Development of a Finite Element Cable Model for Use in Low-Tension Dynamics Simulation

[+] Author and Article Information
Brad Buckham

Department of Mechanical Engineering, University of Victoria, P.O. Box 3055, Victoria, BC V8W 3P6, Canadae-mail: bbuckham@uvic.ca

Frederick R. Driscoll

Department of Ocean Engineering, Florida Atlantic University, 101 North Beach Road, Dania Beach, FL 33004e-mail: rdriscol@oe.fau.edu

Meyer Nahon

Department of Mechanical Engineering, McGill University, 817 Sherbrooke Street West, Quebec H3A 2K6, Canadae-mail: Meyer.Nahon@mcgill.ca

J. Appl. Mech 71(4), 476-485 (Sep 07, 2004) (10 pages) doi:10.1115/1.1755691 History: Received July 11, 2002; Revised October 08, 2003; Online September 07, 2004
Copyright © 2004 by ASME
Your Session has timed out. Please sign back in to continue.


Burgess,  J. J., 1993, “Bending Stiffness in the Simulation of Undersea Cable Deployment,” Int. J. Offshore Polar Eng., 3(3), pp. 197–204.
Delmer,  T. M., Stephens,  T. C., and Coe,  J. M., 1983, “Numerical Simulation of Towed Cables,” Ocean Eng., 10(2), pp. 119–132.
Huang,  S., 1994, “Dynamic Analysis of Three Dimensional Marine Cables,” Ocean Eng., 21(6), pp. 587–605.
Sanders,  J. V., 1982, “A Three Dimensional Dynamic Analysis of a Towed System,” Ocean Eng., 9(5), pp. 483–499.
Vaz,  M. A., Witz,  J. A., and Patel,  J. A., 1997, “Three Dimensional Transient Analysis of the Installation of Marine Cables,” Acta Mech., 124, pp. 1–26.
Driscoll, F., and Nahon, M., 1996, “Mathematical Modeling and Simulation of a Moored Buoy System,” Proceedings of OCEANS 96 MTS/IEEE, Ft. Lauderdale, FL, 1 , pp. 517–523.
Thomas, D. O., and Hearn, G. E., 1994, “Deepwater Mooring Line Dynamics With Emphasis on Seabed Interference Effects,” Proceedings of the 26th Offshore Technology Conference, Houston, TX, pp. 203–214.
Walton,  T. S., and Polacheck,  H., 1960, “Calculation of Transient Motion of Submerged Cables,” Math. Comput., 14(69), pp. 27–46.
Malahy, R. C., 1986, “A Non-linear Finite Element Method for the Analysis of Offshore Pipelines,” Proceedings of the 5th International Offshore Mechanics and Arctic Engineering Symposium, 3 , pp. 471–478.
McNamara,  J. F., O’Brien,  P. J., and Gilroy,  S. G., 1988, “Nonlinear Analysis of Flexible Risers Using Hybrid Finite Elements,” ASME J. Offshore Mech. Arct. Eng., 110, pp. 197–204.
O’Brien, P. J., and McNamara, J. F., 1988, “Analysis of Flexible Riser Systems Subject to Three-Dimensional Seastate Loading,” Proceedings of the International Conference on Behavior of Offshore Structures, 3 , pp. 1373–1388.
Garret,  D. L., 1982, “Dynamic Analysis of Slender Rods,” ASME J. Energy Resour. Technol., 104, pp. 302–306.
Nordgren,  R. P., 1974, “On the Computation of the Motion of Elastic Rods,” ASME J. Appl. Mech., 41, pp. 777–780.
Nordgren,  R. P., 1982, “Dynamics Analysis of Marine Risers With Vortex Excitation,” ASME J. Energy Resour. Technol., 104, pp. 14–19.
Chapman,  D. A., 1982, “Effects of Ship Motion on a Neutrally-Stable Towed Fish,” Ocean Eng., 9(3), pp. 189–220.
Kamman,  J. W., and Huston,  R. L., 1999, “Modeling of Variable Length Towed and Tethered Cable Systems,” J. Guid. Control Dyn., 22(4), pp. 602–608.
Makarenko,  A. I., Poddubnyi,  V. I., and Kholopova,  V. V., 1997, “Study of the Non-Linear Dynamics of Self-Propelled Submersibles Controlled by A Cable,” International Applied Mechanics, 22(3), pp. 251–257.
