Vessel Maneuvering Research Articles

The Channel Migration of Inland Waterway Channels in Ilaje, Ondo State, Nigeria

The channel migration or shifting of navigable river channels have been an issue of major concern, as their effects on the transport environment, channel corridors, the manoeuvrability of vessels transiting these channels and vessels navigation amongst other factors result to inefficiency in inland transport in the riverine region of Ilaje, Nigeria. Most navigational and operational challenges have been attributable to alterations in the waterway channel due to aggradation and degradation processes in the river regime. The study’s goal is to explore channel migration along the Igbokoda-Ayetoro waterway with a view to provide mitigation methods to address potential difficulties along the waterway channel and in the adjoining environment. The objectives of the study include gathering satellite imagery of the study area between 1972 and 2022; assessing the morphological planforms of the study river channel, and assessing the river channel’s effective width using the segment-transect method. The study considered channel width, depth and alignment as indicators to be carefully evaluated to ensure safe, sustainable and efficient inland navigation measures. To ascertain the shapes and forms of the channel during the study period, geospatial and computer-aided techniques were used. Channel widths were extracted using the Segment-Transect method at 100-meter intervals. 50 year and 100-year estimate of the extent of channel/banklines shifting were determined. According to the study, there are changes in the channel’s width, depth and planform (alignment) that make the waterway indeterminate and unsuitable for vessels transiting on two-way manoeuvrability lanes. Hence, the study recommended the sustainable mitigation strategies to tackle the potential challenges pose by channel migration and reduce its impact on the vessel manoeuvrability, navigation and the adjoining environment.

Self‐supervised vessel trajectory segmentation via learning spatio‐temporal semantics

AbstractThe study of vessel trajectories (VTs) holds significant benefits for marine route management and resource development. VT segmentation serves as a foundation for extracting vessel motion primitives and enables analysis of vessel manoeuvring habits and behavioural intentions. However, existing methods relying on predefined behaviour patterns face high labelling costs, which hinder accurate pattern recognition. This paper proposes a self‐supervised vessel trajectory segmentation method (SS‐VTS), which segments VTs based on their inherent spatio‐temporal semantics. SS‐VTS adaptively divides VTs into cells of optimal size. Then, it extracts split points on different semantic levels from the multi‐dimensional feature sequence of the VTs using self‐supervised learning. Finally, spatio‐temporal distance fusion module is performed on split points to determine change points and obtain VT segments with multiple semantics. Experiments on a real automatic identification system datasets show that SS‐VTS achieves state‐of‐the‐art segmentation results compared to seven baseline methods.

Investigation of Vessel Manoeuvring Abilities in Shallow Depths by Applying Neural Networks

A set of planar motion mechanism experiments of the Duisburg Test Case Post-Panamax container model executed in a towing tank with shallow depth is applied to train a neural network to analyse the ability of the proposed model to learn the effects of different depth conditions on ship’s manoeuvring capabilities. The motivation of the work presented in this paper is to contribute an alternative and effective approach to model non-linear systems through artificial neural networks that address the manoeuvring simulation of ships in shallow water. The system is developed using the Levenberg–Marquardt backpropagation training algorithm and the resilient backpropagation scheme to demonstrate the correlation between the vessel forces and the respective trajectories and velocities. Sensitivity analyses were performed to identify the number of layers necessary for the proposed model to predict the vessel manoeuvring characteristics in two different depths. The outcomes achieved with the proposed system have shown excellent accuracy and ability in predicting ship manoeuvring with varying depths of shallow water.

Simulation of Ship Berthing Operation at Luojing Container Terminal Under Extreme Sea Conditions

The Luojing Port Area of the Port of Shanghai, specifically the coal terminal and ore terminal, used to be the main port area for coal and ore bulk cargo transportation services in the Port of Shanghai.To enhance the container handling capacity at Shanghai port, this study conducted a series of simulation tests at Luojing Container Terminal. The tests were designed according to the terminal's specifications, taking into account the limit berthing wind direction and wind speed (levels 6 and 7). This study selected an appropriate representative ship type for the comprehensive simulation tests, and it thoroughly tested the berthing limits under various extreme conditions using an advanced navigation simulator. The experiment obtained the motion parameters and trajectory of the simulated ship. Based on these results, this study analyzed and evaluated the safety of the rotary waters and berthing operations, ensuring they met the safety assessment requirements for wharf engineering. The study examined the berthing time window, berthing mode, boundary conditions, and safety guarantee measures under extreme sea conditions at Luojing Container Terminal. Finally, By analyzing the berthing simulation trajectory diagrams, tugboat usage, and vessel maneuvering data under the eight extreme berthing conditions, this study formulated a safe berthing plan for ships.

