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    Wyświetlanie 1-13 z 13
    Tytuł:
    Integrated problem of ship route planning
    Autorzy:
    Wiśniewski, B.
    Medyna, P.
    Chomski, J.
    Mąka, M.
    Powiązania:
    https://bibliotekanauki.pl/articles/393824.pdf
    Data publikacji:
    2011
    Wydawca:
    Polskie Stowarzyszenie Telematyki Transportu
    Tematy:
    planowanie trasy statku
    ograniczenia
    procedury
    ship route planning
    limitations
    procedures
    Opis:
    Planning and realization of ship route is a complex problem, which consists of elements from different disciplines. It is necessary to take into account: the formal requirements, the organization of traffic in restricted areas, exploitation limitations of the ship; economic issues relating to the costs of fuel and the costs associated with the possible unscheduled reaching the ship at the port of destination and waiting for unloading. It is important to maintain safety conditions related to extreme weather conditions. As the sailing is done on the changing weather conditions, considerable issue is the problem associated with the acquisition, processing and integration of weather data. Issues connected directly with the procedures of route computation are also important - the choice of optimization algorithm, matching the speed characteristics, the state of load. Increasingly being taken into account as restriction of navigation has to be the threat of piracy and terrorism. In the planning and realization of a ship voyage important issue is so called human factor and thus the experience of the master, which will include a decision as to the extent of detail of route planning, taking into account the restrictions importance and eventual adoption or not the proposed route
    Źródło:
    Archives of Transport System Telematics; 2011, 4, 4; 58-64
    1899-8208
    Pojawia się w:
    Archives of Transport System Telematics
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Ship route planning using historical trajectories derived from AIS Data
    Autorzy:
    He, Y. K.
    Zhang, D.
    Zhang, J. F.
    Zhang, M. Y.
    Li, T. W.
    Powiązania:
    https://bibliotekanauki.pl/articles/116536.pdf
    Data publikacji:
    2019
    Wydawca:
    Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
    Tematy:
    AIS Data
    Automatic Identification System (AIS)
    route planning
    historical trajectories
    AIS messages
    marine traffic
    Dijkstra algorithm
    ant colony algorithm
    Opis:
    Ship route planning is one of the key issues in enhancing traffic safety and efficiency. Many route planning methods have been developed, but most of them are based on the information from charts. This paper proposes a method to generate shipping routes based on historical ship tracks. The ship's historical route information was obtained by processing the AIS data. From which the ship turning point was extracted and clustered as nodes. The ant colony algorithm was used to generate the optimize route. The ship AIS data of the Three Gorges dam area was selected as a case study. The ships’ optimized route was generated, and further compared with the actual ship's navigation trajectory. The results indicate that there is space of improvement for some of the trajectories, especially near the turning areas.
    Źródło:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2019, 13, 1; 69-76
    2083-6473
    2083-6481
    Pojawia się w:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Global and local planning of ship route using MATLAB and Simulink
    Autorzy:
    Kupraty, O.
    Tomara, M.
    Powiązania:
    https://bibliotekanauki.pl/articles/24201406.pdf
    Data publikacji:
    2023
    Wydawca:
    Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
    Tematy:
    safety at sea
    global planning
    local planning
    marine autonomous surface ship
    device control
    Scenario Matrix
    path matrix
    route matrix
    Opis:
    This article considers a new method of decomposing the ship route into global and local planning using MATLAB and Simulink developed by the authors. The authors propose to create a program code in MATLAB and operate it into Simulink. Wherein, the corrective coefficients were written in MATLAB. Such trajectories are constructed as a set of points, collected into the special matrix. In determining of the angle value of the rudder was used the ship’s turning ability such as: high (HG), middle (MD) or low (LW) with regard to passage area. Moreover, in the article were analyzed and calculated the ship rudder effectiveness for Proportional-Integral-Derivative (PID) control. The paper is devoted to the problem of safety navigation. First of all is the task of planning the path: the trajectory of the vessel’s movement in the local water area. The purpose of planning the vessel trajectory in the local water area is to ensure navigation safety due to marine traffic and environmental conditions. One of the tasks of the present work is controlling following a desired trajectory. The article notes affect of the vessel motion deviation into control process.
    Źródło:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2023, 17, 1; 205--215
    2083-6473
    2083-6481
    Pojawia się w:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Efficiency of a voluntary speed reduction algorithm for a ship’s great circle sailing
    Autorzy:
    Wang, H.
    Mao, W.
    Eriksson, L.
