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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
181 International Journal Donghun Yu, Myung-Il Roh, “Method for Anti-collision Path Planning Using Velocity Obstacle and A* Algorithms for a Maritime Autonomous Surface Ship”, International Journal of Naval Architecture and Ocean Engineering, Vol. 16, 2024.02.02 file 2024-02-02
180 International Journal Do-Hyun Chun, Myung-Il Roh, Hye-Won Lee, Donghun Yu, "Method for Collision Avoidance Based on Deep Reinforcement Learning with Path-Speed Control for an Autonomous Ship", IJNAOE, Vol. 16, pp. 100579.1-19, 2023.12.22 file 2023-12-22
179 International Journal Do-Hyun Chun, Myung-Il Roh, In-Chang Yeo, Hye-Won Lee, “Proposed Method for Design Optimization of LNG Tanks Based on the Arrangement of Thermal Insulation Panels”, Ocean Engineering, Vol. 288, Part 2, pp. 116063.1-14, 2023.11.15 file 2023-11-15
178 Domestic Journal 천휘경, 박찬혁, 지석호, 노명일, Connie Susilawati, “다중 카메라 네트워크 가상의 관심선을 활용한 건물 내 재실자 인원 계수 방법론 개발”, 대한토목학회 논문집, Vol. 43, No. 5, pp. 667-674, 2023.10.01 2023-10-01
177 International Journal Hye-Won Lee, Myung-Il Roh, Yeong-Min Cho, Jeong-Ho Park, "Data Association for Autonomous Ships Based on the Virtual Simulation Environment", Ocean Engineering, Vol. 281, pp. 114646.1-17, 2023.08.01 file 2023-08-01
176 International Journal Jisang Ha, Myung-Il Roh, Ki-Su Kim, Jin-Hyeok Kim, "Method for Pipe Routing Using the Expert System and the Heuristic Pathfinding Algorithm in Shipbuilding", International Journal of Naval Architecture and Ocean Engineering, 2023.05.26 file 2023-05-26
175 International Journal In-Chang Yeo, Myung-Il Roh, Do-Hyun Chun, Seok Ho Jang, Jae Won Heo, "Optimal Arrangement Design of Pipeline Support by Considering Safety and Production Cost", International Journal of Naval Architecture and Ocean Engineering, 2023.05.10 file 2023-05-10
174 International Journal Min-Chul Kong, Myung-Il Roh, Ki-Su Kim, Ho-Gyun Park, Jong-Oh Kim, "Variable Indexing Method in Rule Documents for Ship Design Using Extraction of PDF Elements", Journal of Computational Design and Engineering, Vol. 9, No. 6, 2022.11.16 file 2022-11-16
173 International Journal Jin-Hyeok Kim, Myung-Il Roh et al., "Prediction of the Superiority of the Hydrodynamic Performance of Hull Forms Using Deep Learning", International Journal of Naval Architecture and Ocean Engineering, Vol. 49, pp. 100490.1-15, pp. 2022.11.01 file 2022-11-01
172 International Journal Do-Hyun Chun, Myung-Il Roh, Hye-Won Lee, "Automation of Crane Control for Block Lifting Based on Deep Reinforcement Learning", Journal of Computational Design and Engineering, Vol. 9, No. 4, pp. 1430- 1448, 2022.07.23 file 2022-07-23
171 International Journal Min-Chul Kong, Myung-Il Roh, Ki-Su Kim, Jeongyoul Lee, Jongoh Kim, Gapheon Lee, "Object Detection Method for Ship Safety Plans Using Deep Learning", Ocean Engineering, 2022.02.15 file 2022-02-15
170 International Journal Ki-Su Kim, Myung-Il Roh, Seung-Min Lee, "Quasi-static Flooding Analysis Method of a Damaged Ship Considering Oil Spill and Cargo Load", Journal of Ship Production and Design, 2022.02.10 file 2022-02-10
169 International Journal Won-Jae Lee, Myung-Il Roh, Hye-Won Lee, Jisang Ha, Yeong-Min Cho, Nam-Sun Son, “Detection and Tracking for the Awareness of Surroundings of a Ship Based on Deep Learning”, Journal of Computational Design and Engineering, Vo. 8, No. 5 file 2021-10-01
168 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
167 International Journal Do-Hyun Chun, Myung-Il Roh, Hye-Won Lee, Jisang Ha, Donghun Yu, “Deep Reinforcement Learning-based Collision Avoidance for an Autonomous Ship”, Ocean Engineering, Vol. 234, pp. 1-20, 2021.08.15 file 2021-08-15
166 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
165 International Journal June-Beom Lee, Myung-Il Roh, Ki-Su Kim, “Prediction of Ship Power Based on Variation in Deep Feed-forward Neural Network”, International Journal of Naval Architecture and Ocean Engineering, 2021.08.07 file 2021-08-12
164 Domestic Journal 남권우, 노명일, 이혜원, 이원재, "자율 운항 선박을 위한 딥 러닝 기반 선박 이미지 분류 방법", 한국CDE학회 논문집, Vol. 26, No. 2, pp. 144-153, 2021.06.01 file 2021-06-01
163 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
162 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
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