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1

The Role of the European Maritime Simulator Network in Assessing Dynamic Sea Traffic Management Principles

Rizvanolli A., Burmeister H.C., John O.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

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2015

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Vol. 9, no. 4

559--564

EN

The MONALISA 2.0 (ML 2.0) project aims to define the Sea Traffic Management concept (STM), where information is shared amongst all stakeholders in the maritime transport chain, including nautical officers, ports, administrations, etc. Thus, a communication and information centered approach for data exchange by System Wide Information Management principles changing from surface-based- to voyage-based-operations has been proposed. Amongst others, testing and verifying the feasibility and benefits of STM and its solutions shall be done in the European Maritime Simulator Network (EMSN), a macro simulation environment for ship handling simulators. This is an open IEEE 1278 standard network protocol enabling interactive communication between distributed simulation environments. Based on an introduction into ML 2.0, the proposed STM concept is introduced, its expected impacts are listed and Key Performance Objectives are derived. The backgrounds on the EMSN are given and it is shown how it can assist in assessing the impact of STM’s Key Performance Indicators.

2

Steady-state Manoeuvring of a Generic ASD Tug in Escort Pull and Bow-rope Aided Push Operation

Artyszuk J.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

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2014

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Vol. 8, no. 3

449--457

EN

This paper is devoted to expand the very promising research undertaken in the author's previous work, basically done on simplified modelling the escort push operation. Now, the other two modes of a tug's employment, as stated in the title, are covered. The special focus is again set on the indirect towing in that the towline force is much higher than the thruster force. The ratio of these two forces, referred to as the relative towing force (or amplification ratio) is evaluated together with the hull drift angle and the thruster(-s) angle for a given escort speed. This mutual relationship is known as the tug performance diagram. Although rather generic (container-type) formulas are derived, they are supplied for exemplification purposes with simple, analytically given hull hydrodynamic forces. The aim is also here to provide a basis for further sensitivity analysis of the model and possible improvement/optimisation to the tug design. The obtained charts also could serve as rough and clear guidance for towmasters while escorting.

3

Simulation Augmented Manoeuvring Design and Monitoring – a New Method for Advanced Ship Handling

Benedict K., Kirchhoff M., Gluch M., Fischer S., Schaub M.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

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2014

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Vol. 8, no. 1

131--141

EN

A fast time simulation tool box is under development to simulate the ships motion with complex dynamic models and to display the ships track immediately for the intended or actual rudder or engine manoeuvre. Based on this approach the innovative “Simulation Augmented Manoeuvring Design and Monitoring” - SAMMON tool box will allow for (a) a new type of design of a manoeuvring plan as enhancement exceeding the common pure way point planning (b) an unmatched monitoring of ship handling processes to follow the underlying manoeuvring plan. During the manoeuvring process the planned manoeuvres can be constantly displayed together with the actual ship motion and the predicted future track which is based on actual input data from the ship’s sensors and manoeuvring handle positions. This SAMMON tool box is intended be used on board of real ships but it is in parallel an effective tool for training in ship handling simulators: (a) in the briefing for preparing a manoeuvring plan for the whole exercise in some minutes, (b) during the exercise run to see the consequences of the use of manoeuvring equipment even before the ship has changed her motion and (c) in debriefing sessions to discuss potential alternatives of the students decisions by simulating fast variations of their choices during the exercises. Examples will be given for results from test trials on board and in the full mission ship handling simulator of the Maritime Simulation Centre Warnemuende.

4

The H2 and Robust Hinf Regulators Applied to Multivariable Ship Steering

Gierusz W.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

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2009

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Vol. 3, no. 4

431--440

EN

The main goal of this task was a calculation of the two multivariable regulators for precise steering of a real, floating, training ship. The first one minimized the H2 norm of the closed-loop system. The second one was related to the Hinf norm. The robust control approach was applied in this controller with the usage of the structured singular value concept. Both controllers are described in the first part of the paper. Details of the training vessel and its simulation model then are presented. The state model of the control object obtained via identification process is described in the next section. This model with matrices weighting functions was the base for creation of ’the augmented state model’ for the open-loop system. The calculation results of the multivariable controllers is also shown in this section. Several simulations were performed in order to verify the control quality of both regulators. Exemplary results are presented at the end of this paper together with final remarks.

5

The Display Mode for Choosing the Manoeuvre for Collision Avoidance

Vagushchenko L., Vagushchenko A.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

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2009

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Vol. 3, no. 3

327--329

EN

The display mode is intended for facilitation of building strategies for collision avoidance by so-called B-manoeuvres. It can be used in ECDIS, ARPA and the simulator systems. B-manoeuvre includes the segment of deviation at a certain angle from the initial course and at the end of it the segment parallel to the initial way’s line (planned route). The offered mode is based on the use of forbidden domains for B-manoeuvres. These domains allow choosing parameters and beginning moment of B-manoeuvre for collision avoidance with one or a few vessels. The account of presence of navigation hazards at the choice of B-manoeuvre is produced by setting the borders of maximum lateral shifting from planned route. The offered mode enables visual drafting of strategies for collision avoidance with vessels by successive B-manoeuvres. It is possible to use this mode as basis of computer search of strategies for collisions avoidance with a few targets.

