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Path planning of USV based on improved PRM under the influence of ocean current 海流影响下基于改进的 PRM 的 USV 路径规划
IF 1.8 4区 工程技术 Q2 Engineering Pub Date : 2023-12-15 DOI: 10.1177/14750902231214585
Tengbin Zhu, Yingjie Xiao, Hao Zhang
Multi-extensibility and flexibility of unmanned surface vehicles (USVs) allow them perform many different tasks, further path planning technology is crucial to the safety, autonomy, and intelligent navigation of USVs. Firstly, this paper analyzes the impact of ocean currents and risk constraints on USV based on the electronic chart. Then take the optimal sailing time as the objective function and design a path planning algorithm based on an improved probabilistic roadmap (PRM) algorithm, in which a Gaussian space sampling algorithm based on edge detection is introduced. After building the network topology environment through improved PRM, then a Dijkstra algorithm based on great circle distance is used to solve the optimal path. Finally, the simulation experiment is designed through the MATLAB platform. By comparing the average and the three quartile lengths of the planned paths under three environments, the values of the designed Edge-Gaussion (E-G) PRM algorithm are smaller than Lazy PRM and Gaussian PRM algorithm, which shows that the improved PRM algorithm has better performance. When planning the USV path under the influence of current, compared with traditional length optimal path planning, although the navigation length planned by the designed algorithm is shorter by 972 m, sailing time is improved by 110 s, which efficiency shows the better application on the sea.
无人水面航行器(USV)的多延伸性和灵活性使其能够执行多种不同任务,而进一步的路径规划技术对 USV 的安全性、自主性和智能导航至关重要。首先,本文基于电子海图分析了洋流和风险约束对 USV 的影响。然后以最优航行时间为目标函数,设计了一种基于改进概率路线图(PRM)算法的路径规划算法,其中引入了基于边缘检测的高斯空间采样算法。通过改进的 PRM 构建网络拓扑环境后,使用基于大圆距离的 Dijkstra 算法求解最优路径。最后,通过 MATLAB 平台设计了仿真实验。通过比较三种环境下规划路径的平均长度和三个四分位长度,所设计的边缘-高讨论(E-G)PRM算法的数值均小于懒惰PRM算法和高斯PRM算法,这表明改进后的PRM算法具有更好的性能。在海流影响下规划 USV 路径时,与传统的长度最优路径规划相比,所设计算法规划的航行长度虽然缩短了 972 米,但航行时间却提高了 110 秒,这说明该算法在海上的应用效率更高。
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引用次数: 0
Investigation of oil emission mechanisms in a marine medium-speed dual-fuel engine 船用中速双燃料发动机的油排放机理研究
IF 1.8 4区 工程技术 Q2 Engineering Pub Date : 2023-12-08 DOI: 10.1177/14750902231213449
Baptiste Hochfellner, Friedrich Wirz, Konstantin Pryymak, Ann-Christin Preuss, Gerhard Matz
Pilot-ignition Otto marine engines are known for greatly reduced emissions of air pollutants (sulphur oxides, nitrogen oxide, particulates) compared to marine diesel engines. However, lubricating oil emissions still are about one order of magnitude higher than in land-based systems. To identify reduction potentials, a better understanding of oil emission mechanisms has to be gained. For this purpose, mass spectrometric oil emission measurements and fluorescence lubricating film thickness measurements were performed on a medium-speed marine engine. With the fluorescence measuring system, the varying lubricating oil film on the cylinder wall can be visualised and analysed in sub-crank-angle resolution. By applying the developed calibration method to the measurement data, the oil film thickness can be determined in µm. It is shown that the oil film left by the piston rings on the liner as it moves down is almost halved after ignition compared to during intake stroke. The authors have further been able to detect and time operating point dependent ring rotation and investigations show a connection between ring rotation and cylinder liner temperature distribution. Aligning ring gaps allow blow-by to happen. This and other high intensity events such as engine knock, load shedding or the transition from diesel-mode to gas-mode, heavily disturb the oil layer and cause peaking oil emissions.
