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Tytuł:
Architecture of Mobile Robotics Platform planned for Intelligent Robotic Porter System - IRPS project
Autorzy:
Wołoszczuk, A.
Andrzejczak, M.
Szynkarczyk, P.
Powiązania:
https://bibliotekanauki.pl/articles/385030.pdf
Data publikacji:
2007
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
mobile robots
autonomous navigation
mobile platform
teleoperation
Opis:
The aim of this paper is to present the Intelligent Robotic Porter System with respect to architecture of Mobile Robotic Platform. The set of requirements for Mobile Robotic Platform was defined and analyzed. Main engineering problems that occurred during the development of Mobile Robotic Platform's architecture were specified and described. Problems were confronted with PIAP's proposed solutions for technical issues at this stage of the project.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2007, 1, 3; 59-63
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Development of an omnidirectional AGV by applying ORB-SLAM for navigation under ROS framework
Autorzy:
Wu, Pan-Long
Li, Jyun-Jhen
Shaw, Jin-Siang
Powiązania:
https://bibliotekanauki.pl/articles/2204560.pdf
Data publikacji:
2022
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
ROS
ORB-SLAM
omnidirectional AGV
autonomous Navigation
Opis:
This paper presents the development of an automated guided vehicle with omni-wheels for autonomous navigation under a robot operating system framework. Specifically, a laser rangefinder-constructed two-dimensional environment map is integrated with a three-dimensional point cloud map to achieve real-time robot positioning, using the oriented features from accelerated segment testing and a rotated binary robust independent elementary feature detector-simultaneous localization and mapping algorithm. In the path planning for autonomous navigation of the omnidirectional mobile robot, we applied the A* global path search algorithm, which uses a heuristic function to estimate the robot position difference and searches for the best direction. Moreover, we employed the time-elastic-band method for local path planning, which merges the time interval of two locations to realize time optimization for dynamic obstacle avoidance. The experimental results verified the effectiveness of the applied algorithms for the omni-wheeled mobile robot. Furthermore, the results showed a superior performance over the adaptive Monte Carlo localization for robot localization and dynamic window approach for local path planning.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2022, 16, 1; 14--20
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Differentiable Programming for the Autonomous Movement Planning of a Small Vessel
Autorzy:
Bahls, C.
Schubert, A.
Powiązania:
https://bibliotekanauki.pl/articles/2063965.pdf
Data publikacji:
2021
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
autonomous navigation
autonomous movement planning
small vessel
differentiable programming
machine learning
Opis:
In this work we explore the use of differentiable programming to allow autonomous movement planning of a small vessel. We aim for an end to end architecture where the machine learning algorithm directly controls engine power and rudder movements of a simulated vessel to reach a defined goal. Differentiable programming is a novel machine learning paradigm, that allows to define a systems parameterized response to control commands in imperative computer code and to use automatic differentiation and analysis of the information flow from the controlling inputs and parameters to the resulting trajectory to compute derivatives to be used as search directions in an iterative algorithm to optimize a goal function. Initially the method does not know about any manoeuvring or the vessels response to control commands. The method autonomously learns the vessels behaviour from several simulation runs. Finally, we will show how the simulated vessel is able to fulfil some small missions, like crossing a flowing river while avoiding crossing traffic.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2021, 15, 3; 493--499
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Interaction of Harsh Weather Operation and Collision Avoidance in Autonomous Navigation
Autorzy:
Burmeister, H.-C.
Bruhn, W. C.
Walther, L.
Powiązania:
https://bibliotekanauki.pl/articles/116663.pdf
Data publikacji:
2015
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
Safety of Navigation
collision avoidance
autonomous navigation
harsh weather operation
COLREGs
weather routeing
maritime unmanned navigation
Opis:
Taking into account the autonomous navigation system design and today’s state of the art navigation with regards to weather and collision avoidance this paper presents the architecture of the integrated approach, its links to existing rules and regulations and the test scenarios. These demonstrate how safe and efficient navigation of autonomous vessels can be achieved by showing the module's interaction and validating the feasibility of the approach. These analyses will be based on historical traffic data sets as well as simulation results.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2015, 9, 1; 31-40
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Verification of a deterministic ships safe trajectory planning algorithm from different ships’ perspectives and with changing strategies of target ships
Autorzy:
Lazarowska, A.
Powiązania:
https://bibliotekanauki.pl/articles/2063957.pdf
Data publikacji:
2021
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
safe ship's trajectory
ship's trajectory
collision avoidance module
autonomous navigation system
maritime autonomous surface ships
Opis:
The paper presents results of a ship's safe trajectory planning method verification - the Trajectory Base Algorithm, which is a deterministic approach for real-time path-planning with collision avoidance. The paper presents results of the algorithm’s verification from different ships’ perspectives and with changing strategies of target ships. Results prove the applicability of the algorithm in the Collision Avoidance Module of the Autonomous Navigation System for Maritime Autonomous Surface Ships.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2021, 15, 3; 623--628
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Possibilities of autonomous means of sea transport
Autorzy:
Marek, Idzior
Powiązania:
https://bibliotekanauki.pl/articles/24202517.pdf
Data publikacji:
2022
Wydawca:
Akademia Morska w Szczecinie. Wydawnictwo AMSz
Tematy:
means of transport
autonomy
ships
fully autonomous ships
autonomous navigation system
sailing without a crew
Opis:
In recent years, there has been an intensification of work on the autonomy of means of transport, which also applies to ships. Modern ships are already equipped with crew decision support systems and numerous diagnostic systems. Increasingly more systems are installed on ships that can operate without human integration. This situation leads to the development and use of fully autonomous ships. This overview publication briefly describes the main features of the construction and operation of autonomous ships, including some examples of structures already demonstrated in recent years. In summary, the author presents comments that provide a contribution to the discussion on the autonomy of means of maritime transport.
Źródło:
Zeszyty Naukowe Akademii Morskiej w Szczecinie; 2022, 70 (142); 20--26
1733-8670
2392-0378
Pojawia się w:
Zeszyty Naukowe Akademii Morskiej w Szczecinie
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Reinforcement Learning in Discrete and Continuous Domains Applied to Ship Trajectory Generation
Autorzy:
Rak, A.
Gierusz, W.
Powiązania:
https://bibliotekanauki.pl/articles/259073.pdf
Data publikacji:
2012
Wydawca:
Politechnika Gdańska. Wydział Inżynierii Mechanicznej i Okrętownictwa
Tematy:
ship motion control
trajectory generation
autonomous navigation
reinforcement learning
least-squares policy iteration
Opis:
This paper presents the application of the reinforcement learning algorithms to the task of autonomous determination of the ship trajectory during thein-harbour and harbour approaching manoeuvres. Authors used Markov decision processes formalism to build up the background of algorithm presentation. Two versions of RL algorithms were tested in the simulations: discrete (Q-learning) and continuous form (Least-Squares Policy Iteration). The results show that in both cases ship trajectory can be found. However discrete Q-learning algorithm suffered from many limitations (mainly curse of dimensionality) and practically is not applicable to the examined task. On the other hand, LSPI gave promising results. To be fully operational, proposed solution should be extended by taking into account ship heading and velocity and coupling with advanced multi-variable controller.
Źródło:
Polish Maritime Research; 2012, S 1; 31-36
1233-2585
Pojawia się w:
Polish Maritime Research
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Intelligent autonomous ship navigation using multi-sensor modalities
Autorzy:
Wright, R.G.
Powiązania:
https://bibliotekanauki.pl/articles/117337.pdf
Data publikacji:
2019
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
maritime autonomous surface ships (MASS)
artificial intelligence (AI)
intelligent autonomous ship navigation
autonomous ship
autonomous ships navigation
multiSensor modalities
unmanned ship
maritime domain awareness (MDA)
Opis:
This paper explores the use of machine learning and deep learning artificial intelligence (AI) techniques as a means to integrate multiple sensor modalities into a cohesive approach to navigation for autonomous ships. Considered is the case of a fully autonomous ship capable of making decisions and determining actions by itself without active supervision on the part of onboard crew or remote human operators. These techniques, when combined with advanced sensor capabilities, have been touted as a means to overcome existing technical and human limitations as unmanned and autonomous ships become operational presently and in upcoming years. Promises of the extraordinary capabilities of these technologies that may even exceed those of crewmembers for decision making under comparable conditions must be tempered with realistic expectations as to their ultimate technical potential, their use in the maritime domain, vulnerabilities that may preclude their safe operation; and methods for development, integration and test. The results of research performed by the author in specific applications of machine learning and AI to shipping are presented citing key factors that must be achieved for certification of these technologies as being suitable for their intended purpose. Recommendations are made for strategies to surmount present limitations in the development, evaluation and deployment of intelligent maritime systems that may accommodate future technological advances. Lessons learned that may be applied to improve safety of navigation for conventional shipping are also provided.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2019, 13, 3; 503-510
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Modelling the processes of taking over the watch from an autonomous navigation system
Autorzy:
Hochgeschurz, S.
