MINISTRY OF TRANSPORT MINISTRY OF EDUCATION AND TRAINING

VIETNAM MARITIME UNIVERSITY

LE CONG TUAN ANH – 55489 - DKT55CH

LA NGOC PHU – 55466 - DKT55CH

HOANG NGUYEN LUONG - 62509 - DKT56CH

GRADUATION THESIS

RESEARCH ON PIVOT POINT IN SHIP HANDLING

Haiphong - 2019
MINISTRY OF TRANSPORT MINISTRY OF EDUCATION AND TRAINING
VIETNAM MARITIME UNIVERSITY

LE CONG TUAN ANH – 55489 - DKT55CH

LA NGOC PHU – 55466 - DKT55CH

HOANG NGUYEN LUONG - 62509 - DKT56CH

GRADUATION THESIS
RESEARCH ON PIVOT POINT IN SHIP HANDLING

DEPARTMENT: NAVIGATION CODE: 7840106CH101

MAJOR: NAVIGATION

Supervisor: Dr. Trinh Xuan Tung

Haiphong - 2019
 THANKS
In order to complete this internship report topic, I would like to firstly
send to the teachers and teachers the most sincere thanks
In particular, I would like to send to Dr. Trinh Xuan Tung - who has
enthusiastically guided and helped me complete this graduation project topic
with deepest thanks.
I would like to express my sincere thanks to the support of the leadership,
the teachers in the school who have facilitated me to learn to provide figures and
documents for me during my study and project development.
Because my knowledge is limited, in the process of studying and
completing this project, I cannot avoid mistakes, I hope to receive suggestions
from teachers.
Haiphong, 18th of November, 2019
Sincerely Thank you!
 ASSURANCE

We hereby declare that this is a separate study. The figures and results in
the topic are honest and have not been published in other topics. If not as stated
above, we are solely responsible for our topic
IMPLEMENTATION OF THE GROUP OF STUDENTS

(Sign and write full name)

Le Cong Tuan Anh La Ngoc Phu Hoang Nguyen Luong

 INDEX

LIST OF FIGURES.................................................................................................
INTRODUCTION..................................................................................................i
1. The urgency of the thesis................................................................................i
2. Overview of thesis situation and documents related to the thesis.................ii
3. Research’s purpose........................................................................................ii
4. Subject and scope of the study.......................................................................ii
5. Research method............................................................................................ii
6. Scientific and practical meanings.................................................................iii
CHAPTER I: OVERVIEW OF THE PIVOT POINT...........................................1
1.1. Introduction.................................................................................................1
1.2. Definition....................................................................................................6
1.3. Traditional views about the ship's pivot point.............................................6
1.3.1. The position of COLR depends on.........................................................10
1.3.2. Apparent pivot point...............................................................................11
CHAPTER II: ANALYTICAL CALCULATION OF PIVOT POINT..............15
2.1. Dynamic concepts.....................................................................................15
2.2. The mathematical definition of the Pivot Point........................................19
2.3. The Pivot Point position due to a turning force........................................19
2.4. Interpretation of the formula for the Pivot Point Position.........................23
2.5. Experiments to find PP..............................................................................23
2.6. How does the pivot point move?...............................................................25
2.7. Analytical calculation of Pivot Point........................................................26
2.8. Pivot Point’s numerical calculation..........................................................27
CHAPTER 3: APPLICATION OF PIVOT POINT IN SHIP HANDLING.......28
3.1. Introduction...............................................................................................28
3.2. The pivot point in ship handing................................................................28
3.2.1. Pivot Point in ship kinematics................................................................28
3.2.2. The ship initially at rest with arbitrary force.........................................32
3.2.3. Ship under horizontal speed and horizontal force.................................35
 3.2.4. Turn a ship at a forward speed..............................................................36
3.2.5. Transients of motion under the single external transverse force...........39
3.2.6. Transients of the pivot point in ship stopping and moving astern.........42
3.2.7. Transients of the pivot point in ship standard and accelerated (“kick
ahead”) turns...................................................................................................43
3.2.8. Transients of the pivot point in ship bow thruster turning.....................44
CONCLUSION AND RECOMMENDATIONS................................................48
1. Conclusion....................................................................................................48
2. Recommendations........................................................................................48
REFERENCES....................................................................................................50
 LIST OF FIGURES

Number Name Page

1.1 Greater forward water-resistance of the PP 2
1.2 Wrong positioning of the pivot point 5
1.3 Example of a ship fitted with the Azipod dynamics running 7
backward
1.4 Resulting motion decomposed 9
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2.1 Manoeuvrability model having three degrees of freedom for 15
the reference system
2.2 Kinematic scheme of a turning ship 16
2.3 Coordinate system 20
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3.1 The coordinate system in a ship planar motion 29
3.2 Instantaneous local linear velocities and instantaneous pivot 29
point
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Number Name Page
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 LIST OF TABLES

