This paper presents the mathematical model of the real-time ship simulator for low-speed maneuvering developed by the University of São Paulo, Transpetro and Petrobras, with the technical collaboration of Brazilian Pilots Association (CONAPRA). The software is based on the TPN (Numerical Offshore Tank) numerical code which had several modifications, in order to perform real-time simulations.

After the complete description of the mathematical model, some illustrative results of simulations executed with pilots are exposed.

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