Automated Mooring System Architecture

Project Overview

Traditional vessel mooring methods relying on manual operations (lines, ropes, and wires) present significant safety hazards and operational inefficiencies. These conventional approaches are a leading cause of incidents in port operations. This prototype system is designed as a closed-loop control system orchestrated by an Arduino Uno to simulate automated berthing using magnetic hooks.

Core Features

• Wave Simulation: Uses a stepper motor with a "swaying wing" to mimic the rhythmic movement of water waves[cite: 26, 27].
• Distance Measurement: Utilizes sonar principles with an HC-SR04 sensor to determine vessel proximity[cite: 34, 35].
• Automated Pulling: Employs a DC motor to simulate the mechanical action of bringing a vessel toward the quay[cite: 51].
• Status Indicators: Alternating LED patterns visually signify the engagement of conceptual magnetic hooks used for stabilization[cite: 68, 142, 144].
• Real-time Monitoring: Transmits distance readings and operational data via serial communication[cite: 20].

Hardware Component Specifications

• Central Control: Arduino Uno microcontroller acts as the brain processing all inputs and managing outputs[cite: 13].
• Stepper Motor: NEMA17 series providing 1.8 degrees per step (200 steps per full revolution)[cite: 28].
• Ultrasonic Sensor: HC-SR04 with a reliable measurement range of 2 cm to 400 cm[cite: 48].
• Motor Driver: L298N H-Bridge module to provide high-power signals to the DC motor[cite: 53, 55].
• Speed of Sound Conversion: The system uses 0.034 cm/µs at $20^{\circ}C$ for distance calculations[cite: 47, 48, 111].

System Architecture & Pin Mapping

The following pin assignments are utilized by the Arduino Uno control unit:

• Stepper Motor: Step Pin (2), Direction Pin (3)[cite: 160, 162].
• DC Motor Control: MotorIn1 (5), MotorIn2 (6)[cite: 163, 165].
• Ultrasonic Sensor: Trig Pin (12), Echo Pin (13)[cite: 167, 169].
• LED Indicators: LED1 (7), LED2 (8)[cite: 171, 172].

Operational Logic

The loop() function executes a continuous operational cycle[cite: 191]:

1. Environmental Simulation: The stepper motor completes 200 steps clockwise, pauses for 1 second, and completes 200 steps counter-clockwise[cite: 194, 197, 199, 201].
2. Sensing: The ultrasonic sensor triggers a pulse to measure distance[cite: 207]. The distance is calculated using the formula: $$distance = (duration × times 0.034) / 2$$[cite: 110, 111].
3. Control Decision:
   • If the calculated distance is less than 30 cm, the DC motor is set to a "Stop" state[cite: 208, 209].
   • If the distance is 30 cm or greater, the DC motor is set to "Running" to pull the vessel[cite: 209].
4. Visual Feedback: LEDs blink in an alternating pattern for 500 milliseconds each to indicate system activity and stabilization[cite: 150, 210, 211].