Abstract
Marine operations are becoming more and more demanding. Efficient modeling and analysis of marine operations under environmental effects, especially in high sea states, will provide a means to improve operational safety. Traditional modeling and analysis are often carried out based on establishing the combined equations of the multi-body system. However, modeling, simulation and analysis of sub-systems may be performed in different software tools or require extensive derivation. It is inconvenient to vary the system configuration regardless of manufacturing design or behavior analysis perspectives. Co-simulation as an emerging technology enables the reusing and sharing of models so that different sub-systems can be modeled independently but simulated together. In this study, a system based on a co-simulation platform - Vico is proposed, which enables the digitalization of marine operations from modeling, configuration to simulation. The system consists of multiple sub-models of the ship, the marine crane and their coupling component, which are all converted and exported as functional mock-up units (FMUs). Various scenario settings such as environmental effect, ship maneuver and crane payload can be configured for the simulation of specific marine operations. Taking the research vessel Gunnerus as the testbed, two case studies about the impacts from the environment and a shipboard crane on marine operations are conducted. The simulation results verify the effectiveness of the marine operation system. The system could also be a foundation for further research on onboard support of marine operations.
The author would like to thank China Scholarship Council for funding his research at Norwegian University of Science and Technology.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Moi, T., Cibicik, A., Rølvåg, T.: Digital twin based condition monitoring of a knuckle boom crane: an experimental study. Eng. Fail. Anal. 112, 104517 (2020)
Intelligent Systems Lab @ NTNU Aalesund: Intelligent Systems Lab webpage. http://org.ntnu.no/intelligentsystemslab/
Hatledal, L.I., Chu, Y., Styve, A., Zhang, H.: Vico: an entity-component-system based co-simulation framework. Simul. Model. Pract. Theory 108, 102243 (2021)
Chu, Y., Sanfilippo, F., Æsøy, V., Zhang, H.: An effective heave compensation and anti-sway control approach for offshore hydraulic crane operations. In: 2014 IEEE International Conference on Mechatronics and Automation, pp. 1282–1287. IEEE (2014)
Chu, Y., Hatledal, L.I., Zhang, H., Æsøy, V., Ehlers, S.: Virtual prototyping for maritime crane design and operations. J. Mar. Sci. Technol. 23(4), 754–766 (2017). https://doi.org/10.1007/s00773-017-0509-z
Abdel-Rahman, E.M., Nayfeh, A.H., Masoud, Z.N.: Dynamics and control of cranes: a review. J. Vib. Control 9(7), 863–908 (2003)
Tysse, G.O., Egeland, O.: Dynamic interaction of a heavy crane and a ship in wave motion. MIC—Model. Identif. Control 39(2), 45–60 (2018)
La Hera, P.M., Morales, D.O.: Modeling dynamics of an electro-hydraulic servo actuated manipulator: a case study of a forestry forwarder crane. In: World Automation Congress 2012, pp. 1–6. IEEE (2012)
Chu, Y., Æsøy, V.: A multi-body dynamic model based on bond graph for maritime hydraulic crane operations. In: International Conference on Offshore Mechanics and Arctic Engineering, Vol. 56475. American Society of Mechanical Engineers (2015)
Chu, Y., Æsøy, V., Zhang, H., Bunes, O.: Modelling and simulation of an offshore hydraulic crane. In: ECMS, pp. 87–93 (2014)
Skjong, S., Pedersen, E.: Model-based control designs for offshore hydraulic winch systems. Ocean Eng. 121, 224–238 (2016)
Weymouth, G.D., Yue, D.K.: Physics-based learning models for ship hydrodynamics. J. Ship Res. 57(01), 1–12 (2013)
Almutairi, N.B., Zribi, M.: Sliding mode control of a three-dimensional overhead crane. J. Vib. Control 15(11), 1679–1730 (2009)
Dahmann, J.S., Fujimoto, R.M., Weatherly, R.M.: The department of defense high level architecture. In: Proceedings of the 29th Conference on Winter Simulation, pp. 142–149 (1997)
Blockwitz, T., et al.: Functional mockup interface 2.0: the standard for tool independent exchange of simulation models. In: Proceedings (2012)
Schweiger, G., et al.: An empirical survey on co-simulation: promising standards, challenges and research needs. Simul. Model. Pract. Theory 95, 148–163 (2019)
Köhler, J., Heinkel, H.M., Mai, P., Krasser, J., Deppe, M., Nagasawa, M.: Modelica-association-project system structure and parameterization–early insights. In: The First Japanese Modelica Conferences, no. 124, pp. 35–42. Linköping University Electronic Press (2016)
Open simulation platform. Open simulation platform joint industry project for the maritime industry (2020). https://opensimulationplatform.com/
Hassani, V., et al.: Virtual prototyping of maritime systems and operations. In: International Conference on Offshore Mechanics and Arctic Engineering, vol. 49989, p. V007T06A018. American Society of Mechanical Engineers (2016)
Chu, Y., Hatledal, L.I., Æsøy, V., Ehlers, S., Zhang, H.: An object-oriented modeling approach to virtual prototyping of marine operation systems based on functional mock-up interface co-simulation. J. Offshore Mech. Arct. Eng. 140(2) (2018)
Fossen, T.I.: A nonlinear unified state-space model for ship maneuvering and control in a seaway. Int. J. Bifurcat. Chaos 15(09), 2717–2746 (2005)
Hassani, V., Ross, A., Selvik, Ø., Fathi, D., Sprenger, F., Berg, T.E.: Time domain simulation model for research vessel Gunnerus. In: International Conference on Offshore Mechanics and Arctic Engineering, vol. 56550, p. V007T06A013. American Society of Mechanical Engineers (2015)
Norges teknisk-naturvitenskapelige universitet: Research vessel: R/V Gunnerus. https://www.ntnu.edu/oceans/gunnerus
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2023 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Liu, Z., Chu, Y., Li, G., Zhang, H. (2023). A Co-simulation-Based System Using Vico for Marine Operation. In: Masci, P., Bernardeschi, C., Graziani, P., Koddenbrock, M., Palmieri, M. (eds) Software Engineering and Formal Methods. SEFM 2022 Collocated Workshops. SEFM 2022. Lecture Notes in Computer Science, vol 13765. Springer, Cham. https://doi.org/10.1007/978-3-031-26236-4_20
Download citation
DOI: https://doi.org/10.1007/978-3-031-26236-4_20
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-031-26235-7
Online ISBN: 978-3-031-26236-4
eBook Packages: Computer ScienceComputer Science (R0)