Issue №36

The paper examines the influence of the main factors on the accuracy of determining the coordinates of the ship’s location and shows ways to improve it. An analytical expression of the minimum observation variance is given if the coordinates are calculated using the maximum likelihood method in the presence of excessive position lines.
The concept of a geometric factor is introduced, which is determined by the relative location of the LPs and their number. It is shown that the errors of the position lines can have a distribution according to the normal law, as well as according to the mixed laws of the first and second type. For each of the error distribution laws of the position lines, an analytical expression of the minimum observation variance was obtained and the efficiency of the observed coordinates of the ship was determined under the condition of calculating the coordinates by the method of least squares in the case of excessive position lines.
It is shown that in the case of the distribution of errors of the position lines according to the normal law, the efficiency of the observed coordinates is equal to one, and if according to the mixed distribution laws of the first and second type, then the efficiency is less than one and increases with the increase of the essential parameter.
It is emphasized that improving the accuracy of observation is possible by choosing the correct parameters of the dispersion of position lines, geometric factor and efficiency. A constant angle between the adjacent directions of the position lines is determined, at which the geometric factor becomes minimal and depends only on the number of LPs.
It is shown that if the errors of the position lines have a distribution according to the mixed laws of the first and second type, and the coordinates are calculated by the method of least squares, then there is a loss of observation accuracy. Therefore, a way of compensating the loss of observation accuracy by increasing the number of LPs taking into account the efficiency value is proposed.

Keywords:  navigational safety, accuracy of determining the coordinates, geometric factor, mixed distribution laws of the first and second type.

[1] Džunda M. Model of the Signal of the Galileo Satellite Navigation System/ Džunda M., Čikovský S., Melniková L.// TransNav, International journal on marine navigation and safety of sea transportation, Vol. 17, No. 1, pp. 51-59, 2023.

[2] Pavić I. Analysis of Crowdsourced Bathymetry Concept and It’s Potential Implications on Safety of Navigation/ Pavić I., Mišković J., Kasum J., Alujević D.// TransNav, International journal on marine navigation and safety of sea transportation, Vol. 14, No. 3, pp. 681-686, 2020.

[3] Džunda M. Model of the Motion of a Navigation Object in a Geocentric Coordinate System / Džunda M.// TransNav, International journal on marine navigation and safety of sea transportation, Vol. 15, No. 4, pp. 791-794, 2021.

[4] Malić E. A Method and a Model for Risk Assessment of GNSS Utilisation with a Proof-of-Principle Demonstration for Polar GNSS Maritime Applications/ Malić E., Sikirica N., Špoljar D., Filjar R.// TransNav, International journal on marine navigation and safety of sea transportation, Vol. 17, No. 1, pp. 43-50, 2023.

[5] Džunda M., Čikovský S., Melniková L.: Model of the Random Phase of Signal E6 of the Galileo Satellite Navigation System/ Džunda M., Čikovský S., Melniková L. // TransNav, International journal on marine navigation and safety of sea transportation, Vol. 17, No. 1, pp. 61-68, 2023.

[6] Filipowicz W. Position Fixing and Uncertainty/ Filipowicz W.//TransNav, the International Journal on Marine Navigation and Safety of Sea Transportation, Vol. 17, No. 4, pp. 887-893, 2023.

[7] Astaykin D.V. Authentication of laws of distributing of navigation errors by the mixed laws of two types /Astaykin D.V., Alekseychuk B.M.// Avtomatizatsiya sudovyh tehnicytskih sredstv: nauch.-tehn. sb. – 2014. – Vyp. 20. Odessa: ONMA. – P. 3 – 9. [in Russian].

[8] Alekseychuk B.M. Authentication of law of distributing of errors of measuring / Alekseychuk B.M., Pasechnyuk S.S. // Sudovozhdenie: Sb. nauchn. trudov./ONMA, Vyp. 27. – Odessa: «IzdatInform», 2017 – P. 10 – 14. [in Russian].

[9] Monteiro Luis. What is the accuracy of DGPS? / Sardinia Monteiro Luis, Moore Terry, Hill Chris. // J. Navig. 2005. 58, № 2, p. 207-225.

[10] Vorokhobin I.I. Location ship at surplus measuring by application of orthogonal decomposition of closeness of distributing of errors of navigation measuring / Vorokhobin I.I., Astaykin D.V. // Austria – science, Issue: 11, 2018. – P. 39 – 44. [in Russian].

[11] Kondrashikhin V.T. Location of ship / Kondrashikhin V.T. – Transport, 1989. – 230s. [in Russian].

[12] Hsu D. A. An analysis of error distribution in navigation / Hsu D. A. // The Journal of Navigation. – Vol. 32.- № 3. – P. 426 – 429.

[13] Astayrin D.V. Estimation of exactness of coordinates of ship at the surplus measuring / Astayrin D.V., Sikirin V.E., Vorokhobin I.I., Alekseychuk B.M. – Saarbrucken, Deutschland/ Germaniya: LAP LAMBERT Academic Publishing, 2017. – 274 p. [in Russian].

[14] Sikirin V.E. Description of navigation errors by the generalized distributing of Puasson / Sikirin V.E.// Sudovozhdenie: Sb. nauchn. trudov./ONMA, Vyp. 26. – Odessa: «IzdatInform», 2016 – P. 152 – 156. [in Russian].

[15] Burmaka I.A. Estimation of efficiency of coordinates of ship at the surplus measuring / Burmaka I.A., Astaykin D.V., Alekseychuk B.M. – 2016. – vypusk 1 (35). – P. 24 – 29. [in Russian].

[16] Mudrov V.M. Methods of treatment of measurings / Mudrov V.M., Kushko V.L. – Sovetskoe radio, 1976. -192 p. [in Russian].

[17] V.V. Stepanenko. Efficiency of assessing the parameters of the situation of dangerous approach of ships / V.V. Stepanenko. // Sudovozhdenie: Sb. nauchn. trudov / ONMA, Vyp. 2. – Odessa: Latstar, 2000 – P. 201 – 209. [in Russian].

[18] Burmaka I.O. Accuracy of the coordinates of the ship’s designated place, calculated by the least squares method, in the times of overworldly worlds / Burmka I.O., Alekseychuk B.M. // Sudnovodinya: Zb. nauk. prats. / NU “OMA”, Vyp . 35. – Odesa: “VidavInform”, 2023 – pp. 10-21.

The importance of using dynamic positioning (DP) systems to ensure the stable location of marine vessels and platforms, especially in difficult weather or high traffic conditions, is outlined. The role of DP in reducing the risks of collisions and loss of position for vessels performing complex operations at sea is highlighted. The field of DP for offshore vessels is briefly described, and the importance of this topic in offshore operations is highlighted. Modern information sources dedicated to DP systems are characterized and the methodology of mathematical modeling used for the research is defined. Key to the analysis are academic sources and the work of the Marine Technology Society on ship position loss analysis. The data presented allowed understanding various aspects of DP systems management, including lost-of-position incidents. An overview of the main functions of DP systems and how they ensure the stability of offshore vessels and platforms. It has been identified that key trends or innovations are used in DP technology (for example, in the form of control algorithms for propeller-steering column motors and Azipod systems, improvements in power equipment). It is determined why DP systems are critical for offshore vessels, in particular from the point of view of safety and environmental impact, impact on the efficiency of operations, accident prevention, ensuring the operation of vessels in accordance with international maritime standards.
The possibility of using a simplified system of differential-algebraic equations describing electromechanical energy transformations in positioning systems is proposed. On this basis, a three-contour nonlinear positional system is given. The system includes position, speed and current controllers with corresponding sensors and a power converter. The classifications of typical positioning modes are given and the main differences in these processes are defined. It was determined that the proposed structural scheme of the positioning system allows for effective synthesis of individual coordinate controllers, which will ultimately improve the quality of positioning processes and is a direction for further research.

Keywords: positioning, offshore platform, offshore fleet, Asipod, propeller, electric motor, mathematical model, safety, reliability, regulators, control algorithms, energy efficiency, wind-wave load.

[1] Miyazaki M., Tannuri E. A. (2013). A General Approach for Dynamic Positioning Weathervane Control. Marine Technology Society Journal, 47(2), 31-42. DOI: https://doi.org/10.4031/MTSJ.47.2.3

[2] Svenning E., Sørensen A. J. (2019). Energy-Efficient Thruster Allocation for Dynamic Positioning Systems on Offshore Vessels. Marine Technology Society Journal, 53(1), 29-38. https://www.mtsociety.org/marine-technology-society-journal-mtsj-

[3] Cruder T., Bruzelius F., Nedstam J. (2017). The Role of Simulation in Dynamic Positioning Training and Competency. Marine Technology Society Journal, 51(3), 23-34.

[4] Reichel M. S., Stalhane M. (2020). Dynamic Positioning: Applications in Floating Wind Farms. Marine Technology Society Journal, 54(4), 10-19.

[5] Quesada A., DeFilippo L. (2014). Advanced Safety Features in Dynamic Positioning Operations. Marine Technology Society Journal, 48(3), 12-22.

[6] Tan Z., Jiang S. (2018). Dynamic Positioning Operations in Harsh Environments: Challenges and Solutions. Marine Technology Society Journal, 52(2), 50-61.

[7] Olsen H. R., Heinke P. (2015). Real-Time Position Control in Multi-Vessel DP Operations. Marine Technology Society Journal, 49(2), 38-47.

[8] Smith J., Pedersen T. (2016). DP Systems and Positioning Integrity in Offshore Operations. Marine Technology Society Journal, 50(4), 16-25.

[9] Gupta A., Dyer R. (2021). Dynamic Positioning Innovations for Reduced Fuel Consumption. Marine Technology Society Journal, 55(1), 15-26.

[10] Rajaram V., Lindstrom K. (2017). Simulation and Testing of DP System Failures. Marine Technology Society Journal, 51(1), 11-20.

[11] Bogachenko Y. DP Concept Principles of Dynamic Positioning – 2020. – 154 p. ISBN: 978-617-7822-88-1.

[12] Bogachenko Y., Pipchenko O. Monitoring and Identification of DP Operators Behavioural Traits and Common Errors During Simulator Training. TransNav, the International Journal on Marine Navigation and Safety of Sea Transportation, 2021, Vol. 15, No. 2. https://doi.org/10.12716/1001.15.02.09, pp. 337-341, 2021.

[13] Pipchenko O., Konon N., Bogachenko Y. Mathematical modelling of “ASD tug – marine vessel” interaction considering tug’s maneuverability and stability limitations. Journal of Maritime Research, 2023, № 20, pp. 117-124 (2). https://www.jmr.unican.es/index.php/jmr/article/view/722, DOI: 10.5281/zenodo.8370780.

[14] Sørensen A. J. (2011). A survey of dynamic positioning control systems. Annual Reviews in Control, 35(1), 123–136. https://doi.org/10.1016/j.arcontrol.2011.03.008.

[15] Hauff K.S. Analysis of Loss of Position Incidents for Dynamically Operated Vessels. Department of Marine Technology, NTNU (2014).

[16] Herdzik J. Dynamic Positioning Systems during emergency or unexpected situations. Journal of KONES Powertrain and Transport. 20, 3, 153–159 (2013).

[17] Fossen T. I. (2011). Handbook of marine craft hydrodynamics and motion control. John Wiley & Sons. DOI not available, accessible at Google Books.

[18] Guidelines for vessels and units with dynamic positioning (DP) systems, (2017), 106 р.

[19] Bray David. DP Operators Handbook (2nd Edition) Nautical Institute, 2015, FNI, 155 p.

[20] Johansen T. A., Sørensen A. J. (2015). Energy-efficient dynamic positioning of ships by use of model predictive control. Control Engineering Practice, 42, 64–76. https://doi.org/10.1016/j.conengprac.2015.05.009.

[21] Yang, C., & Wang, J. (2019). Adaptive robust control for dynamic positioning systems with input saturation and external disturbances. Ocean Engineering, 191, 106525. https://doi.org/10.1016/j.oceaneng.2019.106525.

[22] Nielsen U. D., et al. (2020). Energy optimization in dynamic positioning. Journal of Marine Science and Technology, 25(2), 209–225. https://doi.org/10.1007/s00773-019-00634-6.

[23] Perez T., Blanke M. (2012). Simulation and implementation of energy-efficient hybrid DP control. IEEE Transactions on Control Systems Technology, 20(6), 1471–1480. https://doi.org/10.1109/TCST.2011.2179316.

[24] Kou G., et al. (2021). Integration of renewable energy into dynamic positioning systems: Opportunities and challenges. Renewable Energy, 179, 1401–1412. https://doi.org/10.1016/j.renene.2021.06.001.

[25] Vanem E., Sørensen A. J. (2014). Risk assessment of dynamic positioning operations with renewable energy systems. Reliability Engineering & System Safety, 123, 10–24. https://doi.org/10.1016/j.ress.2013.09.005.

