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# MOSES Co-ordinate System and Conventions:

The sign convention applicable to the vessel is as follows: A right-hand global coordinate system is used for the barge system. X, Y and Z are defined from Frame 0 centreline and baseline as its origin. X is longitudinal and positive from bow to stern, Y is transverse and positive from centreline to starboard, Z is vertical and positive from baseline upwards. Elevation view: +Pitch
+Heave X Z

+Roll
90o

Port

STBD

Plan view:

+Sway +Surge
X Stern Y

Port
Lay Chute

+Yaw
180o Bow

STBD

90o

## Figure 1. Coordinate System and Headings ()

Directions for environments are the direction from which the environment comes in a global right hand coordinate system. Environmental heading is measured as 0 degrees moving in the opposite direction of the X axis ie from stern to bow is 0 degree environmental heading. The environmental heading rotates positively 90 degrees anticlockwise looking from above on to the starboard beam, 180 degrees on the head and 270 degrees on the Port beam. Environment heading conventions (relative to vessel) are not consistent with the coordinate system.

Vessel Motion :
In the frequency domain, the motions are reported in the body system. The Surge motion is along the X, positive aft, Sway is along the Y axis,positive Starboard, and Heave is along the Z axis, positive Up. Roll is a rotation about X positive from Y toward Z (i.e. positive Roll is Starboard up). Pitch is a rotation about Y positive from Z to X (i.e. positive Pitch is Stern down). Yaw is a rotation about Z positive from X to Y (i.e. positive is Bow to Port or Stern to Starboard). Motions reported are maximum, single amplitude (ie +/- X metres surge) motions. Motion direction (6 degrees) conventions are consistent with the coordinate system.

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## SKC mosesConvention .doc

03/02/14 4:33 PM

Motion Phases:
RAO phases are relative to the wave elevation at the vessel origin. Clearly the phase relative to a point on the body depends upon the loction of the vessel origin. In any event, there is an additional phase shift due to spatial separation of the point of interest and the origin. The Wave Elevation, eta, is given by eta = a*cos(*t + k*x*cos(beta) + k*y*sin(beta)) where a is the wave amplitude, the encounter frequency, k is the wave number, x and y are the global coordinates of the point of interest, and beta is the wave heading angle and shown above. The heading is the angle from which the sea comes, measured relative to the X axis; i.e. beta equal 180 corresponds to a head sea, beta equal 90 corresponds to a sea striking the Starboard beam. The resulting Vessel Response is then given by r = R*cos(*t + phi) RAO = R/a v = -R*sin(*t + phi) = R*sin(-*t - phi) = R*cos(*t + phi+90) a = -R2*cos(*t + phi) = R2*cos(*t + phi+180) where phi is the phase, (+phi is lag, -phi is lead) . Tp=1.2958To=1.408Tz Tz=0.920To T=0.8sqrt(Lwave) More details can be found from http://www.ultramarine.com/hdesk/document/sign.htm. The MOSES out*.txt file can be opened in word. It will be lined properly by adjusting the page margins and font size, setting the page to landscape.

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03/02/14 4:33 PM