共查询到20条相似文献，搜索用时 15 毫秒
1.
This study proposes a ship weather-routing algorithm based on the composite influence of multi-dynamic elements for determining the optimized ship routes. The three-dimensional modified isochrone (3DMI) method utilizing the recursive forward technique and floating grid system for the ship tracks is adopted. The great circle sailing (GCR) is considered as the reference route in the earth coordinate system. Illustrative optimized ship routes on the North Pacific Ocean have been determined and presented based on the realistic constraints, such as the presence of land boundaries, non-navigable sea, seaway influences, roll response as well as ship speed loss. The proposed calculation method is effective for optimizing results by adjusting the weighting factors in the objective functions. The merits of the proposed method can be summarized as: (1) the navigability of the route can be analyzed dynamically to acquire the optimal route; (2) adopting multi-dynamic elements as weighting factors has the benefits in energy efficiency, time-saving and minimum voyage distance; and (3) an ability to enhance speed performance and to incorporate safety concern in a dynamic environment. 相似文献
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Conventional weather routing is defined as determining the optimum route for a merchant ship such that distance or duration of the voyage and fuel consumption are minimized. If the purpose of a voyage is offshore transfer, the term “optimum” includes aspects of operational safety such as towing tension and six-degree motion response of tow. This paper presents the development of a weather routing method for determining the optimal route, which is defined here as the route with minimum average towing tension with a restricted time of arrival and significant motion response. A genetic algorithm is applied to solve optimization problems. Optimized routes of this research have an advantage in towing tension and satisfy motion constraints. The result of this study can contribute to safe and effective planning for offshore transport. 相似文献
3.
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
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In this work a method for estimating parameters of practical ship manoeuvring models based on the combination of RANSE computations and System Identification procedure is investigated, considering as test case a rather slender twin screw and two rudders ship. The approach consists in the estimation of the hydrodynamic coefficients applying System Identification to a set of free running manoeuvres obtained from an in-house unsteady RANS equations solver, which substitute the usually adopted experimental tests at model or full scale. In this alternative procedure the numerical quasi-trials (in terms of kinematic parameters time histories and, if needed, forces time histories) are used as input for the System Identification procedure; the aim of this approach is to reduce external disturbances that, if not properly considered in the mathematical model, may compromise the identification results, or at least amplify the well-known “cancellation effects”. Furthermore, the CFD results provide information both in terms of flow field variables and hydrodynamic forces on the manoeuvring ship. These data may be adopted for a better understanding of the complex flow during manoeuvres, especially at stern, providing also additional information about the interaction between the various appendages (including rudders) and the hull. The identification procedure is based on an off-line genetic algorithm used for minimizing the discrepancy between the reference manoeuvres from CFD and those simulated with the system based modular model. The discrepancy was measured considering different metric functions and simplified formulations which consider only the main macroscopic parameters of the manoeuvre; the metrics have been analyzed in terms of their capability in reproducing the time histories and in limiting the cancellation effect of the hydrodynamic derivatives. 相似文献
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在全球持续变暖的影响下,北极部分地区夏季出现无冰期,北极航线具有更短的航运距离和相对稳定的地缘政治人文环境。文章从气候变化角度出发,构建包含航行环境模块、航迹规划模块和航线经济效益模块在内的综合评估模型,评估北极地区海冰、风、浪、流等气象水文地理要素对船舶航速的影响,确定北极地区的可航行天数;在此基础上,利用A-Star算法寻找北极航线的最优路径,并分析该路径上的航运经济效益;采用该评估模型对比在RCP4.5情景下2050年船舶往返欧亚大陆之间经东北航线与经苏伊士运河航线的经济效益,结果表明,苏伊士运河航线的经济效益更高,北极航线可作为替补航线。 相似文献
6.
The ship routing problem can be known as a multi-objective problem. Since the operation strategy is influenced by ocean environments, e.g. wind, waves or ocean currents, it is therefore weather routed. In this study, the three-dimensional modified isochrone (3DMI) method utilizing the recursive forward technique and floating grid system for the ship tracks is applied to globally search for the optimum route. The proposed method considers two types of routing strategies, i.e. ETA (Estimated Time of Arrival) routing and FUEL (FUEL-saving) routing, with different constraints, such as land boundaries, significant wave heights, engine revolution speeds and roll responses. As a result, it is verified that the robustness of the proposed method appears to be a practical tool by adjusting the safety threshold for the trade-off of ship efficiency and economics. 相似文献
7.
