The scientific bulletin of Kherson state maritime academy

Title

2025-01-30T18:36:26+02:00

Content

2025-01-30T18:36:54+02:00

DEVELOPMENT OF A NAVIGATOR QUALIFICATION MODEL FOR AUTOMATED SHIP HANDLING CONTROL TASKS

2025-01-30T18:37:30+02:00

The study aims to develop a comprehensive qualification model for navigators in automated ship control, evaluating technical, cognitive, and behavioral competence to enhance real-time decision-making in variable navigational environments.

The main challenge is integrating advanced technologies like artificial intelligence and fuzzy logic to accurately monitor risks arising from human factors.

The methodology involves creating a model that assesses navigator competencies by integrating various aspects. Data from ECDIS and other sensors are processed into a feature vector. The Mamdani algorithm aggregates fuzzy rules defining qualification parameters, while neural networks model complex interrelationships. The model uses fuzzy membership functions to assess risks considering speed, under-keel depth, weather conditions, and collision probability.

Results show the model detects potential risks timely and automates decision-making, reducing navigator workload in challenging conditions. It effectively predicts ship trajectory, identifies risky zones, and provides safety recommendations.

Practically, it enhances maritime safety through personalized navigator assessment. Integration with existing systems like ECDIS offers flexibility without major infrastructural changes. The system individualizes recommendations, reducing accident risk and improving training efficiency. Future research includes expanding the training database, refining algorithms, and studying the impact of the navigator's psychophysiological state on ship management effectiveness.

INFLUENCE OF HULL AND CARGO CONTOURS ON LATERAL FORCE AND YAW TORQUE IN REAL-TIME VESSEL CONTROL SYSTEMS

2025-01-30T18:38:02+02:00

The purpose of the research is to increase the accuracy of control calculations, the efficiency of the control system and the safety of navigation in general, by using a mathematical model in the control system to determine the parameters of external influences in real time. The mathematical model of the vessel is an important element of the mathematical support of the control system, the use of which allows to significantly improve the quality of the control system. Mathematical models are used to predict the movement of the control object, monitor the parameters of the state vector of the control object that are inaccessible to direct measurement, including in noise, determine the failures of command and executive devices, solve optimization problems, etc. In the work, integral functions for determining the resulting lateral force, the resulting yaw torque and the arm of the resulting lateral force, depending on the angle of attack of the flow and the shape of the hull contours, are obtained. The values of integral functions for simple hull contours are calculated. Compared with known approaches to determining the hydrodynamic and aerodynamic interaction of the ship's hull with the environment, the obtained results allow: in comparison with simple models, to estimate external forces and yaw torque much more accurately; in comparison with complex models, to carry out their estimation in real-time control systems. The obtained results are explained by finding and using integral functions for determining the resultant lateral force, resultant yaw torque and resultant lateral force arm, which for simple hull shapes are reduced to analytical solutions. The results are reproducible and can be used in the mathematical support of automated/automatic control systems in real time.

