• Journal of the Society of Naval Architects of Korea
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• v.29 no.3
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• pp.45-52
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• 1992

The Mathematical Model, which can describe the maneuvering motion of a ship in low speed, is highly required these days because it is directly related to the safety of ship in confused harbour. Kose has presented a new model for the low speed maneuvering motion, but the usefulness of it is not confirmed widely. Lets of difficulties are revealed in the case of low speed maneuver, The first is the fact that a ship moves the stirred water region for the longer time than in the case of high speed. So, the hydrodynamic forces, exerted on the hull need to be treated strictly, not by the ordinary differential equation with constant coefficients. Another difficulty is arised from the fact the lateral motion is relatively large comparing to the longitudinal motion in low speed. And, by the result the effect of cross-flow drag or vortex sheding effects are dominant. Besides, the captive model tests of low speed motion has lots of problems. For example, the hydrodynamic forces do not converge to a certain values for the long time. And the absolute values of measured forces are very small, so we must expend lots of efforts to raise up the S/N ratio of the experiments. In this paper, a new mathematical model for the maneuvering motion in low speed, is built up, and the usefulness is discussed, comparing with other models, for example, Kose's model or M.M.G. model or Cross-Flow model, The CMT data for a PCC model of 3.00 M length, released from the RR-742 of Japan, are used for the validation of each models.

• Journal of Navigation and Port Research
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• v.36 no.7
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• pp.571-575
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• 2012

Berthing and unberthing maneuver is essential work for marine pilots and securing the safety against risks during the maneuver is more important than anything else. Moreover, the maneuvering environment in ports and harbors has changed rapidly and got worse due to development of a new port, the advent of a new type or large-sized ship, and the rapid increase in harbor traffic. As one of measures taken to cope with such changes in the maneuvering environment and for each pilot to improve his own maneuvering ability, this paper developed laptop-based ship-handling simulator which is readily available anytime and anywhere. This paper is to develop a conning display for ship's maneuvering and electronic chart based display widely used nowadays to represent a model ship's movement. The displays were arranged appropriately considering pilot age, easy handling by mouse, using a maximum screen, proper arrangement of rudder, engine, thruster, tug etc and representation of information. Up to now thirteen (13) model ships were developed based on real-ship, whose mathematical model is Japanese MMG & pilots' low speed maneuver.

• Journal of the Korean Society of Marine Environment & Safety
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• v.7 no.3
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• pp.1-16
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• 2001

In view of the fact that marine casualties have more often occurred recently, there is a need for ship-handling simulator as a useful tool for maritime training, safety assessment and so on. Moreover various kinds of hull forms have appeared for the purpose of improving ship manoeuvrality. Therefore ship-handling simulator is in need of a database for various ships, and it can make diverse maneuvering simulations possible to apply respective mathematical model to ship-handling simulator. In this paper, we adopted twin-screw and twin-rudder ship and discussed mathematical model of maneuvering motions for her. It was discussed from the viewpoint of hull damping forces at low advance speed and interaction between hull, propeller and rudder. Using this model, maneuvering motion of twin-screw and twin-propeller ship was simulated numerically and her principal manoeuvrability was examined.

• Journal of the Korean Institute of Navigation
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• v.24 no.5
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• pp.397-403
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• 2000

Since very large and high-speed ships have been appeared in marine transportation from 1970s, these ships with poor maneuverability have made large-scale accidents frequently all over the world. The IMO(International Maritime Organization) recommended that ship designers should evaluate various maneuvering performance at initial stage and serve them to ship operators when they deliver a new ship. Meantime, it is expected that ships with large and wide superstructure would have poor maneuverability when they are affected by strong wind. Therefore, car carrier ship with large superstructure was selected to confirm how the ship responds to the external wind forces in this paper. The lateral and transverse projected areas above the water level were considered and ship behaviors were checked by change of rudder angles under severe wind conditions of different directions. In addition, hydrodynamic derivatives and coefficients were predicted from ship particulars and numerical calculations were carried out with the mathematical model of low speed maneuvering motions.

• 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.

