non-oscillatory local flow. A practical method for evaluating the local-flow component (i.e. the second integral) in (82) is given in Poni,zy et al. (199/t). Eq.(80) and a change of variable in (76) yield

- -'n + atrFSG r

pr2

p'2 n _ 2.tr2 -',

r* TF

oo

+2t

d,tez.k Im (1 - 6) "io + FIL

(85)

k and (D are given by (S3), O is the complex conjugate of the function O defined by (28)-(31) with (83), and r, r*, rF , X, Y, Z* are given bV (6). The wave componentsin (85) and (82) are identical except that the sign function signX in (82) is replaced by the function 6 in (85). Expression (82) shows the local-flow component in (85) can be expressedas

F:L _ f t * T o r " z . k (r6^- s i g n x " ) o *+ r I a t m " z n 1 1 z 1 n.J 2 r F J

-x -1

(86)

Research Vol. 51 - 2004 8d.51 - 2004/ShipTechnology SchifFstechnik

47

The foregoing expressionsand (6) show that the Green function flG, and the related.wave and local componentsin (S2) and (85), are functions of the speed-scaled coordinates(X,Y,Z,Z*)lF3 (- *,,T-U,e - t,C+ 4lFi Thus, the steady free-surface flow generatedby a unit sourcelocated at tr :0, U :0, z - -5 is a function of the speed-scaled coordinates{lF},rllF3,,e lFi and.subnergence depth 6lFi . For purposes of comparison, the steady flow generated by a point source and a point sink advancing at constant speed U in calm water is considered. The source and the sink are slightly submerged below the free surface z - 0. The point source is located at (0.5,0, -0.02)tr and the point sink at (-0.5,O, -0.02)L, and the strength q - Ql(UL2) of the source-sink pair is taken equal to 0.001. The Froude number Fn : U lJgL is chosenequal to 0.3.

tlsual GreenFunction

SimpleGreenFunction
Fig.l: Velocity potential of steady flow generated by u source-sinkpair The velocity potential - evaluated using the usual Green function (82) and the "simple" Green function (85) - of the flow generated by the source-sink pair at the free-surfaceplane z - 0 is depicted in the upper and lower halves of Fig.1, respectively. These velocity potentials are compared further in Figs-2a,b. Specifically, Fig.2a and Fig.2b depict the velocity potential of the flow generated by the source-sink pair along four horizontal lirres, with -4 < r I L, in the vertical plane of symmetry U :0 and the free-surfaceplane z :0, respectively. The lines in Fig.2a are defined by y - 0 and z : 0, -0.05, -0.1, -0.5, and the lines in Fig.2b by , - 0 and U : 0,0.1,0.5, 1. Figs.l and 2a,b show that differencesbetween the usual Green function (82) and the simple Green function (85) vanish in the farfield, as expected, and are relatively moderate in the nearfield.

48

SchifFstechnik Bd.51 - 2004lShipTechnology Research Vol. 51 - 2004

u s u a l , z - 0s i m p l e , z = 0" " " - " "

0.01

0.005

-0.005

-0.005

-0.01

-0.01

0.01

u s u a l , z = - 0 . -1 '"-"''simple,z=-0.1

0.01

usual,z=-0.5 z = - 0.5 ............ simple,

0.005

0.00s

-0.005

-0.005

-0.01 -2
-1

-0.01 -3
-1

Fig.2a: Velocity potential, defined by the usual and simple Green functions, of the steady flow due k a i r a l o n g z _ 0 , z : - 0 . 0 5 , z - - 0 . L , z : - 0 . 5 ;- 4 < r 1 l , , A : 0 t o a s o u r c e - s i np (in vertical plane of symmetry)
0.01 usual,Y=0 simple,y=0'-'---" 0.01 usual,y=0.1 -""""" simple,y=0.1

0.005

-0.005

-0.005

-0.01

-0.01

0.01

u s u a l , Y = 0 .5 """""" simple,y=0.5

0.01

usual,y=1s i m p l e , y = 1" " " " " "

