Ocean Engineering 141 (2017) 249–264

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Ocean Engineering
journal homepage: www.elsevier.com/locate/oceaneng

Developments of Tuned Mass Damper for yacht structures MARK

⁎
Tatiana Pais , Dario Boote
DITEN, Università di Genova, Via Montallegro 1, 16145, Italy

A R T I C L E I N F O A BS T RAC T

Keywords: The comfort level on board superyachts depends on a variety of parameters all dealing with the human
Finite elements models perception of various phenomena such vibrations, noise, ship motions and son on. In this work, the attention
Passive device has been strictly devoted to vibrations and on possible solutions to reduce them. This kind of analysis is a
Superyacht challenging task for designers and a relevant subject for shipyards that are seriously engaged to find solutions
Tuned Mass Damper
aimed at improving the quality of their products. In this perspective, current numerical methods represent a
Vibration
reliable predictive tool in the design phase to identify natural frequencies of the hull and local structures. The
adoption of “Tuned Mass Damper” system could be a suitable solution both at the design stage, when for the
sake of weight containment heavy structure reinforcements should not be advisable and after construction when
any other intervention is not possible. In this paper, the application of such device on decks of yacht is
presented. TMD numerical models are created and tested to identify the main parameters characterizing a
dynamic absorber, then two passive control devices, able to easily conform to the yacht deck geometry, are
tuned to decrease the vibration level of the sun deck zone.

1. Introduction
Vibrations are a physical phenomenon that affects all structures
subject to alternating loading. Although this is a problem that concerns
all engineering fields, from the literature it comes out that the first
studies on structural dynamics deal almost exclusively with large
structures such as tall buildings and bridges. The reason for this is
that, among all dynamic loads a civil structure is subject to, earth-
quakes are, without any doubt, the most dreadful ones because of their
unpredictability and strength of devastation. Pliny the Elder in his
Naturalis Historia says that Greeks builders devised a remedy against
the seismic forces protecting the foundations with "a layer of coal
fragments and another of wool fleeces” (Covucci, 2011).
Regardless of their source, vibrations can cause not only comfort
implications but also the safety problems. They in fact, may induce
damages up to the total collapse of a structure or cause oscillations
which, in terms of acceleration or noise, may pose a health risk to
people (Boote et al., 2013). Yacht designers and builders are con-
tinuously looking for new solutions to reduce construction costs and to
improve the quality and innovative contents of their ships. In the case
of super-yachts, over 30 m in length, performances are no more a
primary objective and the efforts of technical offices are addressed
mostly on other aspects related more to the aesthetic impact of the
project and to the on board comfort. From this point of view, vibrations
and noise probably represent most difficult issues to deal with for
designers, both in the initial phase of the project, when it is necessary
to have preliminary information about the response of the structure not
yet defined, and during construction, in case some critical behavior
arises in any part of the structure; from the performed investigation it
comes out that dynamic absorbers could be used during the design
stage and during the construction phase as well. Owing to the interest
on this specific subject of a major Italian shipyard specialized in large
motoryacht construction, a research project aimed at investigating
vibration problems related to large yacht structures has been launched.
In the first phase of the study, three TMD numerical models are created
to individuate and investigate the main parameters characterizing the
behavior of a dynamic absorber such as the mass, the elastic constant
and the device position. In the second phase, the investigation is
focused on passive control device able to modify the first natural
frequency of superstructure decks of a real super yacht. A 60 m yacht
with a steel hull and light alloy superstructure has been assumed as
case study. A detailed numerical model of the after part of the structure
is then carried out and the natural frequencies of superstructure decks
are performed. Lastly, two different model of TMD are applied to the
real structure in order to verify the effective reduction of the vibration
amplitudes.
1.1. State of the art of absorbers
Until today the pursued design strategies are essentially two

⁎
Corresponding author.
E-mail address: tatianapais@hotmail.it (T. Pais).