Ship accident re-enactment based on AIS data and virtual reality: a case study of “Xiang Xiang Yin Huo 0410” ship accident

Abstract The recurrence of ship accidents was an effective method of maritime investigation. To analyze the cause of the sinking of “Xiang Xiang Yin Huo 0410”, a vessel accident recurrence simulation system was constructed by integrating an automatic identification system and virtual reality technology to replicate the navigation and accident process of the accident vessel. The voyaging process of the accident vessel was reduplicated in the simulation system according to the AIS information, such as speed, course, and turning speed. The mathematical model of accident vessel maneuvering was established by using MMG to reproduce the ship maneuvering scheme based on the maneuvering data before the accident obtained through on-the-spot investigation. The navigation and sinking process of the accident vessel were reproduced visually, and the cause of the accident was judged and analyzed intuitively by constructing a three-dimensional model of the accident vessel and a mathematical model of ocean waves. The actual application indicates that the ship’s navigation and accident process under external force, combined with the ship’s maneuvering data, automatic identification data, and hydrometeorological data, was consistent with the actual accident process of the accident. The method proposed in this paper provided a new idea for the investigation and analysis of maritime accidents.

Fast-running CFD calculations of the ONR Tumblehome performing maneuvers in calm water and in waves using a Gaussian process regression propeller and rudder model

The accurate and efficient prediction of vessel maneuvering characteristics in calm water and in waves using numerical methods is challenging. The objective of this work is to demonstrate the use of a Gaussian Process Regression based data-driven propeller and rudder model for vessel maneuvering in both calm water and in waves. The data-driven propeller and rudder model is trained with CFD simulations of the discretized propeller and rudder operating in the behind condition at different forward speeds, drift angles, and rudder angles. The data-driven propeller and rudder model enables the accurate calculation of maneuvering performance with low computational expense. This work describes the process for training and implementing the data-driven propeller and rudder model in a CFD package. The calm water zigzag and turning circle maneuvering characteristics for the ONR Tumblehome are evaluated and are compared to archival experiments. Furthermore, the maneuvering characteristics are evaluated in regular waves with several different wave conditions. In addition to demonstrating the accurate and efficient calculation of maneuvering performance, this work provides a multi-fidelity database of propeller and rudder forces at different forward speeds and drift angles, which can be used to train future data-driven propeller and rudder models.

Challenges and Solutions to COLREGs on MASS Ethical Issues in Vessel Manoeuvring Practices

Challenges and Solutions to COLREGs on MASS Ethical Issues in Vessel Manoeuvring Practices

Development of a mathematical model of underwater towing, based on single- and double-link rod models of towing lines

This paper develops a mathematical model of underwater towing by the example of a complex fishing complex "vessel - vaer - trawl" by calculating its traction and speed characteristics.
 The tow line is an important factor when towing an underwater object because it can affect the stability and maneuverability of the towing vessel. If the shaft is too long, it can create a lot of drag and make it difficult to move the boat. On the other hand, if the shaft is too short, it may cause the towed object to sink too deeply and potentially damage the object or towing equipment. Consequently, it is critical to select the proper towing system settings based on the size and weight of the object being towed, the depth of the stroke, and the environmental conditions.
 Existing methods for writing models of tug - towing object systems, namely, methods based on stationary and non-stationary nature of the vaer selection process are investigated.
 The paper presents a comparative analysis of single-link and two-link rod models of towing lines. The main errors in the construction of trajectories of towed objects using these types of towing lines are revealed.
 In particular, one of the results of the study is, building a model of the system "ship - vaer - towed object", which has a similar accuracy index to the more complex two- and three-link lines.

