ARTICLE IN PRESS

Ocean Engineering 34 (2007) 552–559

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Hydrodynamic behavior of a straight floating pipe under

wave conditions
Yucheng Li, Fukun Gui, Bin Teng
State Key Lab of Coastal and Offshore Engineering, Dalian University of Technology, Dalian 116024, China
Received 12 July 2005; accepted 17 January 2006
Available online 19 April 2006

Abstract

This paper examines the hydrodynamic behavior of a floating straight pipe under wave conditions. The main problem in calculating
the forces acting on a small-sized floating structure is obtaining the correct force coefficients Cn and Ct, which differ from a submerged
structure. For a floating straight pipe of small size, we simplify it into a 2D problem, where the pipe is set symmetrically under wave
conditions. The force equations were deduced under wave conditions and a specific method proposed to resolve the wave forces acting on
a straight floating pipe. Results of the numerical method were compared to those from model tests and the effects of Cn and Ct on
numerical results studied. Suggestions for the selection of correct Cn and Ct values in calculating wave forces on a straight floating pipe
are given. The results are valuable for research into the hydrodynamic behavior of the gravity cage system.
r 2006 Elsevier Ltd. All rights reserved.

Keywords: Hydrodynamic behavior; Floating pipe; Normal coefficient; Tangential coefficient; Waves

1. Introduction and Johansson (1992) focused on the hydrodynamic

The floating gravity cage aquaculture system is normally
round or square with double floating pipes. Wave forces
acting on it are complex, not only because of the
complicated structure but also because it floats on the
water surface, making the selection of correct hydrody-
namic coefficients difficult. The Morison equation is used
widely for cylinders with small size; however, the cylinders
are usually submerged below the surface. Hydrodynamic
coefficients of such structures have been studied exten-
sively, using numerical and experimental methods, for both
two- and three-dimensional flows. Miles and Gilbert
(1968), Garret (1971), Yeung (1981) and Sabuncu and
Calisal (1981) have presented extensive data on hydro-
dynamic coefficients of vertical circular cylinders in waters
of finite depth. Numerous other floating structures of large
size have also been studied. Drobyshevski (2004) and Sulisz
Corresponding authors. Tel.: +86 411 84708974,
fax: +86 411 84708526.
E-mail addresses: Liyuch@dlut.edu.cn (Y. Li), Gui2237@hotmail.com
(F. Gui).
coefficients of floating structures with rectangular profile.
Feng (1996) presented a numerical method for calculating
wave-induced loads on a pontoon within a time domain.
Gou et al. (2004) studied the hydrodynamic interactions
between waves and two connected floating structures
through a boundary integral equation method. Hamel
(1992) and Li and He (1994) researched the hydrodynamic
coefficients of rectangular cylinders under wave and
wave–current flow conditions. Although hydrodynamic
coefficients of structures have been studied extensively,
they involve either submerged or large-sized floating
structures. No effective method has evaluated the wave-
induced forces and motion of small-sized floating struc-
tures. Two problems have been encountered: (1) the
Morison equation is considered inapplicable for a structure
floating on the water surface (Feng, 1996); and (2) the
wave-flow field around small floating structures is difficult
to simulate. In this paper, we deduce the force equations
under waves and propose a special method for resolving
wave forces acting on a straight floating pipe. In this way,
the Morison equation is still applicable for studying the
hydrodynamic behavior of small-sized floating structures.