• Journal of the Society of Naval Architects of Korea
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• v.29 no.3
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• pp.90-101
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• 1992

Some practical methods have already been proposed for predicting the characteristics of ship manoeuvring motions at relatively high advance speed. However, these methods can hardly be applied to motions of ships in starting, stoppint, backing and slow steaming conditions, even though such extensive motions are of vital importance from a safety point of view particularly in harbour areas. The method presented here aims at predicting the characteristics of ship manoeuvring at low advance speed, which covers starting, stopping, backing and slow steaming conditions. The force mathematical models at large angles of incidence to the hull as well as under the tilde range of propeller operations are formulated. Simulations of various manoeuvres at low advance speed are carried out for two types of merchant ship, i.e. a LNGC and a VLCC. Comparisons between simulations and corresponding full-scale measurements or free-running model tests provide a first verification of the proposed mathematical models.

• Journal of the Korean Society of Marine Environment & Safety
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• v.8 no.2
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• pp.9-15
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• 2002

Ship operators use anchor dredging for the collision avoidance or safety of ship handling in a harbour or narrow channel. This paper clarifies the technique of the anchor dredging known as a common sense for. the seafarers A mathematical model at low speed range is established for the estimation of ship motion under the assumed environment, simulate the advance speed , and turning ability under the anchor dredging or not. The results shows good agreement with the conventional seamanship and their experiences as follows. Ahead speed used the anchor dredging is slower(speed reduction ratio:40%) than the normal ahead speed and the stopping distance is shorter (distance reduction ratio:40%)than the normal ahead distance without the anchor dredging.. Turning speed used anchor dredging is slower(speed reduction ratio:72%)than the normal ahead speed and the tactical diameter is shorter(distance reduction ratio:24%)than the diameter by the normal turning without the anchor dredging.

• Journal of Drive and Control
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• v.11 no.3
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• pp.7-13
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• 2014

Everyday about 90% of cargos are delivered by ships, and thousands of vessels enter and depart the international container harbors such as Shanghai, Singapore, Hong Kong, Busan, Rotterdam, etc. Maneuvering at harbor is known as the most sophisticated and difficult procedure, because the effectiveness of actuators during low speed berthing is reduced. In this paper, a new berthing method is discussed. Tugboats are combined with damper systems to ensure safe berthing. A mathematical model describing the interaction between unactuated ship, tugboats and damper systems is presented. An optimal controller is designed to maneuver the ship without oscillation and overshoot. MCL (Marine Cybernetics Lab) model ship is used to evaluate the efficiency of the proposed approach through MatLab simulation.

• Journal of the Society of Naval Architects of Korea
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• v.43 no.5 s.149
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• pp.560-567
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• 2006

FPSO and shuttle tanker are connected to each other by a mooring hawser and a loading hose through which cargo oil is off-loaded. Even in mild sea-state. environmental loads can cause unstable large drift motions between two vessels in tandem off-loading operations, which may result in collision incidents. Accordingly. the analysis on the relative motion between two vessels due to the environmental loads should be investigated in initial design stage. In this study, the low speed maneuvering equation is employed to simulate nonlinear motions of FPSO and shuttle tanker. Low frequency wave drift forces including hydrodynamic interactions between two vessels are evaluated by near field approaches. Current loads are determined by mathematical model of MMG and wind loads are calculated by employing the wind spectrum according to the guidelines of API-RP2A. Mooring forces produced by turret mooring lines and a flexible hawser are modeled quasi-statically by catenary equations. The effect of environmental loads that affect nonlinear motion is investigated through variation in their magnitudes and the nonlinear motions between FPSO and shuttle tanker are simulated under wave, current and wind in time domain.

• Journal of Korean Port Research
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• v.7 no.2
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• pp.61-68
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• 1993

Studies on the ship's automatic navigation & berthing control have been continued by way of solving the ship's mathematical model, but the results of such studies have not reached to our satisfactory level due to its non-linear characteristics at low speed. In this paper, the authors propose a new control system which can evaluate as closely as captain's decision-making by using the FNN(Fuzzy Neural Network) controller which can simulate captain's knowledge. This controller contains the concept of safety according to channel width. The learning data are drawn from ship Handling simulator(NavSim NMS-90 MK III) and represent the ship motion characteristics internally. According to learning procedure, the FNN controller can tune membership functions and identify fuzzy control rules automatically. The verified results show that the FNN controller is effective to incorporate captain's knowledge and experience of manoeuvrability in channel.