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Tytuł:
Control of electric drive tugboat autonomous formation
Autorzy:
Koznowski, W.
Łebkowski, A.
Powiązania:
https://bibliotekanauki.pl/articles/24201460.pdf
Data publikacji:
2023
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
autonomous tugboat
electric tugboat
electric drive
multiagent system
tugboat formation
ship formation
passage route
maritime autonomous surface ship
Opis:
The automation of maritime transport is an indispensable trend towards full autonomy of maritime vessels. In this paper, an attempt was made to present the control system for port autonomous vessels using an agent system. On the basis of the conducted research, in order to optimize the energy consumption related to the movement of tugboats, the shape of the hull and the shape of the formation in which 4 tugboats are moving were selected. Several scenarios of navigational situations that may take place in port waters have been recognized. The conducted analysis have shown that the optimal shape of the hull of tugboats, the shape of the formation in which they move, as well as the determination of the passage route for the implementation of a specific task, can contribute to reducing both the carbon footprint and the energy consumption of the propulsion systems of tugboats. This is of significant importance in terms of reducing exhaust gas emissions in and around ports.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2023, 17, 2; 391--396
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:
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:
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:
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:
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:
Scheduling transit voyages of vessels of various ice classes across the Northern Sea Route
Autorzy:
Pastusiak, Tadeusz
Powiązania:
https://bibliotekanauki.pl/articles/320817.pdf
Data publikacji:
2019
Wydawca:
Polskie Forum Nawigacyjne
Tematy:
Northern Sea Route
ship’s ice class
ship voyage schedule
Opis:
Main problem for scheduling vessel transit voyages through the Northern Sea Route is the difficulty in predicting distribution of ice boundaries in regions that cannot be overcome by individual ice classes of vessels. Scheduling of voyage is related to speed that vessels can develop and moment of time when vessels will be able to commence and complete passage safely through areas that are main obstacle and are blocking longest transit passage through the Northern Sea Route. This applies to voyages carried out by vessels navigating on their own and with support of icebreakers. Additional problem is lack of consistency of content of maps of ice cover, which can be used for vessels voyage planning through areas where ice cover occurs. Results of this research on influence of uncertain information related with time window of conditions favorable for navigation of vessels of different ice classes on schedule of theirs voyage on example of summer navigation season 2017 are presented in this work.
Źródło:
Annual of Navigation; 2019, 26; 114-126
1640-8632
Pojawia się w:
Annual of Navigation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Mathematical model for predicting the ship speed in the actual weather conditions on the planned ocean route
Autorzy:
Szelangiewicz, Tadeusz
Żelazny, Katarzyna
Powiązania:
https://bibliotekanauki.pl/articles/27315862.pdf
Data publikacji:
2018
Wydawca:
STE GROUP
Tematy:
ocean route
ship speed
wind
current
wave
ship propulsion
trasa oceaniczna
prędkość statku
wiatr
prąd
fale
siłownie okrętowe
Opis:
While operating the ship, one of the most important tasks is forecasting the ocean route. The vessel's speed characteristics are used to predict the route. Commonly used are very simplified algorithms for calculating those characteristics in which only a few basic ship parameters are used. The article presents a more detailed mathematical model for forecasting the speed of the ship in real weather conditions. This model requires more detailed geometric data of the ship and its propulsion (propeller and propulsion engine), but this data is available for operating ships.
Źródło:
New Trends in Production Engineering; 2018, 1, 1; 105-112
2545-2843
Pojawia się w:
New Trends in Production Engineering
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Ship’s operational speed on the planned ocean route in real weather conditions
Autorzy:
Szelangiewicz, Tadeusz
Żelazny, Katarzyna
Powiązania:
https://bibliotekanauki.pl/articles/27315876.pdf
Data publikacji:
2018
Wydawca:
STE GROUP
Tematy:
ocean route
ship speed
weather parameters
ship propulsion
trasa oceaniczna
prędkość statku
parametr pogodowy
napęd statku
Opis:
While operating the ship, one of the most important tasks is forecasting the ocean route. For this purpose, the speed characteristics of the ship are used, which are used in specialized computer systems and presented in publications. However, published algorithms for speed (or decrease of speed) calculations of a ship in real weather conditions on given routes are very simplified and do not contain all the relevant parameters related to the ship's hull (affecting its resistance when sailing, eg on waves), its propulsion and weather conditions. The article presents its own, more detailed mathematical model of the speed of the ship, and the performed calculations of speed of the ship were compared with the algorithms available in the literature and with the records from the ship's log.
Źródło:
New Trends in Production Engineering; 2018, 1, 1; 159-166
2545-2843
Pojawia się w:
New Trends in Production Engineering
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Hybrid switching controller design for the maneuvering and transit of a training ship
Autorzy:
Tomera, M.
