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Abstract In general, tugboats are used to convey many kinds of surface vessels, including unactuated vessels, such as barge ships and offshore structures. This requires an adequate model for tugboat operation to precisely take into account surge, sway, and yaw motions. We present an optimization method of tugboat operation for conveying a large surface vessel in the shipyard. An optimization problem that includes the interactions between the vessel and the tugboats is mathematically formulated. The procedure to solve this problem is composed of three steps. The desired control input, which should act on the vessel to track the desired path in the presence of environmental disturbances, is calculated every control interval. Second, the optimization problem is solved by using an optimization algorithm to find the thrust force and tug force direction for each tugboat. Finally, based on the 3-DOF horizontal model, the position and velocity of the vessel in the next step are calculated. There are three advantages to this study. First, the proposed method considers the thrust force and the direction of the tugboats at the same time, and the number of tugboats can also be changed. Second, it is possible to control the tugboats through realistic time intervals. Finally, the practical external force is considered in the application. The proposed method is applied to the conveying of a mega floating crane, one of the large surface vessels, in various environmental conditions, such as waves, winds, and currents, and the applicability of the method was evaluated.
Publication Date 2021-04-01
Role Corresponding Author
Category SCIE
Impact Factor 5.860

Seung-Min Lee, Jong-Hyeok Lee, Myung-Il Roh, Ki-Su Kim, Seung-Ho Ham, Hye-Won Lee, "An Optimization Model of Tugboat Operation for Conveying a Large Surface Vessel", Journal of Computational Design and Engineering, Vol. 8, No. 2, pp. 654-675, 2021.04.01