0.005

0.005

-0.005

-0.m5

-0.01 4 3 2 . 1 0 1

-0.01 4 3

'

r 0

: I; -4 < r I L, z - 0 (in free-surfaceplane) Fig.2b: As Fig.2a,but for y : 0, A - 0.1, A - 0.5,,'!l

Research Vol. 51 - 2004 Bd.5L- 2004lShipTechnology SchifFstechnik

49

1-8 Conclusion The main result obtained in this study is the Green function defined as

4 t rG - - l l r * l f

W- -Wo) r * - 2 l r r * 2 f r p y+ i , ( 1 4 7-+

(s7)

where r, r* t rF t rpy are given by (6), and the wave components W+ and,Wi are defined by (43)(72) and (28)-(31). The Green function (87), associatedwith a frequency-domainanalysis of wave diffraction-radiation by a ship (with forward speed), is expressedas the sum of four elementary Rankine sourcesand the three wave components Ir7+ and Wi. The four Rankine sourcesin (87) account for the dominant terms in both the nearfield and farfield asymptotic approximations to the non-oscillatory local-flow component associatedwith the linear free-surfaceboundary condition (3), which thus is satisfied approximately in the nearfield and accurately in the farfield. The three wave components in (87) represent distinct wave systems generated by a pulsating source advancing at constant speed. Specifically, the wave component W+ represents a system of inner-V waves; the wave componentW- representsa system of outer-V waves if r .,.-I14, or a system of fan waves if Ll4 I r ; finally, the wave component Wi representsa system of ring waves if r { Il4, or a system of ring-fan waves if Ll4 dimensional Fourier superpositions of elementary waves. The integrands of the Fourier integrals that define these wave components are continuous and only involve trigonometric and hyperbolic functions of real arguments, and the limits of integration for these Fourier integrals are independent of the coordinates X, Y, Z*- Thus, the Green function (87) is remarkably simple. The Green function (82) becomes

4 t rG - - l l r I L f r * - 2 l r e + W o in the specialcase/ : 0, i.e. for steadyfree-surface flow about a ship, and 4nG - -Ilr - llr* *2lry - iwi

(88)

(se)

in the special caseFn: 0, i.e. for wave diffraction-radiation by an offshore structure (without forward speed)- The wave components Wo in (8S) and,Wi in (89) are defined by (7b)-(TT) an4 (73)-(74), respectively,and r, T'*, rF t ry are given bV (6). The Green functions (88)-(39) are expresse4in terms of three elementary Rankine sources and a single wave component. The Green function (S7) satisfiesthe Poissonequation (2), the radiation condition, and the Michell linear free-surface boundary condition (3) in the farfield. Unlike usual free-surface Green functions, which satisfy the free-surface condition (3) exactly everywhere, the Green function (82) only approximately satisfies the free-surface boundary condition (3) in the nearfield. Although the linear free-surfacecondition (3) is valid far away from a ship advancing in regular waves (i.e. in the farfield), this boundary condition can only be regarded as an approximation in the vicinity of the ship (i.e. in the nearfield) due to nearfield effects. Thus, it is not a priori evident that a Green function that exactly satisfies the Michell condition (3) everywhere is necessarily superior to a Green function that satisfies the Michell boundary condition only approximately in the nearfield. The Green function (S7) is considerably simpler than the free-surfaceGreen functions that have been used in the literature on wave diffraction-radiation by a ship within a frequency-domain analysis. The frequency-domainGreen function (87) is no more complicated than the Green function associatedwith a time-domain analysis, which requires a convolution integral to account for time-history (memory) effects, e-g. Bertram (2000), Wehausenand,Lai,tone (1960). The frequency-domain Green function (87) is more complicated, but includes considerablyrrore physics,than the elementary Rankine source -Ll, used as Green function in Rankine-sourcepanel methods. These methods require appropriate numerical-differentiation schemes to enforce the radiation condition (no useful scheme is known for waVediffraction-radiationinaregimeapproximatelydefinedbyt/alg< Yasulcawa (1996), Bertram (2000). No distribution of singularities over the free surface is required to compute diffraction-radiation of time-harmonic waves by u ship within the linear approximation associatedwith the Michell free-surf'ace SchifFstechnik Bd.5L- 2004lShipTechnology Research Vol. 51 - 2004

