The imminence of anthropogenic climate change has motivated a global energy transition towards sustainable power generation. Offshore wind—an important contributor to the energy transition—is expanding, not only in turbine size and number of installations, but also into regions with harsher environmental conditions. One of those conditions in places such as the Baltic Sea is drift ice. Offshore wind turbine support structures, with vertical sides at the waterline, must be designed to survive dynamic ice-structure interaction when ice fails in crushing against the structure. For a safe and efficient design of the support structure, dynamic ice-structure interaction resulting in ice-induced vibrations must be considered. Therefore, both an understanding of the problem and accurate modeling for the prediction of the development of ice-induced vibrations are required.

Significant progress has been made in recent years on the topic of ice-induced vibrations, and a numerical model for prediction of ice-induced vibrations has been developed based on the principles of velocity-dependent deformation and failure behavior of ice, and contact area variation between ice and structure during interaction. However, uncertainty remains regarding physical mechanisms within the ice which govern ice-induced vibrations. The ice mechanics involved in the development of ice-induced vibrations is therefore the main topic of this thesis.

The main objective was to investigate and identify the ice mechanics involved in the development of ice-induced vibrations, especially in the regime of frequency lock-in as historically defined. It was hypothesized that dynamic recrystallization played a relevant role in the ice mechanics involved in ice-induced vibrations. To test the hypothesis, ice mechanics experiments were performed at the ice laboratory specifically developed at Delft University of Technology for this purpose.

To identify grain-scale mechanisms in ice, such as dynamic recrystallization, a method was devised to elucidate ice thin section textures and (quarter) fabrics by means of crossed-polarized transmitted light and interference coloration of ice. An attempt was made to apply the method to the laboratory experiments which applied compressive loading to the edge of a thin freshwater columnar-grained ice plate, laterally confined by glass plates. Crossed-polarized transmitted light was shone through the glass plates to observe the grain structure of the ice during cyclic compression with a haversine velocity waveform. The loading and confinement scenario was intended to reproduce a vertical section of the ice edge during frequency lock-in vibrations. The experimental design demonstrated that the grain-scale mechanics of dynamic recrystallization did not obviously contribute to the peak load-velocity relation associated with frequency lock-in vibrations. As expected, fracture initiated on the grain scale was responsible for load drops. But, more interestingly, stress relaxation during periods of low relative velocity between ice and structure occurred rapidly. Following the stress relaxation, when velocity increased, the peak load was higher than previous brittle peak loads. The results indicated that the mechanisms involved in the stress relaxation were occurring on a scale smaller than the grain size. A loading path dependency was also observed with respect to the peak load-velocity relation.

Ice penetration experiments at the Aalto Ice and Wave Tank in ethanol-doped cold model ice were performed with a rigid structure, controlled oscillation, and a single-degree-of-freedom structure, and comparison of results showed that the peak global ice loads depended on the amount of time spent at low relative velocities where an ice strengthening effect developed. This has implications for the so-called velocity effect and compliance effect in design of structures subject to dynamic ice-structure interaction.

Overall, the load signals from the ice mechanics experiments on freshwater ice resembled the load signals obtained from the controlled-oscillation experiments from the model-scale ice tank tests. The qualitatively similar velocity and resulting load patterns give confidence in the idea that the mechanisms involved in both types of experiments were similar, even for different ice types and loading scenarios.

These similar results demonstrate a link in the ice mechanics across different ice types and loading scenarios, which may be explained with further research on path-dependent constitutive ice behavior, and with scrutiny regarding ice dislocation and grain boundary mechanics. Suggestions for future research are proposed, including the testing of strain rate-varying uniaxial compression of ice and ice penetration experiments with haversine velocity waveforms.@en

For the design of offshore foundations in regions such as the Baltic Sea, it is paramount that ice-structure interaction is appropriately considered. For the monopile, a common foundation for offshore wind turbines, challenges with ice-induced vibrations and high ridge loads may require ice-mitigating measures to be included in the design. A ‘feasibility map’ showing the necessity for such ice-mitigating measures in the entire Baltic region has been developed for monopiles. The feasibility was considered in technical terms by imposing design, installation, and fabrication constraints, and in economic terms, expressed in weight increase of monopiles when compared to an ‘ice-free’ design. A design assessment of offshore wind turbines across the Baltic Sea was conducted by optimizing foundation designs for the IEA 15 MW reference turbine for nine identified characteristic regions of the Baltic Sea. The assessment was performed via the in-house foundation design software MORPHEUS by Wood Thilsted. MORPHEUS has been coupled to the phenomenological ice model “VANILLA” to capture the dynamic ice-structure interaction for level ice. From the assessment, the following regions are deemed feasible for monopiles without ice-mitigating measures: the Danish Straits, the Baltic Proper South, the Baltic Proper North, the Gulf of Riga and the Archipelago Sea. The Bothnian Sea North and the Bay of Bothnia are deemed infeasible without mitigating measures. For the Bothnian Sea South and the Gulf of Finland, no conclusive answer was found as more research into the cost competitiveness of alternative options is required. The increase in fatigue resulting from ice loading was found to be the main cause for foundation weight increase of monopiles compared to monopiles designed for ice-free waters. @en