http://dx.doi.org/10.1016/j.oceaneng.2017.06.046
Received 17 May 2016; Received in revised form 19 May 2017; Accepted 17 June 2017
0029-8018/ © 2017 Elsevier Ltd. All rights reserved.
T. Pais, D. Boote
(Connor, 2003). The first philosophy, called "strength based design",
considers safety at the center of the design, as it prevents structural
collapse, providing for each structural element a greater resistance than
that required during the application of the maximum estimated loads,
also of dynamic type. According to this philosophy, the structure is
designed in order to be able to work in a ductile field when subjected to
dynamic loads of greater magnitude than the predicted one.
The second design philosophy is the "motion-based structural
design", which gives more importance to the need of ensuring usability
under the action of dynamic loads compared to the first strategy (Di
Leo et al., 2012). For this reason, the primary objective is not only
safety; as a matter of fact the vibration control through the fulfillment
of a target value in terms of displacement and acceleration has a
significant importance too. These targets can be pursued by relying on
the performance of particular materials, but also on mechanical control
devices. Such technology involves the use of mechanical systems
capable of modifying the dynamic response of the structure, thus
modifying the vibration amplitude and frequency and allowing to
remain within standards of safety and reliability provided by the Rules.
Control devices or dynamic absorbers are divided into three main
groups: passive, active and semi-active. In this study, the definition
provided by two academics, Symans and Costantinou, is adopted
(Symans and Constantinou, 1999).
1.2. Active control devices
These systems require a large external power source to operate
(Soong and Constantinou, 1994). Basically, a control algorithm gen-
erates a signal which commands the actuators that generate the control
forces on the system by comparing the measure of excitation signal
(feedforward signal) with the response of the structure (feedback
signal). The advantage of an active device consists in the possibility
to control the structure response adapting it to a different dynamic load
with respect to that considered in the project. However, this kind of
system has some disadvantages the former is due to the fact that, in
order to prevent the risk of instability, the device requires a robust
algorithm so that the control system itself does not become the cause of
further structural problems. The second drawback consists in energy
requirement, which is generally very high. For small-size structures, a
power of the order of tens of kilowatts is necessary, while several
megawatts are necessary for larger structures (Soong and Spencer
2002).
1.3. Semi-active control devices
These systems require small power sources to operate as they use
the exterior motion of the structure to develop control forces, whose
intensity can be adjusted by varying some parameters of the system
thanks to the external source (Soong and Constantinou, 1994;
Nagarajaiah, 1994; Reinhorn and Riley, 1994). In addition, in this
case a control algorithm uses the feedback signals and/or feedforward
signals to generate control signals for the semi-active device. Like in
the previous case, the measurement of feedback signals can be
performed at points placed far away from the device location. The
great advantage of these devices consists in the fact that the control
force is generated by the structure itself in a similar manner to passive
devices, but in opposition to them, it depends on the mechanical
characteristics of the device that may vary. A semi-active control
system often derives from a passive one, appropriately modified to
allow a variation of its mechanical characteristics. This device presents
many advantages, as it brings together both the reliability of the passive
system and the flexibility of the active one.
1.4. Passives control devices
These systems do not require an external power source to operate,
250
Ocean Engineering 141 (2017) 249–264
as they develop the control action through the relative motion of the
parts of the device, only by using the motion of the structure (Symans
and Constantinou, 1999; Soong and Constantinou, 1994; ATC, 1993).
The advantage of these devices lies in the fact that they do not require
an external energy source, this way being free from all problems related
to electronic control devices. On the other hand, these devices allow to
modify the response for a small range of frequencies only; therefore, an
accurate dynamic study of the structure is required in terms of both
frequency and damping characteristics. Examples of passive controls
are: hysteretic metallic dampers, friction, viscoelastic, viscous, to
ground (or Tuned Mass Damper) and damping liquid. Some examples
are listed below.
1.4.1. Insulation devices
Among different types of passive control, the most relevant ones are
insulation devices (Soong and Constantinou, 1994; ATC, 1993; Kelly
and London, 1993). They are normally support elements with high
stiffness placed where the vibrations passage is believed to occur, often
just between the exciting source and the structure to be insulated so as
to create a discontinuity, which reduces the transmission of the kinetic
energy between the structures.
1.4.2. Tuned Mass Damper
The Tuned Mass Damper (TMD) is a device consisting of an
auxiliary mass connected to the main structure through a system of
springs and dampers (Soong and Spencer, 2002; Soong and Rana,
1998). The first applications of this kind of devices took places in the
field of civilian facilities to damp the vibrations induced by the wind. It
should be noted how this device can be studied and developed for one
natural frequency only, although the device still reduces the dynamic
response related to adjacent frequencies.
1.4.3. Tuned liquid mass damper
The basic principles aimed at reducing the dynamic response of the
structures are similar to those of a Tuned Mass Damper (Mondal et al.,
2014). The only difference, in this case, consists in the fact that the
secondary mass is liquid and tuned to act as an absorber. The
advantages of this solution are a low initial cost, low maintenance
and the simplicity to vary the design frequency.
1.4.4. Viscous fluid dampers
This type of viscous dampers is used for many years in the
aerospace and military industry, but it has been introduced only a
few years ago in the field of structural control in civil engineering. The
most famous example of a practical application is certainly the
Millennium Bridge in London (Taylor). In June 2000, a study showed
that the passage of people was to excite the natural frequency of the
bridge causing lateral displacement oscillations that made impossible
to cross it. One year later, 37 fluid viscous dampers inspired by
aerospace technology used by NASA in satellites were applied: the
Taylor's Frictionless Devices Hermetic Damper. The solution perfectly
adapted to the needs of the structure in terms of practicality and
aesthetics. The device generally consists in a piston sliding in a
cylinder, filled with a high viscosity fluid such as oil or, in some cases,
silicone.
The disadvantages are high costs and restrictions imposed by the
anchoring system. Two connections, one to the structure and the other
to the foundations or to a node firmly anchored to the ground are
required.
2. Basic principles of passive control devices
In the field of passive control devices, the present study will focus
on the study of Tuned Mass Damper. Some authors distinguish
between Dynamic absorbers and Tuned Mass Damper (Harris and
Piersol, 2002).
T. Pais, D. Boote Ocean Engineering 141 (2017) 249–264

