Search

Accurate water segmentation is the first prerequisite for unmanned vessels to navigate safely and perform other operations. Aiming at the problems of low utilization rate of unmanned boat water image features and low accuracy of contour edge segmentation in complex inland river scenarios, this paper proposes a lightweight water segmentation algorithm: channel feature pyramid-pyramid scene parsing network (CFP-PSPNet), which realizes efficient and accurate segmentation of water area in complex scenarios. First, a cross transformation-channel feature pyramid (CT-CFP) is proposed, which improves the utilization of the original feature information by cross-fertilizing the feature information between different layers and realizes the improvement of the water segmentation accuracy; Secondly, a parallel semantic segmentation network CFP-PSPNet is designed, which extracts the image information by pyramid pooling module (PPM) and CT-CFP dual pyramid, which solves the problem of loss of detail information and edge information, so as to achieve the purpose of improving the accuracy; finally, Mobilenetv2 after the introduction of encoder-context-attention (ECA) is used as a feature extraction network, which reduces the number of parameters and computation of the network without affecting the segmentation accuracy and realizes the lightweight design of the network. Experiments are conducted on the open-source dataset USVInland, and the experimental results show that our CFP-PSPNet algorithm has a significant reduction in the number of parameters, an increase in detection speed by 81FPS, and mean intersection over union (MIoU) and accuracy rates of 97.71% and 98.75%, respectively, which are 1.41% and 0.74% higher than that of the original network. It is superior to other classical semantic segmentation algorithms. [ABSTRACT FROM AUTHOR]

This article revisits the traditional definition and concept of seaworthiness against the backdrop of technological developments in maritime transport and maritime law. These developments in the maritime industry, coupled with the increasing volume of maritime commerce, have affected the traditional doctrine of seaworthiness and necessitate its redefinition. Of the many developments, this article focuses on maritime security generally and cyber-risk and hence cyber-worthiness in particular. The article argues that cyber risk management, as a part of maritime safety and security standards, should be reflected in the modern doctrine of seaworthiness. It is problematic to provide a generally acceptable uniform definition for seaworthiness in maritime law, because the concept is both relative and technical. Furthermore, and considering the components of a seaworthy ship, the need to assess new systems related to technology used in ships and safety in navigation, and to determine whether a ship can be deemed “cyber-secure” has become essential.

A marine autonomous surface vehicle (ASV) is a kind of autonomous marine robot with intelligent and flexible use advantages. They are mainly divided into two categories: unmanned vessels and unmanned sailboats. Marine ASVs are essential in marine science, industry, environmental protection, and national defense. One of the primary challenges faced by marine ASVs is autonomously planning paths in an intricate marine environment. Numerous research findings have surfaced in recent years, including the combination with popular machine learning. However, a systematic literature review is still lacking, primarily a comprehensive comparison of two types of ASV path planning methods. This review first introduces the problem and evaluation indicators of path planning for ASVs. Then, aiming at unmanned vessels and sailboats, respectively, it sorts out various path planning algorithms proposed in the existing literature, including the advantages and limitations of both kinds of ASVs, and discusses them in combination with evaluation indicators. Also, this paper explores how marine environmental factors affect path planning and its corresponding treatment methods. Finally, this review summarizes the challenges of unmanned ship path planning, proposes potential technical solutions and future development directions, and aims to provide references for further development in this field. [ABSTRACT FROM AUTHOR]

