NO342581B1 - Automated transportable mooring unit and a system comprising multiple automated transportable mooring units - Google Patents

Automated transportable mooring unit and a system comprising multiple automated transportable mooring units Download PDF

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Publication number
NO342581B1
NO342581B1 NO20170158A NO20170158A NO342581B1 NO 342581 B1 NO342581 B1 NO 342581B1 NO 20170158 A NO20170158 A NO 20170158A NO 20170158 A NO20170158 A NO 20170158A NO 342581 B1 NO342581 B1 NO 342581B1
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Norway
Prior art keywords
mooring
unit
automated
transportable
crane
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NO20170158A
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Norwegian (no)
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NO20170158A1 (en
Inventor
Oskar Levander
Stuart Moss
Juha Rokka
Frøy Birte Bjørneseth
Ivar Ihle
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Rolls Royce Marine As
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Application filed by Rolls Royce Marine As filed Critical Rolls Royce Marine As
Priority to NO20170158A priority Critical patent/NO20170158A1/en
Priority to PCT/NO2018/000002 priority patent/WO2018143816A1/en
Publication of NO342581B1 publication Critical patent/NO342581B1/en
Publication of NO20170158A1 publication Critical patent/NO20170158A1/en

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02B—HYDRAULIC ENGINEERING
    • E02B3/00—Engineering works in connection with control or use of streams, rivers, coasts, or other marine sites; Sealings or joints for engineering works in general
    • E02B3/20—Equipment for shipping on coasts, in harbours or on other fixed marine structures, e.g. bollards
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B21/04—Fastening or guiding equipment for chains, ropes, hawsers, or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B21/04—Fastening or guiding equipment for chains, ropes, hawsers, or the like
    • B63B21/08—Clamping devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B21/16—Tying-up; Shifting, towing, or pushing equipment; Anchoring using winches

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  • Engineering & Computer Science (AREA)
  • Ocean & Marine Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Environmental & Geological Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Jib Cranes (AREA)
  • Conveying And Assembling Of Building Elements In Situ (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

Automated transportable mooring unit (1) comprising; - a rope handling crane (2) with a grasp unit to collect and deliver a rope, and - one or more winch(es) (3), - a crane and rope handling Control system, - a communication device, - a locking and unlocking mechanism (4) for fixing/ releasingthe unit (1) to/from the port infrastructure. A system comprises multiple automated transportable mooring units communicatingwith each other.Automated transportable mooring unit (1) including; - a rope handling crane (2) with a grasp unit to collect and deliver a rope, and - one or more winch (es) (3), - a crane and rope handling Control system, - a communication device, - a locking and unlocking mechanism (4) for fixing / releasingthe unit (1) to / from the port infrastructure. A system comprises multiple automated transportable mooring units communicatingwith each other.