If a force with constant frequency amplitude excites the primary

system, the vibration amplitude is controlled by using a mass and a
calibrated spring on the auxiliary excitation frequency. When the
system of the auxiliary mass has a low damping factor, it is called
“Dynamic Absorber”. If the damping can be incorporated to the
auxiliary system, the system is called “Tuned Mass Damper” (TMD).
An auxiliary system consisting of one or more masses, springs and
dampers is connected to a main vibrating system. The response of the
main system is proportional to the amplitude of the motion at the point
of connection; in addition, it is also function of the excitation
frequency, the mass, the stiffness of the spring, and the damping
constant of the auxiliary system. In case there is no damping in the
auxiliary system, the reaction is in phase or counter phase by 180° with
the displacement and the acceleration at the connection point between
Fig. 1. system with two degrees of freedom.
the two systems. In the opposite case, in the presence of damping, the
reaction has a component of 90° out of phase with respect to the
xj (t ) = Xj eiωt (3)
acceleration and the displacement. As long as the reaction is propor-
tional to the motion amplitude, the properties of the auxiliary system where X1 and X2 are, in general , complex quantities that depend on ω
are expressed in terms of the motion recorded at the point connected to and the parameters of the system. Substituting Eqs. (2,3) into the
the main system. This can be made in three different ways, by using: motion Eq. (1) it becomes:
⎧ (−ω 2m11+iωc11+k11)(–ω 2m12+iωc12 +k12 ) ⎫ ⎧ X1 ⎫ ⎧ f1 ⎫
1. reaction force vs. displacement ratio; ⎨ ⎬⎨ ⎬ = ⎨ ⎬
2. reaction force vs. velocity ratio; ⎩ (−ω 2m21+iωc21+k21)(–ω 2m22+iωc22 +k22 )⎭ ⎩ X2 ⎭ ⎩ f2 ⎭ (4)
3. reaction force vs. acceleration ratio.
When defining the amount:
The former case is equivalent to a spring whose stiffness varies with Z ij (iω) = −ω 2mij +iωcij +kij (5)
the frequency, while the second to a damper. Passing from one to
another is rather easy, since for each frequency the second ratio is It is possible to rewrite all in matrix form:
equal to the force over displacement divided by the angular frequency. [Z (iω)]{X} = { f } (6)
In addition, the phase angle between the force and velocity is shifted by
90° compared to the phase angle between force and displacement. The The matrix [Z (iω)] represents the impedance matrix and it is
ratio force over velocity is also called “mechanical impedance” of the defined as:
auxiliary system. Finally, the third ratio corresponds to a weight usually ⎧ Z (iω) Z12 (iω) ⎫
defined as equivalent mass, meq (Harris and Piersol, 2002). The [Z (iω)] = ⎨ 11 ⎬
⎩ Z 21 (iω) Z 22 (iω)⎭ (7)
equivalent mass of a system resides in relations to −1/ω2 compared
to the equivalent spring of the system itself. As many dynamic analysis where
of mechanical systems purely describe reactive systems, i.e. only ⎧X ⎫ ⎧F ⎫
elements with masses and springs, it is better to investigate the effects {X} = ⎨ 1 ⎬ { f } = ⎨ 1 ⎬
⎩ X2 ⎭ ⎩ F2 ⎭ (8)
of auxiliary systems by representing them as reactive subsystems. For
this reason, being much easier to understand a hypothetical added obtaining the inverse of impedance matrix as:
mass rather than a spring, the effects of the auxiliary system are treated
1 ⎧ Z 22 (iω)−Z12 (iω) ⎫
in terms of addition of equivalent mass. The principles governing the [Z (iω)]−1 = ⎨ ⎬
problem will be briefly analyzed in the following section (Harris and Z11 (iω) Z 22 (iω) − Z12 (iω) Z 21 (iω) ⎩− Z 21 (iω) Z11 (iω)⎭ (9)
Piersol, 2002). Substituting Eq. (9) in the Eq. (6) and taking into account Eq. (8),
the solution of the system is achieved:
2.1. Influence of an auxiliary system on a main system
Z 22 (iω) F1 − Z12 (iω) F2
X1 (iω) =
Z11 (iω) Z 22 (iω) − Z12 (iω) Z 21 (iω) (10)
If the primary structure is subject to a forcing that introduces
energy over a range of frequencies such as to make problematic the −Z 21 (iω) F1 + Z11 (iω) F2
X2 (iω) =
vibration component linked to a single mode of vibration, it is possible Z11 (iω) Z 22 (iω) − Z12 (iω) Z 21 (iω) (11)
to design the tuned vibration absorber (TVA) in order to broaden its
scope. In this case, the TVA takes the name of "Tuned Mass Damper" Replacing the Eqs. (10), (11) in the initial Eq. (3), the steady-state
(TMD) and requires the introduction of dissipative forces (Soong and response x1 (t ) and x2 (t ) are obtained.
Spencer, 2002). The motion equations for a generic system with two Vibration absorbers modify a plant's dynamics in order to decrease
degrees of freedom subject to external forcing shows in Fig. 1, can be the vibratory response. In Fig. 2 an auxiliary system constituted by
written as: mass, spring and damper connected to a main system is shown.
If a harmonic force excites the primary system, using an auxiliary
⎧ m11 m12 ⎫ ⎧ x1̈ ⎫ ⎧ c11 c12 ⎫ ⎧ x1̇ ⎫ ⎧ k11 k12 ⎫ ⎧ x1⎫ ⎧ f1 ⎫ mass and a spring calibrated on the excitation frequency, the amplitude
⎨ m m ⎬ ⎨ ⎬+⎨ c c ⎬ ⎨ ⎬+⎨ ⎬⎨ ⎬ = ⎨ ⎬
⎩ 21 22 ⎭ ⎩ x2̈ ⎭ ⎩ 21 22 ⎭ ⎩ x2̇ ⎭ ⎩ k21 k22 ⎭ ⎩ x2 ⎭ ⎩ f2 ⎭ (1) of system response is controlled. The reaction that returns to the
primary system is proportional to the amplitude of the motion in the
The parameter mij ,cij , kij in the Eq. (1) respectively correspond to point of connection between primary and auxiliary system. The
mass, damping coefficient and the elastic constant by imposing apparent mass, which represents force over acceleration, is the transfer
harmonic external forcing of pulsation ω: function used for studying the complete system. A mass consequent
f j (t ) = Fj eiωt from this FFR is called equivalent mass. Considering the force that the
(2)
system exerts on a constraint, Fig. 3, the equivalent mass value for
it is possible to evaluate the steady-state response: auxiliary system consisting of mass, spring and damping is easily

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T. Pais, D. Boote Ocean Engineering 141 (2017) 249–264

Feiωt = (ka+jca ω) xr e jωt (14)

By substituting xr (Eq. (13)) in Eq. (14) it follows:
(ka + jca ω) ma ω 2
F= x0
−ma ω 2 + jca ω + ka (15)
The force exerted by an equivalent mass rigidly attached to the
constraint is F = meq ω2x0:
(ka + jca ω)
meq = ma
−ma ω 2 + jca ω + ka (16)
Eq. (16) can be rewritten in a nondimensional form:
1 + 2ξa βa j
meq = ma
(1−βa2 ) + 2ξa βa j (17)
where
Fig. 2. auxiliary system connected to main system.
ω
βa = ωa
tuning parameter;
2 ka
ωa = m natural frequency of the auxiliary system;
a
c
ξa = c a damping parameter.
ca
cca = 2 ka ma critical damping

Finally, the equation of the equivalent mass may be split into

imaginary and real parts:
(1−βa2 ) + (2ξa βa )2 2ξa βa3
meq = 2
ma − 2
jma
(1−βa2 ) + (2ξa βa )2 (1−βa2 ) + (2ξa βa )2 (18)
In Fig. 4, the real and imaginary parts of the mass equivalent
dimensionless are shown.
If there were no damping, ξα = 0 and if βa = 1, the equivalent mass
Fig. 3. Auxiliary mass damper. The arrangement of the damper is shown at (A), and the would tend to infinity and a finite force would generate no displace-
forces acting on the mass are indicated at (B) (Harris and Piersol, 2002). ment. The auxiliary system would behave as a constrained node. These
concepts can be applied to reduce the amplitude of forced vibrations for
determined. a system with one degree of freedom. The effect of the equivalent mass
If xo is the displacement of the main structure and xr is the represented by the auxiliary system is to increase the mass of the total
displacement of the absorber, the motion equation is: system (auxiliary system + main system). As indicated in the following
(−ka xr −ca jωxr ) eiωt = −ma (x 0 +xr ) ω 2e jωt equation, the equivalent mass positively affects the amplitude of the
(12)
forced vibration x0, which for a system of a single degree of freedom
Eq. (12) is expressed in the frequency domain, but it obviously can be written as:
follows the usual construction widely described in the first chapter.
F /k F /k
Acceleration and speed are simply the first and second derivative with x0 = =
1−
ω2
[m + meq] ω2 ⎡ (1 + 2ξa βa j ) ⎤
respect to time of the displacement, xk e jωt with k = 0,r. k 1− k ⎢m + ma ⎥
⎣ (1 − βa2) +2ξa βa j ⎦ (19)
Solving in function of xr:
m
Finally, substituting the ratio of the masses μ = ma , the static
ma ω 2x 0
xr = deflection of the spring of the main system δst = F/k, and
−ma ω 2 + jca ω + ka (13)
β = mω 2 / k , the ratio of forcing frequency over the natural frequency
The acting force deriving from the main system can be expressed as: of the main system, the above equation in dimensionless form is

Fig. 4. Representation of the real and imaginary parts of the mass equivalent dimensionless (Harris and Piersol, 2002).