For offshore wind turbines on monopile or jacket foundations without ice cones, one of the relevant design load cases is that of ice floes or level ice crushing against the structure resulting in ice-induced vibrations. In relation to that design load case, a relevant question is which ice strength coefficient to use in the crushing formula in ISO 19906 for determining design peak loads during intermittent crushing. Despite the guidelines in the standard being relatively clear on this matter, there often exists uncertainty regarding if and how to account for velocity effects and compliance effects when defining the ice strength coefficient CR. Ice tank tests were recently conducted to investigate the dependence of global peak loads on far-field ice speed for both rigid and compliant structures. Those tests revealed that the compliance effect and velocity effect on the global loads originate from the same strengthening effect in the ice. As a consequence, the absolute global loads on the rigid structure and compliant structure did not differ significantly. Applying these results to the challenge of defining the ice strength coefficient for intermittent crushing, it can be stated that if the velocity effect is accounted for in the ice strength coefficient, then there is no need for further increase due to compliance of the structure. ISO 19906 provides some suggested values for the ice strength coefficient which include provisions for the velocity effect and can therefore be directly applied to determine the peak loads during intermittent crushing, as the standard also suggests.@en

A series of ice penetration tests with a rigid structure, with controlled oscillation, and with a single-degree-of-freedom structure were performed to investigate the peak load-velocity dependence for ethanol-doped model ice during a test campaign at the Aalto Ice and Wave Tank. For the rigid structure and controlled-oscillation tests, the ice drift speed ranged between 1 and 150 mm s⁻¹. In the controlled-oscillation tests, amplitudes of oscillation between 0.40 and 15.90 mm and frequencies of oscillation between 0.143 and 4 Hz were prescribed such that the relative velocity between ice and structure never became negative. A constant ice drift deceleration experiment with a single-degree-of-freedom structure was performed to investigate the development of frequency lock-in and intermittent crushing in the model ice and compare the results with the rigid structure and controlled-oscillation tests. It was found that the peak load-velocity dependence identified in the rigid structure tests was not always uniquely defined as identified in the controlled-oscillation tests because the loading history affected the peak load at ice failure. A rapid strengthening of the ice developed at low relative velocity and carried over to high relative velocity until the ice failure dissipated the strengthening effect. The strengthening effect, observed in the rigid structure and controlled-oscillation tests, was also observed during frequency lock-in and intermittent crushing in the single-degree-of-freedom structure test. The observations in the present study indicate that the so-called velocity and compliance effects in ice-structure interaction originate from the same strengthening effect. It then follows that peak loads on compliant structures cannot exceed peak loads on rigid structures in the same ice conditions, with the only difference being that the peak loads on compliant structures occur at apparently higher far-field ice drift speeds due to the change in relative velocity.

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Cyclic crushing experiments with a haversine velocity waveform were performed on passively confined, freshwater columnar ice specimens for a variety of velocities and frequencies. The aim of the experiments was to study the ice deformation and failure behavior in crushing when loaded at a predefined displacement pattern closely resembling the frequency lock-in regime of ice-induced vibrations. The focus of the experiments was on the development of load and ice deformation behavior at the grain and ice specimen scales during each cycle. To this end, the deformation and failure of the ice were observed with crossed-polarized light to highlight the microstructure in-situ during cyclic crushing. It was shown that there are dichotomous mechanical behaviors of the damaged and confined ice during a single crushing cycle: brittle at high velocity and non-brittle at low velocity. At low velocity, ice fracture was interrupted and stress relaxation occurred until the predefined velocity began increasing in the cycle. The stress relaxation in the load was accompanied by stress-optic effects in the ice. It was found that a load peak-velocity hysteresis developed in each crushing cycle: peak loads following the non-brittle behavior were temporarily higher than the peak loads of the brittle behavior. The temporary load peak enhancement tended to increase with increasing duration of stress relaxation, i.e. the peak enhancement tended to increase with decreasing velocity and frequency. Negligible peak enhancement and stress relaxation duration were observed for the highest frequency and mean velocity tested of 2 Hz and 10 mm s⁻¹, respectively. For tests with a minimum velocity of 1 mm s⁻¹, no stress relaxation was observed in the load measurement. Preliminary results from deviating from the haversine velocity waveform by increasing the minimum velocity showed that the stress relaxation duration decreases, but the non-brittle peak load does not decrease. It is speculated that ice anelastic ice behavior could account for the rapid stress relaxation at low velocity. It is unclear what causes the hysteresis, although it is speculated that dynamic strain aging might play a role. The change in ice behavior during the experiments demonstrates a mechanism which develops rapidly and might therefore incite the development of the frequency lock-in regime of ice-induced vibrations of vertically-sided structures.

