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1

Analyzing the feasibility of an unmanned cargo ship for different operational phases

Røstum Bellingmo P., Wille E., Nordahl H., Mørkrid O. E., Holte E. A.

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

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2023

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Vol. 17 No. 2

397--404

EN

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.

2

A COLREGs-compliant decision support tool to prevent collisions at sea

Martelli M., Žuškin S., Zaccone R., Rudan I.

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

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2023

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Vol. 17 No. 2

347--353

EN

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.

3

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

Miller Anna

Bulletin of the Polish Academy of Sciences. Technical Sciences

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2023

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Vol. 71, nr 5

art. no. e145763

EN

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.

4

Inference processes in the automatic communication system for autonomous vessels

Pańka Anna, Wołejsza Piotr

Archives of Transport

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2023

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Vol. 68, iss. 4

117--135

EN

The era of autonomous ships has already begun in maritime transport. The 30-year forecast for the development of marine technologies predicts many autonomous vessels at sea. This will necessitate radical implementation of new intelligent maritime navigation systems. One of the intelligent systems that has to be implemented is a collision avoidance system. The inference process is a key element of autonomous manoeuvres. These authors propose an inference process that enables exchange of information, intentions and expectations between autonomous vessels and gives them an opportunity to negotiate a safe manoeuvre satisfying all the parties concerned. The model of inference in the communication process has been presented. Methods and algorithms for information exchange and negotiation have been developed. These models were implemented and tested under various conditions. The results of case studies indicate that it is possible to effectively communicate and negotiate used the developed method. To demonstrate the effectiveness of the presented approach over 30 random simulations have been carried out. After successful laboratory tests, over 100 scenarios were executed in quasi-real conditions and fully operational conditions. Tests were carried out in the center of the Foundation for the Safety of Navigation and Environmental Protection on Lake Silm in Iława, Poland. In the framework of project AVAL (Autonomous Vessel with an Air Look) POIR.04.01.04-00-0025-16, 82 random scenarios involving four vessels were performed and 60 random scenarios with two vessels. In 2020 tests were carried out in real conditions on the ferries Wolin and m/f Gryf. The communication and negotiation system presented in the article has been designed and developed specially for maritime navigation purposes. The authors believe that the presented solution can be one of various solutions implemented in autonomous shipping in the near future.

5

Autonomous ships concept and mathematical models application in their steering process control

Melnyk O., Onishchenko O., Onyshchenko S., Voloshyn A., Kalinichenko Y., Rossomakha O., Naleva G., Rossomakha O.

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

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2022

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Vol. 16 No. 3

553--559

EN

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.

6

Preparing for an unknown future. Autonomous ships versus position of the Maritime English/IMO Standard Marine Communication Phrases(ME / IMO SMCPs) in maritime practice. How are we going to solve this problem?

Chirea-Ungureanu C.

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

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2021

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Vol. 15 No. 1

111--116

EN

The reason for modern Maritime Education and Training (MET) is to provide students with the necessary skills, and knowledge to be successful in the future outside of school. Futuristic teachers need to help students become life-long learners who are ready, organized, and equipped for new challenges. This paper tries to find position of Maritime English/IMO Standard Marine Communication Phrases (ME/ IMO SMCPs) versus autonomous ships, to facilitate developments in a safe predictable environment and for ensuring safe navigation in the future, also in a mixed traffic situation where both manned and unmanned ships will be sailing on the same routes and ports. In its attempts, this paper tries to analyse the Obstacles and Disadvantages when no crew is required on board; this could jeopardize the statute of seafarers, and not every aspect of unmanned shipping is all roses. The work is much future oriented and requires challenging conventional concepts and operations.

7

Human-automation interaction for autonomous ships: decision support for remote operators

Porathe T.

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

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2021

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Vol. 15 No. 3

511--515

EN

At NTNU in Norway an 8-year research project has been established to (among other things) research the interaction between humans and unmanned, autonomous ships. The human will become even more important when ship operator will be located remotely in shore control centers ashore. This concept paper will take a closer look on remote decision-making by operators monitoring several ships. How can interface design help them to get quickly into-the-loop when something unexpected suddenly happens? I will in this paper suggest keeping a copy of the AI expert-system controlling the ship, updated and running in parallel in the control center to keep the operator’s situation awareness during short communication glitches. Also, to design a “quickly-getting-into-the-loop-display” which automatically will appear in an alarm situation, allowing the operator just-in-time and simple-to-understand information. I will also stress the important of the concept automation transparency.