252
T. Pais, D. Boote Ocean Engineering 141 (2017) 249–264

obtained:
2
x0 (1−βa )+2ξa βa j
=
δst (1−βa2 )+2ξa βa j − β 2 [(1−βa2 )+2ξa βa j + μ (1 + 2ξa βa j )] (20)
When ξa = 0 (no damping), the equation becomes:

x0 (1−βa2 )+2βa j
=
δst (1−βa2 )(1−β 2 )−β 2μ (21)
For βa = 1, x0 = 0; the vibration of the main system is completely
eliminated when the auxiliary system is devoid of damping and tuned
to the forcing frequency.

2.2. Auxiliary mass damper – Tuned Mass Damper

In general, the dynamic absorber has only effect on a system

subjected to a constant excitation frequency (Harris and Piersol, 2002).
Fig. 5. Points A and B relative to the movement of non-dimensional mass (Harris and
When excited at different frequency from the tuning frequency ωa, two
Piersol, 2002).
different behaviors are obtained: as equivalent positive mass for
frequencies lower than ωa and as equivalent negative mass for the
higher frequencies. This fact introduces one degree of freedom and an
additional natural frequency. In the case of a system with several
degrees of freedom, a similar effect is obtained: the natural frequencies
below ωa move further to the left in the frequency domain, while those
above tend to move to even higher values. Moreover, near the natural
frequency of the main system, a new natural frequency is added,
corresponding to the vibration of the auxiliary system on the main one.
This happens because the main system in proximity to ωa is highly
influenced by the equivalent mass. The study of the behavior of a
system with an auxiliary mass damper or, more specifically, of a Tuned
Mass Damper, is achieved by considering a composed system, in which
the characteristics of the main and auxiliary system are fixed. A
harmonic force at variable frequencies represents the exciting force.
It is more advisable to express the tuning frequency of the auxiliary
mass system in terms of the natural frequency of the primary system
rather than the ratio βa of the excitation frequency ω to the tuned Fig. 6. points A and B aligned accordingly to non-dimensional mass movement (Harris
and Piersol, 2002).
frequency ωa of the auxiliary system (Harris and Piersol, 2002).
Defining a new ratio α:
ωa β
α= =
ω βa (22)
Eq. (22) is substituted in Eq. (20):
1
x0 ⎧ (α 2 − β 2 )2 + (2αβξa )2 ⎫2
=⎨ ⎬
δst ⎩ [(α − β )(1−β ) − α β μ] + (2αβξa ) (1−β − β μ) ⎭
2 2 2 2 2 2 2 2 2 2
(23)
The above equation defines the domain of β as shown in the
following graph:
In Fig. 5, all the curves, regardless of the damping parameter, cross
two fixed points indicated as A and B. Their position is independent of
the value of ξ if, the ratio of the coefficients of ξ2 to the term
independent of ξ is the same in both numerator and denominator:
(2αβ )2 (2αβξ )2 (1−β 2 − β 2μ)2
2
= Fig. 7. Design curve: structure displacement (Bachmann and Benedikt, 1995).
2
(α − β )2 [(α 2 − β 2 )(1−β 2 ) − α 2β 2μ]2 (24)
This equation is satisfied if: The solution of this equation gives two values of β, designated as βc,
(2αβ)2 =0 each one corresponding to a fixed point. The amplitude of motion at
each fixed point may be found by substituting each value of βc given by
1 (1−β 2 − β 2μ)
+ 2 =0 Eqs. (26) into (23). Since the amplitude is independent of ζ, the value
α − β (α − β 2 )(1−β 2 ) − α 2β 2μ
2 2
that gives the simplest calculation (namely, ζ = ∞) can be used for the
1 (1−β 2 − β 2μ) calculation:
− =0
α 2 − β 2 (α 2 − β 2 )(1−β 2 ) − α 2β 2μ (25)
⎡ ⎤1/2
The first two solutions are trivial. The third yields to the equation x0
=⎢
1
⎥
δst ⎢⎣ (1−βc − βc μ) ⎥⎦
2 2 2
(27)
⎛ μ⎞ c
β 4 ⎜1 + ⎟ −β 2 (1 + α 2+α 2μ)+α 2 = 0
⎝ 2⎠ (26)
For the auxiliary mass damper to be most effective in limiting the

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T. Pais, D. Boote Ocean Engineering 141 (2017) 249–264

Table 3
Comparison between numerical and theoretical natural frequencies.

Mode Natural Natural Natural Error %

shape frequency frequency frequency Timoshenko -
Euler [Hz] Timoshenko FEM [Hz] FEM
[Hz]

1 53.17 53.13 53.13 0.02%

2 146.58 146.43 146.35 0.05%
3 287.30 286.71 286.61 0.03%
4 474.93 473.31 473.16 0.03%
5 709.46 705.85 705.72 0.02%
6 990.90 983.88 983.85 0.00%
7 1319.25 1306.85 1307.00 0.01%
8 1694.50 1674.13 1674.70 0.03%
9 2116.66 2085.02 2086.00 0.05%
10 2585.73 2538.74 2540.30 0.06%
Fig. 8. Displacement of the absorber mass (Bachmann and Benedikt, 1995).