与船用柴油发动机相比,引燃式奥托船用发动机以大大减少空气污染物(硫氧化物、氮氧化物、微粒)的排放而闻名。然而,润滑油排放量仍然比陆基系统高出一个数量级。为了确定减少的潜力,必须更好地了解石油排放机制。为此,在一台中速船用发动机上进行了质谱油排放测量和荧光润滑膜厚度测量。利用荧光测量系统,可以以亚曲柄角分辨率对缸壁上润滑油膜的变化进行可视化分析。通过将所开发的校准方法应用于测量数据,可以确定油膜厚度以µm为单位。结果表明,与进气冲程相比,在点火后,活塞环在衬垫上向下移动时留下的油膜几乎减半。作者进一步能够检测和时间工作点依赖环旋转和调查显示环旋转和缸套温度分布之间的联系。调整环隙允许吹气发生。这和其他高强度事件,如发动机爆震、负载脱落或从柴油模式到燃气模式的转变,严重扰乱了油层,导致油排放达到峰值。
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引用次数: 0
A Bayesian network-based tool for crisis classification in piracy or armed robbery incidents on passenger ships 基于贝叶斯网络的客轮海盗或持械抢劫事件危机分类工具
IF 1.8 4区 工程技术 Q2 Engineering Pub Date : 2023-12-08 DOI: 10.1177/14750902231213901
N. Ventikos, A. Koimtzoglou, Alexandros Michelis, Angeliki Stouraiti, Ioannis Kopsacheilis, Vassilis Podimatas
Piracy and armed robbery continue to pose significant security threats to the shipping industry. This paper presents a real-time threat assessment and crisis classification tool for piracy or armed robbery incidents. The tool is part of a crisis classification module that addresses various categories of security threats. This module is currently being developed as part of the EU-funded research project ISOLA, which aims to introduce an intelligent security superintendence ecosystem. The ecosystem is designed to complement the existing ship security processes and measures applied onboard passenger ships. The tool operates by providing real-time threat classification and subsequent warnings by analysing data collected from the ship’s legacy systems and installed sensors with the utilisation of Bayesian probabilistic techniques, particularly Bayesian Networks. The BN model developed for this purpose is thoroughly examined, and its validation is presented through indicative case studies involving piracy and armed robbery. The main objective is to improve situational awareness, enhance vigilance and early threat detection, and support the decision-making process for the Master and crew, especially under time-sensitive circumstances and stressful conditions.
海盗和武装抢劫继续对航运业构成重大安全威胁。提出了一种针对海盗或武装抢劫事件的实时威胁评估和危机分类工具。该工具是危机分类模块的一部分,该模块处理各种类型的安全威胁。该模块目前正在作为欧盟资助的研究项目ISOLA的一部分开发,该项目旨在引入智能安全监管生态系统。该生态系统旨在补充客船上应用的现有船舶安全流程和措施。该工具利用贝叶斯概率技术,特别是贝叶斯网络,通过分析从船上遗留系统和安装的传感器收集的数据,提供实时威胁分类和后续警告。为此目的开发的BN模型进行了彻底检查,并通过涉及海盗和武装抢劫的指示性案例研究提出了其有效性。主要目标是改善态势感知,增强警惕性和早期威胁检测,并支持船长和船员的决策过程,特别是在时间敏感的环境和压力条件下。
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引用次数: 0
Efficient and precise docking trajectory optimization for the ship block assembly 为船体组装优化高效、精确的对接轨迹
IF 1.8 4区 工程技术 Q2 Engineering Pub Date : 2023-11-29 DOI: 10.1177/14750902231210344
Lei Li, Qinghui Chen, Honggen Zhou, Chunjin Li, Qiang He
The assembly of the ship block is an extremely important stage of the shipbuilding process. Nevertheless, currently, the manual assembly efficiency is low, the accuracy is poor, and collision is very easy to occur. Therefore, there is an urgent need to conduct technical research on the automatic docking of ship blocks. The core of the automated docking technology is the attitude estimation and the trajectory planning of the posturing equipment. However, current data measurement and point set matching methods lead to large attitude-estimation errors, and it is difficult to meet the accuracy requirements of the assembly. Moreover, the current ship block trajectory planning methods pay more attention to single metrics, for example, time or energy consumption, while omitting the shock degree. In response to the above, this study first proposes a high-precision matching method for measuring point sets, in order to estimate the exact attitude of the ship block. Subsequently, trajectory translation for the block is performed using the seventh-degree polynomial. On this basis, a nonlinear weighted improved particle swarm optimization (IPSO) method is proposed to optimize the time, energy consumption and shock degree in the ship block trajectory planning process. Finally, the accuracy of the matching optimization is validated by simulation analysis and it is concluded that the seventh-degree polynomial leads to less shock than other polynomials. Furthermore, the shock force does not change abruptly even when the ship block is poised in steps. Through IPSO, the energy consumption and shock degree performance indices are optimized by 37.07% and 50.06%, respectively, in the ship block translation process.
