• Journal of Navigation and Port Research
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• v.32 no.8
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• pp.589-596
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• 2008

In this paper, Artificial Neural Network(ANN) is applied to automatic berthing control for a ship. ANN is suitable for a maneuvering such as ship's berthing, because it can describe non-linearity of the system. Multi-layer perceptron which has more than one hidden layer between input layer and output layer is applied to ANN. Using a back-propagation algorithm with teaching data, we trained ANN to get a minimal error between output value and desired one. For the automatic berthing control of a containership, we introduced low speed maneuvering mathematical models. The berthing control with the structure of 8 input layer units in ANN is compared to 6 input layer units. From the simulation results, the berthing conditions are satisfied, even though the berthing paths are different.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.35 no.9B
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• pp.1314-1321
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• 2010

This system configures a position Sensor as installing on the ship and a guidance system docking of ship what distinguish of the ship about the use and size. The maintain system is received the result of distinction via UWB reader. This system send a information of ship of docking position to user. Thus it suggests the safety to prevent from crash among ships and saves energy and stop waste. The proposed system periodically updates the information of docking position of the ship and monitors in real-time according to the user's request from personal mobile devices. In this paper, we implement of a guidance system Testbed for docking of the ship using position UWB sensor. And user is provided convenience to find easily user's ship in docking area through user interface with Java. Addedly it is possible to prevent ship theft.

• Journal of the Korean Society of Marine Environment & Safety
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• v.26 no.2
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• pp.139-148
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• 2020

The most important factor affecting the berthing energy generated when a ship berths is the berthing velocity. Thus, an accident may occur if the berthing velocity is extremely high. Several ship features influence the determination of the berthing velocity. However, previous studies have mostly focused on the size of the vessel. Therefore, the aim of this study is to analyze various features that influence berthing velocity and determine their respective importance. The data used in the analysis was based on the berthing velocity of a ship on a jetty in Korea. Using the collected data, machine learning classification algorithms were compared and analyzed, such as decision tree, random forest, logistic regression, and perceptron. As an algorithm evaluation method, indexes according to the confusion matrix were used. Consequently, perceptron demonstrated the best performance, and the feature importance was in the following order: DWT, jetty number, and state. Hence, when berthing a ship, the berthing velocity should be determined in consideration of various features, such as the size of the ship, position of the jetty, and loading condition of the cargo.

• Journal of the Korean Society of Marine Environment & Safety
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• v.29 no.7
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• pp.857-862
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• 2023

In order for an autonomous ship to arrive near the pier and automatically berth without the help of a tugboat or pilot, it is necessary to recognize the pier and calculate the thruster output and output angle for berthing to the pier at a fixed berthing speed under given external force conditions. Therefore, in this study, the external force and moment acting on the ship while berthing were analyzed, and the thruster output calculation for automatic berthing was designed and the basic concept for the development of the automatic berthing program was designed. The wind pressure applied to the hull by the wind while the ship is berthing was calculated based on the wind pressure area and the wind direction angle and the turning moment to rotate the ship according to the transverse force of the ship was calculated. Considering the force acting on the ship and the turning moment during berthing, a theoretical formula was presented to calculate the thruster output and output angle for berthing parallel to the pier, and the turning due to other variables was controlled by the PID controller. In addition, the basic concept for program development was presented by analyzing the input elements necessary for the theoretical formula.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2022.11a
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• pp.351-356
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• 2022

Among the path planning methods used to generate the ship's path, the graph search-based method is widely used because it has the advantage of its completeness, optimality. In order to apply the graph-based search method to the berthing path plan, the deviation from the path must be minimized. Path following suitability should be considered essential, since path deviation during berthing can lead to collisions with berthing facilities. However, existing studies of graph search-based berthing path planning are dangerous for application to real-world navigation environments because they produce results with a course change just before berthing. Therefore, in this paper, we develop a cost function suitable for path following, and propose a 3D A* algorithm that applies it. In addition, in order to evaluate the suitability for the actual operating environment, the results of the path generation of the algorithm are compared with the trajectory of the data collected by manned operations.

• Journal of the Korean Society of Marine Environment & Safety
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• v.14 no.1
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• pp.45-54
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• 2008

"Summer Deadweight Tonnage(SDWT)" is used as the criteria of the berthing capacity when establishing port entry limits under current guideline. The important factors affecting to the maximum ship size of possible berthing are mass, length and breath of the ship rather than deadweight. Therefore this guideline should be modified to ensure safety and efficient operation of berth. This study aimed to propose a rational guideline to adjust the berthing capacity. In order to decide proper berthing capacity, three berths of Port of Ulsan were selected and systematic evaluations for the safety of passage transit, berthing maneuvers, ship motions at berth and stabilities of structures were conducted. Small changes of ship size had little effect on those characteristics and little significant differences were found according to the increase of ship size at the same displacement. The evaluation results of the increasement of 50% of berthing capacity at 20,000 DWT, 25% at 40,000 DWT and 13% at 150,000 DWT were within the design criteria in which the berths were built. Therefore, if the channel width, diameter of turning circle, berth length and mooring arrangements are satisfied with the criteria, the current berth limitations should be adjusted by the displacement. as substitute for the deadweight.

