D Source Reference List for Mathematical Models

Throughout the study, a vast resource of references were identified that could assist practitioners in applying computer-based simulation to channel design. This appendix characterizes in tabular form a representative number of references on mathematical models of system dynamics and force modules in view of their criticality to simulation. Methods for estimating or describing forces and moments on model elements are included only when they define the form of the model structure.



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Shiphandling Simulation: Application to Waterway Design D Source Reference List for Mathematical Models Throughout the study, a vast resource of references were identified that could assist practitioners in applying computer-based simulation to channel design. This appendix characterizes in tabular form a representative number of references on mathematical models of system dynamics and force modules in view of their criticality to simulation. Methods for estimating or describing forces and moments on model elements are included only when they define the form of the model structure.

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Shiphandling Simulation: Application to Waterway Design AUTHOR (date) TITLE Nature of Treatment or Topica (see noteb for subject area codes within columns)     A B C D E F Abkowitz (1964) Lectures on Ship Hydrodynamics—Steering and manoeuvrability 1 3         Abkowitz (1980) Measurement of Hydrodynamic Characteristics from Ship Manoeuvring Trials by System Identification   1       2 Afremoff and Nikolaev (1972) Yawing of a Ship Steered by an Automatic Pilot in Rough Seas 6,8           Ankudinov and Barr (1982) Estimation of Hydrodynamic Maneuvering Models for Six and Fifteen Barge River Tows   7   7     Ashburner and Norrbin (1980) Tug-Assisted Stopping of Large Ships in the Suez Canal—A Study of Safe Handling Techniques   7   7     Åström et al. (1975) The Identification of Linear Ship Steering Dynamics Using Maximum Likelihood Parameter Estimation 1 1       1 Baker and Patterson (1969) Some Recent Developments in Representing Propeller Characteristics   4 4       Bech (1972) Some Aspects of the Stability of Automatic Course Control of Ships 1,6     1,6     Bernitsas and Kekridis (1985) Simulation and Stability of Ship Towing 7     9     Blanke (1978) On Identification of Non-Linear Speed Equation from Full-Scale Trials 4         4 Brard (1951) Maneuvering of Ships in Deep Water, in Shallow Water, and in Canals     2,3      

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Shiphandling Simulation: Application to Waterway Design AUTHOR (date) TITLE Nature of Treatment or Topica (see noteb for subject area codes within colums)     A B C D E F Case et al. (1984) A Comparative Look at the Performance of Simulator Mathematical Models and Future Considerations 9 1         Cheng et al. (1982) Flexible Automatic Ship Controllers for Track-Keeping in Restricted Waterways   6   6     Chislett and Wied (1985) A Note on the Mathematical Modelling of Ship Manoeuvring in Relation to a Nautical Environment with Particular Reference to Currents   1,8         Clarke (1971) A New Non-Linear Equation for Ship Manoeuvring 2 2         Clarke (1972) A Two-Dimensional Strip Method for Surface Ship Hull Derivatives: Comparison of Theory with Experiments on a Segmented Tanker Model 2 2 2       Clarke et al. (1983) The Application of Manoeuvring Criteria in Hull Design Using Linear Theory 2 2         Crane (1966) Studies of Ship Manoeuvring—Response to Propeller and Rudder Actions   4         Crane, et al (1989) Controllability 1,9   1,9     1,9 Dand (1975) Some Aspects of Tug Ship Interaction     3,7       Dand (1984) Optimizing Ship Operations in Open and Confined Waters Using Manoeuvring Simulation Models   3         De Boer (1983) Manoeuvring Prediction with the MINISIM, A Simulation Program to Predict the Manoeuvring Performance of a Ship   1        

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Shiphandling Simulation: Application to Waterway Design AUTHOR (date) TITLE Nature of Treatment or Topica (see noteb for subject area codes within columns)     A B C D E F De Kat and Paulling (1989) The Simulation of Ship Motions and Capsizing in Severe Seas 1,8   8       Eda (1967) Steering Control of Ships in Waves 1,8   8 1,8     Eda (1972a) Yaw Control in Waves 1,8   8       Eda (1972b) Course Stability, Turning Performance and Connection Force of Barge Systems in Coastal Seawaves 7,8     1     Eda and Crane (1965) Steering Characteristics of Ships in Calm Water and Waves 1,8   8 8     Eda and Savitsky (1969) Experimental and Analytical Studies of Ship Controllability in Canals   3 3 3     Edwards (1985) Hydrodynamic Forces on Vessels Stationed in a Current   8 8       Eskola (1986) Modelling the Propulsion Machinery Behavior During Model Propulsion Tests in Ice   5,8         Forsman and Sandkvist (1986) Brash Ice Effects on Ship Operations—A Presentation of the SSPA Manoeuvring Simulation Model and Other Brash Ice Related Projects   8         Fujii (1972) On Manoeuvre Tests to Investigate the Course-Keeping Qualities of Ships       3     Fujino (1968) Experimental Studies on Ship Manoeuvrability in Restricted Waters, Part 1 1,3 3 3       Fujino (1970) Experimental Studies on Ship Manoeuvrability in Restricted Waters, Part 2 1,3 3 3      

