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ISSN 1233-2585

3 Jzef LisowskiComparison of dynamic games in application to safe ship control

13 Mirosaw TomeraDynamic positioning system for a ship on harbour manoeuvrin-gwith different observers. Experimental results

25 Imanol Basterretxea Iribar1, Jess Angel Vila Muoz1, Carlos Angel Prez LabajosLatitude error in compass deviation

32 Tomasz Bugalski, Jan A. SzantyrNumerical Analysis of the Unsteady Propeller Performance in the Ship Wake Modified By Different Wake Improvement Devices

40 Tadeusz Chruciel, Ewelina Ciba, Julita DopkeCFD and FEM model of an underwater vehicle propeller

46 B. Mousavi, A. Rahrovi, S. KheradmandNumerical simulation of tonal andbroadband hydrodynamic no-ises ofnon-cavitating underwater propeller

54 Czesaw Dymarski, Pawe DymarskiComputational simulation of motion of a rescue module during its launching from ship at rough sea

61 Tadeusz Szelangiewicz, Bernard Winiewski, Katarzyna elaznyThe influence of wind, wave and loading condition on total resistan-ce and speed of the vessel

68 Dongsheng Qiao, Jun Yan, Jinping Ou Fatigue analysis of deepwater hybrid mooring line under corrosion effect

77 Grzegorz SzalaComments on linear summation hypothesis of fatigue failures

86 Zdzisaw StelmasiakApplication of alcohols to dual fuel feeding the spark-ignition and self-ignition engines

EditorialPOLISH MARITIME RESEARCH is a scientific journal of worldwide circulation. The journal appears as a quarterly four times a year. The first issue of it was published in September 1994. Its main aim is to present original, innovative scientific ideas and Research & Development achievements in the field of :

Engineering, Computing & Technology, Mechanical Engineering,

which could find applications in the broad domain of maritime economy. Hence there are published papers which concern methods of the designing, manufacturing and operating processes of such technical objects and devices as : ships, port equipment, ocean engineering units, underwater vehicles and equipment as

well as harbour facilities, with accounting for marine environment protection.The Editors of POLISH MARITIME RESEARCH make also efforts to present problems dealing with education of engineers and scientific and teaching personnel. As a rule, the basic papers are supplemented by information on conferences , important scientific events as well as cooperation in carrying out international

scientific research projects.Scientific Board

Chairman : Prof. JERZY GIRTLER - Gdask University of Technology, Poland Vice-chairman : Prof. ANTONI JANKOWSKI - Institute of Aeronautics, Poland

Vice-chairman : Prof. MIROSAW L. WYSZYSKI - University of Birmingham, United Kingdom

Dr POUL ANDERSENTechnical University of Denmark

Denmark

Dr MEHMET ATLARUniversity of Newcastle United

Kingdom

Prof. GRAN BARKChalmers University of Technology

Sweden

Prof. SERGEY BARSUKOVArmy Institute of Odessa Ukraine

Prof. MUSTAFA BAYHANSleyman Demirel University

Turkey

Prof. VINCENZO CRUPIUniversity of Messina, Italy

Prof. MAREK DZIDAGdask University of Technology

Poland

Prof. ODD M. FALTINSENNorwegian University of Science

and TechnologyNorway

Prof. PATRICK V. FARRELLUniversity of Wisconsin Madison,

WIUSA

Prof. WOLFGANG FRICKETechnical University Hamburg-

Harburg Germany

Prof. STANISAW GUCMAMaritime University of Szczecin

Poland

Prof. ANTONI ISKRAPozna University of Technology

Poland

Prof. JAN KICISKIInstitute of Fluid-Flow Machinery

of PASciPoland

Prof. ZYGMUNT KITOWSKINaval University Poland

Prof. JAN KULCZYKWrocaw University of Technology

Poland

Prof. NICOS LADOMMATOSUniversity College London United

Kingdom

Prof. JZEF LISOWSKIGdynia Maritime University Poland

Prof. JERZY MATUSIAKHelsinki University of Technology

Finland

Prof. EUGEN NEGRUSUniversity of Bucharest Romania

Prof. YASUHIKO OHTANagoya Institute of Technology

Japan

Dr YOSHIO SATONational Traffic Safety and Environment Laboratory

Japan

Prof. KLAUS SCHIERUniversity of Applied Sciences

Germany

Prof. FREDERICK STERNUniversity of Iowa, IA, USA

Prof. JZEF SZALABydgoszcz University

of Technology and Agriculture Poland

Prof. TADEUSZ SZELANGIEWICZTechnical University of Szczecin

Poland

Prof. WITALIJ SZCZAGINState Technical University of

KaliningradRussia

Prof. BORIS TIKHOMIROVState Marine University of St.