随着全球经济的快速发展，海上运输由于其运力大、运费低而变得更具实用性。然而，这也意味着在海上航道行驶的船只正变得越来越多，这将导致在复杂的海洋环境中航海船只发生事故的可能性会很高。据相关历史的统计，在海域中航行缺乏高精度导航数据会导致大量事故，这种累积的事故信息可以被用来提高航海的安全性。本文通过将蕴含在AIS (Automatic Identification System) 大数据中的经验导航信息挖掘出来，以辅助实现复杂海事环境下安全可靠的船舶路径的生成。本文提出了一种基于大数据自动生成船舶路径的新方法。该方法首先在大量船舶轨迹上通过DBSCAN (Density-Based Spatial Clustering of Applications with Noise) 聚类形成不同的轨迹矢量簇。然后，迭代计算轨迹矢量簇的中心线，并从这些中心线之间的节点-弧段拓扑关系来构建航道网络。最后，基于航道网络来实现船舶路径的生成，对于航道网络未覆盖的海域，则通过海洋环境风险栅格的路径规划来实现船舶路径的生成。不同海域不同AIS数据集进行的多次实验结果表明，本文提出的船舶路径生成方法是有效性。 相似文献
8.
Minimal time ship routing is studied between Mumbai port (India) to Mombasa port (Kenya) using model hindcast wave climate over the Arabian Sea. With the launch of IRS-P4 (OCEANSAT-I), it became possible now to carry out routine wave hindcasting over the Indian Ocean. The MSMR channel of the satellite gives scalar wind, which is analyzed at NCMRWF, India, for converting to vector winds. The same is used as input to third-generation spectral wave model WAM for regional grid system for simulating the rough weather period of July 2000. This simulated wave climate formed the basis for computing effective ship velocity in the irregular seaway. This study gives a quantitative estimation of change in ship velocity in the open Indian Ocean for a bulk carrier. The minimal time path is charted using Dijkstra's algorithm for optimum route voyage. The optimum track information has broad scope for obtaining a safer route, least time route by avoiding delay in schedule with minimum fuel consumption. 相似文献
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In this paper, we present a mathematical model including seakeeping and maneuvering characteristics to analyze the roll reduction for a ship traveling with the stabilizer fin in random waves. The self-tuning PID controller based on the neural network theory is applied to adjust optimal stabilizer fin angles to reduce the ship roll motion in waves. Two multilayer neural networks, including the system identification neural network (NN1) and the parameter self-tuning neural network (NN2), are adopted in the study. The present control technique can save the time for searching the optimal PID gains in any sea states. The simulation results show that the present developed self-tuning PID control scheme based on the neural network theory is indeed quite practical and sufficient for the ship roll reduction in the realistic sea. 相似文献
11.
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
12.
A ship optimal trajectory planning method based on the dynamic model of the ship is presented. First a mathematical modular model is introduced for describing the non-linear dynamics of the ship. Then the problem of optimal trajectory planning is discussed. The trajectory is obtained through the optimization of a time-energy criterion, taking into account constraints on the steering system, environment, non-linearities, and non-convexity of the state space equations. The discrete augmented Lagrangian approach is used to compute the optimal constrained controller. The method was programmed on a HP700 workstation. This approach was applied to automatic ship berthing maneuver 相似文献
13.
Jing Chen Yan Lin Jun Zhou Huo Ming Xia Zhang Zhuo Shang Ji 《Ocean Engineering》2010,37(11-12):978-988
Ship’s subdivision arrangement is a multi-objective combinatorial optimization problem with multiple nonlinear constraints. This study focuses on finding a methodology for ship’s subdivision arrangement that can guarantee ship’s offshore sequential ballast water exchanging (SBWE) performances in the preliminary design stage. A mathematical model is built using minimizing trims and hull girder longitudinal bending moments and shearing forces occurred in the SBWE as the objectives, and the multiple safety criteria of the SBWE as the constraints. The longitudinal lengths of the ballast water tanks (BWTs) are taken as design variables that will alter within a reasonable length range. An elitist nondominated sorting genetic algorithm (NSGA-II) is utilized to perform the optimization, in which the nondominated sorting mechanism is employed to handle the multiple objectives, and the constraint-domination principle is utilized to handle the multiple constraints. A special crossover operator called the dispersion apportioned allelic (DAA) crossover is introduced to perform the reproduction of the special problem. A real case study of the subdivision arrangement based on the SBWE of a 50,000DWT double hull product tanker is conducted to demonstrate the feasibility and effectiveness of the proposed approach. 相似文献
14.
A randomized kinodynamic path planning algorithm based on the incremental sampling-based method is proposed here as the state-of-the-art in this field applicable in an autonomous underwater vehicle. Designing a feasible path for this vehicle from an initial position and velocity to a target position and velocity in three-dimensional spaces by considering the kinematic constraints such as obstacles avoidance and dynamic constraints such as hard bounds and non-holonomic characteristic of AUV are the main motivation of this research. For this purpose, a closed-loop rapidly-exploring random tree (CL-RRT) algorithm is presented. This CL-RRT consists of three tightly coupled components: a RRT algorithm, three fuzzy proportional-derivative controllers for heading and diving control and a six degree-of-freedom nonlinear AUV model. The branches of CL-RRT are expanded in the configuration space by considering the kinodynamic constraints of AUV. The feasibility of each branch and random offspring vertex in the CL-RRT is checked against the mentioned constraints of AUV. Next, if the planned branch is feasible by the AUV, then the control signals and related vertex are recorded through the path planner to design the final path. This proposed algorithm is implemented on a single board computer (SBC) through the xPC Target and then four test-cases are designed in 3D space. The results of the processor-in-the-loop tests are compared by the conventional RRT and indicate that the proposed CL-RRT not only in a rapid manner plans an initial path, but also the planned path is feasible by the AUV. 相似文献
15.
