MSC-LES, University of Calabria, DIMEG, University of Calabria, Rende (CS), Italy

OR 10 HABITAT Training and

Exercise System

Campora S. Giovanni, 14-15 Nov 2013

WIN-LOG 2013 - The International Workshop on Innovation for Logistics
 Outline
1. Introduction
2. The HABITAT training and exercise
sytems
2.1 The Overall Scenario
2.2 The vessels
2.3 The tugboat
3. Ship and tugboat equations for the
motion at sea
3.1 Surge, sway and yaw
3.2 Heave, pitch and roll
3.3 Ship tugboat interaction
4. Test for ship motion
5. Test for ship and tugboat interactions
6. The Marine Ports Scenarios (Salerno,
Livorno and Gioia Tauro)
7. The HLA architecture for cooperative
training
 Introduction (The importance of OR10)

May 7th 2013 10 deaths

Container ship Jolly Nero Several injured
,exiting form Port of Genoa Huge economic
slammed the dock damage

exit/entry maneuvers within the ports are very

Considerations
complex and critical operations

An intervention of the The lack of dredging of the big dead-weight of commercial ships a single
tugboats assisting the ship the west exit has mistake, even at low speed, can cause
during the maneuver required big ships to unexpected and tragic consequences
would have prevented execute unusual
the accident from maneuvers to leave
happening; Genoa port a good interaction and communication between
the ship and the tugboat is important to prevent
accidents
it is also important to define standard operating
procedures for entry/exit manoeuvres aimed at
ensuring high security and safety levels
 Goals

Modeling & Simulation (M&S) based training

Interoperable training simulation system

SHIP FEDERATE TUGBOAT FEDERATE CONTROL TOWER FEDERATE

Exercising on operational and Getting used to with the Becoming acquainted with the
maneuvering skills behavior of the ship/tugboat effects of ship/tugboat
and with interaction patterns

Learning the procedures that are Designing and testing new procedures
currently adopted in a specific port
 The HABITAT Training and Exercise
Systems Scenario Definition

Tugboat Simulator Ships Simulator

Tanker (Esso Osaka)
1-2 Tugboats Containership (Kriso)
Interaction with ships (by rope or Bulk Carrier (Diamond 34 series)
pushing)

Control Tower Simulator

Weather/Marine Control Tower Different Views
condition Communication with ships and
tugboats
Weather Conditions (i.e. rain) Scenario Recreating ships traffic in the port
Wind intensity Definition area
Sea state

Single/Multi training
Stand alone ship simulator;
Ports Stand alone control tower
simulator
Port of Salerno Stand alone tugboat simulator
Port of Livorno Interoperable Simulator: all
Port of Gioia Tauro possible combinations (ship-
tugboat-control tower)
 Kriso container ship

The container ship

Hull:
Length between perpendiculars (m) 230.0
Length water line (m) 232,5
Breath (m) 32.2
Depth (m) 19.0
Displacement (m3) 52030
Coefficient block 0.651

Rudder
Type semi-balanced horn rudder
Surface of rudder (m2) 115
Lat. area (m2) 54.45
Turn rate (deg/s) 2.32

Propeller
No. of blades 5
Diameter (m) 7.9
Pitch ratio P/D (0.7R) 0.997
Rotation Right hand
 Esso Osaka

Esso Osaka

Hull:
Length between perpendiculars (m) 325.0
Breath (m) 53
Depth (m) 21.73
Displacement (m3) 319400
Coefficient block 0.83

Rudder
Rudder chord (m) 9.0
Rudder height (m) 54.45
Turn rate (deg/s) 3

Propeller
No. of blades 5
Diameter (m) 9.1
Pitch ratio P/D (0.7R) 0.715
Rotation Right hand
 Diamond 34

Diamond 34

Hull:
Length between perpendiculars (m) 188.84
Breath (m) 29.25
Depth (m) 6.29
Displacement (m3) 25065
Coefficient block 0.7909