Unmanned seagoing vessels are increasingly being used. In the paper the dump scow Rabochaya is considered as an example of an unmanned vessel. An extended marine control system, a video surveillance subsystem, a surveillance and search engine are additionally installed on the scow to carry out industrial tasks in unmanned mode. The correct operation of these systems and the whole vessel depends on the high-quality operation of the ship's electrical power system. The aim of the study is to identify abnormal modes of parallel operation of marine diesel generator sets and to develop methods and means for their elimination. The results of the experimental research and mathematical modeling have revealed the existence of power exchange oscillations when the ship generators operating in parallel. Power exchange oscillations can be detected with the help of generator current oscillations. It has been proposed to introduce a unit for eliminating power exchange oscillations (EPEO) into the automatic control system of ship electrical power systems for eliminating such oscillations. An algorithm for the operation of the EPEO unit has been developed, it controls the settings of the rotational speed regulators of diesel-generator sets. The proposed methods and tools reduce the amplitude of power exchange oscillations to an acceptable value, and therefore contribute to the high-quality operation of the ship's electrical power system and control systems in unmanned mode. The results obtained make it possible to ensure reliable and trouble-free operation of any autonomous electrical power system during the operation mode without maintenance personnel.

Unmanned vessels have been receiving increasing attention over the past few years. In the research and development sector, Autonomous Surface Vessels have been used for over a decade with different degrees of autonomy. The most advanced vessels are already (circum) navigating the oceans, and the question is raised to what extent they are aligned with relevant international maritime legislation. Currently, there is a noted lack of concrete legal clarification on how to adapt Autonomous Surface Vessels to legal instruments such as the 1972 Convention on the International Regulations for Preventing Collisions at Sea (COLREGs). This paper examines to what extent a fully Autonomous Surface Vessel can comply with a possible amended version of COLREGs. The analysis is conducted from legal and technical perspectives.

A commercial Maritime Autonomous Surface Ship (MASS) can be subject to external security threats such as piracy, robbery and cyber-hacking. What measures can the flag State and the coastal State, which would have jurisdiction over the incident, and the shipping companies take to prevent such attacks? This paper discusses the regulatory structure of the MASS and examines its limits in dealing with these threats. Its primary focus is the threats to MASS controlled by a remote operations centre (ROC). Section 2 of this paper will explore possible scenarios to determine which States would hold jurisdiction over the case. Then, Section 3 will discuss the responsibilities of relevant States, with a focus on that of the flag State. Section 4 will undertake an examination of the obligations of the ROC as well as other responsibilities pertinent to the industries involved. The concluding section will encompass the prospective pathways for utilising MASS in commercial shipping. [ABSTRACT FROM AUTHOR]

A marine autonomous surface vehicle (ASV) is a kind of autonomous marine robot with intelligent and flexible use advantages. They are mainly divided into two categories: unmanned vessels and unmanned sailboats. Marine ASVs are essential in marine science, industry, environmental protection, and national defense. One of the primary challenges faced by marine ASVs is autonomously planning paths in an intricate marine environment. Numerous research findings have surfaced in recent years, including the combination with popular machine learning. However, a systematic literature review is still lacking, primarily a comprehensive comparison of two types of ASV path planning methods. This review first introduces the problem and evaluation indicators of path planning for ASVs. Then, aiming at unmanned vessels and sailboats, respectively, it sorts out various path planning algorithms proposed in the existing literature, including the advantages and limitations of both kinds of ASVs, and discusses them in combination with evaluation indicators. Also, this paper explores how marine environmental factors affect path planning and its corresponding treatment methods. Finally, this review summarizes the challenges of unmanned ship path planning, proposes potential technical solutions and future development directions, and aims to provide references for further development in this field.

Maritime Autonomous Surface Ships (MASS) have received increasing attention from industrial practitioners, researchers, and policymakers because of industry 4.0 and the digitization of the maritime industry. Crucial questions related to security, safety of personnel and vessels, and socio-economic domains have been addressed to a certain extent. In recent years, China has arisen as one of the leading maritime players worldwide, and unmanned vessels could remarkably influence the Chinese maritime industry. However, there is still a lack of systematic studies aiming to develop a deep understanding of potential advantages and challenges associated with the deployment of unmanned vessels in China. Therefore, using a mixed-method research design, this study attempts to obtain valuable insights based on the viewpoints of the key Chinese stakeholders concerning unmanned vessels, including the benefits, the restrictions, the obstacles to large-scale implementation, the risks, and how to mitigate possible implementation barriers. The main advantage of deploying unmanned ships was found to be the reduction in the ship crew size or complete elimination of the ship crew, which would reduce the operating costs and eliminate human errors on board the ships. Nevertheless, along with important advantages, a number of challenges associated with the development and deployment of unmanned ships were identified, including technological challenges, regulatory challenges, safety and security challenges, and technology investment challenges. All these challenges have to be adequately addressed by the relevant stakeholders to ensure the successful deployment of unmanned ships around the globe in the following years.

