The use of artificial neural networks for the intelligent optimalcontrol of surface ships

Many conventional ship autopilots use proportional integral and derivative (PID) control algorithms to guide a ship on a fixed heading (course-keeping) or a new heading (course-changing). Such systems usually have a gyrocompass as a single sensory input. Modern sea going vessels have a range of navigation aids most of which may be interconnected to form integrated systems. It is possible to employ the navigational data to provide best estimates of state vectors (Kalman filter) and optimal guidance strategies. Such techniques require powerful computing facilities, particularly if the dynamic characteristics of the vessel are changing, as may be the case in a maneuvering situation or changes in forward speed. This paper investigates the possibility of training a neural network to behave in the same manner as an optimal ship guidance system, the objective being to provide a system that can adapt its parameters so that it provides optimal performance over a range of conditions, without incurring a large computational penalty. A series of simulation studies have been undertaken to compare the performance of a trained neural network with that of the original optimal guidance system over a range of forward speeds. It is demonstrated that a single network has comparable performance to a set of optimal guidance control laws, each computed for different forward speeds     

军地航海资料信息一体化保障问题的探讨

介绍了美、英、日、俄等国外航海资料信息保障情况,分析了当前我国航海资料信息军地协作保障方面存在的主要问题。从体系建设、保障内容、技术创新、人才培养等方面,论述了对军地航海资料信息一体化保障的建议及对策,对建立军地航海资料信息保障一体化体系,提高其保障效能,具有重要的意义。     

Sea state estimation using vessel response in dynamic positioning

This paper presents a novel method for estimating the sea state parameters based on the heave, roll and pitch response of a vessel conducting station keeping automatically by a dynamic positioning (DP) system, i.e., without forward speed. The proposed algorithm finds the wave spectrum estimate from the response measurements by iteratively solving a set of linear equations, and it is computationally efficient. The main vessel parameters are required as input. Apart from this the method is signal-based, with no assumptions on the wave spectrum shape. Performance of the proposed algorithm is demonstrated on full-scale experimental DP data of a vessel in three different sea states at head, bow quartering, beam, stern quartering and following sea waves, respectively.     

An integrated multi-sensor data fusion algorithm and autopilot implementation in an uninhabited surface craft

Unmanned surface vehicles (USVs) are able to accomplish difficult and challenging tasks both in civilian and defence sectors without endangering human lives. Their ability to work round the clock makes them well-suited for matters that demand immediate attention. These issues include but not limited to mines countermeasures, measuring the extent of an oil spill and locating the source of a chemical discharge. A number of USV programmes have emerged in the last decade for a variety of aforementioned purposes. Springer USV is one such research project highlighted in this paper. The intention herein is to report results emanating from data acquired from experiments on the Springer vessel whilst testing its advanced navigation, guidance and control (NGC) subsystems. The algorithms developed for these systems are based on soft-computing methodologies. A novel form of data fusion navigation algorithm has been developed and integrated with a modified optimal controller. Experimental results are presented and analysed for various scenarios including single and multiple waypoints tracking and fixed and time-varying reference bearings. It is demonstrated that the proposed NGC system provides promising results despite the presence of modelling uncertainty and external disturbances.     

Safety-enhanced, high-rate, nonmagnetic lithium D-size cells foroceanographic and naval use

Tests were conducted to determine the performance and safety characteristics of specially designed, nonmagnetic Li/BrCl in SOCl₂ (Li/BCX) and Li/Cl₂ in SO₂Cl₂ (Li/CSC) battery cells. Discharge tests showed that D-size battery cells yield energy densities of 1.07 Wh/cc³ at currents of 0.17 A. The combination of high energy density and nonmagnetic properties allows smaller, lighter battery packs to be placed in close proximity to guidance systems without magnetic interference to the navigational systems. The safety testing results indicate that these systems possess explosion resistance and other characteristics necessary for a variety of applications     

Design of Mooring System for Oil Storage Vessels

The floating oil storage system has been proposed as a new facility for Strategic Petroleum Reserve (SPR) in China. Mooring is one of the key technologies to ensure the safety, reliability, and performance of the oil storage system. This paper describes the concept, analysis, design and reliability of the mooring system. For mooring system design of these oil vessels, analysis is essential of the behavior of the vessel in connection with mooring facilities of nonlinear resilience. A nonlinear mathematical model for analyzing a moored vessel is established and solved. Some results of numerical simulations are presented. Assessment of the safety regarding the mooring system in terms of failure probability is carried out. Another simulation model for calculating the failure probability of the mooring system is proposed. The design parameters that have an influence on the characteristics of the failure probability have been identified. The simulation results show that the mooring system has an annual reliab     

Response-based estimation of sea state parameters — influence of filtering

Reliable estimation of the on-site sea state parameters is essential to decision support systems for safe navigation of ships. The wave spectrum can be estimated from procedures based on measured ship responses. The paper deals with two procedures—Bayesian Modelling and Parametric Modelling—which both use complex-valued frequency response functions (FRF) to estimate the wave spectrum. It is therefore interesting to investigate how the filtering aspect, introduced by FRF, affects the final outcome of the estimation procedures. In order to do this, extensive numerical simulations—with known wave parameters—are carried out for a large container vessel. The study shows that filtering has an influence on the estimations, since high-frequency components of the wave excitations are not estimated as accurately as lower frequency components.     

