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1.
Due to high density of vessel traffic, busy waterways are water areas with high potential for collisions. The application of AIS makes it possible to investigate accurate and actual behavior of collision-involved ships, and benefits vessel traffic management and waterways design for these areas. As a case study, the authors focus on a Traffic Separation Scheme (TSS) off Rotterdam Port in Europe, and using AIS data, statistical analysis is made for collision involved ships. In order to identify the correlation of CPA, which is a key indicator for collision avoidance, with ship's size, speed, and course, linear regression models are developed. To assess risks, a dynamic method based on SAMSON is presented. 相似文献
2.
Unmanned surface vehicles (USVs) have become a focus of research because of their extensive applications. To ensure safety and reliability and to perform complex tasks autonomously, USVs are required to possess accurate perception of the environment and effective collision avoidance capabilities. To achieve these, investigation into realtime marine radar target detection and autonomous collision avoidance technologies is required, aiming at solving the problems of noise jamming, uneven brightness, target loss, and blind areas in marine radar images. These technologies should also satisfy the requirements of real-time and reliability related to high navigation speeds of USVs. Therefore, this study developed an embedded collision avoidance system based on the marine radar, investigated a highly real-time target detection method which contains adaptive smoothing algorithm and robust segmentation algorithm, developed a stable and reliable dynamic local environment model to ensure the safety of USV navigation, and constructed a collision avoidance algorithm based on velocity obstacle (V-obstacle) which adjusts the USV’s heading and speed in real-time. Sea trials results in multi-obstacle avoidance firstly demonstrate the effectiveness and efficiency of the proposed avoidance system, and then verify its great adaptability and relative stability when a USV sailing in a real and complex marine environment. The obtained results will improve the intelligent level of USV and guarantee the safety of USV independent sailing. 相似文献
3.
为提高船舶气象导航自动化水平,实现避台决策由经验型向智能型转变,提出1种高效、稳定的绕避台风航线规划算法。基于电子海图平台实现GPS、数字化气象信息的多源信息集成,直观显示船舶和台风当前位置和运动态势,基于栅格模型设计避台航线自动生成算法,实现避台航线在线实时规划。仿真结果表明,该方法能够根据气象信息及时重建环境模型并获取新的最优航线,算法对环境的复杂性不敏感,具有稳定性好、求解规模大、效率高的特点。 相似文献
4.
针对多礁石、渔船等障碍物的近海复杂环境下的一些应用,提出了一种基于有限状态机(finite-state machine,FSM)模型的无人船(unmanned surface vehicle,USV)局部转向避碰路径规划算法。首先,基于速度障碍法和障碍物区域分层方法,获取无人船固定航速条件下的航向角约束解析结果。然后,基于该约束条件及障碍物探测情况设计FSM的有限状态及执行动作和状态迁移条件,其中,通过转向控制实现向目标位点或缓冲位点进行导航的状态为FSM的2个重要状态。最终通过FSM的执行实现局部转向避碰路径规划。仿真结果表明提出的多障碍物避碰算法具有可行性和实用性。该方法易于改进和扩展,且容易与当前主流的无人船控制系统结合,有利于无人船避碰系统快速工程化的实现。 相似文献
5.
Collision at sea is always a significant issue affecting the safety of ship navigation. The shipborne autonomous collision avoidance system (SACAS) has the great advantage to minimize collision accidents in ship navigation. A parallel trajectory planning architecture is proposed in this paper for SACAS system. The fully-coupled deliberative planner based on the modified RRT algorithm is developed to search for optimal global trajectory in a low re-planning frequency. The fully-coupled reactive planner based on the modified DW algorithm is developed to generate the optimal local trajectory in a high re-planning frequency to counteract the unexpected behavior of dynamic obstacles in the vicinity of the vessel. The obstacle constraints, ship maneuvering constraints, COLREGs rules, trajectory optimality, and real-time requirements are satisfied simultaneously in both global and local planning to ensure the collision-free optimal navigation in compliance with COLREGs rules. The on-water tests of a trimaran model equipped with a model-scale SACAS system are presented to demonstrate the effectiveness and efficiency of the proposed algorithm. The good balance between the computational efficiency and trajectory optimality is achieved in parallel trajectory planning. 相似文献
6.