PetersburgRussia

Prof. DRACOS VASSALOSUniversity of Glasgow and

Strathclyde United Kingdom

POLISH MARITIME RESEARCH, No 3/2014 3

POLISH MARITIME RESEARCH 3(83) 2014 Vol. 21; pp. 3-1210.2478/pomr-2014-0024

Comparison of dynamic games in application to safe ship control

Jzef Lisowski, Prof.;Gdynia Maritime University,Poland

ABSTRACT

The paper introduces methods of dynamic games for automation of ship control in the collision situation, the game control processes in marine navigation and the fundamental mathematical model of the game ship control. First, state equations, control and state constraints and then control goal function in the form of payments : the integral payment and the final one, have been defined. Multi-stage positional , and multi-step matrix, non-cooperative and cooperative, game and optimum control algorithms for a collision situation, have been presented. The considerations have been illustrated with an exemplary computer simulation of algorithms to determine a safe own ships trajectory in the process of passing the ships encountered in Kattegat Strait.

Keywords: marine transport; safety at sea; safe ship control; optimum control; dynamic games positional game; matrix game; computer simulation

INTRODUCTION

The control of the ships movement may be treated as a multilevel problem ( Fig. 1) which results from the division of the entire control system of ship - within the frame of shipping the cargo by ships operator - into clearly determined subsystems to which appropriate layers of control are ascribed.

Fig. 1. Multilevel ship movement control system

This is connected both with a large number of dimensions of the control vector and status of the process, its random, fuzzy and decision- making characteristics - which are affected by strong interference resulting from sea current,

wind and wave motion on the one hand, and a complex nature of the equations describing the ships dynamics with non-linear and non-stationary characteristics. The determination of the global control of the steering systems has in practice become too costly and ineffective.

The integral part of the entire system is the process of the ships movement control, which may be described with appropriate differential equations of the kinematics and dynamics of a ship being an object of the control under a variety of the ships operational conditions such as: stabilisation of ship course or trajectory, adjustment of ships speed, precise steering at small speeds in port with the use of

thrusters or adjustable-pitch propeller, stabilisation of ships rolling, commanding the towing group, dynamic positioning of ship.

The functional diagram of the system corresponds to an actual arrangement of the equipment. The increasing demands with regard to the safety of navigation force the ships operators to install integrated navigation systems on board their ships. By improving the ships control , such systems rise the navigation safety of ship , a very expensive

POLISH MARITIME RESEARCH, No 3/20144

object, whose value includes also the shipped cargo, and improve the effectiveness of cargo shipping by sea [3].

SAFE SHIP CONTROLThe challenge in search for effective methods to prevent

ship collisions has become crucial with the increasing of size, speed and number of ships participating in sea transport. An obvious contribution in increasing safety at sea has been first of all the application of radars and then the development of ARPA (Automatic Radar Plotting Aids) anti-collision system [4].

The ARPA system enables to track automatically at least 20 encountered j-objects, as shown in Fig. 2, in order to determine their movement parameters (speed Vj, course j) and elements of approach to the own ship j

jmin DCPAD -

Distance at the Closest Point of Approach, jjmin DCPAD -

Time to the Closest Point of Approach, and also to estimate the collision risk rj .

Fig. 2. Navigational situation representing the passing of the own ship with the j-th ship.

The risk value (1) is possible to be defined by referring the current situation of approach, described by parameters jminD and jminT , to the assumed evaluation of the situation as safe, determined by a safe distance of approach Ds and a safe time Ts which are necessary to execute a collision avoiding manoeuvre with consideration of distance Dj to j-th met ship (Fig. 3).

21

2

s

j2

s

jmin

2