    Powiązania:
    https://bibliotekanauki.pl/articles/117253.pdf
    Data publikacji:
    2020
    Wydawca:
    Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
    Tematy:
    great circle sailing
    algorithm, ship’s sailing route
    route planning
    Dynamic Programming (DP)
    great circle route
    great circle (orthodrome)
    Estimated Time of Arrival (ETA)
    Opis:
    The great-circle is the shortest distance between two points on the surface of the earth. When planning a ship’s sailing route (waypoints and forward speeds) for a specific voyage, the great circle route is commonly considered as a reference route, especially for ocean-crossing seaborne transport. During the planning process, the upcoming sea weather condition is one of the most important factors affecting the ship’s route optimization/planning results. To avoid encountering harsh conditions, conventional routing optimization algorithms, such as Isochrone method and Dynamic Programming method, have been developed/implemented to schedule a ship’s optimal routes by selecting waypoints around the great circle reference route based on the ship’s operational performances at sea. Due to large uncertainties in sea weather forecast that used as inputs of these optimization algorithms, the optimized routes may have worse performances than the traditional great circle sailing. In addition, some shipping companies are still sailing in or making charting contracts based on the great circle routes. Therefore, in this study, a new optimization algorithm is proposed to consider the voluntary speed reduction with optimal speed configuration along the great circle course. The efficiency of this method is investigated by comparing these two methods for optimal route planning with respect to ETA and minimum fuel consumption. A container ship sailing in the North Atlantic with full-scale performance measurements are employed as the case study vessels for the comparison.
    Źródło:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2020, 14, 2; 301-308
    2083-6473
    2083-6481
    Pojawia się w:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Analysis of Methods of Determining the Safe Ship Trajectory
    Autorzy:
    Lisowski, J.
    Powiązania:
    https://bibliotekanauki.pl/articles/116647.pdf
    Data publikacji:
    2016
    Wydawca:
    Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
    Tematy:
    ship route
    Safe Ship Trajectory
    route planning
    Determining the Safe Ship Trajectory
    ship trajectory
    Artificial Neural Network (ANN)
    game theory
    computer simulation
    Opis:
    The paper describes six methods of optimal and game theory and artificial neural network for synthesis of safe control in collision situations at sea. The application of optimal and game control algorithms to determine the own ship safe trajectory during the passing of other encountered ships in good and restricted visibility at sea is presented. The comparison of the safe ship control in collision situation: multi-step matrix non-cooperative and cooperative games, multi-stage positional non-cooperative and cooperative games have been introduced. The considerations have been illustrated with examples of computer simulation of the algorithms to determine safe of own ship trajectories in a navigational situation during passing of eight met ships.
    Źródło:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2016, 10, 2; 223-228
    2083-6473
    2083-6481
    Pojawia się w:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Modeling navigation, ecologic and economic results of planned voyage of ship on the Northern Sea Route
    Autorzy:
    Pastusiak, T.
    Powiązania:
    https://bibliotekanauki.pl/articles/24201325.pdf
    Data publikacji:
    2022
    Wydawca:
    Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
    Tematy:
    safety at sea
    Northern Sea Route
    voyage planning
    ship's passage
    arctic navigation
    icebreaker
    modeling
    ship's voyage timetable
    Opis:
    Over the years, many publications have been published on planning ship’s passage through the NSR and input and output data modeling. Results were not considered in terms of errors of modeled output data. Basic research for the years 2008 - 2020 was carried out in the study on opening and closing dates of ice-free transit corridor on the NSR and probable number of tariff zones where paid assistance of icebreakers would be required. Mathematical relationships of average values and probable errors of navigational, ecological and economic ship voyage performance were developed. For this purpose, partial derivatives of functions were used. The outcomes of the study have shown that changes of total average cost of vessel’s transit voyage depends mostly on number of tariff zones where assistance of icebreakers is required. But navigation with icebreakers assistance ensures smaller standard deviation of total voyage time and thus more precise scheduling of ship's voyage timetable through the NSR. The higher probability of meeting requirements set by decision-maker when planning a long-term voyage of ship, the shorter time window for meeting these requirements. Outside the favorable time window, the navigational, ecological and economic results of voyage deteriorate very quickly.
    Źródło:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2022, 16, 4; 611--623
    2083-6473
    2083-6481
    Pojawia się w:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Agent system in control of ship movement
    Autorzy:
    Łebkowski, A.
    Dziedzicki, K.