This study investigates the coupling effects of six degrees of freedom in ship motion with fluid oscillation inside a three-dimensional rectangular container using a novel time domain simulation scheme. During the time marching, the tank-sloshing algorithm is coupled with the vessel-motion algorithm so that the influence of tank sloshing on vessel motions and vice versa can be assessed. Several factors influencing the dynamic behavior of tank–liquid system due to moving ship are also investigated. These factors include container parameters, environmental settings such as the significant wave height, current velocity as well as the direction of wind, wave and flow current acting on the ship. The nonlinear sloshing is studied using a finite element model whereas nonlinear ship motion is simulated using a hybrid marine control system. Computed roll response is compared with the existing results, showing fair agreement. Although the two hull forms and the sea states are not identical, the numerical result shows the same trend of the roll motion when the anti-rolling tanks are considered. Thus, the numerical approach presented in this paper is expected to be very useful and realistic in evaluating the coupling effects of nonlinear sloshing and 6-DOF ship motion. 相似文献
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GPU-Based DEM Simulations of Global Ice Resistance on Ship Hull During Navigation in Level Ice 总被引：1，自引：0，他引：1
The ice resistance on a ship hull affects the safety of the hull structure and the ship maneuvering performance in icecovered regions.In this paper,the discrete element method(DEM)is adopted to simulate the interaction between level ice and ship hull.The level ice is modeled with 3D bonded spherical elements considering the buoyancy and drag force of the water.The parallel bonding approach and the de-bonding criterion are adopted to model the freezing and breakage of level ice.The ship hull is constructed with rigid triangle elements.To improve computational efficiency,the GPU-based parallel computational algorithm was developed for the DEM simulations.During the interaction between the ship hull and level ice,the ice cover is broken into small blocks when the interparticle stress approaches the bonding strength.The global ice resistance on the hull is calculated through the contacts between ice elements and hull elements during the navigation process.The influences of the ice thickness and navigation speed on the dynamic ice force are analyzed considering the breakage mechanism of ice cover.The Lindqvist and Riska formulas for the determination of ice resistance on ship hull are employed to validate the DEM simulation.The comparison of results of DEM,Lindqvist,and Riska formula show that the DEM result is between those the Lindqvist formula and Riska formula.Therefore the proposed DEM is an effective approach to determine the ice resistance on the ship hull.This work can be aided in the hull structure design and the navigation operation in ice-covered fields. 相似文献
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《Coastal Engineering》2003,48(1):29-50
This paper describes a method for assessing the probability of a ship accident in an entrance channel for different recurrence intervals using model data. This new method includes a rational criteria for evaluating various channel configurations and depths for a range of realistic environmental (i.e., wind, wave, and current) conditions and annual number of ship calls. This four-component climatology-interactive model includes a Poisson probability law for number of ship arrivals, a Bernoulli probability law for grounding in a single random ship arrival, an estimation of the probability parameter in the Bernoulli law from model tests, and a determination of recurrence intervals or return periods. A remote-controlled model of a C9 containership was used to evaluate the navigability of existing and proposed harbor and entrance-channel configurations for a range of environmental conditions in a three-dimensional physical model of Barbers Point Harbor, Oahu, HI. 相似文献
20.
Offshore development and growing prospects of commercial shipping in the Arctic pose the challenge of optimal ship routing in ice. Route selection in spatially distributed ice conditions significantly affects the voyage time and determines the efficiency of shipping. Most of the applied methods of ice routing solve the problem of a single vessel route selection without considering icebreaker support. At the same time, the real practice of ice navigation is closely connected with icebreaker assistance. It allows reducing the voyage time and fuel consumption, while having additional costs for icebreaker services. Such opposite trends set an optimization task that has not been studied in detail before. In this article, we presented the formulation of a Single Vessel and Icebreaker Assisted Ice Routing optimization problem in non-stationary ice conditions. We considered the icebreaker assistance as an integral part of the overall route optimization problem, and used the economic criterion to optimize both ship route and amount of icebreaker involvement. The article contains the adapted mathematical formulations of classical graph-based and wave-based routing problems in order to consider icebreaker assistance. To prove the practical applicability of these formulations, we developed special subject-oriented research software and implemented there both graph-based (Dijkstra, A*) and the wave-based ice routing methods. Using this developments, we conducted several case studies and made the analysis of strengthens and weaknesses of the alternative routing methods in case of ice operation. The results of the study may serve an additional step to the practical implementation of ice routing technologies and planning of icebreaker resources. 相似文献