Dalinger, E.
Motz, F.
Powiązania:
https://bibliotekanauki.pl/articles/1841558.pdf
Data publikacji:
2021
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
autonomous vessels
autonomous navigation system
navigation system
human machine interface
operational design domain
taking over the watch
officer of the watch
AutoOOW
Opis:
The maritime industry is striving towards increasing levels of autonomy within the field of navigation. However, fully autonomous vessel navigation requires an extraordinarily complex system. As a step towards full autonomy and to reduce system complexity, nautical officers should still be available on board to take over the watch from the autonomous system in situations, in which human intervention is required. Therefore, a highly advanced human-machine interface (HMI) is essential, which supports nautical officers in retrieving all necessary information in order to manage the takeover. The implementation of the autonomous system and introduction of an HMI creates new processes, which need to be defined. In this paper, we portray our approach to define the processes for watch handovers from the autonomous system to nautical officers by investigating current watch handover processes. Subsequently, the resulting process models are described and discussed.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2021, 15, 1; 117-126
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Teraźniejszość i przyszłość autonomicznej nawigacji
Present and the future of autonomous navigation
Autorzy:
Woś, G.
Powiązania:
https://bibliotekanauki.pl/articles/344149.pdf
Data publikacji:
2018
Wydawca:
Uniwersytet Morski w Gdyni. Wydawnictwo Uniwersytetu Morskiego w Gdyni
Tematy:
autonomiczna nawigacja
nowe technologie
sztuczna inteligencja
statki bezzałogowe
statki autonomiczne
autonomous navigation
progress of technology
artificial intelligence
unmanned ships
autonomous vessels
Opis:
Wraz z nieustannym postępem techniki automatyzacja obejmuje coraz więcej czynności wykonywanych do tej pory przez człowieka. Jej głównym celem jest ułatwienie naszego życia i pracy. W artykule przedstawiono aktualną sytuację oraz plany i projekty wprowadzenia szeroko pojętej automatyzacji na statkach handlowych oraz nowej ery nawigacji, którą zapoczątkują jednostki autonomiczne i bezzałogowe.
Along with the continuous progress of technology, automation absorbs more and more activities performed so far by human. Its main purpose is to facilitate our life and work. The publication presents the current situation and projects for the introduction of broadly understood automation on commercial vessels and a new era of navigation, which will be initiated by unmanned and autonomous vessels.
Źródło:
Prace Wydziału Nawigacyjnego Akademii Morskiej w Gdyni; 2018, 33; 112-124
1730-1114
Pojawia się w:
Prace Wydziału Nawigacyjnego Akademii Morskiej w Gdyni
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Computationally inexpensive appearance based terrain learning in unknown environments
Autorzy:
Mishra, P.
Viswanathan, A.
Powiązania:
https://bibliotekanauki.pl/articles/91850.pdf
Data publikacji:
2013
Wydawca:
Społeczna Akademia Nauk w Łodzi. Polskie Towarzystwo Sieci Neuronowych
Tematy:
computationally inexpensive approach
learning
identification
autonomous navigation
Mixture of Gaussians
terrain model
pre-filtered pixels
terrain learning
Opis:
This paper describes a computationally inexpensive approach to learning and identification of maneuverable terrain to aid autonomous navigation. We adopt a monocular vision based framework, using a single consumer grade camera as the primary sensor, and model the terrain as a Mixture of Gaussians. Self-supervised learning is used to identify navigable terrain in the perception space. Training data is obtained using pre-filtered pixels, which correspond to near-range traversable terrain. The scheme allows for on-line, and in-motion update of the terrain model. The pipeline architecture used in the proposed algorithm is made amenable to real-time implementation by restricting computations to bit-shifts and accumulate operations. Color based clustering using dominant terrain texture is then performed in perception sub-space. Model initialization and update follows at the coarse scale of an octave image pyramid, and is back projected onto the original fine scale. We present results of terrain learning, tested in heterogeneous environments, including urban road, suburban parks, and indoors. Our scheme provides orders of magnitude improvement in time complexity, when compared to existing approaches reported in literature.
Źródło:
Journal of Artificial Intelligence and Soft Computing Research; 2013, 3, 3; 201-213
2083-2567
2449-6499
Pojawia się w:
Journal of Artificial Intelligence and Soft Computing Research
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
A COLREGs-compliant decision support tool to prevent collisions at sea
Autorzy:
Martelli, M.
Žuškin, S.
Zaccone, R.
Rudan, I.
Powiązania:
https://bibliotekanauki.pl/articles/24201449.pdf
Data publikacji:
2023
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
analysis of ship collision
collision avoidance
collision avoidance decision making
collision avoidance system
anti-collision maneuvering
autonomous control unit
autonomous ship
autonomous navigation system
Opis:
Groundings and collisions still represent the highest percentage of marine accidents despite the current attention on Maritime Education and Training and the improvement of sensor capability. Most of the time, a collision is caused by a human error with consequences ranging from moderate to severe, with a substantial impact on both environment and life safeguarded at sea. In this paper, a brief statistical data regarding human element as a root cause of marine incidents together with collision regulations misunderstanding is presented as a background chapter. Furthermore, the present work discusses a decision support system architecture to suggest an appropriate action when the risk of a potential collision is detected. The proposed architecture system is based on various modules integrated with proper sensor input data regarding the surrounding navigation area. As a result, the tool can support the Officers of Watch in the decision-making process providing an early suggestion in compliance with the COLlision REGulations. The proposed system is intended to be used onboard independently from the degree of automation of the ship, and it is based on AIS, which is mandatory, making it widely applicable. The proper use of the system can considerably reduce the number of collisions, as demonstrated by the obtained results.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2023, 17, 2; 347--353
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Ensuring cyber resilience of ship information systems
Autorzy:
Onishchenko, O.
Shumilova, K.
Volyanskyy, S.
Volyanskaya, Y.
Volianskyi, Y.
Powiązania:
https://bibliotekanauki.pl/articles/2086300.pdf
Data publikacji:
2022
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
ship Information systems
cyber resilience
ship information systems
cyber security
cyber attack
COVID-19
cyber threats
autonomous navigation
Opis:
The Covid-19 pandemic brought a problem related to the inability to timely update security systems on ships during a voyage and the need to encrypt data stored in ship information systems (SISs) and shipping company information systems. The analysis of new types of worldwide cyberattacks showed that they were set off by an increase in the use of remote-controlled autonomous technologies and a spread of telework. It was proved that on ships: a) there are no cybersecurity specialists; b) there is no means of identification of cyber threats and no response plans; c) there is a lack of cybersecurity training for crews; d) encryption of confidential ship data is barely used; e) crew is a vulnerability factor in ship's security. The analysis of cyber incidents allowed us to develop a basic response plan to protect ship control systems. It was demonstrated that the basic plan can be continuously updated and improved in accordance with: a) the real state of ship systems; b) the results of performance analysis of crew actions; c) the emergence of new types of cyberattacks. To improve the security of confidential data in ship information networks theoretical framework for the development of encrypted data search engines with the identification of “dangerous” keywords for the ship information systems (SISs) was proposed. A data exchange protocol, basic requirements for SISs, and an algorithm for detecting “dangerous” keywords in messages were developed. A test search engine on encrypted data was presented, and the main components of the system were highlighted. The functionality of the system was experimentally proved, and the accuracy and speed of search on encrypted data were determined.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2022, 16, 1; 43--50
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Individual Autonomous Navigation System
Indywidualny System Autonomicznej Nawigacji
Autorzy:
Popowski, S.
Dąbrowski, W.