K. H. Kwik 《Ocean Engineering》1989,16(5-6)
The moment at which in a two-ship encounter a collision avoidance manoeuvre should be initiated in order to achieve a specific distance at the closest point of approach has been calculated. The calculations were based on the kinematics of encounter and simplified equations of motion. Mathematical equations which relate the maneouvring distance, the turning direction and the extent of course change for any desired passing distance and any given turning rate are determined. Knowledge of these quantities is essential for the safe conduct of the ship with automatic, computer-assisted navigation as well as with ordinary, manual navigation if the navigator no longer contents himself with estimates but wishes to know precisely in advance the outcome of any specific manoeuvre he chooses. 相似文献
7.
为解决无人船适用海商法存在的问题,促进我国无人船海上运输产业的健康可持续发展,文章从法理的角度阐释国际海事委员会无人船调查问卷中无人船的法律地位、船长和船员的认定以及无人船的碰撞责任,提出无人船适用海商法存在不确定性风险;在海商法领域,无人船的法律地位认定、船长和船员的识别以及船舶碰撞责任的适用仍存在问题,解决上述问题的有效路径是明确无人船的法律地位、将岸基控制人员识别为船员、采用过错责任原则认定无人船的碰撞责任以及合理分配船东与生产者之间的碰撞责任,以合理规避无人船的风险。 相似文献
8.
9.
A prior study attempted to solve the intrinsic problem of a critical collision condition including the slower ship’s dilemma by considering the maneuverability of the own ship and the International Regulations for Preventing Collisions at Sea (COLREGs). The collision ratio proposed in the previous study provided insight into the solution of the intrinsic problem, but it was not suitable as an index to determine the time at which to begin the maneuver to avoid the collision.This paper develops a collision ratio as an index that can be used to determine the time at which to begin the collision avoidance maneuver. The collision ratio is calculated by considering the maneuverability of the own ship, the COLREGs, and three virtual intrusion domains (VIDs). The validity of the inferred collision ratio is then assessed according to the dynamic characteristics of the own ship and the basic knowledge of the collision avoidance algorithm. The results indicate that the proposed collision ratio is suitable for use as a new index to determine the time at which to begin the collision avoidance maneuver. 相似文献
10.
The failure of a ship hull girder is governed by buckling and plastic collapse of the deck, bottom and side shell steel stiffened plates. The stiffened steel plating in ships is generally subjected to both in-plane and out-of-plane loading and is more important to understand the characteristics of these panels under buckling. Tests are reported on the collapse load of stiffened plates with and without cutout and with reinforced cutout under uniaxial compression. A generalized computer program for the semi-analytical solutions proposed by various investigators based on strut approach and orthotropic plate approach, and a finite element analysis program based on orthotropic plate approach are developed. The panels are also analysed using the finite element analysis software ANSYS. An approximate method based on strut approach is proposed to calculate the collapse load of stiffened plates with cutouts and initial imperfections. The reduction in strength of the panels due to the presence of square cutout, rectangular cutout and increase in strength due to reinforcement around rectangular cutout are calculated based on the test results. Comparisons are made between the test results and predictions based on semi-analytical solutions and finite element analyses, and the uncertainty parameters calculated are discussed. Based on this study it is concluded that the cutout can be reinforced with a maximum increase in strength up to 19% for plate initiated failures. 相似文献
11.