Today's shipping industry is experiencing a shortage of properly trained and competent deck and engine officers. This problem is becoming more acute with each passing year and traditional methods to resolve it apparently do not work. It has become obvious that cargo vessels must be less dependent on human operators. The solution lies in the replacement of manned vessels with autonomous ones. The introduction of autonomous vessels encounters several barriers, which need to be analyzed to find ways to overcome them. It requires a multipronged analysis of existing regulations, technical limitations, cyber security, and co-existence of manned and unmanned vessels in waters with dense traffic. The most difficult problems lie in international regulations, which were written for manned vessels only. Such rules need to be reworked before the deployment of autonomous vessels can be sanctioned worldwide. Technical issues are being gradually resolved with the introduction of new technologies. Special attention should be given to the cyber security of autonomous shipping as it requires the transfer of very large amounts of data through wireless networks. Accommodation of manned and unmanned vessel traffic may require a new approach for ship routing to separate both kinds of traffic. [ABSTRACT FROM AUTHOR]

The main goal of the article is to present the problems of the development of autonomous ships and to characterize the most important challenges. The article provides a description of autonomous ships and studies the existing relevant projects. It presents a spectrum of applications and possibilities of unmanned ships in the field of security. Currently, high hopes are placed on the functioning of unmanned ships. They are not only to be more economical but also to contribute to environmental protection. Developing a technology that allows the construction of ships and their safe operation is not the only task faced by enthusiasts of unmanned vessels. It is also important to develop and implement proper regulatory framework that will allow the legal operation of such ships.

This study aims to detect objects quickly and accurately and then start the necessary obstacle avoidance procedure when the uncrewed vessel is at sea. This study uses a multivariate convolutional neural network (CNN) to perform automatic object detection and direction prediction for uncrewed vessels. This study is divided into three parts for processing. The first part of this process uses camera calibration technology to correct the image. Discrete cosine transform (DCT) is then used to detect sea level. Finally, this study uses Kalman filtering and affine transformation to stabilize images taken by uncrewed vessels at sea. The second part of the processing system uses a CNN to detect sea objects automatically. The third part of the process uses the dual-lens camera installed on the vessel to detect the distance and direction of objects at sea. In the experiment, the detection rate can reach more than 91% in this study method. In the experiment on image stabilization, this study's method can also effectively improve video instability. In the experiment involving the distance and direction of the object, the experimental results show that the distance and direction of the object obtained by this study method have a distance error value of less than 10%, and the prediction results have a good effect no matter whether the object is at a short or long distance. It is hoped that this paper's method can be applied to the automatic obstacle avoidance of unmanned vessels. [ABSTRACT FROM AUTHOR]

Abstract In this conceptual paper, we review latest developments related to unmanned vessels and sketch potential scenarios that implicate with the existing maritime industry structure. On the one hand, we isolate a range of challenges that make the imminent realization of unmanned vessels seem like a rather utopian pursuit. On the other hand, we explain the reasons that may catalyse their emergence. Inspired by these opposing tensions, we highlight that the digital transformation of the shipping industry has the potential to enhance value within the industry’s ecosystem. However, we also contend that unmanned vessels -if realized- pose a very particular threat to the identity of the shipping industry as we know it. In particular, we build upon the concept of value migration and we highlight the drastic existential changes that may likely stem from a shift to non-seafarer-centric shipping. We conclude with questions that matter for industry dethronement purposes i.e., the possibility that existing industry structures may be substantially reconfigured following a removal of the seafarer as the nucleus of value creation in shipping.