FEATURES OF AUTOMATION OF UNMANNED SURFACE-UNDERWATER BOAT OF TRANSPORT TYPE

2025-01-30T18:38:30+02:00

The purpose of the work is to supplement the existing classification of marine unmanned vehicles by introducing unmanned surface-underwater boats into it, to determine their main features as objects of automatic control and to form a general set of tasks for the synthesis of automated and automatically controlled systems, as well as to develop a generalized structure of the automatic control system for one of the key systems of an unmanned surface-underwater boat – the air supply system to the boat's thermal engine during its underwater movement. To achieve this goal, the hierarchical classification method was used to supplement the existing classification of marine unmanned vehicles, and the system approach method was used to formulate tasks for the synthesis of control systems for such boats. The result of the study is the addition of the classification of marine unmanned vehicles, which includes a new type of marine unmanned vehicles, as well as their division into types, categories and classes according to their purpose. It is shown that when developing the structure of the automatic control system for an unmanned surface-underwater boat, it is advisable to divide it into executive, program, adaptive, tactical and strategic levels. A general set of tasks for the synthesis of the control system for unmanned surface-underwater boats is proposed, consisting of the task of controlling the spatial movement of the boat as a solid body that can move on the sea surface and under water, the task of controlling the boat's energy system, the task of controlling the boat's information system and the task of controlling the boat's sea mission as a whole. For each task, a list of functional subtasks has been developed that cover the main processes of boat automation. Taken together, the developed list of tasks forms a scientific and technical basis for the development of automated and automatic boat control systems in all basic modes of its use as a means of transport. The scientific novelty is formed by the improved classification of marine unmanned vehicles, the first proposed general set and components of the synthesis problems of automatic control systems for a marine surface-underwater boat. The practical significance of the research lies in the scientific structuring of design work on the creation of a new type of marine robotics, which makes it possible to systematically carry out further design work on the development of automatic control systems for an unmanned surface-underwater boat.

SYSTEM FOR MEASURING DYNAMIC CHARACTERISTICS OF AN UNMANNED VESSEL AS A COMPONENT OF ITS AUTOMATIC CONTROL SYSTEM

2025-01-30T18:39:27+02:00

The development of modern automatic control systems for unmanned vessels is an important direction for ensuring the efficiency and autonomy of their operation. These systems aim to reduce human intervention while enhancing operational capabilities. One of the important elements of such systems is a dynamic characteristics measurement system, which can provide accurate monitoring and analysis of the vessel’s movement. This system enables real-time feedback on the vessel’s performance and trajectory. The article discusses the task of increasing the efficiency of unmanned vessel control by creating a measurement system for dynamic characteristics. The proposed system uses a GPS receiver to enhance positional accuracy and multi-axis motion sensors, including accelerometers, magnetometers, and gyroscopes, to collect precise data on the vessel’s movement. Specialized algorithms process the sensor data to determine dynamic parameters such as speed, acceleration, and orientation. These parameters are essential for maintaining control over the vessel's movement and improving overall efficiency. The system’s ability to operate in sea conditions is emphasized, as it can provide a high data update frequency for real-time trajectory correction. This ensures the vessel remains on course even in challenging environments. The implementation of the system into the MATLAB Simulink environment allows for real-time visualization and data analysis. The system’s data filtering and correction processes are detailed, showing how parameters are fine-tuned for optimal performance. Particular attention is paid to algorithms for calculating angular positions, accelerations, and speeds, which are crucial for the precise control of the vessel in autonomous mode. These algorithms enable the vessel to adapt to dynamic environmental changes and ensure stability during operation. The results of the study form the basis for further improvement of automatic control systems for unmanned vessels, which opens up the possibility of their widespread use in various tasks, in particular for monitoring, patrolling and maintenance of marine facilities.

AUTOMATION OF CONTROL OF UNMANNED MARINE TECHNOLOGICAL COMPLEX FOR THE TASK OF INSPECTION OF WATERWAYS OF UKRAINE

2025-01-30T18:39:55+02:00

The article considers the issue of increasing the efficiency of searching for and identifying dangerous underwater navigation threats by using an unmanned marine technological complex. The relevance of the study is due to the need to ensure the safety of navigation in the territorial waters of Ukraine. The proposed technological complex includes a self-propelled unmanned floating platform and an uninhabited moored underwater vehicle placed on it, its power and control post, as well as a launching and lifting device and a cable winch with a cable tow. The purpose of the work is to substantiate the control tasks for automating the movement of such a complex and synthesize the generalized structure of the automatic control system for this complex. To achieve the set goal, the work reviews modern technologies for detecting and neutralizing underwater potentially dangerous objects, justifies the composition of the equipment of the unmanned marine technological complex and describes a set of basic modes of its operation, and formulates a set of tasks for automatic control of the complex. As a result of the research, a generalized structure of the automatic control system of an unmanned marine technological complex for the inspection of waterways of Ukraine has been developed. To ensure the plane-parallel movement of a self-propelled unmanned floating platform, it is proposed to use a propulsion and steering complex consisting of four engines located at a certain angle to the main axis of symmetry of the platform. The work presents the control law of each electric drive of the platform engine depending on the specified motion vector. The use of a hierarchical automatic control system is proposed, the feature of which is a general strategic level for the entire system and separate tactical and executive levels for the unmanned self-propelled floating platform and the uninhabited moored underwater vehicle. The obtained research results lay the theoretical foundation for the development of a new system for monitoring waterways of Ukraine and means of humanitarian demining of these water areas. The proposed self-propelled unmanned marine complex will make it possible to increase the efficiency of humanitarian demining work on Ukrainian waterways.

