Study on Ship Automatic Berthing System with Mooring Lines

This study describes an automatic berthing system with mooring lines. It is designed to be berthed by using mooring device on the upper deck of a ship. It is to berth once maintaining parallel with the quay by controlling both forward and aft breast lines. Berthing method is used through length adjustment of mooring lines connected between ship and quay by controlling the angular velocity and the torque of hydraulic motor in mooring device. The study is conducted under three changing conditions of draft, such as even-keel, rise of the gravity center and trim to stern. Variables affecting berthing stability are determined based on the control performance of each condition. Bond graphs method is used to model the system. Controller is designed as PID control method of reference-model algorithm. The control program is composed of synchronous control system based on the equations derived with the numerical analysis. The tank test is conducted to verify the usefulness of the control program.

Nesting and Berth Allocation by an Expert System Using Heuristic Search

Nesting is a common problem in industries such as shipbuilding, auto-maker, clothing, shoe-making, and furniture, in which various parts are cut off from a stock or stocks while minimizing the wastes or maximizing the utilization of the stock. Berth allocation at seaside is also considered one form of two dimensional nesting problems, in which a ship is assigned a location for service during a certain time slot. This paper presents an expert system using a heuristic search method for nesting problems. The parts and stocks are represented by pixels with which utility function is used to evaluate current state in search tree. The system is developed in CLIPS, an expert system shell and applied to various example problems with different constraints and to a berth allocation example to illustrate its applicability under different conditions.

一种基于深度学习视觉感知的辅助靠泊系统

针对传统船舶辅助靠离泊系统采用的感知传感器影响造成的环境适应差以及无法提供直观画面的问题,提出了基于深度学习视觉感知的辅助靠泊系统。通过分析和对比研究了该方案在辅助靠泊系统中的应用特点以及技术优势,解决了传统感知元器件在系统应用中产生的不利影响,并在实船靠泊过程中验证了系统的可行性及使用效果。

Aheuristic Algorithm for Berth Scheduling Problem in Container Ports

In this paper,the berth scheduling problem is transformed into a special two-dimensional packing problem with some constraints.A nonlinear programming model for the problem is established,and a heuristic algorithm is proposed to solve the model.Simulation results show that the algorithm can improve the utilization of berths on discrete berth scheduling in the container port.

用于海底管道巡检的常驻型水下机器人

针对传统使用水下机器人进行海洋管道巡检中遇到的环境风浪影响大、作业窗口期短等问题。通过水下基站与水下机器人相结合,水下基站为提前建设布设的常备型结构体,可连接水面已有作业平台(如海洋油气平台、作业船、光伏站等不同系统)获取电源及信号,并与水下机器人控制台进行实时通信连接。水下基站与水下机器人之间通过脐带缆连接。水下机器人处于不工作状态时就常驻在水下基站内,当接收到工作指令后,水下机器人从水下基站内游出,沿海底管线进行巡检;巡检工作完成后,返回水下基站。作业过程中水下机器人的电源与控制信号均来自于水下基站的中转的方法,可有效提升作业时间和有效作业频率。

Integration of Berth Allocation and Quay Crane Assignment in Tidal Container Ports

Tide is a significant factor which interferes with the berthing and departing operations of vessels in tidal ports. It is a preferable way to incorporate this factor into the simultaneous berth allocation and quay crane( QC) assignment problem( BACAP) in order to facilitate the realistic decision-making process at container terminal. For this purpose,an integrated optimization model is built with tidal time windows as forbidden intervals for berthing or departing. A hind-and-fore adjustment heuristic is proposed and applied under an iterative optimization framework. Numerical experiment shows the satisfying performance of the proposed algorithm.