Description

Field of the invention
The present invention concerns an automated transportable mooring unit and a system comprising multiple automated transportable mooring units.
Background of the invention
Today vessels require crew on both the quai and the vessel to moor or unmoor a vessel in port. This is a labour intensive operation where ship crews transfer ropes to shore crews who then fasten the ropes by hand and/or using costly deck machinery.
Furthermore todays vessels have costly mooring equipment that increases their capital costs and this equipment is not used when they are at sea.
Therefore mooring of vessels is usually done by use of stationary ship equipment and methods that are labor intensive and not automated. Semi automatic quai side mooring systems are however known. Benefits of automation include increased speed of operation, higher efficiency and precision, and improved repeatability.
A mooring system for a vessel comprising a robot arm is disclosed in WO2012060511 A1. It is described rails arranged which allows the mooring system to move thereon. The mooring device is thereby transportable but limited to the location of the rails.
JP2006232046 A discloses a mooring device capable of mooring a ship to a quay without using a mooring wire. There is used a tiltable telescopic arm for mooring.
WO 95/18038 A1 concerns a method of manipulating a connecting element in shipping. It discloses a portable mooring unit consisting of a crane with a gripper for handling of a hawser, a winch, a control and communication unit. The mooring unit comprises sensors such that the hawser can be attached automatically.
GB1591646 discloses a system for mooring a vessel to an off-shore tower. The mooring device can be operated from the vessel by radio means.
These devices mentioned above further pose the problem that they are expensive, require a large amount of quai side space, and are permanently fastened to the quai side not providing the required flexiblity for varying ship sizes and types. Furthermore these systems do not provide a holistic tensioning system to ensure safe and proper mooring.
Furthermore remote/autonomous vessels will begin to enter service in the near future. These vessels inherently have the problem of making rope connections as some or all of the crew will no longer be present.The purpose of the present invention is to provide a device and a method that addresses at least one of these problems while retaining the benefits of prior art.
Summary of the invention
The proposed invention disclose a system of several mooring units that are automated and capable of communicating with each other to ensure safe and proper mooring, and where each mooring unit is a compact and integrated device which is easy to move and also to be fastened/released to/from the port infrastructure. The improvements compared to the prior art are achieved according to the invention by providing an automated transportable mooring unit, according to claim 1, comprising;
- a rope handling crane with a grasp unit to collect and deliver a rope, and - one or more winch(es),
- a crane and rope handling control system,
- a communication device,
- a locking and unlocking mechanism for fixing/ releasing the unit to/from the port infrastructure, where the locking and unlocking mechanism is adapted for fixing/ releasing the unit to/from one bollard, multiple bollards or other existing port infrastructure.
In another aspect the present invention relates a system, according to claim 13, comprising multiple automated transportable mooring units.
Further embodiments of the invention are disclosed in the dependent claims.
Brief description of the drawings
The invention will be described in greater detail below by means of exemplary embodiments with reference to the accompanying drawing, in which:
Figure 1 shows an automated transportable mooring unit according to the invention.
Figure 2 shows a system comprising multiple automated transportable mooring units according to the invention.
Detailed description
Figure 1 illustrates an automated transportable mooring unit 1, for transferring a rope between a quay and a vessel and controlling the mooring lines throughout the stay of the vessel. The invention also discloses a system of several mooring units 1, as illustrated in Figure 2.
