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An Adaptation of an Algorithm of Search and Rescue Operations to Ship Manoeuvrability

Kasyk L., Pleskacz K.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

2015

Vol. 9, no. 2

265--268

This article presents an overview of an algorithm to facilitate action when planning search and rescue operations, taking into account actual hydro-meteorological conditions and the maneuverability of ships involved in the search.

Proposal for Global Standard Maneuvering Orders for Tugboats

Ishikura A., Sugita K., Hayashi Y., Murai K.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

2013

Vol. 7, no. 4

509--513

The use of “Standard Maneuvering Orders” for tugboats, vocabulary and phrases mutually preagreed between ships and tugboats, is essential for the former to provide clear direction for the latter when berthing or un‐berthing safely. Tugboats will need time to change their posture before they take actions in response to orders from persons responsible for ships’ maneuvering. Therefore, when giving directions to change tugboats’ posture, persons who handle their ships are required to send out tug orders, with regard to “delay time,” a gap be‐tween the orders from ships and the actions taken by tugboats. “Tug Orders” standardized and used in Japan are composed of the following three factors concerning towage work: tugboat’s motion, direction and engine power, but the author’s research shows that there are “Non‐standard” special maneuvering orders other than those “standardized,” which causes such problems as a gap in perception between pilots and tugboat’s opera‐tors, etc. The purpose of this paper is to research the delay time between orders for and actions by tugboats and consider the appropriate and safe timing of providing instructions to them, and then to propose globally‐authorized “Standard Maneuvering Orders for tugboats”, discussing a problem involved in the use of the special orders used in Japan, and the way in which tug orders are used in other countries.

Identification of Ship Maneuvering Model Using Extended Kalman Filters

Shi C., Zhao D., Peng J., Shen C.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

2009

Vol. 3, no. 1

105--110

Ship maneuvering models are the keys to the research of ship maneuverability, design of ship motion control system and development of ship handling simulators. For various frames of ship maneuvering models, determining the parameters of the models is always a tedious task. System identification theory can be used to establish system mathematical models by the system’s input data and output data. In this paper, based on the analysis of ship hydrodynamics, a nonlinear model frame of ship maneuvering is established. System identification theory is employed to estimate the parameters of the model. An algorithm based on the extended Kalman filter theory is proposed to calculate the parameters. In order to gain the system’s input and output data, which is necessary for the parameters identification experiment, turning circle tests and Zig-zag tests are performed on shiphandling simulator and the initial data is collected. Based on the Fixed Interval Kalman Smoothing algorithm, a pre-processing algorithm is proposed to process the raw data of the tests. With this algorithm, the errors introduced during the measurement process are eliminated. Parameters identification experiments are designed to estimate the model parameters, and the ship maneuvering model parameters estimation algorithm is extended to modify the parameters being estimated. Then the model parameters and the ship maneuvering model are determined. Simulation validation was carried out to simulate the ship maneuverability. Comparisons have been made to the simulated data and measured data. The results show that the ship maneuvering model determined by our approach can seasonably reflect the actual motion of ship, and the parameter estimation procedure and algorithms are effective.