• Journal of the Society of Naval Architects of Korea
• /
• v.58 no.6
• /
• pp.358-365
• /
• 2021

Crabbing motion is a pure sway motion with only sway velocity. The ship's crabbing motion is essential for an ideal berthing/unberthing process. The unberthing situation proceeds in sequential order such as crabbing motion section, pivoting section, and outer port section. For the berthing situation, the sequence has a reverse order: the inner port section, pivoting section, and crabbing motion section. In this paper, the berthing/unberthing data of the reference ship, Pukyong National University research ship "NARA", was analyzed to develop a sway velocity reference model. Several constraints were defined to derive the crabbing motion section during berthing/unberthing. The sway velocity reference model for the auto-berthing/unberthing was developed using the estimated sway velocity. A reproduction simulation of the ship was performed to compare the designed reference model and the reference ship data.

• Journal of the Society of Naval Architects of Korea
• /
• v.60 no.3
• /
• pp.165-174
• /
• 2023

Unmanned Surface Vehicle (USV)'s berthing and unberthing is the most difficult maneuvering tasks and have the highest risk of accidents. In this paper, we designed a berthing/unberthing control algorithm given human joystick command for an USV equipped with a waterjet and a bow thruster. The berthing and unberthing maneuvers are performed remotely by a joystick operator at the Ground Control Center (GCC) where the status of USV and environmental situation can be monitored. We interpret the human joystick commands into USV's desired speed, yaw rate, and heading angle commands. next, we developed a control algorithm for the desired target values of MIMO actuators (engine speed, bucket step, nozzle angle, and bow thruster state) to follow the interpreted commands. The validity of the control algorithm is confirmed through simulations and sea trials at Gwang Am port.

• Journal of Navigation and Port Research
• /
• v.33 no.1
• /
• pp.21-25
• /
• 2009

The ship without thrusters and special propulsion system is supported by the tug boats during berthing and unberthing. The orders to tug boats are made by a pilot. If the positions of ship, tug boats and port are displayed in 2D map, it will be helpful to pilots. In this research, a network-based pilot supporting system(NPSS) has been conceptually designed NPSS, necessary for safe and efficient pilot, has two main functions. One is the monitoring of the situation of berthing and unberthing. And the other is the automatic calculation of the tug forces considering environmental conditions. The NPSS is designed on the basis of network system around the harbor. The NPSS will be validated using ship-handling simulator in the future.

• Journal of Navigation and Port Research
• /
• v.31 no.5 s.121
• /
• pp.325-332
• /
• 2007

This study develops a control algorithm on berthing/unberthing system using a joystick for ships with thrusters and a rudder. A nonlinear mathematical model for low speed maneuvering of typical container ships is used to develop a MIMO(multi-input multi-output) nonlinear control algorithm for velocity feedback joystick control. Also a virtual HILS(hardware in the loop simulation) software program for berthing/unberthing is developed to test the performance of the nonlinear and a PID control algorithm. The program is developed using LabWindow/CVI, and a user can see current position and desired trajectory of ship in a monitor, then he can control forward and yaw velocities of a ship using a joystick. The simulation results show that the nonlinear mfd the PID controller have superior performance over a simple open loop joystick control algorithm.

• Journal of Navigation and Port Research
• /
• v.36 no.7
• /
• pp.571-575
• /
• 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 Navigation and Port Research
• /
• v.44 no.6
• /
• pp.439-446
• /
• 2020

The IMO has adopted emission standards through Annex VI of the International Convention for the Prevention of Pollution from Ships (MARPOL) that strictly prohibit the use of bunker C oil for vessels. In this study, we have adopted the turret-moored Floating LNG-Bunkering Terminal (FLBT) which is designed to receive the LNG from LNGCs and transfer it to LNG-bunkering shuttles in side-by-side moored condition. Numerical analyses were carried out using the high-order boundary-element method for four vessels at various relative distances. Mean wave drift forces were compared in an operational sea state. A model test was performed in the ocean engineering basin at the Korea Research Institute of Ships & Ocean Engineering (KRISO) to verify the safety of the berthing/unberthing operation. In the model test, a jig was designed to simulate tug boats pushing or pulling the bunkering vessels, so that the friction force of the g operation was not affected. Safety depended on the environmental direction, with more stable operation possible if the heading-control function of FLBT is applied to avoid beam-sea conditions.