CIPSO-Based Decision Support Method for Collision Avoidance of Super-Large Vessel in Port Waters

Effective and timely collision avoidance decision support is essential for super-large vessels navigating in port waters. To guarantee the navigational safety of super-large vessels, this work proposes a collision avoidance decision support method based on the curve increment strategy with adaptive particle swarm optimization (CIPSO). Firstly, the objective function is constructed based on the multi-objective optimization method. Here, a fuzzy comprehensive evaluation (FCE)-based vessel collision hazard model and vessel speed-varying energy-loss model integrating the Convention on the International Regulations for Preventing Collisions at Sea (COLREGS) are involved. Furthermore, in response to the limitations of the PSO algorithm, which is prone to falling into local optima in the later stages of iteration, a curve increment strategy is incorporated. To improve the performance of the global optimization, it is optimized using a local followed by global search method. The iterative evolution of CIPSO is used to obtain the optimal decision value in the set domain of feasible solutions. Finally, the effectiveness and feasibility of the proposed method are verified by the numerical simulation and large vessel maneuvering simulator, which can provide collision avoidance decision support for ship pilots.

System of automatic generation of ship maneuver documentation

According to the definition in the resolution International Maritime Organization no A.860 (IMO 1997) navigation is the process of planning, recording, and controlling the movement of a craft from one place to another. When navi-gating in special conditions, for example, when approaching a port or in restricted areas, it is immensely important to know the vessel's maneuverability. Therefore, identifiable information must be available on each vessel. Each watch officer is required to have the necessary knowledge of both the equipment and maneuverability of his own vessel. The description and scope of the documentation containing this data are provided in IMO Resolution A.601 (IMO, 1987). The maneuver documents that must be available on the navigation bridge are Pilot Card and Wheelhouse Poster also Maneuvering Booklet. The timeliness of the data contained in the maneuver documentation significantly influences the safety of navigation. At present, the maneuver documentation is not created in an automated manner. Automation of registration and data processing process will increase the knowledge of the behavior of the own vessel. In addition, it allows to obtain maneuvering data that exceeds the parameters necessary to prepare ship documentation. Especially research carried out in various hydrometeorological conditions, enabling the assessment of the movement of the ship on the waves. These data can be used to carry out research projects related to the subject of vessel behavior analysis. That is why the authors have made an attempt to automate the registration and processing of data necessary to create documents and their continuous generation in electronic form. In this article the authors present a proprietary comput-er application that enables the achievement of the assumed goals along with checking the applications functionality on a selected type of a vessel. The correct operation of the system has been verified based on real study and simulation tests.

CORPUS CHRISTI SHIP CHANNEL DEEPENING PROJECT: OVERVIEW and MODELING APPROACH TO ASSESS ENVIRONMENTAL IMPACTS

The Corpus Christi Ship Channel in Texas connects the Port of Corpus Christi to the Gulf of Mexico. The Port is seeking to deepen the Corpus Christi Ship Channel to 22.9m (75ft) nominal depth in order to allow fully loaded very large crude carriers (VLCC’s) to access proposed terminals within the port complex. As a part of the environmental coordination requirements of the National Environmental Policy Act (NEPA) the Port Authority prepared a number of studies to assess the potential environmental impacts of the proposed channel deepening. These included assessing changes in hydrodynamics, salinity, storm surge, and sedimentation patterns including sediment movement generated by vessel generated currents. The channel design was also verified through vessel maneuvering studies which were conducted using modeled currents, dynamic underkeel clearance assessment, and propeller scour potential determination. The fate of proposed beneficial use of dredged materials to construct a submerged beach berm and perform beach nourishment was also assessed.

Virtual PMM captive tests using OpenFOAM to estimate hydrodynamic derivatives and vessel maneuverability

This study reveals the significance of hydrodynamic derivatives derived at the different Froud number (Fr) in accurately predicting of a vessel's turning-circle maneuvers through solving the maneuvering modeling group (MMG) model. The computed turning-circle diameter showed a good agreement with the model test results, with less than 4% difference observed when using the hydrodynamic derivatives derived at Fr = 0.201. However, at Fr = 0.26, a significant difference was observed, which could be attributed to the use of lower values of maximum sway amplitude ymax and maximum yaw rate rmax′. The hydrodynamic characteristics of a maneuvering vessel may not be fully reflected, with the high displacement of the straight surging motion dominating the results. In this study, a set of virtual planar motion mechanism (PMM) captive tests is numerically conducted on a bare container ship hull model using an open-source code OpenFOAM. The virtual PMM captive test cases involve different maximum sway amplitude, maximum yaw rates, and Fr, achieved by varying sway amplitudes, heading angles, and the carriage speeds, respectively. The obtained numerical results are reconstructed as Fourier series (FS) equations to derive hydrodynamic derivatives employing the single run (SR) method. A system-based method is adopted to predict vessel's turning-circle maneuverability in calm water by employing the MMG mathematical model.

