IEEE Robotics & Automation Magazine - September 2023 - 14

by simulator fidelity, which is somewhat deteriorated by the
unmodeled uncertainties, otherwise, the discrepancies may
be the result of instrument errors; for instance, the wave and
current measurements are usually difficult to accurately obtain.
These unpredictable factors are unavoidable thus far. The solutions
to improve simulation fidelity will be further explored,
e.g., to limit these factors to an acceptable range by trying to
improve simulation fidelity and preprocessing real-world measurements.
Overall, the validation supports twin-ship fidelity
and approves predictive and control applications.
FIGURE 5. Docking testing at Ålesund harbor in Norway. The gray ship and green trajectory present the real physical ship's behavior,
while the blue ship and blue trajectory present the digital twin's behavior; the video window shows the real operation, the same as the
gray ship presented.
Digital Space
Vessel Model
Hull
Onboard
Support
Automatic
Control
Azimuth 0
Azimuth 1
Real Measured Data
Physical Space
FIGURE 6. The digital twin ship assists autodocking based on cosimulation. CG: center of gravity; r/min: revolutions per minute.
14 IEEE ROBOTICS & AUTOMATION MAGAZINE SEPTEMBER 2023
r/min
Rudder
Command
Force
Velocities,
CG Position
Rudder
Command
Force
Velocities,
CG Position
r/min

IEEE Robotics & Automation Magazine - September 2023

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - September 2023

Contents
IEEE Robotics & Automation Magazine - September 2023 - Cover1
IEEE Robotics & Automation Magazine - September 2023 - Cover2
IEEE Robotics & Automation Magazine - September 2023 - 1
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