[26] DP Operations Guidance: Marine Technology Society (2012).

[27] Pipchenko O., Tsymbal M., Shevchenko V. Recommendations for Training of Crews Working on Diesel-Electric Vessels Equipped with Azimuth Thrusters. TransNav, the International Journal on Marine Navigation and Safety of Sea Transportation. 12/3, 567–571 (2018). https://doi.org/10.12716/1001.12.03.17.

[28] Investigation of collision between Sjoborg supply ship and Statfjord A on 7 June 2019: Petroleum Safety Authority, Stavanger (2019).

[29] Øvergård K. I., Sorensen L. J., Nazir S., Martinsen T. J.: Critical incidents during dynamic positioning: operators’ situation awareness and decision-making in maritime operations. null. 16, 4, 366–387 (2015). https://doi.org/10.1080/1463922X.2014.1001007.

[30] Dynamic Positioning Station Keeping Review: Incidents and events reported for 2018 (DPSI 29), (2019, 2020).

[31] Dynamic Positioning Station Keeping Review: Incidents and events reported for 2020 (DPSI 30). (2021).

The collision avoidance process involves transitioning from a close-quarters situation to a safe navigational condition through an effective maneuver. A critical factor in this process is the controllability of the close-quarters situation, which reflects the potential to resolve a hazardous approach using maneuvering actions.
This paper investigates the controllability of ship approach situations from the perspective of collision prevention by altering a vessel’s heading. The study defines the conditions under which a heading maneuver is feasible, highlighting the existence of a subset of heading changes that ensure a safe closest point of approach (CPA), equal to or exceeding the maximum allowable distance.
The concept of the limiting moment is introduced, representing the point at which a ship enters a subset of unacceptable positions where passing at a specified safe CPA becomes unachievable. Analytical expressions are derived to estimate this moment for two scenarios: when the ship’s speed exceeds the target’s speed and when it is slower.
The research further proposes a method to assess the controllability of close-quarters situations based on the ratio of feasible relative courses to all possible relative courses during a 360° course adjustment. An analytical expression is presented, showing that controllability depends on the vessel-to-target speed ratio. When the ship’s speed exceeds the target’s, controllability equals one; otherwise, it does not exceed 0.5. This study provides a framework for evaluating navigational safety and improving decision-making during hazardous vessel approaches.

Keywords: navigational safety, ship collision prevention, close-quarters maneuvering, heading adjustment, controllability, closest point of approach (CPA).

[1] Burmaka I. Management by vessels in the situation of dangerous rapprochement / Burmaka I., Pyatakov E., Bulgakov A.- LAP LAMBERT Academic Publishing, – Saarbryukken (Germany), – 2016. – 585 p.

[2] Tsymbal N. Flexible strategies of divergence of vessels / N. Tsymbal, I.Burmaka, Е. Tyupykov, Odessa: KP OGT, 2007. – 424 p.

[3] Pyatakov E.Cooperation of vessels at divergence for warning of collision / Pyatakov E., Buzhbetskiy R., Burmaka I., Bulgakov A., Kherson: Grin D.S., 2015. – 312 p.

[4] Burmaka I. Urgent strategy of divergence at excessive rapprochement of vessels / Burmaka I., Burmaka A., Buzhbetskiy R. – LAP LAMBERT Academic Publishing, 2014. – 202 p.

[5] Safin I.V. Choice of optimum maneuver of divergence / I.V. Safin // Avtomatizatsiya sudovykh tekhnichtskikh sredstv. – 2002.- №7. – p. 115 -120.

[6] Burmaka Y.A. Results of imitation design of process of divergence of vessels taking into account their dynamics / Burmaka Y.A.// Sudovozhdenye: sb. nauchn. trudov. – 2005.- №10. – P. 21 – 25.

[7] Petrichenko E.A. Conclusion of condition of existence of great number of possible manoeuvres of divergence taking into account navigation dangers/ Petrichenko E.A. // Sudovozhdenie.- 2003.- №6 .- p. 103 – 107.

[8] Wróbel K., Gil M., Huang Y., Wawruch R. The Vagueness of COLREG versus Collision Avoidance Techniques. – A Discussion on the Current State and Future Challenges Concerning the Operation of Autonomous Ships. Sustainability. 14, 2022, 16516.

[9] Vagushchenko L.L. Divergence with vessels by displacement on the parallel line of way / Vagushchenko L.L.- Odessa: Feniks.- 2013.- 180 p.

[10] Jesús A. García Maza, Reyes Poo Argüelles. COLREGs and their application in collision avoidance algorithms: A critical analysis. Ocean Engineering 261. 112029, 2022. 1-14.

[11] Lisowski J. Dynamic games methods in navigator decision support system for safety navigation/ Lisowski J. // Advances in Safety and Reliability. – 2005. – Vol. 2. – London-Singapore, Balkema Publishers. – Р. 1285-1292.

[12] Lisowski J. Game control methods in navigator decision support system/ Lisowski J. // The Archives of Transport. – 2005. – No 3-4, Vol. XVII. – Р. 133-147.

[13] Eriksen B-OH, Bitar G, Breivik M and Lekkas A.M/ Hybrid Collision Avoidance for ASVs Compliant With COLREGs Rules 8 and 13–17. Front. Robot. AI 7:11. 2020.

[14] Lisowski J. Game and computational intelligence decision making algorithms for avoiding collision at sea/ Lisowski J. // Proc. of the IEEE Int. Conf. on Technologies for Homeland Security and Safety. – 2005. – Gdańsk. – Р. 71 – 78.

[15] Ahmed, Y.A.; Hannan, M.A.; Oraby, M.Y.; Maimun, A. COLREGs Compliant Fuzzy-Based Collision Avoidance System for Multiple Ship Encounters. J. Mar. Sci. Eng. 9, 2021, 790.

[16] Statheros Thomas. Autonomous ship collision avoidance navigation concepts, technologies and techniques / Statheros Thomas, Howells Gareth, McDonald-Maier Klaus. // J. Navig. 2008. 61, № 1, p. 129-142.

[17] Huang, Y., Chen, L., Chen, P., Negenborn, R. R., & van Gelder, P. H. A. J. M. Ship collision avoidance methods: State-of-the-art. Safety Science, 121, 2020. 451-473.

[18] Lazarowska, A. Review of Collision Avoidance and Path Planning Methods for Ships Utilizing Radar Remote Sensing. Remote Sens. 13, 2021. 3265.

The development of autonomous ships has marked the beginning of a phase in which both conventional ships and unmanned ships will be sailing on the same water simultaneously. In this new phase, the basic mechanism for coordinating collision avoidance actions of ships will remain the COLREGs (International Regulations for Preventing Collisions at Sea), after being revised to take into account the changed shipping conditions. In such a revision, the principles underlying the COLREGs should be retained and provisions that do not meet the new requirements should be corrected. This study is aimed at identifying such provisions in Section II of Part B of COLREGs, and clarifying the encounter situations affecting the choice of evading actions. Since the subject of the study was two ships approaches that lead to close quarters, the first thing analyzed was the criterion established by COLREGs to identify the risk of collision and the criterion used for this purpose in seamanship. It is recognized that these criteria are different, which may be a prerequisite for incorrect decisions. The work also revealed inconsistencies between COLREGs and used in good seamanship criteria for identifying encounter situations. Recommendations are made to eliminate these inconsistencies. Logical rules for identifying two ships key encounter situations (overtaking, head-on, crossing) and their subtypes influencing the effectiveness of evading actions are given. To define the boundary between head-on and crossing situations and to choose the action in crossing situation depending on the difference between own ship and target courses without using head-on sector are suggested. Classification of non-extreme two ships approaches with risk of collision is proposed, allowing to clearly distinguishing types of encounter situations, which is required for further automation of collision prevention processes.

Keywords: collision avoidance, COLREGs, risk of collision, encounter situation, classification.

[1] COLREGs-72. (2014) – International Regulations for Preventing Collisions at Sea. Edition with amendments 1981, 1987, 1989, 1993, 2001, 2013.

[2] Ahmed, Y.A.; Hannan, M.A.; Oraby, M.Y.; Maimun, A. (2021). COLREGs Compliant Fuzzy-Based Collision Avoidance System for Multiple Ship Encounters. J. Mar. Sci. Eng. 9, 790. https://doi.org/10.3390/jmse9080790.

[3] Bakdi A. and Vanem E. (2022). Fullest COLREGs Evaluation Using Fuzzy Logic for Collaborative Decision-Making Analysis of Autonomous Ships in Complex Situations, in IEEE Transactions on Intelligent Transportation Systems, vol. 23, no. 10, 18433-18445, https://doi: 10.1109/TITS.2022.3151826.

[4] Demirel E., Bayer D. (2015). The Further Studies On The COLREGs (Collision Regulations). TransNav, the International Journal on Marine Navigation and Safety of Sea Transportation, Vol. 9, No. 1, 17-22, https://doi:10.12716/1001.09.01.02,

[5] Eriksen B-OH, Bitar G, Breivik M and Lekkas AM (2020) Hybrid Collision Avoidance for ASVs Compliant With COLREGs Rules 8 and 13–17. Front. Robot. AI 7:11. 1-18. https://doi: 10.3389/frobt.2020.00011.

[6] Hannaford E., Maes P., Van Hassel E. (2022). Autonomous ships and the collision avoidance regulations: a licensed deck officer survey. WMU J Marit Affairs 21, 233–266. https://doi.org/10.1007/s13437-022-00269-z/ [7] Hyo-Gon Kim, Sung-Jo Yun, Young-Ho Choi, Jae-Kwan Ryu, Jin-Ho Suh. (2021). Collision Avoidance Algorithm Based on COLREGs for Unmanned Surface Vehicle. J. Mar. Sci. Eng. 9(8), 863; https://doi.org/10.3390/jmse9080863.

[8] Jong-Kwan Kim, Deuk-Jin Park (2024). Understanding of sailing rule based on COLREGs: Comparison of navigator survey and automated collision-avoidance algorithm, Marine Policy, Volume 159, https://doi.org/10.1016/j.marpol.2023.105894.

[9] Maza JAG, Argüelles R.P. (2022). COLREGs and their application in collision avoidance algorithms: A critical analysis. Ocean Engineering 261. 112029, 1-14. https://doi.org/10.1016/j.oceaneng.2022.112029

[10] Montewka J., Krata P., Goerlandt F., Mazaheri A., Kujala P. (2011). Marine traffic risk modelling – an innovative approach and a case study. Proc. Inst. Mech. Eng. Part O J. Risk Reliab. 225–307. https://doi.org/10.1177/1748006X11399988.

[11] Ni S, Liu Z, Cai Y. (2019). Ship Manoeuvrability-Based Simulation for Ship Navigation in Collision Situations J. Mar. Sci. Eng. 7, 90. 1-21. https://doi.org/10.3390/jmse7040090.

[12] Qing Wu 1, TengfeiWang, Mihai A Diaconeasa, Ali Mosleh and Yang Wang. (2020). A Comparative Assessment of Collision Risk of Manned and Unmanned Vessels J. Mar. Sci. Eng. 8, 852; 1-24 doi:10.3390/jmse8110852. [13] Salous M., Hahn A., Denker C. (2016). COLREGs-Coverage in Collision Avoidance Approaches: Review and Identification of Solutions. 12th International Symposium on Integrated Ship’s Information Systems & Marine Traffic Engineering Conference. Hamburg. 1-10.

[14] Szlapczynski R., Krata P. (2018). Determining and visualizing safe motion parameters of a ship navigating in severe weather conditions. Ocean. Eng. 158, 263–274. https://doi.org/10.1016/j.oceaneng.2018.03.092.

[15] Tam C., Bucknall R. (2010). Collision risk assessment for ships. J. Mar. Sci. Technol. 15, 257–270. https://doi.org/10.1007/s00773-010-0089-7.

[16] Wang X.H., Li L. & Chen G. (2019). The Effect of High Ship Speed Ratio on Collision Avoidance Behavior of COLREGS. TransNav, the International Journal on Marine Navigation and Safety of Sea Transportation, Vol. 13, No. 2, – P. 319-323. https://doi:10.12716/1001.13.02.07.

[17] Wróbel K., Gil M., Huang Y., Wawruch R. (2022). The Vagueness of COLREG versus Collision Avoidance Techniques—A Discussion on the Current State and Future Challenges Concerning the Operation of Autonomous Ships. Sustainability. 14, 16516. 1-20. https//doi.org/10.3390/ su142416516.

[18] Zhou Z., Zhang Y.,Wang S. (2021). A Coordination System between Decision Making and Controlling for Autonomous Collision Avoidance of Large Intelligent Ships. J. Mar. Sci. Eng., 9, 1202. https://doi.org/10.3390/jmse9111202.