The use of autonomous ships in shipping industry is increasingly being analysed and occupies the maritime sector. In the maritime industry, the introduction of autonomous underwater crafts began first this trend, after which the development of autonomous surface ships has followed. Unmanned vessels include ships operated remotely by an operator on land and autonomous ships that are fully operated by the computer programmes and only in exceptional situations the ship's crewmembers or other human resources may be involved. The commercial application of these facilities is becoming more and more certain and this topic is increasingly being discussed. This trend obviously poses a huge challenge to all maritime actors, as well as lawmakers at international and national level. Namely, although the current development of maritime law has effectively regulated most of new technologies, all these standards and regulations have been adapted for the use of the conventional manned ships. A number of questions concerning the possible change in international and national regulations regarding the implementation of autonomous ships have been raised. It is considered as a priority within the framework of IMO unification instruments and changes in the Maritime Code of the Republic of Croatia. This paper presents various legal aspects of the use of autonomous ships with the aim to define the autonomous ship and to examine how present international conventions and national regulations could adapt to provide the legal framework to the introduction of autonomous ships. [ABSTRACT FROM AUTHOR]

Copyright of Comparative Maritime Law / Poredbeno Pomorsko Pravo is the property of Jadranski zavod HAZU and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

The reservoir capacity curve is a key quantity for the safe operation of reservoirs, and the reservoir capacity may change during the operation of reservoirs due to various factors, so timely calibration is required. The topography of the reservoir area is measured in three dimensions using an unmanned aircraft and an unmanned boat, respectively. The data results establish a digital elevation model (DEM) of the reservoir area, and the DEM square grid method is used to calculate the reservoir capacity, thus realising the calibration of the reservoir capacity curve. The technical method was successfully applied in Lujiayao Reservoir with high accuracy of results.

Among the new technologies being deployed at sea, maritime autonomous vehicles (MAV) are of increasing interest to States to enhance their intelligence, surveillance and reconnaissance capabilities to improve their maritime security. This article analyses the international law implications of this use of MAV to support maritime law enforcement efforts in response to drug trafficking and other crimes at sea. The use of MAV for criminal purposes, especially smuggling goods, also holds international law consequences. The article assesses how these different operations of MAV fit within existing legal regimes, highlighting emerging legal questions for resolution and setting out recommendations for law reform to enhance counter-smuggling operations at sea. [ABSTRACT FROM AUTHOR]

In this conceptual paper, we review latest developments related to unmanned vessels and sketch potential scenarios that implicate with the existing maritime industry structure. On the one hand, we isolate a range of challenges that make the imminent realization of unmanned vessels seem like a rather utopian pursuit. On the other hand, we explain the reasons that may catalyse their emergence. Inspired by these opposing tensions, we highlight that the digital transformation of the shipping industry has the potential to enhance value within the industry's ecosystem. However, we also contend that unmanned vessels -if realized- pose a very particular threat to the identity of the shipping industry as we know it. In particular, we build upon the concept of value migration and we highlight the drastic existential changes that may likely stem from a shift to non-seafarer-centric shipping. We conclude with questions that matter for industry dethronement purposes i.e., the possibility that existing industry structures may be substantially reconfigured following a removal of the seafarer as the nucleus of value creation in shipping. [ABSTRACT FROM AUTHOR]

This paper addressed the formation control problem of surface unmanned vessels with model uncertainty, parameter perturbation, and unknown environmental disturbances. A formation control method based on the control force saturation constraint and the extended state observer (ESO) was proposed. Compared with the control methods which only consider the disturbances from external environment, the method proposed in this paper took model uncertainties, parameter perturbation, and external environment disturbances as the compound disturbances, and the ESO was used to estimate and compensate for the disturbances, which improved the anti-disturbance performance of the controller. The formation controller was designed with the virtual leader strategy, and backstepping technique was designed with saturation constraint (SC) function to avoid the lack of force of the actuator. The stability of the closed-loop system was analyzed with the Lyapunov method, and it was proved that the whole system is uniformly and ultimately bounded. The tracking error can converge to arbitrarily small by choosing reasonable controller parameters. The comparison and analysis of simulation experiments showed that the controller designed in this paper had strong anti-disturbance and anti-saturation performance to the compound disturbances of vessels and can effectively complete the formation control.