船体组装是造船过程中极为重要的一个阶段。然而,目前人工装配效率低,精度差,极易发生碰撞。因此,船体自动对接技术研究迫在眉睫。自动对接技术的核心是姿态估计和姿态设备的轨迹规划。然而,目前的数据测量和点集匹配方法导致姿态估计误差较大,难以满足装配精度要求。此外,目前的船体轨迹规划方法更注重单一指标,如时间或能耗,而忽略了冲击度。针对上述问题,本研究首先提出了一种高精度的测量点集匹配方法,以估算船体的精确姿态。随后,利用七度多项式对船体进行轨迹平移。在此基础上,提出了一种非线性加权改进粒子群优化(IPSO)方法,以优化船体轨迹规划过程中的时间、能耗和冲击度。最后,通过仿真分析验证了匹配优化的准确性,并得出结论:与其他多项式相比,七度多项式导致的冲击更小。此外,即使船体分步摆动,冲击力也不会突然变化。通过 IPSO,船体平移过程中的能耗和冲击度性能指标分别优化了 37.07% 和 50.06%。
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引用次数: 0
Corrigendum to “Guest editorial for the special issue on “marine hydrodynamics for innovative design” "为'海洋流体力学促进创新设计'特刊撰写的特约编辑文章 "的更正
IF 1.8 4区 工程技术 Q2 Engineering Pub Date : 2023-11-25 DOI: 10.1177/14750902231218551
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引用次数: 0
A comprehensive description and application of the FloodW simulation code for flooded ship problems: From still water to irregular wave scenarios 全面介绍并应用 FloodW 仿真代码解决船舶淹没问题:从静水到不规则波浪情景
IF 1.8 4区 工程技术 Q2 Engineering Pub Date : 2023-11-22 DOI: 10.1177/14750902231210044
M. Acanfora, M. Altosole, Tommaso Coppola, Riccardo Martino
This paper provides a compendium of the numerical model that goes under the name of FloodW. This code is a fast tool for the simulation and the analysis of the effects of flooding water on ship dynamics and loads in time domain, developed for safety purposes. It has been recently involved in the international benchmark study on simulation of flooding and motions of damaged Ropax vessels within the EU Horizon 2020 project FLARE, where the name FloodW was given for the first time. Indeed, the development of the code started almost 10 years ago for still water applications, limited to ship motions, up to flooding simulation in regular waves with the possibility to study also non-linear hull girder loads. The core feature of the flooding water modeling is in the assumption of a free surface normal to the apparent gravity vector, which is evaluated accounting for ship and water dynamics. Although this approach, from validations with experimental data, was found accurate in the whole range of filling levels of the damaged compartment, with finer accuracy for intermediate fillings, an alternative method was also proposed and implemented, pertinent to low filling levels. Therefore, this paper provides a comprehensive description of the FloodW code together with its applications, including also the recent developments in participating to the benchmark FLARE, regarding ship flooding in irregular wave scenario.