[19] Huang, Y., Chen, L., Chen, P., Negenborn, R. R., & van Gelder, P. H. A. J. M. (2020). Ship collision avoidance methods: State-of-the-art. Safety Science, 121. 451-473. https://DOI:10.1016/j.ssci.2019.09.018.

[20] IMO Maritime Safety Committee Resolution MSC.192(79), Annex 34. (2004). Adoption of the revised performance standards for radar equipment.

[21] International Electrotechnical Commission standards IEC 62388. (2013). Maritime navigation and radiocommunication equipment and systems – Shipborne radar – Performance requirements, methods of testing and required test results.

[22] Shaobo W., Yingjun Z., Lianbo L. (2020). A Collision Avoidance Decision-Making System for Autonomous Ship Based on Modified Velocity Obstacle Method. Ocean Eng. https://doi.org/10.1016/j.oceaneng.2020.107910.

[23] Chauvin C., Lardjane S. (2008). Decision making and strategies in an interaction situation: Collision avoidance at sea. Transportation Research Part F 11. 259–269. https://doi:10.1016/j.trf.2008.01.001

[24] IALA (2018). Report 18591.620/TECH_DOC/2. Encounter Model.

The development of autonomous ships introduces significant challenges in ensuring navigation accuracy due to various signal errors. This study analyzes the primary sources of errors affecting navigation systems, including physical phenomena such as ionospheric disturbances, tropospheric refraction, and multipath effects caused by terrain or nearby objects. Additionally, technical issues such as satellite signal inaccuracies, geometric errors, and equipment faults are explored. These errors can compromise the precision of autonomous navigation, particularly in complex environments. The research emphasizes the need for integrating external correction sources and advanced signal processing techniques to minimize errors. Proposed solutions include the use of external reference systems, enhanced algorithms, and improved equipment calibration. By addressing these issues, the study aims to advance the reliability of autonomous navigation systems and ensure their safe operation in maritime environments. The findings contribute to the ongoing development of autonomous ship technology, providing insights into the optimization of navigation signal accuracy and error correction methods.

Keywords: autonomous ships, navigation systems, signal errors, ionospheric disturbances, tropospheric refraction, multipath effects, error correction, satellite navigation, maritime safety, autonomous navigation.

[1] Mazur V. Yu., Borovik O. V. Funktsіonalniy analіz varіantіv stvorennya єdinoї sistemi visvіtlennya nadvodnoї obstanovki na morskіy (rіchkovіy) dіlyantsі v kontekstі zabezpechennya prikordonnoї bezpeki //Zbіrnik naukovikh prats Natsіonalnoї akademії Derzhavnoї prikordonnoї sluzhbi Ukraїni. Ser.: Vіyskovі ta tekhnіchnі nauki. – 2017. – №. 4. – S. 158-175.

[2] Zlobіna O. Perspektivnі napryamki vdoskonalennya pіdgotovki maybutnіkh morskikh ofіtserіv u vishchikh vіyskovikh navchalnikh zakladakh v umovakh vіyskovikh realіy //Vіsnik Natsіonalnogo unіversitetu” Chernіgіvskiy kolegіum” іmenі TG Shevchenka. – 2022. – T. 174. – №. 18. – S. 60-65.

[3] Dubov O. V., Petrovskiy O. G., Fіlonenko O. V. Moskіtniy flot Vіyskovo-Morskikh Sil Zbroynikh Sil Ukraїni: perspektivi ta realії //Zbіrnik naukovikh prats Vіyskovoї akademії (m. Odesa). Tekhnіchnі nauki. – 2017. – №. 2. – S. 117-126.

[4] Koyto Zh. Morskі avtonomnі nadvodnі korablі: Novі mozhlivostі ta vikliki v okeanіchnomu pravі ta polіtitsі // Doslіdzhennya mіzhnarodnogo prava. – 2021. – T. 97. – №. 1. – S.

[5] Kim T., Schröder-Hinrichs J. U. Research developments and debates regarding maritime autonomous surface ship: status, challenges and perspectives //New Maritime Business: Uncertainty, Sustainability, Technology and Big Data. – 2021. – С. 175-197.

[6] Zhang X. et al. Collision-avoidance navigation systems for Maritime Autonomous Surface Ships: A state of the art survey //Ocean Engineering. – 2021. – Т. 235. – С. 109-380.

[7] Bay X. ta іn. Oglyad suchasnikh doslіdzhen і dosyagnen u galuzі bezpіlotnikh nadvodnikh transportnikh zasobіv // Zhurnal morskoї nauki і zastosuvannya. – 2022. – T. 21. – №. 2. – S. 47-58.

[8] Vagale A. ta іn. Planuvannya shlyakhu ta uniknennya zіtknen dlya avtonomnikh nazemnikh transportnikh zasobіv I: oglyad // Zhurnal morskoї nauki і tekhnіki. – 2021. – S. 1-15.

[9] Lyu K. ta іn. Doslіdzhennya lyudino-mashinnoї vzaєmodії dlya navіgatsії morskikh avtonomnikh nadvodnikh korablіv: Oglyad ta rozglyad // Іnzhenerіya okeanu. – 2022. – T. 246. – S. 110-555.

[10] Wang L. et al. State-of-the-art research on motion control of maritime autonomous surface ships //Journal of Marine Science and Engineering. – 2019. – Т. 7. – №. 12. – С. 438.

[11] Deling W. et al. Marine autonomous surface ship-a great challenge to maritime education and training //American Journal of Water Science and Engineering. – 2020. – Т. 6. – №. 1. – С. 10-16.

[12] Kurt I., Aymelek M. Operational and economic advantages of autonomous ships and their perceived impacts on port operations /Maritime Economics & Logistics. – 2022. – Т. 24. – №. 2. – С. 302–326.

[13] Zanella T. V. The Environmental Impacts of the” Maritime Autonomous Surface Ships”(MASS) //Veredas do Direito. – 2020. – Т. 17. – С. 367.

[14] Chang C. H. et al. Risk assessment of the operations of maritime autonomous surface ships //Reliability Engineering & System Safety. – 2021. – Т. 207. – С. 107-324.

[15] Akdağ M., Solnør P., Johansen T. A. Collaborative collision avoidance for maritime autonomous surface ships: A review //Ocean Engineering. – 2022. – Т. 250. – С. 110.

Biofouling increases fuel consumption, accelerates corrosion and reduces the buoyancy of ships. The advances in nanotechnology is significantly contributing to the development of ecofriendly marine coatings. The silver nanoparticle coating prevents the adhesion of marine and freshwater algae and prevented mussel settlement through modification of the structure of biofilms. Mechanisms is based on the ability of Ag+ ions to anchor to cell walls and interacts with thiol groups of most of the vital enzymes, leading to deactivation of the enzyme, which ultimately stops bacterial growth leading to the death of the bacterial cell. Metal oxide nanoparticles, such as ZnO, TiO2, SnO2, V2O5 are highly photoactive and used for antimicrobial, self-cleaning, selfhealing, anti-corrosion and anti-biofouling applications. The basic principle of metal oxide based photocatalytic disinfection however involves the generation of highly reactive intermediate species, and these species lead to the photocatalytic destruction of adsorbed micro-organisms. Carbon nanotube and graphene exhibit good antimicrobial activity towards bacteria as well as bacterial spores and can impact the recruitment of macro-fouling organisms. Additionally the reinforcement of the paint matrix with carbon nanotube improves mechanical properties in the coatings/paints due to carbon nanotube have high tensile strength. The arguments that explain the special behavior of nanoparticles are given.

Keywords: nanocoating, silver nanoparticles, metal oxide nanoparticles, carbon nanotubes.

[1] Aghajani, M., and Esmaeili, F. (2021). Anti-biofouling Assembly Strategies for Protein & Cell Repellent Surfaces: a Mini-Review. J. Biomater. Sci. Polym.Edition 32, 1770–1789. doi:10.1080/09205063.2021.1932357

[2] Xin Mao , Xin Cui and Shuiping Chen Research Progress of Nanomaterials in the Prevention of Biological Fouling on Ships Journal of Physics: Conference Series 2002 (2021) 012013 IOP doi:10.1088/1742-6596/2002/1/012013 [3] Kumar Phany. Principles of Nanotechnology /Рh. Kumar / /2Nd.Edish, Scitech Publications, 2020. – 115 p. [4] Feynman, Richard P. An Invitation to Enter a New Field of Physics // Miniaturization / Gilbert, Horace D. — Reinhold, 1961. — р. 282—296

[5] Kozytskyi S. V. Properties and behavior of nanoparticles / S. V. Kozytskyi, S. V. Kiriian. // Fizyka aerodyspersnyh system. – 2022. – №44. – С. 17–30. DOI: 10.h18524/0367-1631.2022.60.265983

[6] Kozytskyi S. V. Effectiveness of nanomaterial utilizationin ship’s mechanisms / S. V. Kozytskyi, S. V. Kiriian. // Sudnovi energetychni ustanovky. – 2019. – №39. – С. 101–106

[7] Valiulis A. A history of materialsand technologies development / A.Valiulis. – Technika, 2014. – 444 p.

[8] Kumar S., Singh M., Halder D. and Mitra A. (2014). Mechanistic Study of Antibacterial Activity of Biologically Synthesized Silver Nanocolloids. Colloids Surf. A: Physicochemical Eng. Aspects 449, 82–86 . doi:10.1016/j.colsurfa.2014.02.027

[9] Rasheed, T., Bilal, M., Iqbal, H. M. N., and Li, C. (2017). Green Biosynthesis of Silver Nanoparticles Using Leaves Extract of Artemisia Vulgaris and Their Potential Biomedical Applications. Colloids Surf. B: Biointerfaces 158, 2017. р. 408–415. doi:10.1016/j.colsurfb.2017.07.020

[10] Yang, J.-L., Li, Y.-F., Liang, X., Guo, X.-P., Ding, D.-W., Zhang, D., et al. (2016b). Silver Nanoparticles Impact Biofilm Communities and Mussel Settlement. Sci. Rep. 6, 2016. 37406. doi:10.1038/srep37406

[11] Pareek, V., Gupta, R., and Panwar, J. (2018). Do physico-chemical Properties of Silver Nanoparticles Decide Their Interaction with Biological media and Bactericidal Action? A Review. Mater. Sci. Eng. C 90, 2018. р.739–749.. doi:10.1016/j.msec.2018.04.093

[12] Kailasa, S. K., Park, T.-J., Rohit, J. V., and Koduru, J. R. (2019). Antimicrobial Activity of Silver Nanoparticles. William Andrew Publishing 2019, 461–484. doi:10.1016/b978-0-12-816504-1.00009-0).

[13] Cui J X, Zhang H P, Zhang H, Shao Y Y, Zhu J X Preparation and properties of novel antibacterial silver powder coatings with long effect / Coatings and Protection 41(01): 41(01): 2020 р.22-26.

[14] Haiping Zhang, Jixing Cui, Jiayauan Tang at.all. Effect of carrier materials for active silver in antibacterial powder. Coatings 2024 14 (3) 297 doi.org/10.3390/coatings14030297

[15] Youssef, Z., Colombeau, L., Yesmurzayeva, N., et al. (2018). Dye-sensitized Nanoparticles for Heterogeneous Photocatalysis: Cases Studies with TiO2, ZnO, Fullerene and Graphene for Water Purification. Dyes Pigm. 159, 49–71. doi:10.1016/j.dyepig.2018.06.002

[16] Raizada, P., Sudhaik, A., and Singh, P. Photocatalytic Water Decontamination Using Graphene and ZnO Coupled Photocatalysts: A Review. Mater. Sci. Energ. Tech. 2, (2019). р. 509–525. doi:10.1016/j.mset.2019.04.0).

[17] Youssef, Z., Colombeau, L., Yesmurzayeva, N., Baros, F., Vanderesse, R., Hamieh, T., et al. (2018). Dye-sensitized Nanoparticles for Heterogeneous Photocatalysis: Cases Studies with TiO2, ZnO, Fullerene and Graphene for Water Purification. Dyes Pigm. 159, 49–71. doi:10.1016/j.dyepig.2018.06.002 ).

[18] Callow, J. A., and Callow, M. E. Trends in the Development of Environmentally Friendly Fouling-Resistant marine Coatings. Nat. Commun. 2, 244. (2011). doi:10.1038/ncomms 1251.