The mooring unit 1 as illustrated in Figure 1 comprises one or more winch(es) 3. It is a compact and integrated transportable unit and can therefore easily be moved to different locations in the port. This can be done with assistance of a truck, trailer, and/or a fork lift or other transport devices.
The compact transportable mooring unit 1 comprises a rope handling crane 2 with a grasp unit to collect and deliver a rope 3. The mooring unit 1 also comprises a crane and rope handling control system. The crane and rope handling system is capable of operating autonomously or remotely by an operator from shore. It is integrated with the mooring winch 3 system and equipped to allow for paying out or taking in the rope while connecting or disconnecting. In one embodiment the crane and rope handling system it is capable of operating remotely by an operator from the vessel. The operator can access system through a remote control platform or a worldwide web internet based platform or similar. The ship can then access control through a web based platform.
The crane 2 is provided with sensors and/or cameras to identify ropes, chains, winches, spools, bollards, and crew members, and other relevant mooring instruments/devices. The crane 2 may grasp and release a rope and it is able to collect and deliver the rope from a winch, a spool, a bollard, a flat surface, or from a hand of a crew member. The crane is able to wrap the rope around a fixed point and return it to the winch or a bollard on the quay.
The mooring unit 1 includes a communication device, where the communication device may be any available equipment such as wifi, blue tooth, 3G/4G, radio, or other.
The mooring unit comprises a drum, drive, and control system, and sensors to detect the tension of the ropes, angle of the ropes, and environmental factors. It communicates with a control system which operates autonomously or remotely to tighten or loosen mooring ropes based on demands of the rope handling crane 2, changes in tension, or changes in environmental conditions. The winch or winches thereby allow the ropes to be tightened or loosened to ensure the secure placement of the vessel.
The winch 3 is in one embodiment provided on a vertically rotating platform. By use of a vertically rotating platform it allow for ropes to come off the drum perpendicular to the drum axis.
The mooring unit 1 further comprises a locking and unlocking mechanism 4 for fixing/ releasing the unit 1 to/from the port infrastructure. The locking mechanism will allow the mooring unit 1 to fix itself to existing infrastructure such as bollards, multiple bollards or other existing port infrastructure. The locking/unlocking mechanism is versatile to avoid adapting the equipment to the type of bollard it is locking on to. This device can be hydraulic, electric, and or mechanical. In an embodiment the mooring unit locks itself to existing infrastructure with an electromagnet in combination with a mechanical locking clamp redundantly securing the grip to the infrastructure. The port infrastructure may also be upgraded to accommodate the locking mechanism. A specially designed infrastructure locking platform is provided at some locations.
The mooring unit 1 is powered by batteries and/or a small internal combustion genset and/or shore power connection.
To be able to moor all types of vessels properly the inventions also concerns a system comprising multiple automated transportable mooring units 1 as illustrated in Figure 2. Because the mooring units 1 are compact they can easily be transported and positioned at suitable locations to properly moor any type of vessels. The mooring units 1 are able to communicate with each other and/or by a centralized overall remote control system. By a communication device such as wifi, blue tooth, 3G/4G, radio, etc. the mooring unit 1 can communicate with other similar units such that they can tighten or loosen in tandem to ensure proper and secure positioning of the vessel. The remote centralized control device is located onshore at a distance so that the signals reach the mooring units, or at a constructed mooring island or on the vessel.
While the invention has been described with reference to specific examples and embodiments, the scope of the invention is determined by the accompanying claims.