    Powiązania:
    https://bibliotekanauki.pl/articles/2069705.pdf
    Data publikacji:
    2008
    Wydawca:
    Uniwersytet Morski w Gdyni. Polskie Towarzystwo Bezpieczeństwa i Niezawodności
    Tematy:
    decision support system
    e-navigation
    ship passing
    route planning
    navigation environment
    modeling
    Opis:
    The problem of determining the optimal passing route of the ship between its current position and a remote destination point including the navigation situation occurring during moving along the route has been a subject of many papers and so far has not been definitely solved. In order to determine an optimal and safe route of the ship and its control along it, the author suggests application of an agent system. In the presented agent system three goals are accomplished. The first relies on data acquisition about current navigation situation around the ship and on analysis of possible collision risk. Second target – so far not present in anti-collision systems – relies on automatic negotiations between ships that operate in the same water region or between the coast stations in order to determine the potential area thru which a passing route could have been set. The third one connected to determining the passing route and its autocorrecting depending on current navigation situation.
    Źródło:
    Journal of Polish Safety and Reliability Association; 2008, 2; 235--239
    2084-5316
    Pojawia się w:
    Journal of Polish Safety and Reliability Association
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Multi-criteria ACO-based algorithm for ship’s trajectory planning
    Autorzy:
    Lazarowska, A.
    Powiązania:
    https://bibliotekanauki.pl/articles/116548.pdf
    Data publikacji:
    2017
    Wydawca:
    Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
    Tematy:
    colregs
    ships manoeuvering
    Ant Colony Optimization (ACO)
    ship’s trajectory planning
    route planning
    multi-criteria ACO-based algorithm
    guidance
    navigation and control (GNC)
    ARPA
    Opis:
    The paper presents a new approach for solving a path planning problem for ships in the environment with static and dynamic obstacles. The algorithm utilizes a heuristic method, classified to the group of Swarm Intelligence approaches, called the Ant Colony Optimization. The method is inspired by a collective behaviour of ant colonies. A group of agents - artificial ants searches through the solution space in order to find a safe, optimal trajectory for a ship. The problem is considered as a multi-criteria optimization task. The criteria taken into account during problem solving are: path safety, path length, the International Regulations for Preventing Collisions at Sea (COLREGs) compliance and path smoothness. The paper includes the description of the new multi-criteria ACO-based algorithm along with the presentation and discussion of simulation tests results.
    Źródło:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2017, 11, 1; 31-36
    2083-6473
    2083-6481
    Pojawia się w:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Prediction of ship's speed through ground using the previous voyage's drift speed
    Autorzy:
    Yamane, D.
    Kano, T.
    Powiązania:
    https://bibliotekanauki.pl/articles/24201461.pdf
    Data publikacji:
    2023
    Wydawca:
    Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
    Tematy:
    machine learning
    weather routing
    ship's speed estimation
    drift speed
    algorithm
    route planning
    tidal current
    Opis:
    In recent years, 'weather routing' has been attracting increasing attention as a means of reducing costs and environmental impact. In order to achieve high-quality weather routing, it is important to accurately predict the ship's speed through ground during a voyage from ship control variables and predicted data on weather and sea conditions. Because sea condition forecasts are difficult to produce in-house, external data is often used, but there is a problem that the accuracy of sea condition forecasts is not sufficient and it is impossible to improve the accuracy of the forecasts because the data is external. In this study, we propose a machine learning method for predicting speed through ground by considering the actual values of the previous voyage’s drift speed for ships that regularly operate on the same route, such as ferries. Experimental results showed that this method improves the prediction performance of ship’s speed through ground.
    Źródło:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2023, 17, 1; 129--137
    2083-6473
    2083-6481
    Pojawia się w:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Algorithms and calculation scheme for planning the way of movement of trajectory point during maneuvering for anchoring
    Autorzy:
    Surinov, I.
    Powiązania:
    https://bibliotekanauki.pl/articles/2063956.pdf
    Data publikacji:
    2021
    Wydawca:
    Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
    Tematy:
    algorithms for planning ships trajectories
    planning the way of movement
    algorithms
    maneuvering for anchoring
    route planning
    ship’s trajectory planning
    algorithms for ships trajectories
    trajectory planning
    Opis:
    The analysis of the historical aspect of the development of the maneuvering during anchoring shows that during the movement there is no time to control the position by technical means, due to the speed of the process of changing the parameters of movement. The main purpose of this research is to modify the methodological basis for the preparation of flight planning during anchoring with increased accuracy to determine the coordinates along which the ship will move. The methodology of this work is based on the calculation of trajectory points of the path in combination with the method of segments on the map using the characteristics of the maneuverability of the vessel. The method is based on determining the coordinate matrices of rectilinear and curvilinear sections through which the vessel passes during maneuvering for anchoring. The calculation program is developed in Excel, and allows without the help of a micro calculator that takes into account the maneuverability of the vessel in the automatic system. Thus, the control of the center of gravity of the vessel relative to a given path line is performed. A high-precision system for automatic determination of planned coordinates by trajectory points on track and traffic control during anchoring has been developed, which is based on recently developed algorithms, calculation schemes and methods at the Maritime University, which are based on the latest meaningful models of high-precision planning movement on them. This approach automates the process of controlling safe traffic, including the use of decision support systems, including stranding prevention and collisions with other vessels. The results of the research can be used on a ship for automated planning of coordinates on waypoints and control of traffic on them for safe maneuvering, as well as for training navigators on specialized simulators to perform trajectory planning, including limited conditions.