boundary condition (3) if a usual free-surface Green function is employed (although a free-surface distribution of singularities is required to account for nearfield free-surface effects; e.g. if free-surface linearization about the zero-Froude-nurrber double-body flow is used). However, use of a simple Green function like (87) requires a distribution of singularities over a nearfield portion of the free surface in the vicinity of the ship waterline. An important property of the free-surface distribution of singularities associated with the use of such a simple Green function is ttrat it rapidly vanishes in the farfield (in practice, at a small distance frorn the ship) because the linearized free-surface boundary condition becomes exac;t in the farfield. This property is a significant difference with panel methods based on Rankine sources. The comparison, reported in the study, between the simple Green function (88) for steady free-surface flow and the corresponding usual Green function (that satisfies the Michell free-surface boundary condition everywhere) shows that differences between these alternative Green functions vanish in the farfield, as expected, and are relatively moderate in the nearfield. A similar comparison with forward speed and the between the simple Green function (87) for wave diffraction-radiation corresponding Green functions given in the literature would be interesting and useful. The analysis used in the present study to obtain the Green functions (87) and (88)-(89) for deep water can be extended to the more general case of uniform finite water depth, and this extension to finite water depth will be given elsewhere.

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BA, M.; GUILBAUD, M. (1995) A fast method of eualuation for the translati,ngand pulsating Green function, Ship Tech. Res. 42, pp.68-80 BERTRAM, V. (2000) Practical ship hydrodynamics,Butterworth-Heinemann problems, Jahrbuch SchiffBERTRAM, V.; YASUKAWA, H. (1996) Rankine source methods for sealeeeping bautechnische Gesellschaft, Springer, pp.41I-425 Memoirs Defense BESSHO ,M. (1977) O" the fundamental si,ngularityi,n the theory of ship mot'ionsin a seawa37, Academy Japan XVII, pp.95-105 computations, |th effects on d,i,ffraction-rad,iation BOIN, J.P.; GUILBAUD, M.; BA, M. (2002) Forwaril speed, Num. Towing Tank Sy-p. (NuTTS'02), Pornichet BOIN, J.P.; GUILBAUD, M.; BA, M. (2000) Seakeepingcomputations us'ing the ship moti,on Green, functi,on,, ISOPE, Seattle,pp.398-405 BOIN, J.P.; BA, M.; GUILBAUD, M. (1999) Prdcision des int|,grati,onssurfaciques de Ia foncti,on de Green d'auancerT" Journ6es de I'Hydrodynamique, pp.1-14 dans un code de tenue d, la mer auec ui,tesse BOUJIS, J.; COUDRAY, T. (1991) M1,thodesrapides de calcul des fonctions de Green des problimes de aaec uitessed'auance,3" Journeesde l'Hydrodynamique, Grenoble, Neumann-Keluin et de d,iffraction-radiati,on pp.17-30 France, BRUMENT, A.; DELHOMMEAU, G. (1997) Eualuation numdrique de la fonction de Green de la tenue d, Ia rner auecuitessed'anance,6" Journ6esde l'Hydrodynamique, pp.147-160 treatise on ship-moti,on Green functi,ons,Tth Int. Conf. Num. Ship HydroCHEN, X.B. (1999) An i,ntrod,uctory pp.1-20 dynamics,Nantes, 1.1, method to predict waue-induced CHEN, X.B.; DIEBOLD, L.; DOUTRELEAU, Y. (2000) New Green-functi"on ship motions and loads.,23'd Symp. Naval Hydro. Val de Reuil, Frarrce d'auance,Ph.D. thesis, Univ. de Poitiers DItrBOLD, L. (2003) Etude du probleme de tenue a la Tneraaecuitesse.s study on mathematicalmodels DU, S.X.; HUDSON, D.A.; PRICE, W.G.; TEMAREL, P. (2000) A uali,dati,on in seakeeping,Proc. Inst. Mech. Engrs. 214, pp.18l-202 of speedand frequency depende'nce DU, S.X.; HUDSOI{, D.A.; PRICE, W.G.; TEMAR.EL, P. (1999) Comparison of numerical eualuation techRoyal Inst. Naval Arch. L4I, pp.236-258 niques for the h'yilrodynamic analysis of a ship trauelling in waues.,