0029-8018/$ - see front matter r 2006 Elsevier Ltd. All rights reserved.
doi:10.1016/j.oceaneng.2006.01.012
 ARTICLE IN PRESS
Y. Li et al. / Ocean Engineering 34 (2007) 552–559
2. Hydrodynamics coefficients
In this paper, the hydrodynamic behavior of floating
pipe under wave conditions is analyzed using a numerical
method based on the Morison equation. Velocities and
accelerations of wave particles are broken down into
components in x- and z-directions. It is known that the
inline force coefficient CD is a function of the Re number
and the impact angle under current conditions, while the
KC number is also a key factor to be considered under
wave conditions. In general, the impact angle is defined as
the minimum angle between the flow and cylinder axes.
Values for impact angles are always positive and vary
within [0,p=2], as shown in Fig. 1. However, we give
another definition of impact angle to get a uniform formula
of wave forces, as described in the following. The impact
angle is still defined as the minimum angle between the flow
and cylinder axes but its value is not always positive and
depends on the rotation direction from the z-axis to the
normal line of the pipe. When the rotation direction is
clockwise, the impact angle is defined as positive, as shown
in Fig. 1. On the contrary, when the rotation direction is
anticlockwise, the impact angle is negative. This definition
makes it convenient to calculate hydrodynamic forces
under wave conditions since the floating pipe rotates along
with the waves.
Wave-induced forces on a pipe will change periodically.
For the hydrodynamic coefficients, studies have been
mainly concerned with the relationship between the
hydrodynamic coefficients and factors, such as Re number,
KC number and impact angle. Nevertheless, it has not
formed a uniform formula since the emphases on the
problems are different. In this paper, the influence of Re
number and KC number are ignored since they only apply
to a vertical cylinder and normal hydrodynamic coefficient
values are also adjusted during numerical simulation.
Fig. 1 is a sketch of a circular cylinder of unit length
under current conditions. We assume the diameter of the
circular cylinder is d and impact angle a Current velocity u
is broken down into normal and tangential components, as
FV Fn
α
u α FD
Ft
Fig. 1. Definition of impact angle (a40).
553
un and ut , respectively. The hydrodynamic forces can be
calculated with the following equations:
Normal force:
r
Fn ¼ C n  jun j  un  d, (1)
2
tangential force:
r
Ft ¼ C t  jut j  ut  d, (2)
2
where C n and C t are the hydrodynamic coefficients in
normal and tangential directions, respectively. In general,
Cn is regarded as a function of Re number (Li and Teng,
2002), but it does not change sharply, as for a smooth
circular cylinder, when the Re number varies within
102–105 and (Hou and Gao, 1998). As for coefficient C t ,
it is usually regarded as a constant, even if rather discrete,
according to various authors. Wang (1995) summarized the
results of Miyazaki’s research and considered that C t was
related to C n , which can be written as:
Ct ¼ Cf  Cn, (3)
where C f is a parameter that depends on the material of the
circular cylinders. For a smooth circular cylinder,
C f ¼ 0.02. Takagi et al. (2002, 2004) assumed C t as a
constant of 0.1 in their research on net deformation. In
addition, the tangential coefficient C t is found to be within
0.14–0.2, according to experimental results on a circular
cylinder parallel to flow (Wang, 1995).
For floating pipes, hydrodynamic coefficient values
under wave conditions may be more complex (Teng and
Li, 1991a,b). In this paper, the Morison equation is used to
simulate wave-induced forces on a floating pipe, despite
various difficulties. Hydrodynamic coefficients C n and C t
under wave conditions may vary from those under current
conditions. The values were obtained by numerical
simulation combined with experimental data.
3. Numerical model
The straight floating pipe was moored on the bottom of
the flume with two mooring lines along the wave-
propagating direction, as shown in Fig. 2. It was simplified
into a 2D problem. The floating pipe was 0.4 m long with a
diameter of 2 cm. The mooring line was made of
polyethylene, whose density is close to that of water, with
a diameter of 0.1 cm; thus, weight, buoyancy and hydro-
dynamic forces acting on it were negligible during
simulation. We assume that the floating pipe will have no
influence on waves since its size is much smaller compared
to wavelength. A straight floating pipe is subject to the
action of weight, buoyancy, and wave-induced and
mooring-line forces. All action, except weight, vary with
the motion of the floating pipe under wave action. The pipe
was divided into several micro-segments and the forces on
each segment were evaluated. Buoyancy and wave-induced
forces have a relationship with the inclination angles of the
 ARTICLE IN PRESS
554 Y. Li et al. / Ocean Engineering 34 (2007) 552–559

Floating pipe
S.W.L. ω

η
Tracing point

0.5m
Transducer
Mooring Line

(a) Model setting (b) Micro-segment of pipe

Fig. 2. Sketch of numerical model. (a) model setting; and (b) micro-segment of pipe.