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Shiphandling Simulation: Application to Waterway Design AUTHOR (date) TITLE Nature of Treatment or Topica (see noteb for subject area codes within columns)     A B C D E F Fujino and Ishiguro (1984) A Study of the Mathematical Model Describing Manoeuvring in Shallow Water—Shallow Water Effects on Rudder Effectiveness Parameters   3,4         Gertler and Hagen (1967) Standard Equations of Motion for Submarine Simulation 1,2 2         Gill (1979) Mathematical Modelling of Ship Manoeuvring   1         Glansdorp (1975) Ship Type Modelling for a Training Simulator   1         Göransson and Liljenberg (1975) Simulating the Main Engine—A Comparison of FPP and CPP Arrangements (in Swedish with English Summary)   5   5     Hagen (1983) A Catalog of Existing Mathematical Models for Maneuvering   1         Hirano (1980) On Calculation Method of Ship Manoeuvring Motion at Initial Design Stage (in Japanese) 1 1,2         Hirano et al. (1985) A Computer Program System for Ship Manoeuvring Motion Prediction   1   1     Hoffman (1972) Consideration of Sea-Keeping in the Design of a Ship Manoeuvring Simulator 8       1,8   Holzhöter (1990) A Workable Dynamic Model for the Track Control of Ships 1,6   6       Hooft (1968) The Manoeuvrability of Ships on a Straight Course 1     1     Hu (1961) Forward Speed Effect on Lateral Stability Derivatives of a Ship 2   2      

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Shiphandling Simulation: Application to Waterway Design AUTHOR (date) TITLE Nature of Treatment or Topica (see noteb for subject area codes within columns)     A B C D E F Imlay (1961) The Complete Expressions for Added Mass of a Rigid Body Moving in an Ideal Fluid 2           Inoue and Murayama (1970) Calculation of Turning Ship Derivatives in Shallow Water (in Japanese)   3 3       Inoue et al. (1981) A Practical Calculation Method of Ship Manoeuvering Motion   1         Jacobs (1964) Estimation of Stability Derivatives and Indices of Various Ship Forms, and Comparison with Experimental Results 2 2 2       Källström (1979) Identification and Adaptive Control Applied to Ship Steering 6         2 Källström (1984) A Digital Control System for Ship Manoeuvring in Ports and Waterways 6     6     Källström and Ottosson (1982) The Generation and Control of Roll Motion of Ships in Close Turns   1,6   6     Kijima et al. (1990) Prediction Method of Ship Manoeuvrability in Deep and Shallow Waters 2,3 3         Kirchhoff (1869) Über die Bewegung eines Rotationskörpers in einer Flüssigkeit 1,2           Kobayashi (1988) A Simulation Study on Ship Manoeuvrability at Low Speeds   1,4   1     Koelink (1968) Approximate Methods in Z-Steering Test Analysis 1 2         Kose (1982) On a New Mathematical Model of Manoeuvring Motions of a Ship and Its Applications 1 1,4   1     Kotschin et al. (1954) Theoretische Hydromechanik 2          

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Shiphandling Simulation: Application to Waterway Design AUTHOR (date) TITLE Nature of Treatment or Topica (see noteb for subject area codes within columns)     A B C D E F Koyama (1972) Improvement of Course Stability and Control by a Subsidiary Automatic Control 1,6     6     Koyama and Jin (1987) An Expert System Approach to Collision Avoidance 1,6           Koyama et al. (1977) A Study of the Instability Criterion on the Manual Steering of Ships   6   6     Lamb (1918) The Inertia Coefficients of an Ellipsoid Moving in a Fluid 2   2       Landweber and de Macagno (1957) Added Mass of Two-Dimensional Forms Oscillating in a Free Surface 2   2       Lindström (1989) Prediction of Ship Manoeuvring in Level Ice by Simulation of the Planar Motions (in Swedish)   8   8     Mandel (1967) Ship Maneuvering and Control 1,9   1,9       Matsumoto and Suemitsu (1984) Interference Effects Between Hull, Propeller and Rudder of a Hydrodynamic Mathematical Model in Manoeuvring Motion   2 4       Matthews (1984) A Six Degree of Freedom Ship Model for Computer Simulation 2 1         McCallum (1976) A New Approach to Manoeuvring Ship Simulation 2 1         McCallum (1980) A Ship Steering Mathematical Model for All Manoeuvring Regimes   1,4         McCreight (1986) Ship Maneuvering in Waves 1,8     8     Mikelis et al. (1985) On the Construction of a Versatile Mathematical Model for Marine Simulation   1,2        

