• Journal of the Korean Society of Marine Environment & Safety
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• v.29 no.7
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• pp.980-991
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• 2023

To prevent accidents near the quay caused by a ship, ports are generally designed and constructed through navigation and berthing safety assessment. However, unpredictable accidents such as ship collisions with the quay or personal accidents caused by ropes still occur sometimes during the ship berthing or mooring process. Automatic mooring systems, which are equipped with an attachment mechanism composed of robotic manipulators and vacuum pads, are designed for rapid and safe mooring of ships. This paper deals with a displacement and velocity measurement system for the automatic mooring device, which is essential for the position and speed control of the vacuum pads. To design a suitable system for an automatic mooring device, we first analyze the sensor's performance and outdoor environmental characteristics. Based on the analysis results, we describe the configuration and design methods of a displacement and velocity measurement system for application in outdoor environments. Additionally, several algorithms for detecting the sensor's state and estimating a ship's velocity are developed. The proposed method is verified through some experiments for displacement and speed measurement targeted at a moving object with constant speed.

• Journal of Navigation and Port Research
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• v.31 no.5 s.121
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• pp.325-332
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• 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
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• v.32 no.8
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• pp.597-602
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• 2008

T.S. HANBADA has a relatively large hull and superstructures above the water line, so she has much of leeway or turning of bow with the effect of winds. Especially on berthing, unberthing and/or sailing on low speed, these effects take place more significant. Therefore, it was carried out the numerical calculation of the wind force and moments acting on the T.S. HANBADA, and then calculated the leeway angle and counter rudder angle with the relative wind direction and velocity. Also, it was suggested the maximum wind velocity which could be berthed or unberthed used by bow thruster and the tugboat operations in strong winds. These results will be great helpful to the vessels with large superstructures on ship's handling in harbour or tugboat operations.

• Journal of the Korean Society of Marine Environment & Safety
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• v.15 no.1
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• pp.49-55
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• 2009

Typhoons are usually influencing at least 3 or 4 times per year in Korean peninsula and they accompanied with strong winds and heavy rains and then brought tremendous loss of properties and lives. Especially typhoon "MAEMI" resulted in a lot of marine accidents of vessels such as sinking, stranding, collision etc. at anchoring or on berthing in pier. If the typhoon comes up to expected area influencing the incidents, the vessel tries to escape from the route of typhoon or anchor in sheltering anchorage. However, consideration of the anchoring or judgement of ship's safety against strong winds is decided only by the experience of operators without detail evaluation of the safety. Therefore, this paper evaluated the safety of T.S. HANBADA by comparing the external forces with the holding powers. Furthermore, based on this evaluation, the anchoring manual was produced for the maximum endurable wind velocity, the general precautions and the actions taken on the ship with steps.