Powiązania:
https://bibliotekanauki.pl/articles/213698.pdf
Data publikacji:
2017
Wydawca:
Sieć Badawcza Łukasiewicz - Instytut Lotnictwa
Tematy:
rescuer navigation system
inertial navigation system
ZUPT procedure
Individual Autonomous Navigation System
IANS
system nawigacji wspierajacy ratownika
inercjalny system nawigacji
Indywidualny System Autonomicznej Nawigacji
ISAN
Opis:
The article presents the Individual Autonomous System Navigation (IANS) supporting rescuer or firemen in terms of navigation. Basic assumptions, which such a system has to fulfill in terms of functionality and accuracy, are presented. The concept of the ISAN system is based on the implementation of inertial navigation system which the only one to permit fully autonomous functioning. Measurement sensors of the navigation system with microprocessor board are placed in the rescuer’s shoe. To limit the escalation of the navigation errors value, which in the case of inertial navigation rises exponentially, a procedure of navigation parameters upgrading at every step of the rescuer is introduced to the proposed system. This procedure guarantees the required accuracy of navigation achievement. The article describes a developed and manufactured demonstrator of the technology and presents main results of its research. The research conducted in a building consisted in walking on the same level several hundred meters in less than 10 minutes. A walking test with a change of walking height was also performed in order to estimate the accuracy of the vertical channel. Results of the demonstrator’s tests let us conclude that the error of navigation is below 1% of the travelled distance and the accuracy is linear in respect to time. The achieved accuracy is fully sufficient for a practical IANS application.
W artykule zaprezentowano Indywidualny System Autonomicznej Nawigacji (ISAN) wspierający działania ratownika lub strażaka w zakresie nawigacji. Przedstawiono podstawowe założenia, które musi spełniać taki system w zakresie funkcjonalności i dokładności. Koncepcję systemu ISAN oparto na wykorzystaniu nawigacji inercjalnej, która jako jedyna pozwala na w pełni autonomiczną pracę. Czujniki pomiarowe systemu nawigacji, wraz z pakietem przeliczającym, umieszczono w bucie ratownika. Aby ograniczyć narastanie błędów nawigacji, co w przypadku nawigacji inercjalnej ma charakter wykładniczy, wprowadzono do proponowanego systemu procedurę uaktualniania parametrów nawigacyjnych w każdym kroku ratownika. Pozwoliło to na osiągnięcie wymaganej dokładności prowadzenia nawigacji. W artykule opisano opracowany i wykonany demonstrator technologii oraz przedstawiono podstawowe wyniki jego badań. Badania przeprowadzono w budynku podczas kontrolnych przejść płaskich o długości rzędu kilkuset metrów, w czasie do 10 minut. Wykonano również badania przejść ze zmianą wysokości, w celu oszacowania dokładności w kanale pionowym. Wyniki tych badań demonstratora pozwalają na stwierdzenie, że dokładność tak prowadzonej nawigacji jest rzędu 1% przebytej drogi i ma charakter liniowy względem czasu. Uzyskane dokładności są w pełni wystarczające do zastosowania praktycznego ISAN.
Źródło:
Prace Instytutu Lotnictwa; 2017, 3 (248); 84-104
0509-6669
2300-5408
Pojawia się w:
Prace Instytutu Lotnictwa
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Quantitative processing of situation awareness for autonomous ships navigation
Autorzy:
Zhou, X. Y.
Liu, Z. J.
Wu, Z. L.
Wang, F. W.
Powiązania:
https://bibliotekanauki.pl/articles/117424.pdf
Data publikacji:
2019
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
autonomous vessel
autonomous ship
autonomous ships navigation
situation awareness (SA)
quantitative processing
navigation safety
remotely controlled vessel
maritime unmanned navigation through intelligence in networks (MUNIN)
Opis:
The first ever attempt at fully autonomous dock-to-dock operation has been tested and demonstrated successfully at the end of 2018. The revolutionary shift is feared to have a negative impact on the safety of navigation and the getting of real-time situation awareness. Especially, the centralized context onboard could be changed to a distributed context. In navigation safety domain, monitoring, control, assessment of dangerous situations, support of operators of decision-making support system should be implemented in real time. In the context of autonomous ships, decision-making processes will play an important role under such ocean autonomy, therefore the same technologies should consist of adequate system intelligence. At the same time, situation awareness is the key element of the decision-making processes. Although there is substantial research on situation awareness measurement techniques, they are not suitable to directly execute quantitative processing for the situation awareness of autonomous ships navigation. Hence, a novel quantitative model of situation awareness is firstly proposed based on the system safety control structure of remotely controlled vessel. The data source is greatly limited, but the main result still indicates that the probability of operator lose adequate situation awareness of the autonomous ship is significantly higher than the conventional ship. Finally, the paper provides a probabilistic theory and model for high-level abstractions of situation awareness to guide future evaluation of the navigation safety of autonomous ships.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2019, 13, 1; 25-31
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Safe information exchange on board of the ship
Autorzy:
Ahvenjärvi, S.
Czarnowski, I.
Kåla, J.
Kyster, A.
Meyer, I.
Mogensen, J.
Szyman, P.
Powiązania:
https://bibliotekanauki.pl/articles/116173.pdf
Data publikacji:
2019
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
information exchange
navigation safety
autonomous ship
autonomous ships navigation
information technology (IT)
safe information exchange
maritime education and training (MET)
cyber security
Opis:
The first ever attempt at fully autonomous dock-to-dock operation has been tested and demonstrated successfully at the end of 2018. The revolutionary shift is feared to have a negative impact on the safety of navigation and the getting of real-time situation awareness. Especially, the centralized context onboard could be changed to a distributed context. In navigation safety domain, monitoring, control, assessment of dangerous situations, support of operators of decision-making support system should be implemented in real time. In the context of autonomous ships, decision-making processes will play an important role under such ocean autonomy, therefore the same technologies should consist of adequate system intelligence. At the same time, situation awareness is the key element of the decision-making processes. Although there is substantial research on situation awareness measurement techniques, they are not suitable to directly execute quantitative processing for the situation awareness of autonomous ships navigation. Hence, a novel quantitative model of situation awareness is firstly proposed based on the system safety control structure of remotely controlled vessel. The data source is greatly limited, but the main result still indicates that the probability of operator lose adequate situation awareness of the autonomous ship is significantly higher than the conventional ship. Finally, the paper provides a probabilistic theory and model for high-level abstractions of situation awareness to guide future evaluation of the navigation safety of autonomous ships.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2019, 13, 1; 165-171
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Intelligent Control for a Perturbed Autonomous Wheeled Mobile Robot Using Type-2 Fuzzy Logic and Genetic Algorithms
Autorzy:
Martínez, R.
Castillo, O.
Aguilar, L. T.
Powiązania:
https://bibliotekanauki.pl/articles/384492.pdf
Data publikacji:
2008
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
mobile robot
path planning
fuzzy logic
genetic algorithms
autonomous mobile robot navigation
Opis:
We describe a tracking controller for the dynamic model of a unicycle mobile robot by integrating a kinematic and a torque controller based on Type-2 Fuzzy Logic Theory and Genetic Algorithms. Computer simulations are presented confirming the performance of the tracking controller and its application to different navigation problems.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2008, 2, 1; 12-22
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Research trends on fuzzy logic controller for mobile robot navigation : a scientometric study
Autorzy:
Rani, Somiya
Jain, Amita
Castillo, Oscar
Powiązania:
https://bibliotekanauki.pl/articles/384308.pdf
Data publikacji:
2020
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
fuzzy logic controller
autonomous mobile robot navigation
type-2 fuzzy logic
optimized fuzzy controller
Opis:
The present study shows the scientometric analysis of the publications on the fuzzy logic controller in autonomous mobile robot navigation during the period 2000 to 2018. The data is collected using Web of Science core collection database and analyzed at various levels such as Web of Science categories, publication years, document types, funding agencies, authors, research areas, countries or region, control terms, and organization to evaluate the research patterns. An extensive study is done to find the research trends in this area.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2020, 14, 1; 87-108
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Navigation for Satellite Formation Flying
Autorzy:
Głębocki, R.
Jacewicz, M.
Powiązania:
https://bibliotekanauki.pl/articles/403438.pdf
Data publikacji:
2018
Wydawca:
Wojskowa Akademia Techniczna im. Jarosława Dąbrowskiego
Tematy:
satellite
vision navigation
autonomous docking
Opis:
This paper deals with the case of a target satellite in an unknown orientation and location with respect to the master satellite. Feature based monocular pose estimation vision system was presented. The results of analysis, implementation and testing of simulation intended for vision-based navigation applications such as rendezvous of satellites and formation flying are shown. The mobile robot was used as the platform for the vision system. Pose estimation algorithms were implemented in Matlab environment. It was obtained that the proposed method is robust on varying and low light conditions.