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Shiphandling Simulation: Application to Waterway Design AUTHOR (data) TITLE Nature of Treatment or Topica (see noteb for subject area codes within columns)     A B C D E F Miller (1979) Towboat Maneuvering Simulator   1,4 7         Motora (1960) On the Measurement of Added Mass and Added Moment of Inertia of Ships in Steering Motion     2       Motora et al. (1971) Equivalent Added Mass of Ships in the Collision     2       Naegle (1980) Ice Resistance Prediction and Motion Simulation for Ships Operating in the Continuous Mode of Icebreaking   8   8     Newman (1966) Some Hydrodynamic Aspects of Ship Maneuverability 1,2   2       Newman (1969) Lateral Motion of a Slender body of Revolution Moving near a Wall 3           Newman (1972) Some Theories for Ship Manoeuvring 3           Nikolaev et al. (1972) Estimation of the Effectiveness of Lateral Thrust Units     4       Nomoto (1960) Analysis of Kempf's Standard Manoeurve Test and Proposed Steering Quality Indices   1       1 Nomoto (1966) Unusual Scale Effects on Manoeuverabilities of Ships with Blunt Bodies     2     2 Nomoto (1972) Problems and Requirements of Directional Stability and Control of Surface Ships 1 1         Nomoto et al. (1957) On the Steering Qualities of Ships 1 1         Norrbin (1960) A Study of Course Keeping and Manoeuvring Performance 1,6 9        

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Shiphandling Simulation: Application to Waterway Design AUTHOR (date) TITLE Nature of Treatment or Topica (see noteb for subject area codes within columns)     A B C D E F Norrbin (1963) On the Design and Analysis of the Zig Zag Test on Base of Quasi-Linear Frequency Response 1 2         Norrbin (1965) The Technique and Analysis of the Zig Zag Test (in Swedish) 1 1       1 Norrbin (1970) Theory and Observations on the Use of a Mathematical Model for Ship Manoeuvring in Deep and Confined Waters 1,2 2,6 2,3   1,6   Norrbin (1972) Ship Manoeuvring with Application to Shipborne Predictors and Real-Time Simulators   1,6         Norrbin (1978) A Method for the Prediction of the Manoeuvring Land of a Ship in a Channel of Varying Width   2,3 3       Norrbin (1986) Fairway Design with Respect to Ship Dynamics and Operational Requirements   3,6 7 3 3     Norrbin (1988) Head-On Collision or a Planned Encounter—A Contribution to Micro-Navigation   3   6     Norrbin et al. (1978) A Study of the Safety of Two-Way Traffic in a Panama Canal Bend   2,3 3 1,6 1   Ogawa and Kasai (1978) On the Mathematical Model of Manoeuvring Motion of Ships 1 1         Oltmann and Sharma (1985) Simulation of Combined Engine and Rudder Manoeuvres Using an Improved Model of Hull-Propeller-Rudder Interactions 1 1,4         Onassis and ten Hove (1988) Modular Ship Manoeuvring Models   1,4        

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Shiphandling Simulation: Application to Waterway Design AUTHOR (date) TITLE Nature of Treatment or Topica (see noteb for subject area codes within columns)     A B C D E F Ottosson and Apleberger (1987) Real-Time Simulations of Ship Motions—A Tool for the Design of a New Pacific Port   7,8     1,3   Ottosson and van Berlekom (1985) Simulations in Real and Accelerated Time—A Computer Study of a Ro-Ro Vessel Entering Different Port configurations       1 1   Paloubis and Thaler (1972) Identification of System Models from Operating Data 1         1,5 Perdok and van der Tak (1987) The Application of Man-Machine Models in the Analysis of Ship Control 6 6       6 Perez y Perez (1972) A Time Domain Solution to the Motions of a Steered Ship in Waves 1,8 8   1,8     Pourzanjani (1990) Formulation of the Force Mathematical Model of Ship Manoeuvring 1 2       2 Pourzanjani et al. (1987) Hydrodynamic Lift and Drag Simulation for Ship Manoeuvring Models   2         Price (1972) The Stability of a Ship in a Simple Sinusoidal Wave 1,8           Puglisi et al. (1985a) Direction of International Joint Effort for Development of Mathematical Models and Ship Performance Data for Marine Simulation Application 9         1 Renilsson and Driscoll (1982) Broaching—An Investigation into the Loss of Directional Control in Severe Following Seas   8         Rutgersson and Ottosson (1987) Model Tests and Computer Simulations—An Effective Combination for Investigation of Broaching Phenomena 8     1,8    