Claims (14)

ClaimsClaims 1. Automated transportable mooring unit (1) comprising;1. Automated transportable mooring unit (1) comprising; - a rope handling crane (2) with a grasp unit to collect and deliver a rope, and - one or more winch(es) (3),- a rope handling crane (2) with a grasp unit to collect and deliver a rope, and - one or more winch(es) (3), - a crane and rope handling control system,- a crane and rope handling control system, - a communication device,- a communication device, - characterized by- characterized by - a locking and unlocking mechanism (4) for fixing/ releasing the unit (1), to/from the port infrastructure, where the locking and unlocking mechanism (4) is adapted for fixing/ releasing the unit (1) to/from one bollard, multiple bollards or other existing port infrastructure.- a locking and unlocking mechanism (4) for fixing/releasing the unit (1), to/from the port infrastructure, where the locking and unlocking mechanism (4) is adapted for fixing/releasing the unit (1) to/from one bollard, multiple bollards or other existing port infrastructure. 2. Automated transportable mooring unit (1) according to claim 1 characterized by that the locking and unlocking mechanism (4) is adapted for fixing/ releasing the unit (1) to/from a specially designed infrastructure locking platform provided.2. Automated transportable mooring unit (1) according to claim 1 characterized by that the locking and unlocking mechanism (4) is adapted for fixing/releasing the unit (1) to/from a specially designed infrastructure locking platform provided. 3. Automated transportable mooring unit (1) according to any of claim 1-2 characterized by that the locking and unlocking mechanism (4) is actuated mechanically, electrically, hydraulically, and/or magnetically.3. Automated transportable mooring unit (1) according to any of claim 1-2 characterized by that the locking and unlocking mechanism (4) is actuated mechanically, electrically, hydraulically, and/or magnetically. 4. Automated transportable mooring unit (1) according to any of the preceding claim characterized by that the crane (2) is provided with sensors and/or cameras to identify mooring equipment, mooring devices and/or instruments.4. Automated transportable mooring unit (1) according to any of the preceding claim characterized by that the crane (2) is provided with sensors and/or cameras to identify mooring equipment, mooring devices and/or instruments. 5. Automated transportable mooring unit (1) according to any of the preceding claim characterized by that the crane (2) is provided with sensors and/or cameras to identify ropes, chains, winches, spools, bollards and human crew members.5. Automated transportable mooring unit (1) according to any of the preceding claim characterized by that the crane (2) is provided with sensors and/or cameras to identify ropes, chains, winches, spools, bollards and human crew members. 6. Automated transportable mooring unit (1) according to any of the preceding claim characterized by that the crane and rope handling control system is: - capable of operating autonomously or remotely by an operator,6. Automated transportable mooring unit (1) according to any of the preceding claim characterized by that the crane and rope handling control system is: - capable of operating autonomously or remotely by an operator, - integrated with the mooring winch (3) system and equipped to allow for paying out or taking in the rope while connecting or disconnecting.- integrated with the mooring winch (3) system and equipped to allow for paying out or taking in the rope while connecting or disconnecting. 7. Automated transportable mooring unit (1) according to any of the preceding claim characterized by that the crane and rope handling control system is: - capable of operating remotely by an operator from the vessel who can access system through a world wide web internet based platform.7. Automated transportable mooring unit (1) according to any of the preceding claim characterized by that the crane and rope handling control system is: - capable of operating remotely by an operator from the vessel who can access system through a world wide web internet based platform. 8. Automated transportable mooring unit (1) according to any of the preceding claims characterized by that the winch(3) comprises;8. Automated transportable mooring unit (1) according to any of the preceding claims characterized by that the winch (3) comprises; - a drum, drive, and control system, and- a drum, drive, and control system, and - sensors to detect the tension of the ropes, angle of the ropes, and environmental factors,- sensors to detect the tension of the ropes, angle of the ropes, and environmental factors, - a control system which operates autonomously or remotely to tighten or loosen mooring ropes based on demands of the rope handling crane (2), changes in tension, or changes in environmental conditions.- a control system which operates autonomously or remotely to tighten or loosen mooring ropes based on demands of the rope handling crane (2), changes in tension, or changes in environmental conditions. 