6

New Capabilities of the NTPRO 4000 Full Mission Ship Handling Simulator in the Assessment and Evaluation Processes at Lithuanian Maritime Academy

Zazeckis R., Bartuseviciene I., Maksimavicius R.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

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2009

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Vol. 3, no. 3

269--274

EN

Nowadays the equipment used on ships is becoming more and more sophisticated, safety of shipping depends heavily not only on trustworthiness of high-tech products, but also on mariners’ competence. It is necessary to find methods to enable seafarers to keep track with technical developments. Simulators as a tool combined with a properly developed course curriculum and qualified instructors provide an appropriate method not only for training, but also for measuring, assessing and evaluating individual mariner performance in order to test levels of competency and proficiency. According to Nieri (1995, p. 1/6), “The development of performance-based assessment tools would utilize the widely-recognized advantages of simulators and part-task trainers to generate a scenario in which the license candidate must demonstrate his knowledge of system relationships, knowledge of operational procedures, monitor systems and situations, respond to unexpected occurrences, identify and diagnose problems, and manage personnel, in a dynamic world“. This paper discusses the usage of new capabilities of the NTPRO 4000 full mission ship handling simulator in the assessment and evaluation processes at Lithuanian Maritime Academy.

7

Navigational Safety in SPM (Single Mooring Point) Regions

Paulauskas V.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

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2009

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Vol. 3, no. 1

101--104

EN

For oil and gas transportation in some places used SPM (Single mooring point) system, this is located in the open sea and very often not so far away from the shore. Differences between the wind loads, waves and current forces can take a place. More complicate conditions can be in case if FSU is still in ballast and more influence has wind and waves as current and in the same time tanker in loaded position is more influenced by the current. Navigational safety ensure in SPM regions requests deep theoretical studies and very clear understanding of forces and moments, which influence on all the system (SPM, FSU, Tanker, tugs), practical implementation of proper equipment and use of correct methods of navigational safety. In this article there is made analysis of possible failures and necessary actions to ensure navigational safety in SPM regions.

8

Manoeuvring Simulation on the Bridge for Predicting Motion of Real Ships and as Training Tool in Ship Handling Simulators

Benedict K., Kirchhoff M., Gluch M., Fischer S., Baldauf M.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

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2009

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Vol. 3, no. 1

25--30

EN

International sea transport has growing rapidly during the period of the last decade. Ships became larger and wider and its container capacity is still increasing to 12.000 TEU and even more. To navigate such vessels safely from port to port and specifically within the ports more and more enhanced computer-based systems are installed on the ships navigational bridges. Prediction tools are very helpful and already in use on ships for a long time. However, the simplification of existing predictions allows restricted use only and do not include the immediate response on changes of rudder and engine. Within this paper investigations into the feasibility and user acceptance of newly developed layout of navigation display will be introduced and selected results of simulation studies testing the influence on manoeuvre performance dependent on different kind of prediction functions will be discussed. Examples will be given for results from test trials in the full mission ship handling simulator of the Maritime Simulation Centre Warnemunde and a concept for the application of the developed .tools for purposes of collision avoidance is described.

9

Identification of Ship Maneuvering Model Using Extended Kalman Filters

Shi C., Zhao D., Peng J., Shen C.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

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2009

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Vol. 3, no. 1

105--110

EN

Ship maneuvering models are the keys to the research of ship maneuverability, design of ship motion control system and development of ship handling simulators. For various frames of ship maneuvering models, determining the parameters of the models is always a tedious task. System identification theory can be used to establish system mathematical models by the system’s input data and output data. In this paper, based on the analysis of ship hydrodynamics, a nonlinear model frame of ship maneuvering is established. System identification theory is employed to estimate the parameters of the model. An algorithm based on the extended Kalman filter theory is proposed to calculate the parameters. In order to gain the system’s input and output data, which is necessary for the parameters identification experiment, turning circle tests and Zig-zag tests are performed on shiphandling simulator and the initial data is collected. Based on the Fixed Interval Kalman Smoothing algorithm, a pre-processing algorithm is proposed to process the raw data of the tests. With this algorithm, the errors introduced during the measurement process are eliminated. Parameters identification experiments are designed to estimate the model parameters, and the ship maneuvering model parameters estimation algorithm is extended to modify the parameters being estimated. Then the model parameters and the ship maneuvering model are determined. Simulation validation was carried out to simulate the ship maneuverability. Comparisons have been made to the simulated data and measured data. The results show that the ship maneuvering model determined by our approach can seasonably reflect the actual motion of ship, and the parameter estimation procedure and algorithms are effective.