实体数据模型在航行指南信息组织中的应用

针对当前海图表达航行环境不完备、多种有效信息不能有效集成等不足,提出利用实体数据模型构建航行指南信息数据库的方法。文中介绍了实体数据模型,提出了航行指南信息数据集成的组织方法,构建了航行信息数据模型,并开发了航海图文信息系统,实现了航行指南信息的管理查询和应用。实验表明,基于实体数据模型的航行指南信息组织方法正确、有效。     

AIS航标及其在海图上表示方法的探讨

介绍了AIS航标的原理和应用,分析了这种新型数字航标的特点,在对AIS航标与传统航标进行比较的基础上,重点探讨了AIS航标在海图上的表示原则和方法,提出了在海图上完整表示AIS虚拟航标的设想,对在海图上表示新的航标类型的方法提供了参考。     

S-57标准电子航海图编号向S-101标准转换研究

S-101标准电子航海图数据即将正式发布提供用户使用,IHO及有关GIS软件也相继开发了数据转换软件及功能,为实现S-57标准电子航海图编号向S-101标准电子航海图编号的自动转换,通过对比分析S-57标准和S-101标准对数据集编号规则的不同,结合我国电子航海图编号规则,找出两个标准之间编号规律特点及联系,研究提出了S-57标准电子航海图编号向S-101转换的一般规则,特别是针对我国部分S-57标准电子航海图中一些特殊编号,提出相同部分直接转换,不同部分对照转换的方法,实现海图编号的自动转换。     

Automatic collision avoidance of multiple ships based on deep Q-learning

As the number of ships for marine transportation increases with the globalisation of the world economy, waterways are becoming more congested than before. This situation will raise the risk of collision of the ships; hence, an automatic collision avoidance system needs to be developed. In this paper, a novel approach based on deep reinforcement learning (DRL) is proposed for automatic collision avoidance of multiple ships particularly in restricted waters. A training method and algorithms for collision avoidance of ships, incorporating ship manoeuvrability, human experience and navigation rules, are presented in detail. The proposed approach is investigated not only by numerical simulations but also by model experiments using three self-propelled ships. Through the systematic numerical and experimental validation, it is demonstrated the developed approach based on the DRL has great possibility for realising automatic collision avoidance of ships in highly complicated navigational situations.     

Wind Farm Support Vessel Extreme Roll Assessment While Docking in the Bohai Sea

Robust prediction of extreme motions during wind farm support vessel(WFSV)operation is an important safety concern that requires further extensive research as offshore wind energy industry sector widens.In particular,it is important to study the safety of operation in random sea conditions during WFSV docking against the wind tower,while workers are able to get on the tower.Docking is performed by thrusting vessel fender against wind tower(an alternative docking way by hinging is not studied here).In this paper,the finite element software AQWA has been used to analyze vessel response due to hydrodynamic wave loads,acting on a specific maintenance ship under actual sea conditions.Excessive roll may occur during certain sea conditions,especially in the beam sea,posing a risk to the crew transfer operation.The Bohai Sea is the area of diverse industrial activities such as offshore oil production,wave and wind power generation,etc.This paper advocates a novel method for estimating extreme roll statistics,based on Monte Carlo simulations(or measurements).The ACER(averaged conditional exceedance rate)method and its modification are presented in brief detail in Appendix.The proposed methodology provides an accurate extreme value prediction,utilizing available data efficiently.In this study the estimated return level values,obtained by ACER method,are compared with the corresponding return level values obtained by Gumbel method.Based on the overall performance of the proposed method,it is concluded that the ACER method can provide more robust and accurate prediction of the extreme vessel roll.The described approach may be well used at the vessel design stage,while defining optimal boat parameters would minimize potential roll.     

Risk analysis for capsizing of small vessels

Vessel accidents during stormy weather conditions over Kuwait's coastal waters are one of the major concerns for insurance and re-insurance companies, since such accidents can result in not only material losses but also losses of lives. In order to determine insurance rates for different types of vessels and their operators, it is desirable to estimate the risk or probability of occurrence of an accident and the resulting expected damage or losses associated with a given vessel type under the local wave conditions first. Therefore, there is a national need for such a study to provide this type of basic information on the risks or probabilities of vessel accidents caused by high waves within the Kuwait's territorial waters. The main objective of this study is thus to provide such information for the local and international agencies and companies concerned with sailing operations and maintenance, navigational safety, and particularly insurance of small recreational and commercial vessels. The study was carried out with the financial support of M/s Warba Insurance Company and the Kuwait Foundation for the Advancement of Sciences, Kuwait.     