Table 1 displacement. In the Fig. 6 below the curves representing the motion
Steel beam characteristics.
for a primary system with a single degree of freedom to which a Tuned
Length: 1000 [mm] Momentum of inertia: 8.33*10−10 [m4] Mass Damper is applied are represented. Three cases are shown: the
Breadth: 10 [mm] Young Modulus: 2.1*1011 [N/m] first represents the response of the system provided with an absorber
Height: 10 [mm] Poisson Coefficient: 0.3 without damping, the second the response system provided with an
Area: 10−4 [m2] Density: 7850 [Kg/m3]
absorber with infinite damping, while in the third case the curve has
horizontal tangent in the fixed points A and B. Since it is difficult to
value of x0/δst over a full range of excitation frequencies, it is necessary determine a value of ξ to obtain the maximum of the curve both in A
to select the spring and damping constants of the system as given by and in B, then an optimum damping value leading to identical values
the parameters α and ζ, respectively, so that the amplitude x0 of the x0/δst, at a point lying between A and B, may be defined as (Harris and
primary mass is a minimum. Consider first the influence of the ratio α. Piersol, 2002):
As α is varied, the values of βc computed from Eq. (26) are substituted 1
βl2 =
in Eq. (27) to obtain values of x0/δst for the fixed points A and B. The 1+μ (31)
optimum value of α is that for which the amplitude x0 at A is equal to
that at B. The frequency corresponding to this ratio is the natural frequency
Let the two roots of Eq. (26) be β12 and β22 , where β12 is less than 1 of the composite system when the damping tends to infinity; it is called
and β22 is greater than 1. When x0/δst has the same value for both β1 “Locked Frequency” (Harris and Piersol, 2002).
and β2 in Eq. (27), From the formulation of αopt and βl it is therefore possible to obtain
an optimal value of the damping parameter:
2
β12 +β22 = 3μ
1+μ (28) ξopt =
8(1+μ)3 (32)
In an equation having unity for the coefficient of its highest power,
the sum of the roots is equal to the coefficient of the second term with When designing an absorber, a major design decision is the choice
its sign changed: of the mass ratio mT/mH. The mass ratio directly influences the
response of the structure and the relative motion of the absorber mass.
1+α 2 + α 2μ
β12 +β22 = With the help of the design curves provided in Figs. 7 and 8, the mass
1+μ /2 (29) ratio can be chosen (Bachmann and Benedikt, 1995). The former figure
From the two preceding equations, the optimum tuning (i.e., that provides the maximum dynamic amplification of the structure
required to give the same amplitude of motion at both fixed points) is equipped with an absorber. The latter figure can be used to determine
obtained: the relative displacement of the absorber mass.

1
αopt = 3. Ideas for the development of a structural control device
1+μ (30)
Furthermore, it is possible to choose a value of the parameter ξ to After describing the principles governing the vibration phenomen-
ensure that the fixed points are near to the points of maximum on and the dynamic absorbers theory, the present chapter focuses on

Table 2
Mode shapes in relation to the node numbers.

Mode shape N=5 N = 10 N = 20 N = 40 N = 50 N = 100 N = 200

1 52.961 53.128 53.122 53.132 53.132 53.132 53.132

2 140.57 146.25 146.34 146.35 146.35 146.35 146.35
3 230.89 285.73 286.57 286.61 286.61 286.61 286.61
4 – 468.31 473.00 473.16 473.17 473.18 473.18
5 – 685.84 705.13 705.72 705.75 705.77 705.78
6 – 918.22 982.13 983.85 983.93 984.00 984.02
7 – 1127.70 1302.70 1307.00 1307.20 1307.40 1307.50
8 – 1268.90 1664.80 1674.70 1675.10 1675.50 1675.60
9 – – 2065.10 2086.00 2086.90 2087.60 2087.80
10 – – 2498.90 2540.30 2541.80 2543.20 2543.50

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T. Pais, D. Boote
Displacement [mm]
6
0
0 10 20 30
Fig. 9. Displacement plot of the beam test.
Fig. 10. FE Model A.
the definition of a passive dynamic absorber.
The choice of a passive device, in this case a Tuned Mass Damper
(TMD), is preferred over the other two solutions, active and semi-
active, for reasons related both to the practicality of finite element
modeling, and to the definition simplicity of the parameters affecting
the device performance. In the first part of the research, a study aimed
at establishing the governing parameters and the mesh sensitivity is
carried out. Subsequently, some TMD models are hypothesized.
Variations in the parameters that characterize the device are analyzed
and compared through harmonic analyses.
3.1. Choosing the element type
In this phase the numerical model is built by the multipurpose
ANSYS FEM software (Swanson Analysis System, 2011). The choice of
most suitable elements of ANSYS Library (Ansys, 2013a) is a funda-
mental step regarding the finite element modeling strategy of a
structure. The analysis type performed within the program (structural,
transient, modal, harmonic etc.) depends on chosen elements.
Moreover, the element type also affect the computation time and the
output results. In the present case, the most difficult choice concerned
Fig. 11. Displacement plot of the test beam with TMD.
Ocean Engineering 141 (2017) 249–264
40 50 60 70 80 90 100 110 120
Frequency [Hz]
the type of element that would be used to represent the beam of the test
model, as the software library provides a wide range of elements. For
the mono-dimensional and bi- dimensional structures, the BEAM 188
and SHELL 181 elements are used. In addition, the “MASS 21” is used
to model the lumped mass and the spring components with COMBIN
14 element.
3.2. Choosing the mesh fineness
A mesh density sensitivity analysis is necessary to identify a proper
mesh size, well suited to the scale of the present problem. A simplified
model is preliminary produced, in this case, a shelf square section, and
the results obtained for different mesh density are compared. The study
is useful to determine the most suitable element. In fact, a good mesh
choice allows performing quick calculations with reliable results. The
test is carried out on a steel beam having square section, clamped at
both ends, whose main features are listed in Table 1 below:
Seven tests are performed: the beam is divided respectively in 5, 10,
20, 40, 50, 100 and 200 nodes and subsequently a modal analysis is
performed to derive the first 10 modal shapes. The following Table 2
shows and compares each other the first 10 modal frequencies for each
of the seven divisions:
The five nodes numerical model only allowed obtaining the first
three modes shape, and the ten nodes one the first eight ones. The
results converge towards a single solution when more than 20 nodes
are used.
In conclusion, it can be noted that for N ≥ 20 the results are almost
coincident.
Later, a further test is carried out in order to compare the numerical
results with the analytical calculations. The Euler and Timoshenko
equations are used to calculate the natural frequencies of the beam. The
Timoshenko equation differs from the Euler one because it takes into
account the “shear factor” k (Yin et al., 2014):
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T. Pais, D. Boote Ocean Engineering 141 (2017) 249–264

Fig. 12. Displacement plot of model A as a function of k.

Fig. 13. Variation in the position of the absorber application point.