9. Automated transportable mooring unit (1) according to any of the preceding claims characterized by that the winch (3) is provided on a vertically rotating platform to allow for ropes to come off the drum perpendicular to the drum axis.9. Automated transportable mooring unit (1) according to any of the preceding claims characterized by that the winch (3) is provided on a vertically rotating platform to allow for ropes to come off the drum perpendicular to the drum axis. 10. Automated transportable mooring unit (1) according to any of the preceding claims characterized by that the unit is compact and transportable by use of but not limited to a fork lift, or a trailer, or an automated transport vehicle.10. Automated transportable mooring unit (1) according to any of the preceding claims characterized by that the unit is compact and transportable by use of but not limited to a fork lift, or a trailer, or an automated transport vehicle. 11. Automated transportable mooring unit (1) according to any of the preceding claims characterized by that the communication device is wifi, blue tooth, 3G/4G/4G LTE/5G, radio, physical connection or other.11. Automated transportable mooring unit (1) according to any of the preceding claims characterized by that the communication device is wifi, blue tooth, 3G/4G/4G LTE/5G, radio, physical connection or other. 12. Automated transportable mooring unit (1) according to any of the preceding claims characterized by that the unit is powered by batteries and/or a small internal combustion generator set and/or shore power connection.12. Automated transportable mooring unit (1) according to any of the preceding claims characterized by that the unit is powered by batteries and/or a small internal combustion generator set and/or shore power connection. 13. System characterized by comprising multiple automated transportable mooring units (1) according to any of claims 1-12.13. System characterized by comprising multiple automated transportable mooring units (1) according to any of claims 1-12. 14. System according to claim 13 characterized by that the units (1) are communicating with each other and/or by a centralized overall remote control.14. System according to claim 13 characterized by that the units (1) are communicating with each other and/or by a centralized overall remote control. PatentkravPatent claims 1. Automatisert flyttbar fortøyningsenhet (1) omfattende;1. Automated movable mooring unit (1) comprising; - en tauhåndteringskran (2) med en gripeenhet for å hente og levere et tau, og - én eller flere vinsj(er) (3),- a rope handling crane (2) with a gripping unit for picking up and delivering a rope, and - one or more winch(s) (3), - en kran og et tauhåndteringsstyresystem,- a crane and a rope handling control system, - en kommunikasjonsenhet,- a communication device, - karakterisert ved- characterized by - en låse- og åpnemekanisme (4) for å feste/frigjøre enheten (1), til/fra havneinfrastrukturen, der låse- og åpnemekanismen (4) er tilpasset for å feste/frigjøre enheten (1) til/fra en fortøyningspåle, flere fortøyningspåler eller annen eksisterende havneinfrastruktur.- a locking and opening mechanism (4) for attaching/releasing the unit (1) to/from the port infrastructure, where the locking and opening mechanism (4) is adapted to attach/release the unit (1) to/from a mooring pole, several mooring piles or other existing port infrastructure. 2. Automatisert flyttbar fortøyningsenhet (1) i henhold til krav 1 karakterisert ved at låse- og åpnemekanismen (4) er tilpasset for å feste/frigjøre enheten (1) til/fra en spesialdesignet infrastrukturlåseplattform tilveiebrakt.2. Automated movable mooring unit (1) according to claim 1 characterized in that the locking and opening mechanism (4) is adapted to attach/release the unit (1) to/from a specially designed infrastructure locking platform provided. 3. Automatisert flyttbar fortøyningsenhet (1) i henhold til ett av krav 1-2 karakterisert ved at låse- og åpnemekanismen (4) blir aktivert mekanisk, elektrisk, hydraulisk og/eller magnetisk.3. Automated movable mooring unit (1) according to one of claims 1-2 characterized in that the locking and opening mechanism (4) is activated mechanically, electrically, hydraulically and/or magnetically. 4. Automatisert flyttbar fortøyningsenhet (1) i henhold til ett av de foregående krav karakterisert ved som kranen (2) er tilveiebrakt med sensorer og/eller kameraer for å identifisere fortøyningsutstyr, fortøyningsenheter og/eller instrumenter.4. Automated movable mooring unit (1) according to one of the preceding claims characterized in that the crane (2) is provided with sensors and/or cameras to identify mooring equipment, mooring units and/or instruments. 5. Automatisert flyttbar fortøyningsenhet (1) i henhold til ett av de foregående krav karakterisert ved at kranen (2) er tilveiebrakt med sensorer og/eller kameraer for å identifisere tau, kjeder, vinsjer, spoler, fortøyningspåler og menneskelige besetningsmedlemmer.5. Automated movable mooring unit (1) according to one of the preceding claims characterized in that the crane (2) is provided with sensors and/or cameras to identify ropes, chains, winches, spools, mooring poles and human crew members. 6. Automatisert flyttbar fortøyningsenhet (1) i henhold til ett av de foregående krav karakterisert ved at kranen og tauhåndteringsstyringssystemet er:6. Automated movable mooring unit (1) according to one of the preceding claims characterized in that the crane and the rope handling control system are: - i stand til å operere autonomt eller fjernstyrt av en operatør,- able to operate autonomously or remotely controlled by an operator, - integrert med fortøyningsvinsjsystemet (3) og utstyrt slik at tauet kan legges ut eller tas inn under tilkopling eller frakopling.