A Co-operative Research on the Safety of Harbour Manoeuvring

本文从以下几个方面对港口船舶装卸安全问题进行了研究：1)操纵运动模型。这项研究主要是为了改善船舶在浅海低速时的操纵性。首先，通过研究深水船舶进港后模型参数的变化，建立了一个实用的运动模型。其次，对侧壁效应和瞬变操纵进行了新的理论和实验研究，为今后的发展指明了方向。此外，这项研究还首次成功地完成了拖船和船舶的水动力研究。这清楚地表明，拖船帮助船舶操纵的有效速度远远高于根据积累的经验而预期的速度。2)海港海上交通管制。从这个角度来看，独立的防撞系统和船用tr…更多的仿射控制被拿来进行检查。在Imazu问题的避碰困难情况下，使用本项目开发的专家系统的算法可以比有经验的船长做出更好的决策。如果将该算法应用到自动控制系统中，将会提高每艘船的避碰能力。而随着船舶获得相互通信通道的能力的提高，将使海上控制系统从人们认为的集中拥堵的海上交通向分布式智能系统转变。安全评价。研究表明，船舶操纵性与实际海难之间可能存在着某种密切的联系。为安全评价提供了一种分析方法。(1)对船舶操纵方法进行数据采集，(2)将数据分析转化为基本操纵，(3)利用模拟器对结果进行评价实验。在港口船舶操纵安全研究中，需要从操纵性、控制、系统分析等多个角度进行研究。它不应该在未来被改变。如果这个项目的每个贡献者继续处理自己的责任，相互理解，这项研究将取得巨大的成果。较少

This investigation deals generally with the safety of ship handling in harbour from the perspectives as follows;1) Manoeuvring motion model. The study aims mainly at improving the manoeuvrability of ships in shallow water at low speed. First, a practical model of motion was constructed by focusing how the parameters of the model change after a ship in deep waters comes in a habour area. Secondly, some thoretical and experimental researches on the side wall effects and on the transient manoeuvring were newly launched, which resulted in showing us a direction to go ahead in the future. And in addition, for the first time, this study succeeded in the hydrodynamical study dealing with both a tug boat and a ship. This made it clear that the effective speed at which a tug boat can help ship handling is much higher than what has been expected form accumulated experiences.2) Marine Traffic Control in Harbour. From this point of view, the stand alone collision avoidance system and the marine tr … More affic control were taken up to be examined. The algorithm using the expert system developed in this project can make a better decision than experienced ship master at the difficult situation for collision avoidance named Imazu Problems. If the algorithm is put into the automatic control system, each ship's ability in collision aboidance will be improved. And this improved ability with ship's getting a channel for the mutual correspondence, will make it possible to change the marine control system from what has been thought to centralize the congesting marine traffic to the distributed intelligence system.3). Safety Evalutaion. The study safety evalutaion let us know that there might be some kinds of close relations between the ship manoeubrability and the actual marine disasters. It also gave us a analystical method for the safety evaluation. It was aquired by taking following step: (1) collecting data of the ship handling method, (2) analizing and reforming the data into a fundamental handling, (3) applying the result to the evaluation experiment using a Simulator.When investigat in the safety of ship handling in a harbour, we need many perspectives such as manoeuvrabilty, control, System analysis. It should not be changed in the future. And this study will bear a great fruit if each of the contributors of this project continues to deal with his own charge with understanding each other. Less