1.1 The case of a ship with lateral velocity 36

1.2 Turned in place 37
1.3 .................................................................................................... ......
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3.1 .................................................................................................... ......
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 INTRODUCTION

As we know, the research topic of the center of the ship has appeared a
lot. These topics provide other useful definitions such as the ship's pivot point.
Develop a better understanding of the characteristics, characteristics, and
importance of the ship's pivot point in maneuvering ships, helping to improve
the technique in the process of ship control.
Research topic overview of the pivot point of the ship, analytical
calculation of pivot point and application of pivot point in ship handling.
The project uses reference materials about the center of the ship through
research articles and dissertations of analysts, thereby summarizing important
and useful knowledge about the pivot point of the ship. study on the pivot point
of the ship in controlling the ship.
After completing the topic, we can have a better understanding of the
ship's pivot point, the importance of the practicality of the ship’s pivot point in
ship control. The train will help eliminate the ambiguity which leads to some
confusion and misuse of the train operators. The topic will help students have a
clear Figure of the concept and a more accurate view of the pivot point of ships.

1. The urgency of the thesis

The presence and leading role of the shipping industry in the worldwide
demand for goods transportation have led to the formation of many maritime
routes as well as related stages of shipping of each country. With over 91% of
the total volume of goods shipped on large and modern ships, super-heavy ships
help the economy grow and close the goods gap and trade goods. between
countries around the world.
We can see how important the shipping industry is to economic
development, and in that series of operations, maritime navigation is also a very
important factor to continue developing the industry. Because of its importance,
we need to research and develop both technical issues and ship-related factors

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carefully researched and put into practice, so as to avoid false definitions and
prevent possible situations with ships.
Therefore, the topic "Research on pivot point in ship handling" is
carried out necessary and appropriate

2. Overview of thesis situation and documents related to the thesis

Currently, there are many ideas about the pivot point of the ship, but there
is no exact definition yet. So studying the subject of the pivot point of the ship
will increase the likelihood that we can get a complete view of the center of the
vessel. And can increasingly improve the quality of work and safety when
shipping

3. Research’s purpose

The project provides information, guides ships when mobilizing

knowledge, implementation of the pivot point. In addition, the project also has
Applications in ship handing for reference vessels to improve and continue to
maintain the assurance of efficiency and safety in maneuvering and circulation
of ships at sea.

4. Subject and scope of the study

The topics are focused on the research:

+ General theory of Pivot point
+ Mathematical analysis of Pivot Points
+ Application in ship handing
Scope of the research: the scope of research is based on both practical and
theoretical basis in the process of ship operation, in ship maneuver.

5. Research method

The project was developed, studied by many synthetic methods: refer to

online knowledge resources, compare, assess, analyze the knowledge transferred

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in the school's training system, and it is important that thanks to the guidance,
suggestions, and materials from the instructor specialized in navigation

6. Scientific and practical meanings

*Scientific significance
The project has synthesized knowledge about pivot points by integrated
sources to simplify maneuvering of ships, thereby reducing the risk of collision,
increasing the safety of cruise ships. Help with the part of ship maneuvering.
*Practical significance
This project helps naval officers to avoid collision easily, more quickly
and safely, ensure the safety of the ship and minimize the risk of undesirable
events.
In addition, this project is also a source of resources for students in the
navigation to learn more about knowledge, reference, improve their
understanding and capacity to be ready for the future

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 CHAPTER I: OVERVIEW OF THE PIVOT POINT

1.1. Introduction

The key point (PP) is an unstable point on the ship's symmetry axis and
there is no horizontal movement while the ship is rotating, which means the
position on the symmetry axis has a zero angle of drift. According to some
literature, the name which more exactly must be “apparent pivot point”. Such
points can be considered as a guideline, for example for operations that are less
readily available in studio or towing operations. The pivot point must fall near
the center of gravity in the first case so that the scanning area is as small as
possible during rotation, if the boat is pulled, the further away from the center of
gravity, the center of rotation will be determined more effective, the greater the
lateral forces exerted by the traction and smaller the turn.
Because of its usefulness in handling practical issues, this topic is mostly
covered by publications directed at captains or commanders. However, some
kinetic definitions allow the evaluation of this point location. Some dynamic
theories provide an estimate of the rotation axis steady-state position. These
methods are a good way to assess the pivot point from the design stage onwards.
The available bibliographic resources provide a wealth of information on
the relationship between the pivot point position and maneuverability
characteristics related to the different operating conditions, the shape of a ship
and the dynamics system of it. That currently makes a clear distinction between
PP and the centre of lateral resistance (COLR), which is considered as a
leverage point for effective lateral forces, because that difference is not clearly
indicated in some references and processed definition can fool one with the
incorrect conception that PP is the center of leverage for yawning moments. PP
is an effect of motion and is not an asset or something intrinsic to a ship. Its
position is a function of the lateral forces acting on a ship and this is why its
position is unstable point. By extending the second definition, by making sure

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that the PP position changes according to the function of the pressure fields
around the vessel, it is clear that design features, such as geometry and thruster,
and weak external factors, such as restricted waters, all affect the speed of the
boat and gestures. Interactions with other organs and the effects of wind and
flow can also change the PP position.
In terms of ship proportions, they have stated that a bulky ship with a
wider beam has PP closer to the bow of the ship when moving forward and
turning. This is detected with the greater forward water-resistance of the PP,
offset by a more open-angle.