floating pipe under wave conditions. The numerical and is neglected during simulation. The velocity compo-
modelling of micro-segments is shown in Fig. 2(b). nents in x- and z-axis directions are then broken down
into n and t directions, as defined in Section 2, and we
3.1. Buoyancy have:
( )  ( )
We assume the length of the micro-segment as dl. The un sin a cos a ux
¼ , (8)
shadowed part of the micro-segment denotes the section of ut cos a sin a uz
pipe under water. The depth of the micro-segment under
water is di and the corresponding projected chord-length is where un and ut are the velocity components in the ‘n-o-t’
df. Given the coordinates (xi, zi) of the central point of the coordinate system; ux and uz are velocity components of
micro-segment, the wave surface elevation Z can be wave particle in the ‘x-o-z’ coordinate system. When
calculated with the corresponding wave theory. The considering the motion of the floating pipe, the velocity
inclination angle a of the pipe is determined at each step components ux and uz should be substituted with relative
during simulation. According to Fig. 2(b), we have: velocities and Eq. (8) is written as:
di ¼ r  ðzi  ZÞ  cos a, (4) ( )  ( )
un sin a cos a ux  U x
where r denotes the radius of the pipe. The corresponding ¼ , (9)
ut cos a sin a uz  U z
projected chord-length is:
qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
where U x and U z are the velocity components of the pipe
df ¼ 2  r2  ðr  dhÞ2 . (5)
micro-segment.
Note that when di4r; df ¼ 2r ¼ d; i.e. when the Wave-induced forces on the pipe micro-segments are
shadowed part is more than half of the cross-section, the mainly composed of drag and inertial forces. Here, we will
projected chord-length is equal to the diameter of the pipe. calculate them separately.
Assuming the corresponding central angle of the projected By substituting the velocity and micro-segment lengths
chord-length is o, we have: into Eqs. (1) and (2), we obtain the drag forces in normal
and tangential directions, as:
o ¼ 2 cos1 ð1  di=rÞ. (6)
Buoyancy F f acting on the micro-segment is calculated r
Fn ¼ C n  jun j  un  df  dl, (10)
as: 2
r2
F f ¼ rg ðo  sin oÞ  dl. (7)
2 r
Ft ¼ C t  jut j  ut  df  dl. (11)
2
3.2. Wave forces All parameters are as defined above. According to the
coordinate transition theory, we finally obtain the inline
The wave-induced hydrodynamic forces on the pipe forces as:
micro-segments can be calculated from the Morison
equation by dividing wave particle velocities and accelera- ( )  ( )
tions into x- and z-axis components. As we have assumed F DX sin a cos a Fn
¼ , (12)
that waves will not be disturbed by the floating pipe, the F DZ cos a  sin a Ft
velocities and accelerations of the wave particles can be
calculated from the corresponding wave theory. In this where F DX ; F DZ are the inline forces acting on the micro-
paper, the third-order Stokes wave theory is introduced. segments in x and z directions, respectively.
The lift force, which is an oscillatory action in transverse Inertial forces were also studied by breaking them into
direction, depends on the discharge frequency of the eddy components in x- and z-directions. According to Brebbia
 ARTICLE IN PRESS
Y. Li et al. / Ocean Engineering 34 (2007) 552–559 555

