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

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2022.11a
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• pp.149-150
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• 2022

External forces acting on the mooring facilities include wave, wind, current, and ship's kinetic energy. In particular, the ship's kinetic energy is changing as the ship become larger, and larger carrying capacity. It was intended to analyze the berthing velocity measurement data at on tanker terminals equipped with a DAS (Docking Aid System) through statistical means and algorithms and use it as basic data for safer and more efficient pier design and pilotage.

• International Journal of Naval Architecture and Ocean Engineering
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• v.6 no.2
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• pp.347-360
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• 2014

The auto-berthing of a ship requires excellent control for safe accomplishment. Crabbing, which is the pure sway motion of a ship without surge velocity, can be used for this purpose. Crabbing is induced by a peculiar operation procedure known as the push-pull mode. When a ship is in the push-pull mode, an interacting force is induced by complex turbulent flow around the ship generated by the propellers and side thrusters. In this paper, three degrees of freedom equations of the motions of crabbing are derived. The equations are used to apply the adaptive backstepping control method to the auto-berthing controller of a cruise ship. The controller is capable of handling the system non-linearity and uncertainty of the berthing process. A control allocation algorithm for a ship equipped with two propellers and two side thrusters is also developed, the performance of which is validated by simulation of auto-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.

• IEMEK Journal of Embedded Systems and Applications
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• v.15 no.2
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• pp.71-78
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• 2020

This paper proposes vision sensors and deep learning-based around view monitoring system for ship berthing. Ship berthing to the port requires precise relative position and relative speed information between the mooring facility and the ship. For ships of Handysize or higher, the vesselships must be docked with the help of pilots and tugboats. In the case of ships handling dangerous cargo, tug boats push the ship and dock it in the port, using the distance and velocity information receiving from the berthing aid system (BAS). However, the existing BAS is very expensive and there is a limit on the size of the vessel that can be measured. Also, there is a limitation that it is difficult to measure distance and speed when there are obstacles near the port. This paper proposes a relative distance and speed estimation system that can be used as a ship berthing assist system. The proposed system is verified by comparing the performance with the existing laser-based distance and speed measurement system through the field tests at the actual port.

• Journal of Ship and Ocean Technology
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• v.6 no.1
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• pp.16-26
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• 2002

In this paper, a motion identification method using neural networks is applied to automatic ship berthing to overcome disturbance effects. Motion identification is used to estimate the effect of environmental disturbance. Two rule-based algorithms have been developed to over-come disturbance. The first rule based-algorithm was designed to overcome lateral disturbance when a ship's lateral speed is affected by it. The second rule-based algorithm was also designed to overcome longitudinal disturbance when a ship's angular velocity is changed by it. Finally, numerical simulations for automatic berthing are carried out, and the suggested control system is proved to be more practical under disturbance circumstances.

• Journal of Ocean Engineering and Technology
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• v.27 no.6
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• pp.56-64
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• 2013

Crabbing motion is the pure sway motion of a ship without surge velocity. Thus, it can be applied to a berthing operation. Crabbing motion is induced by a peculiar operation method called the push-pull mode. The push-pull mode is induced by using a combination of the main propeller and side thruster. Two propellers generating the same amounts of thrust and rotating in opposite directions produce some yawing moment on a vessel but do not induce longitudinal motion. With the additional operation of side thrusters, the push-pull mode is used to induce a large amount of lateral force. In this paper, three-degree-of-freedom equations of motion such as for the surge, sway, and yaw are constructed for the crabbing motion. Based on these equations of motion, a feedback linearization control method is applied to auto-berthing control for a twin-screw ship with side thrusters. The controller can deal with the nonlinearity of a system, which is present in the berthing maneuver of a twin screw ship. A simulation of the auto-berthing of a ship is performed to validate the performance of the designed controller.

• Journal of Navigation and Port Research
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• v.31 no.3 s.119
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• pp.223-228
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• 2007

In recent trends of the enlargement and specialization, container ship, LNCG, PCC and passenger ship which have relatively large hull and superstructure above the water line, are already being operated in the world It is very important information for the safety operation of these vessels to estimate the ship's performance under the specific wind condition while berthing, unberthing or low-speed sailing. In this paper, the effect of wind force and moment acting on the training ship HANNARA is investigated by using the numerical calculations. The results of drift angle and counter rudder angle with the relative wind direction and force, the critical wind velocity with the ratio of wind velocity and ship's speed and maximum heeling angle with the wind velocity are shown The presented results can be applied directly to T/S HANNARA in berthing maneuver and avoiding typhoons, and utilized as an educational materials.

• Structural Engineering and Mechanics
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• v.75 no.6
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• pp.785-797
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• 2020

As the growth of world trade has surged rapidly over the past years, the number is expected to continue growing over the coming years. Although the transportation costs can be reduced by using larger vessels, however, new berthing structures have to be constructed in order to cater for the larger vessels. This leads to a need for researching on designing a better berthing structure. For optimization of berthing structure design, we need to provide a better estimation of berthing energy than the previous methods in the existing guidelines. In this study, several berthing parameters were collected from previous works and researches. Moreover, the scenarios were selected efficiently by using a sampling technique. First, the berthing energy was calculated by executing 150 numerical simulations. Then, the numerical simulation results were compared with the results calculated by existing methods quantitatively to investigate the sensitivity of the berthing parameters and the accuracy of existing methods. The numerical method results have shown some deviation with respect to the existing method results in which the degree of deviation varies with the methods and the tendency of differences is dependent on certain berthing parameters. Then, one of the existing methods which has shown a small deviation was selected as a representative method and applied with several safety factors to obtain a suitable safety factor for the design.