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Model predictive ship trajectory tracking system based on line of sight method

Miller Anna

Bulletin of the Polish Academy of Sciences. Technical Sciences

2023

Vol. 71, nr 5

art. no. e145763

Maritime Autonomous Surface Ships (MASS) perfectly fit into the future vision of merchant fleet. MASS autonomous navigation system combines automatic trajectory tracking and supervisor safe trajectory generation subsystems. Automatic trajectory tracking method, using line-of-sight (LOS) reference course generation algorithm, is combined with model predictive control (MPC). Algorithm for MASS trajectory tracking, including cooperation with the dynamic system of safe trajectory generation is described. It allows for better ship control with steady state cross-track error limitation to the ship hull breadth and limited overshoot after turns. In real MASS ships path is defined as set of straight line segments, so transition between trajectory sections when passing waypoint is unavoidable. In the proposed control algorithm LOS trajectory reference course is mapped to the rotational speed reference value, which is dynamically constrained in MPC controller due to dynamically changing reference trajectory in real MASS system. Also maneuver path advance dependent on the path tangential angle difference, to ensure trajectory tracking for turns from 0 to 90 degrees, without overshoot is used. All results were obtained with the use of training ship in real–time conditions.

The criterion of access to the sky view in residential environment architectural designing

Pelczarski Zdzisław

Architecture Civil Engineering Environment

2022

Vol. 15, no. 4

43--61

Standards specifying the requirements for daylight in shaping the interiors of residential buildings do not cover issues related to visual perception and the role of light as a carrier of images of the outside world. The general recommendations in this regard, given in the 2018 European Lighting Standard can hardly be considered an unambiguous, precise normative regulation. According to the author, the inalienable element of the view through the window is the image of the sky, which is the basic reference in human perception of the space of the external environment. The aim of the research is to identify the main determinants for ensuring access to the sky view from apartments in housing estates with high intensity of development. The analyzes are based on the author's simple graphical research methods capable of simulating the visual perception of images of the external environment space through a window. The key parameter in the analyzes is the vertical viewing angle, called the sky view entry angle. Its minimum value set at 7.5°C is of fundamental importance in shaping the geometric relations between neighbouring buildings. The research results oblige, in the context of the paradigm of sustainable housing development, to recognize the criterion of access to the sky view from residential interiors as a mandatory design guideline.