Rudder
Rudder chord (m) 4.59
Rudder height (m) 8.85
Turn rate (deg/s) 3

Propeller
No. of blades 5
Diameter (m) 5.6
Pitch ratio P/D (0.7R) 1.43
 The tugboat

The tugboat
Hull
Length between perpendiculars (m)
26.0
Breath (m) 8.3
Depth (m) 3.7
Displacement (m3) 710
Coefficient block 0.6

Rudder
Height (m) 1.38
Area ratio AR/Ld 0.02
Aspect ratio 1.4

Propeller
Diameter (m) 1.1
Pitch ratio P/D (0.7R) 0.86
 The ship motion equation

SHIP/TUGBOAT Federate
6 DOF Mathematical Model

Surge, Sway and Yaw Heave Pitch and Roll

Maneuvering Mathematical Jensen, (2001) and Jensen
Modeling Group (MMG) et al (2004)

Kijima and Nakiri, 2003 approximate formulas for hydrodynamic forces

Lee et al., 2003

empirical formulas for hydrodynamic coefficients
Rhee et al., 1999
course-keeping ability of a pure car carrier in windy
Hasegawa et al., 2006 condition
Perez et al., 2006 parameters and dimensions influence manoeuvrability
Armaoulu et al., 2009 characteristics
 The ship motion equation - Surge, Sway and Yaw

The MMG model

m is the mass of the ship; Added masses and added moment of inertia can be found
mxx and myy are the added mass
mass in x and y direction using the equations proposed by Hooft and Pieffer (1988)
respectively;
Izz
zz is the moment of inertia;
izz
zz is the added moment of inertia around z;
u is the surge speed;
v is the sway speed;
r is the rate of turn;
xGG is the distance from amidship to the centre of gravity
of the ship
X and Y are respectively the total external surge and
sway forces;
N is the yaw moment;
 The ship motion equation - Surge, Sway and Yaw
Hull forces and moments

Non-dimensional derivatives :
-normally obtained by tests
-a set of semi-empirical equation available
in Lee et al. (2003)
 The ship motion equation - Surge, Sway and Yaw
Propeller force wp :wake fraction
C1,C2, C3: identified using least squares method on
Wageningen B systematic series for the appropriate
propeller.

Rudder forces and moments

tR: rudder drag coefficient;
FN: normal force applied on the rudder;
ah : coefficient that expresses the interaction between
rudder and hull forces;
xR : non-dimensional coordinate of the centre of
lateral force along the x-axes;
xH : non-dimensional coordinate of the centre of
additional lateral force along the;
is the rudder angle;
The ship motion equation - Surge, Sway and Yaw

equations 23 and 24 are related to heave and pitch

respectively while equation 24 refers to roll motions
The ship motion equation Interaction
Pulling/Pushing SHIP TUGBOAT
SYSTEM
interaction

Subscript S identifies ship-related variables;

Subscript TB identifies tugboat-related variables;
Ax identifies the y coordinate of the T force application point;
Ay identifies the x coordinate of the T force application point;
l is the length of the rope if the tugboat is pulling and it is 0 if it is pushing;
DSTB is the distance between the application point of the force T to the ship and application point of the
force T to the tugboat; it depends on the ship accelerations, on the tugboat accelerations, and on the
force T.
is:
the angle between the rope and the axis of the ship/tugboat when a rope is used (the force T
has the same direction as the rope);
the angle between the perpendicular to the hull, in the vessels point of contact, and the x axis of
the ship/tugboat if they are pushing each other.
 The ship motion test
Testing tool developed in C++ in Visual Studio 2008

Experiments parameters:
-time between iterations
-propeller rate;
-initial speed;
-rudder angle;
- side thruster rate
- wind intensity
-circle/zigzag test, crash test, etc.