10

Conceptual Model of Port Security Simulating Complex (Bulgarian Standpoint)

Mednikarov B., Stoyanov N., Kalinov K.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

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2009

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Vol. 3, no. 4

373--378

EN

Using modeling and simulations has established itself as the most effective approach of preparing personnel engaged with crisis management, including the training of port security responsible personnel. On the background of presenting the overall methodology of transforming Bulgarian Harbour Protection System, the paper formulates a set of requirements for port security related education and training and proposes a general model of a simulating complex supporting the education and training process.

11

CFD Based Hull Hydrodynamic Forces for Simulation of Ship Manoeuvres

Tabaczek T., Gornicz T., Kulczyk J.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

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2009

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Vol. 3, no. 1

31--35

EN

There have been developed numerous mathematical models describing the motion of a ship. In opinion of present authors the CFD is mature enough to determine with confidence the hydrodynamic characteristics necessary to simulate ship manoeuvres. In this paper the authors present the attempt to determine the hull hydrodynamic forces using the results of CFD computations of ship flow. Results show qualitative agreement with reference data and reveal shortcomings due to simplifying assumptions applied in CFD computations.

12

The Analysis of Possibilities How the Collision Between m/v 'Gdynia' and m/v 'Fu Shan Hai' Could Have Been Avoided

Banachowicz A., Wolejsza P.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

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2008

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Vol. 2, no. 4

377--381

EN

The report presents the simulation results of collision between m/v “Gdynia” and m/v “Fu Shan Hai”. The analysis was performed by means of decision support in collision situations. This system is based on a structure of programme multiagents using AIS data (Automatic Identification System) with the possibility of cooperation between agents or vessels. The multiagent system of supporting anticollision decisions increases the reliability of navigational information and permits making right decisions, thereby increasing safety at sea.

13

Reinforcement Learning in Ship Handling

Łącki M.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

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2008

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Vol. 2, no. 2

157--160

EN

This paper presents the idea of using machine learning techniques to simulate and demonstrate learning behaviour in ship manoeuvring. Simulated model of ship is treated as an agent, which through environmental sensing learns itself to navigate through restricted waters selecting an optimum trajectory. Learning phase of the task is to observe current state and choose one of the available actions. The agent gets positive reward for reaching destination and negative reward for hitting an obstacle. Few reinforcement learning algorithms are considered. Experimental results based on simulation program are presented for different layouts of possible routes within restricted area.

14

Mooring the Ferry m/f “Gryf” in Extreme Hydro and Meteorological Conditions

Kowalski A.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

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2008

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Vol. 2, no. 4

383--386

EN

The paper introduces some possible manoeuvres of the ferry „Gryf” in difficult hydro and meteorological conditions, in which standard methods do not permit execution of mooring and unmooring. Brief characteristics of the ferry m/f „Gryf” have been presented. Typical and most often met extreme hydro and meteorological conditions have been described for ?winouj?cie and Ystad. Examplary techniques of manoeuvres have also been presented for both ports of operation.

15

Analysis of Ships Turn Manoeuvres in Port Water Area

Kornacki J., Galor W.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

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2007

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Vol. 1, no. 1

95--100

EN

The turning basin is a special part of port water area described by dimensions in horizontal and vertical directions. Such area should be insuring the proper level of safety due to ship manoeuvres. The paper presents the analysis of ships turn manoeuvres on aspect of turning basin designing. The examples of such basins in polish port are showed.

16

An Application of ANN to Automatic Ship Berthing Using Selective Controller

Im N., Seong-Jong Lee, Hyung-Do B.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

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2007

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Vol. 1, no. 1

101--105

EN

This paper deals with ANN(Artificial Neural Networks) and its application to automatic ship berthing. As ship motions are expressed by a multi-term non-linear model, it is very difficult to find optimal methods for automatic ship berthing. When a ship makes its berthing operation, the ship’s inertia and slow motion make the ship approach to final berthing point with pre-determined navigation pattern. If the ship is out of the pre-determined navigation pattern, the berthing usually end in failure. It has been known that the automatic control for ship’s berthing cannot cope with various berthing situations such as various port shape and approaching directions. For these reasons, the study on automatic berthing using ANN usually have been carried out based on one port shape and predetermined approaching direction. In this paper, new algorithm with ANN controller was suggested to cope with these problems. Under newly suggested algorithm, the controller can select different weight on the link of neural networks according to various situations, so the ship can maintain stable berthing operation even in different situations. Numerical simulations are carried out with this control system to find its improvement.