Źródło:
Problemy Mechatroniki : uzbrojenie, lotnictwo, inżynieria bezpieczeństwa; 2018, 9, 2 (32); 9-26
2081-5891
Pojawia się w:
Problemy Mechatroniki : uzbrojenie, lotnictwo, inżynieria bezpieczeństwa
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
The proposal to “snapshot” raim method for GNSS vessel receivers working in poor space segment geometry
Autorzy:
Nowak, A.
Powiązania:
https://bibliotekanauki.pl/articles/259111.pdf
Data publikacji:
2015
Wydawca:
Politechnika Gdańska. Wydział Inżynierii Mechanicznej i Okrętownictwa
Tematy:
GNSS
RAIM
navigation
Autonomous Vessels
Opis:
Nowadays, we can observe an increase in research on the use of small unmanned autonomous vessel (SUAV) to patrol and guiding critical areas including harbours. The proposal to “snapshot” RAIM (Receiver Autonomous Integrity Monitoring) method for GNSS receivers mounted on SUAV operating in poor space segment geometry is presented in the paper. Existing “snapshot” RAIM methods and algorithms which are used in practical applications have been developed for airborne receivers, thus two main assumptions have been made. The first one is that the geometry of visible satellites is strong. It means that the exclusion of any satellite from the positioning solution don’t cause significant deterioration of Dilution of Precision (DOP) coefficients. The second one is that only one outlier could appear in pseudorange measurements. In case of SUAV operating in harbour these two assumptions cannot be accepted. Because of their small dimensions, GNSS antenna is only a few decimetres above sea level and regular ships, buildings and harbour facilities block and reflect satellite signals. Thus, different approach to “snapshot” RAIM is necessary. The proposal to method based on analyses of allowable maximal separation of positioning sub-solutions with using some information from EGNOS messages is described in the paper. Theoretical assumptions and results of numerical experiments are presented.
Źródło:
Polish Maritime Research; 2015, 4; 3-8
1233-2585
Pojawia się w:
Polish Maritime Research
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Synergetic concept of algorithms autonomous Inertial Navigation Systems
Autorzy:
Yakushin, S.
Powiązania:
https://bibliotekanauki.pl/articles/320707.pdf
Data publikacji:
2012
Wydawca:
Polskie Forum Nawigacyjne
Tematy:
inertial navigation system (INS)
Autonomous INS
Opis:
Errors of INS output parameters lead to a positive feedback effect of errors and eventually to an even more dramatic increase in system errors. To reduce the impact of this problem on the error output parameters of INS, in this paper, we propose and study a new concept of constructing algorithms for autonomous INS, which is called as synergetic concept. In the paper the synergetic concept of inertial system’s algorithm is presented and investigated by implementing its into strapdown inertial navigation system (SDINS).
Źródło:
Annual of Navigation; 2012, No. 19, part 2; 185-197
1640-8632
Pojawia się w:
Annual of Navigation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Studies of precise positioning in Autonomous Underwater Vehicle navigation
Autorzy:
Felski, A.
Powiązania:
https://bibliotekanauki.pl/articles/320881.pdf
Data publikacji:
2006
Wydawca:
Polskie Forum Nawigacyjne
Tematy:
pojazdy autonomiczne
nawigacja podwodna
autonomous vehicle
underwater navigation
Opis:
Autonomous Underwater Vehicles plays specific role in underwater investigation. A crucial barrier for it remains the possibility of precise determination of their position in submersible state. Commonly used radionavigation systems do not work in such circumstances. There are other systems, still not accurate, too much expensive or difficult to deploy into specific place. Many authors discussed different methods and techniques for such application in particular Kalman Filter, Concurrent Mapping and Localization Algorithms etc. Objective of the paper is the idea of AUV navigation which consists of two phases: firstly a trip of AUV along pre-planned route and secondary that transformation of collected data in post-processing mode with modern adjustment methods.
Źródło:
Annual of Navigation; 2006, 11; 37-46
1640-8632
Pojawia się w:
Annual of Navigation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Navigation situation assessment of autonomous surface vehicles in a cooperative hunting environment
Autorzy:
Zhang, Wenjun
Wang, Fuqiang
Gao, Qiqiang
Qu, Xingru
Powiązania:
https://bibliotekanauki.pl/articles/32899001.pdf
Data publikacji:
2022
Wydawca:
Politechnika Gdańska. Wydział Inżynierii Mechanicznej i Okrętownictwa
Tematy:
autonomous surface vehicles
navigation situation
situation assessment
cooperative hunting
Opis:
This paper proposes a navigation situation assessment method for autonomous surface vehicles (ASVs) in a cooperative hunting environment. By virtue of the repulsion function expressed in the artificial potential field, the navigation situation of hunting ASVs and target ASVs is firstly described. And the hunting situation is also constructed to describe the cooperative hunting. Based on the navigation situation and the hunting situation, a navigation situation assessment method for cooperative hunting of multiple ASVs is designed, where the number of hunting vehicles and the hunting radius can be successfully computed. Simulation results show that this proposed situation assessment method can give an optimised formation pattern and provide an effective reference for cooperative hunting of ASVs.
Źródło:
Polish Maritime Research; 2022, 2; 19-26
1233-2585
Pojawia się w:
Polish Maritime Research
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Fundamental principles of passage planning for autonomous vessels
Autorzy:
Wołejsza, P.
Kulbiej, E.
Powiązania:
https://bibliotekanauki.pl/articles/135460.pdf
Data publikacji:
2017
Wydawca:
Akademia Morska w Szczecinie. Wydawnictwo AMSz
Tematy:
autonomous vessel
mathematical navigation
decision support system
NAVADEC
AVAL
planning
Opis:
This article aims to depict the fundamentals of passage planning and route management for an autonomous vessels (AV). It presents a derivation of such a voyage passage plan, its step-by-step analysis, and a comparison to its conventional equivalent. This passage plan consists of four major parts: dock and harbour, en route, approach, and mooring stages. The whole activity of passage planning itself may be divided into the following stages: appraisal, planning, execution, and monitoring. The paper concludes with an overview of potential future applications and use of mentioned content.
Źródło:
Zeszyty Naukowe Akademii Morskiej w Szczecinie; 2017, 52 (124); 90-94
1733-8670
2392-0378
Pojawia się w:
Zeszyty Naukowe Akademii Morskiej w Szczecinie
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Neural Based Autonomous Navigation of Wheeled Mobile Robots
Autorzy:
Al-Sagban, M.
Dhaouadi, R.
Powiązania:
https://bibliotekanauki.pl/articles/384293.pdf
Data publikacji:
2016
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
reactive navigation
obstacle avoidance
autonomous ground robots
recurrent neural networks
Opis:
This paper presents a novel reactive navigation algorithm for wheeled mobile robots under non-holonomic constraints and in unknown environments. Two techniques are proposed: a geometrical based technique and a neural network based technique. The mobile robot travels to a pre-defined goal position safely and efficiently without any prior map of the environment by modulating its steering angle and turning radius. The dimensions and shape of the robot are incorporated to determine the set of all possible collision-free steering angles. The algorithm then selects the best steering angle candidate. In the geometrical navigation technique, a safe turning radius is computed based on an equation derived from the geometry of the problem. On the other hand, the neural-based technique aims to generate an optimized trajectory by using a user-defined objective function which minimizes the traveled distance to the goal position while avoiding obstacles. The experimental results demonstrate that the algorithms are capable of driving the robot safely across a variety of indoor environments.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2016, 10, 2; 64-72
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Wsparcie fotogrametryczne dla systemów nawigacyjnych platform mobilnych
Photogrammetric support for mobile platforms’ navigation systems
Autorzy:
Burdziakowski, P.
Powiązania:
https://bibliotekanauki.pl/articles/130525.pdf
Data publikacji:
2012
Wydawca:
Stowarzyszenie Geodetów Polskich
Tematy:
nawigacja
system
fotogrametria
stereowizja
autonomiczny
mobilny
navigation
photogrammetry
stereovision
autonomous
mobile
Opis:
Obszary niedostępne dla sygnału GPS oraz nie posiadające numerycznych modeli terenu, są również niedostępne dla autonomicznych bezzałogowych obiektów. Głównym zadaniem systemu nawigacyjnego wykorzystującego metody fotogrametryczne jest udostępnienie przestrzeni ograniczonych, czyli takich w których na skutek zmian wywołanych czynnikami zewnętrznymi poprawne i bezpieczne poruszanie się autonomicznych pojazdów było niemożliwe. Proponowany, w niniejszym artykule system nawigacyjny, bazujący na metodach fotogrametrycznych zainspirowany jest działaniem ludzkiego wzroku, oraz szerokim spektrum możliwości jaki daje ten zmysł.