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The manual application of universal (Rigsby) stage techniques is commonly used to determine the fabric of thin sections of ice viewed with crossed-polarized light. This process can require hours of focus in cold conditions to identify the c-axis of each grain in a thin section. Automated ice texture and fabric methods of several forms exist but are rarely implemented beyond the field of glaciology. The present study introduces a method based on the theory of interference coloration for automated ice texture and quarter fabric analysis by using in-plane conventional photography of an ice thin section as input. The method is compatible with universal stages and polariscopes, and is not restricted by the planar-face dimensions of the thin section, allowing for thin section analysis of any size when sufficient digital camera resolution is available. Light source color temperature and chromatic adaptation are considered in the interference coloration theory, and ice fabrics are simulated for reference in identifying ice types. Sample thin section texture and quarter fabric analyses from freshwater lake and laboratory-grown ice are presented to demonstrate the applications of the method. The method is compared with the Rigsby stage technique, which yielded mean (standard deviation of) azimuth and inclination errors of 2.9 (1.0) and 11.5 (8.0) degrees, respectively, thereby demonstrating accuracy sufficient for quantifying quarter fabrics when considering a mean standard deviation in inclination of 5.4 degrees with the Rigsby stage technique.

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The authors regret their errors in the production of the legend labels and marker colors in Fig. 15 on page 11. The correct legend labels and marker colors are provided in the figure below:[Formula presented] The authors would like to apologize for any inconvenience caused.

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Basin tests were performed at the Aalto Ice Tank to gather data on ice-structure action and interaction from ice failing against a vertically sided cylindrical pile. The tests were performed with a real-time hybrid test setup, which combined physical and numerical components to simulate a range of test structures in real-time. The dataset includes results from tests with offshore wind turbine structures, structural models representing a series of single- and multi-degree-of-freedom oscillators, and scaled dynamic models of the Norströmsgrund lighthouse and the Molikpaq caisson structure. In addition, forced vibration tests and rigid structure tests were performed. Ice loads and structural response were measured with accelerometers, displacement sensors, potentiometers, strain gauges and load cells and the ice-structure interaction process was filmed from three different camera angles. The resulting raw data have been categorized and stored as unfiltered time series. A total of 259 different tests are included in the dataset. The model ice formation procedure and the test temperature were aimed at creating model ice that mimics the material behavior of full-scale saline ice during crushing failure, with a specific focus on the transition from brittle to ductile behavior. The data can be used for validation of models for dynamic ice-structure interaction. The offshore wind turbine data can be used to study the effect of wind loading on the interaction with ice and the effect of the specific dynamic properties of wind turbine structures with monopile foundations on the ice-structure interaction process. The forced-oscillation data can be used to quantify the time and speed dependant aspects of ice loading. The Norströmsgrund lighthouse and the Molikpaq data can be used as a reference comparison to full-scale data on ice loads.