FEATURES TO OPTIMIZE BALLAST WATER TREATMENT TECHNOLOGY USING ULTRAVIOLET RADIATION

2025-01-30T18:40:22+02:00

The problems of development and implementation of ballast water disinfection technologies using ultraviolet radiation and advanced oxidation processes are considered. The main water parameters that determine the requirements for the total intensity of radiation sources are analysed. A scheme for forming a disinfection effect is proposed, which takes into account the role of radiation factors, water parameters and reagent activity. The biophysical processes that occur when broad-spectrum ultraviolet radiation acts on microorganisms are analysed. Organizational and technical measures that must be taken into account when implementing these technologies on ships are considered. Using the example of a pilot plant, a list of competencies that ship personnel must master to comply with the standards for the operation of the plant is given. The technical and economic indicators of the ballast water disinfection plant are given, which should be used as a basis when designing the plant for the customer. The design of the plant for ballast water disinfection with ultraviolet radiation is proposed. Methods of controlling the formation of sediment on the surface of ultraviolet radiation sources are described and the method of cleaning them from sediment is proposed. A scheme for cleaning ballast water during pumping into the tank and during de-ballasting is developed. The possibility of modular arrangement of the disinfection system is provided for the purpose of optimal location of equipment in ship's premises. A system for automatic control of ballast water purification technology is described. Directions for improving installations for more complete performance of the functions of neutralizing microorganisms carried by ballast water are indicated.

RESEARCH ON THE POSSIBILITY OF IMPROVING THE HIGH-STRENGTH CAST IRON MECHANICAL PROPERTIES TAKING INTO ACCOUNT THE RECOMMENDATIONS OF THE DSTU EN 1563:2019 STANDARD

2025-01-30T18:40:48+02:00

The technological issues of the strength and relative elongation of high-strength cast irons (HSCI) are considered in the paper. The main method chosen is to increase the silicon content to obtain a ferrite matrix strengthened by the solid-solution mechanism. To ensure low production costs, special attention was paid to determining the permissible content of trace and harmful impurities in order to use cheap commercial scrap. The issue of the stability of the mechanical characteristics of cast iron during fluctuations in the technological parameters of its production is also considered. It is shown that main sources of variability in characteristics are the instability of the results of metal processing in the ladle when using the “sandwich” process, as well as fluctuations in the content of trace and harmful impurities due to the instability of the quality of metal scrap. It was found that in the studied range of chemical composition, an increase in the content of magnesium and silicon contributes to a simultaneous increase in the strength and ductility of cast iron, while an increase in the content of manganese increases the strength but reduces the ductility. It is shown that to obtain a relative elongation A₅≥ 14%, the content should be: S < 0.006, P < 0.02, Cr < 0.04. The Sn < 0.008% does not create a negative impact on the mechanical properties of HSCI. It was also found that with an increase in the content of silicon and magnesium in cast irons with a high carbon equivalent at a high pouring temperature, a tendency to form torn and star-shaped graphite appears, which leads to a decrease in the mechanical characteristics of cast iron. It is recommended to introduce additional metallographic control for the presence of particles of this morphology in the structure.