Output:
-sensible data as speed, drift angle, yaw rate, acceleration, heading, position;
- 2D plots and comparison with experimental data;

Calibration of
Gap between outputs
parameters Final ship motion
data/plots and
(i.e. dimensionless model
empirical data
derivatives)
The ship motion test: Circle Test (Port Side)

Circle Test

- Turning
trajectory in port
side
- Initial speed 8kn
- rudder angle 35
The ship motion test: Circle Test
(Starboard Side)
Circle Test

- Turning
trajectory in
Starboard Side
- Initial speed
10kn
- rudder angle 35
The ship motion test: Zig-Zag (Port Side)

Zig-Zag Test
- Port Side
- 20/20
- 5 Kn
The ship motion test: Zig-Zag (Port Side)

Drift
15
10
5
0
-5 0 500 1000 1500 2000
-10
-15
Serie1

Heading
30
20
10
0
-10 0 500 1000 1500 2000

-20
-30
Serie1
 Preliminary test Tugboat pulling the
ship by using a rope

Testing tool developed in C++ in Visual

Studio 2008

This tool allows setting some input

parameters such as:
pushing/pulling;
points of contact for pushing;
docking points of the rope for pulling;
ship/tugboat position and orientation;
ship/tugboat engine turn rate;
ship Thruster on/off
ship/tugboat rudder angle;
sea state;

Output:
sensible data as speed, drift angle,
yaw rate, acceleration, heading,
position ;
plots;
 Preliminary test Tugboat pulling the
ship by using a rope

Pulling experiment
0 RPM and the initial speed is 0kn, the tugboat engine has 400 RPM, initial speed 0kn and the
rudder angle is 0
0

t=0 s t=175 s
 Preliminary test Tugboat pulling the
ship by using a rope
Pulling experiment
0 RPM and the initial speed is 0kn, the tugboat engine has 400 RPM, initial speed 0kn and the
rudder angle is 0
0

time yaw rate Yh Yru heading Drift y x

0 0 0 0 0 0 0.5 0
Drift Angle
20 -0.36938 -108.399 829.2199 3.087133 -3.14627 0.843551 0.001274 0
40 -0.46008 -859.081 736.1311 11.86379 -8.78722 1.178021 -0.0058 0 500 1000 1500 2000
-5
60 -0.44879 -1764.55 681.4429 20.97675 -11.9463 1.494588 -0.03767
80 -0.4305 -1981.95 633.9877 29.77319 -13.0777 1.78499 -0.10308 -10
100 -0.41215 -1892.12 595.3718 38.19738 -13.4999 2.044832 -0.20075 -15
120 -0.39563 -1746.63 563.1175 46.27178 -13.7211 2.273084 -0.32494
-20
140 -0.38113 -1609.04 535.6382 54.03616 -13.879 2.47026 -0.46973
160 -0.36847 -1490.11 512.0066 61.5293 -14.0093 2.637494 -0.62999 Serie1
180 -0.35741 -1389.19 491.5869 68.78557 -14.1221 2.776153 -0.80144
200 -0.34774 -1303.69 473.8932 75.83486 -14.2209 2.887684 -0.98052
220 -0.33928 -1231.08 458.5337 82.70317 -14.3076 2.973532 -1.16423 Yaw Rate
240 -0.33188 -1169.18 445.1831 89.41311 -14.3834 3.035107 -1.35003
0
260 -0.3254 -1116.26 433.5679 95.98445 -14.4495 3.073775 -1.53569 0 500 1000 1500 2000
280 -0.31973 -1070.88 423.4554 102.4344 -14.507 3.090853 -1.71929 -0,2
300 -0.31476 -1031.87 414.6466 108.7782 -14.5568 3.087619 -1.89911 -0,4
320 -0.31041 -998.251 406.9703 115.0289 -14.6 3.065323 -2.07359
340 -0.3066 -969.233 400.2787 121.1981 -14.6374 3.025195 -2.24134 -0,6
360 -0.30327 -944.145 394.444 127.2961 -14.6696 2.968464 -2.40107 Serie1
380 -0.30035 -922.423 389.3554 133.3317 -14.6975 2.89636 -2.55163
The wind effect

Cx and Cy are the force coefficients, Cx is

the moment coefficient. Each method
contains a procedure to calculate them.
AT and AL are transverse and lateral
projected area.
a is the density of the air.
VR is the relative wind speed.
R is the impact angle between the wind
direction and the ship heading.
 The side thrusters effect

DT is the propeller diameter.