Paul,  B., and Soler,  A. I., 1972, “Cable Dynamics and Optimum Towing Strategies for Submersibles,” MTS Journal, 6(2), pp. 34–42.
Buckham,  B., Nahon,  M., Seto,  M., Zhao,  X., and Lambert,  C., 2003, “Dynamics and Control of a Towed Underwater Vehicle System, Part I: Model Development,” Ocean Eng., 30(4), pp. 453–470.
Lambert,  C., Nahon,  M., Buckham,  B., and Seto,  M., 2003, “Dynamics and Control of a Towed Underwater Vehicle System, Part II: Model Validation and Turn Maneuver Optimization,” Ocean Eng., 30(4), pp. 471–485.
Driscoll,  F., Lueck,  R. G., and Nahon,  M., 2000, “Development and Validation of a Lumped-Mass Dynamics Model of a Deep-Sea ROV System,” Appl. Ocean. Res., 22(3), pp. 169–182.
Driscoll, F., Buckham, B., and Nahon, M., 2000, “Numerical Optimization of a Cage-Mounted Passive Heave Compensation System,” Proceedings of OCEANS 2000 MTS/IEEE, Providence, RI, 2 , pp. 1121–1127.
McLain, T. W., and Rock, S. M., 1992, “Experimental Measurement of ROV Tether Tension,” Proceedings of the 10th Annual Subsea Intervention Conference and Exposition, San Diego, CA, pp. 291–296.
Grosenbaugh,  M. A., Howell,  C. T., and Moxnes,  S., 1993, “Simulating the Dynamics of Underwater Vehicles With Low-Tension Tethers,” Int. J. Offshore Polar Eng., 3(3), pp. 213–218.
Banerjee,  A. K., and Do,  V. N., 1994, “Deployment Control of a Cable Connecting a Ship to an Underwater Vehicle,” J. Guid. Control Dyn., 17(4), pp. 1327–1332.
Buckham,  B., and Nahon,  M., 2001, “Formulation and Validation of a Lumped Mass Model for Low-Tension ROV Tethers,” Int. J. Offshore Polar Eng., 11(4), pp. 282–289.
O’Neill, B., 1966, Elementary Differential Geometry, Academic Press, San Diego, CA, pp. 51–77.
Love, A. E. H., 1927, A Treatise on the Mathematical Theory of Elasticity, Cambridge University Press, New York, pp. 381–398.
Folb, R., and Nelligan, J. J., 1983, “Hydrodynamic Loading on Armoured Towcables,” DTNSRDC Report 82/116.
Newman, J. N., 1989, Marine Hydrodynamics, The M.I.T. Press, Cambridge, MA.
Howard,  B. E., and Syck,  J. M., 1992, “Calculation of the Shape of a Towed Underwater Acoustic Array,” Journal of Oceanic Engineering, 17(2), pp. 193–201.
Logan, D. L., 1993, A First Course in the Finite Element Method, 2nd Ed., PWS, Boston, MA, pp. 195–239.
Rao, S. S., 1989, The Finite Element Method in Engineering, 2nd Ed., Pergamon Press, Toronto, ON, pp. 101–198; 291–300.
Burnett, D. S., 1987, Finite Element Analysis. From Concepts to Applications, Addison-Wesley, Don Mills, ON, pp. 53–197.
Press, W. H., Teukolsky, S. A., Vetterling, W. T., and Flannetry, B. P., 1992, Numerical Recipes inC, Cambridge University Press, New York, pp. 113–117.


Grahic Jump Location
A diagrammatic presentation of the coordinate systems, the Frenet and body-fixed frames, used to describe the tether element. The discretized tether is formed from an assembly of cubic elements, with the ith element extending between the ith and i+first nodes.
Grahic Jump Location
A close up view of a differential segment of the ROV tether. The distributed load q contains weight, buoyancy and hydrodynamic loads. An additional degree-of-freedom, α, defines the orientation of the body-fixed frame relative to the Frenet frame.



Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In