Ship Motion Control : Course Keeping and Roll Stabilisation Using Rudder and Fins

Motion control systems have a significant impact on the performance of ships and marine structures allowing them to perform tasks in severe sea states and during long periods of time. Ships are designed to operate with adequate reliability and economy, and in order to achieve this, it is essential to control the motion. For each type of ship and operation performed (transit, landing a helicopter, fishing, deploying and recovering loads, etc.), there are not only desired motion settings, but also limits on the acceptable (undesired) motion induced by the environment. The task of a ship motion control system is therefore to act on the ship so it follows the desired motion as closely as possible. This book provides an introduction to the field of ship motion control by studying the control system designs for course-keeping autopilots with rudder roll stabilisation and integrated rudder-fin roll stabilisation. These particular designs provide a good overview of the difficulties encountered by designers of ship motion control systems and, therefore, serve well as an example driven introduction to the field. The idea of combining the control design of autopilots with that of fin roll stabilisers, and the idea of using rudder induced roll motion as a sole source of roll stabilisation seems to have emerged in the late 1960s. Since that time, these control designs have been the subject of continuous and ongoing research. This ongoing interest is a consequence of the significant bearing that the control strategy has on the performance and the issues associated with control system design. The challenges of these designs lie in devising a control strategy to address the following issues: underactuation, disturbance rejection with a non minimum phase system, input and output constraints, model uncertainty, and large unmeasured stochastic disturbances. To date, the majority of the work reported in the literature has focused strongly on some of the design issues whereas the remaining issues have been addressed using ad hoc approaches. This has provided an additional motivation for revisiting these control designs and looking at the benefits of applying a contemporary design framework, which can potentially address the majority of the design issues.

Los buques públicos y el derecho internacional contemporáneo : el caso de la “Fragata ARA Libertad”

Resumen: El Derecho del Mar constituye, históricamente, uno de los puntos sobresalientes en la evolución y actualidad del Derecho Internacional ya que, incluso, su aparición y gestación precede a los mismos Estados. En ese sentido, a partir de la denominada “batalla de los libros”, el mar ha sido objeto de arduos y permanentes debates que pueden reflejarse, casi en su totalidad, en la Tercera Conferencia de las Naciones Unidas sobre el Derecho del Mar, realizada entre 1973 y 1982. Sobre estas consideraciones, la propuesta del presente trabajo es analizar una de ellas, como lo es la inmunidad de los buques de guerra extranjeros durante su estadía en puertos de otros Estados. Si bien a priori la cuestión no se manifiesta como compleja, lo cierto es que a 200 años del Schooner Exchange, su debate ha reaparecido, especialmente, a partir del caso de la Fragata ARA Libertad. En razón de lo expuesto, comenzaremos con una breve conceptualización jurídica de los buques y su clasificación, para luego examinar el régimen de inmunidad que poseen los buques de guerra extranjeros y las características que presenta la relación entre éste y el Estado ribereño local. Posteriormente, consideraremos estos aspectos a la luz del caso referido para, finalmente, formular algunas reflexiones considerando todo lo analizado en su conjunto.

Olympic Coast National Marine Sanctuary Area to be Avoided (ATBA) Education and Monitoring Program

The National Marine Sanctuaries Act (16 U.S.C. 1431, as amended) gives the Secretary of Commerce the authority to designate discrete areas of the marine environment as National Marine Sanctuaries and provides the authority to promulgate regulations to provide for the conservation and management of these marine areas. The waters of the Outer Washington Coast were recognized for their high natural resource and human use values and placed on the National Marine Sanctuary Program Site Evaluation List in 1983. In 1988, Congress directed NOAA to designate the Olympic Coast National Marine Sanctuary (Pub. L. 100-627). The Sanctuary, designated in May 1994, worked with the U.S. Coast Guard to request the International Maritime Organization designate an Area to be Avoided (ATBA) on the Olympic Coast. The IMO defines an ATBA as "a routeing measure comprising an area within defined limits in which either navigation is particularly hazardous or it is exceptionally important to avoid casualties and which should be avoided by all ships, or certain classes of ships" (IMO, 1991). This ATBA was adopted in December 1994 by the Maritime Safety Committee of the IMO, “in order to reduce the risk of marine casualty and resulting pollution and damage to the environment of the Olympic Coast National Marine Sanctuary”, (IMO, 1994). The ATBA went into effect in June 1995 and advises operators of vessels carrying petroleum and/or hazardous materials to maintain a 25-mile buffer from the coast. Since that time, Olympic Coast National Marine Sanctuary (OCNMS) has created an education and monitoring program with the goal of ensuring the successful implementation of the ATBA. The Sanctuary enlisted the aid of the U.S. and Canadian coast guards, and the marine industry to educate mariners about the ATBA and to use existing radar data to monitor compliance. Sanctuary monitoring efforts have targeted education on tank vessels observed transiting the ATBA. OCNMS's monitoring efforts allow quantitative evaluation of this voluntary measure. Finally, the tools developed to monitor the ATBA are also used for the more general purpose of monitoring vessel traffic within the Sanctuary. While the Olympic Coast National Marine Sanctuary does not currently regulate vessel traffic, such regulations are within the scope of the Sanctuary’s Final Environmental Impact Statement/Management Plan. Sanctuary staff participate in ongoing maritime and environmental safety initiatives and continually seek opportunities to mitigate risks from marine shipping.(PDF contains 44 pages.)