本文简要介绍了以 FloodW 命名的数值模型。该代码是一种快速工具,用于模拟和分析洪水在时域中对船舶动力学和载荷的影响,是为安全目的而开发的。最近,它参与了欧盟地平线 2020 项目 FLARE 中的受损 Ropax 船舶洪水和运动模拟国际基准研究,并首次被命名为 FloodW。事实上,该代码的开发始于近 10 年前的静水应用,仅限于船舶运动,直至规则波浪中的洪水模拟,同时还可以研究非线性船体大梁载荷。洪水模型的核心特征是假定视重力矢量的自由表面法线,并根据船舶和水的动态进行评估。根据实验数据的验证,这种方法在受损船舱的整个填充水平范围内都很精确,中间填充的精确度更高,但同时也提出并实施了一种替代方法,适用于低填充水平。因此,本文全面介绍了 FloodW 代码及其应用,包括参与基准 FLARE 在不规则波浪情况下船舶淹没方面的最新进展。
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引用次数: 0
Data-driven prediction of ship fuel oil consumption based on machine learning models considering meteorological factors 基于考虑气象因素的机器学习模型的船舶燃油消耗量数据驱动预测
IF 1.8 4区 工程技术 Q2 Engineering Pub Date : 2023-11-22 DOI: 10.1177/14750902231210047
Huirong Yang, Zhuo Sun, Peixiu Han, Mengjie Ma
To improve the energy efficiency of ships and reduce greenhouse gas (GHG) emissions, the implementation of energy-efficient operation measures is particularly important. Driven by this, this study was dedicated to improving the accuracy of ship fuel oil consumption (FOC) prediction and laying the foundation for optimizing energy-efficient operations. Firstly, we combined voyage reports and meteorological data and constructed six datasets containing different features. These features comprise navigation-related features encompassing sailing speed, displacement and trim, as well as meteorological features encompassing wind, wave, sea current, sea water salinity and sea water temperature. Secondly, we conducted experiments with 14 popular ML models on the datasets and compared the prediction performance of different models by a new scoring system. Finally, we explored the advantages and disadvantages of each dataset based on the model performance scoring results and analyzed the effects of related meteorological factors on FOC during navigation. The key findings of the proposed work were that extra trees (ET), random forest (RF), XGBoost, and LightGBM had good fitting and generalization performance. Set5, the dataset containing the most complete meteorological data, achieved the best prediction results. In particular, it had an R2 (test) of 0.9317 on the ET model, which was 1.97% higher than the R2 (test) of the dataset using only voyage reports. The conclusions can assist shipping companies in constructing a ship FOC prediction framework and developing ship fuel-saving strategies.
为提高船舶能效,减少温室气体(GHG)排放,实施节能运营措施尤为重要。在此驱动下,本研究致力于提高船舶燃油消耗量(FOC)预测的准确性,为优化节能运营奠定基础。首先,我们结合航行报告和气象数据,构建了六个包含不同特征的数据集。这些特征包括航行速度、排水量和修整度等航行相关特征,以及风、波浪、海流、海水盐度和海水温度等气象特征。其次,我们在数据集上使用 14 个流行的 ML 模型进行了实验,并通过新的评分系统比较了不同模型的预测性能。最后,我们根据模型性能评分结果探讨了各数据集的优缺点,并分析了相关气象因素对航行过程中 FOC 的影响。这项工作的主要发现是,额外树(ET)、随机森林(RF)、XGBoost 和 LightGBM 具有良好的拟合和泛化性能。包含最完整气象数据的数据集 Set5 取得了最好的预测结果。其中,ET 模型的 R2(测试)为 0.9317,比仅使用航次报告的数据集的 R2(测试)高 1.97%。这些结论有助于航运公司构建船舶燃料成本预测框架和制定船舶节油战略。
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引用次数: 0
Possible approaches to the study of emissions from ships during their operations in ports 研究船舶在港口作业期间排放物的可能方法
IF 1.8 4区 工程技术 Q2 Engineering Pub Date : 2023-11-20 DOI: 10.1177/14750902231210564
S. Ergin, L. Mocerino, Franco Quaranta
The emissions from ships are the key factor influencing the air quality near large ports. Although ship emissions are difficult to quantify, doing so can help port management find logistical solutions that can reduce the impact of having a large number of giant ships in a limited space. The joint study between the University of Naples and Istanbul Technical University, which focuses on the investigation of ship emissions in ports, is presented in this paper. It is expected that this study will lead to create new techniques for calculating, measuring, and validating emissions from ships at ports.
船舶排放是影响大型港口附近空气质量的关键因素。虽然船舶排放难以量化,但量化可以帮助港口管理部门找到物流解决方案,减少在有限空间内拥有大量巨型船舶所造成的影响。本文介绍了那不勒斯大学和伊斯坦布尔技术大学的联合研究,重点是调查港口的船舶排放情况。预计这项研究将开发出计算、测量和验证港口船舶排放的新技术。
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引用次数: 0
Life cycle assessment of ammonia/hydrogen-driven marine propulsion 氨/氢驱动船舶推进的生命周期评估
IF 1.8 4区 工程技术 Q2 Engineering Pub Date : 2023-11-18 DOI: 10.1177/14750902231207159
D. Dong, A. Schönborn, Anastasia Christodoulou, A. Ölçer, José González-Celis
Marine fuels are the main sources of pollution from shipping industry. Hydrogen and ammonia have been suggested to be alternative fuels for shipping as these two fuels do not emit carbon dioxides in the combustion process. This study employed life cycle assessment method to compare the environmental performance of propulsion systems using hydrogen and ammonia as marine fuels to fossil fuels. 2-stroke and 4-stroke engines of tankers using fossil fuels were chosen as base case scenarios. Alternative scenarios using ‘green’ and ‘blue’ hydrogen and ammonia with the support of pilot fuel were then compared to the base case scenarios. While the performance of the coming combustion concepts for hydrogen and ammonia engines are still unknown, preliminary estimations were used in this study. The results showed that hydrogen and ammonia could substantially reduce the global warming potential, compared with the fossil fuel scenarios. Hydrogen and ammonia are also expected to be highly effective in cutting down the particulate matter and the emission of black carbon.
