This paper investigates the automatic berthing problem of underactuated surface vessels in case uncertain dynamics and yaw rate limitation, given importance control unmeasurable hydrodynamic parameters vessel at low speeds. First, we use differential homeomorphism coordinate transformation to solve underactuation. Second, a radial basis function network (RBF) is introduced approximate unknown n...

The main objective of this research is to analyze the current situation Beirut Container Terminal. proposed methodology mimic terminal operations using a simulation model ARENA software in order identify causes queueing occurring at berth allocation. Field was conducted and both qualitative quantitate data were collected interviews, on–site observations, online vessel tracking. A base developed...