Fig. 15. Spring constant of a cantilever beam (Alsoufi).

( j +0 . 5)2π 2 EI
Euler equation: ωj =
L2 ρA (33)
creation of a test model for a simple Tuned Mass Damper (Model A).
( j +0 . 5)2π 2 EI 1 Subsequently, slightly more complex models are hypothesized (Model
Timoshenko equation: ωj =
L2 ρA
1+
( j +0 . 5)2π 2I ⎛
⎜1 +
E ⎞
⎟
B and C). The first model is characterized by a simple structure which is
L2A ⎝ kG ⎠ (34) very close to the model normally used for educational purposes. The
components that characterize the device are modeled to be faithful to a
In the Table 3, the comparison between results obtained by Euler
simplified model with one degree of freedom. Moreover, this first
and Timoshenko theories (Eqs. 28 and 29) and by the FE model are
model allowed to perform subsequent analyses on upcoming models in
shown. As it is possible to note FEM results are closer to those obtained
such a way as to define a standard procedure to provide comparable
by Timoshenko equation as element BEAM 188 takes into account the
results. The first model consists of the clamped beam reported in the
shear factor.
previous paragraph, measuring one meter in span, made of steel and
having square section. A preliminary modal analysis is performed to
4. Numerical model obtain the vibration modes. Subsequently, harmonic analysis is carried
out in order to quantify the node displacements at mid-span. The
In this study, the first phase was dedicated to concerned the modal analysis LANB only provides the natural frequencies giving a

Fig. 14. Displacement plot of the model A with different positions of the absorber.

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T. Pais, D. Boote
Fig. 16. FE Model B.
purely representative displacement value (Ansys, 2013b). A force on
the centerline node is then placed through the command HARFRQ
(Connor and Laflamme, 2014). It enables to apply a sinusoidal force
and a constant module that runs through all frequencies in the range of
choice with a previously chosen step. For this case and the following
ones, a force of 10 N of the module and a range between 0 and 120 Hz
with a step of 1 Hz is taken into account. In this case, only the first
mode of vibration corresponding to 53.1 Hz is considered. In the
harmonic analysis, the displacement in the central node of the beam is
evaluated. From beam theory, a beam clamped at both edges experi-
ences the maximum displacement at mid-span. The mid-span displa-
cement, function of the load frequency, is presented in the following
Fig. 9.
4.1. Model “A”
The first tuned mass damping model is a concentrated mass
connected by an elastic spring to the beam at mid-span (Fig. 10).
The mass, the elastic constant of the spring and the position of the
device with respect to the beam are free parameters the influence of
which is investigated.
In this numerical model, due to its simplicity and to the impossi-
bility of creating it in real scale, the resulting displacements are not
taken into account. The model is only adopted to evaluate which
frequency is absorbed by the TDM. The following near-optimum
approximation to obtain the mass absorber value is assumed (Connor
and Laflamme, 2014).
ωd =ω p
(35)
The new modal analysis with an assumed value of k = 15 [N/mm] is
then carried out:
In Fig. 11 the original frequency is modified by the TMD, resulting
in two peaks, one on each side of the first mode frequency of the beam
without absorber device. In this case, the mass of the compensator is
0.089 kg. The value of the elastic constant and its position are then
evaluated. The range of the elastic constant “k” between 5 and 40 [N/
Fig. 17. Comparison between displacement of model A and model B.
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Ocean Engineering 141 (2017) 249–264
Fig. 18. Schematic shift position of the masses at the ends of beams.
mm] is examined. The resulting peaks progressively move away from
the target frequency with increasing k value. In Fig. 12 the displace-
ment amplitude peak on the left gradually rises.
For this type of absorber model, the mass influence is linear with k,
as it is obtained from the natural frequency. By increasing the elastic
constant, the mass becomes a governing parameter of the problem. In a
superyacht design, a mass increase would not be acceptable.
The next step involves the variation of the absorber position with k
and mass as constant value. In addition to the centerline point, four
positions are chosen (Fig. 13).
As shown in Fig. 14, the peaks are symmetrical and less intensive
when the device is close to the clamped fixing and the dissipative effect
on the target frequency decreases. It follows that the dynamic absorber
is much more effective when you locate it at the point where the
maximum displacement occurs, in this case, the section at mid span of
the beam. This is an important factor to take into account when the
model becomes more complex and the dynamic behavior of the
structure is not so clear, such as a yacht deck.
4.2. Model “B”
The second TMD model is studied taking into account the real
position where the absorber should be located, i.e. the deck of a yacht.
The absorber's geometry should adapt to the spaces available between
the deck shell and the flange of a T beam. Due to the narrow spaces
available, a beam is used instead of a spring. Fig. 15 shows the
equivalent spring constant of a cantilever beam subjected to a
concentrated load F at its end (Alsoufi).
From material strength we know that the end deflection of the beam
due to a concentrated load F=W is given by:
Wl 3
δ=
3EI (36)
where E is the Young's modulus and I is the momentum of inertia of
the cross section of the beam about the bending. Hence the spring
constant of the beam is:
W 3EI
k= = 3
δ l (37)
The dynamic absorber is composed of two steel beams as shown in
Fig. 16. Two equal masses are concentrated at the end of each beam.
In this case, the spring constant is taken from the first Model A: k =
T. Pais, D. Boote Ocean Engineering 141 (2017) 249–264

90 [mm] 80 [mm] 70 [mm] 60 [mm] 50 [mm]

8

Displacement [mm]
5

0
0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160
Frequency [Hz]
Fig. 19. Variation of the location of the mass along the beams.

their original location as shown in Fig. 18. For this test some
parameters are kept constant, in particular, the weight of the masses
is set at 0.04 kg, the length of the beam is maintained constant and the
section unchanged.
In addition, in this case, a code that would allow to easily changing
the parameters is drafted. In the Fig. 19 below, the results are reported:
The mass movement along the two beams that constitute the TMD
affects only the frequency of the second peak.

