Automatic ship berthing using artificial neural network trained by consistent teaching data using nonlinear programming method. - Yaseen Adnan Ahmed; Kazuhiko Hasegawa (Eng. Appl. Artif. Intell., 2013)

Artificial neural network based automatic ship berthing combining PD controlled side thrusters - A combined controller for final approaching to berth. - Yaseen Adnan Ahmed; Kazuhiko Hasegawa (ICARCV, 2014)