PT is the applied power to the thruster.
dSTC is the distance from the thruster to
the center of gravity of the ship.
The sign of the force and the moment
generated by side thrusters( YST and NST
) are defined according to the thruster
that is working (bow or stern) and on
which side it is pushing .
 Side Thruster experiments

Bow Thruster (full

power)
Stern Thruster (off)
Yaw rate max -0.26/s;
360 in 1400 s

Thruster (Bow/Stern)
Maximum Power
Yaw rate max 0.52/s; Bow Thruster (full power)
360 in 710s Stern Thruster (0.5 power)
Yaw rate max -0.11/s;
360 in 3330s;
The HLA architecture for cooperative
training
 The HLA architecture for cooperative
training Federation

MK RTI

SHIP FEDERATE TUGBOAT FEDERATES

GEOMETRIC MODELS GEOMETRIC MODELS

HOSTING ENVIRONMENT HOSTING ENVIRONMENT

DYNAMIC PROCESS MODULE DYNAMIC PROCESS MODULE

 The Port of Salerno
The Port of Salerno
Entrance channel
-280m large ;
- 13m deep;
Evolution area:
-550 m diameter and 12 m deep
4 tugboats, 5 expert pilots with 2 equipped pilot-boats and 10
mooring operators with 2 equipped motorboats.
The port area includes the following quays:
-Quay of Ponente , length 563m, dockings n. 22-24;
-Rosso quay, length 226m, dockings n. 20-21;
-Trapezio quay, length 890m, dockings n. 13-19;
-Ligea quay, length 250m, dockings n. 11-12;
-3 Gennaio quay, length 446m, dockings n. 7-10;
For large boat it is mandatory to be assisted by at least two tug
boat during steering activities
The Port of Salerno
 The Port of Livorno

The Port of Livorno

capacity of around 30 million tonnes of cargo and

600,000 TEU's
the only in Italy and the second in Europe with
liquefied natural gas (LNG) terminal
800,000 square meters (2,500,000 square meters
considering surrounding areas)
11 km of quay
100 docking points
maximum deep water 40 feet
strategic connections to railway and to major
road
strategic hub for both Italian and European
freight traffic
The Port of Livorno
The Port of Gioia Tauro

The Port of Gioia Tauro

67,000 yards slots,

2350 reefer plugs,
Handling capacity: 4,200,000 TEU per year,
Deep water berths: from 12.5 meters up to 18
meters,
Meters of quays (used by Medcenter Container
Terminal SpA): 3,395 meters,
Meters of wharf (used by Medcenter Container
Terminal SpA): 3,395 meters (used by BLG
Automobile Logistics Srl): 384 meters,
Quay Cranes: 22 gauntry cranes, 3 mobile cranes,
Yard Equipment: 125 Straddle Carriers, 13 Reach
Stackers,
Adjacent rail services.
The Port of Gioia Tauro
The Training Simulator
Different available viewpoints:
inside the bridge
outside the ship (therefore it is
possible to see the whole ship
from different points of view)
from control tower
The Training Simulator

Weather Conditions
(i.e. rain)
Wind intensity
Sea state
 References

Francesco Longo
MSC-LES University of Calabria
f.longo@unical.it
www.msc-les.org

Alessandro Chiurco
MSC-LES University of Calabria
a.chiurco@unical.it
www.msc-les.org