A 6-DoF maneuvering model for the rapid estimation of hydrodynamic actions in deep and shallow waters

Taimuri, Ghalib; Matusiak, Jerzy; Mikkola, Tommi; Kujala, Pentti; Hirdaris, Spyros

doi:10.1016/j.oceaneng.2020.108103

Cited by 57 publications

(31 citation statements)

References 24 publications

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“…Although the Nomoto model is widely used because it is effective and relatively simple, it may not be suitable for ships using unconventional steering devices. Other more advanced ship motion models, such as the Maneuvering Modeling Group (MMG) model [51,52], could fix these de-ficiencies by considering more impact factors. Furthermore, ship maneuverability is affected by many contributing factors, including the load condition, channel condition (shallow water), and wave height, which are, however, not taken into consideration.…”

Section: Limitations and Future Improvementsmentioning

confidence: 99%

Improving Near Miss Detection in Maritime Traffic in the Northern Baltic Sea from AIS Data

Banda

Goerlandt

et al. 2021

JMSE

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Ship collision is the most common type of accident in the Northern Baltic Sea, posing a risk to the safety of maritime transportation. Near miss detection from automatic identification system (AIS) data provides insight into maritime transportation safety. Collision risk always triggers a ship to maneuver for safe passing. Some frenetic rudder actions occur at the last moment before ship collision. However, the relationship between ship behavior and collision risk is not fully clarified. Therefore, this work proposes a novel method to improve near miss detection by analyzing ship behavior characteristic during the encounter process. The impact from the ship attributes (including ship size, type, and maneuverability), perceived risk of a navigator, traffic complexity, and traffic rule are considered to obtain insights into the ship behavior. The risk severity of the detected near miss is further quantified into four levels. This proposed method is then applied to traffic data from the Northern Baltic Sea. The promising results of near miss detection and the model validity test suggest that this work contributes to the development of preventive measures in maritime management to enhance to navigational safety, such as setting a precautionary area in the hotspot areas. Several advantages and limitations of the presented method for near miss detection are discussed.

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Section: Limitations and Future Improvementsmentioning

confidence: 99%

Improving Near Miss Detection in Maritime Traffic in the Northern Baltic Sea from AIS Data

Banda

Goerlandt

et al. 2021

JMSE

Self Cite

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“…This is because the forces and moments are seen concerning the flow velocity axis. For submarines and ships, the maneuvering model expands the forces and moments with respect to the body fixed axis 11,12 . The difference between the velocity frame and body fixed frame is that the axis are defined with respect to the water flow direction as the steady flow is developed on the glider.…”

Section: Hydrodynamic Coefficients For An Underwater Glidermentioning

confidence: 99%

“…The base value of response R* can be found by setting c m =1 for all h m . From Eqns (10) and(11), it can be seen that…”

mentioning

confidence: 99%

Sensitivity Analysis of the Turning Motion of an Underwater Glider on the Viscous Hydrodynamic Coefficients

Rayaprolu

Vijayakumar

2021

Def. Sc. J.

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Autonomous underwater gliders (AUG) are a class of underwater vehicles that move using a buoyancy engine and forces from wings. Gliders execute turning motion with the help of a rudder or an internal roll control mechanism and the trajectory of the turn is a spiral. This paper analyses the sensitivity of the characteristics of spiral manoeuvre on the hydrodynamic coefficients of the glider. Based on the dynamics model of a gliding fish whose turn is enabled by a rudder, the effect of hydrodynamic coefficients of the hull and the rudder on the spiral motion are quantified. Local sensitivity analysis is undertaken using the indirect method. The order of importance of hydrodynamic coefficients is evaluated. It is observed that the spiral path parameters are most sensitive to the side force created by the rudder and the effect of the drag coefficient is predominant to that of the lift coefficients. This study will aid in quantifying the effect of change of geometry on the manoeuvrability of AUGs.

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“…Hu Jingfeng [26]studied the unsteady force characteristics of the rear propeller of the small waterplane area catamaran and compared the accuracy of the numerical calculation method with the experimental results. Taimuri et al [27,28] present a 6-DoF kinematic model to quickly estimate the maneuvering trajectory and hydrodynamic actions in deep and shallow waters. It can be usedfor the prediction of maneuvering trajectories of existing or new-build vessels and for estimating the evasive velocity.…”

Section: Introductionmentioning

confidence: 99%

Algorithm of Berthing and Maneuvering for Catamaran Unmanned Surface Vehicle Based on Ship Maneuverability

Zhao

Ye³

et al. 2021

JMSE

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In the complex port environment, ship berthing manipulation is one of the most difficult operations. In this study, an algorithm of berthing and maneuvering was designed for a catamaran unmanned surface vehicle (USV), which is used for port patrol and protection. Considering the influence of wind, waves, and currents, the mathematical model of the maneuvering movement for the twin-hull and twin-propeller USV was established. Based on the Visual Studio development platform, the USV’s berthing manipulation simulation software was designed. Through the turning simulation experiment of the catamaran USV under different differential rotation speeds of the twin propellers, the relationship between the ship’s turning radius and the propeller speed difference was obtained. A simulation experiment of decelerating and stopping ships at different speeds was carried out, which can provide a reference for speed control when berthing. A berthing maneuvering algorithm based on ship maneuverability was proposed. USV’s berthing algorithm includes three stages: approach process, turning process, and berthing process. In the approach process, the appropriate approach speed was select according to the rotation angle. In the turning process, the right and left propeller speed differences were select. In the berthing process, the berthing speed was controlled according to the berthing distance. In the port environment, a berthing simulation experiment for catamaran USV was carried out. The simulation results show that based on the berthing and maneuvering algorithm, the efficiency and safety of catamaran USV berthing can be improved.

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A 6-DoF maneuvering model for the rapid estimation of hydrodynamic actions in deep and shallow waters

Cited by 57 publications

References 24 publications

Improving Near Miss Detection in Maritime Traffic in the Northern Baltic Sea from AIS Data

Improving Near Miss Detection in Maritime Traffic in the Northern Baltic Sea from AIS Data

Sensitivity Analysis of the Turning Motion of an Underwater Glider on the Viscous Hydrodynamic Coefficients

Algorithm of Berthing and Maneuvering for Catamaran Unmanned Surface Vehicle Based on Ship Maneuverability

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