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1
Content available Multi-criteria optimization of multi-step matrix game in collision avoidance of ships
Lisowski J.
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
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2019
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Vol. 13, no. 1
125--131
EN
This research article formulates a mathematical model of the matrix game of the safe ship control process containing: state variables and control, collision risk definition and the form of a collision risk matrix. Multicriteria optimization of the matrix game was introduced, leading to non-cooperative and cooperative game control algorithms and non-game control. Simulation safe trajectories of own ship for various types of control were compared to the example of the real situation at sea.
2
Content available Development of automatic collision avoidance system and quantitative evaluation of the manoeuvring results
Nakamura S., Okada N.
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
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2019
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Vol. 13, no. 1
133--141
EN
The automatic collision avoidance system introduced in this paper is a system constantly calculating optimal manoeuvring method from the risk and economic preference in the ship manoeuvring space where the course change and the deceleration are performed. The authors also propose a system that quantitatively evaluates the collision avoidance manoeuvring results. Based on the evaluation results of this system, the authors are setting parameters so that ship manoeuvring that does not give anxiety to target ships to be avoided is also realized in automatic collision avoidance manoeuvring. In addition, comparison between the manoeuvring results of the automatic collision avoidance system and the veteran captain's manoeuvring results was quantitatively compared by the proposed evaluation system. Verification experiments were successfully conducted to verify the effectiveness of the proposed automatic collision avoidance system on the actual ship navigating in congested waters.
3
Content available A framework of a ship domain-based near-miss detection method using Mamdani neuro-fuzzy classification
Niksa-Rynkiewicz T., Szłapczyński R.
Polish Maritime Research
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2018
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S 1
14--21
EN
Safety analysis of navigation over a given area may cover application of various risk measures for ship collisions. One of them is percentage of the so called near- miss situations (potential collision situations). In this article a method of automatic detection of such situations based on the data from Automatic Identification System (AIS), is proposed. The method utilizes input parameters such as: collision risk measure based on ship’s domain concept, relative speed between ships as well as their course difference. For classification of ships encounters, there is used a neuro-fuzzy network which estimates a degree of collision hazard on the basis of a set of rules. The worked out method makes it possibile to apply an arbitrary ship’s domain as well as to learn the classifier on the basis of opinions of experts interpreting the data from the AIS.
4
Content available Heuristic Method of Safe Manoeuvre Selection Based on Collision Threat Parameters Areas
Szlapczynska J., Szlapczynski R.
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
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2017
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Vol. 11, no. 4
591--596
EN
This paper is a continuation of papers dedicated to a radar-based CTPA (Collision Threat Parameters Area) display designed to support safe manoeuvre selection. The display visualizes all the ships in an encounter and presents situational overview from the own ship's point of view. It calculates and displays information on unsafe or unrealistic own ship's course & speed allowing a user to select a safe manoeuvre. So far only the manual selection was possible, thus the paper aims at presenting a heuristic approach towards the manoeuvre selection when using the display.
5
Content available Evaluation method of collision risk by using true motion
Imazu H.
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
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2017
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Vol. 11, no. 1
65--70
EN
It is necessary to develop a useful application to use big data like as AIS for safety and efficiency of ship operation. AIS is very useful system to collect targets information, but this information is not effective use yet. The evaluation method of collision risk is one of the cause disturb. Usually the collision risk of ship is evaluated by the value of the Closest Point of Approach (CPA) which is related to a relative motion. So, it becomes difficult to find out a safety pass in a congested water. Here, Line of Predicted Collision (LOPC) and Obstacle Zone by Target (OZT) for evaluation of collision risk are introduced, these values are related to a true motion and it became visible of dangerous place, so it will make easy to find out a safety pass in a congested water.
6
Content available 4M Overturned Pyramid (MOP) Model Utilization: Case Studies on Collision in Indonesian and Japanese Maritime Traffic Systems (MTS)
Mutmainnah W., Furusho M.
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
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2016
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Vol. 10, no. 2
257--264
EN
4M Overturned Pyramid (MOP) model is a new model, proposed by authors, to characterized MTS which is adopting epidemiological model that determines causes of accidents, including not only active failures but also latent failures and barriers. This model is still being developed. One of utilization of MOP model is characterizing accidents in MTS, i.e. collision in Indonesia and Japan that is written in this paper. The aim of this paper is to show the characteristics of ship collision accidents that occur both in Indonesian and Japanese maritime traffic systems. There were 22 collision cases in 2008–2012 (8 cases in Indonesia and 14 cases in Japan). The characteristics presented in this paper show failure events at every stage of the three accident development stages (the beginning of an accident, the accident itself, and the evacuation process).