[19] Yadav, R.; Naebe, M.; Wang, X.; Kandasubramanian, B. Aramid Polycarbonate Resin Film Engineered Composite for Ballistic Protection. Engineered Layered Mater. 2021, 49–66. DOI: 10.1007/978-981-33-4550-8_3

[20] Sarath, M. Gharde; V.; Ojjela,S. S.; Kandasubramanian, O.Fiber-Reinforced Composites, B. for Restituting Automobile Leaf System.Spring Suspension In Recent Advances in Materials Layered and Structures; Sahoo Sarmila, Ed.; Springer Nature, 2021; pp 67–105. https:// doi.org/10.1007/978-981-33-4550-8_4

[21] Matyshevska O.P., Prylutska S.V., Gryniuk І. І. Fulereny С60 — biologichno aktuvni molekuly. Fizyko-himichni vlastuvosti ta biodostupnist. BIOTECHNOLOGIA, Т. 3, №1, 2010. С. 18- 26

[22] Tchur D.D., Matusina Z.Z. Zaginaichenko S. Iu, Botska N.N., Elina O.V.. Fulereny: Perspektyvy praktychnogo zastosuvannia v medytsuni, biologii ta ekologii. Visnyk Dnipropetrovskogo universytetu. Biologia. Ekologia. т. 20, №1, 2012. c. 139-145 DOI:15421/011220

[23] Summerscales, J. Materials Selection for Marine Composites. In Marine Composites: Design and Performance; Pemberton Richard, John Summerscales, J. G. J., Ed.; Elsevier, 2019; pp 3–30. https://doi.org/ http://dx.doi.org/10.1016/B978–0–08–102264–1. 00001–7

[24] Sun, Y., Lang, Y., Yan, Z., Wang, L., and Zhang, Z. (2020). High-throughput Sequencing Analysis of marine pioneer Surface-Biofilm Bacteria Communities on Different PDMS-Based Coatings. Colloids Surf. B: Biointerfaces 185, 110538. doi:10.1016/j.colsurfb.2019.110538

[25] Yang, J.-L., Li, Y.-F., Guo, X.-P., Liang, X., Xu, Y.-F., Ding, D.-W., et al. (2016a). The Effect of Carbon Nanotubes and Titanium Dioxide Incorporated in PDMS on Biofilm Community Composition and Subsequent Mussel Plantigrade Settlement. Biofouling 32, 763–777. doi:10.1080/08927014.2016.1197210

[26] Gaiotti, M.; Rizzo, C. M. Recent Industrial Developments of Marine Composites Limit States and Design Approaches on Strength. J. Mar. Sci. Appl. 2020, 19(4), 553–566. DOI: 10.1007/s11804-020-00171-1.

[27] Francis, A. P., and Devasena, T. Toxicity of Carbon Nanotubes: A Review. Toxicol. Ind. Health 34, 2018. р. 200–210. doi:10.1177/0748233717747472

[28] Yang, J., Xue, B., Zhou, Y., Qin, M., Wang, W., and Cao, Y. (2021). Spray-Painted Hydrogel Coating for Marine Antifouling. Adv. Mater. Technol. 6, 2000911.doi:10.1002/admt.202000911

[29] Dustebek, J., Kandemir-Cavas, C., Nitodas, S. F., and Cavas, L.). Effects of Carbon Nanotubes on the Mechanical Strength of Self-Polishing Antifouling Paints. Prog. Org. Coat. 98, (2016. Р.18–27. doi:10.1016/j.porgcoat.2016.04.020

[30] Raghul, K. S.; Logesh, M.; Kisshore, R. K.; Ramanan, P. M.; Muralitharan, G. Mechanical Behaviour of Sisal Palm Glass Fiber Reinforced Composite with Addition of Nano Silica. Mater. Today Proc. 2021, 37(Part 2), 1427–1431. DOI: 10.1016/j. matpr.2020.07.063.

[31] Kozytskyi S.V. Mikro- ta nanorozmirni krystaly sulfidy tzunku otrymani metodom vysokotemperaturnogo syntezu sho samoposhuruetsia. Fizyka aerolycpersnyh system. Т.61, 2023. с. 32-42 DOI: https://doi.org/10.18524/0367-1631.2023.61.290948

[32] Nikolis G. Samoorganizacia v nerivnovanysh systemach / G. Nikolis, I. Prigojin. – Mir, 1979. – 512 с.

[33] Glauberman A. Iy. Kvantova mechanika. -2 -vudania. –Odesa: Astroprynt, 2017. –526 с.

[34] Kozytskyi S.V., Kiriian S.V. Self-organization of nano-sized metal-containing lubricant additives / Sudnovi energetychni ustanovky, naukovo-technichnyi zbirnyk. 2022, №44, с.42-49. doi 10.31653/smf44.2022. 42-49.

The paper theoretically substantiates the methodology of polarization measurements of echo signals of a partially polarized wave of a complex object using an all-polarized antenna of a shipboard radar polarization complex (SRPC). The transformation of the echo signals of a partially polarized wave with regard to its polarization properties when passing through the microwave waveguide elements of the all-polarized antenna, such as power dividers (E-, H-, T-bridges) and polarization separators, which in a certain way divide the echo signals of the wave under analysis into orthogonal components in the waveguide path, is presented. It is shown that the polarization separator acts as a waveguide element that connects one of the electric field components at the output of a circular waveguide, during the reception of an echo signal of a partially polarized wave of a complex object, with currents and loads in one of the SRPC channels, and the second component with currents and loads in the second channel. The use of six channels simultaneously allows for instantaneous registration of the polarization state of the echo signal of a partially polarized wave received at the input of the all-polarized antenna from a complex radar surveillance object of the SRPC.
To transmit arbitrarily polarized fields in an all-polarized antenna, symmetry for two orthogonally polarized waves is ensured. The accuracy of the six-component polarization separator is evaluated. The possibility of using the polarization scattering matrix of the separator is substantiated, the elements of which allow to identify possible sources of errors caused by the imperfect factory manufacturing of waveguide elements, to establish the degree of coordination of each arm of the waveguide polarization separator.

Keywords: all-polarized antenna, partially polarized wave, waveguide polarization separator, polarization scattering matrix of the separator, echo signals of a complex object, error sources, polarization selection, degree of coordination of the waveguide sides of the separator.

[1] Jong-Sen L. Polarimetric Radar Imaging: from Basics to Applications / Jong-Sen L., Eric Pottier // Boca Raton. 1st Edition, 2017. P. 422. https://doi.org/10.1201/9781420054989

[2] Nechitaylo S. V., Orlenko V. M., Sukharevsky O. I., Vasilets V. A. Electromagnetic Wave Scattering by Aerial and Ground Radar Objects. Boca Raton, USA: SRC Press Taylor & Francis Group. 2014. P. 334.

[3] Richard Klemm; Ulrich Nickel; Christoph Gierull; Pierfrancesco Lombardo; Hugh Griffiths; Wolfgang Koch Novel Radar Techniques and Applications Volume 1: Real Aperture Array Radar, Imaging Radar, and Passive and Multistatic Radar, Institution of Engineering & Technology, 2017. P. 51. ISBN: 9781613532256.

[4] Trofymenko I. V. Vyznachennya perspektyvnykh napryamkiv rozvytku navihatsiy̆noho zabezpechennya sudnovodinnya z vykorystannyam radiolokatsiy̆nykh system // Novitni tekhnolohiï, 2017. №. 2. S. 29-42.

[5] Bohom’ya V. I. Matematychna model’ funktsional’nykh system sudnovoho obladnannya / O. I. Stadnyk, O. O. Koval’, V. I. Bohom’ya // Systemy obrobky informatsiyi. Kh.: Kharkivs’kyy universytet povitryanykh syl imeni Ivana Kozheduba, 2015. Vyp. 1(126). S.102–105.

[6] Musoryn O. O., Shapran Yu. Ye., Trofymenko I. V. Osoblyvosti analitychnoho zabezpechennya ekspluatatsiï suden u suchasnykh umovakh / O. O. Musoryn, Yu. Ye. Shapran.,

I. V. Trofymenko // Naukovi zapysky ukraïns’koho naukovo-doslidnoho instytutu zv’yazku. 2017. No1(45). S.117–121.

[7] Radiolokatsiya: Prohramnyy̆ kompleks rozrakhunku diahramy zvorotnoho rozsiyuvannya: navch. posib. dlya studentiv spetsial’nosti 172 «Telekomunikatsiï ta radiotekhnika» / V.A. Holovin, T.V. Romanenko; KPI im. Ihorya Sikors’koho. – Kyïv: KPI im. Ihorya Sikors’koho, 2021. 84 s.

[8] Korban D. V. Shestykanal’nyy polyaryzatsiynyy rozdil’nyk vsepolyaryzovanoyi anteny z keruvannyam polyaryzatsiyi elektromahnitnoyi khvyli na vyprominyuvannya / D.V. Korban // Sudnovodinnya: Zb. nauk. prats’ / NU «OMA», Vyp. 33. Odesa: E 89 «VydavInform», 2022. S. 79-90 DOI: 10.31653/2306-5761.33.2022.67-78.

The article examines modern approaches to the development of a highly reliable data transmission system for unmanned underwater vehicles (UUVs). Unlike known solutions, an improved UUV communication algorithm is proposed. This algorithm ensures uninterrupted transmission of video information, telemetry data, and control signals for UUV mechanisms under conditions of significant interference and unstable signals. Special attention is paid to determining the technical requirements for data transmission and calculating the main characteristics of communication channels.
High-speed transmission, data protection, and communication stability in maritime environments are achieved through the proposed algorithm, which includes switching between different communication channels, data compression, and reconfiguring existing, simple equipment. The analysis of existing solutions is presented. A comparison of various types of data transmission systems is provided, highlighting key challenges related to integrating such communication systems into UUVs, which are characterized by limited energy resources.
A conceptual architecture for building a communication system is proposed. It includes the parallel use of hybrid technologies with automatic selection of the optimal transmission technology under specific UUV operating conditions. Practical results are presented, confirming the feasibility of the proposed approach for organizing communication with UUVs in uncertain and unstable operational environments.
An algorithm for the system’s channel-switching operation is described. Experimental results show that the developed communication system (video transmission, control data, and telemetry) is effective even in cases where 4 out of 5 data packets are lost while traversing public Internet networks via unstable channels.

Keywords: unmanned underwater vehicles, data transmission system, maritime navigation, hybrid communication technologies, communication stability, delay, packet loss, IP routing, penalty coefficient method, satellite data transmission, LTE, VPN, QoS, QoE.

[1] Chitre M., Shahabudeen S., Stojanovic M. Underwater acoustic communications and networking: Recent advances and future challenges. 2008, Marine Technology Society Journal, 42(1), 103–116. DOI: 10.4031/002533208786861263.

[2] Farr N., et al. Optical modem technology for seafloor observatories. 2010, Marine Technology Society Journal, 44(3), 98-107. DOI: 10.4031/MTSJ.44.3.2. https://ieeexplore.ieee.org/document/4098961

[3] Kilfoyle D. B., Baggeroer A. B. The state of the art in underwater acoustic telemetry. 2000, IEEE Journal of Oceanic Engineering, 25(1), 4-27. DOI: 10.1109/48.820733. https://ieeexplore.ieee.org/document/820733 [4] Kongsberg Maritime. Underwater communication solutions. 2000, Kongsberg official website. https://www.kongsberg.com/ [5] Yasin I., Iftekhar A., Daryoush H., Adnan W. A survey on energy efficiency in underwater wireless communications. Add to Mendeley, 2021, Share. https://doi.org/10.1016/j.jnca.2021.103295 https://www.sciencedirect.com/science/article/abs/pii/S1084804521002885 [6] NR Support for UAVs, Jul 06, 2023. https://www.3gpp.org/technologies/nr-uav

[7] Impact of packet loss and delay variation on the quality of real-time video streaming. DOI:10.1007/s11235-015-0037-2

[8] QoE prediction model for multimedia services in IP network applying queuing policy. DOI:10.1109/SPECTS.2014.6879998

[9] Quality of experience enhancement of high efficiency video coding video streaming in wireless packet networks using multiple description coding. DOI:10.1117/1.JEI.27.1.013028 [10] Taha M., Canovas A., Lloret J. A QoE adaptive management system for high definition video streaming over wireless networks. IEEE Aerospace and Electronic Systems Magazine, vol. 36, no. 2, pp. 18-27, 1 Feb. 2021. DOI:10.1007/s11235-020-00741-2

[11] Kutins A., Brodnevs D. Determination of Delay Parameters in 4G LTE Cellular Mobile Networks. 2022, Conference: Workshop on Microwave Theory and Techniques in Wireless Communications (MTTW). DOI:10.1109/MTTW56973.2022.9942617

[12] Brodnevs D., Kutins A. Requirements of End-to-End Delays in Remote Control Channel for Remotely Piloted Aerial Systems. 2021, IEEE Aerospace and Electronic Systems Magazine, vol. 36, no. 2, pp. 18-27, 1 Feb. 2021. DOI:10.1109/MAES.2020.3039853

[13] Volkov S., Skachkov V., Pavlovych V., Chepkiy V., “Information-Entropy Indicator of Quality of Parametric Systems in Multi-Criteria Evaluation Problems,” Materials of the Conference “Trends in the Development of Convergent Networks: Post-NGN, 4G, and 5G Solutions,” Regional ITU Seminar, State University of Telecommunications, Kyiv, November 17-18, 2016, pp. 73-88. [Online]. Available: https://duikt.edu.ua/uploads/p_1589_60941295.pdf [in Ukrainian].