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Shiphandling Simulation: Application to Waterway Design AUTHOR (date) TITLE Nature of Treatment or Topica (see noteb for subject area codes within columns)     A B C D E F Rydill (1959) A Linear Theory for the Steered Motion of Ships in Waves 1,6     1     Salo and Heikkilä (1990) On the Modelling of Hull-Propeller-Rudder Interactions in Manoeuvring of Twin-Screw ships   4       4 Sargent and Kaplan (1970) System Identification of Surface Ship Dynamics           2 Schmidt and Unterreiner (1976) Ein Mathematisches Modell zur Simulation des Manövrierverhaltens von Schiffen für die Anwendung in Trainings-Simulatoren   1         Schoenherr (1960) Data for Estimating Bank Suction Effects in Restricted Water and on Merchant Ship Hulls     3       Shooman (1980) Models of Helmsman and Pilot Behavior for Manoeuvring Ships   6   6     Smitt (1970) Steering and Manoeuvring: Full-Scale and Model Tests 1 2 2       Smitt and Chislett (1972) Course Stability While Stopping 2 2,4 4       Society of Naval Architects and Marine Engineers (1950) Nomenclature for Treating the Motion of a Submerged Body Through a Fluid 1,2 2         Strøm-Tejsen (1965) A Digital Computer Technique for Prediction of Standard Maneuvers of Surface Ships   1,2        

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Shiphandling Simulation: Application to Waterway Design AUTHOR (date) TITLE Nature of Treatment or Topica (see noteb for subject area codes within columns)     A B C D E F Strøm-Tejsen and Chislett (1966) A Model Testing Technique and Method of Analysis for the Prediction of Steering and Manoeuvring Qualities of Surface Ships   2 2       Stuurman (1969) Modelling the Helmsman: A Study to Define a Mathematical Model Describing the Behavior of a Helmsman Steering a Ship Along a Straight Course   6   6     Tasai (1961) Hydrodynamic Force and Moment Produced by Swaying Oscillation of Cylinders on the Surface of a Fluid 2   2       Thöm (1975) Modellbildung für das Kursverhalten von Schiffen 6 6         Trägårdh (1976) Simulation of Tugs at the SSPA Manoeuvring Simulator   7         Tuck (1966) Shallow Water Flows Past Slender Bodies 3   3       Tuck and Newman (1974) Hydrodynamic Interactions Between Ships 3   3       Van Amerongen and van der Klugt (1985) Modelling and Simulation of the Roll Motions of a Ship 1     1     Van Berlekom (1978) Simulator Investigations of Predictor Steering Systems for Ships 1,6     6     Van Berlekom and Goddard (1972) Maneuvering of Large Tankers   1 2       Van Leeuwen (1964) The Lateral Damping and Added Mass of an Oscillating Shipmodel     2      

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Shiphandling Simulation: Application to Waterway Design AUTHOR (date) TITLE Nature of Treatment or Topica (see noteb for subject area codes within columns)     A B C D E F Van Leeuwen (1972a) Some Aspects of Prediction and Simulation of Manoeuvres   1   1     Van Leeuwen (1972b) Course Keeping Going Astern   2,4 2,4       Veldhuijzen and Stassen (1975) Simulation of Ship Manoeuvring Under Human Control   6   1     Vugts (1968) The Hydrodynamic Coefficients for Swaying, Heaving and Rolling Cylinders in a Free Surface 2   2       Webster (1967) Analysis of the Control of Activated Antiroll Tanks 4,8           Weinblum (1952) On the Directional Stability of Ships in Calm Water and in a Regular Seaway 1,8           Wendel and Dunne (1969) Dynamic Analysis and Simulation of Ship and Propulsion Plant Manoeuvring Performance   4         Yeung (1978) Applications of Slender Body Theory to Ships Moving in Restricted Shallow Water 3   3       Zhao (1990) Theoretical Determination of Ship Manoeuvring Motion in Shallow Water 3           Zhou and Blanke (1987) Nonlinear Recursive Prediction Error Method Applied to Identification of Ship Steering Dynamics 1         1 Zuidweg (1970) Automatic Guidance of Ships as a Control Problem 6 6        

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Shiphandling Simulation: Application to Waterway Design a Codes for nature of treatment or topic: A Theory and theoretical models B Semiempirical models C Data figures D Applications in compressed time E Applications in real time F Identification, validation b Codes for subject areas: 1 System dynamics 2 Hull forces in deep water 3 Hull forces in confined water (shallow, restricted) 4 Control forces (propulsive, lateral) 5 Engine functioning (propulsive and lateral control) 6 Control automatics, human pilots (including fast time/compressed simulation) 7 Tug assistance, mooring, fendering 8 External forces from wind, waves, current, mud, ice 9 General or nonspecific