Die Bruttoraumzahl als neue Einheit der Schiffsvermessung

The definition of the newly introduced dimensionless parameter for tonnage measurement (German: Bruttoraumzahl (BRZ) (English: Gross tonnage (GT)) instead of Gross register ton (GRT) (German: Bruttoregistertonne (BRT) doesn’t seem to be so clear, neither for specialists. The present article gives some explanations about the history of measurement of ships and the relation between BRT and BRZ, especially for fishing vessels.

Report on proposed improvements to Teignmouth Harbour

This is the Report on Proposed Improvements to Teignmouth Harbour from 15th March, 1971 prepared for the Teignmouth Harbour Commission. It reviews the Scheme III Breakwater along the lines recommended by the Hydraulics Research Station and the implications of deepening the berths at the Eastern Quay to a depth of thirteen feet below chart datum. The layout of the Hydraulics Research Scheme III Breakwater, as described in Para.16 of their Report No. EX489 dated April 1970, is shown on the accompanying Key Plan to a scale of 1:2500. It contains a subsoil survey and boreholes structure. It goes through the permissible draughts of ships and turning area, training wall, deepening of the eastern quay dredging and sewage dispersal.

Improving Ship Detection with Polarimetric SAR based on Convolution between Co-polarization Channels

The convolution between co-polarization amplitude only data is studied to improve ship detection performance. The different statistical behaviors of ships and surrounding ocean are characterized a by two-dimensional convolution function (2D-CF) between different polarization channels. The convolution value of the ocean decreases relative to initial data, while that of ships increases. Therefore the contrast of ships to ocean is increased. The opposite variation trend of ocean and ships can distinguish the high intensity ocean clutter from ships' signatures. The new criterion can generally avoid mistaken detection by a constant false alarm rate detector. Our new ship detector is compared with other polarimetric approaches, and the results confirm the robustness of the proposed method.

Forças em estruturas de acostagem descontínuas em zonas desabrigadas: avaliação de ferramentas de cálculo existentes

Dissertação para obtenção do grau de Mestre em Engenharia Civil na Área de especialização em Hidráulica

La légitimité de l'État du port de contrôler la navigabilité des navires

"Mémoire présenté à la Faculté des études supérieures En vue de l'obtention du grade de maître en droit Option droit des affaires"

La chaîne de responsabilité de la sécurité maritime

"Mémoire présenté à la faculté des études supérieures en vue de l'obtention du grade de maître en droit (LL.M.)". Ce mémoire a été accepté à l'unanimité et classé parmi les 15% des mémoires de la discipline.

La Quatrième Croisade : analyse du traité de Venise

Ce mémoire porte sur le traité de Venise de 1201, passé entre les barons de la Quatrième Croisade et la république de Venise, pour l’affrètement d’une flotte incluant transport et vivres. L’étude du Traité est d’autant plus importante que, les croisés manquant à leurs obligations, cet accord eut un impact déterminant sur la suite de la Croisade, se plaçant ainsi au cœur de sa déviation vers Constantinople. Le mémoire analyse d’abord la nature et l’ampleur des engagements pris par Venise, en essayant de quantifier et de mesurer en termes économiques le nombre de bateaux et de croisés transportés, ainsi que le poids et le coût des provisions pour hommes et chevaux. Cette analyse, basée sur la comparaison avec des contrats analogues, prouve que la somme de 85 000 marcs d’argent convenue avec les barons n’était en rien exagérée. Parallèlement, le mémoire évalue ce que pouvait signifier, dans le contexte économique de l’époque, une telle somme, et tente d’identifier les raisons pour lesquelles les croisés furent dans l’impossibilité d’honorer leur part du contrat. Cette analyse montre que, contrairement à une certaine historiographie traditionnelle, il serait faux d’imputer aux Vénitiens la responsabilité du détournement de la Croisade ou de les taxer d’intransigeance, de cupidité, voire de duplicité. L’effort fourni par la République indique qu’elle mit tout en œuvre pour que l’entreprise fût une réussite. L’interruption du commerce, la construction de nombreux navires, la réquisition de milliers de marins pour manœuvrer la flotte et la logistique pour approvisionner des dizaines de milliers d’hommes témoignent toutes de l’ampleur de l’implication vénitienne. C’est le défaut de paiement des croisés, qui força le doge Henri Dandolo à se commettre plus avant encore, joignant irrémédiablement la fortune de la ville marchande à celle de l’expédition.