and Walker (1979), they can be calculated by: coordinates. The relationship between the elongation and
mooring line forces is obtained through experimental
rp  df 2
F MX ¼ dm0  ax þ C m   dl  ðax  Ax Þ measurements, which is written as:
4
r2 rp  df 2 T ¼ 444:85  ðDS=SÞ2 þ 45:371  ðDS=SÞ, (18)
¼ rax  ðo  sin oÞ  dl þ C m   dl  ðax  Ax Þ,
2 4 where T is the tension in the mooring line; DS is the
ð13Þ elongation of the mooring line; and S is the original length
of the mooring line.
rp  df 2
F MZ ¼ dm0  az þ C m   dl  ðaz  Az Þ
4 3.4. Motion equations
r2 rp  df 2
¼ raz  ðo  sin oÞ  dl þ C m   dl  ðaz  Az Þ,
2 4 Forces on the whole floating pipe are obtained by
ð14Þ evaluating the forces on the pipe micro-segment, as
described previously. Based on Newton’s second law of
where F MX , F MZ are the inertial forces in x- and z-
motion, the motion equation for the floating pipe in a time
directions, respectively. ax , az are the acceleration compo-
domain is written as:
nents in x- and z-directions, respectively. Ax , Az are the
acceleration components of the pipe micro-segment. r is X
6
€ ¼ F k ðtÞ k ¼ ð1; 2; . . . ; 6Þ,
M kj xðtÞ (19)
water density. dm0 is the mass of the water discharged by
j¼1
the part of pipe micro-segment under water. C m is the
additional mass coefficient whose value is discrete under where M kj is the generalized mass matrix of 6  6. F k ðtÞ is
wave conditions. Studies show that its value depends on € is the
the resultant force on the floating pipe at time t. xðtÞ
both the Re and KC numbers. Its average values under generalized accelerations. However, when the motion is
various wave conditions are 0.2–1.0, as described by Li and simplified as a 2D problem, as described above, the motion
Teng (2002). In this paper, C m ¼ 0:2: equations are only composed of surge, heave and rotation
Special processing of the wave-induced forces are necessary equations. Eq. (19) is then written as:
since the principle of wave action on floating pipes differs
X
3
somewhat from fully submerged pipes. When calculating drag € ¼ F k ðtÞ k ¼ ð1; 2; 3Þ.
M kj xðtÞ (20)
forces, we use the relative velocity between the wave particles j¼1
and pipe micro-segment. Drag forces would differ when the
relative velocities are away from the pipe micro-segment since Eq. (20) is a group of second-order differential equations
the floating pipe is on the surface with one side in water and and can be calculated with a numerical method, such as the
the other in air. Thus, a special process is introduced: we Runge–Kutta method. For a second-order differential
neglect the normal force but retain the tangential force under equation:
this circumstance by modifying Eq. (9), as: x€ ¼ F ðDt; x; xÞ.
_ (21)
( )  ( )
un 0 0 ux  U x Displacement and velocity of motion object can be
¼ . (15) written as follows when calculated with the fourth-order
ut cos a  sin a uz  U z
Runge–Kutta method:
As regards inertial forces under this circumstance, the
_ þ Dt  ðM 1 þ M 2 þ M 3 Þ=6,
xðt þ DtÞ ¼ xðtÞ þ Dt  xðtÞ
additional mass forces are neglected but the original mass
forces are retained, i.e. the second terms in the right part of (22)
Eqs. (13) and (14) are neglected. Thus, Eqs. (13) and (14)
are broken down into: _ þ DtÞ ¼ xðtÞ
xðt _ þ ðM 1 þ 2M 2 þ 2M 3 þ M 4 Þ=6, (23)

r2 where M 1 , M 2 , M 3 , M 4 are as follows:

F MX ¼ rax  ðo  sin oÞ  dl, (16)
2 _
M 1 ¼ Dt  F ðt; xðtÞ; xðtÞÞ,
r2 !
F MZ ¼ raz  ðo  sin oÞ  dl. (17) Dt _
DtxðtÞ M 1
2 M 2 ¼ Dt  F t þ ; xðtÞ þ _ þ
; xðtÞ ,
2 2 2

3.3. Mooring-line forces !

Dt _
Dt xðtÞ Dt M 1 _ M2
M 3 ¼ Dt  F t þ ; xðtÞ þ þ ; xðtÞ þ ,
The straight floating pipe was moored directly to the 2 2 2 2
bottom of the flume tank by two mooring lines. Mooring-
line forces are relative to the displacement of the fore and  
back cleat points on the floating pipe. Displacements of the _ Dt M 2 _
M 4 ¼ Dt  F t þ Dt; xðtÞ þ Dt xðtÞ þ ; xðtÞ þ M 3 .
cleat points are obtained by calculating their dynamic 2
 ARTICLE IN PRESS
556 Y. Li et al. / Ocean Engineering 34 (2007) 552–559

Fig. 3. Sketch of model set-up.

Table 1
Mooring-line forces: comparison of numerical vs. experimental data

Cn Ct Wave height (cm) Wave period (s) Crest value of wave side mooring line (N) Crest value of lee side mooring line (N)

Exp. Numerical Difference (%) Exp. Numerical Difference (%)