    Źródło:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2021, 15, 3; 629--638
    2083-6473
    2083-6481
    Pojawia się w:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Problems of sea route planning for a ship operating in piracy-threatened areas: the Indian Ocean
    Problemy wyboru drogi morskiej statku operującego na akwenach zagrożonych atakami pirackimi na przykładzie Oceanu Indyjskiego
    Autorzy:
    Wiśniewski, B.
    Siódmak, S.
    Powiązania:
    https://bibliotekanauki.pl/articles/359986.pdf
    Data publikacji:
    2011
    Wydawca:
    Akademia Morska w Szczecinie. Wydawnictwo AMSz
    Tematy:
    planowanie podróży statku
    piraci
    route planning
    pirates
    Opis:
    One of the essential issues in the multi-criteria process of voyage planning is the safety of personnel, cargo and the ship itself, accounting for the optimized voyage time and costs. Apart from sometimes difficult weather and navigational conditions, pirates have been a new major threat to the safety of navigation since the beginning of this century. It is because of piracy, traditional routes of vessels differ from seasonal ones, and their threat is taken into consideration in decisions concerning the choice of the sea route of a ship. This article indicates the most dangerous routes in terms of pirate attacks occurrence over the last few years in the Indian Ocean. An attempt is made to relate the number of pirate attacks to hydrometeorological conditions and to define the effect of pirates activities on the problems of choosing the vessel sea route.
    W wielokryterialnym procesie planowania podroży statku jednym z najważniejszych zagadnień jest bezpieczeństwo znajdujących się na nim ludzi, ładunku i samego statku przy jednoczesnej optymalizacji czasu i kosztów podróży. Od kilku lat bezpieczeństwu nawigacji obok warunków pogodowych i nawigacyjnych zaczęli zagrażać piraci, którzy stali się głównym niebezpieczeństwem nawigacji początku XXI w. Właśnie ze względu na nich, dotychczasowe trasy statków odbiegają od sezonowych, a zagrożenie, jakie niosą, uwzględnia się w procesie decyzyjnym wyboru drogi morskiej statku. W artykule wskazano najbardziej niebezpieczne obszary pod względem występowania ataków pirackich w ostatnich latach na przykładzie Oceanu Indyjskiego. Dokonano próby powiązania liczby ataków pirackich z warunkami hydrometeorologicznymi, wskazując jednocześnie na wpływ aktywności piratów na problemy wyboru drogi morskiej statku.
    Źródło:
    Zeszyty Naukowe Akademii Morskiej w Szczecinie; 2011, 26 (98); 114-119
    1733-8670
    2392-0378
    Pojawia się w:
    Zeszyty Naukowe Akademii Morskiej w Szczecinie
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Evaluation Criteria and Approach to Voyage Planning in Ice. Verification on the Example of German Ship Activity During the Second World War
    Autorzy:
    Pastusiak, T.
    Powiązania:
    https://bibliotekanauki.pl/articles/320653.pdf
    Data publikacji:
    2018
    Wydawca:
    Polskie Forum Nawigacyjne
    Tematy:
    Northern Sea Route
    ice navigation
    voyage planning
    Opis:
    Vessels designed for navigation in ice can perform voyage with the assistance of icebreaker in the navigation season in case an ice cover area is less than 20%. Whereas the same vessels could carry out successfully completed voyage through the NSR with intensive icebreaker help at the ice-covered area lower than 42%. Navigation of the same vessel at ice covered area above 80% is possible with intensive icebreaker help, but it threatens to damage the hull, rudder or propeller. Excessive generalization of data analyzed may cause to wrong, even opposite conclusions. Using only basic statistical information in the form of average values and standard deviation may be not sufficient for the purpose of vessel’s voyage planning in areas covered with ice. Much more opportunities for the assessment of navigation in ice covered regions provides cumulative distribution, which should be related to the time and geographical space distribution. It allows to determine the duration of time window for given area covered with ice in a particular region and predetermined probability of its occurrence. It is thus possible to plan approximate date of departure and duration of voyage for assumed safety criteria. Also, it is possible to plan a number of consecutive voyages in a navigation season. Mathematical approach to voyage planning in ice based on a cumulative distribution is presented in the paper. It allows creation of an advisory computer application to support decision-making by the commander of a vessel. It will reduce the human factor in data processing and reduce possibility of making a mistake. By this way, can be enhanced the safety of maritime transport. Novell approach is verified on the example of historical data about the German Navy ship activity during the Second World War.