• Journal of Navigation and Port Research
• /
• v.38 no.6
• /
• pp.689-694
• /
• 2014

The Korean government has introduced and enforced maritime traffic safety assessment to secure traffic safety since 2010. The maritime traffic safety assessment is needed by law to design a new port or modify an existing one. According to Korea Maritime Safety Act, in the assessment the propriety of marine traffic system consists of the safety of channel transit and berthing/unberthing maneuver, safety of mooring, and safety of marine traffic flow. The safety of channel transit and berthing/unberthing maneuver can be evaluated only by ship-handling simulation. The ship-handling simulation is carried out by sea pilots working with the port concerned. The vessel's proximity measure is an important factor to evaluate traffic safety. The proximity measure is composed of vessel's closest distance to channel boundary and probability of grounding/collision. What is more, the probability of grounding becomes important. According to central limit theorem, a sample has a normal distribution on condition that its size is more than 30. However, more than 30 simulation runs bring about the increase of assessment period and difficulty of employing sea pilots. Therefore this paper is to find out minimum sample size for evaluating vessel's proximity. First sample sets of size of 3, 5, 7, 9 etc. are selected randomly on the basis of normal distribution. And then KS test for goodness of fit and t-test for confidence interval are applied to each sample set. Finally this paper decides the minimum sample size. As a result this paper suggests the minimum sample size of 5, that is, the simulation of more than five times.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• 1991.06a
• /
• pp.45-48
• /
• 1991

This work aims to introduce the concept of microcomputer aided port design simulation methodology including the analysis of the mathematical models to be implemented and apply it to the Third Stage Busan Part Development Project. In the Busan case study the size of the proposed turning basin of the new terminal together with the operational stra-tegies of berthing and unberthing was examined In addition the safety of ships' entry and exit through the projection new breakwaters was as-certained. From the application of simulation to the Busan project it was found that the proposed dredging area was not sufficiently wide enough for a modelled container ship to perform A type unberthing (in which the ship turns to port as she monoeuvres away from No.1 berth with the ass-istance of tuges) especially in a strong easterly wind., It is therefore recommended that Busan pilots should be advised to use B type unberthing strategy in which the ship goes astern from No.1 berth to the turning area in front of No.2 berth(where the ship turns 180 degrees clockwise) especially when the wind is very strong. It is also recommended that a sea buoy be placed outside the new breakwaters as this was found to im-prove the safety of ship manoeuvres through the breakwaters significant-ly. Another recommendation is that the Korean Hydrodynamic Office carry out a detailed survey of the currents in the water area near the new breakwaters. once they have been constructed. In addition it is to be recommended that a current meter be placed at the recommended sea buoy pardised by erroneous current information

• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• 2014.06a
• /
• pp.255-257
• /
• 2014

The harbor tranquility is indicating the level of calmness in the mooring basin of harbor. It relates keenly to berthing/unberthing and cargo handling works but also it is an important indicator to get the minimum water area as the safe refuge. Therefore, it is necessary to analyze in complex the variation of wave height and direction caused by wave refraction, diffraction, shoaling and reflection from the incident waves from outside the harbor. In order to check the calmness inside a harbor, the numerical models are being used currently need fundamental reviews according to the difference of results which depend on their respective features. In this study, hence, it was introduced the validity of numerical models by comparing the computational results for Hupo harbor.

• Journal of Fisheries and Marine Sciences Education
• /
• v.23 no.2
• /
• pp.210-220
• /
• 2011

The Keyongin Inland waterway will connect with Han-River and the Northen part of the Incheon-seaway and this way will be opened at the early of October this year. In this regard, the Incheon container terminal is under constructing for 1,000 TEU & 550 TEU container vessels at the place of leftside of the Seohae lockgate. However the terminal length is not still fixed due to at a great expenses of construction and dosposal matter of the dredged soil. So this paper will suggest the optimum berth length by using the full mission shiphandling simulator for berthing and unberthing shipmaneuvering. And also evaluates the design standard of harbor construction rules and analysis optimum berth length against ship's length for safe shiphandling at terminals in accordance with the customary practices of the major ports in Korea.