• Journal of Navigation and Port Research
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• v.27 no.6
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• pp.625-630
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• 2003

In order to keep the safety of maneuverability under the lateral berthing, it is necessary to estimate the magnitudes and properties of the hydrodynamic forces acting on ship hull quantitatively. In this paper, CFD technique is used to calculate the steady lateral force according to the water depth for Wigley model under the unsteady lateral berthing. The numerical results are analysed into the steady lateral force and the transitional lateral force, and some of reviews for the safety of maneuverability relating to the lateral berthing are discussed based on the computed hydrodynamic forces.

• 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 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.

• Journal of the Korean Society for Marine Environment & Energy
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• v.2 no.1
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• pp.90-101
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• 1999

This paper is concerned with the design of automatic ship maneuvering system including automatic path tracking controller and automatic berthing controller. The optimal control technique is employed to design the automatic path tracking controller, which is based on the linearized equations of ship motion. The numerical example shows that the automatic path tracking controller is capable of tracking the line between way points which are determined by pilot a priori. The decentralized control technique is employed to design the automatic berthing controller. In addition to the automatic path tracking controller, the fuzzy logic controller is used to control the forward speed. The numerical example shows that the automatic berthing controller can be successfully implemented.

• Journal of Navigation and Port Research
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• v.27 no.3
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• pp.253-258
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• 2003

To evaluate the unsteady motion in laterally berthing maneuver, it is necessary to grasp very clearly the magnitude and properties of the hydrodynamic forces acting on ship hull in shallow water. In this study, numerical calculation was made to investigate quantitatively the hydrodynamic force according to the water depth for Wigley model using the CFD (Computational Fluid Dynamics) technique. Comparing the computational results to the experimental ones, the validity of the CFD method was verified. The numerical solutions evaluated the hydrodynamic force with good accuracy, and then captured the features of the flow field around the ship in detail. The transitional lateral force in a state ranging from rest to uniform motion is modeled by using the concept of the circulation.

• Journal of Power System Engineering
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• v.17 no.5
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• pp.121-127
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• 2013

In this paper, we propose a distance measurement system for automatic berthing control using a stereo camera mounted on a rotation control device, and a radial pattern target. Automatically controlling the position and attitude of a ship aims to prevent maritime accidents due to human error. Our goal is to measure the relative distance between a ship and an onshore or offshore target for berthing. Therefore, the distance should be continuously measured while tracking a fixed point on a target. To this end, we developed a stereo camerabased distance measurement system that satisfied these requirements. This paper describes the structure and principle of the measurement system. We validate the distance error for target incline due to the relative position and attitude between a camera and a target in miniature scale. In addition, the findings of an experiment in an outdoor environment demonstrate that the proposed measurement system has accuracy within 1 m at a range of 20-100 m which is the acceptable accuracy for automatic berthing.

• Journal of Navigation and Port Research
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• v.43 no.3
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• pp.186-196
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• 2019

Berthing energy is majorly influenced by the berthing velocity. It is necessary to design an appropriate berthing velocity for each pier, since excessive berthing velocity can cause berthing accident causing damage to the ship and pier. In this study, as a statistical approach for berthing velocity, the probability distributions suitable for the berthing velocities were confirmed using the K-S test, the A-D test and the Q-Q plot. As a result, the frequency distribution of the berthing velocity was found to be suitable using the Weibull distribution as well as the lognormal distribution. Additionally, the predicted values obtained through estimation of the berthing velocity using the concept of probability of exceedance in this study is proposed as a reference of design berthing velocity. It can be observed that the design berthing velocity is set to be somewhat low so that it does not practically match with the reality. This study and its results can be expected to contribute to the development of a proper design velocity calculation method.

• Journal of the Korean Society of Marine Environment & Safety
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• v.25 no.3
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• pp.313-319
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• 2019

As vessels become larger and competition between ports intensifies, there has been an increase in the number of cases where vessels that exceed the available berths are berthed at the pier. Therefore, there has been an increase in the number of cases in which the bow or stern of a ship is projected and moored. The risk of overhanging berthing is that mooring safety can be compromised because it is not possible to connect the bow and stern mooring line to the ship properly. In addition, collision accidents may occur between moving vessels if the view of a vessel moving in the port is obstructed. Therefore, in this study, the simulation of mooring safety was performed according to the overhanging range in Piers No. 6 and 7 in Ulsan's main port to propose the overhanging limit and operational standards according to each ship. As a result of the assessment, 30,000 DWT bulkers are able to overhang up to 0.75B, and 50,000 DWT bulkers can overhang up to 0.50B. The results of this study are expected to be used as basic data for setting the allowable overhang limit, as well as clear usage criteria for safe unloading operations.

• Proceedings of the Korean Society of Marine Engineers Conference
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• 2005.06a
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• pp.1155-1160
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• 2005

In order to evaluate the safety of navigation at sea and the safety of mooring ship on berthing, it is necessary that the wave and wind induced ship dynamic motion should be measured in real time domain for the validity of theoretical evaluation method such as sea-keeping performance and safety of mooring. In this paper, the basic design of sensors is discussed and some system configurations were shown. The developed system mainly consists of 4 kinds of sensors such as three dimensional accelerator, two dimensional tilt sensor, two displacement sensors and azimuth sensor. Using the this measuring system, it can be obtained the 6 degrees of freedom of ship dynamic motions at sea and on berthing such as rolling, pitching, yawing, sway, heave, surge under the external forces.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2006.11a
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• pp.363-366
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• 2006

Berthing and deberthing simulator was developed for real-time trajectory of ship towed by tug boats near ship yard. This paper introduces development background, the function of simulator, utilization and it's application.