DECISION-MAKING METHODS FOR SHIP TRAFFIC CONTROL IN INTELLIGENT NAVIGATION INFORMATION SYSTEMS

2025-01-30T18:41:28+02:00

The article is devoted to issues of development of decision-making support methods in the field of navigation and their practical application in intelligent navigation information systems (INIS). An analysis of the accident rate of modern world shipping over the past two decades was carried out, its dynamics were determined, and the main factors of the occurrence of accidents were clarified. It has been proven that the dominant share of accidents is due to the negative influence of the human factor on the processes of ship control, which, as a result, leads to collisions, groundings, as well as to the occurrence of dangerous situations on ships and failures in the operation of its systems. The types of errors caused by human influence on ship control processes are shown and possible ways to reduce their number are proposed. The role and place of INIS and decision-making support systems (DSS) in solving the problems of improving the quality and efficiency of ship and ship systems control processes with the aim of reducing the level of accidents have been determined. It has been proven that INIS have a significant potential in solving the problems of reducing the number of errors caused by the influence of human factor on processes of controlling ships and auxiliary systems, and, as a result, will contribute to reducing the number of accidents in world shipping. The growing role of modern information technologies, in particular the methods of artificial intelligence and intelligent data analysis, in the solved issues of improving the safety of modern shipping, increasing the level of its automation, is shown. The classification of decision-making methods in the field of shipping by classes of problems to be solved is proposed. Features of the practical application of each group of methods in INIS are determined, and promising ways of their further development are outlined. The general structure of INIS was developed, and the application of a four-stage cycle was proposed for the implementation of the decision-making process with the differentiated use of different groups of methods and sources of initial data at each of the stages. The priority ways and prospects for the further application of DSS and INIS in navigation, as well as their place and role in development of the industry of unmanned and autonomous sea vessels, have been determined.

INTEGRATION OF CHATGPT FOR DECISION-MAKING SUPPORT OF AUTONOMOUS VESSELS IN REAL-TIME MODE

2025-01-30T18:41:56+02:00

The article explores the integration of the ChatGPT language model into autonomous vessel systems to support real-time decision-making processes, a critical component for improving maritime operations. The discussion highlights the primary functionalities of ChatGPT, such as analyzing complex navigation scenarios, planning efficient maneuvers, optimizing maritime routes, and seamlessly interacting with other onboard systems and coastal services. By leveraging these capabilities, autonomous vessels can operate with enhanced precision and adaptability.

A significant contribution of this research is the proposed modular architecture for integrating ChatGPT into the operational framework of autonomous vessels. The architecture is designed with distinct modules for data collection and processing, interfacing with the ChatGPT API, and executing decisions. These modules enable the system to gather information from diverse sources – including radars, cameras, GPS systems, and meteorological stations – and process it to ensure compatibility with ChatGPT’s analytical capabilities. The execution module translates ChatGPT’s recommendations into actionable commands for the vessel’s operational systems, such as navigation and collision avoidance mechanisms.

Special attention is given to practical use cases, including collision avoidance, adaptation to dynamic weather conditions, and navigation through high-traffic maritime regions. For instance, when encountering another vessel on its trajectory, ChatGPT analyzes sensor data such as the distance, speed, and direction of both vessels to recommend adjustments in course and speed. This rapid and accurate analysis minimizes collision risks, even in high-pressure scenarios. Another case involves rerouting the vessel during adverse weather conditions or when the designated port is congested. ChatGPT generates alternative routes by analyzing real-time weather data, port availability, and vessel positioning, thereby ensuring timely and safe arrivals.

The study also addresses several challenges inherent in integrating AI systems like ChatGPT into maritime operations. Data processing delays, for instance, are mitigated through optimized communication protocols and the use of local AI models to supplement cloud-based systems. Security is another critical area, with the architecture employing encrypted data transmission channels and robust cybersecurity measures to prevent unauthorized access. Moreover, the adaptability of ChatGPT is continuously enhanced through iterative learning, enabling it to handle novel and unforeseen maritime scenarios effectively.