• Proceedings of the Korea Water Resources Association Conference
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• 2007.05a
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• pp.2109-2112
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• 2007

독도는 울릉도에서도 동남쪽으로 약 87.4km 떨어져 외해의 영향을 많이 받고 있는 지역이지만 방파제 등 외곽시설이 전무하여 평상파랑에도 접안이 어려운 경우가 많아서 독도 관광자원 활용도 및 편의시설 제공면에서 많은 어려움이 있다. 이에 본 연구에서는 독도 접안시설의 전면에 최근 국내에 본격적으로 도입되고 있는 부방파제(floating breakwater)를 설치할 경우 고정식 방파제 설치에 따른 문제점을 충분히 개선할 수 있다고 판단하여, 부방파제 설치에 따른 기술적인 타당성과 부두 이용률 개선효과 등을 연구 하였다. 독도의 접안시설은 해역이 동도와 서도에 의해 북쪽은 일부 차폐되고 남쪽은 직접 노출되어 있는 지리적 특성이 있어 주 파향인 남쪽계열의 8개 파향(SE, SSE, S, SW, SSW, WSW, W, WNW)의 평상파 제어가 가능하도록 방파제를 배치하였고, 이에 따른 부두 이용률 검토결과 부방파제를 설치할 경우 남쪽계열 파랑에 대하여 현상태에 비하여 부두 이용률이 대략 2배정도 증가되는 것으로 나타났으며, 부방파제 계류시스템의 안정에 대해서도 부체에 영향을 주는 외력에 대하여 계류체인의 길이와 Anchor Block 자중의 규모를 적당히 조정하면 충분히 안정한 것으로 검토되었다.

• Journal of Navigation and Port Research
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• v.30 no.10 s.116
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• pp.839-845
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• 2006

A laser docking system provides a centimeter-level accuracy distance from jetty mounted laser sensors in order to help a vessel to approach to a pier. It is very accurate & useful, whereas there are too many considerable problems. Laser sensors of the laser docking system need to be correctly positioned and installed on a jetty to allow for full range of vessels to be berthed and to consider loading condition and tidal variations. Above all, the laser docking system is expensive and its service coverage is limited. In order to solve these problems, CDGPS positioning method using GPS satellites has been proposed. This paper presents that, through RHDOP simulation, the previous CDGPS positioning method using only GPS satellites is not able to provide the continuous service with centimeter-level positioning accuracy. And this paper proposes a pseudolite-augmented positioning method for vessel docking in order to solve the problem of the continuous service on the previous CDGPS positioning method. In this paper, pseudolite is used to aid in CDGPS positioning. This paper shows that the proposed method can provides the continuous service through comparison analysis of RHDOP simulation results between the GPS satellite constellation and the pseudolite-augmented GPS satellite constellation. Furthermore, it is shown that the proposed positioning method satisfies the positioning performance required for vessel automatic docking at a test bed designed for performance evaluation.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2012.06a
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• pp.183-185
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• 2012

선박의 다양화와 부두의 제한성으로 인하여 수심이 얕은 수역이나 협소한 부두에 접안 시 소형계류시설 및 부유체를 이용하여 해상 공간을 활용하고 있다. 이를 통하여 다양한 장소에서 접안이 가능하며 나아가 상당한 비용절감 효과를 가질 수 있다. 그러나 소형계류 및 부유체를 활용한 선박의 접안 시 파랑에 의해 부유체와 선박간 충격이 발생할 수 있고 이러한 충격이 대형사고로 발생할 수 있는 위험이 상존함에 따라 계류재 및 부유체의 파랑에 의한 움직임 예측과 분석이 필요하다. 본 연구에서는 계류재 및 부유체 운동해석을 위한 3차원 운동 정보와 가속도를 측정함으 써 거동 특성에 대한 기초 자료를 제공하는 계측시스템을 개발하였고, 이 시스템의 구성 및 원리 등에 대하여 소개하고자 한다.

• Proceedings of KOSOMES biannual meeting
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• 2006.11a
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• pp.303-308
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• 2006

In this paper, the authors calculated manoeuvring motions of a large container vessel approaching to the newly built container piers to get alongside to her berth in Busan harbour. The motion calculations were done by using fixed coordinate system and the object of the calculations is to check the manoeuvring motions are safe or not for berthing the large vessel to her berth. The result of calculations manifested that a large container vessel can get alongside to the piers without any difficulty under normal weather conditions by using 2 Z. Peller tug boats of 4500 H.P. each and also these demonstrated it is difficult to conduct and get her alongside to the piers under rough weather conditions of wind force 16.9m/sec or more. Under rough weather conditions of 6 by beaufort scale the average wind velocity is about 13.5m and if we add 25% increase of the normal velocity to it, the wind will becomes a gust of 16.9m/sec. So it is advisable to avoid conducting a large container vessel to the pier under the rough weather conditions of 6 or more by beaufort scale. Also, I is better to use 3 Z. peller tug boats of 4500 HP. each under the above mentioned rough weather in a case of unavoidable circumstances.