Kinematic motion models based vessel state estimation to support advanced ship predictors

Advanced ship predictors can generally be considered as a vital part of the decision-making process of autonomous ships in the future, where the information on vessel maneuvering behavior can be used as the source of information to estimate current vessel motions and predict future behavior precisely. As a result, the navigation safety of autonomous vessels can be improved. In this paper, vessel maneuvering behavior consists of continuous-time system states of two kinematic motion models—the Curvilinear Motion Model (CMM) and Constant Turn Rate & Acceleration (CTRA) Model. Two state estimation algorithms—the Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF) are implemented on these two models with certain modifications so that they can be compatible with discrete-time measurements. Four scenarios, created by combining different models and algorithms, are implemented using simulated ship maneuvering data from a bridge simulator. These scenarios are then verified through the proposed stability and consistency tests. The simulation results show that the EKF tends to be unstable combined with the CMM. The estimates from the other three scenarios can generally be considered more stable and consistent, unless sudden actions or variations in vessel heading occurred during the simulation. The CTRA is also proven to be more robust compared to the CMM. As a result, a suitable combination of mathematical models and estimation filters can be considered to support advanced ship predictors in future ship navigation.

An analysis of marine vessel manoeuvrability using a modified linear quadratic regulating controller design to enhance performance

An analysis of marine vessel manoeuvrability using a modified linear quadratic regulating controller design to enhance performance

Study on the Development of the Maneuvering Mathematical Model Considering the Large Angle Motion of Submarine

Maneuverability is a crucial factor for the safety and success of submarine missions. This paper introduces a mathematical model that considers the large drift and angle of attack motions of submarines. Various computational fluid dynamics (CFD) simulations were performed to adapt Karasuno's fishery vessel maneuvering mathematical model to submarines. The study also presents the procedure for obtaining the physics-based hydrodynamic coefficients proposed by Karasuno through CFD calculations. Based on these coefficients, the reconstructed forces and moments were compared with those obtained from CFD and to the hydrodynamic derivatives expressed by a Taylor expansion. The study also discusses the mathematical maneuvering model that accounts for the large drift angles and angles of attack of submarines. The comparison results showed that the proposed maneuvering mathematical model based on modified Karasno’s model could cover a large range of motions, including horizontal motion and vertical motions. In particular, the results show that the physics-based mathematical maneuvering model can represent the forces and moments acting on the submarine hull during large drift and angle of attack motions. The proposed mathematical model based on the Karasuno model could obtain more accurate results than the Taylor third-order approximation-based mathematical model in estimating the hydrodynamic forces acting on submarines during large drift and angle of attack motions.

Using redundant control to optimize control torque

The object of research is the process of automatic control of the redundant structure of the vessel's executive devices for extreme rotation in the yaw channel. Traditionally, redundant structures have been used to improve the reliability of automated control systems and the maneuverability of vessels. At the same time, control redundancy can also be used to optimize control processes, thereby reducing fuel consumption, increasing control forces and moments, and reducing the time required to perform operations. This allows gaining advantages in movement over vessels not equipped with optimization modules. The paper considers the optimal management of the redundant structure of an offshore vessel, which ensures the rotational movement of the vessel around the center of rotation with the maximum angular velocity. As well as simultaneous maintenance of a given position or movement in the longitudinal and lateral channel, taking into account control restrictions. This problem is reduced to a nonlinear optimization problem with nonlinear and linear control constraints. The method, algorithmic and software of the module of extreme rotation of the vessel with a redundant structure of executive devices have been developed. The workability and efficiency of the developed method, algorithmic and software are verified by mathematical modeling in the closed circuit «Control Object – Control System». The results of the conducted experiment showed that the use of optimal control allows, in comparison with traditional methods of splitting controls, to increase the control moment and angular speed of rotation by 1.5–2 times. The obtained opportunities are explained by the use of a mathematical model of the redundant control structure and the optimization procedure for calculating optimal controls in the on-board computer of the automated system. The developed method can be used on vessels, provided it is integrated into the existing automated system of the on-board computer with an open architecture, to increase the capabilities of automatic traffic control.