Les mémorandums d’entente sur le contrôle des navires par l'État portuaire comme mécanisme de renforcement de la sécurité maritime : une approche prometteuse du transgouvernementalisme

La thèse a été réalisée en cotutelle avec l'Université Paul Céazanne (Aix Marseille III).

Corrosion Health Monitoring System for Steel Ship Structures

Corrosion represents one of the largest through life cost component of ships. Ship owners and operators recognize that combating corrosion significantly impacts the vessels’ reliability, availability and through life costs. Primary objective of this paper is to review various inspections, monitoring systems and life cycle management with respect to corrosion control of ships and to develop the concept of “Corrosion Health” (CH) which would quantify the extent of corrosion at any point of ships��� operational life. A system approach in which the ship structure is considered as a corrosion system and divided into several corrosion zones, with distinct characteristics, is presented. Various corrosion assessment criteria for assessment of corrosion condition are listed. A CH rating system for representation of complex corrosion condition with a numeric number along with recommendations for repair/maintenance action is also discussed

Caracterização batimétrica e fisicooceanográfica do canal de acesso ao porto de Cabedelo/PB: uma análise ambiental ao derrame de óleo

The State of Paraíba is one of the most dynamic states of Brazil, strategically located in the northeast, is notable for the excellent potential for integration of different transportation modes forming the states of Rio Grande do Norte, Pernambuco and Alagoas. The dynamic that occurs with port activity causes changes in the space where it is installed. And the elements of this space are always more than suffering direct or indirect influences as the flow in the port is expanded. Therefore, this region became subject to the accidental spillage of oil, because it presents a heavy traffic of ships of various sizes that can run aground or collide with oil causing accidental events. The study of geomorphological and sedimentological compositions of seafloor becomes important as more is known about the relationships between these parameters and associated fauna, and can identify their preferred habitats. The database background, acoustically collected along the proposed study area, is a wealth of information, which were duly examined, cataloged and made available. Such information can serve as an important tool, providing a geomorphological survey of the sedimentary area studied, and come to subsidize, in a flexible, future decision making. With the study area Port of Cabedelo, Paraíba - Brazil, this research aimed to evaluate the influence of the tidal surface and background in modeling the seabed, including the acquisition of information about the location of submerged rocky bodies and the depth of these bodies may turn out to be natural traps for the trapping of oil in case of leaks, and obtain the relationship between types of bed and the hydrodynamic conditions present in the region. In this context, for this study were collected bathymetric data (depth) and physical oceanographic (height of water column, water temperature, intensity and direction of currents, waves and turbidity), meteorological (rainfall, air temperature, humidity, winds and barometric pressure) of the access channel to the Port of Cabedelo / PB and its basin evolution (where the cruise ships dock), and includes tools of remote sensing (Landsat 7 ETM +, 2001), so that images and the results are integrated into Geographic Information Systems and used in the elaboration of measures aimed at environmental protection areas under the influence of this scale facilities, serving as a grant to prepare a contingency plan in case of oil spills in the region. The main findings highlight the techniques of using hydroacoustic data acquisition together bathymetric surveys of high and low frequency. From there, five were prepared in bathymetric pattern of Directorate of Hydrography and Navigation - DHN, with the depth in meters, on a scale of 1:2500 (Channel and Basin Evolution of Access to Port of Cabedelo), where there is a large extent possible beachrocks that hinder the movement of vessels in the port area, which can cause collisions, running aground and leaking oil. From the scatter diagram of the vectors of currents, it can be seen as the tidal stream and undergoes a channeling effect caused by the bidirectional effect of the tide (ebb and flood) in the basin of the Port of Cabedelo evolution in NW-direction SE and the highest speed of the currents occurs at low tide. The characterization weather for the period from 28/02 to 04/07/2010 values was within the expected average for the region of study. The multidisciplinary integration of products (digital maps and remote sensing images), proved to be efficient for the characterization of underwater geomorphological study area, reaching the aim to discriminate and enhance submerged structures, previously not visible in the images

Subsistemas de comércio costeiros e internalização de interesses na dissolução do Império Colonial português (Santos, 1788-1822)

Discutem-se os primeiros resultados de uma pesquisa sobre o comércio costeiro e suas relações com o funcionamento do sistema colonial e com o contexto da Independência. A tese é de que em portos menores da costa da capitania de São Paulo, como em Santos, havia um grupo de comerciantes que atuava efetivamente no comércio costeiro e defendeu seus interesses de exclusividade de participação nesse setor contra a presença de comerciantes externos à vila. A discussão apoia-se em documentos da alfândega de Santos, como mapas de exportação-importação, mapas de embarcações, ofícios de governadores e juízes da alfândega e requerimentos de negociantes estrangeiros.

Mapeamento de sensibilidade ambiental a derramentos de petróleo do sistema estuarino de Santos, estado de São Paulo

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)