船用燃料是航运业的主要污染源。氢气和氨气在燃烧过程中不会排放二氧化碳,因此被建议作为航运业的替代燃料。本研究采用生命周期评估方法,比较了使用氢和氨作为船用燃料的推进系统与化石燃料的环境性能。使用化石燃料的油轮的二冲程和四冲程发动机被选为基本方案。然后将使用 "绿色 "和 "蓝色 "氢气和氨气并辅以试验燃料的替代方案与基础方案进行比较。虽然氢气和氨气发动机未来燃烧概念的性能尚不清楚,但本研究采用了初步估算。结果表明,与化石燃料方案相比,氢气和氨气可大幅降低全球变暖潜势。氢气和氨气在减少微粒物质和黑碳排放方面也会非常有效。
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引用次数: 0
Exergy efficiency and EEXI analysis of a marine power plant at partial load conditions 部分负荷条件下海洋发电厂的能效和 EEXI 分析
IF 1.8 4区 工程技术 Q2 Engineering Pub Date : 2023-11-14 DOI: 10.1177/14750902231207133
G. Kocak, Y. Durmusoglu
Energy efficiency and environmental protection are becoming more important in the world. Almost 90% of the world trade is carried by sea which makes energy efficiency very important for the maritime sector. Exergetic method is a powerful scientific tool for measuring energy efficiency. The ships are not always cruising at maximum load conditions. The situations such as narrow water passages, maneuvering, and, hoteling etc. are partial load conditions and the exergy loss in power systems reaches maximum values at these conditions. Besides the new IMO regulation forces the sector to reduce emissions through Energy Efficiency Existing Ship Index (EEXI) and one of the most popular solutions is Engine Power Limitation (EPL). In the literature there are limited studies investigating exergy efficiencies of partial load conditions of a marine power plant. In this article, the performance analyses of a combined power system in partial load conditions are carried out using exergy method. The considered partial load conditions are maximum-ahead, full-ahead, half-ahead, slow-ahead and dead-slow-ahead loads of the engine. The results show that, the exergy efficiency of the overall system is decreasing at lower load conditions. It is observed that the maximum exergy efficiency is 51.6% which is reached at 96 rpm. The best condition considering both exergy efficiency and EEXI is 80 rpm of main engine. At slow-ahead and dead-slow-ahead conditions the exergy efficiency decreases to about 33%.
能源效率和环境保护在世界上正变得越来越重要。世界上几乎 90% 的贸易都是通过海运进行的,因此能源效率对海运业来说非常重要。能效测量法是测量能源效率的有力科学工具。船舶并不总是在最大负荷条件下航行。狭窄的水道、机动、停泊等情况都属于部分负荷条件,在这些条件下,动力系统的放能损失达到最大值。此外,国际海事组织(IMO)的新规定迫使船舶行业通过现有船舶能效指数(EEXI)来减少排放,而最流行的解决方案之一就是发动机功率限制(EPL)。文献中对船用发电厂部分负荷条件下的放能效率研究有限。本文采用放能法对部分负荷条件下的联合动力系统进行了性能分析。考虑的部分负荷条件包括发动机的最大超前负荷、全超前负荷、半超前负荷、慢超前负荷和死慢超前负荷。结果表明,在较低负载条件下,整个系统的放能效率在下降。据观察,发动机在 96 rpm 转速时的能效最高,达到 51.6%。同时考虑到能效和 EEXI 的最佳条件是主机转速为 80 rpm。在低速前行和死低速前行条件下,能效降低至约 33%。
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引用次数: 0
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Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment
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