Generalized modes in time-domain seakeeping calculations

The concept of "generalized modes" is to describe all degrees of freedom by mode shapes and not using any predefined shape, like rigid body modes. Generalized modes in seakeeping computations allow one to calculate the response of a single ship, springing, whipping, multibody interaction, etc., using a uniform approach. The generalized modes have already been used for frequency-domain seakeeping calculations by various authors. This article e)dents the generalized modes methodology to be used for time-domain seakeeping computations, which accounts for large-amplitude motions of the rigid-body modes. The time domain can be desirable for seakeeping computations because it is easy to include nonlinear load components and to compute transient response, like slamming and whipping. Results of multibody interaction, two barges connected by a hinge, whipping response of a ferry resulting from slamming loads, and the response of a flexible barge are presented to illustrate the theory.