An unmanned merchant vessel seems to be escaping from the stage of idea exploration. Once the concept proofs its safety, it may become a part of maritime reality. Although the safety aspect of such a ship has been addressed by a handful of scholars, the problem remains open. This is mainly due to lack of knowledge regarding actual operational circumstances and design of unmanned ships, which are yet to be developed. In the attempt of bridging this gap, the risk analysis associated with unmanned ships needs to be carried out, where all relevant hazards and consequences are assessed and quantified in systematic manner. In this paper we present the results of a first step of such analysis, namely the hazard analysis associated with the unmanned ships. The list of hazards covers various aspects of unmanned shipping originating from both design and operational phases of vessel’s life. Subsequently the hazards and related consequences are organized in a casual manner, resulting in the development of a structure of a risk model.

Unmanned merchant vessels' prototypes are expected to come into operation within a few years. This revolutionary shift in the shipping industry is feared to negatively impact the safety of maritime transportation. Therefore, in order to support future designers of remotely operated merchant vessels system, we applied System-Theoretic Process Analysis (STPA), identifying the most likely safety control structure of the analysed system and investigating it. The aim was to suggest potential ways of increasing the system's safety and to assess the effectiveness of such measures. Results indicate that the implementation of remotely-controlled merchant vessels and, in a wider sense, unmanned ships, and ensuring their safety shall consist of executing various controls on regulatory, organisational and technical plains. Potential effectiveness is evaluated and some recommendations are given on how to ensure the safety of such systems. [ABSTRACT FROM AUTHOR]

This paper addressed the formation control problem of surface unmanned vessels with model uncertainty, parameter perturbation, and unknown environmental disturbances. A formation control method based on the control force saturation constraint and the extended state observer (ESO) was proposed. Compared with the control methods which only consider the disturbances from external environment, the method proposed in this paper took model uncertainties, parameter perturbation, and external environment disturbances as the compound disturbances, and the ESO was used to estimate and compensate for the disturbances, which improved the anti-disturbance performance of the controller. The formation controller was designed with the virtual leader strategy, and backstepping technique was designed with saturation constraint (SC) function to avoid the lack of force of the actuator. The stability of the closed-loop system was analyzed with the Lyapunov method, and it was proved that the whole system is uniformly and ultimately bounded. The tracking error can converge to arbitrarily small by choosing reasonable controller parameters. The comparison and analysis of simulation experiments showed that the controller designed in this paper had strong anti-disturbance and anti-saturation performance to the compound disturbances of vessels and can effectively complete the formation control. [ABSTRACT FROM AUTHOR]

• System-theoretic safety control structure is revisited to identify research directions in the domain of autonomous shipping. • 47 research papers are reviewed. • Results indicate that most of scholars focus on the sharp-end of the system: its technological aspects. Despite the concept of Maritime Autonomous Surface Ships (MASS) being in the limelight of research and development effort within the shipping industry, there are still some existing research gaps. These pertain not only to technical solutions to be implemented but also to the issue of the impact of new technology on maritime safety. In an attempt to identify these gaps, we perform a literature review of the operational features of remotely-controlled merchant vessels. The framework is based on a safety control structure developed in accordance with the principles of System-Theoretic Process Analysis (STPA). The results indicate that most scholars focus on the high-end components of the system, while some organizational and human-oriented issues remain under-explored. These results can be found relevant by scholars and industry partners active in the domain of autonomous shipping. [ABSTRACT FROM AUTHOR]