- integrated with the mooring winch system (3) and equipped so that the rope can be laid out or taken in during connection or disconnection. 7. Automatisert flyttbar fortøyningsenhet (1) i henhold til ett av de foregående krav karakterisert ved at kran- og tauhåndteringsstyresystemet er:7. Automated movable mooring unit (1) according to one of the preceding requirements, characterized in that the crane and rope handling control system is: - i stand til å opereres eksternt av en operatør fra fartøyet som kan få tilgang til systemet via en world wide web internett-basert plattform.- able to be operated remotely by an operator from the vessel who can access the system via a world wide web internet-based platform. 8. Automatisert flyttbar fortøyningsenhet (1) i henhold til ett av de foregående krav karakterisert ved at vinsjen(3) omfatter;8. Automated movable mooring unit (1) according to one of the preceding claims, characterized in that the winch (3) comprises; - en trommel, drivverk og styringssystem, og- a drum, drive and control system, and - sensorer for å oppdage spenning i tauene, vinkel av tau og miljømessige faktorer,- sensors to detect tension in the ropes, angle of ropes and environmental factors, - et styringssystem som opererer autonomt eller fjernstyrt for å feste eller løsne fortøyningstauene basert på kravene til tauhåndteringskranen (2), endringer i spenning eller endringer i miljøforhold.- a control system that operates autonomously or remotely to fasten or release the mooring ropes based on the requirements of the rope handling crane (2), changes in tension or changes in environmental conditions. 9. Automatisert flyttbar fortøyningsenhet (1) i henhold til ett av de foregående krav karakterisert ved at vinsjen (3) er tilveiebrakt på en loddrett roterende plattform for å tillate tau å slippe løs fra trommelen vinkelrett til trommelaksen.9. Automated movable mooring unit (1) according to one of the preceding claims characterized in that the winch (3) is provided on a vertically rotating platform to allow ropes to be released from the drum perpendicular to the drum axis. 10. Automatisert flyttbar fortøyningsenhet (1) i henhold til ett av de foregående krav karakterisert ved at enheten er kompakt og flyttbar ved bruk av, men ikke begrenset til, en gaffeltruck eller en trailer eller et automatisert transportkjøretøy.10. Automated movable mooring unit (1) according to one of the preceding claims characterized in that the unit is compact and movable using, but not limited to, a forklift or a trailer or an automated transport vehicle. 11. Automatisert flyttbar fortøyningsenhet (1)) i henhold til ett av de foregående krav karakterisert ved at kommunikasjonsenheten er wifi, Bluetooth, 3G/4G/4G LTE/5G, radio, fysisk tilkobling eller annet.11. Automated movable mooring unit (1)) according to one of the preceding claims characterized in that the communication unit is wifi, Bluetooth, 3G/4G/4G LTE/5G, radio, physical connection or other. 12. Automatisert flyttbar fortøyningsenhet (1) i henhold til ett av de foregående krav karakterisert ved at enheten drives av batterier og/eller et lite indre forbrenningsmotorgeneratorsett og/eller landstrømtilkobling.12. Automated movable mooring unit (1) according to one of the preceding claims characterized in that the unit is powered by batteries and/or a small internal combustion engine generator set and/or shore power connection. 13. Systemet karakterisert ved at det omfattet flere automatiserte transportable fortøyningsenheter (1) i henhold til ett av krav 1-12.13. The system characterized in that it comprised several automated transportable mooring units (1) according to one of claims 1-12. 14. Systemet ifølge krav 13 karakterisert ved som enhetene (1) kommuniserer med hverandre og/eller en sentralisert total fjernstyring.14. The system according to claim 13, characterized in that the units (1) communicate with each other and/or a centralized total remote control.
NO20170158A 2017-02-01 2017-02-01 Automated transportable mooring unit and a system comprising multiple automated transportable mooring units NO20170158A1 (en)

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NO20170158A NO20170158A1 (en) 2017-02-01 2017-02-01 Automated transportable mooring unit and a system comprising multiple automated transportable mooring units
PCT/NO2018/000002 WO2018143816A1 (en) 2017-02-01 2018-01-31 Automated transportable mooring unit and a system comprising multiple automated transportable mooring units

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CN114070538A (en) * 2021-11-03 2022-02-18 山东星通易航通信科技有限公司 Dynamic pilot frequency allocation method in ship-shore VDE communication

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EP0183847A1 (en) * 1984-05-31 1986-06-11 Nippon Kokan Kabushiki Kaisha Mooring arrangement
JPS6251096U (en) * 1985-09-19 1987-03-30
WO1995018038A1 (en) * 1993-12-31 1995-07-06 Sven Olaf Aarts A method of manipulating a connecting element in shipping
KR20130134838A (en) * 2012-05-31 2013-12-10 한국과학기술원 Robot arm apparatus for mooring

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