[14] Lemeshko O., Yeremenko O., Nevzorova O., “Stream Models and Routing Methods in Infocommunication Networks: Fault Tolerance, Security, Scalability,” DOI:10.30837/978-966-659-282-1 [in Ukrainian].

[15] H264 Vs H265 – Which Should You Use? [Online]. Available: https://accsoon.com/explore/h264-vs-h265-which-should-you-use/ [Accessed: Jan. 07, 2025].

[16] IP Camera Streaming – Full Guide For Beginners Published by Ahmet Oguz Mermerkaya on September 12, 2022. [Online]. Available: https://antmedia.io/ip-camera-streaming-guide-how-to-setup-an-ip-camera/ [Accessed: Jan. 07, 2025]

[17] Markovskyy A. V., Vlasenko H. N., “Ensuring Global Internet Access: Realities, Prospects, Obstacles,” Materials of the Conference “Trends in the Development of Convergent Networks: Post-NGN, 4G, and 5G Solutions,” Regional ITU Seminar, State University of Telecommunicat

[18] Starlink Specifications. [Online]. Available: https://www.starlink.com/legal/documents/DOC-1400-28829-70. [Accessed: Jan. 07, 2025]

[19] Miroslav Uhrina, Jaroslav Frnda, Lukas Sevcik, Martin Vaculik. Impact of H.264/AVC and H.265/HEVC compression standards on the video quality for 4K resolution. DOI:10.15598/aeee.v12i4.1216

[20] Avonic official CM70 series latency testing and conclusions. Cameras – Support – Avonic. [Online]. Available: https://support.avonic.com/support/solutions/articles/80001022187-introduction-to-latency. [Accessed: Jan. 07, 2025]

[21] Klymash Yu. V., Shpur O. M., Kaidan M. V., “Comprehensive Method for Optimizing Information Flow Routing in Self-Organized Networks,” 2018, Lviv Polytechnic National University. [Online]. Available: https://science.lpnu.ua/sites/default/files/journal-paper/2018/jun/13512/12.pdf. [in Ukrainian].

[22] Bitrate and its role in video surveillance. [Online]. Available: http://worldvision.com.ua/articles/bitreyd-i-ego-mesto-v-videonablyudenii. [Accessed: Jan. 07, 2025] [in Ukrainian]. [23] IP Camera Bandwidth Calculator: Formula, Example & Tips. https://reolink.com/blog/ip-camera-bandwidth-calculation/

[24] Penalty method. Available: https://en.wikipedia.org/wiki/Penalty_method [Accessed: Jan. 07, 2025]

[25] Tutorial. Antmedia. IP-camera. [Online]. Available: https://antmedia.io/tutorial/ [Accessed: Jan. 07, 2025]

The rapid expansion of the use of unmanned aerial vehicles (UAVs) in both civilian and military applications has led to an urgent need for advanced technologies to counter them. This study examines the technical, operational, and strategic challenges posed by unmanned systems and proposes a comprehensive approach to countering these threats. In particular, the paper examines current countermeasures, including radio frequency jamming, laser jamming, microwave and acoustic deterrence, and physical interception techniques. Each approach is analyzed for its effectiveness in different operational scenarios, with a special emphasis on the limitations and advantages inherent in each method. Simulation models and experimental results further validate the proposed concept, demonstrating how these technologies can be optimized to protect critical infrastructure from unmanned systems and mitigate risks in challenging environments. The need for hybrid solutions that combine several technologies adapted to the type of UAS and situation parameters is emphasized to provide reliable and flexible protection in both air and maritime environments. The critical role of an interdisciplinary approach is emphasized and potential areas for improving countermeasures in response to the development of UAS capabilities are suggested.

Keywords: unmanned aerial systems, maritime unmanned systems, countermeasures, radio frequency jamming, laser jamming, microwave jamming, acoustic interception, hybrid security systems, interoperability, critical infrastructure protection, interceptor drones, unmanned technologies.

[1] Yilmaz, A. (2024). Enhancing UAV crew performance and safety: A technology and innovation management perspective. Sosyal Mucit Academic Review, 5. https://doi.org/10.54733/smar.1512893

[2] Bamburry, D. (2015). Drones: Designed for product delivery. Design Management Review, 26, 40-48. https://doi.org/10.1111/drev.12315

[3] Karve International. (2024). The global impact of Ukraine’s drone revolution on military forces. Retrieved from https://www.karveinternational.com/insights/the-global-impact-of-ukraines-drone-revolution-on-military-forces

[4] Zrelli, I., Rejeb, A., Abusulaiman, R., AlSahafi, R., Rejeb, K., & Iranmanesh, M. (2024). Drone applications in logistics and supply chain management: A systematic review using latent Dirichlet allocation. Arabian Journal for Science and Engineering, 49. https://doi.org/10.1007/s13369-023-08681-0

[5] Shafik, W., Matinkhah, S. M., & Shokoor, F. (2023). Cybersecurity in unmanned aerial vehicles: A review. International Journal on Smart Sensing and Intelligent Systems, 16. https://doi.org/10.2478/ijssis-2023-0012

[6] Haddal, C. C., & Gertler, J. (2010). Homeland security: Unmanned aerial vehicles and border surveillance. Congressional Research Service, 11.

[7] Sahawneh, L., & Ponton, J. (2017). Autonomy in drones: Applications and impacts. International Journal of Robotics Research, 36(2), 234-245.

[8] Elmokadem, T., & Savkin, A. (2021). Towards fully autonomous UAVs: A survey. Sensors, 21, 6223. https://doi.org/10.3390/s21186223

[9] Melnyk, O., Volianska, Y., Onishchenko, O., Onyshchenko, S., Kononova, O., & Vasalatii, N. (2022). Development of computer-based remote technologies and course control systems for autonomous surface ships. International Journal of Computer Science and Network Security, 22(09), 183-188. https://doi.org/10.22937/IJCSNS.2022.22.9.27

[10] Melnyk, O., Onishchenko, O., Onyshchenko, S., Voloshyn, A., Kalinichenko, Y., Rossomakha, O., Naleva, G., & Rossomakha, O. (2022). Autonomous ships concept and mathematical models application in their steering process control. TransNav, the International Journal on Marine Navigation and Safety of Sea Transportation, 16(3), 553-559. https://doi.org/10.12716/1001.16.03.18

[11] Мельник, О. М. (2023). Безекіпажне судноплавство як розвиток технологічних інновацій в морських перевезеннях [Unmanned shipping as a development of technological innovations

in maritime transportation]. Вчені записки ТНУ ім. Вернадського. Технічні науки, 34(73) № 2, 152-157. https://doi.org/10.32782/2663-5941/2023.2.2/26

[12] Pascarella, D., & Gigante, G. (2022). A Review of Counter-UAS Technologies for Cooperative Defensive Teams of Drones. Drones, 6(3), 65. DOI: 10.3390/drones6030065.

[13] Gonzalez-Jorge, H., Aldao, E., Fontenla-Carrera, G., Veiga-López, F., Balvís, E., & Ríos-Otero, E. (2024). Counter Drone Technology: A Review. Preprints. DOI: 10.20944/preprints202402.0551.v1.

[14] Gupta, N., & Ashraf, A. (2020). Counter-Unmanned Aircraft System(s) (C-UAS): State of the Art, Challenges and Future Trends. arXiv Preprint. DOI: 10.48550/arXiv.2008.12461.

[15] Tan, X., Wang, Z., & Sun, H. (2021). Toward Counter-Unmanned Aerial Vehicles: Detection, Jamming, and Anti-Jamming. Sensors, 21(8), 2656. DOI: 10.3390/s21082656.

[16] Anand, V., & Muthukumar, N. (2021). A Survey on Counter-Drone Solutions for High Security Environments. Journal of Cyber Security Technology, 5(4), 227-245. DOI: 10.1080/23742917.2021.1919809.

At the 80th session of the Marine Environment Protection Committee (МЕРС) of the International Maritime Organization (IMO), a strategy was adopted to reduce greenhouse gas emissions from ships, starting from 2023 with the expansion of targets for combating hazardous emissions. This strategy includes expanded overall targets to achieve zero greenhouse gas emissions in the merchant fleet by 2050, a commitment to ensure the introduction of alternative fuels with zero or near zero greenhouse gas emissions by 2030. One of the important approaches to solving this problem is the use of wind propulsors as part of the ship’s combined propulsion system. This use can be considered at the following stages: ship design, voyage planning and direct voyage execution. This work is devoted to the consideration of the last two aspects. Methods for determining two important values for determining the optimal operating modes of a combined propulsion complex with wind propulsors have been developed: the recommended average speed of the ship per voyage, a constant value that is present in the optimality criteria, and the distribution law of the optimal speed per voyage that would satisfy the given optimality criteria, particularly the minimum fuel consumption. To determine the recommended average ship speed per voyage, graphic and analytical methods were used to find the extrema of the objective functions, which show the dependence of the specific costs on the ship’s speed. The problem of determining the optimal current ship’s speed is formulated in the form of a variational isoparametric problem in the presence of restrictions in the class of piecewise-smooth functions, and a method of its solution is proposed. The obtained results made it possible to determine for a specific voyage, in particular, the dependence of the optimal ship`s speed and specific fuel consumption on the speed and direction of the true wind, as well as the dependence of the specific hourly and total fuel consumption per voyage for various types of wind propulsors on the recommended average ship’s speed per voyage. Calculations confirm that the use of wind propulsors significantly increases the economic efficiency of ship operation and leads to a decrease in environmental pollution.

Keywords: ship’s propulsion system, wind propulsors, recommended average ship’s speed per voyage, objective functions, optimal control, variational problem for conditional extremum.

[1] Kryvyi O. F.: Methods of mathematical modeling in navigation. ONMA, Odessa, 2015.

[2] Kryvyi O.F., Miyusov M. V. Mathematical model of movement of the vessel with auxiliary wind-propulsors. Shipping & Navigation. 26: 110-119, 2016.

[3] Miyusov M. V.: Modes of operation and automation of motor vessel propulsion unit with wind propulsors. Odessa, 1996

[4] Miyusov M.V., Krivoy O.F. (2003) Methods of Working Mode Optimization of Ship Propulsion Complex. Ship Power Plants. 8: 39-48

[5] Petrov Yu. P. Variational methods of the theory of optimal calculus. L: Sudostroenie, 1977.

[6] Ammar, N. R., & Seddiek, I. S. Wind assisted propulsion system onboard ships: case study Flettner rotors. Ships and Offshore Structures, 17(7), 1616–1627. 2022. https://doi.org/10.1080/17445302.2021.1937797

[7] N. I. B. Ariffin and M. A. Hannan. Wingsail technology as a sustainable alternative to fossil fuel. IOP Conf. Ser.: Mater. Sci. Eng. 788 012062. 2020. Doi: 10.1088/1757-899X/788/1/012062

[8] Atkinson, G., Nguyen, H., Binns, J., & Pham, D. Considerations regarding the use of rigid sails on modern powered ships. Cogent Engineering, 5(1). 2018 https://doi.org/ 10.1080/23311916.2018.1543564

[9] Atkinson, G. M., & Binns, J. Power profile for segment rigid sail. Journal of Marine Engineering & Technology. 17(2), 99–105. 2018. https://doi.org/10.1080/20464177.2017.1319997

[10] Atkinson, G. M. (2019). Analysis of lift, drag and CX polar graph for a 3D segment rigid sail using CFD analysis. Journal of Marine Engineering & Technology, 18(1), 36–45. https://doi.org/10.1080/20464177.2018.1494953

[11] Marcus Bentin, at all. A New Routing Optimization Tool-influence of Wind and Waves on Fuel Consumption of Ships with and without Wind Assisted Ship Propulsion Systems, Transportation Research Procedia, 14, 2016, 153-162, https://doi.org/10.1016/j.trpro.2016.05.051.

[12] De Beukelaer, C. Tack to the future: is wind propulsion an ecomodernist or degrowth way to decarbonise maritime cargo transport? Climate Policy, 22(3), 310–319. 2022. https://doi.org/10.1080/14693062.2021.1989362

[13] J. Cairns, at all. Numerical optimisation of a ship wind-assisted propulsion system using blowing and suction over a range of wind conditions. Ocean Engineering. V. 240, 2021, https://doi.org/10.1016/j.oceaneng.2021.109903.