Real Time Math Simulation of Contact Interaction during Spacecraft Docking and Berthing

Contact reactions of guide surfaces of assembly interfaces lead to the decreasing of theirs lateral and angular misalignments. The focus of this paper is the development of algorithms for computation of guide surfaces contact forces with acceptable engineering accuracy for real time simulation of assembly operations. Therefore, each complex guide surface is described as a set of contacting elements. Each contacting element for one＇s part can be represented by a finite set of geometric primitives which geometry is described by low order algebraic equations. So contact conditions and geometric parameters for all pairs of primitives are determined by analytical expressions. Math models are developed for two classes of contact interaction. The first class includes all cases when each contacting surface has several degrees of freedom of motion. Therefore, contact reactions introduced into differential equations of motion are calculated by using contacting elements penetrations, stiffness and damping parameters. The second class corresponds to all cases when one of contacting surfaces has insignificant inertia and only one degree of freedom of relative displacement counteracted by a spring. Here contact reactions are calculated from spring tension with any practical accuracy. This is very useful in some practical applications. Presented algorithms provide real time simulation together with some approaches for reduction of redundant comnutations.

20000t自航转载驳船的系泊设计要点

为提升自航转载驳船停泊和装卸作业的稳定性和安全性,以某20000 t自航转载驳船为例,对其系泊系统设计进行探讨,重点分析船舶靠泊和离泊过程中的系泊安全、作业时间、吃水变化和浪涌对船舶装卸作业的影响等问题。结合港口设施的布置和船舶驳运的特点,设计符合船舶和港口需求的缆绳自动张紧控制系统、自动系泊缆桩、舷侧安全防护装置和控制系统、系泊绞车远程集中控制系统,提升船舶停靠的稳定性和作业效率。该研究可供类似转载驳船的系泊系统设计参考。

Modeling and Simulation of Automatic Berthing based on Bow and Stern Thruster Assist for Unmanned Surface Vehicle

In order to solve the technical problems of autonomous berthing of the Unmanned Surface Vehicle(USV),this research has met the requirements of maneuverability berthing under different conditions by effectively using the bow and stern thrusters,which is a technological breakthrough in actual production and life.Based on the MMG model,the maneuverability mathematical model of the USV with bow and stern thruster was established.And the motion simulation of USV maneuvering was carried out through the numerical simulation calculation.Then the berthing plan was designed based on the maneuverability analysis of the USV low-speed motion,and the simulation of automatic berthing for USV was carried out.The research results of this paper can be of certain practical significance for the USV based on the support of the bow and stern thruster in the berthing.At the same time,it also provides a certain theoretical reference for the handling of the USV automatic berthing.

Experimental Study on Allowable Berthing and Mooring Conditions of An Oil Tanker

When an oil tanker under the combined action of wind, waves and tidal current and is berthed or moored to a platform, the impact forces on the fenders and the tensile force in the mooring lines are important factors in the studies of berthing and mooring conditions. Based on the experiment of a berthing and mooring tanker model under the action of wind, wave and tidal current in the same direction, this paper studies the allowable berthing and mooring conditions by considering the tensile forces of mooring lines and impact forces on the fenders, as well as the impact energy on the fenders. And a method has been proposed here for motion amplitude analysis. A successful method to decrease impact forces on the fenders is put forward. Blowing in wind and blowing off wind and different angles between waves and the fenders are considered in the experimental study. In the berthing tests of the tanker model, the impact forces are measured and the impact energy is calculated, then the berthing conditions are determined. In the mooring tests of the tanker model, the mooring line tensile forces and impact forces are measured, and the allowable mooring conditions are given that will be useful to engineering design.

An Improved Genetic Algorithm for Berth Scheduling at Bulk Terminal

Berth and loading and unloading machinery are not only the mainfactors that affecting the terminal operation, but also the main starting point ofenergy saving and emission reduction. In this paper, a genetic Algorithm Framework is designed for the berth allocation with low carbon and high efficiency atbulk terminal. In solving the problem, the scheduler’s experience is transformedinto a regular way to obtain the initial solution. The individual is represented as achromosome, and the sub-chromosomes are encoded as integers, the roulettewheel method is used for selection, the two-point crossing method is used forcross, and the exchange variation method is used for variation in the procedureof designing the Algorithm. Considering the complexity of berth schedulingproblem and the diversity of constraints and boundary conditions, the geneticalgorithm combines with system simulation to get the final scheme of berthallocation. This model and algorithm are verified to be practical by analyzingmultiple sets of examples of shorelines with different lengths. When comparedwith the traditional algorithms in three aspects which includes berth offsetdistance, departure delay cost and energy consumption of portal crane, the resultindicates that the improved algorithm is more effective and feasible. The studywill help to lower energy consumption and resource waste, reduce environmentalpollution, and provide a reference for low-carbon, green and sustainable development of the terminal.