DEVELOPMENT OF METHODS AND MEANS FOR AUTOMATING ONBOARD NAVIGATION CALCULATIONS IN CRITICAL SITUATIONS

2025-01-30T18:43:17+02:00

The research developed a comprehensive approach to improve the reliability of marine navigation systems in situation of electronic navigation equipment failures, cyber-attacks and blackout conditions. Innovative algorithmic solutions are proposed to ensure a rapid transition from digital navigation technologies to alternative systems based on the methods of marine astronomy and principles of the Dead Reckoning ECDIS method.

The software tool has been created for the automated calculation of vessel coordinates using a sextan. This tool takes corrections into account, methods of statistical processing of data series, automatically detects misses and determines average values with a minimum total error. Determination of observed coordinates is implemented based on mathematical models of altitude lines of position taking into account course, speed and time between observations.

In addition, an autonomous electronic mapping system based on Python libraries (folium, geopy, ipywidgets) has been developed, which provides interactive input of route points coordinates, construction of route segments, calculation of vessel's speed and course, as well as visualization of results on interactive maps. The system can function locally without access to the Internet due to the use of web-oriented map data, which ensures stability and reliability of observation even in extreme conditions.

Experimental testing has confirmed high accuracy of calculations and effectiveness of proposed solutions in situations of electronic navigation system failures. In case of blackout, the developed system allows to restore navigation functions and ensure vessel’s safety.

The practical value of the work is to create a flexible, reliable navigation system that minimizes risks in case of technical failures or targeted cyberattacks. Prospects for further research include improving algorithms to reduce errors and adapting the system to real-world operating conditions on vessels in any navigation conditions.

DEVELOPMENT OF LOAD TRANSFER BY THE PARTS OF A RAM-TYPE STEERING GEAR MODEL

2025-01-30T18:44:35+02:00

The article deals with the load capacity of ram-type steering machines. A new mathematical model of load between gear parts is developed. The presented discrete mathematical model takes into account the size and the ratio of the gaps 2Z between the ram and the sleeve, as well as the gap Z_gb between the ram and the guide beam slipper. Depending on the ratio of forces: lateral, sufficient to select the angular gap between the ram and the sleeve, and sufficient to select the linear gap between the ram slider and the guide beam, the perception of the lateral load by the ram and the guide beam can occur in six possible variants. The ratios between the mentioned forces are recorded, determining the number and boundaries of lateral load transitions between the described variants of load perception. The calculations were performed using the developed mathematical model on the example of the R-18 steering gear. It is shown that in the presence of the largest maximum permissible by the operating rules gaps between the ram and the sleeve, ram and the guide beam slipper, the guide beam can perceive 50…59% of the lateral load only at the rudder angle spectrum α = 21…35⁰, and in the range of the most common in operation rudder angle amplitude
α = 0…10⁰ in the operation of main vessels, the guide beam does not perform its function at all, overloading the rams, bushings and seals. Performed in the article calculations confirm that the efficiency of the operation of the guide for unloading the ram from the transverse force depends on the state of the elements of the kinematic pairs of its mechanism, particularly the values of the gaps, which confirms the structural imperfection of the R-18 timing mechanism due to the presence of redundant constraints. It is shown that the reserve for increasing the technical level of ram-type steering machines lies in the application of new types of mechanisms for transferring the load from the rams to the tiller.