8

Wybrane aspekty cyberbezpieczeństwa autonomicznych statków morskich

Sokołowski Wojciech

Rocznik Bezpieczeństwa Morskiego

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2021

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R. XV

167--198

PL

W artykule poruszono zagadnienia dotyczące cyberbezpieczeństwa autonomicznych statków morskich. Scharakteryzowano wybrane cyberataki, które miały miejsce w sektorze morskim. Omówiono cele, sekwencję i skutki cyberataków oraz regulacje prawne w zakresie cyberbezpieczeństwa morskiego. Jednak najwięcej uwagi poświęcono sposobom zapobiegania cyberzagrożeniom i kształtowaniu przemyślanej polityki cyberbezpieczeństwa morskiego.

EN

The article deals with cybersecurity of maritime autonomous surface ships. Selected cyber attacks that took place in the maritime sector were characterized. The objectives, sequence and effects of cyber attacks as well as legal regulations in the field of maritime cybersecurity were discussed. However, most attention has been paid to how to prevent cyber threats and to shape a proper maritime cybersecurity policy.

9

The main challenges and barriers to the successful “smart shipping”

Alop A.

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

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2019

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Vol. 13, no. 3

521--528

EN

As with the powerful digitalization of the world in the 21st century, maritime affairs, like all other areas, are facing not only new opportunities, but also new big challenges and problems. From the point of view of the development of new technologies, it seems that everything is possible, for example the bringing of so-called "intelligent ships" and “smart ports” into one global system on base of internet of things and big data applications. However, if to look at the matter further, a number of factors and obstacles may appear which could be major threats to the normal functioning of such a system. While it is clear that systems with such high degree of complexity are even technically vulnerable, it seems to the author of this paper that questions that are no less difficult are in the field of human relations. For example, when ships and ports are becoming more and more "smarter" and need less and less people to intervene in their interactions, who at the end will be responsible for everything that can and definitely will happened at sea or in the port? What about liability of cargo carrier if “carrier” is an autonomous ship without any person on-board during the entire journey? How to ensure cyber security? How to be secured against the risks of so-called artificial intelligence systemic errors? It is possible that only new non-trivial approaches can lead to acceptable results in this area, but what they may be and whether these approaches are possible at all - these questions are still waiting for answers.

10

Ship recognition and tracking system for intelligent ship based on deep learning framework

Liu B., Wang S. Z., Xie Z. X., Zhao J. S., Li M. F.

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

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2019

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Vol. 13. no. 4

699--705

EN

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.

11

Safe information exchange on board of the ship

Ahvenjärvi S., Czarnowski I., Kåla J., Kyster A., Meyer I., Mogensen J., Szyman P.

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

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2019

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Vol. 13, no. 1

165--171

EN

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.

12

Quantitative processing of situation awareness for autonomous ships navigation

Zhou X. Y., Liu Z. J., Wu Z. L., Wang F. W.

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

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2019

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Vol. 13, no. 1

25--31

EN

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.

13

Preliminary results of a system-theoretic assessment of maritime autonomous surface ships’ safety

Wróbel K., Krata P., Montewka J.

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

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2019

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Vol. 13. no. 4

717--723

EN

While a system-theoretic approach to the safety analysis of innovative socio-technical systems gains a growing acceptance among academia, safety issues of Maritime Autonomous Surface Ships (MASS) remain largely unexplored. Therefore, we applied a System-Theoretic Process Analysis to develop and analyze a preliminary model of the unmanned shipping system in order to elaborate safety recommendations for future developers of the actual system. Results indicate that certain advancements shall be undertaken in relation to MASS’ software solutions in particular.

14

Operations of maritime autonomous surface ships

Pietrzykowski J., Pietrzykowski Z., Hajduk J.

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

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2019

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Vol. 13. no. 4

725--733

EN

Advancing technologies create unique opportunities for constructing autonomous ships, which, in turn, raise growing interest of the maritime industry, shipowners in particular. These authors have analyzed actions taken in this field and some aspects related to the operations of maritime autonomous surface ships (MASS). The presented case study refers to a ship with a skeleton crew on a deep sea voyage, where the ship’s autonomy is narrowed to the fourth stage of transport task – sea voyage and its navigational aspect.

15

On the future of maritime transport – discussing terminology and timeframes

Hult C., Praetorius G., Sandberg C.

