Issue №37

The paper considers the problem of improving the positioning accuracy and energy efficiency of self-propelled floating drilling units (SPDU) in the conditions of external disturbances of the marine environment. A mathematical model of the course control system of an SPDU using a parabolic controller with an insensitive zone is proposed, which allows reducing the amplitude of control influences without losing the accuracy of stabilization. The modeling in MATLAB/Simulink has confirmed the effectiveness of the developed system: reducing the positioning error by up to 17 % and improving the performance by 12 % compared to a traditional PI controller. Applying the proposed approach reduces energy consumption, increases the safety of offshore drilling operations, and opens up prospects for integration into modern and future autonomous positioning systems for offshore platforms.

Keywords: self-propelled drilling platform, parabolic controller, insensitive zone, attitude stabilization, dynamic positioning, energy efficiency, external disturbances, adaptive control, marine technology, modeling, drilling operations, autonomous systems, marine environment, PI controller.

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21. Bogachenko, Y., Vorokhobin, І., Burmaka, І., Melnyk, O.  Onishchenko O. (2024). Dynamic positioning systems: mathematical modeling and control algorithms. Shipping & Navigation, vol. 36, pp. 20-29. https://doi.org/10.31653/2306-5761.36.2024.20-29

To prevent navigation accidents, it is essential to continuously monitor a vessel’s position with high accuracy. This is typically achieved using redundant position lines (LP), whose random errors may follow not only a normal distribution but also mixed distributions of two types. If the coordinates of a vessel are computed using a method other than the maximum likelihood method, accuracy may be compromised. This issue is especially relevant in coastal and inland waters where correlation navigation systems are applied, or in regions with poor satellite coverage where alternative positioning systems are used. This paper aims to evaluate the efficiency of observed vessel coordinates when they are calculated using the maximum likelihood method, assuming a first-type mixed error distribution, while actual navigation measurement errors follow a normal distribution. Analytical expressions for calculating coordinate efficiency are derived, and its values are obtained using Simpson’s method of numerical integration. Given that random errors under the mixed law of the first type rarely exceed ±6 standard deviations, integration is performed within this range for a normalized random error. The results confirm the feasibility of applying the maximum likelihood method under the assumed conditions, providing a practical basis for improving positioning accuracy in challenging navigation environments.

Keywords: navigational safety, efficiency of the coordinates, mixed distribution laws of the first type.

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The article is devoted to the issues of creation and development of decision support systems (DSS) in the field of navigation. A classification of DSS by areas of practical application is proposed and the features of their construction are determined. A classification of decision-making methods in the field of navigation is proposed by classes of tasks to be solved and the features of the practical application of each group of methods are determined. The structure of the information interaction cycle between the decision-maker and the DSS is determined, and its individual phases are analyzed. The prospects of using the decision-maker model in DSS to increase the efficiency of information exchange and decision-making processes are shown. The general structure of DSS is developed and the use of a four-stage cycle for implementing the decision-making process with differentiated use of different groups of methods and sources of input data at each stage is proposed. Priority areas of use of DSS and artificial intelligence systems in navigation and prospects for their further development have been identified.

Keywords: decision support systems, navigation, decision-making methods, navigation safety, ship control, human factor, shipmaster model.

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Maritime VHF radio communication remains a cornerstone of navigation safety and operational efficiency. With the advancement of information and communication technologies and the implementation of the IMO’s e-navigation strategy, radio communication systems are transitioning toward digitalization. In particular, the ongoing modernization of the Global Maritime Distress and Safety System (GMDSS) includes the integration of digital communication capabilities within the VHF band. One of the key innovations in this context is the VHF Data Exchange System (VDES), which offers significant benefits such as higher data transfer rates and extended coverage, including global satellite support. This paper explores the evolution of maritime VHF communications—from traditional radiotelephony to modern digital systems like the Automatic Identification System (AIS), Application-Specific Messages (ASM), and VDES. It highlights the principles of data transmission via both terrestrial and satellite links, the development of enhanced maritime safety services, and improved shipping efficiency through high-speed communication channels. The study also addresses cybersecurity, regulatory frameworks, and the cost-effective upgrade of AIS equipment to VDES standards. As VDES plays a pivotal role in the digital transformation of the maritime industry, the findings presented are relevant for academic research, training maritime students, and advancing professional competencies in the sector.

Keywords: VHF Data Exchange System (VDES), Automatic Identification System (AIS), Application Specific Messages (ASM), e-navigation, Global Maritime Distress and Safety System (GMDSS), Digital Selective Calling (DSC).

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A feature of the operation of auxiliary wind propulsors is their joint operation with the main power plant, which provides the transmission of effective power to the propellers. An increase in the speed of the vessel causes a change in the speed and direction of the apparent wind, and, as a result, in the aerodynamic forces on the wind propulsors. Therefore, there is an urgent need to conduct a study of the dependence of the thrust and power of wind propulsors of different types on the speed of the vessel under different wind conditions, abstracting from the specific type of vessel. In this work, based on the proposed approach, mathematical modeling of the aerodynamic forces of wind propulsors on the speed of the vessel and the direction of the true wind is carried out. A significant dependence of the energy output of wind propulsors on the value of the vessel speed is shown. The dependences of the thrust and power of wind propulsors on the relative speed of the vessel are obtained at different values of the aerodynamic quality of wind propulsors. The dependences of the relative speed of the vessel, at which the maximum power of the wind propulsors is achieved, on its aerodynamic quality and the direction of the true wind, are also obtained. It is shown how the thrust and power of the wind propulsors depend on the relative speed of the vessel on the stern wind course. The ratios of the direction of the true wind, the aerodynamic quality of the wind propulsors and the speed of the vessel at which the power of the wind propulsors will reach the maximum value are found.