Figure 1.1. Greater forward water-resistance of the PP

About the impact of depth on mobility, it is found that a larger diameter is

determined in the shallow water region, which is associated with smaller
floating corners according to a larger pace, a greater rate of speed, squatting, and
it found that the larger steering corners are required to achieve similar
processing features. This has been announced and widely studied and observed
in the mathematical models of movement, named the standard effect. According
to authors, similar variations have been announced in other places, but a specific
mention has been incorporated into the PP, according to the author, becoming
obsolete when the depth of the depth is moved from the country to the center of
the country. Exposition is made by emphasizing that the horizontal force (lift) in
the shallow water area in the deepwater region, and thus PP to COLR, and thus
driftless. On the contrary, it is believed that there is an increase in the pressure

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of the PP in the shallows and the drift angle, therefore, becomes smaller to avoid
excessive resistance.
When analyzing a propulsion system, it is clear that when a very effective
lateral force is created, a larger moment is created and a wide drift angle is
created to compensate for that resistance. For example, on boats with an
offshore or jet thrust, it enables faster turns and a greater drift angle than
conventional steering-rotor systems.
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 CONCLUSION AND RECOMMENDATIONS

1. Conclusion

The studies presented handled most aspects of the pivot point instantly.
Future research will focus on the direct use of the pivot point properties (in
terms of rules for its dynamic position) according to external disturbances in
various maneuver decision support systems or in automatic control controls
(including on-demand optimization).

These disturbances can be classified into active forces (of steering

devices) and passive (derived from weather and/or hydrodynamic interactions in
the case of limited navigation areas). Most modern control systems are
unidirectional, that is, they often control yawning movements, while lateral
motion is considered a side effect. This is an unacceptable practice, for example,
the classical single screw ship does not have a bow thruster, where the key point
is still somewhere at the bow of the ship in almost every maneuver mode, so the
basically limits its maneuverability. This should be fully taken into account
when planning and implementing a segment, especially in very limited areas.

2. Recommendations

As we all know, without the tools and references, the maritime will
become more difficult and the safety is not guaranteed. Therefore, to improve,
every ship and crew should equip and prepare as soon as possible to increase the
safety, professionalism, ability, and productivity of working at sea.

We need to study and analyze carefully and thoroughly to be able to

handle possible situations. Each crew of any ship needs to know and learn as
soon as possible to increase safety, professionalism, improve the quality of
work.

This document and knowledge just a source of general knowledge, it

needs to be developed, for example information technology applications
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 Not only to be a document for reference but also can be made to be a
software to help the navigator, officer, seaman, … for more convenient, easier,
more exactly, safer at sea.

Sincerely Thank you!

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 REFERENCES

[1] J. E. Carreño1, J. D. Mora, F. L. Pérez, A study of shallow water’s effect on

a ship’s pivot point, Ingenieria investigation, vol 32 (3), 2012.

[2] Akademia Morska w Szczecinie, Pivot point in ship manoeuvring, Scientific

Journals 20(92) 2010, pp. 13–24.

[3] Seong-Gi Seo, Rethinking the pivot point, Seaways August 2011.

[4] Paul D. BUTUŞINĂ, Ship’s pivot point in current and swell.

[5] Seong-Gi Seo, The use of pivot point in ship handing for safer and more
accurate ship maneuvering, International conference IMLA 19, Opatija 2011.

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 VIETNAM MARITIME UNIVERSITY
SCHOOL OF EXCELLENT EDUCATION

SUMMARY COMMENTS OF SUPERVISOR

1. Assess the quality of thesis/graduation thesis (in form, content, a summary of

achieved results, theory, practice, quality of explanation,....)

1.1. About the form

……………………………………………………………………………………
……………………………………………………………………………………

1.2. About content

……………………………………………………………………………………
……………………………………………………………………………………

2. Spirit of attitude, the effort of students in the implementation process:

……………………………………………………………………………………
……………………………………………………………………………………

3. Conclusion:……………………………………………………………………..

Note: Supervisor clearly notes that agree or disagree for protection of graduation
thesis.

Hai Phong, ............... of ....................2019

Supervisor