Journal is indexed in following databases:

2022 Journal Impact Factor - 0.6
2022 CiteScore - 1.7




ISSN 2083-6473
ISSN 2083-6481 (electronic version)




Associate Editor
Prof. Tomasz Neumann

Published by
TransNav, Faculty of Navigation
Gdynia Maritime University
3, John Paul II Avenue
81-345 Gdynia, POLAND
Vessel-Fender Contact Force Modelling for a Real-time Ship Manoeuvring Simulator
1 University of São Paulo, São Paulo, Brazil
ABSTRACT: This paper presents the development of a method for calculating the horizontal contact forces between two bodies in a real-time ship manoeuvring simulator. The method was implemented in the simulator of the University of São Paulo, whose computing core is named “Dyna”. The model proposed calculates restoration and friction forces between bodies and has a Momentum-Impulse based criterion to reduce numerical issues when the simulation numerical integration has large time-steps. The model was empirically evaluated at the simulator by deck officers, in real-time simulations with pilots and tugmasters. We also ran simulations of that model to compare its performance under different integration time-steps lengths.
PIANC (2002), Guidelines for the Design of Fender Systems: 2002, report of working group 33 of the Maritime Navigation Commission, Brussels.
Antolloni, G., Carbonari, S., Gara, F., Lorenzoni, C. and Mancinelli, A. (2017). ‘Simple Physical Models to Simulate the Behavior of Buckling-Type Marine Fenders’, Journal of Waterway, Port, Coastal, and Ocean Engineering, vol. 143, no. 1, p. 04016014. - doi:10.1061/(ASCE)WW.1943-5460.0000360
Eskew, Z., (2020). "A Computational Analysis of Marine Fenders Under Heavy Weather Mooring Conditions" (2020). UNF Graduate Theses and Dissertations. 997. Retrieved from:
Han, Z.,Li, C.,Deng, Y. and Liu, J. (2019). "The analysis of anti-collision performance of the fender with offshore wind turbine tripod impacted by ship and the coefficient of restitution". Ocean Engineering. Volume 194, p. 106614, ISSN 0029-8018, - doi:10.1016/j.oceaneng.2019.106614
Atiq, M.S., Shajib, A.K.J. Hoquem K.N., (2022). “Analysis of Marine Fender Systems Minimizing the Impact of Collision Damage”. Proceedings of MARTEC 2022, The International Conference on Marine Technology, Dhaka, Bangladesh - doi:10.2139/ssrn.4445128
Tannuri, E. A., Rateiro, F., Fucatu, C. H., Ferreira, M. D., Masetti, I. Q., & Nishimoto, K., (2014), “Modular mathematical model for a low-speed maneuvering simulator”. In International Conference on Offshore Mechanics and Arctic Engineering, ASME-OMAE, San Francisco, USA. - doi:10.1115/OMAE2014-24414
Gea-Banacloche, J. (2019). “University Physics I: Classical Mechanics”. Open Educational Resources. Retrieved from - doi:10.54119/NDLA8675
Likharev, Konstantin, "Part CM: Classical Mechanics" (2013). Essential Graduate Physics. 2. Retrieved from
Citation note:
Moreno F.M., Sasaki H.A.U., Makiyama H.S., Tannuri E.A.: Vessel-Fender Contact Force Modelling for a Real-time Ship Manoeuvring Simulator. TransNav, the International Journal on Marine Navigation and Safety of Sea Transportation, Vol. 17, No. 4, doi:10.12716/1001.17.04.07, pp. 813-820, 2023
Authors in other databases:
Felipe Marino Moreno: Scopus icon57204432310 Scholar iconcBpW6NkAAAAJ
Humberto Akira Uehara Sasaki:
Humberto Shigueki Makiyama:

Other publications of authors:

File downloaded 47 times

Important: cookie usage
The website uses certain cookies. A cookie is a text-only string of information that the TransNav.EU website transfers to the cookie file of the browser on your computer. Cookies allow the website to perform properly and remember your browsing history. Cookies also help a website to arrange content to match your preferred interests more quickly. Cookies alone cannot be used to identify you.
Akceptuję pliki cookies z tej strony