7
Content available remote Towards the assessment of critical area in a collision encounter accounting for stability conditions of a ship
Krata P., Montewka J., Hinz T.
Prace Naukowe Politechniki Warszawskiej. Transport
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2016
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z. 114
169--178
EN
The rules of road, called COLREGS provide guidelines for navigators onboard ships involved in collision encounter at navigable waters. Specific roles for stand-on and give-a-way vessels are assigned, depending on the phase of the encounter. In this paper we extend further our earlier work on the definition of the boundaries for the third phase of the encounter. The latter is referred to as critical area for an escape maneuver of a stand-on ship, in the situation where the give-way vessel does not take an action. This area is determined with the use of a state-of-the-art, six degree-of-freedom hydrodynamic model of ship motion. Series of simulations are conducted for a specific type of encountering ships applying various rudder angles to perform collision evasive maneuvers. Varying rudder angles reflect the fact, that hard-to-side command cannot always be executed, due to stability conditions of a ship. As a result we obtained a set of areas of various size, depending on the rudder angle used to perform evasive action for the predefined ship loading conditions related to her transverse stability characteristics. These demarcate the boundaries of the third phase of encounter for the standon ship, where other ships on collision courses must not enter. Otherwise a collision cannot be avoided by an action of one ship alone or the ship would have to turn too vigorously causing actual stability related threat.
PL
Prawidła prawa drogi dla statków nawigujących na morzu wynikające z konwencji COLREGS określają wzajemne obowiązki statków. W szczególności w sytuacji przecinania się kursów statków idącychn na zderzenie przypisywane są im obowiązki związane z ustąpieniem drogi oraz z utrzymaniem kursu i prędkości. Obowiązki te są jednak uzależnione od fazy spotkania. W artykule rozwinięte zostały wcześniejsze prace dotyczące określania krytycznego obszaru związanego z trzecią fazą spotkania, gdy statek uprzednio zobowiązany do utrzymania kursu i prędkości jest już zobligowany do podjęcia własnego manewru z powodu nie wykonania swego obowiązku przez statek zobowiązany do ustąpienia drogi. Kształt obszaru krytycznego wynika zarówno z rozmiarów statków, ich właściwości manewrowych, ale także z parametrów statecznościowych, co stanowi nowość w stosunku do dotychczasowego ujęcia zagadnienia. Wykorzystano zaawansowany hybrydowy model hydrodynamiczny określający w toku licznych symulacji ruch statku w sześciu stopniach swobody dla manewru antykolizyjnego wykonanego przy różnych wychyleniach steru. Nie zawsze bowiem wyłożenie steru na burtę jest dopuszczalne z punktu widzenia stateczności i wywoływanego przechyłu. W rezultacie wyznaczono granice obszaru krytycznego dla pełnego zakresu wychyleń steru. Niedopuszczalne jest zbliżenie powodujące wejście statku w obszar krytycznych, gdyż niemożliwe stanie się wówczas uniknięcie zderzenia własnym manewrem bądź przekroczona zostanie krytyczna wartość kąta przechyłu, co jest niebezpieczne dla statku, pasażerów i przewożonego ładunku.
8
Content available Research on Double Collision Avoidance Mechanism of Ships at Sea
Bi X., Liu X. J.
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
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2015
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Vol. 9, no. 1
13--16
EN
When power driven vessels encounter at sea, they need to avoid collision. The definition of right vessel may mislead ships officers think his or her direct navigating has absolute power with this special ship. This paper will define DCPA symbols; give the cause and the method of double collision avoidance mechanism of ships at sea.
9
Content available Further Studies On The COLREGs (Collision Regulations)
Demirel E., Bayer D.
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
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2015
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Vol. 9, no. 1
17--23
EN
The collision risk is one of the major reasons threaten safety at sea. The Collision Regulations (COLREGs) is the essential international arrangement which regulates the rules of the roads at sea. Being also a legal document, the language of the COLREGs is not so apparent for the end users (navigators) and this cause some misunderstandings and ambiguity. Many discussions on COLREGs have continued since its first submission related to its application. It seems unlikely to make a radical change on COLREGs even on its manner of introduction. So it would be better to improve new manners to ensure the effective use of COLREGs in particular in the field of education and training. It is aimed to review the existing studies on COLREGs and recent improvements in the maritime education, and investigate applicable and reliable solutions to reduce the negative impacts experienced during the application of the COLREGs.