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FANG, M.C. (2000) The effect of the stearlyflow potential on the motions of a mouing ship i,n waues,J. Ship Res. 44, pp.14-32 GUEVEL, P-; BOUGIS, J' (1982) Ship motions with forward, speedin infinite d,epth,Int. Shipb. Progr. 29, pp.103-117 GUILBAUD, M.; BOIN, J.P.; BA, M. (2000) Frequency d,omain numeri,cal and, erperimental i,nuestigationof forward speedradiation by shi,ps,23'd Symp. Naval Hydro. Val de Reuil HOFF, J'R. (1990) Three-di,mens'ional Green functi,on of a uessetwith forward, speed, in waues,Thesis, Division of Marine Hydrodynamics, Norwegian Inst. of rech., Trondheim INGLIS, R.B.; PRICE, W.G. (1982) A three-di,mensional ship motion theory - the hyd,rod,ynamic coefficients with forward speed.Trans. Royal Inst. Nav. Arch. 124, pp.L4L-IST IWASHITA, H. (1997) Numerical seakeepingcalculations based, on the 3D Green function method,,Ship Tech. Re s . 44, pp. 111- 13 2 IWASHITA, H.; ITO, A. (1998) Seakeepingcomputati,onsof btunt ship capturing the infl,uenceof stead,y flor, Ship Tech. Res. 45, pp.159-L7l IWASHITA, H.; OHKUSU, M. (1992) The Greenfunction'method,for ship motions, Ship Tech. Res. 39, pp.3-21 JANKOWSKI, J. (1990) Fundamental solution of li,nearhydrodynami,cbound,ary-ualue problems,Polski Rejestr Statkow, Gdansk, Report No. 45 KOBAYASHI, M. (1981) On the hydrodynamic forces and moments acting on a three-ilimensionalbod;y with a constant forward speed, J. Soc. Nav. Arch. Japan, 150, pp.17b-189 MAURY, C. (2000) Etu,dedu problime de tenue d,la mer auec u'itesse quelcon{rue d,'auance par une mdthod,e d,e si,ng'ularitd de Kelui,n,Ph.D. thesis, Univ. de Nantes NOBLESSE, F. (2001) Analytical representati,on of ship u)aues, Ship Tech. Res. 48, pp.2}-48 NOBLESSE, F. (1981) Alternatiae i,ntegralrepresentation,s for the Green function of the theory of ship waue resistance, J. Engg Math. L5, pp.241-265 NOBLESSE, F.;_YANG, C- (2003) Practical free-surface Green functions for waue ilffiacti,on-rad,iation with Int. Conf. I.{um. Ship Hy,clrodyn.,Busan forward speed,,8th NOBLESSE, F.; YANG' C. (1996) Fouri,er representat'ionof near-field free-surfacefl,ows,Ship Tech. Res. 43, pp.19-37 PO]WZY, B-; NOBLESSE, F.; BA, M.; GUILBAUD, M. (1994) Nunrerical eualuation of free-surfaceGreen functions, J. Ship Res. 38, pp.193-202 WANG, C.T.; CHIU, F.C.; HORNiG, S.J. (1999) Hydrodynami,c slender body with speed, forces on the ad,uancing effects: waue erciting forces,Int. Shipb. Progr. 46,pp-29-4L WEHAUSEN, J.V.; LAITOI\E, E.V. (1960) Surface uaues)Handbuch der Physik 9, Springer, pp.446-ZT8 WU, G-X-; EATOCK-TAYLOR, Shipb. Progr. 34, pp.189-196 R. (1987) A Green'sfunction form for ship motions at forward, speed,,, InI.

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