4.3. Model C

Fig. 20. Mesh and boundary conditions of the beam test.
15 [N/mm]. The breadth and the height of beams are hypothesized
respectively as 6 [mm] and 3.5 [mm]. The beam length is obtained
from the Eq. (37), i.e. 96.52 mm approximate with 100 mm.
The frequency analysis and the frequency response are carried out.
The displacements at the mid-span of the beam are shown in Fig. 17.
The results are congruent with the displacements obtained by model A.
4.2.1. Variation of the position
The following test is carried out to investigate the behavior of the
device as a function of a change in the masse positions with respect to
The results of the analysis performed on the test model are analyzed
to evaluate their effectiveness on larger models and with different
sections. For this reason, the study model are modified in order to get
closer to a real scale. In this case, the dissipator is located at a beam
that had the same size as one of those present on board the study case
yacht. In particular, a longitudinal “T” girder (120 × 280 × 300 × 15 × 8
× 8) on the sun deck is chosen. For the aforementioned beam a span of
3.6 m, i.e. equal to the distance between two transverse frames, is
assumed. In this case, the material is aluminum. The width of the top
flange are assumed equal to half the interval between the longitudinal
girders according to the “effective breadth” defined by Classification
Societies rules.
The beam is modeled by using BEAM188 elements for the flange
and SHELL181 for the web and the effective breadth (ANSYS, 2013a,
2013b). With regards to the mesh size, the same study on the

Fig. 21. Displacement [mm] on frequency [Hz] of the central node of the beam test without any device.

258
T. Pais, D. Boote Ocean Engineering 141 (2017) 249–264

Fig. 22. Central portion of the beam without and with the dissipator device.

Fig. 23. Displacement [mm] on frequency [Hz] central node of the beam after placing a proper tuned device.

Fig. 25. Distributed loads applied on decks by SURF154 elements.

Fig. 24. Longitudinal section of the numerical model.

259
T. Pais, D. Boote
Fig. 26. Natural frequency of the sun deck.
Fig. 27. Location of the pulsating pressure acting on the bottom.
convergence of the solution used for the beam modeling is carried out
and, in this case, a mesh size of 100 × 100 mm is obtained. As in the
previous cases, the beam is clamped at both ends as show in Fig. 20.
In the next step, a point force of 100 N is applied to the centerline
and then the harmonic analysis performed. In Fig. 21, the displace-
ment of the central node of the beam test without any device is
reported. It should be noted that this procedure is also performed to
verify that no errors due to the mesh, boundary conditions or incorrect
application of the force are present.
After these steps, mass damper model B is placed and its operation
under varying masses is verified. For this analysis, it is decided to set
the length of the device rods at 30 cm.
Fig. 22 below represents the central portions of the beam without
Fig. 28. Displacement of the node number 405˙507.
260
Ocean Engineering 141 (2017) 249–264
and with the dissipator device (in light blue).
As in previous cases, some tests to locate the appropriate masses of
the device are performed. In this case, thanks to the considerations in
the preceding paragraphs, the entities of the masses is set equal to 1 kg
each.
As shown in the above Fig. 23, two minor peaks are obtained on the
right and left of the first natural frequency and the displacement near
to 133 Hz is completely reset.
This study is satisfactory not only from the point of view of the
results in terms of displacement but also from the point of view of the
masses. In fact, taking into account that the device has a weight of
about 3 kg, compared with 64 kg of the beam, it represents only 4.7%
of the weight of the beam. From the weight point of view, it represents
a good compromise between weight of the device and effectiveness.
This is extremely relevant, as weight is a primary importance item for
what a ship or a yacht is concerned.
5. Real case
In previous paragraphs, a detailed study of fundamental parameters
characterizing the Tuned Mass Damper behavior by simple numerical
models is performed. In this section, a more complex case will be
investigated. For this study a representative 60 m, three-deck super-
yacht, with 9.5 m beam, is made available by an Italian superyacht
shipyard. The vessel has a steel hull and aluminum superstructures, the
whole structure being longitudinally framed with web frame intervals
of 1200 mm. In order to perform accurate and reliable FEM calcula-
tions a detailed numerical model of the stern part of the yacht structure
is developed using the multipurpose code ANSYS.
5.1. Numerical model
The hull geometry and structure layout is imported from a 3D
model previously created by a rendering software. The mesh is created
using "SHELL63" elements of the ANSYS library for plating and main
reinforcements such as keelsons, floors and girders. For secondary
stiffeners simple "BEAM44" elements are used to keep the model size
as small as possible. The mass and loads on the main deck and on the
two superstructure decks are modeled by "SURF154" elements, which
are particularly suitable for dynamic analyses (Ansys, 2013a). In
Fig. 24 an inside view of the structure is shown by a longitudinal
section of the mesh. In total, the numerical model consisted of about
100,000 nodes and 90,000 elements.
On each deck a distributed load is applied corresponding to the
finishing and outfit weight (about 300 kg/m2) as shown in Fig. 25; on
the main deck the concentrated load of the tender crane in the garage is
considered as well. The tender garage is located in the stern area below
the main deck. The corresponding load is applied to the reinforced
beams of the main deck simulating the presence of a crane hanging
under the deck; the crane weight is about 25,000 N and it is applied by
placing 10-point loads of 2500 N each. The total displacement of the
modeled portion is equal to 130 t.
T. Pais, D. Boote Ocean Engineering 141 (2017) 249–264

Fig. 29. the vertical acceleration vibration spectra in the node number 405˙507.

Table 5
Parameters of the TMD.

D 10
μ 0.01
m 1.27 [t]
ma 12.7 [Kg]
xo 0.19952 [mm]
fa 11.76 [Hz]
ka 69390.47 [N/m]
ξa 6%

5.2. Forcing

Fig. 30. Static deflection.
The numerical model is constrained at frame section 16, where the
hull is cut. All nodes located on this section are completely constrained,
thus forcing the structure to behave as a cantilever. The constraints are
located far enough from the area of interest so that they do not have
significant influence on the analysis.
The natural frequencies of the whole structure are investigated by
modal analysis. The first natural frequency of sun deck is identified at
11.88 Hz and it is shown in Fig. 26.
The maximum deformation resulted to be in correspondence of the
node n. 405,507. With the participation factor command, the mass of
the structure that participates at the mode in consideration is obtained.
For the same mode, the involved mass is 1.27 t.
For this study, only the force generated by the propellers is taken
into consideration. The number of blades is five and the propeller
revolution is 410 rpm, thereafter the blade passing frequency is 34 Hz.
The value of the propeller maximum pressure are assumed on the base
of experimental data made available by the shipyard: 1 KPa for the half
loaded propeller and 2 KPa for the full loaded propeller. Taking into
account any movement of the natural frequency with respect to the
values calculated during the modal analysis, it is preferable to refer to
the use of harmonic analysis with the use of the function KBC made
available by the software. By this function, given a certain amount of
force, it is possible to apply the forcing by a sinusoidal low along all the
frequencies within a certain predetermined range; the wider is the
range, the heavier will become the calculation and the longer the
calculation time. For this reason, a range between 0 and 40 Hz is
chosen for this investigation. Since a large gap of zero displacements
between 15 and 40 Hz has been recorded, it was decided to restrict the
investigation range between 0 and 25 Hz.
The value of propeller-induced pressure on the stern plates is
applied in phase on the two bottom areas indicated in Fig. 27 by two

Table 4
The vibration criteria prescribed by ABS (ISSC, 2012).