0.2 15.0 1.4 0.54 0.53 1.5 0.33 0.38 13.1

0.4 15.0 1.4 0.54 0.54 0.4 0.33 0.34 3.0
0.6 15.0 1.4 0.54 0.56 3.6 0.33 0.34 1.3
1.2 0.8 15.0 1.4 0.54 0.59 10.4 0.33 0.32 2.4
1.0 15.0 1.4 0.54 0.63 16.8 0.33 0.31 7.1
1.2 15.0 1.4 0.54 0.66 23.0 0.33 0.29 12.9
0.2 17.46 1.8 0.62 0.55 10.9 0.43 0.50 14.9
0.4 17.46 1.8 0.62 0.57 7.5 0.43 0.47 8.1
0.6 17.46 1.8 0.62 0.59 4.4 0.43 0.45 3.9
1.2 0.8 17.46 1.8 0.62 0.61 1.5 0.43 0.44 0.4
1.0 17.46 1.8 0.62 0.62 1.1 0.43 0.42 2.1
1.2 17.46 1.8 0.62 0.64 3.7 0.43 0.41 4.6
0.2 18.18 1.4 0.59 0.53 10.0 0.34 0.38 11.2
0.4 18.18 1.4 0.59 0.53 9.1 0.34 0.34 1.4
0.6 18.18 1.4 0.59 0.56 5.0 0.34 0.34 0.4
1.2 0.8 18.18 1.4 0.59 0.59 1.3 0.34 0.32 4.0
1.0 18.18 1.4 0.59 0.63 7.1 0.34 0.31 8.6
1.2 18.18 1.4 0.59 0.66 12.8 0.34 0.29 14.4

During calculation, the gravity, buoyancy, wave and
mooring-line forces are determined according to the
displacement xðtÞ and velocity xðtÞ _ at time t. Then,
€
acceleration xðtÞ can be obtained by Eq. (20). Displacement
xðt þ DtÞ and velocity xðt_ þ DtÞ at time t þ Dt can be
determined through Eqs. (22) and (23). Repeat the
calculating process for the designated time.
4. Numerical results and experimental data
Experimental studies on the hydrodynamic behavior of a
straight floating pipe were carried out under pure wave
conditions. The model was made of PVC pipe with
diameter of 2 cm, 40 cm long and a weight of 0.57 N. The
model was assembled in the middle of the wave–current
flume at the State Key Laboratory of Coastal and Offshore
Engineering of Dalian University of Technology. The
wave–current flume is 69 m long, 2 m wide and 1.8 m high,
and is equipped with an irregular wave-maker and current-
producing system. The mooring-line forces were measured
by two transducers attached to the bottom of each mooring
lines. One diode was fixed on the middle of the straight
floating pipe for motion analysis. The model set-up is
shown in Fig. 3.
The coefficients Cn and Ct need to be determined when
calculating wave forces on the floating pipe. For the
tangential coefficient Ct, it is significantly attributed to
wave hydrodynamic forces because the pipe is floating on
the surface and is greatly affected by surface tension. The
tangential coefficient is much larger than that when the
pipe is fully submerged. In this paper, the numerical results
of mooring-line forces with different values for Cn and Ct
are compared with experimental data, as shown in Tables 1
and 2.
Table 1 shows the comparison of the crest values of
wave- and lee-side mooring-line forces for numerical and
experimental results with normal coefficient Cn as a
constant of 1.2. Table 2 shows a comparison of the crest
values of wave- and lee-side mooring-line forces for
 ARTICLE IN PRESS
Y. Li et al. / Ocean Engineering 34 (2007) 552–559 557

Table 2
Mooring-line forces: comparison of numerical vs. experimental data

Ct Cn Wave height (cm) Wave period (s) Crest value of wave side mooring line (N) Crest value of lee side mooring line (N)

Exp. Numerical Difference (%) Exp. Numerical Difference (%)

0.5 15.0 1.4 0.54 0.53 2.2 0.33 0.37 12.4

1.0 15.0 1.4 0.54 0.52 2.8 0.33 0.35 6.3
0.7 1.2 15.0 1.4 0.54 0.52 2.8 0.33 0.35 4.4
1.5 15.0 1.4 0.54 0.52 2.9 0.33 0.34 2.2
0.5 17.46 1.8 0.62 0.60 2.5 0.43 0.46 5.2
1.0 17.46 1.8 0.62 0.60 2.8 0.43 0.44 2.6
0.7 1.2 17.46 1.8 0.62 0.60 2.9 0.43 0.44 1.9
1.5 17.46 1.8 0.62 0.60 3.2 0.43 0.44 0.9

0.5 18.18 1.4 0.59 0.56 3.7 0.34 0.36 5.9

1.0 18.18 1.4 0.59 0.57 2.2 0.34 0.34 0.1
0.7 1.2 18.18 1.4 0.59 0.58 1.8 0.34 0.33 2.0
1.5 18.18 1.4 0.59 0.58 1.4 0.34 0.32 4.5
Force

