World NAOE Forum 2022

Our Challenges toward Autonomous-vessels

Mitsui E&S Shipbuilding contributes to efforts for
safety of marine transportation and working environment of seafarers
with our autonomous technologies.

13th December, 2022

Akihito HIRAYAMA
Mitsui E&S Shipbuilding Co., Ltd.

Mitsui E&S Shipbuilding Co., Ltd..

 Contents

▍Our Motivation & Steps for Ship Autonomization

▍Our concept of Autonomous Maneuver Control System

▍Full-Scale Test of Autonomous Vessel

- The Nippon Foundation Fully Autonomous Ship Project MEGURI2040 -

Mitsui E&S Shipbuilding Co., Ltd.. 1

Our motivation toward realization of Autonomous vessels

Internet of Things Information technology Control technology

Maneuvering system
Monitoring system “MMS”
Digitalization
“Fleet Monitor”

Autonomous
Ship Autonomization Maneuvering
system

Minimize Reduce Eliminate

Human-Error Labor Burden Unnecessary Operations

Enhance Ship Performance

Safety Performance Economic Performance Environmental Performance

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 Our steps toward realization of Autonomous vessels (1)
2004
1967～ 1982～
Japan’s National Project Advanced DPS has been released
Japan’s National Project for “Chikyu”
“Studies on Highly
“Highly reliable 1995
Integrated Control
intelligent ships”
System of Merchant 1st AUV “R-one Robot”
Ships” was delivered
1992
Known as
1961
the world's 1st
Automated Model
“Kinkazan Maru” for Maneuvering Test
Automated Vessel
was delivered
1985
2001～
1917
1st DPS has been released Japan’s National Project
Established our company for “Kaiyou” “Super Eco-Ship Project”
as the Shipbuilding Division
of Mitsui & Co., Ltd.

Step 4 Integrated Maneuvering System

Step 3 Dynamic Positioning System
Step 2 Automatization of Engine & Equipment
Step 1 Engine control system from Bridge
1900 1960 1970 1980 1990 2000 2010
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 Our steps toward realization of Autonomous vessels (2)
2001～ 2021~2022 20XX
Japan’s National Project Fully Autonomous Vessel
“Next-generation Full scale tests for
Domestic Vessels
2019~2020 Automated Voyage ？
(Super Eco-Ship) Full scale tests for with 3 ships
Auto Berthing Large Car Ferry
Project”
with Large Car ferry
2018
2007 Full scale tests for 749GT Container Ship
Our 1st Practical USV Auto Berthing Large Car Ferry
with Training Ship
2005
Monitoring System Passenger Catamaran
“Fleet Monitor”
was released Training Ship

Step 7 Full Autonomous

Step 6 Limited Autonomization
Step 5 Digitalization
Step 4 Integrated Maneuvering System
Step 3 Dynamic Positioning System
Step 2 Automatization of Engine & Equipment
Step 1 Engine control system from Bridge
2000 2010 2015 2020 2025 20XX
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Autonomization of vessels in stages
▍To realize “Fully autonomous vessel”, autonomous technology needs to be applied in phases.
Without society's acceptance,
Fully Autonomous Vessels Fully autonomous vessel
will not be realized.  Fully autonomous navigation is possible

Autonomous vessel Not fully allow

under
 Almost autonomous navigation possible current treaties, and
 Manned response in case of emergency laws, regulations

Manned autonomous vessel Gray zone

 In many situations, autonomous navigation possible of
Current Targets under human supervision interpretation

Advanced Supported Vessel

•Interim Guidelines for MASS Trials (IMO MSC101)
 Operated by human with system support
•Safety Guidelines for Automated Vessels (MLIT,Japan)

Conventional vessel
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Configurations of Autonomous Control System

Berthing & Un-berthing

Radar LiDAR
AIS Short range Radar
Collision Avoidance
ECDIS Camera Maneuver Control Planning
etc.
GNSS
Navigation Support System
Sensor and Navigation equipment
Autonomous Technologies
for other applications

MMS Autonomous Control Fleet Transfer

HMI
Conventional DPS Module Fleet Monitor
Vessel
Autonomous Unit
Monitoring System
Maneuver Control System
Suitable
Autonomous-Ready Vessel Maneuvering Devices Autonomous Control System
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Integrated Maneuvering Control System “MMS”
▍MMS is the basis for autonomous maneuver control system.
▍MMS enables “Auto Tracking”, “Dynamic Positioning”, “Auto Heading” and “Joystick
operation” etc. .
▍MMS automatically performs a complicated maneuvering that needs to control engine,
thruster, rudder etc. at the same time.