Yacht length Notation Frequency range Acceleration measurement Maximum level

Underway Anchor

L ≤ 45 m COMF (Y) 1–80 Hz aw 89.4 mm/s 2

53.5 mm/s2
(v) (2.5 mm/s) (1.5 mm/s)
COMF +(Y) 1–80 Hz aw 53.5 mm/s2 45 mm/s2
(v) (1.5 mm/s) (1.25 mm/s)
L > 45 m COMF (Y) 1–80 Hz aw 71.5 mm/s2 45 mm/s2
(v) (2.0 mm/s) (1.5 mm/s)
COMF +(Y) 1–80 Hz aw 53.5 mm/s2 35.75 mm/s2
(v) (1.5 mm/s) (1.0 mm/s)

aw = multi axis acceleration value calculated from root-sums-of-squares of the weighted root mean square (RMS) acceleration values in each axis (axw, ayw, azw) at the measurement
point. v = spectral peak of strutural velocity in mm/s.

261
T. Pais, D. Boote
Fig. 31. TMD Model A application.
Table 6
Parameters value for the Model C.
E 210,000 [MPa]
b 5 [mm]
h 5 [mm]
J 52.08 [mm4]
Beam length 98.16[mm]
red rectangles immediately above the propeller.
After the application of the pressure in the harmonic analysis, the
response in the maximum deformation node is obtained and shown in
Fig. 28:
In Fig. 29, the vertical acceleration vibration spectra in the
maximum deformation node is shown.
In the following Fig. 30, the static deflection produced by the
application of the propeller pressure is shown.
In correspondence of the same maximum deflection node, the static
deflection resulted to be equal to δst = 0.019952 mm.
6. TMD applications
As widely discussed in the second chapter, one of the most
important aspects of superyacht design is the on-board comfort in
terms of vibration performance. The Classification Society Rules
impose increasingly restrictive limits for vibration levels. For example
in the Table 4, the value of vibration criteria prescribed by ABS is
shown.
The pick at 11. 8 Hz in Fig. 29 is higher than the imposed limit by
ABS for yacht with length greater than 45 m. For this reasons the TMD
can be used to modify the dynamic behavior of critical zones. In other
situations, the TMD can be used to ensure that the dynamic response of
the structure is within acceptable limits of regulations. To do this, the
Fig. 32. TMD Model C application.
262
Ocean Engineering 141 (2017) 249–264
graph in Fig. 8 is used. In the following equation, the Dynamic
Amplification Factor “D” before the application of any absorber is
calculated:
x0 1. 89
D= = = 94. 73
δst 0. 019952 (38)
As an example, if a Dynamic Amplification Factor of 10 is required
and the damping of the structure is 6%, from the graph of Fig. 8 it is
possible to obtain the β parameter. Parameters of the TMD are
calculated and shown in the Table 5.
As a first test the absorber, Model A, is chosen and placed below the
plating of the Sun Deck in correspondence of the point of maximum
deformation as shown in the Fig. 31 below.
As a second approach, the absorber Model C is modeled for this real
case. The elastic constant of the spring is transformed in the equivalent
elastic constant of the beam. In the following Table 6 the value of
parameters for the two beams are reported.
The second TMD is positioned in correspondence of half the height
of the girder as show in Fig. 32.
In both cases, the harmonic analysis is performed and the
corresponding results are plotted in the following graph in the Fig. 33.
In Table 7 the results obtained by the use of Model A or C are
shown. The theoretical displacement obtained by applying the TMD at
the primary structure in order to reduce the displacement amplitude at
11.88 Hz, as reported in Table 3, is compared with the numerical
displacement obtained by using the A or C TMD model.
In Fig. 34, the vertical acceleration vibration spectra after the
application of the TMD is shown.
The first natural frequency of sun deck after the application of the
TMD is identified at 12.29 Hz and it is shown in Fig. 35.
T. Pais, D. Boote Ocean Engineering 141 (2017) 249–264

Fig. 33. Displacement with and without TMD.

Table 7 the relative motion of the device itself, induced by the dynamic of the
Results obtained by the use of Model A or C are compared. structure. A parametric FE analysis has then been built up by the
ANSYS code in order to study the optimum geometrical configuration
Frequency [Hz] xo Model A xo Model C xo Theoretical [mm]
[mm] [mm]
of the passive absorber, considering the restrictions imposed by the
feasibility requirements related to the particular yacht structure
11.882 0.165 0.159 0.196 characteristics.
Error 15.61% 18.68% This investigation arises from the necessity to avoid that accelera-
tion values exceed the maximum levels imposed by the Classification
Rules relative to the comfort onboard superyachts.
To extend the analysis to a real case, a numerical FEM model of a
54 m superyacht has been carried out in such a way that a high
vibration peak takes place on the superstructure sundeck.
Two different models of TMD has then been placed on the
cantilever sundeck of the study case yacht and the resulting dynamic
behavior of the structure investigated. Three main points can be
highlighted:

– by a proper tuning of the Dynamic Amplification Factor of the mass

damper it is possible to control the structure displacement of the
critical zones up to the desired values;
Fig. 34. The vertical acceleration vibration spectra in the node number 405˙507 after
– the acceleration peak decreases below the maximum allowable
the application of TMD.
values;
– with only one TMD the mode shape didn’t change significantly.
7. Conclusion
A further development of this study should be focused on the
The study herein presented was aimed at implementing a passive
application of a series of mass dampers properly placed in the critical
control device to reduce the vibration behavior of some local areas of
areas and, more specifically, on the determination of the number,
superyacht hull and superstructures. This device type does not require
dimensions and placements of these devices.
any external energy source, as it develops the control force thanks to

Fig. 35. Natural frequency of the sun deck after the application of TMD.

263
T. Pais, D. Boote
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