[14] Fujiwara, T., Hearn, G., Kitamura, F. et al. Sail–sail and sail–hull interaction effects of hybrid-sail assisted bulk carrier. J Mar Sci Technol. 10, 82–95 2005. https://doi.org/10.1007/s00773-005-0191-4

[15] Peter Kindberg Wind-powered auxiliary propulsion in cargo ships. Helsinki Metropolia University of Applied Sciences. Bachelor of Engineering Environmental engineering. 2015

[16] Kryvyi O. F, Miyusov M. V. (2019). Mathematical model of hydrodynamic characteristics on the ship’s hull for any drift angles. Advances in Marine Navigation and Safety of Sea Transportation. CRC Press: 111-117. https://doi. org/10.1201/9780429341939

[17] Kryvyi O., Miyusov M. V. (2021) Construction and Analysis of Mathematical Models of Hydrodynamic Forces and Moment on the Ship’s Hull Using Multivariate Regression Analysis. Trans Nav, the International Journal on Marine Navigation and Safety of Sea Transportation, 15 (4): 853-864. doi:10.12716/1001.15.04.18

[18] Kryvyi O., Miyusov M.V., Kryvyi M. Construction and Analysis of New Mathematical Models of the Operation of Ship Propellers in Different Maneuvering Modes. Trans Nav, the International Journal on Marine Navigation and Safety of Sea Transportation, 17 (1): 853-864. 2023. doi:10.12716/1001.17.01.09

[19] Kryvyi O., Miyusov M. V., Kryvyi M. Analysis of Known and Construction of New Mathematical Models of Forces on a Ship’s Rudder in an Unbounded Flow. Analysis. Trans Nav, the International Journal on Marine Navigation and Safety of Sea Transportation, 17(4), 831-839. 2023. DOI:10.12716/1001.17.04.09

[20] Qiao Li, et al. A study on the performance of cascade hard sails and sail-equipped vessels. Ocean Engineering, 98, 23-31, 2015. https://doi.org/10.1016/j.oceaneng.2015.02.005.

[21] Lu, R., & Ringsberg, J. W. Ship energy performance study of three wind-assisted ship propulsion technologies including a parametric study of the Flettner rotor technology. Ships and Offshore Structures, 15(3), 249–258. 2020. https://doi.org/10.1080/17445302.2019.1612544

[22] Reche-Vilanova, M.; Bingham, H. B.; Psaraftis, H. N.; Fluck, M.; Morris, D. (2023) Preliminary Study on the Propeller and Engine Performance Variation with Wind. Propulsion Technologies, Wind Propulsion Conference, London, UK

[23] Thies, F., & Ringsberg, J. W. Wind-assisted, electric, and pure wind propulsion – the path towards zero-emission RoRo ships. Ships and Offshore Structures, 18(8), 2023). 1229–1236. https://doi.org/10.1080/17445302.2022.2111923

[24] I. M. Viola, M. Sacher, J. Xu, F. Wang. A numerical method for the design of ships with wind-assisted propulsion. Ocean Engineering, 105: 33-42, 2015. https://doi.org/10.1016/j.oceaneng.2015.06.009.

[25] Cong Wang, at all. A novel cooperative optimization method of course and speed for wing-diesel hybrid ship based on improved A* algorithm, Ocean Engineering, 302, 2024, 117669, https://doi.org/10.1016/j.oceaneng.2024.117669. [26] Wang K. at all. Joint energy consumption optimization method for wing-diesel engine-powered hybrid ships towards a more energy-efficient shipping, Energy, Elsevier, vol. 245(C). 2022. DOI: 10.1016/j.energy.2022.123155

[27] Y. Wang et al. (2022) Analysis on the Development of Wind-assisted Ship Propulsion Technology and Contribution to Emission Reduction, 2022 IOP Conf. Ser.: Earth Environ. Sci. 966 012012 DOI 10.1088/1755-1315/966/1/012012

[28] Yoshimura Y. A Prospect of Sail-Assisted Fishing Boats, Fisheries Science, 68(2), 1815-1818, 2002. https://doi.org/10.2331/fishsci.68.sup2_1815

The article considers the probabilistic model of the port terminal operation, which takes into account the irregularity of cargo delivery by land transport and its removal by sea vessels. The tasks of the article are solved using a combination of methods of mass service theory and inventory theory. A conclusion was made about the shortcomings of existing methods for the needs of modern logistics. The analysis of the operation of the terminal was carried out under the assumption of uneven delivery of cargo to the terminal warehouse by ground modes of transport and removal by ships, and the unloading front has unlimited capacity. The operation of the terminal is studied in the steady mode. Using a number of mathematical assumptions, the flow of loaded vehicles is described by a model of a complex Poisson process with integral trajectories and zero drift. The work derives a system of integro-differential equations and boundary conditions. The system is solved using the Laplace-Stiltjes method and the application of the function convolution theorem. This allows to ultimately arrive at a ratio for the operation of the terminal in the steady mode. Such calculations made it possible to obtain stationary mathematical expectations of the amount of cargo, the number of vessels also for an arbitrary moment of time, the stationary probability of a vessel being idle while waiting for cargo to be picked up, and the carrying capacity of the cargo front of the terminal. An example of a system solution for a particular case, when there is one vessel under processing at one berth, is given. The risks of the sea Agent, which lead to the downtime of the ships due to the incomplete completion of the ship’s consignment of cargo, are considered. Such risks will pose a significant problem for the canvasser and the shipowner. With the help of the insurance expediency criterion derived in the work, recommendations are given for Shipowners and their Agents to eliminate the risks of additional downtime of vessels at the berth due to delays in the delivery of cargoes to the terminal warehouse, which will lead to the emergence of new risks of additional downtime of vessels.

It is shown that the obtained results are important for the needs of practice, as they allow forming a strategy for replenishing cargo stocks at port warehouses in conditions of uneven arrival of vehicles at the time of their need for loading ships. From a theoretical point of view, the obtained results demonstrate the possibility of using the apparatus of Markov processes to solve various tasks of optimal management of stocks under conditions of random fluctuations in their demand.

Keywords: agent, canvassing, terminal, cargo, warehouse, ship, inventory theory, stochastic model, Markov random process, Laplace-Stiltjes transformation, function convolution theorem, insurance.

[1] Lapkyn A.Y. Osobennosty ahentyrovanyia pry vypolnenyy proekta orhanyzatsyy raboty flota posledovatelnymy reisamy / A.I. Lapkin. Metody i zasoby upravlinnia rozvytkom transportnykh system. Zbirnyk naukovykh prats. Vypusk 2. – Odesa: ODMU, 2001. – S. 169-175.

[2] Petrov I.M. Suchasnyi stan i problemy rozvytku berehovykh servisnykh formuvan na morskomu transporti / Pryntsypy rozvytku orhanizatsii morskykh perevezen v suchasnykh umovakh mizhnarodnoho sudnoplavstva: monohrafiia // [avt. kol.: Nikolaieva L.L., Savchuk V.D., Petrov I.M. ta in.] pid redaktsiieiu L.L. Nikolaievoi. – Odesa: NU «OMA». 2019. – S. 123-162.

[3] Voevudskyi, E.N. Stokhastycheskye modely v proektyrovanyy portov y upravlenyy ykh deiatelnostiu [Tekst]/ E.N. Voevudskyi, M.Ia. Postan.− Transport, 1987. − 318 s.

[4] Postan, M.Ia. Эkonomyko-matematycheskye modely smeshannykh perevozok [Tekst]/M.Ia. Postan. – Odessa: Astroprynt, 2006. – 376 s.

[5] Edgeworth Francis I. The British Economic Association/ Francis Edgeworth // The Economic Journal (EJ), Vol. 1, march 1891. – pp. 1-14.

[6] Harris Seimur E. Saving American capitalism/ Seimur Harris. – N.Y., 1948. – p. 194

[7] Semenov, K. M. Metodyka systematyzatsyy protsessov v dyskretno-sobytyinoi ymytatsyonnoi modely morskoho porta [Tekst]/K. M. Semenov //Vestnyk AHTU. Ser.: Morskaia tekhnyka y tekhnolohyia. – 2013. – №2. – S. 184-192.

[8] Rizzoli, A. E. A simulation tool for combined/rail/ road transport in intermodal terminals [Text]/ A. E. Rizzoli, N. Fornara, L.M. Gambardella// Mathematics and Computers in Simulation.-2002.- Vol.59, Issues 1-3. – P. 57-71. doi:10.1016/s0378-4754(01)00393-7.

[9] Macharis, C. Opportunities for OR in intermodal freight transport research: A review [Text]/ C. Macharis, Y. M. Bontekoning//Eur J Oper Res. – 2004. – Vol. 153, Issue 2. – P. 1-34. doi: 10.1016/s0377-2217(03) 00161-9.

[10] Postan, M. Ya. Эkonomyko-matematycheskye modely smeshannykh perevozok [Tekst] /M. Ya. Postan. – Odessa: Astroprynt, 2006. – 376 s.

[11] Imakita, J. Techno-economic analysis of the port transport system [Text] / J.Imakita. – Saxon House, England, 1978. – 216 p.

[12] Horbatyi, M. M. Teoryia y praktyka optymyzatsyy proyzvodstvennykh moshchnostei morskykh portov [Tekst]/ M. M. Horbatyi.- Transport, 1981. – 168 s.

[13] Petrov Y.M. Ahentyrovanye morskykh sudov: teoryia y praktyka: uchebnoe posobye/ Y.M. Petrov, V.A. Vyhovskyi – Chernovtsy, «Knyhy – XXI», 2005. – 496 s.

[14] Petrov Y.M. Dyversyfykatsyia ahentskoi deiatelnosty y predostavlenye shypchandlerskykh usluh. //Sudovozhdenye: Sb. nauch. trudov / ONMA. Vyp. 20. – Odessa: «YzdatYnform», 2011. – S. 157-164.

[15] Zyldman, V.Ia. Vzaymodeistvye vstrechnykh transportnykh potokov, ymeiushchykh puassonovskyi kharakter pry otsutstvyy rehulyrovanyia [Tekst] / V.Ia. Zyldman, H.V. Poddubnyi //Эkonomyka y matematycheskye metody. – 1977. – T.XIII. – Vyp. 3. – S. 524-535.

[16] Zyldman, V.Ia. Model vzaymodeistvyia potoka sudov, prybyvaiushchykh s hruzom, so vstrechnym potokom zheleznodorozhnykh sostavov [Tekst] / V.Ia. Zyldman, H.V. Poddubnyi // Morskoi flot y porty: Problemy razvytyia y sovershenstvovanyia proyzvodstvennoi deiatelnosty. – V/O «Mortekhynformreklama», 1985. – S. 55-60.

[17] Postan, M.Ia. Ob unyfytsyrovannykh skhemakh modelyrovanyia vzaymodeistvyia transportnykh potokov v punktakh perevalky hruzov [Tekst]/M.Ia. Postan// VYNYTY. Transport: nauka, tekhnyka, upravlenye. −1992.− №6.− S. 8−20.

[18] Voevudskyi, E.N. O stokhastycheskykh modeliakh vzaymodeistvyia transportnykh potokov v punktakh perevalky hruzov [Tekst] /E.N. Voevudskyi, M.Ia. Postan //Kybernetyka y systemnyi analyz. – 1993. − №1.− S.101−112.

[19] Kruk, Yu. Yu. Razrabotka y analyz dynamycheskoi modely optymyzatsyy vzaymodeistvyia transportnykh potokov na portovom termynale [Tekst] /Iu. Yu. Kruk, M. Ya. Postan

//Vostochno-Evropeiskyi zhurnal peredovykh tekhnolohyi. – 2016. – №1/3 (79). – S.19-23. doi:10.15587/1729-4061.2016.61154.

[20] Steadie Seifi, M. Multimodal freight transportation planning: A literature review [Text]/ M. Steadie Seifi, N.P. Dellaert, W. Nuijten, et al.// Eur J Oper Res. – 2014. – Vol. 233. – Issue 1. – P. 1-15/.

[21] Ursavas E. Optimal policies for the berth allocation problem under stochastic nature [Text] / E. Ursavas, Zhu S.X. // Eur. J. Oper Res. – 2016. – Vol. 255. – Issue 2. – P. 380-387.

[22] Gaobo, L. The model of location for single allocation multimodal hub under сapacity constraints [Text] / L. Gaobo, D. Hu, L. Su//Procedia-Social and Behavioral Sciences. – 2013. – 96. – P. 351-359.

[23] Postan M. Ya. Modeling the influence of transport units movements irregularity on storage level of cargo at warehouse [Text] / M. Ya. Postan, Yu. V. Kurudzhi //Acta Systemica. – 2012. – Vol. XII, #1. – P. 31-36.

[24] Clusters / Bogusz Wiśnicki, Tygran Dzhuguryan, Sylwia A Decision Support Model for Lean Supply Chain Management in City Multifloor Manufacturing Mielniczuk, Ihor Petrov, Liudmyla Davydenko // Sustainability. – 2024. – Vol. 16/ issue 20, 8801.https://doi.org/ 10.3390 /su16208801. On-line at https://www. mdpi.com/2071-1050/16/20/8801.