An areas unavailable for GPS signal, without digital terrain model, are unavailable for autonomous unmanned vehicles too. The main aim for navigation system making use of photogrammetric methods is to make accessible limited areas, where safe and accurate autonomous unmanned vehicles moving is impossible, due to the external changes within particular area. Proposed navigation system, based on photogrammetric methods is inspired by human vision, and its wide scope.
Źródło:
Archiwum Fotogrametrii, Kartografii i Teledetekcji; 2012, 23; 49-60
2083-2214
2391-9477
Pojawia się w:
Archiwum Fotogrametrii, Kartografii i Teledetekcji
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Vision based navigation for satellite docking
Autorzy:
Jacewicz, M.
Głębocki, R.
Powiązania:
https://bibliotekanauki.pl/articles/245809.pdf
Data publikacji:
2017
Wydawca:
Instytut Techniczny Wojsk Lotniczych
Tematy:
transport
satellite
vision navigation
autonomous docking
satelita
nawigacja wizyjna
autonomiczne dokowanie
Opis:
This article deals with the situation of a space debris or not working satellite in an unidentified pose with respect to the master satellite. Feature based monocular pose estimation vision system was presented. The results of numerical simulation were described. The results of implementation and testing of simulation intended for vision-based navigation applications such as rendezvous of satellites and formation flying is shown. In this document markerless local features based navigation system has been studied. The proposed vision navigation system satellites are able to determine the position and orientation of a target in relation to the coordinate system of the camera. It relates from the time when the satellite is visible as a small object until docking with the chaser. A modified algorithm soft Position Iterations was used to estimate the pose of the target. Visual navigation system uses a single camera. The impact of changes in illumination of the object was analysed. In order to reproduce the space conditions the laboratory stand was built. The developed method was tested experimentally for different scenarios approach satellites to each other. Comparing the ground truth position and orientation and the results obtained with the aim of vision navigation system it is worth nothing to observe accuracy of the developed method. Achieved satisfactory performance of the algorithm.
Źródło:
Journal of KONES; 2017, 24, 1; 189-202
1231-4005
2354-0133
Pojawia się w:
Journal of KONES
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
With regard to the autonomy in maritime operations – hydrography and shipping, interlinked
Autorzy:
Wróbel, K.
Weintrit, A.
Powiązania:
https://bibliotekanauki.pl/articles/1841580.pdf
Data publikacji:
2020
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
maritime operations
hydrography
shipping
ECDIS
autonomous vessels
marine hydrography
safe navigation
Opis:
With change being the only thing that is constant, modern world is undergoing a disruptive change to many aspects of everyday life. Covering 70% of our planet, oceans and industries connected with them are of no exception. The apparent drive towards autonomization in shipping will not only change the way vessels are navigated, but will affect virtually all services needed for the vessels to be navigated. These include not only the design of ships themselves, training of their crews, remote supervision of onboard processes, but also the extremely important - yet not always appreciated - domain that allows for a safe navigation: maritime hydrography. This paper discusses some insights on how the autonomous vessels and future hydrographers may benefit from each other.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2020, 14, 3; 745-749
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Synthesis and evaluation of the smart electric powered wheelchair route stabilization concept – a simulation study
Autorzy:
Skrzypczyk, K.
Gałuszka, A.
Antas, T.
Powiązania:
https://bibliotekanauki.pl/articles/964024.pdf
Data publikacji:
2015
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
autonomous robots
robot navigation
sensory system
electric power wheelchair
motion control
Opis:
The paper addresses the problem of algorithm synthesis for controlling the motion of an electric powered wheelchair. The aim of the algorithm is to stabilize the wheelchair following a linear path and avoiding obstacles if occurred on its way. The main restriction imposed on the project is the application of simple low-cost sensors. That implies the system to cope with a number of inaccuracies and uncertainties related to the measurements. The goal of this work is to evaluate the possibility of the wheelchair project with a navigation system which aids a disable person to move in a complex and dynamic areas. Exemplary simulations are presented in order to discuss the results obtained.
Źródło:
Archives of Control Sciences; 2015, 25, 2; 263-273
1230-2384
Pojawia się w:
Archives of Control Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Seamless navigation in GPS-denied environment using Lirhots real time north finding sensor
Autorzy:
Voro, Shlomi
Lavidor, Itamar
Powiązania:
https://bibliotekanauki.pl/articles/320663.pdf
Data publikacji:
2019
Wydawca:
Polskie Forum Nawigacyjne
Tematy:
north finding
automated astro-navigation
automated stellar navigation systems
sky polarization
imaging sensor
navigation by natural network
autonomous passive sextant
Opis:
This paper presents a new type of north finding sensor. The passive optical sensor captures images of the sky at a high frame rate and analyzes them into a polarized map of the sky with a high degree of accuracy. The sensor operates in real time, under various weather and atmospheric conditions. The sensor output shows high heading accuracy relative to the celestial true north. Based upon the NAS-14V2 astronomical method of navigation, it is possible to define the sensor global position on earth.
Źródło:
Annual of Navigation; 2019, 26; 92-97
1640-8632
Pojawia się w:
Annual of Navigation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
A simple local navigation system inspired by hippocampal function and its autonomous mobile robot implementation
Autorzy:
Miki, T.
Hayashi, H.
Goto, Y.
Watanabe, M.
Inoue, T.
Powiązania:
https://bibliotekanauki.pl/articles/384203.pdf
Data publikacji:
2010
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
human-like local navigation
sequence learning
entorhino-hippocampal system
autonomous mobile robot
Opis:
We propose a practical simple local navigation system inspired by the sequence learning mechanism of the entorhino-hippocampal system. The proposed system memorizes a route as sequences of landmarks in the same way humans do. The proposed local navigation system includes a local route memory unit, landmark extraction unit, and learning-type matching unit. In the local route memory unit, the concept of the sequence learning mechanism of the entorhino-hippocampal system is implemented using a fully connected network, while a sequence of landmarks is embedded in the connection matrix as the local route memory. This system has two operation modes: learning and recall modes. In learning mode, a sequence of landmarks, i.e. a local route, is represented by enhanced loop connections in the connection matrix. In recall mode, the system traces the stored route comparing current landmarks with the stored landmarks using the landmark extraction and learning-type matching units. The system uses a prospective sequence to match the current landmark sequence with the recalled one. Using a prospective sequence in the route comparison allows confirmation of the correct route and deals with any slight change in the current sequence of landmarks. A certainty index is also introduced for judging the validity of the route selection. We describe a basic update mechanism for the stored landmark sequence in the case of a small change in the local route memory. The validity of the proposed system is confirmed using an autonomous mobile robot with the proposed navigation system.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2010, 4, 2; 31-38
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
An ACO Path Planner Using a FIS for Path Selection Adjusted with a Simple Tuning Algorithm
Autorzy:
Porta-Garcia, M.
Montiel, O.
Sepulveda, R.
Powiązania:
https://bibliotekanauki.pl/articles/384490.pdf
Data publikacji:
2008
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
ant colony optimization
ACO
autonomous mobile robot
navigation
fuzzy logic
path planning
Opis:
This paper presents a path planner application for mobile robots based on Ant Colony Optimization (ACO). The selection of the optimal path relies in the criterion of a Fuzzy Inference System (FIS), which is adjusted using a Simple Tuning Algorithm (STA). The path planner can be executed in Mode I and Mode II. The first mode only works in the virtual environment of the interface, while Mode II embraces the wireless communication with a real robot; once the ACO algorithm finds the best route, the coordinates are sent to a mobile robot via Bluetooth communication; if the robot senses a new obstacle, the computer is notified and does a rerouting routine in order to avoid the obstacle and reach the goal. In other words, the application supports dynamic search spaces.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2008, 2, 1; 5-11
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
VR teleoperation to support a GPS-free positioning system in a marine environment
Autorzy:
Lager, M.
Topp, E. A.
Malec, J.