https://doi.org/10.1093/jcde/qwab006


List of Articles
번호 분류 제목 Publication Date
28 International Journal Ju-Hwan Cha, Myung-Il Roh, Kyu-Yeul Lee, "Combined Discrete Event and Discrete Time Simulation Framework and Its Application to the Block Erection Process in Shipbuilding", Advances In Engineering Software, Vol. 41, No. 4, pp. 656-665, 2010.04.01 file 2010-04-01
27 International Journal Joo-Pil Lee, Myung-Il Roh, Hye-Won Lee, Seung-Ho Ham, "Design of a Wreck Removal Method Considering Safety and Economy", Ships and Offshore Structures, Vol. 15, No. 10, pp. 1037-1056, 2020.12.01 file 2020-12-01
26 International Journal John-Kyu Hwang, Myung-Il Roh, Kyu-Yeul Lee, "Detailed Design and Construction of the Hull of an FPSO(Floating, Production, Storage, and Off-loading unit)", Ships and Offshore Structures, Vol. 5, No. 2, pp. 93-104, 2010.06.01 file 2010-06-01
25 International Journal John-Kyu Hwang, Myung-Il Roh, Ju-Hwan Cha, “Design Modification of a Damaged Free-Fall Lifeboat for FPSO Through Free-Fall Tests”, International Journal of Offshore and Polar Engineering, Vol. 26, No. 4, pp. 417-422, 2016.12.01 file 2016-12-01
24 International Journal Jisang Ha, Myung-Il Roh, Seung-Ho Ham, Sung-Jun Lee, “Optimum Design of the Underwater Discharge System Based on Surrogate Modeling”, Journal of Marine Science and Technology (Taiwan), Vol. 29, No. 3, pp. 338-353, 2021.06.01 file 2021-06-01
23 International Journal Jisang Ha, Myung-Il Roh, Hye-Won Lee, “Quantitative Calculation Method of the Collision Risk for Collision Avoidance in Ship Navigation Using the CPA and Ship Domain”, Journal of Computational Design and Engineering, Vol. 8, No. 3, 2021.06.01 file 2021-06-01
22 International Journal Jin-Hyeok Kim, Myung-Il Roh et al. "Prediction of the Superiority of the Hydrodynamic Performance of Hull Forms Using Deep Learning", accepted for publication in International Journal of Naval Architecture and Ocean Engineering, 2022.10.21 2022-10-21
21 International Journal Ji-Hyun Hwang, Nam-Kug Ku, Myung-Il Roh, Kyu-Yeul Lee, "Optimal Design of Liquefaction Cycles of Liquefied Natural Gas", Industrial & Engineering Chemistry Research, Vol. 52, No. 15, pp. 5341-5356, 2013.03.01 file 2013-03-01
20 International Journal Ji-Hyun Hwang, Myung-Il Roh, Kyu-Yeul Lee, "Integrated Engineering Environment for the Process FEED of Offshore Oil and Gas Production Plants", Ocean Systems Engineering, Vol. 2, No. 1, pp. 49-68, 2012.03.01 file 2012-03-01
19 International Journal Ji-Hyun Hwang, Myung-Il Roh, Kyu-Yeul Lee, "Determination of the Optimal Operating Condition of the Dual Mixed Refrigerant Cycle for the LNG FPSO Topside Liquefaction Process", Computers and Chemical Engineering, Vol. 49, pp. 25-36, 2013.02.01 file 2013-02-01
18 International Journal Jeong-Woo Hong, Myung-Il Roh, Seung-Ho Ham, Sol Ha, "Dynamic Simulation of Subsea Equipment Installation Using an Offshore Support Vessel Based on Flexible Multibody System Dynamics", Journal of Marine Science and Technology (Taiwan), Vol. 24, No. 4 file 2016-08-01
17 International Journal Hyun-Cheol Kim, Myung-Il Roh, Soon-Hung Han, "Passenger Evacuation Simulation of MV SEWOL Considering the Heeling Angle Change During Sinking", International Journal of Naval Architecture and Ocean Engineering, Vol. 11, No. 1, pp. 329-343, 2019.01.01 file 2019-01-01
16 International Journal Hye-Won Lee, Myung-Il Roh, Seung-Ho Ham, Sol Ha, "Dynamic Simulation of the Wireline Riser Tensioner System for a Mobile Offshore Drilling Unit Based on Multibody System Dynamics", Ocean Engineering, Vol. 106, pp. 485-495, 2015.09.15 file 2015-09-15
15 International Journal Hye-Won Lee, Myung-Il Roh, Seung-Ho Ham, Nam-Kug Ku, "Coupled Analysis Method of a Mooring System and a Floating Crane Based on Flexible Multibody Dynamics Considering Contact with the Seabed", Ocean Engineering, Vol. 163, pp. 555-569, 2018.09.01 file 2018-09-01
14 International Journal Hye-Won Lee, Myung-Il Roh, Seung-Ho Ham, "Underactuated Crane Control for the Automation of Block Erection in Shipbuilding", Automation in Construction, Vol. 124, pp. 1-28, 2021.04.01 file 2021-04-01
13 International Journal Hye-Won Lee, Myung-Il Roh, Seung-Ho Ham, "Block Erection Simulation Considering Frictional Contact with Wire Ropes", Ocean Engineering, Vol. 217, pp. 1-24, 2020.12.01 file 2020-12-01
12 International Journal Hye-Won Lee, Myung-Il Roh, Seung-Ho Ham, "Block Turnover Simulation Considering the Interferences between the Block and Wire Ropes in Shipbuilding", Automation in Construction, Vol. 67, pp. 60-75, 2016.07.01 file 2016-07-01
11 International Journal Hye-Won Lee, Myung-Il Roh, Ki-Su Kim, “Ship Route Planning in Arctic Ocean Based on POLARIS”, Ocean Engineering, Vol. 234, pp. 109297.1-14, 2021.08.15 file 2021-08-15
10 International Journal Hye-Won Lee, Myung-Il Roh, "Review of the Multibody Dynamics in the Applications of Ships and Offshore Structures", Ocean Engineering, Vol. 167, pp. 65-76, 2018.11.01 file 2018-11-01
9 International Journal Hye-Won Lee, Joo-Hyun Woo, Myung-Il Roh, Seung-Ho Ham, et al., "Integrated Simulation of Virtual Prototypes and Control Algorithms of Unmanned Surface Vehicles Based on a Robot Operating System", Journal of Marine Science and Technology (Taiwan) file 2021-09-03
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