An adaptive multi-objective joint optimization framework for marine hybrid energy storage system design considering energy management strategy

The electric propulsion ship with the hybrid energy storage system (HESS) has environmental friendliness and significant advantages in terms of low fuel consumption. Due to the high maneuverability and load fluctuation of vessels, marine HESS design problem is nonlinear and multi-objective. Aiming at HESS design problem with complex working conditions during vessel practical operation process, and since there is a strong coupling between HESS and power allocation, in this paper an adaptive multi-objective joint optimization framework (AMJOF) for HESS design considering energy management strategy (EMS) is proposed. A multi-objective joint optimization method is introduced into the framework to achieve strong working condition adaptability and reach the most suitable energy management for marine HESS design with the lowest investment cost and minimum battery degradation. In addition, based on adaptive segmentation and frequency control, a novel EMS is proposed, which achieves efficient power allocation, and the evaluation indicator is introduced to quantify the performance of different optimization. The results indicate that the AMJOF can achieve excellent performance and find the optimal solution for operation of the ship.

Characteristic of hydrodynamic derivatives for a multi-hull navigation vessel in dynamic positioning mode

The Quadmaran vessel is a maritime multi-hull vessel developed for water quality observation in aquaculture farms. The vessel’s dynamic positioning (DP) performance is essential for the accuracy of the collected data. The maneuvering characteristics in DP mode have been investigated in our previous research using a quasi-static motion prediction model based on static planar motion mechanism (PMM) tests. However, since the Quadmaran vessel has a unique hull arrangement, the motion characteristics need to be determined with greater accuracy. Therefore, in this study, the maneuvering equations are newly established with higher accuracy hydrodynamic derivatives determined through dynamic PMM tests. The higher order hydrodynamic derivatives are obtained from pure sway, pure yaw and pure yaw with a constant angle tests. Model scale experiments are conducted to establish an advanced mathematical model and compared with the quasi-static assumption results. The result shows significant improvements in the motion prediction under DP mode, and a more accurate motion prediction model is successfully established. This study is a new attempt to utilize the dynamic PMM tests method on a vessel with unique shape and motion characteristics. The advanced mathematical model deepens our understanding of the maneuverability of a multi-hull vessel in DP mode.

To study the effectiveness of stern appendages (Cruciform & X Shaped configurations) for maneuverability of autonomous underwater vessel using computational fluid dynamics

Maneuverability is one of the main aspects to be considered during the early design stage of Autonomous Underwater Vehicles. Several captive tests such as Planar Motion Mechanism (PMM), Oblique towing test, and Rotating Arm tests were conducted to obtain the hydrodynamic derivatives of the Autonomous Underwater Vehicle (AUV). In this research, the effectiveness of control surfaces with Cruciform and X configurations has been predicted for the maneuverability of the DARPA SUBOFF model. Computational Fluid Dynamics (CFD) technique was applied and the k- ω turbulence model was used to estimate the flow characteristics in the boundary layer region. The Straight-Line Towing Tank test has been used to calculate the hydrodynamic derivatives due to linear velocity, while the Rotating Arm test with a moving reference frame has been used to estimate the hydrodynamic derivatives. All the tests were conducted at a speed of 6.5 knots and three angles of incidence (10,30,50) for Straight-Line motion and three radii (13m,18m,24m) for Rotating Arm test were adopted. The simulation results of hydrodynamic coefficients have been compared with experimental results for the Cruciform configuration and the error was below 15%. So, the same procedure was adopted for the X-form configuration, and the stability index was calculated for both configurations.

Twin-screw vessel manoeuvrability: The traditional twin-rudder configuration vs pod-drives

The employment of twin pod-drives is spreading nowadays through the fleet of modern twin-screw vessels. The adoption of this steering device is of interest for both new-buildings and for retrofit because of the high manoeuvring effectiveness in restricted waters, free-sailing efficiency, hybrid-electric optimal engine control room space optimization and noise-comfort. In terms of manoeuvring, in particular, the control system offers great side-stepping and turning ability. On the other hand, the pod configuration could result in poorer course-keeping and yaw checking abilities at high-speed due to the more open stern shapes, together with the reduced appendages extension. In this respect, the IMO yaw-checking ability, represented by the usual overshoot angles of the zig-zag manoeuvre, should be carefully checked since an early stage. In this work, a simulation tool specifically developed to deal with twin rudder or twin pod ship configurations is described and validated against experimental results. Then, a first application of the tool is shown, presenting the results of a comparative study of spade and flap rudder setups against pod-driven units for a specific group of ships, allowing to show that, in this case, a proper design of pod units is not detrimental of the yaw checking ability.