Powiązania:
https://bibliotekanauki.pl/articles/330850.pdf
Data publikacji:
2017
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
hybrid switching controller
ship autopilot
desired route
hybrydowy sterownik przełączający
autopilot statku
trasa pożądana
Opis:
The paper presents the design of a hybrid controller used to control the movement of a ship in different operating modes, thereby improving the performance of basic maneuvers. This task requires integrating several operating modes, such as maneuvering the ship at low speeds, steering the ship at different speeds in the course or along the trajectory, and stopping the ship on the route. These modes are executed by five component controllers switched on and off by the supervisor depending on the type of operation performed. The desired route, containing the coordinates of waypoints and tasks performed along consecutive segments of the reference trajectory, is obtained by the supervisory system from the system operator. The former supports switching between component controllers and provides them with new set-points after each change in the reference trajectory segment, thereby ensuring stable operation of the entire hybrid switching controller. The study also presents designs of all controller components, which are done using a complex mathematical model of the selected ship, after its simplification depending on the type of controller. The developed control system was tested on the training ship Blue Lady and used to train captains at the Ship Handling Research and Training Center near Iława in Poland. The conducted research involved an automatic movement of the ship from one port to another. The performed transit route required the ship to leave the port, pass the water area, and berth at the port of destination. The study revealed good quality of the designed hybrid controller.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2017, 27, 1; 63-77
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Method of Routing Ships Sailing in Dedicated Environment
Autorzy:
Życzkowski, M.
Powiązania:
https://bibliotekanauki.pl/articles/320897.pdf
Data publikacji:
2017
Wydawca:
Polskie Forum Nawigacyjne
Tematy:
sailing ship’s routing
route optimization
weather routing
unmanned sailing vessel
Opis:
The method for determining the suboptimal route of sailing vessels operating in a restricted area of the sea are proposed in the paper. The dynamics of the environment including weather conditions and speed characteristics of ships sailing are considered. As optimization criterion, measure sailing time T, and the number of maneuvers performed ω, are taken into account. An heuristic algorithm, and the appropriate application routing for fixed starting points and targets is designed in the method. In addition author analyzed the behavior of the algorithm, depending on the number of direction changes of the course, and granularity of the description of the surface of area.
W artykule zaproponowano suboptymalną metodę określania trasy dla statków żaglowych poruszających się w ograniczonym akwenie morskim. Uwzględniono przy tym dynamikę tego środowiska, między innymi warunki pogodowe oraz charakterystyki prędkościowe statków żaglowych. Jako kryterium optymalizacji przyjęto czas żeglugi T oraz liczbę wykonanych manewrów ω. Zaprojektowano heurystyczny algorytm oraz odpowiednią aplikację wyznaczania trasy dla ustalonych punktów startowych i docelowych. Przeanalizowano zachowanie się algorytmu w zależności od liczby zmian kierunków żeglugi oraz przyjętej ziarnistości opisu akwenu.
Źródło:
Annual of Navigation; 2017, 24; 147-159
1640-8632
Pojawia się w:
Annual of Navigation
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:
A new Risk Evaluation Model for safety management on an entire ship route
Autorzy:
Hwang, S.J.
Kobayashi, E.
Wakabayashi, N.
Im, N.
Powiązania:
https://bibliotekanauki.pl/articles/117222.pdf
Data publikacji:
2016
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
safety Management
ship Route
safety Level Analysis
Risk Evaluation Model
safety at sea
Collision Risk (CR)
risk calculation
Opis:
In this paper, we introduce a new risk evaluation model for evaluating the navigation safety zone for an entire ship route. This model considers a new algorithm to determine the navigational safety zone in real-time, and also takes the navigation officers’ perception while navigating a ship into consideration. The risk quantification has been developed using a questionnaire and incorporated into the new model. A simulation was carried out for the Osaka bay area in order to verify the usefulness of the proposed model. A new approach was employed to monitor the level of navigation safety along a ship route. The entire ship route is divided into small sections as a gridded matrix. The level of navigation safety can be quantified by means of a safety index on the basis of the ship’s navigation data within a specified distance range. The results show that the comparison between risks identified for different sections across the entire ship route is easy, which helps determine the navigational safety zone quickly. This model is expected to be able to serve as a new tool for managing safety throughout an entire ship route area in real-time in order to support the port safety authority or vessel traffic service center.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2016, 10, 1; 93-98
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:
Navigation in emission control area zones
Autorzy:
Wiśniewski, B.
Szymański, M.
Powiązania:
https://bibliotekanauki.pl/articles/135364.pdf
Data publikacji:
2016
Wydawca:
Akademia Morska w Szczecinie. Wydawnictwo AMSz
Tematy:
ECA
exhaust emission
ship route optimization
fuel criterion
route programming
Bon Voyage
Opis:
The article presents the origin of Emission Control Area (ECA) zones, a timetable for their enforcement, criteria of their implementation and the principles and rules of navigation in these areas. Plans and areas of the next ECA zones envisaged for the future are presented. Least fuel route programming was presented, together with a description of safety rules during the change-over procedure in operations concerning the main engine and other ship systems. An attempt to identify the problems that may be encountered when programming the routes with the use of on-board routing systems, like Bon Voyage of AWT, leading through the ECA zones, has been made. Examples of such problems, taken from a true voyage of a postpanamx container vessel on a transpacific voyage, have been presented. A generalized algorithm for programming the route leading through the ECA zone according to the least fuel criterion has been presented.
Źródło:
Zeszyty Naukowe Akademii Morskiej w Szczecinie; 2016, 47 (119); 116-120
1733-8670
2392-0378
Pojawia się w:
Zeszyty Naukowe Akademii Morskiej w Szczecinie
Dostawca treści:
Biblioteka Nauki
Artykuł
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