B.-H. Lee J.-C. Park M.-H. Kim S.-J. Jung M.-C. Ryu Y.-S. Kim 《Ocean Engineering》2010,37(2-3):164-173
The violent free-surface motions interacting with structures are investigated using the moving particle semi-implicit (MPS) method, which was originally proposed by Koshizuka and Oka (1996) for incompressible flow simulation. In the present numerical method, a more efficient algorithm for Lagrangian moving particles is used for solving various highly nonlinear free-surface problems without using the Eulerian approach or the grid system. Therefore, the convection terms and time derivatives in the Navier–Stokes equation can be calculated more directly without any numerical diffusion, instabilities, or topological failure. In particular, the MPS method is applied to the simulation of liquid-entry and slamming problems, such as wet-drop (liquid–liquid collision) tests in an LNG tank and slamming loads (solid–liquid collision) on rigid plates with various incident angles. The numerical results are in good agreement with available experimental data. 相似文献
12.
A method for analysis of the structural damage due to ship collisions is developed. The method is based on the idealized structural unit method (ISUM). Longitudinal/transverse webs which connect the outer and the inner hulls are modelled by rectangular plate units. The responses are determined by taking into account yielding, crushing, and rupture. Some plates of the outer and the inner shell subjected to large membrane tensions are modelled by membrane tension triangular/rectangular plate units, while the remaining shell panels are modelled by the usual plate units. The effect of stiffeners on the stiffness and the strength is considered as well. In order to include the coupling effects between local and global failure of the structure, the usual non-linear finite-element technique is applied. In order to deal with the gap and contact conditions between the striking and the struck ships, gap/contact elements are employed. Dynamic effects are considered by inclusion of the influence of strain-rate sensitivity in the material model. On the basis of the theory a computer program has been written. The procedure is verified by a comparison of experimental results obtained from test models of double-skin plated structures in collision/grounding situations with the present solutions. As an illustrative example the procedure has been used for analyses of a side collision of a double-hull tanker. Several factors affecting ship collision response, namely the collision speed and the scantlings/ arrangements of strength members, are discussed. 相似文献
13.
The paper deals with the self-propulsion problem, i.e. the solution of the flow around the hull that advances at uniform speed due to the action of its own propeller. A coupled BEM/RANS approach, previously proposed for a simpler case with only rudder and propeller, has been extensively analysed to highlight the strength and the weakness of the method. The proposed analyses consider the influence of different turbulence modelling, the role of the interpolating algorithm for the inclusion of body forces into the RANS domain, a mesh and simulation time step sensitivity study and the influence of the extrapolation procedure for the definition of the effective wake to the propeller in the light of the lightest and the most affordable computational setup for daily accurate calculations. At first, the well-known Kriso Container Ship (KCS) test case is considered. This ship has been widely investigated in the context of different research projects and a large amount of data (both measurements and numerical calculations) is available to validate the solution approach and to highlight the benefits, as well as the weaknesses, of the proposed coupled BEM/RANS approach versus established but computationally demanding calculations based only on RANS simulations. Once the approach has been developed and validated via the KCS test case, calculations have been repeated in the case of completely different ships, in order to evaluate its general applicability and to test the robustness and the reliability of the proposed procedure. 相似文献
14.
Hydrodynamic interactions between two ships advancing in waves 总被引：3，自引：0，他引：3
In this paper the hydrodynamic problems between two moving ships in waves are analyzed using a three-dimensional potential-flow theory based on the source distribution technique. The potential is presented by a distribution of source over the ship hull. The corresponding Green functions and their derivatives can be easily solved numerically by using the series expansions of Telste and Noblesse's algorithm for the Cauchy principal value integral of unsteady flow. The numerical solution is evaluated by applying the present method to two pairs of models and compared with experimental data and strip theory. From the comparisons, it shows that the hydrodynamic interactions are generally important. In the resonance region, the hydrodynamic interaction calculated by the 3D method is more reasonable, which is not so significant as that by the 2D method. The technique developed here may serve as a more rigorous tool to analyze the related problems of two ships doing underway replenishment in waves. 相似文献
15.