Force

(a) (b)

Fig. 4. Mooring-line forces: comparison of calculated vs. experimental data (H ¼ 15 cm, T ¼ 1:4 s). (a) Wave side; and (b) Lee side.
Force

Force

(a) (b)

Fig. 5. Mooring-line forces: comparison of calculated vs. experimental data (H ¼ 17:46 cm, T ¼ 1:8 s). (a) Wave side; and (b) Lee side.

numerical and experimental results with tangential coeffi-
cient Ct as a constant of 0.7. As shown in Tables 1 and 2,
the effect of the tangential coefficient on mooring line
forces is greater than that of normal coefficient. In general,
from the view-point of force differences, as shown in Table
1, the numerical results agree with the experimental data
better when the tangential coefficient Ct is between 0.6 and
0.8. It is appropriate that the normal coefficient Cn exerts a
relative small effect on the mooring-line forces under
different wave conditions, as shown in Table 2. So, for
simulating the straight floating pipe under wave conditions,
we assume a constant of 1.2, which is commonly used for
calculating the forces on a circular cylinder of small size.
More detailed comparisons of mooring line forces are given
in Figs. 4–6. The hydrodynamic coefficients Cn and Ct are
1.2 and 0.7, respectively.
Displacements of the floating pipe were studied by
tracing the diode fixed to the central point of the floating
pipe. Time-series images were obtained using a CCD
camera with an acquisition frame-rate of 25 frames/s,
which were analyzed with software especially designed to
find the displacements in time-series, as shown in Fig. 7.
Comparisons on the displacements of calculated and
experimental results are shown in Figs. 8–10. During
simulation, the hydrodynamic coefficients Cn and Ct were
the same as those in mooring-line force comparisons.
 ARTICLE IN PRESS
558 Y. Li et al. / Ocean Engineering 34 (2007) 552–559

Force
Force

(a) (b)

Fig. 6. Mooring-line forces: comparison of calculated vs. experimental data (H ¼ 18:18 cm, T ¼ 1:4 s). (a) Wave side; and (b) Lee side.

Fig. 7. Motion trajectory of the diode on the centre of floating pipe.

Displacement

(a) (b)

Fig. 8. Displacement: comparison of calculated vs. experimental data (H ¼ 15 cm, T ¼ 1:4 s). (a) Horizontal movement; and (b) vertical movement.
Displacement
Displacement

(a) (b)

Fig. 9. Displacement: comparison of calculated vs. experimental data (H ¼ 17:46 cm, T ¼ 1:8 s). (a) Horizontal movement; and (b) vertical movement.
 ARTICLE IN PRESS
Y. Li et al. / Ocean Engineering 34 (2007) 552–559
Displacement
(a)
Fig. 10. Displacement: comparison of calculated vs. experimental data (H ¼ 18:18 cm, T ¼ 1:4 s). (a) Horizontal movement; and (b) vertical movement.
5. Conclusions
This paper focused on the simulation of the hydro-
dynamic behavior of a straight floating pipe. The
determination of the hydrodynamic coefficients Cn and Ct
are the main discussion points. Numerical results show that
the tangential coefficient Ct for a pipe under wave
conditions is much larger than that of a circular cylinder
fully submerged. The main reason is that the pipe is
floating and to a large extent subject to the action of
surface tension. On the contrary, the normal coefficient Cn
seems to have a relatively small effect on the hydrodynamic
behavior of a straight floating pipe under wave conditions.
In this paper, we simulated the hydrodynamic behavior of
a floating pipe with regard to coefficients C n ¼ 1:2 and
C t ¼ 0:7. Mooring-line forces and displacement of central
point results for a floating pipe agree well with the
experimental data. Studies on the hydrodynamic behavior
of a floating pipe will enhance further research on floating
objects of a small size, such as floating sea-cage systems.
Acknowledgments
The authors gratefully acknowledge financial support
provided by the National Nature Scientific Fund Project
(Grant No. 50279002), the National 863 High Technology
Development Plan Project (Grant Nos. 2001AA623010,
2003AA623010) and the Program for Changjiang Scholars
and Innovative Research Team in University (IRT-0420).
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