Structural Safety Assessment for FLNG-LNGC System During Offloading Operation Scenario

The crashworthiness of the cargo containment systems (CCSs) of a floating liquid natural gas (FLNG) and the side structures in side-by-side offloading operations scenario are studied in this paper. An FLNG vessel is exposed to potential threats from collisions with a liquid natural gas carrier (LNGC) during the offloading operations, which has been confirmed by a model test of FLNG-LNGC side-by-side offloading operations. A nonlinear finite element code LS-DYNA is used to simulate the collision scenarios during the offloading operations. Finite element models of an FLNG vessel and an LNGC are established for the purpose of this study, including a detailed LNG cargo containment system in the FLNG side model. Based on the parameters obtained from the model test and potential dangerous accidents, typical collision scenarios are defined to conduct a comprehensive study. To evaluate the safety of the FLNG vessel, a limit state is proposed based on the structural responses of the LNG CCS. The different characteristics of the structural responses for the primary structural components, energy dissipation and collision forces are obtained for various scenarios. Deformation of the inner hull is found to have a great effect on the responses of the LNG CCS, with approximately 160 mm deformation corresponding to the limit state. Densely arranged web frames can absorb over 35% of the collision energy and be proved to greatly enhance the crashwo-rthiness of the FLNG side structures.     

A new concept of a hull form to improve wave response characteristics for marine construction barges

The object of the new hull form is to provide a single hull which possesses long natural periods of roll and heave and has substantially reduced motion response amplitudes in very high sea states. Model tests and preliminary estimates indicated that the new hull form can be designed for roll and heave motions nearly equivalent to those of much larger semisubmersible units.All existing conventional marine construction barges have rectangular cross section hull. The new hull form consists of a system of upper side tanks and lower side tanks added onto a rectangular cross section hull. The upper tanks and lower tanks form longitudinal troughs on the port and starboard sides. Structural grillage of any open type is to connect the upper and lower tanks at the side of the vessel. Figure 1 indicates a profile and a typical transverse section of the new hull form. The new hull comprises the concept of reduced water plane area which is turn results in low transverse metacentric height and low tons per in. immersion. The novel features of combining low GM_T and low TPI with extremely heavy damping and added mass of the entrained water characteristics result in very long natural periods of roll and heave and considerably small rolling and heaving amplitudes in high sea states. The open side shell plating on the side of the vessel functions to dissipate wave energy at the side of the vessel which would have otherwise been transmitted to the vessel and caused the vessel to respond. This paper presents the conceptual foundation and outline of the new hull form. Model test results are presented and implemented. Also presented is the design philosophy.     

数字海图中助航设备的自动综合探讨

助航设备是海图上一种重要的点状要素,其自动综合是海图自动综合的重要研究内容.以数字海图数据为基础,深入探讨了数字海图中助航设备的自动综合问题,重点研究了助航设备的自动选取.基于助航设备分布和分级的规律性,提出了一种助航设备自动综合方法.初步实验表明,该方法在实现助航设备自动综合时效果较好.     

Development in fleet fishing capacity in rights based fisheries

Individual Transferable Quota (ITQ) fisheries management systems are supposed to remedy the over-capacity problem associated with traditional command-and-control management systems. This paper provides some insight with respect to the impact of ITQs on vessel numbers in six different countries. The results indicate that the number of vessels was reduced by at least 30% within a few years of the implementation of individual vessel quotas. Thereafter a slow reduction in vessel numbers continued, indicating that it may take time period before over-capacity is fully removed. Moreover, the total effect on vessel numbers is surprisingly similar across countries and fisheries despite different degrees of transferability in the different cases analysed.     

湄洲湾25万吨级航道设计乘潮水位的选取

拟建湄洲弯２５万吨级航道所处海域水下地形、水位条件等十分复杂,部分航段水深不足,如采取工程措施疏浚至设计深度要花费巨额投资。湄洲湾属于强潮海湾,利用潮位乘潮通航可大大降低工程造价。本文采用三套不同的程序计算乘潮水位并绫珞段具体情况提出乘潮最佳方案,既确保了超级油轮的航行安全,又降低了工程造价。     

天津港适航浮泥扫海测量

为解决港池和航道浮泥层的适航水深利用,实施了四波束双频测深仪和机械扫海具相结合扫测,试验结果表明可有效进行适航浮泥层的全覆盖测量。同时介绍了专门研制的轮轴拖曳式浮泥着底扫海器的结构与使用方法。