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This study analyses the results from basin tests with a vertically sided cylindrical pile loaded by ice failing in crushing. Tests were performed with a ‘rigid’ structure and with structural models representing a series of single-degree-of-freedom (SDOF) oscillators covering a wide range of mass, frequency, and damping values. The structural models were represented by a real-time hybrid test setup, which combined physical and numerical components to measure real ice forces, apply the forces to a numerical structural model, and simulate the dynamics of the tested structural models in real-time. The test results are analysed and simple numerical simulations are performed to assess the relevance of several ice force characteristics observed from the ‘rigid’ structure tests to the ice-induced vibrations in the SDOF oscillators. The results from the rigid structure tests show that the median ice forcing frequency is linearly related to the ice drift speed. The mean and standard deviation of the ice forces on the rigid structure show a negative force-velocity gradient at low ice drift speeds and indications of a positive force-velocity gradient at higher ice drift speeds. The comparison of experimental results to the simulations of the single-degree-of-freedom oscillator tests shows that the positive force-velocity gradient at higher ice drift speeds allows to best capture the dynamics during continuous brittle crushing as observed in the experiments. Furthermore, the comparison shows that frequency lock-in initiation is primarily driven by the velocity-independent spatial frequency spectrum of the ice force signal. The added damping caused by the positive force-velocity gradient must be considered to capture the frequency lock-in initiation speeds measured in the constant deceleration experiments. The consideration of the negative force-velocity gradient at low relative velocities is not needed to capture these frequency lock-in initiation speeds as observed in the experiments. However, once frequency lock-in is initiated, the negative gradient is needed to correctly capture the dynamics during frequency lock-in. Analysis of the results shows that the peak forces during intermittent crushing at the end of the load build-up phase have a dependence on relative velocity equal to the load dependence on velocity of rigid structures at low speed. This indicates that intermittent crushing is not a purely brittle type of interaction.@en

With the recent surge in development of offshore wind in the Baltic Sea, Bohai Sea and other ice-prone regions, a need has arisen for new basin tests to qualify the interaction between offshore wind turbines and sea ice. To this end, a series of model tests was performed at the Aalto ice basin as part of the SHIVER project. The tests were aimed at modeling the dynamic interaction between flexible, vertically-sided structures and ice failing in crushing. A real-time hybrid test setup was used which combines numerical and physical components to model the structure. This novel test setup enabled the testing of a wide range of structure types, including existing full-scale structures for which ice-induced vibrations have been documented, and a series of single-degree-of-freedom oscillators to obtain a better understanding of the fundamental processes during dynamic ice-structure interaction. The tests were primarily focused on the dynamic behavior of support structures for offshore wind turbines under ice crushing loads. First results of the campaign show that the combination of the use of cold model ice and not scaling time and deflection of the structure can yield representative ice-structure interaction in the basin. This is demonstrated with experiments during which a scaled model of the Norströmsgrund lighthouse and Molikpaq caisson were used. The offshore wind turbine tests resulted in multi-modal interaction which can be shown to be relevant for the design of the support structure. The dataset has been made publicly available for further analysis.@en

For the topic of predicting ice-induced vibrations of vertically sided offshore structures, the rate-dependent ductile-to-brittle transitional deformation and failure behavior of ice is critical but remains superficially understood. To investigate this knowledge gap, a test setup has been designed which allows for in-situ crossed-polarization imaging of passively confined ice thick sections subjected to compressive loading. The test setup is designed to recreate the scenario of a cross-section at the leading edge of an ice sheet which is laterally confined by surrounding ice and fails in crushing against a structure. The setup comprises a linear actuator which drives a flat plate into a confinement box containing the ice thick section, which is passively confined orthogonal to the plane of loading by thick fused silica glass plates. The ice is illuminated through the glass plates with crossed-polarized light, which highlights the microstructure of the ice. Freshwater ice of columnar grain structure is prepared in the ice laboratory at Delft University of Technology, and quantified in terms of its microstructure. The ice thick sections in the test setup are subjected to a range of deformation rates at different temperatures. While similar experiments have been performed, this setup provides novelty by accentuating the dynamic microstructural deformation in-situ with crossed-polarized light. Moreover, this microstructural deformation is observed for global deformation rates relevant for ice-induced vibrations of offshore structures. A description of the test setup is presented along with preliminary experimental results.@en

Ice-induced vibrations of offshore wind turbines on monopile foundations were investigated experimentally at the Aalto Ice Tank. A real-time hybrid test setup was developed allowing to accurately simulate the motion of a wind turbine in interaction with ice, incorporating the multi-modal aspects of the interaction and the effect of simultaneous ice and wind loading. Different vibration patterns were observed where some could be described based on the common terminology of intermittent crushing or continuous brittle crushing. However, not all resulting vibrations could be described accordingly. A combination of several global bending modes interacting with the ice resulted in high global ice loads and structural response. Such response is likely typical for an offshore wind turbine, owing to the dynamic characteristics of the structure. The type of interaction observed during the tests would be most critical for design as the largest bending moments in critical cross-sections of the foundations occur for this regime. A classification of ice-induced vibrations is proposed which encompasses the experimental observations for offshore wind turbines on the basis of the periodicity in the structural response at the ice action point. @en