10
Content available Assessment of a critical area for a give-way ship in a collision encounter
Krata P., Montewka J.
Archives of Transport
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2015
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Vol. 34, iss. 2
51--60
EN
Evasive action in ship-ship encounter has to be carried out on time and in line with the international convention on collision regulation – COLREG. The convention not only includes a set of rules defining types of relations between encountering ships but also indicates appropriate action to be taken in a given encounter. One of such encounters is crossing, where, in case of a collision situation, a give-way ship has to take an appropriate action in due time. However, a stand-on vessel is also given an opportunity to manoeuver, if it is made clear to her that the other ship is not fulfilling her obligations. However, it is difficult to specify, at which point in time in the course of an encounter, the stand-on ship has to take an action in order to avoid collision. It is understandable, as this parameter depends on numerous factors, both endogenous (e.g. ship characteristics, her maneuverability), and exogenous (e.g. type of encounter, weather conditions). Therefore in this paper we make an attempt towards the definition of the critical area for a maneuver of a stand-on ship, in the situation where the give-way vessel does not take an action. This is determined with the use of a hydrodynamic model of ship motion, and series of simulations conducted for several types of encountering ships under various conditions. Once determined, the critical area demarcates the no-go area around the own ship, where any other ships on collision courses must not enter. Otherwise a collision cannot be avoided by an action of one ship alone.
11
Content available remote Towards Safer Navigation of Hydrofoils: Avoiding Sudden Collisions with Cetaceans
Kato H., Yamada H., Shakata K., Odagawa A., Kagami R., Yonehara Y., Terada M., Sakuma K., Mori H., Tanaka I., Sugioka H., Kyo M.
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
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2012
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Vol. 6, no. 1
143--147
EN
Recently, sudden collisions between large cetaceans and high-speed hydrofoils have become problematic to Japanese sea transport in some localities. We therefore initiated a project to investigate ap-proaches for minimizing risk to both ships and cetaceans. Under the present project, the following three sub-projects are underway: clarifying which whale species are found near sea routes and determining their season-al variations; identifying whale species that have a high collision risk; and determining the unique acoustic characteristics of high-collision-risk cetaceans for the improvement of underwater speakers (UWS). By con-ducting acoustic surveys using novel methods, including an anatomical approach based on characteristics of the inner ear, the aim of this project is to accurately estimate the audible range of species with a high collision risk and improve the sounds generated by the UWS. Thus far, we have identified the cetacean species at high-risk in two major sea routes. In the next phase of the study we plan to develop an imaging system that recog-nizes a cetacean's unique blow using an infrared camera, in an attempt to warn of the approach of high-collision-risk whale species at an early stage by sounding an alarm.
12
Content available Supporting navigator’s decisions by visualizing ship collision risk
Szłapczyński R., Śmierzchalski R.
Polish Maritime Research
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2009
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nr 1
83-88
EN
The paper introduces a visualization method that enables the navigator to estimate an encounter situation and choose collision avoidance manoeuvre, if necessary. It is based on the Collision Threat Parameters Area method and offers new features: fuzzy sectors of forbidden speed and course values, the possibility to use any given ship domain and a new formula of collision risk assessment. All these elements result in a method, which enables the navigator to differentiate between varying levels of risk and to point out the direct threats. The method is fast enough to be applied in the real-time decision support system.
13
Content available remote A New Measure of Collision Risk Derived from the Concept of Ship Domain
Szłapczyński R.
Zeszyty Naukowe / Akademia Morska w Szczecinie
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2005
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nr 6 (78)
349-359
EN
The paper introduces a new measure of collision risk, derived from the concept of ship domain. The presented measure is flexible enough to be applied in combination with any given ship domain. Derivations of all the necessary equations for the Fuji domain have been presented in detail. Additionally, the paper contains numerical algorithms that are capable of determining the value of the measure for any other ship domain.
PL
Zaprezentowano nową miarę ryzyka kolizji dwóch statków wywiedzioną z koncepcji domeny statku. Miara ta jest elastyczna, tzn. można korzystać z niej w powiązaniu z dowolną zadaną domeną statku. Szczegółowo przedstawiono wyprowadzenia wszystkich niezbędnych wzorów w przypadku zastosowania modelu domeny Fuji. Dodatkowo zamieszczono algorytmy rozwiązań numerycznych, znajdujących wartość miary dla dowolnej zadanej domeny
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