Auto Heading Dynamic Positioning

Auto Tracking

Control Mode Joystick operation Console

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 Overview of Autonomous Maneuvering Control

Sensors, Navigation Equipment

s

GNSS, Gyｒo, etc

Finding the Optimum Operation Plan
Obtaining highly reliable data by by repeating simulations at regular intervals
removing the effects of sensor noise, etc.,
using a Kalman filter.
Estimation of Planning of
Position and velocity Optimum Operation
Estimating based on
actual ship behavior

Estimation of
Disturbance influence
Estimation of
Maneuvering Characteristics

Course keeping control Maneuvering Device

Using Maneuvering Kinematic Model Rudder, CPP,
and Kalman filter
Thruster, etc.
Ship Speed Control
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 The Nippon Foundation Fully Autonomous Ship Project MEGURI2040
▍Automated voyage demonstrations with 6 vessels were succeeded by 5 consortiums under MEGURI2040 project.
▍In the voyages, all of the maneuvering operations were automated from un-berthing to berthing.

Large Car Ferry“Sunflower Shiretoko ”

749GT Container ship “Mikage”

*https://www.imotoline.co.jp/ship/200teu.html

Passenger Catamaran “SEA FRIEND ZERO”

*https://www.tryangle-web.com/shipinfo/

▍Mitsui E&S Shipbuilding developed and installed autonomous control systems for 3 ships in 2 consortiums.
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Consortiums members under MEGURI2040

Verification testing of fully autonomous technologies using coastal container vessels and car ferries

The Nippon Foundation

Mitsui E&S Shipbuilding Co., Ltd. Mitsui O.S.K. Lines, Ltd. Furuno Electric Co., Ltd.

MOL Ferry Co., Ltd. Imoto Corporation. MOL Marine & Engineering Co., Ltd. A.L.I. Technologies Inc.
Imoto Lines, Ltd.

Fully autonomous navigation at Sarushima, Yokosuka

The Nippon Foundation

Marubeni Corporation

Mitsui E&S Shipbuilding Co., Ltd. Tryangle Inc. Yokosuka City

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 Ships for automated voyage demonstrations
19GT Passenger Catamaran 749GT Container Ship 11,410GT Car Ferry
“SEA FRIEND ZERO” “MIKAGE” “SUNFLOWER SHIRETOKO”
Tryangle Inc. Imoto Lines, Ltd. MOL Ferry Co., Ltd.
Length 19.8m 94.4m 190m
Width 7.1m 13.1m 26.4m
Draft 0.8m 3.8m 6.85m
Speed 12knots 13.4knots 25knots
Capacity 236 persons 194 containers 160 large trucks, 62 cars
Manoeuvring Device •2 propellers, 2 rudders •1 propeller, 1 rudder •2 propellers, 2 rudders
•Bow Thruster×2 •Controllable Pitch Propeller Controllable Pitch Propeller
•Bow Thruster×1 • Bow Thruster×2
•Stern Thruster×1
Demonstration Mikasa Pier ~ Sarushima island Tsuruga ~ Sakaiminato Tomakomai~Oarai
route About 1 mile About 145 miles About 400 miles
Remarks •Demonstration using small •World's longest time and •World's longest time and
passenger ships that is a key distance at the time of distance
element of remote island routes demonstration test •Voyage through day and night
•Voyage through day and night
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Passenger Catamaran “SEA FRIEND ZERO” of demonstration tests and preparations

Demonstration test route Passenger Catamaran Verification using simulators

(Mikasa Pier～ Sarushima) “SEA FRIEND ZERO”
*https://www.tryangle-web.com/shipinfo/

Risk assessment with HAZID Control board of MMS Screen of avoidance planning Trajectory of berthing
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749GT Container ship “MIKAGE” of demonstration tests and preparations

Demonstration test route 749GT Container ship “Mikage” Scenery of equipment installation
(Tsuruga～Sakaiminato)

Screen of instructions for Trajectory of berthing Screen of avoidance planning

installed systems
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Car Ferry “SUNFLOWER SHIRETOKO” of demonstration tests and preparations

Demonstration test route Large Car Ferry View of bridge

(Tomakomai～Oarai) “Sunflower Shiretoko ” during demonstration test

View from bridge Verification using simulators （1） Screen of avoidance planning
during demonstration test
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Mitsui E&S Shipbuilding Co., Ltd..