Powiązania:
https://bibliotekanauki.pl/articles/1841575.pdf
Data publikacji:
2020
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
navigation systems
autonomous surface vehicle
graphical user interface
Global Positioning System
Global Navigation Satellite System
unmanned ground vehicles
terrain-aided navigation
VR teleoperation
Opis:
Small autonomous surface vehicles (ASV) will need both teleoperation support and redundant positioning technology to comply with expected future regulations. When at sea, they are limited by a satellite communication link with low throughput. We have designed and implemented a graphical user interface (GUI) for teleoperation using a communication link with low throughput, and one positioning system, independent of the Global Positioning System (GPS), supported by the teleoperation tool. We conducted a user study (N=16), using real-world data from a field trial, to validate our approach, and to compare two variants of the graphical user interface (GUI). The users experienced that the tool gives a good overview, and despite the connection with the low throughput, they managed through the GUI to significantly improve the positioning accuracy.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2020, 14, 4; 789-798
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 theoretical analysis of contemporary vessel navigational systems: assessing the future role of the human element for unmanned vessels
Autorzy:
Polemis, D.
Darousos, E. F.
Boviatsis, M.
Powiązania:
https://bibliotekanauki.pl/articles/24201340.pdf
Data publikacji:
2022
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
safety at sea
unmanned vessel
human element
vessel navigational system
electronic navigation
bridge instruments
automatic navigation system
autonomous vessels
Opis:
This article aims to investigate the contemporary challenges of electronic navigation and assess the appropriate amendments should autonomous vessel technology becomes widespread in the near future. Vessel control systems and maritime communication are essential and sending and receiving alarm signals is critical to contemporary ship navigation. Numerous location and shipping information systems, such as GPS, Loran-C, and Decca, have arisen in recent decades to improve navigational safety. Other systems, including VHF and Inmarsat, have been developed to enhance the efficiency of maritime communication on board and to transmit risk and safety-related data. Additionally, safe navigation requires systems like Navtex, EGS, DSC, Epirb, and others [1].
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2022, 16, 4; 637--646
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Comparative study of stabilization controls of a forklift vehicle
Autorzy:
Widyotriatmo, Augie
Powiązania:
https://bibliotekanauki.pl/articles/970586.pdf
Data publikacji:
2019
Wydawca:
Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
Tematy:
autonomous vehicle
stabilization control
time varying based control
discontinuous control
navigation variables based control
Opis:
This paper presents the control designs for an autonomous forklift vehicle that drive the vehicle from an initial configuration to a final one. Three stabilization controls, which are chained-form time-varying control, sigma-transformed discontinuous control, and navigation-variables-based discontinuous control, for a forklift vehicle are compared by simulations. The sigma-transformed and navigation-variables-based discontinuous controls provide fast convergence motions from an initial to a final configuration, while the time-varying-based control provides oscillatory motion and slow convergence. The sigma-transformed discontinuous control has a set of discontinuous points in which, from a practical point of view, the control signals can blow up if a vehicle enters the set. The navigation-variables-based control, which also has a discontinuous point at the final configuration, does not produce blown up control signals since its boundedness nature. Discussion on the implementation of control algorithm is elucidated for the three stabilization controls for the forklift vehicle.
Źródło:
Acta Mechanica et Automatica; 2019, 13, 3; 181-188
1898-4088
2300-5319
Pojawia się w:
Acta Mechanica et Automatica
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Analyzing the feasibility of an unmanned cargo ship for different operational phases
Autorzy:
Røstum Bellingmo, P.
Wille, E.
Nordahl, H.
Mørkrid, O. E.
Holte, E. A.
Powiązania:
https://bibliotekanauki.pl/articles/24201463.pdf
Data publikacji:
2023
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
autonomous ship
navigation
cargo handling
mooring
communication
power and propulsion
technical feasibility
regulatory feasibililty
Opis:
The maritime industry has begun to look into autonomous ships as an alternative to conventional ships due to growing pressure to reduce the environmental impact of maritime transportation, to increase safety, to mitigate the growing challenges in recruiting seafarers, and to increase profit margins. There is a lot of research on the challenges and feasibilities of an autonomous ship. However, there is less discussion on the transition from manned to unmanned ships and the tasks that are feasible to automate before the whole ship is unmanned. This paper investigates the technical and regulatory feasibility of automating different tasks for different operational phases for a large cargo ship. This study shows that a fully unmanned cargo ship is not feasible today, but that some tasks can be automated within the next five years.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2023, 17, 2; 397--404
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Performance of a novel Receiver Autonomous Integrity Monitoring procedure consistent with IMO requirements
Autorzy:
Mink, M.
Heck, B.
Powiązania:
https://bibliotekanauki.pl/articles/134914.pdf
Data publikacji:
2015
Wydawca:
Akademia Morska w Szczecinie. Wydawnictwo AMSz
Tematy:
Global Navigation Satellite Systems
integrity
Receiver Autonomous Integrity Monitoring
maritime
International Maritime Organization
protection level
Opis:
Although integrity concepts for Global Navigation Satellite Systems (GNSS) are ubiquitous in the aviation community, integrity algorithms of comparable maturity have not yet been developed for maritime users. The International Maritime Organization (IMO) specifies requirements different from those specified by the International Civil Aviation Organization (ICAO). These different requirements affect the design of the integrity algorithms with respect to integrity risk allocation and threat space. This paper describes a novel integrity algorithm based on conditions valid for maritime users. The performance of the novel integrity algorithm has been assessed and compared to a conventional Receiver Autonomous Integrity Monitoring (RAIM) approach consistent with IMO requirements.
Źródło:
Zeszyty Naukowe Akademii Morskiej w Szczecinie; 2015, 44 (116); 155-161
1733-8670
2392-0378
Pojawia się w:
Zeszyty Naukowe Akademii Morskiej w Szczecinie
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Autonomous ships concept and mathematical models application in their steering process control
Autorzy:
Melnyk, O.
Onishchenko, O.
Onyshchenko, S.
Voloshyn, A.
Kalinichenko, Y.
Rossomakha, O.
Naleva, G.
Powiązania:
https://bibliotekanauki.pl/articles/2211982.pdf
Data publikacji:
2022
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
autonomous ship
steering process control
mathematical model
autonomous ship concept
accident-free navigation
automatic steering system
ship automatic movement
ship automatic movement control system
Opis:
Advances in computer systems and innovative technologies along with their implementation into the shipping industry not only enabled efficient data exchange between the ship and the shore, but also created a single integrated information network linking all participants of the process and all elements of the maritime sector. Development of the concept of autonomous ships and automated control facilities for their functionality became the next stage in the evolution of innovations. The process of software adaptation, additional electronic steering systems, optical and digital means of monitoring as well as satellite communication facilities for autonomous ships are among the tasks which require search and development of the solutions. Provision of reliable and safe functioning of such ships in the autonomous mode requires development of models and methods for ensuring their accident-free navigation both in relation to the process of ships divergence and improvement of automatic steering systems of movement and course steadiness. In the given work, the analysis of realization of the crewless navigation and possibility of ship automatic movement control systems advancement on the basis of application of mathematical model for the purpose of enhancement of process of the autonomous ship steadiness on the set course is proposed.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2022, 16, 3; 553--559
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Innowacyjny autonomiczny pojazd podwodny do badania stanu środowiska w warunkach trudnych
Innovative autonomous underwater vehicle for research the environment in harsh condition
Autorzy:
Chodnicki, M.
Jażdzewski, M.
Kulwicki, Ł
Ławreszuk, D.
Panasiuk-Chodnicka, A. A.
Powiązania:
https://bibliotekanauki.pl/articles/137196.pdf
Data publikacji:
2014
Wydawca:
Uczelnia Jana Wyżykowskiego
Tematy:
autonomiczny pojazd podwodny
nawigacja
sterowanie
Zatoka Admiralicji
Antarktyka
autonomous underwater vehicle
navigation
control system
Admiralty Bay
Antarctica
Opis:
Na podstawie rzeczywistej, aktualnej wiedzy w temacie rozwoju robotów podwodnych został zaprojektowany nowy pojazd wyposażony w innowacyjne rozwiązania. Autonomiczny robot podwodny dedykowany jest do pracy w trudnych warunkach środowiskowych, wymagających odporności na wysokie ciśnienie, niskie temperatury i silne prądy, które są typowe dla regionów polarnych. W pracy opisano charakterystykę docelowego rejonu, w którym ma być używany robot podwodny, tj. Zatokę Admiralicji w rejonie Archipelagu Szetlandów Południowych. Istotnym aspektem pracy był także dobór odpowiedniego systemu sterowania, który będzie zdolny przeprowadzić pojazd przez trudne i wymagające warunki stawiane przez środowisko zewnętrzne. Kolejnym elementem projektu jest ocena istniejących systemów nawigacji. Ostatnią częścią jest opracowanie kształtu robota, odpowiedniego do warunków otoczenia z uwzględnieniem możliwości zamontowania dodatkowych urządzeń mechanicznych, elektrycznych i pomiarowych, odpowiedzialnych za wykonywanie powierzonych zadań podczas misji robota.