Berth-crane allocation under uncertainty:dynamic modeling and nested Tabu search

The integrated berth-crane allocation problem at container terminals is addressed under the uncertainty of vessel arrival time at operational level. To ensure both robustness and flexibility of the 2-stage decision processes,a dynamic decision framework is proposed based on the dynamic analysis of information and operation at container terminal. A mixed integer programming model is established aiming at minimizing total cost of all vessels,including the cost of fixed to-be-executed decisions in the 1^(st) stage and expected cost of the adjustable stochastic-scenario-based decisions of all scenarios in the 2^(nd) stage. A multi-layer nested Tabu search is proposed for each epoch dynamically. Finally numerical experiments have been conducted to testify the effectiveness and efficiency of the proposed model and algorithm.

Collaborative Optimization of Berth Allocation and Yard Storage in Container Terminals

Considering the interaction between the berth and the yard,this paper studies the collaborative optimization problem of berth allocation and yard storage from the point of the ships over a certain planning period.This collaborative optimization problem is formulated as the integer programming,which aims at minimizing the total truck travel distance.And decision variables are the berthing positions for visiting ships and the storage positions for export containers.Meanwhile,this paper demonstrates the complexity of the problem in theory.And the hybrid tabu genetic algorithm is designed to solve the problem to obtain the optimal berth allocation position and export container storage position.For this algorithm,the rule is applied to generate the initial feasible solutions,and the crossover and mutation operation are simultaneously applied to optimize the initial solutions.Finally,this paper discusses two different scenes:the same berth scene and the same ship scene.The influence of two different scenes on truck travel distance is analyzed by different numerical examples.Numerical examples’results show that the collaborative optimization of berth allocation and yard storage can effectively shorten the truck travel distance and improve the efficiency of terminal operation,which provides the decision support for terminal operators.

An Analysis of Net Berth Productivity in the Handling Operations with Dry Bulk Cargoes in a Seaport

Productivity at the berth is one from the group of port productivity measures which is closely tied to ship turnaround times.Net berth productivity is value of productivity related to the operational time at the berth.Based on the facts identified from available literature about minor share of researches related to the net berth productivity in the handling operations with dry bulk cargoes in a seaport,it was decided to take this port productivity metrics as an object of a research.After a detailed analysis of different categories of the net berth productivity in the handling operations with dry bulks,key groups of influential factors which determine values of the net berth productivity are identified and systematized.Some principal elements related to improving net berth productivity are taken into consideration,too.Concrete results shown in this paper are related to the Dry Bulk Cargo Terminal in the Port of Bar(Montenegro).

基于港区交通-能源耦合的混合储能协调调度策略

为了促进港区的新能源消纳,提高港区的能源利用效率,本文提出了一种基于港区交通-能源耦合的混合储能(HESS)协调港区源荷不平衡的日前调度策略。日前调度策略分为两步。首先,为了提高港区交通的运行效率,以船舶总泊位时间最小为目标函数建立了基于港区泊位-岸桥(B-QC)优化调度的港区电力负荷模型。然后,为了协调港区新能源与负荷的功率不平衡问题,建立了混合储能的运行退化成本模型,并提出了一种混合储能协调港区能源不平衡的日前调度策略。最后,通过算例验证了所提混合储能协调调度策略的有效性。算例结果表明,所提日前调度策略能够实现港区交通、电力的最优调度。相比于单储能系统,混合储能方式下港区运行成本降低了4.6%,同时,港区的碳排放总量降低了53.3%。

