Manufacturing technologies

行った結果です。また、大学構

Autonomous vessels, Remotely operated underwater vehicles

着桟の実験も行っています。
Research on autonomous berthing/ docking

着桟を安全かつ確実に行うこDivision of Global Architecture, Graduate School of Engineering
Associate Professor Atsuo Maki
Researchmap https://researchmap.jp/atsuo_maki?lang=en

Abstract
In Japan, a shortage in human resources has recently becomea critical issue in coastal shipping due to the aging of ship crews.
Therefore, the automation in domestic shipping is highly required.
In order to realize autonomous ships in the near future, automatic
berthing/docking is one of key technologies, and it is well known
that the automatic berthing/docking is a challenging problem.
In our laboratory, this problem has been investigated. Automaticberthing is not an easy task because of some complexities that areincluded in the problem, such as wind disturbance, the nonlinearity of the low-speed maneuvering model, danger of collision withberth, etc. In this research, as a first step, the authors solved theoff-line automatic berthing problem.
In our research group, control theory, optimization technique,and machine learning are utilized to establish the automatic berthing/docking.

難とされてきました。本研究室では、制御理論や最適化技術、また機械つつ、この問題に取り組んでいます。以下の左図は、自動離着桟をシミ▍ Background & Results行った結果です。また、大学構内の実験池において、右図のような模型

Recently, autonomous operation is now proceeding in other vehicle areas such as cars, and in our field, many research projects arein progress. Although, so far, various studies have been conductedon the automatic berthing problem from 1980s, the autonomous
berthing/docking technology has not been completed because of
the difficulties in this problem. The key technologies of the automatic berthing/docking to be solved are listed as follows:i) Off-line trajectory planningii) On-line trajectory modificationiii) Mathematical modelling of low-speed vesseliv) On-line control
In our laboratory, all the above technologies have been exploredwith the use of control theory, optimization technique, and machinelearning. The left panel of following figures shows the simulation
result of the automatic berthing algorithm. The control algorithm isvalidated at the experimental pond in Osaka university with the useof the ship model as shown in the right panel.

Manufacturing technologies

着桟の実験も行っています。このように、本研究室が保有する技術を用着桟を安全かつ確実に行うことができるようになりつつあります。

▍ Significance of the research and Future perspective

Fig. 1 Numerical result of automatic berthing/docking

左図：自動離着桟の計算結The automatic berthing/docking has a key role to play in theautonomous operation of oceangoing vessel. With the progress of
the autonomous operation, it is considered that the modal shifts(changing the modes of cargo transportation) will be accelerated.

英語版の記載（全文で 430 単「Abstract」
左図：自動離着桟の計算結果、右図：実験池における模型船の様子
Fig. 2 Model ship at experimental pond of Osaka university

In Japan, a shortage in hu

P a t e n t

Maki, A; Sakamoto, N; Akimoto, Y. et al. Application of optimal control theory based on the evolution strategy (CMA-ES) to automatic berthing. Journal ofMarine Science and Technology. 2020; 25: 221–233. doi: 10.1007/s00773-019-00642-3.
UR
L http://www.naoe.eng.osaka-u.ac.jp/naoe/naoe5/jp/
K e y w o r d autonomous operation, automatic berthing/docking, control theory, global optimization, machine learning
Tr e a t i s eshipping
英語版の記載（全文で 430単語前後） due to the aging of「Abstract」highly required. In order t