Development of a mathematical model for harbor maneuvers to realize modeling automation

Miyauchi, Yoshiki; Akimoto, Youhei; Maki, Atsuo

doi:https://doi.org/10.1007/s00773-024-01031-1

Development of a mathematical model for harbor maneuvers to realize modeling automation

Miyauchi, Yoshiki; Akimoto, Youhei; Maki, Atsuo

Journal of Marine Science and Technology (Japan), 2024, 29(4), 975-999

アクセス数:280件（2025-07-26 22:27 集計）

固定URL: https://hdl.handle.net/11094/98396

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タイトル	Development of a mathematical model for harbor maneuvers to realize modeling automation
著者	著者名 Miyauchi, Yoshiki
	NRID 1000020709654 1000020709654 著者名 Akimoto, Youhei
	NRID 1000050556496 1000050556496 ORCID 0000-0002-2819-1297 0000-0002-2819-1297 researchmap permalink atsuo_maki atsuo_maki Scopus Author ID 24503751100 24503751100 著者名 Maki, Atsuo
キーワード等	Autonomous docking
	CMA-ES
	Maneuvering model
	Ship maneuvering
	System identification
内容	The version of record of this article, first published in Journal of Marine Science and Technology (Japan), is available online at Publisher’s website: https://doi.org/10.1007/s00773-024-01031-1.
抄録	A simulation environment of harbor maneuvers is critical for developing automatic berthing. Mathematical models are widely used to estimate harbor maneuvers. However, user’s analysis and decision are necessary to derive, select, and identify the model because each actuator configuration needs an inherent mathematical expression. We proposed a new mathematical model for arbitrary configurations to overcome that issue. The new model is a hybrid model that combines the simplicity of the derivation of the Taylor expansion and the high degree of freedom of the MMG low-speed maneuvering model. We also developed a method to select mathematical expressions for the proposed model using system identification. Because the proposed model can easily derive mathematical expressions, we can generate multiple expressions simultaneously and choose the best one. This method can reduce the workload of model identification and selection. Furthermore, the proposed method will enable the automatic generation of mathematical models because it can reduce user’s decision-making and data analysis for the model generation due to its less dependency on the knowledge of ship hydrodynamics and captive model test. The proposed method was validated with free-running model tests and showed equivalent or better estimation performance than the conventional model generation method.
出版者	Springer
収録物名	Journal of Marine Science and Technology (Japan)
巻(号)	29(4)
ページ	975-999
刊行年月	2024-10-17
言語	英語
ハンドルURL	https://hdl.handle.net/11094/98396
PISSN	09484280
関連情報 (isIdenticalTo)	DOI (出版社版) https://doi.org/10.1007/s00773-024-01031-1
アクセス権	open access
権利情報	This article is licensed under a Creative Commons Attribution 4.0 International License.
出版タイプ	Version of Record
カテゴリ	学術雑誌論文 Journal Article

資源タイプ	学術雑誌論文
ローカル資源タイプ	学術雑誌論文
DCTERMS.bibliographicCitation	Journal of Marine Science and Technology (Japan). 2024, 29(4), p. 975-999
DC.title	Development of a mathematical model for harbor maneuvers to realize modeling automation
DC.creator	Miyauchi, Yoshiki
	Akimoto, Youhei
	Maki, Atsuo
DC.publisher	Springer
DC.language' scheme='DCTERMS.RFC1766	英語
DCTERMS.issued' scheme='DCTERMS.W3CDTF	2024-10-17
DC.identifier	https://doi.org/10.1007/s00773-024-01031-1
DC.subject	Autonomous docking
	CMA-ES
	Maneuvering model
	Ship maneuvering
	System identification
DC.description	The version of record of this article, first published in Journal of Marine Science and Technology (Japan), is available online at Publisher’s website: https://doi.org/10.1007/s00773-024-01031-1.
DCTERMS.abstract	A simulation environment of harbor maneuvers is critical for developing automatic berthing. Mathematical models are widely used to estimate harbor maneuvers. However, user’s analysis and decision are necessary to derive, select, and identify the model because each actuator configuration needs an inherent mathematical expression. We proposed a new mathematical model for arbitrary configurations to overcome that issue. The new model is a hybrid model that combines the simplicity of the derivation of the Taylor expansion and the high degree of freedom of the MMG low-speed maneuvering model. We also developed a method to select mathematical expressions for the proposed model using system identification. Because the proposed model can easily derive mathematical expressions, we can generate multiple expressions simultaneously and choose the best one. This method can reduce the workload of model identification and selection. Furthermore, the proposed method will enable the automatic generation of mathematical models because it can reduce user’s decision-making and data analysis for the model generation due to its less dependency on the knowledge of ship hydrodynamics and captive model test. The proposed method was validated with free-running model tests and showed equivalent or better estimation performance than the conventional model generation method.
DC.rights	This article is licensed under a Creative Commons Attribution 4.0 International License.
DC.format	98396
citation_title	Development of a mathematical model for harbor maneuvers to realize modeling automation
citation_author	Miyauchi, Yoshiki
	Akimoto, Youhei
	Maki, Atsuo
citation_publisher	Springer
citation_language	英語
citation_date	2024-10-17
citation_journal_title	Journal of Marine Science and Technology (Japan)
citation_volume	29
citation_issue	4
citation_firstpage	975
citation_lastpage	999
citation_doi	https://doi.org/10.1007/s00773-024-01031-1
citation_public_url	https://hdl.handle.net/11094/98396

Development of a mathematical model for harbor maneuvers to realize modeling automation

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