[25] The Design of Sustainable City Multi-Floor Manufacturing Processes Under Uncertainty in Supply Chains / Tygran Dzhuguryan, Agnieszka Deja, Bogusz Wiśnicki, Zofia Jóźwiak // Sustainability. – Special Issue Sustainable Human Resource Management in Industry 4.0), 2020, 12(22), 439. https://doi.org/10.3390/ su12229439.

[26] Green technologies in smart city multifloor manufacturing clusters: A framework for additive manufacturing management / Agnieszka Deja, Wojciech Ślączka, Lyudmyla Dzhuguryan, Tygran Dzhuguryan, Robert Ulewicz // Production engineering archives 2023, 29(4). Online at https://pea-journal.eu.

[27] Shakhov A.V. Proektno-oryentyrovannoe upravlenye funktsyonyrovanyem remontopryhodnykh tekhnycheskykh system [Tekst]/A.V. Shakhov, V.Y. Chymshyr. – Odessa: Fenyks, 2006. – 213 s.

[28] Aleksandrovskaia N.Y. Rysko-oryentyrovannaia stratehyia tekhnycheskoho obsluzhyvanyia y remonta sudov [Tekst]/N.Y. Aleksandrovskaia, V.Y. Shakhov, A.V. Shakhov//Metody ta zasoby upravlinnia rozvytkom transportnykh system: Zb. nauk. prats ONMU. – 2011. – №17. – S. 7–17.

[29] Postan, M.Ya. Method of Evaluation of Insurance Expediency of Stevedoring Companys Responsibility for Cargo Safety [Text] // M.Ya. Postan, O.O. Balobanov / Marine Navigation and Safety of Sea Transportation. Methods and Algorithms in Navigation. A. Weintrit, T. Neumann (eds.). Boca Raton-London-New York-Leiden: CRC Press, 2011. – P. 33-36.

[30] Balobanov A.O., Petrov Y.M., Postan M.Ia. Metod obosnovanyia tselesoobraznosty strakhovanyia ryska siurveierskoi kompanyy v portu // Visnyk ONMU. – Odesa: Vyd-vo ONMU. 2017. № 3(52). S. 163-172.

[31] Postan, M.Ya. Method of Assessment of Insurance Expediency of Quay Structures damage Risks in Sea Ports [Text] / M.Ya. Postan, M.B. Poizner // Marine Navigation and Safety of Sea Transportation. Maritime Transport and Shipping. A. Weintrit, T. Neumann (eds.). Boca Raton-London-New York-Leiden: CRC Press, 2013. – P. 123-127.

[32] Brodetskyi H.L. Эkonomyko-matematycheskye metody y modely v lohystyke: potoky sobytyi y systemy obsluzhyvanyia [Tekst]/H.L. Brodetskyi. – Akademyia, 2011. – 272 s.

[33] Postan, M.Ia. Ob odnom klasse smeshannykh markovskykh protsessov y ykh prymenenye v teoryy teletrafyka [Tekst]/M.Ia. Postan//Problemy peredachy ynformatsyy. –1992. – T.XXVIII, №3. – S. 40–53.

[34] Postan M.Ya. Application of Markov Drift Processes to Logistical Systems Modeling [Text] / M.Ya. Postan// Proc. of First Intl. Conf. “Dynamics in Logistics”, 2007. Aug. 2007, Bremen: Springer-Verlag.− P. 443−455. (DOI:10/1007/978-3-540-76862-3).

[35] Postan M.Ya. Optimization of Spare Parts Lot Size for Supply of Equipments Park [Text] /M.Ya. Postan, I.V. Morozova, L.V. Shyryaeva // Proc. of 2nd Intl. Conf. “Dynamics in Logistics” LDIC2009. – Springer, 2011.− P. 105−113. (DOI: 10.1007/978-3-642-11996-5_10).

[36] Postan M.Ya. Application of Semi-Markov Drift Processes to Logistic Systems Modeling and Optimization [Text]/M.Ya. Postan//Proc. of 4th Intl. Conf. “Dynamics in Logistics” LDIC2014. − Berlin: Springer, 2016. − P. 227−237. (DOI: 10.1007/978-3-319-23512-7_22)

[37] Postan M.Ya., Kushnir L.V. A method of determination of port terminal capacity under irregular cargo delivery and pickup / M.Ya. Postan, I.V. Kushnir // Eastern–European Journal of Enterprise Technologies. 2016. V.4, № 4/3 (82). P. 30−37. (DOI: 10.15587/ 1729 – 4061.2016.76285). Scopus.

[38] Petrov Y.M. Model optymyzatsyy upravlenyia zapasamy na konsyhnatsyonnykh skladakh v cervysnykh эrhatycheskykh systemakh na morskom transporte // Naukovyi visnyk Khersonskoi derzhavnoi morskoi akademii: naukovyi zhurnal. – Kherson: Khersonska derzhavna morska akademiia, 2016. – № 2 (15). – S. 57-64.

[39] Petrov I.M., Postan M.Ya. Conctruction and analysis of the model for stochastic optimization of inventory management at a ship repair yard / I.M. Petrov, M.Ya. Postan // Eastern-European Journal of Enterprise Technologies. 2018. No. 6/3 (96). P. 62-70. (DOI: 10.15587 / 1729-4061.2018.151922). Scopus.

This article reviews the modern challenges and associated risks arising in maritime shipping in the context of intensive technological development, such as the growth of ship sizes and the introduction of artificial intelligence. The main risk factors are classified into four groups: technical, technological, environmental and human. A comprehensive approach to risk management is proposed, including the use of FMEA, TOPSIS, scenario analysis and statistical methods. A risk management algorithm, tables of probability and consequence assessments are developed, as well as recommended measures to minimize their impact. Special attention is paid to the use of alternative methods such as fuzzy logic for working with uncertain risks.

Keywords: shipping, risk management, technical risks, environmental factors, human factors, scenario analysis, ship safety, maritime innovations, artificial intelligence, autonomous ships, accidents at sea, risk minimization.

[1] Pilatis, A. N., Pagonis, D.-N., Serris, M., Peppa, S., & Kaltsas, G. (2024). A statistical analysis of ship accidents (1990–2020) focusing on collision, grounding, hull failure, and resulting hull damage. Journal of Marine Science and Engineering, 12(1), 122. https://doi.org/10.3390/jmse12010122

[2] Ceurstemont, S. (2021, April 13). New materials to make ships more sustainable and less noisy for marine life. Horizon: The EU Research & Innovation Magazine.

[3] The Editorial Team. (2024, April 30). Lessons learned: Lithium-Ion battery explosion on a vessel. Safety4Sea.

[4] Marine Safety Consultants. (2024, November 11). Dangers of lithium-ion batteries on vessels. Retrieved from https://marinesafetyconsultants.com/dangers-of-lithium-ion-batteries-on-vessels/#Incidents_of_LithiumIon_Battery_Fires_on_Vessels

[5] Foretich, A., Zaimes, G. G., Hawkins, T. R., & Newes, E. (2021). Challenges and opportunities for alternative fuels in the maritime sector. Maritime Transport Research, 2, 100033. https://doi.org/10.1016/j.martra.2021.100033

[6] Harris, S. (2024, November 11). The future of maritime fuels. Marsh McLennan. Retrieved from https://www.marsh.com/en/industries/marine/insights/future-maritime-fuels.html

[7] Demirel, E. (2019). Possible dangers of automation failures on board and measures to avoid the negative effects of these failures. Scientific Bulletin of Naval Academy, 22(2), 22–35. https://doi.org/10.21279/1454-864X-19-I2-003

[8] Bush, D. (2024, November 11). Ethical hacker says ships are wide open to cyber-attack. Lloyd’s List. Retrieved from https://www.lloydslist.com/LL1136933/Ethical-hacker-says-ships-are-wide-open-to-cyber-attack

[9] Greig, J. (2024, November 11). Ransomware attack on maritime software impacts 1,000 ships. The Record Media. Retrieved from https://therecord.media/ransomware-attack-on-maritime-software-impacts-1000-ships

[10] Taguchi, K. (2022). Analysis on collision accidents and maritime autonomous surface ships [Master’s thesis, World Maritime University].

[11] de Vos, J., Hekkenberg, R., & Valdez Banda, O. (2021). The impact of autonomous ships on safety at sea – A statistical analysis. Reliability Engineering & System Safety, 210, 107558. https://doi.org/10.1016/j.ress.2021.107558

[12] Zhang, W., Zhang, Y., & Zhang, C. (2024). Research on risk assessment of maritime autonomous surface ships based on catastrophe theory. Reliability Engineering & System Safety, 244, 109946. https://doi.org/10.1016/j.ress.2024.109946

[13] Porathe, T., Hoem, Å., Rødseth, Ø., Fjørtoft, K., & Johnsen, S. (2018). At least as safe as manned shipping? Autonomous shipping, safety and “human error”. In Proceedings of the 29th European Safety and Reliability Conference (pp. 1234–1241). https://doi.org/10.1201/9781351174664-52

[14] Ziarati, R., & Ziarati, M. (2007). Review of accidents with special references to vessels with automated systems – A way forward. Proceedings of the International Conference on Maritime Safety (pp. 45–52).

[15] Wingrove, M. (2018, November 12). AI and automation could result in more ship accidents. Riviera. Retrieved from https://www.rivieramm.com/news-content-hub/news-content-hub/ai-and-automation-could-result-in-more-ship-accidents-22750

[16] Anderson, R. (Ed.). (2020). Autonomous ships and the law. Taylor & Francis.

[17] Sarwar, M. G. M. (2006). Impacts of climate change on maritime industries [Master’s thesis, World Maritime University].

[18] International Maritime Organization. (2024). The impact of the Russian armed invasion of Ukraine on international shipping. IMO Assembly Resolution A.1183(33).

[19] International Maritime Organization. (2024, September 11). Communication from the IMO Secretary-General to Member States’ Representatives.

[20] International Maritime Organization. (2023, April 19). Reports on acts of piracy and armed robbery against ships. Annual Report – 2022, MSC.4/Circ.267.

[21] Mills, S., & Wardle, M. (2024). Developments in maritime finance & maritime financial centres. Z/Yen Group, Busan Financial Centre.

[22] Chua, J., Foo, R., Tan, K., & Yuen, K. F. (2022). Maritime resilience during the COVID-19 pandemic: Impacts and solutions. Continuity & Resilience Review. https://doi.org/10.1108/CRR-09-2021-0031

[23] Ministry of Infrastructures and Transports of Italy. (2012). Cruise ship COSTA CONCORDIA marine casualty on January 13, 2012: Report on the safety technical investigation.

[24] Panama Maritime Authority. (2021). Marine safety investigation report: Grounding of MV Ever Given at Suez Canal Egypt on March 23, 2021.

[25] Jallal, C. (2024, July 25). How decarbonisation and AI will impact crew training. Riviera. Retrieved from https://www.rivieramm.com/news-content-hub/news-content-hub/how-decarbonisation-and-ai-will-impact-crew-training-76982

[26] World Maritime University. (2024). Update by the UN Global Compact on the ‘Baseline training framework for seafarers in decarbonization’ project under the Maritime Just Transition Taskforce. Presentation to IMO MEPC81. Retrieved from https://www.wmu.se/news/mepc81-seafarers-decarbonized-future

[27] American Bureau of Shipping. (2017, August 10). Best practices for operation of ballast water management systems, identified during ABS 2nd BWMS Workshop, Houston.

[28] Batra, A., Hepperle, N., & Herdt, W. (2022). Integrated model-based system engineering of the naval propulsion plant and its control system. Proceedings of the Institute of Marine Engineering, Science & Technology.

[29] International Chamber of Shipping. (2024). ICS maritime barometer report 2023-2024.

[30] Kennard, A., Zhang, P., & Rajagopal, S. (2022). Technology and training: How will deck officers transition to operating autonomous and remote-controlled vessels? Marine Policy, 146, 105326. https://doi.org/10.1016/j.marpol.2022.105326

[31] Ramos, M., Utne, I. B., Vinnem, J. E., & Mosleh, A. (2018). Accounting for human failure in autonomous ship operations. In Proceedings of the 29th European Safety and Reliability Conference (pp. 1234–1241). https://doi.org/10.1201/9781351174664-45

[32] Cheng, T., Veitch, E. A., Utne, I. B., Ramos, M. A., Mosleh, A., Alsos, O. A., & Wu, B. (2024). Analysis of human errors in human-autonomy collaboration in autonomous ships operations through shore control experimental data. Reliability Engineering & System Safety, 246, 110080. https://doi.org/10.1016/j.ress.2024.110080

[33] Wahlström, M., Hakulinen, J., Karvonen, H., & Lindborg, I. (2015). Human factors challenges in unmanned ship operations – Insights from other domains. Procedia Manufacturing, 3, 1038–1045. https://doi.org/10.1016/j.promfg.2015.07.167

[34] Baldauf, M., & Rostek, D. (2024). Identify training requirements for remote control operators of maritime autonomous ships. In Proceedings of the 18th International Technology, Education and Development Conference (pp. 7646–7653). https://doi.org/10.21125/inted.2024.2036

[35] Campos, C., Castells-Sanabra, M., & Mujal-Colilles, A. (2022). The next step on the maritime education and training in the era of autonomous shipping: A literature review. In Proceedings of the 9th International Conference on Maritime Transport (pp. 27–28).