Much attention has been given to the dynamic ice-structure interaction of the Molikpaq caisson which resulted in severe, almost catastrophic, structural vibrations during the winter of 1985- 1986 at Amauligak I-65 in the Canadian Beaufort Sea. In this study, specific focus is given to the scientific literature describing the ice-induced vibration event on May 12, 1986 over the observed range of ice conditions and drift speeds. While considering the limitations of the measurement data available for the event, the scenario is reviewed and a recent phenomenological model is implemented to simulate the ice-induced vibrations observed. A simplified model of the Molikpaq caisson is simulated to interact with an ice floe and the results are compared with the full-scale observations from the event. Limitations of the modeling with respect to the available full-scale data are discussed and modeling results are compared to previous simulations attempting to explain the event on May 12, 1986. It is concluded that this ice-induced vibration event should be treated with caution and detailed considerations of the scenario, including a comprehensive structural model, must be implemented for accurate simulation of the event on May 12, 1986. Models and theories derived exclusively from this event should be scrutinized in light of its uncertain and complex conditions and thus treated skeptically.@en

For the design of offshore structures in regions with ice-infested waters, the prediction of interaction between ice floe and support structure is essential. If the structure is vertically sided at the ice-structure interface, then ice-induced vibrations can develop. Recently, a dynamic icestructure interaction model has been developed and validation has been attempted based on dedicated experiments. This study extends the validation by investigating the capabilities of the analytical model in predicting the indentation speed at which transition from the intermittent crushing to frequency lock-in regime of ice-induced vibrations occurs with various input parameters. Implementation of these various input parameters seeks to address the challenge of adapting the analytical model from the reference input parameters to scenarios with other structural properties. Using these various input parameters, the analytical model can demonstrate accurate prediction of the transition ice speed from intermittent crushing to frequency lock-in vibrations as observed in the experiments when the mean global ice load in crushing is properly estimated. For the cases when the mean global ice load was not properly estimated, either unsuitable scaling between input parameters, undesirable behavior of the model ice during the experiments, or a combination thereof may be the cause. Overall, this study serves to establish the range of applicability for the analytical model in terms of accurate prediction of intermittent crushing and frequency lock-in vibrations between model ice and various structures. In addition, this study provides general trends about the effect of change of structural properties and initial conditions on the transition ice speed from intermittent crushing to frequency lock-in vibrations.
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Vertically sided offshore structures subjected to level ice are designed to withstand the effects of ice-induced vibrations. Such structures are, for example, offshore wind turbines on monopile foundations, multi-legged oil- and gas platforms or lighthouses. For the prediction of dynamic interaction between ice and structures, several phenomenological models exist. The main challenge with these models is the limited amount of data available for validation, which makes it difficult to determine their applicability. In this study, an attempt is made to validate one of the existing models. First, the parameters which define the ice in the model were derived from new model-scale experiments with a rigid rectangular structure. The model was subsequently applied to simulate the interaction between ice and two compliant rectangular structures with different structural properties. Finally, model-scale experiments were conducted for the two compliant structures. Results of the experiments and model were compared to assess the capability of the model to predict dynamic ice-structure interaction. Results show that the adopted approach allows for a definition of the input parameters of the model and accurate prediction of frequency lock-in and continuous brittle crushing for compliant structures. Intermittent crushing was not observed in the model-scale experiments due to the model-scale ice bending significantly during low ice speeds. As a consequence, the model could not be validated for this regime of interaction. The approach followed and challenges encountered during its application are discussed.@en

For the design of offshore structures in regions with ice-infested waters, the prediction of interaction between floating level ice and the support structure is essential. If the structure is vertically sided at the ice-structure interface and certain ice and structural conditions exist, then the phenomenon known as ice-induced vibrations can develop. Recently, an ice-structure interaction model has been developed and validation has been attempted based on dedicated experiments. This study extends the validation by investigating the capabilities of the analytical model in predicting the indentation speed range for the frequency lock-in regime of ice-induced vibrations with various input parameters. Implementation of these various input parameters seeks to address the challenge of adapting the analytical model from the reference input parameters to scenarios with other structural properties. Using these various input parameters, the analytical model can demonstrate accurate prediction of frequency lock-in vibrations as observed in the experiments when the mean global ice load in crushing is properly estimated. For the cases when the mean global ice load was not properly estimated, either unsuitable scaling between input parameters, undesirable behavior of the model ice during the experiments, or a combination thereof may be the cause. Overall, this study serves to establish the range of applicability for the analytical model in terms of accurate prediction of frequency lock-in vibrations between model ice and various structures and discusses the sensitivity of the analytical model with respect to the input parameters. This study is an important step towards application of the analytical model for full-scale scenarios.@en