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

• Journal of Navigation and Port Research
• /
• v.43 no.3
• /
• pp.186-196
• /
• 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 Institute of Control, Robotics and Systems
• /
• v.13 no.4
• /
• pp.304-308
• /
• 2007

This paper deals with ANN(Artificial Neural Networks) and its application to automatic ship berthing. Due to the characteristic of ship's manoeuvre comparing with other moving objects on land, it has been known that the automatic control for ship's berthing cannot cope with various berthing situations such as various port shape and approaching directions. for these reasons. the study on automatic berthing using ANN usually have been carried out based on one port shape and predetermined approaching direction. In this paper, new algorithm with ANN controller was suggested to cope with these problems. Under newly suggested algorithm, the controller can select appropriate weights on the link of neural networks according to various situations. so the ship can maintain stable berthing operation even in different situations. Numerical simulations are carried out with this control system to find its improvement.

• Journal of Navigation and Port Research
• /
• v.31 no.7
• /
• pp.563-568
• /
• 2007

In this paper, an adaptive neural network controller and its application to automatic berthing control of ship is presented. The neural network controller is trained online using adaptive interaction technique without any teaching data and off-line training phase. Firstly, the neural networks used to control rudder and propeller during automatic berthing process are presented. Secondly, computer simulations of automatic ship berthing are carried out in Pusan bay to verify the proposed controller under the influence of wind disturbance and measurement noise. The results of simulation show good performance of the developed berthing control system.

• International Journal of Naval Architecture and Ocean Engineering
• /
• v.4 no.3
• /
• pp.199-210
• /
• 2012

The recent researches on the automatic berthing control problems have used various kinds of tools as a control method such as expert system, fuzzy logic controllers and artificial neural network (ANN). Among them, ANN has proved to be one of the most effective and attractive options. In a marine context, the berthing maneuver is a complicated procedure in which both human experience and intensive control operations are involved. Nowadays, in most cases of berthing operation, auxiliary devices are used to make the schedule safer and faster but none of above researches has taken into account. In this study, ANN is applied to design the controllers for automatic ship berthing using assistant devices such as bow thruster and tug. Using back-propagation algorithm, we trained ANN with set of teaching data to get a minimal error between output values and desired values of four control outputs including rudder, propeller revolution, bow thruster and tug. Then, computer simulations of automatic berthing were carried out to verify the effectiveness of the system. The results of the simulations showed good performance for the proposed berthing control system.

• 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.

• Proceedings of KOSOMES biannual meeting
• /
• 2004.05b
• /
• pp.107-112
• /
• 2004

In order to improve the safety r! ship berthing and the efficiency r! berth operation in the harbour, the berthing energy acting on a ship in berthing maneuver need to be estimated properly. The berthing energy is used as one q the criteria to determine the maximum permissible load of fender as well as important factors to establish the berthing speed and the required power r! tug-beat for pilot and ship operator. In this study, some problems r! present the method of berthing energy are discussed on the basis of the hydrodynamic aspects. Then, series calculations of berthing energy are carried out considering the effect of water depth on added mass and the ship shape for container series from 1,600TEU to 12,000TEU.

• Journal of Navigation and Port Research
• /
• v.29 no.8 s.104
• /
• pp.673-678
• /
• 2005

In order to improve the safety of ship berthing and the efficiency of berth operation in the harbour, the berthing energy acting on a ship in berthing maneuver need to be estimated properly. The berthing energy is used as one of the criteria to determine the maximum permissible load q{ fender as well as important factors to establish the berthing speed and the required power of tug-boat for pilot and ship operator. Some problems of berthing energy are discussed on the basis of the hydrodynamic aspects. Then, series calculations of berthing energy are carried out considering the effect of water depth on added mass and the ship shape for container series from 1,600TEU to 12,000TEU.

• International Journal of Naval Architecture and Ocean Engineering
• /
• v.6 no.2
• /
• pp.347-360
• /
• 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 the Korean Institute of Navigation
• /
• v.18 no.2
• /
• pp.69-81
• /
• 1994

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 berthing control system which can evaluate as closely as cap-tain's decision-making by using the FNN(Fuzzy Neural Network) controller which can simulate captain's knowledge. This berthing controller consists of the navigation subsystem FNN controller and the berthing subsystem FNN controller. 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, both FNN controllers can tune membership functions and identify fuzzy control rules automatically. The verified results show the FNN controllers effective to incorporate captain's knowledge and experience of berthing.