Keywords: ship’s propulsion system, ship speed, wind speed and direction, wind propulsor, aerodynamic characteristics, thrust and power of the wind propulsor.

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The paper discusses the challenges of navigating vessels in narrow waters, where the presence of shoals, shallow areas, and intensive traffic significantly increases the risk of navigational hazards. Errors in navigation measurements and maneuvering further contribute to collision and grounding risks. In such conditions, the navigator forms a mental model that integrates information about the vessel’s position, planned route, surrounding hazards, moving objects, and navigational aids. This complex and often overwhelming flow of information may exceed the navigator’s cognitive capacity, leading to decision-making errors and accidents. To prevent this, it is essential to develop methods for synthesizing navigational risk factors and presenting them in a way that is easily interpreted and supports safe decision-making. A key requirement is the visual representation of navigation accuracy within the vessel’s area of movement. This allows for timely adjustments to the vessel’s course and helps minimize positional errors. For each local area comparable in size to the vessel, vector error accuracy should be calculated relative to the area’s center, using various combinations of landmarks to determine the most precise coordinate estimates. The study also notes that maneuvering in coastal waters using standard gyrocompasses introduces inertial errors, causing lateral deviations from the planned path. These displacements must be accounted for in navigational information systems. Finally, the paper presents analytical expressions that describe the main factors contributing to navigational risks.

Keywords: navigational safety, navigational accident factors, accuracy field, navigational situation.

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Ships of restricted navigation area or river-sea ships are usually designed based on the restrictions of inland waterways. Thus, principal dimensions of the ships are inherent to specific operational regions. Ukrainian designers took a part in development of new-generation (post-soviet) ship classes for Dnipro River. They acquired such distinctive features as: super-full hull forms (CB > 0.9); high coamings of cargo holds; podded propulsors providing both propulsion and maneuverability. These and some other technical solutions developed by national designers are considered with respect to a concept of dry-cargo vessel for estuaries of European rivers. Analysis of the corresponding waterway restrictions has shown that principal dimensions acceptable for estuaries of major European rivers are close to one of the national ship classes. Certain rearrangement of cargo spaces is necessary taking into account the change of length and different air draft. A rational constructive midship section has been suggested. It is able to provide navigation area R2-RS according to the Shipping Register of Ukraine. Two variants of stern lines have been developed and studied using numerical (CFD) simulations of towing in deep and shallow water. According to the results, one variant of the hull form is quite favorable from the standpoint of efficient propulsion in shallow water, while the second variant has significant advantages in deep water due to better propeller-hull interaction. Based on propulsion calculations it is shown that efficiency of the proposed configurations with podded propulsors is quite comparable to that with conventional propulsion systems under the same circumstances.

Keywords: ships of restricted navigation area, design of river-sea ships, CFD simulation of ships, hull form optimization, ship propulsion.

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Національний університет «Одеська морська академія» 143
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The Automatic Identification System (AIS) is one of the key technologies in modern maritime navigation, enhancing both the safety and efficiency of maritime transportation. AIS transponder data improves situational awareness, overcomes the limitations of radar, and supports various maritime services. However, the open nature of AIS radio channels makes the system vulnerable to cyberattacks, particularly through data falsification, which poses risks to navigational safety. Message authentication is an effective countermeasure against such threats. This paper proposes a method for authenticating AIS messages using digital watermarking technology. The proposed method minimizes the overhead required to detect spoofed transmissions and AIS data substitution. The developed algorithm Carrier Reconstruction Watermark Decoding (CRWD) enables the integration of additional authentication data into the AIS signal without degrading its noise immunity and maintains compatibility with standard shipboard transponders. This authentication approach can be incorporated within the TESLA cryptographic protocol, which has become a de facto standard for maritime digital communication channels due to its combined advantages of symmetric and asymmetric cryptography.

Keywords: cryptography, message authentication code, radio channel, algorithm, transponder.

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Methods for increasing the sensitivity of sensors-transducers of external influences (temperature, radiation, pressure, etc.) based on a single-junction transistor (SJT) generator with a frequency output have been experimentally investigated. The sensor is a SJT generator with two current-sending resistors and a capacitor, where the only sensitive element is the SJT itself. The increase in sensitivity is achieved by replacing passive resistors and a capacitor with elements sensitive to the measured influence (diodes, transistors, etc.). Mutual change in the parameters of the generator circuit elements when measuring external influences allows to significantly increase the sensitivity of the sensors. In most variants of the circuits, industrial samples of such elements are used. The experimental results demonstrate that the sensitivity of the sensors can be significantly enhanced by using these methods. This approach provides a promising avenue for developing highly sensitive sensors for various applications, including environmental monitoring, medical diagnostics, and industrial process control. The findings of this study contribute to the advancement of sensor technology and open up new possibilities for improving the performance and reliability of sensors in different fields. Furthermore, the integration of sensitive elements such as diodes and transistors into the generator circuit not only improves sensitivity but also ensures stability and repeatability of measurements.

Keywords: ship automation, electronic data transmission, navigation safety, navigation, unmanned vessels, sensor, transducer, diode, transistor, resistor, temperature, magnetic field, radiation, characteristic, sensitivity, radiation.

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