The use of Autonomic Underwater Vehicles (AUV) continuously recording the basic environmental parameters in marine polar regions are extremely difficult. This study provides a summary and a description of the existing solutions for the AUV, their use, construction, actuators and transmitters. Based on the actual knowledge a new vehicle equipped with innovative solutions and components was designed. The underwater robot is dedicated to be working in harsh environmental conditions requiring resistance to high pressure, low temperatures and strong currents, which are typical for the polar regions. The first stage of the design process consist of selection miniature sensors, vision systems to collect information about the environment. The next step was to develop a method for processing and storing data from the measurements. There has been elaborated a special communication and data transfer for this system. An important aspect of this design is a proprietary control system, which includes selecting an appropriate drive with the control program Marek Chodnicki, Marek Jażdzewski, Łukasz Kulwicki, Dawid Ławreszuk, Anna A. Panasiuk-Chodnicka 8 according to the external conditions. Another part of the research was the review of the existing navigation systems and subsequently implementation to the designed vehicle. Then, the power system with automatic charging was elaborated, which is possible to use natural energy sources. The last part was to design the shape of the mobile robot, taking into account the environmental conditions and the possibility of mechanical and electronic devices to be installed.
Źródło:
Zeszyty Naukowe Dolnośląskiej Wyższej Szkoły Przedsiębiorczości i Techniki. Studia z Nauk Technicznych; 2014, 3; 7-16
2299-3355
Pojawia się w:
Zeszyty Naukowe Dolnośląskiej Wyższej Szkoły Przedsiębiorczości i Techniki. Studia z Nauk Technicznych
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Is full-autonomy the way to go towards maximizing the ocean potentials?
Autorzy:
Zghyer, R.
Ostnes, R.
Halse, K. H.
Powiązania:
https://bibliotekanauki.pl/articles/116079.pdf
Data publikacji:
2019
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
autonomous vessel
hydrodynamics
guidance
navigation and control (GNC)
human factor
remote control
full-authonomy
levels of automation (LOA)
automation
Opis:
Growth prospects for ocean economy are promising because ocean industries are addressing challenges such as food security, energy security and climate change. However, safety and efficiency are the general challenges of ocean operations. Increased automation is believed to solve these problems. This paper discusses the impact of automation on safety and efficiency. A literature review of ‘Human factors’ mainly from the aviation and maritime industries is presented to untangle the human-machine relationship characteristics when increased automation is introduced to operators. A literature review of Hydrodynamics, Guidance, Navigation and Control (GNC) technologies is presented to introduce the state-of-art and associated limitations. It is concluded that, if the industry’s drive is safety and efficiency, then full-autonomy is, at present, not the way to go. Remote control, instead, could facilitate a feasible future, while focused research and development are in need.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2019, 13, 1; 33-42
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Intelligent Prediction of Ship Maneuvering
Autorzy:
Łącki, M.
Powiązania:
https://bibliotekanauki.pl/articles/116074.pdf
Data publikacji:
2016
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
future of navigation
ship maneuvering
intelligent prediction
prediction of ship maneuvering
neuroevolution
navigational parameters
intelligent ship
autonomous control unit
Opis:
In this paper the author presents an idea of the intelligent ship maneuvering prediction system with the usage of neuroevolution. This may be also be seen as the ship handling system that simulates a learning process of an autonomous control unit, created with artificial neural network. The control unit observes input signals and calculates the values of required parameters of the vessel maneuvering in confined waters. In neuroevolution such units are treated as individuals in population of artificial neural networks, which through environmental sensing and evolutionary algorithms learn to perform given task efficiently. The main task of the system is to learn continuously and predict the values of a navigational parameters of the vessel after certain amount of time, regarding an influence of its environment. The result of a prediction may occur as a warning to navigator to aware him about incoming threat.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2016, 10, 3; 511-516
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Trends and challenges in unmanned surface vehicles (USV): From survey to shipping
Autorzy:
Barrera, C.
Padron, I.
Luis, F. S.
Llinas, O.
Powiązania:
https://bibliotekanauki.pl/articles/1841556.pdf
Data publikacji:
2021
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
unmanned vehicles
unmanned surface vehicles
guidance
navigation and control
Oceanic Platform of the Canary Islands
MUNIN project
maritime autonomous surface ships
advanced autonomous waterborne application
association for unmanned systems international
Opis:
Autonomy and unmanned systems have evolved significantly in recent decades, becoming a key routine component for various sectors and domains as an intrinsic sign of their improvement, the ocean not being an exception. This paper shows the transition from the research concept to the commercial product and related services for Unmanned Surface Vehicles (USV). Note that it has not always been easy in most cases due to the limitations of the technology, business, and policy framework. An overview of current trends in USV technology looking for a baseline to understand the sector where some experiences of the authors are shown in this work. The analysis presented shows a multidisciplinary approach to the field. USV's capabilities and applications today include a wide range of operations and services aimed at meeting the specific needs of the maritime sector. This important consideration for USV has yet to be fully addressed, but progress is being made.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2021, 15, 1; 135-142
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
From ship to shore – studies into potential practical consequences of autonomous shipping on VTS operation and training
Autorzy:
Janssen, T.
Baldauf, M.
Claresta, G.
Powiązania:
https://bibliotekanauki.pl/articles/24201459.pdf
Data publikacji:
2023
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
vessel traffic service
maritime autonomous surface ships
e-Navigation
digitalization
VTS Operator
maritime education and training
traffic surveillance
VTS guideline
Opis:
Vessel Traffic Services (VTS) are to improve the safety and efficiency of vessel traffic and to protect the marine environment by interacting with the ship’s traffic in monitored coastal areas. Today, VTS operators are maritime professionals with nautical education from a university or technical college and practical experience on board. This experience and nautical background is a key element of the work as a VTS operator. It is to support understanding the daily work. The current situation in the maritime domain is undergoing substantial changes, such as introducing new technologies, implementing the e-Navigation concept based on sustainable digitalization and ambitions to realize unmanned and autonomous shipping. This paper will present preliminary results of a pilot study conducted in VTS Centres along the coast of North and Baltic Sea and discuss selected options and opportunities for education and training of future VTS operators, which might not have the advantage of practical sea experience anymore.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2023, 17, 2; 383--390
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Understanding the Interrelation between the Safety of Life at Sea Convention and Certain IMO’s Code
Autorzy:
Guevara, D.
Dalaklis, D.
Powiązania:
https://bibliotekanauki.pl/articles/1841521.pdf
Data publikacji:
2021
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
SOLAS Convention
Maritime Autonomous Surface Ships
International Maritime Organization
IMO’s Codes
ISM Code
Safety of Navigation
Navigational Safety Risk Assessment
Opis:
Over the last few decades, the International Maritime Organization (IMO) has very heavily utilized the Safety of Life at Sea (SOLAS), 1974 Convention as the main legal instrument (and implementation tool) concerning safety at sea for merchant vessels engaged in international trade. During this more than a century of existence and continuous improvement of the Convention, wide-ranging safety risks have been addressed via SOLAS and certain relevant “supporting” Codes, covering for example the issues of design, construction and equipment of ships, as well as paving the way for the introduction of a structured framework of operational procedures that ensures a high level of professional performance for the crew onboard those seagoing vessels (the International Management Code for the Safe Operation of Ships and for Pollution Prevention-ISM Code) and even including human factors topics. Until this point in time, the IMO has developed the SOLAS Convention with fourteen (14) chapters that are covering all the main risks associated with shipping operations and are working in parallel with other related Conventions and Codes to enhance the level of safety at sea, under a holistic approach that is working under the principle of interrelation. This paper aims to briefly discuss SOLAS’ history of development and highlight just a few of those important risks that this Convention is addressing, with certain emphasis on the topic of “safety of navigation”. Apart from helping to understand the way this Convention and other IMO’s legal instruments are interrelated, it will also provide a few educated guesses about the “upcoming” challenges that in the near future should also be included into the scope of the SOLAS, with the topic of Maritime Autonomous Surface Ships (MAAS) clearly standing out.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2021, 15, 2; 381-389
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
The Human Element and Autonomous Ships
Autorzy:
Ahvenjärvi, S.