[36] International Chamber of Shipping. (2021). Seafarer workforce report.

[37] Ioannou, D. (2023, September 21). Viewpoint: A new risk landscape emerges for global maritime industry. Insurance Journal. Retrieved from https://www.insurancejournal.com/news/national/2023/09/21/741107.htm

[38] International Maritime Organization. (2002, April 5). Guidelines for formal safety assessment (FSA) for use in the IMO rule-making process. MSC/Circ.1023/MEPC/Circ.392.

[39] Bao, J., Yu, Z., Li, Y., & Wang, X. (2022). A novel approach to risk analysis of automooring operations on autonomous vessels. Maritime Transport Research, 3, 100050. https://doi.org/10.1016/j.martra.2022.100050

[40] Melnyk, O., Onyshchenko, S., Pavlova, N., Kravchenko, O., & Borovyk, S. (2022). Integrated ship cybersecurity management as a part of maritime safety and security system. International Journal of Computer Science and Network Security, 22(3), 135–140. https://doi.org/10.22937/IJCSNS.2022.22.3.18

[41] Melnyk, O., Kuznichenko, S., & Onishchenko, O. (2024). Impact of AIS manipulation on shipping safety and strategic countermeasures. Lex Portus, 4, 1043–1058. https://lexportus.net.ua/vipusk-4-2024/melnyk_1043.pdf

[42] Melnyk, O., & Onyshchenko, S. (2022). Navigational safety assessment based on Markov-model approach. Scientific Journal of Maritime Research, 36(2), 328–337. https://doi.org/10.31217/p.36.2.16

[43] Melnyk, O., Onishchenko, O., Onyshchenko, S., & Shumylo, O. (2023). Application of fuzzy controllers in automatic ship motion control systems. International Journal of Electrical and Computer Engineering, 13(4), 3661–3669. https://doi.org/10.11591/ijece.v13i4.pp3661-3669

[44] Melnyk, O., Onishchenko, O., Onyshchenko, S., & Vasalatii, N. (2023). Simulation-based method for predicting changes in the ship’s seaworthy condition under impact of various factors. In A. Zaporozhets, O. Melnyk, & O. Onishchenko (Eds.), Maritime Systems, Transport and Logistics I: Safety and Efficiency of Operation (pp. 653–664). Springer. https://doi.org/10.1007/978-3-031-35088-7_37

The study focuses on enhancing the quality of oceanographic research through the use of advanced optoelectronic systems. It emphasizes the effectiveness of optical positioning in determining distances, identifying shapes of remote objects, and analyzing aerosol layers in the atmosphere. The advantages of optoelectronic systems, such as high resolution and the ability to distinguish neighboring objects, are highlighted, with applications in marine navigation and hydrometeorology. Existing solutions and their limitations are reviewed, leading to the proposal of an automated device equipped with a fiber-optic branching system and independent control of electro-optical filters. This innovative approach enables enhanced scanning capabilities and increased reliability. The study also delves into mathematical modeling, algorithm optimization, and the application of Liouville’s theorem to improve power transmission efficiency between waveguide structures. The findings aim to advance oceanographic research by addressing technical challenges and ensuring more accurate and efficient data collection.

Keywords: oceanographic research, optoelectronic systems, optical positioning, fiber-optic branching, electro-optical filters, marine navigation, hydrometeorology, mathematical modeling, Liouville’s theorem, waveguide structures.

[1] Optical-Electronic Systems of Short-Range Location / Ya. I. Lepikh, V. I. Santoniy, L. M. Budiyanska et al. – Odesa: ONU named after I. I. Mechnykov, 2019. – 294 p. [in Ukrainian]

[2] Strelkov, A. I. Optical Location. Theoretical Fundamentals of Reception and Processing of Optical Signals. – Kharkov: Apostrophe, 2010. – 311 p. [in Ukrainian]

[3] Lepikh, Ya. I., Ivanchenko, I. O., Budiyanska, L. M., Santoniy V. I., Yanko, V. V., Kyyak B. R. Algorithm of Object Classifier Operation within the Intellectual Optical Location Sensor // Abstracts of the 6th International Scientific-Technical Conference “Sensor Electronics and Microsystems Technology (SEMST-6)”, September 29 – October 3, 2014, Odesa, Ukraine. P. 118. [in Ukrainian]

[4] Patent of Ukraine № 92164. IPC (2014.01) G01S 17.00 G01S 1./00 B64G 1.36 (2006.01). Optical Locator / V. O. Topolnikov; applicant and patent holder MTS “Institute of Applied Optics” NAS of Ukraine. – u201313614. – appl. 22.11.2013. – publ. 11.08.2014, bull. № 15. – 3 p. [in Ukrainian]

[5] A.W. Snyder, J. Love. Optical Waveguide Theory. – Berlin: Springer Science & Business Media, 1983. – 734 p. [in German]

[6] Sandler, A. K. Information-Measuring Devices Based on Fiber-Optic Technologies. – Odesa: NU “OMA”, 2018. – 165 p. [in Ukrainian]

[7] Sandler, A. K. Method for Increasing the Efficiency of Diagnosing the Technical Condition of Ship Gas Turbine Installations Based on Fiber-Optic Technologies: Abstract of the dissertation for the candidate of technical sciences: 05.22.20 / Kyiv University of Infrastructure and Technologies. – Kyiv, 2021. – 20 p. [in Ukrainian]

[8] Sandler, A. K., Opryshko, M. O. Cooling System of Infrared Emission Modules of Special Purpose Complexes // Slovak international scientific journal. – 2020. – No. 45. – Vol. 3. – P. 32–35. [in Slovak]

[9] Sandler, A. K. Application of Alternative Glass Materials for Deformation and Vibration Sensors of Propulsion Complex Elements // Automation of Ship Technical Means. – 2023. – No. 28. – Odessa: NU OMA. – P. 79–89. DOI: 10.31653/1819-3293-2023-1-28-79-89. [in Ukrainian]

[10] Tsyupko, Yu. M., Sandler, A. K. Fiber-Optic Invariant Hydrophone // Scientific Works: Scientific-Methodological Journal. – 2016. – No. 271. – Vol. 283. Computer Technologies. – Mykolayiv: Publishing House of Petro Mohyla CHNU. – P. 16–20. [in Ukrainian]

[11] Sandler, A. K., Tsyupko, Yu. M., Kameneva, A. V. Circuit Solution of the Flow Speed Sensor // Automation of Ship Technical Means. – 2016. – No. 22. – Odessa: NU”OMA”. – P. 86–92. [in Ukrainian]

[12] Sandler, A. K., Shepel, V. V., Hermanchuk, D. O. Automated System for Oceanographic Research // XIII International Scientific-Methodical Conference “Ship Electrical Engineering, Electronics and Automation”, November 22-23, 2023: Conference Proceedings. – Odesa: NUOMA. – 2023. – P. 201–207. DOI: 10.31653/2706-7874.SEEEA-2023.11.1-248 [in Ukrainian]

[13] Sandler, A. K., Omelchenko, T. Yu. Improvement of Automated Devices for Navigation Equipment Adjustment // Education and Science of Today: Intersectoral Issues and Development of Sciences: Collection of Scientific Papers “LOGOS” with Proceedings of the VI International Scientific and Practical Conference, Cambridge, March 29, 2024. Cambridge-Vinnytsia: P.C. Publishing House & UKRLOGOS Group LLC. – 2024. – P. 227-232. DOI: 10.36074/logos-26.04.2024.049 [in Ukrainian]

[14] Babachenko, M. V., Sandler, A. K. Increasing the Efficiency of Stakeholders and Maritime Higher Education Institutions Interaction // Education and Science of Today: Intersectoral Issues and Development of Sciences: Collection of Scientific Papers “LOGOS” with Proceedings of the VI International Scientific and Practical Conference, Cambridge, March 29, 2024. Cambridge-Vinnytsia: P.C. Publishing House & UKRLOGOS Group LLC. – 2024. – P. 82-84. DOI: 10.36074/logos-29.03.2024.019 [in Ukrainian]

This paper deals with the aspects of seafarers professional training emphasizing simulator training, that should consider the specific requirements of professional activity. Underlined that the quality of simulator training directly affects the efficiency of interaction between the “navigator-crew-vessel” system. it is A multicriteria approach was proposed to use assessing the level of navigator’s professional competence, which includes the amount and quality of knowledge, skills and abilities, as well as the motivation and activity of students. To implement the control of the approach, a set of individual test tasks should be formed, considering certain properties, which should monitor and evaluate the actions of the student, his/her interaction with the simulator workplace management bodies, logical, operational and time errors, report on the student actions and propose the necessary changes to the training program. The development of an automated training quality management system based on artificial intelligence technologies will optimize the process of testing and monitoring the training level, which, in turn, will provide adaptive learning and improve the quality of navigators training.

Keywords: professional training, seafarer, simulator training, testing, adaptive learning environment, artificial intelligence.

[1] Fan, L., & Chen, W. (2018). Design of an Intelligent Training System for Ship-Handling Simulation. Journal of Intelligent Information Systems, 52(2), 301-315. – DOI: 10.1007/s10844-017-0456-z.

[2] Wahlberg, Å.E., & Golightly, D. (2016). Using Simulation-Based Training to Improve Ship-Handling Skills. International Journal of Maritime Education and Training, 2(1), 1-12. – DOI: 10.1504/IJMETS.2016.10000874.

[3] Wang, Y., & Zhang, Y. (2019). Development of an Adaptive Training System for Ship-Handling Simulation Based on Machine Learning. International Journal of Maritime Engineering, 161(2), 159-172. – DOI: 10.5750/ijme.v161i2.18645.

[4] Pauperis, R., & Pauperis, D. (2019). Using Simulation-Based Training to Enhance Ship-Handling Skills: A Review. Journal of Maritime Research, 11(1), 1-13. – DOI: 10.5545/sv-jme.2019.575.

[5] Davis, F. D., & Venkatesh, V. (1996). A Critical Assessment of Technology Acceptance Model. International Journal of Human-Computer Studies, 45(4), 315-340.

[6] Veestra, M., & Johansen, T.I. (2015). Adaptive Training for Ship-Handling Operations. Journal of Navigation, 68(2), 171-184. – DOI: 10.1017/S0373463314000463.

[7] Salas, E., Tannenbaum, S. I., Kraiger, K., & Smith-Jentsch, K. A. (2012). The Science of Training and Development in Organizations: What Matters in Practice. Psychological Science in the Public Interest, 14(2), 74-101.

[8] Hattie, J., & Timperley, H. (2007). The Power of Feedback. Review of Educational Research, 77(1), 81-112.

[9] Andreassen, N., & Frote, H. (2017). A Multi-Criteria Approach to Assessing Ship-Handling Competence. Journal of Navigation, 70(2), 249-264. – DOI: 10.1017/S037346331600067X.

[10] Kirkpatrick, D. L. (1994). Evaluating Training Programs: The Four Levels. Berrett-Koehler Publishers.

[11] Kirkpatrick, D. L., & Kirkpatrick, J. D. (2006). Evaluating Training Programs: The Four Levels (3rd ed.). Berrett-Koehler Publishers.

[12] Kirkpatrick, D. L., & Kirkpatrick, J. D. (2016). Kirkpatrick’s Four Levels of Training Evaluation: A Practical Guide to Evaluating Training Programs in Organizations (4th ed.). Berrett-Koehler Publishers.

[13] Gulikers, J. T., Bastiaens, T. J., & Kirschner, P. A. (2004). A Five-Dimensional Framework for Authentic Assessment. Educational Technology Research and Development, 52(3), 67-86.

[14] Chen, C., & Chang, Y.-S. (2015). The Effects of a Blended Learning Environment on Student Performance and Satisfaction: A Case Study in Higher Education in Taiwan. Journal of Educational Technology & Society, 18(1), 179-192.

[15] Baker, E., & McGowan, R. (2015). The Role of Technology in Enhancing Learning Outcomes: A Review of the Literature on Technology-Enhanced Learning Environments and Learning Outcomes in Higher Education Settings. Journal of Educational Technology Development and Exchange, 8(1), 1-20.