船舶靠泊过程撞击力测试系统开发

大型船舶由于吨位重,靠泊过程的惯性大,再叠加风浪等附加载荷,对码头或者海上作业平台框架的冲击作用非常大,尤其海上作业平台的框架往往采用钢结构焊接,一旦船舶靠泊的冲击作用超过框架的承载能力后,框架很容易发生极限下的破坏,造成严重的经济损失。本文针对船舶靠泊过程的力学特性进行建模分析,结合力学传感器和数据通信技术,开发一种船舶靠泊过程的撞击力测试系统,介绍测试系统的原理和组成,并进行了实际船舶靠泊过程的撞击力测试。

基于三维测量的无人艇自动靠泊引导方法研究

Automatic berthing guidance is an important aspect of automated ship technology to obtain the ship-shore position relationship.The current mainstream measurement methods for ship-shore position relationships are based on radar,multisensor fusion,and visual detection technologies.This paper proposes an automated ship berthing guidance method based on three-dimensional(3D)target measurement and compares it with a single-target recognition method using a binocular camera.An improved deep object pose estimation(DOPE)network is used in this method to predict the pixel coordinates of the two-dimensional(2D)keypoints of the shore target in the image.The pixel coordinates are then converted into 3D coordinates through the camera imaging principle,and an algorithm for calculating the relationship between the ship and the shore is proposed.Experiments were conducted on the improved DOPE network and the actual ship guidance performance to verify the effectiveness of the method.Results show that the proposed method with a monocular camera has high stability and accuracy and can meet the requirements of automatic berthing.

车路协同环境下公交车队车速优化调控方法

信号交叉口延误严重影响了公交系统的运输效率以及服务可靠性。公交优先控制是降低公交车辆在信号控制交叉口延误的有效方法,然而当前研究主要考虑公交车辆的通行效率需求,欠缺考虑公交车辆之间的串车以及交叉口下游站点由于泊位数不足而导致的排队延误问题。基于车路协同环境提出了一种公交车队运行速度调控方法,让公交车辆以协同车队的方式主动适应信号配时相位;同时,对协同车队引入准入规则,使得协同车队同时满足串车预防与下游站点停靠泊位数约束的双重要求。实例研究结果表明:该方法在显著降低信号控制交叉口公交车辆停车延误的同时,可以有效避免同一线路公交车辆的串车现象以及站点排队进站情况,实现了公交运行效率与可靠性的双重提升。

一种新增靠泊簇桩系统及其工程应用

为有效推进绿色低碳发展,且随着LNG(液化天然气)船型发展呈现出小型化返加注的新需求,改造已建大型LNG码头,以适应新增小型LNG加注船的靠泊逐渐成为一种趋势。本文基于既有大型蝶形布置LNG码头提出了一种新增靠泊簇桩系统的改造方式,利用空间模型对该结构进行模拟,分析其受力和系统位移,并验证大型LNG船系泊时对该系统的影响,最终提出一套针对该结构的设计流程。改造后的码头可靠泊返装多种小型LNG加注船型或运输船,适应性强、安全可靠、耐久性优越,且改造工期短、投资省,具有较好的应用价值和推广前景。

某客滚船(P&O)辅助靠泊系统设计

针对P&O客滚船靠泊英国DOVER港和法国CALIAS港新旧码头时存在岸桥跳板悬空,以及船体结构与护舷干涉的问题,设计了辅助靠泊系统。客滚船辅助靠泊系统,包含DOVER端辅助靠泊系统以及CALIAS端辅助靠泊系统两套子系统,两套子系统分别采用独立的液压系统驱动;辅助靠泊系统主要结构件采用流线型设计,不仅与船体结构协调,而且可有效避免靠泊过程中对岸基护舷的破坏。系统中存在相对运动的部位,分别采用不锈钢与工程塑料合金,在减小运动阻力的同时可以延长设备的使用寿命;辅助靠泊系统的设计,有效的解决了客滚船在不同码头之间靠泊存在的问题,提高了客滚船对码头的适应性。