Domain decomposition and matching for time-domain analysis of motions of ships advancing in head sea
A domain decomposition and matching method in the time-domain is outlined for simulating the motions of ships advancing in waves. The flow field is decomposed into inner and outer domains by an imaginary control surface, and the Rankine source method is applied to the inner domain while the transient Green function method is used in the outer domain. Two initial boundary value problems are matched on the control surface. The corresponding numerical codes are developed, and the added masses, wave exciting forces and ship motions advancing in head sea for Series 60 ship and S175 containership, are presented and verified. A good agreement has been obtained when the numerical results are compared with the experimental data and other references. It shows that the present method is more efficient because of the panel discretization only in the inner domain during the numerical calculation, and good numerical stability is proved to avoid divergence problem regarding ships with flare. 相似文献
16.
The sea ice is idealized as an elastic-brittle material. When an ice sheet moves toward a structure, the dynamic in-teraction between ice and the structure is analyzed by the DDA (Discontinuous Deformation Analysis) approach, where the ice sheet and the structure are considered as assemblages of blocky masses. This has the advantages that the whole process of collision between the ice and structure can be shown visually vvith a series of pictures. Meanwhile, the dynamic response of the structure at each time step after the bumping of the ice against the structure is calculated. And with the aid of inverse analysis developed by the authors, the time history of the resultant ice force exerting on the structure is evaluated. A numerical example shows that the proposed approach is suitable to the simulation of the ice-breaking process and reasonable result of ice force acting on the structure can be obtained. 相似文献
17.
A numerical procedure is described for predicting the motion and structural responses of tension leg platforms (TLPs) in waves. The developed numerical approach, in a TLP is assumed to be flexible instead of rigid, is based on a combination of the three dimensional source distribution method and the finite-element method. The hydrodynamic interactions among TLP members, such as columns and pontoons, are included in the motion and structural response analysis. Numerical results are compared with the experimental and numerical ones. The results of comparison confirmed the validity of the proposed approach. 相似文献
18.
Excellent station keeping characteristics and relative insensitivity with increasing water depth make triangular tension leg platforms (TLPs) a proven concept in deep water oil exploration. TLPs are often subjected to less probable forces which arise due to collision of ships, icebergs or any other huge sea creature. Dynamic analysis of two triangular TLP models at water depths 1200 and 527.8 m is performed under regular waves along with impulse load acting at an angle of 45 degrees at the TLP column. Hydrodynamic forces on these TLPs are evaluated using modified Morison equation, based on water particle kinematics arrived at using Stokes’ fifth order wave theory. Based on numerical studies conducted, it is seen that impulse loading acting on corner column of TLP significantly affect its response while that acting on pontoons dose not affect TLPs behaviour. 相似文献
19.
K.D. Do 《Ocean Engineering》2010,37(13):1111-1119
This paper presents a design of global smooth controllers that achieve the practical stabilization of arbitrary reference trajectories, including fixed points and nonadmissible trajectories for underactuated ships. These ships do not have an independent actuator in the sway axis. The control design is based on several nonlinear coordinate changes, the transverse function approach, the back-stepping technique, the Lyapunov direct method, and utilization of the ship dynamics. Simulation results illustrate the effectiveness of the proposed control design. 相似文献
20.
The article presents initial ideas towards a network-based approach for sea state estimation used for marine operations and other maritime applications. In principle, all available means, ranging from in situ buoys, fleet of ships to remote sensing by satellite and aircraft, could be considered, emphasising that each means and any combinations among may act simultaneously. This study focuses on just one of the means; the use of ships as sailing wave buoys. The article introduces the wave buoy analogy, i.e. ship-as-a-wave-buoy, and it makes a proposal on how to impose (different) weights to the single ship-specific wave spectrum estimates obtained from multiple ships. Moreover, the work includes a discussion about the importance to associate a measure to reflect the (un)certainty of the wave spectrum estimate. The article presents a numerical case study, where multiple ships act simultaneously as wave spectrum-estimators. The case study relies on numerical motion simulations, as appropriate full-scale data is not yet available. In the analysis, it is shown that the use of simultaneous data from multiple ships leads to more accurate wave spectrum estimations. 相似文献