SUBSTANTIVE MODEL OF SHIP TURN WITH ACCOUNT OF THE LATEST ACHIEVEMENTS IN THEORY AND PRACTICE

2025-01-30T18:45:00+02:00

Today, in the scientific and technical literature on the pivot point, the 2-point scheme of ship turn “Center of Gravity – Pivot Point” is used. According to this scheme, the position of the Pivot Point is calculated from the Center of Gravity, which is not entirely correct, since in fact the ship rotates not around the Center of Gravity, but around the Center of Rotation. The Center of Rotation, in turn, can shift relative to the Center of Gravity, in the presence of longitudinal motion. Failure to take these things into account leads to errors in calculating the position of the Pivot Point and the trajectory of the ship's movement around the Pivot Point. For a long time, the concepts of the Center of Rotation and the Pivot Point were confused. Some researchers believed that the Pivot Point shifts in the direction of the ship's movement, others believed that the Pivot Point is located on the opposite side of the midship, relative to the point of application of the lateral force. The 2-point rotation scheme could not combine these two views. In previous works, the authors of this article proposed to use a 3-point rotation scheme, where the third point is the Center of Rotation. The use of a 3-point turn scheme made it possible to explain the dependence of the position of the Pivot Point on both the longitudinal speed and the point of application of the lateral force. The article develops a new substantive model of the ship's turn and a "Memo for the Ship Handlers". The new substantive model and "Memo..." will reduce control errors and increase maneuvering safety, which is especially important in compressed waters. The results obtained are explained by the fact that, unlike known approaches: the new substantive model is built on the basis of a 3-point turn scheme, which takes into account an additional point - the Center of Rotation; the position of Pivot Point is determined relative to the Center of Rotation, and not relative to the Center of Gravity; the position of the Pivot Point is determined on the plane, through the abscissa and ordinate of the Pivot Point.

SIMULATION OF THE PROCESSES OF INCREASING THE RELIABILITY OF THE NAVIGATION COMPLEX WITH THE HELP OF DUPLICATION OF ITS ELEMENTS

2025-01-30T18:45:24+02:00

The article discusses challenges in evaluating the stability of technical systems, primarily focusing on their reliability in terms of trouble-free operation. The aim of this study is to investigate and mathematically model the enhancement of reliability through different duplication schemes in navigation system components.

Various pressing issues related to enhancing the dependability of systems through duplicating their components were discussed. Different methods for duplicating system components were assessed and their mathematical representation was developed. Research has been conducted on the feasibility of substituting the reliabilities of elements in systems with varying levels of reliability with an average value.

It was found that duplicating each element in a system of equally reliable elements is a more effective way to improve reliability than duplicating the entire system. Additionally, if the primary reliability value of the elements is 0.85 or less, duplicating the entire system with each addition of duplicate elements will greatly decrease the system's reliability. Enhancing the system's reliability through duplicating elements with low primary reliability becomes more important when element reliability is below 0.85. Also, it has been demonstrated that this substitution results in slightly higher system reliability estimates, and is only logical when there is minimal variation in the reliability values of system elements. For high dispersion values, the system reliability calculation's relative error sharply increases by more than 10%.

An instance of substantially duplicating the least dependable components of the system is shown, resulting in a more than double increase in the overall reliability of the system. Future research should focus on utilizing the concept of full probability and Bayesian probabilities for related hypotheses.

THE MODEL FOR CALCULATING TRANSPORTATION MODE CHOICES BASED ON AFFORDABILITY CRITERIA

2025-01-30T18:45:54+02:00

Abstract. The article investigates the issue of the population’s choice of a rational mode of transportation in cities based on parameters such as affordability, travel time and the psychological assessment of expenses. In modern urban development, population mobility significantly impacts socio-economic and spatial development levels. Thus, it can be stated that urban development and mobility are interrelated processes. To meet their mobility needs, urban population can use three main modes of transportation: walking, public transport and personal vehicle. Each this mode of transportation has several advantages and disadvantages. Walking incurs no transportation expenses but requires well-developed and high-quality infrastructure. Public transport is the primary mode of transportation for the population in cities. However, using public transport requires both time and monetary expenses. In addition to having access to infrastructure, the population must travel to the stop, wait for the vehicle to arrive for boarding, commute to their destination and pay the fare. Using a personal vehicle also involves various time and monetary expenses. In this case, there is also a need to walk to the vehicle and commute to the destination. However, unlike the two previous modes of transportation, using a personal vehicle involves significantly higher costs related to its purchase and maintenance. Considering the above-mentioned, it can be stated that employing the proposed approach to assessing the population choice of a rational mode of transportation by accounting for the features of each mobility type will enhance the accuracy of evaluating transport behaviour. This is achieved through a comprehensive consideration of parameters such as affordability, travel time, and the psychological assessment of expenses.