    W 1940 Roku na Północnej Drodze Morskiej (PDM) panowały ekstremalnie lekkie warunki lodowe w stosunku do kilku lat wcześniejszych i późniejszych. Najniższa powierzchnia pokrywy lodowej w regionach PDM w latach 1940-1945 występowała średnio w pierwszej dekadzie września. Statki przeznaczone do żeglugi w lodach mogą realizować podróże ze wsparciem lodołamaczy w sezonie nawigacyjnym w przypadku, gdy powierzchnia pokrycia poszczególnych mórz lodem jest mniejsza niż 20%. Nawigacja tego samego statku w rejonach PDM pokrytych lodem powyżej 80% jest możliwa przy intensywnej pomocy lodołamacza, ale grozi uszkodzeniem kadłuba, steru lub śruby napędowej. Do błędnych a nawet przeciwnych wniosków może prowadzić nadmierne uogólnienie analizowanych danych. Wykorzystanie jedynie podstawowych informacji statystycznych w postaci wartości średnich i odchyleń standardowych może być niewystarczające do celów planowania podróży statku na akwenach pokrytych lodem. Znacznie więcej możliwości dla oceny warunków żeglugi w regionach pokrytych lodem zapewnia rozkład skumulowany, który powinien być związany z rozkładem czasowym i rozkładem geograficznym. Rozkład skumulowany pozwala określić czas trwania okienka czasowego występowania określonych warunków żeglugi lodowej statków dla określonej powierzchni pokrycia danego regionu lodem i założonego prawdopodobieństwa o wystąpienia takich warunków. W ten sposób można zaplanować przybliżoną datę początku podróży i czas trwania podróży dla przyjętych kryteriów bezpieczeństwa. Możliwe jest również zaplanowanie szeregu kolejnych podróży w jednym sezonie nawigacyjnym. Przedstawione matematyczne podejście do planowania podróży w lodzie oparte na rozkładzie skumulowanym pozwala na stworzenie doradczej aplikacji komputerowej wspierającej proces decyzyjny osoby dowodzącej statkiem. Zmniejszy to udział czynnika ludzkiego w przetwarzaniu danych i ograniczy możliwość popełnienia błędu. W ten sposób będzie można zwiększyć bezpieczeństwo transportu morskiego.
    Źródło:
    Annual of Navigation; 2018, 25; 5-26
    1640-8632
    Pojawia się w:
    Annual of Navigation
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    On the Fuel Saving Operation for Coastal Merchant Ships using Weather Routing
    Autorzy:
    Takashima, K.
    Mezaoui, B.
    Shoji, R.
    Powiązania:
    https://bibliotekanauki.pl/articles/116404.pdf
    Data publikacji:
    2009
    Wydawca:
    Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
    Tematy:
    Weather Routing
    route planning
    Weather Navigation
    Coastal Merchant Ship
    Fuel Saving Operation
    Dijkstra’s Algorithm
    Simulation Study
    Fuel Consumption
    Opis:
    It is well known that Weather Routing is one of the effective ship operation methods to reduce fuel consumption and many studies have been conducted to develop the effective calculation methods. However, most studies were performed focusing on the ocean going ships, and there were few studies made for coastal ships. The authors propose a minimum fuel route calculation method for coastal ships that use the precise forecasted environmental data and the propulsion performance data of the ship on actual seas. In the proposed method, we use the Dijkstra’s algorithm to calculate an optimum minimum fuel route suitable for coastal ships. Simulation study was carried out to evaluate the effectiveness of the proposed method using two coastal ships. As the result of study, the authors confirmed that the proposed calculation method is effective for fuel consumption reduction and is applicable for the operation of coastal merchant ships.
    Źródło:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2009, 3, 4; 401-406
    2083-6473
    2083-6481
    Pojawia się w:
    TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
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