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

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2019

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Vol. 13, no. 2

269--273

EN

This paper offers an analytical discussion on the terminology and timeframes related to the future of shipping. The discussion is based on issues that have surfaced within the Swedish research project Autonomy and responsibility. The paper argues that the concept ‘autonomous ships’ has become an indicator of that seafarers soon will become obsolete – which may have negative consequences for the supply of maritime competence in coming years - and that the proper definition of the term ‘autonomous’ describes something that will never apply to a ship. Ships can be given the possibility, but hardly the full right or condition of self-government. It is argued that ‘smart ships’, or perhaps ‘intelligent ships’, are more appropriate, since these terms describe the current and future state of technology without predicting how humans will prefer to use it. The estimated timeframes for implementation of unmanned ships suggest no threat to the seafaring occupation for coming generation. The content of the occupation will of course change due to the phase of implementation of degree of digitalization, but there will always be a need for maritime knowledge and understanding.

16

Intelligent autonomous ship navigation using multi-sensor modalities

Wright R.G.

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

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2019

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Vol. 13, no. 3

503--510

EN

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.

17

Addressing theaccidental risks of maritime transportation: could autonomous shipping technology improve the statistics?

Hoem Å.S., Fjørtoft K., Rødseth Ø.J.

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

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2019

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Vol. 13, no. 3

487--494

EN

A paradigm shift is presently underway in the shipping industry promising safer, greener and more efficient ship traffic. In this article, we will look at some of the accidents from conventional shipping and see if they could have been avoided with autonomous ship technology. A hypothesis of increased safety is often brought forward, and we know from various studies that the number of maritime accidents that involves what is called “human error” ranges from some 60‐90 percent. If we replace the human with automation, can we then reduce the number of accidents? On the other hand, is there a possibility for new types of accidents to appear? What about the accidents that are today averted by the crew? This paper will present a method to assess these different aspects of the risk scenarios in light of the specific capabilities and constraints of autonomous ships.

18

The Autonomous Shipping Era. Operational, Regulatory, and Quality Challenges

Komianos A.

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

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2018

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Vol. 12, no. 2

335--348

EN

The article provides a description of the Autonomous ship, studies existing relevant projects, and examines the related Operational, Regulatory, and Quality assurance challenges raised due to the development and actual deployment of such vessels in the near future. After reviewing the main operational procedures, existing regulations, and quality assurance standards, a number of possible solutions and approaches to overcome the identified challenges are indicated. Some of the conclusions may be used not only in the Autonomous ships but also in traditionally manned vessels.

19

Autonomous and unmanned transportation ships as revolutionary solutions in future of telematics

Preś I.

Zeszyty Naukowe Wyższej Szkoły Technicznej w Katowicach

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2017

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nr 9

113--125

EN

According to Eurostat, in 2015 freight maritime transportation was responsible for 51% of share in transportation of overall EU international trade, what places it as a first transportation mode in Europe. [1] This is an important trigger for engineers to develop new solutions in ships’ construction, which could enhance the optimization of costs and increase efficiency of maritime transportation. The publication presents two big on-going research projects, which will define the future in ships’ technologies. First one, Maritime Unmanned Navigation through Intelligence in Network (MUNIN) and second, Ship Intelligence belonging to Rolls-Royce. In the first chapters, the article says about the latest trends according to European Union strategy in terms of maritime transportation. The third and the fourth chapter present both of the research projects in their current state. At the end, the author analyzes and compares both projects providing an overview how it meets the strategy for the future of cargo transportation in Europe, indicating the most important features.

PL

Obecnie obserwuje się wzrost znaczenia transportu morskiego. Według badań przeprowadzonych przez Eurostat, w 2015 transport ładunków drogą morską posiadał 51% z ogólnego podziału na środki transportowe dla ładunków, co oznacza, iż transport morski cargo jest drugim środkiem transportu w Europie. Fakt ten jest istotny dla inżynierów, aby wprowadzać nowe rozwiązania w konstrukcji statków morskich, które mogłyby zoptymalizować koszty oraz zwiększyć efektywność transportu morskiego. Publikacja prezentuje dwa duże projekty, które mogą zadecydować o przyszłości konstrukcji i technologii statków morskich: europejski projekt Morska Bezzałogowa Nawigacja poprzez Inteligencję w Sieci (MUNIN) oraz Inteligentne Statki wdrażane przez brytyjską firmę Rolls-Royce.

20

The Human Element and Autonomous Ships

Ahvenjärvi S.

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

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2016

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Vol. 10, no. 3

517--521

EN

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.