Powiązania:
https://bibliotekanauki.pl/articles/115965.pdf
Data publikacji:
2016
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
human element
autonomous ship
unmanned ship
future of navigation
unmanned surface vessel (USV)
remote control
Human Machine Interface (HMI)
MUNIN project
Opis:
The autonomous ship technology has become a “hot” topic in the discussion about more efficient, environmentally friendly and safer sea transportation solutions. The time is becoming mature for the introduction of commercially sensible solutions for unmanned and fully autonomous cargo and passenger ships. Safety will be the most interesting and important aspect in this development. The utilization of the autonomous ship technology will have many effects on the safety, both positive and negative. It has been announced that the goal is to make the safety of an unmanned ship better that the safety of a manned ship. However, it must be understood that the human element will still be present when fully unmanned ships are being used. The shore-based control of a ship contains new safety aspects and an interesting question will be the interaction of manned and unmanned ships in the same traffic area. The autonomous ship technology should therefore be taken into account on the training of seafarers. Also it should not be forgotten that every single control algorithm and rule of the internal decision making logic of the autonomously navigating ship has been designed and coded by a human software engineer. Thus the human element is present also in this point of the lifetime navigation system of the autonomous ship.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2016, 10, 3; 517-521
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Port tugboat formation multi-agent control system
Autorzy:
Koznowski, W.
Łebkowski, A.
Powiązania:
https://bibliotekanauki.pl/articles/2063990.pdf
Data publikacji:
2021
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
tug operations
Maritime Safety Committee
International Maritime Organization
Multi-Agent System
Multi-Agent Conbtrol System
Autonomous Vessels
e-Navigation
Artificial Intelligence
Opis:
The publication presents the structure of the agent system, tasked with control of the formation of unmanned port tugboats capable of performing pilot and towing services. The use of autonomous tugboats with installed software was presented with respect to the existing regulations related to Resolution MSC.467 developed by the Maritime Safety Committee (MSC) belonging to the International Maritime Organization (IMO), which creates guidelines for the definition and harmonization of the structure and format of maritime services in the context of e-navigation. The use of a multi-agent system structure enables synergistic cooperation of tugboats carrying out joint port operations, such as: assistance in maneuvers of ships, precision movement of ships and other objects in port areas, monitoring and patrolling of port areas, carrying out ice operations, carrying out inspections of quays, the possibility of assistance in liquidation of petroleum and similar pollutant spills. The paper presents the structure of the agent system and the description of possible scenarios of port operations. The control algorithms and the applied methods of artificial intelligence, such as evolutionary algorithms with elements of fuzzy logic, were discussed. The recorded traffic parameters from the actions carried out in the simulator of the marine navigation environment were presented.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2021, 15, 3; 807--814
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Errors of UAV autonomous landing system for different radio beacon configurations
Autorzy:
Kelner, J. M.
Ziółkowski, C.
Powiązania:
https://bibliotekanauki.pl/articles/117342.pdf
Data publikacji:
2019
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
aviation
Global Navigation Satellite System (GNSS)
autonomous landing system
unmanned aerial vehicle (UAV)
Doppler-based Landing System
drone
UAV drone
Doppler effect
Opis:
At the turn of the 20th and 21st centuries, development of microelectronics and microwave techniques allowed for minimization of electronic devices and systems, and the use of microwave frequency bands for modern radio communication systems. On the other hand, the global navigation satellite system (GNSS) have contributed to the popularization of radio navigation in civilian applications. These factors had a direct impact on the development and dissemination of unmanned aerial vehicles (UAVs). In the initial period, the UAVs were used mainly for the army needs. This results also from the legal aspects of the UAV use in the airspace. Currently, commercial UAVs for civilian applications, such as image recognition, monitoring, transport, etc., are presented increasingly. Generally, the GNSS system accuracy for the UAV positioning during a flight is enough. However, the GNSS use for automatic takeoff and landing may be insufficient. The extensive, ground-based navigation support systems used at airports by manned aircraft testify to these. In the UAV case, such systems are not used due to their complexity and price. For this reason, the novel dedicated take-off and landing systems are developed. The proposal of the autonomous landing system, which is based on the Doppler effect, was presented in 2017. In this case, the square-based beacon configuration was analyzed. This paper shows the influence of various beacon configurations in the Doppler-based landing system on the positioning error during the UAV landing approach.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2019, 13, 2; 429-435
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Ship recognition and tracking system for intelligent ship based on deep learning framework
Autorzy:
Liu, B.
Wang, S. Z.
Xie, Z. X.
Zhao, J. S.
Li, M. F.
Powiązania:
https://bibliotekanauki.pl/articles/117419.pdf
Data publikacji:
2019
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
intelligent ship
deep learning framework
ship recognition system
ship tracking system
ship recognition and tracking system
intelligent navigation
autonomous ship
maritime safety
Opis:
Automatically recognizing and tracking dynamic targets on the sea is an important task for intelligent navigation, which is the prerequisite and foundation of the realization of autonomous ships. Nowadays, the radar is a typical perception system which is used to detect targets, but the radar echo cannot depict the target’s shape and appearance, which affects the decision-making ability of the ship collision avoidance. Therefore, visual perception system based on camera video is very useful for further supporting the autonomous ship navigational system. However, ship’s recognition and tracking has been a challenge task in the navigational application field due to the long distance detection and the ship itself motion. An effective and stable approach is required to resolve this problem. In this paper, a novel ship recognition and tracking system is proposed by using the deep learning framework. In this framework, the deep residual network and cross-layer jump connection policy are employed to extract the advanced ship features which help enhance the classification accuracy, thus improves the performance of the object recognition. Experimentally, the superiority of the proposed ship recognition and tracking system was confirmed by comparing it with state of-the-art algorithms on a large number of ship video datasets.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2019, 13, 4; 699-705
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’s safety improving by efficiently analysis of the ship’s power Plant energy flows interconnection
Autorzy:
Veretennik, A.
Kulyeshov, I.
Mikhailov, S.
Powiązania:
https://bibliotekanauki.pl/articles/2086298.pdf
Data publikacji:
2022
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
navigation’s safety
safety at sea
ship's power plant
power plant energy flows
autonomous movable objects
mechanical energy flow
power plant system
efficiently analysis
Opis:
The operation of an autonomous movable objects, such as a sea transport vessels, implies the presence of a source of potential energy on board the vessel and the possibility of converting this energy into the work required for the autonomous movable object (vessel). Being an autonomous object, a transport vessel should be provided with energy for it moving, energy for heat exchange processes on board and electricity for powering electrical equipment, automation and navigation systems, and household needs on board. An analysis of the component of the engine room equipment made it possible to designate (combine) the generating equipment of mechanical energy flow, equipment which are generating the heat energy flow and equipment which are generating the electric energy flow. Based on the results of the research the relationships between the energy flows are identified connections and ways to ensure stabilization of energy generation on board the cargo vessel is outlined. Using the results of the research the relationships between the energy flows will reduce the likelihood of accidents on board a cargo vessel due to a stop in the generation of one of the energy flows and thereby ensure increased safety of man at sea. Taking into account the peculiarities of the distribution of energy flows in ship power plants can be an effective tool not only to improve the economic performance of it, but also to increase the safety of navigation and navigation in general, due to the reliable provision of uninterrupted and efficient operation of ship power plants.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2022, 16, 1; 39--42
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Towards use of dijkstra algorithm for optimal navigation of an unmanned surface vehicle in a real-time marine environment with results from artificial potential field
Autorzy:
Singh, Y.
Sharma, S.
Sutton, R.
Hatton, D.
Powiązania:
https://bibliotekanauki.pl/articles/116058.pdf
Data publikacji:
2018
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
autonomous vehicles
dijkstra’s algorithm
Unmanned Surface Vehicle (USV)
port of portsmouth
Artificial Path Planning (APF)
Artificial Potential Field
real-time marine environment
optimal navigation
Opis:
The growing need of ocean surveying and exploration for scientific and industrial application has led to the requirement of routing strategies for ocean vehicles which are optimal in nature. Most of the op-timal path planning for marine vehicles had been conducted offline in a self-made environment. This paper takes into account a practical marine environment, i.e. Portsmouth Harbour, for finding an optimal path in terms of computational time between source and end points on a real time map for an USV. The current study makes use of a grid map generated from original and uses a Dijkstra algorithm to find the shortest path for a single USV. In order to benchmark the study, a path planning study using a well-known local path planning method artificial path planning (APF) has been conducted in a real time marine environment and effectiveness is measured in terms of path length and computational time.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2018, 12, 1; 125-131
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Wyświetlanie 1-50 z 51

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