Collision Situations Research Articles

Dynamic Games Methods in Synthesis of Safe Ship Control Algorithms

The paper presents application of dynamic games methods, multistage positional and multistep matrix games, to automate the process control of moving objects, on the example of safe control of own ship in collision situations when passing many ships encountered. Taking into consideration two types of ships cooperation, for each of the two types of games, positional and matrix, four control algorithms for determining a safe ship trajectory supporting the navigator’s maneuvering decision in a collision situation are presented. The considerations are illustrated by examples of computer simulation in Matlab/Simulink software of safe trajectories of a ship in a real situation at sea. Taking into account the smallest final deviation game trajectory from the reference trajectory of movement, in good visibility at sea, the best is trajectory for cooperative matrix game, but in restricted visibility at sea, the best is trajectory for cooperative positional game.

Modelling of Ship’s Trajectory Planning in Collision Situations by Hybrid Genetic Algorithm

Abstract Ship collision-avoidance trajectory planning aims at searching for a theoretical safe-critical trajectory in accordance with COLREGs and good seamanship. In this paper, a novel optimal trajectory planning based on hybrid genetic algorithm is presented for ship collision avoidance in the open sea. The proposed formulation is established based on the theory of the Multiple Genetic Algorithm (MPGA) and Nonlinear Programming, which not only overcomes the inherent deficiency of the Genetic Algorithm (GA) for premature convergence, but also guarantees the practicality and consistency of the optimal trajectory. Meanwhile, the encounter type as well as the obligation of collision avoidance is determined according to COLREGs, which is then considered as the restricted condition for the operation of population initialization. Finally, this trajectory planning model is evaluated with a set of test cases simulating various traffic scenarios to demonstrate the feasibility and superiority of the optimal trajectory.

Modeling perceived collision risk in vessel encounter situations

Risk perception of the situation by an officer on watch is the basis for improving situational awareness, which is crucial in preventing ship collisions in vessel encounter situations. Defining risk perception for a vessel collision situation requires identifying the perceived risk. This paper derives a multiple linear regression model for studying risk perception on a ship in various collision encounter situations. To illustrate the procedure, the collision risk perceived by Korea Coast Guard officers on a patrol ship was obtained and applied to calibrate the regression model. The results demonstrate that the proposed model can be used to define risk perception and to provide a better understanding of the perceived risk in collision encounter situations. The application of some interesting results to the enhancement of the perception of the situation was also discussed.∗

Akulturacja: od „przedsionka” do „salonu”

Cel badań. Coraz więcej osób wyjeżdża czasowo lub na stałe do krajów o odmiennej kulturze niż ta, w której dotychczas żyli, mieszkali. Zderzenie z odmiennością oraz nieznajomość kodów kulturowych często powodują szok kulturowy, zwany również stresem akulturacyjnym. Celem przeprowadzonych badań było sprawdzenie, jak migranci zachowują się w sytuacji zderzenia z obcą kulturą oraz czy doświadczają szoku kulturowego i w jaki sposób on przebiega.
 
 Metodologia. Próba badawcza objęła dwie osoby. Dobór próby był celowy pod względem płci osób badanych oraz rodzaju i czasu trwania migracji. Zależało mi na tym, aby osoby badane były odmiennej płci, ze względu na różnice między płciami (duże w zakresie motoryki, agresji i seksu, umiarkowane – komunikacji, funkcjonowania społecznego oraz skłonności do lęku i depresji). Uznałam również, iż zasadne jest zbadanie, czy szok kulturowy przebiega tak samo u osoby, która wyjechała czasowo do kraju o odmiennej kulturze, jak u osoby, która na zawsze opuściła rodzinny kraj. Skupiłam się także na sprawdzeniu, czy i jakie strategie radzenia sobie z nieznajomością kodów kulturowych zastosowali narratorzy.
 Badania przeprowadziłam w paradygmacie interpretatywnym, metodą studium przypadków, techniką zbierania danych był wywiad narracyjny.
 
 Wyniki. Na podstawie badań własnych przedstawiłam fazy szoku kulturowego doświadczonego przez migrantów i ich analogie architektoniczne, „dzięki którym można wyodrębnić pewne stopnie międzykulturowego komunikowania i zachodzącego poprzez nie porozumienia” Golka (2016). Wyniki badań potwierdziły, że migranci o pozytywnym nastawieniu łatwiej przechodzą akulturację. W przystosowaniu do nowej kultury lepiej radzą sobie także osoby psychiczne przygotowanie do sytuacji trudniejszej, niż wystąpiła w rzeczywistości, co zmniejsza ich lęk i podnosi samopoczucie.
 
 Wnioski. W adaptacji do nowej kultury pomocne są znajomość kodów kulturowych oraz stosowanie strategii asymilacyjnych. Znacząca wydaje się także rola eksperta od adaptacji, czyli doradcy/coacha międzykulturowego, który może pomóc migrantom w zrozumieniu odczuć i zachowań towarzyszącym im w początkowym procesie akulturacji oraz wskazać drogę do ich szybszego pokonania.

New testing methods of automatic emergency braking systems and the experience of their application

This article offers testing methods of automatic emergency braking systems (“AEBS”) for automobiles. Checking of the “AEBS” is carried out during the vehicle’s moving towards different static “targets”. It is estimated a possibility of the “AEBS” to recognize different “targets”, the warning moment of collision situation and automatic braking effectiveness. The test drives are performed on different support surfaces. To avoid the damage of an automobile during the crash with the “target” or the “soft target” is used. This target is made of cardboard material. Besides, avoidance of crashing may be achieved by performing the maneuver “detour of obstacle”. The method of synchronization of a collision warning signal with a parametric record of arrival is described also. There were performed tests of the “AEBS” of “Infiniti QX 60 Hi-tech” automobile model. Also there we analyzed reasons of the “AEBS” failures in various conditions. It was estimated that the technical vision units of the “AEBS of “Infiniti QX 60 Hi-tech” automobile model recognize the “soft target” as the obstacle.

Kulturowa tożsamość emigranta rosyjskiego wobec świata zachodniego

The Cultural Identity of the Russian Emigration towards the Western World. Elysian Fields. A Book of Memory by Vasilij YanovskyElysian Fields. A Book of Memory by Vasilij Yanovsky The article analyses the problem of a cultural identity in the situation of culture collision. Vasilij Yanovsky, representative of the first wave emigration from Soviet Russia to France, in his memories described many cultural differences between French people and Russian emigrants. He showed some features characteristic or west culture in contrast to Russian culture: personal freedom, attitude to the work and others. As an emigrant Yanovsky was both witness to and participant in the creative life of the period between the wars. He paints a picture of those young emigrants who made up Russian Paris and in the same time tried to found out their own culture identity.

A Framework of A Ship Domain-Based Near-Miss Detection Method Using Mamdani Neuro-Fuzzy Classification

Abstract Safety analysis of navigation over a given area may cover application of various risk measures for ship collisions. One of them is percentage of the so called near-miss situations (potential collision situations). In this article a method of automatic detection of such situations based on the data from Automatic Identification System (AIS), is proposed. The method utilizes input parameters such as: collision risk measure based on ship’s domain concept, relative speed between ships as well as their course difference. For classification of ships encounters, there is used a neuro-fuzzy network which estimates a degree of collision hazard on the basis of a set of rules. The worked out method makes it possibile to apply an arbitrary ship’s domain as well as to learn the classifier on the basis of opinions of experts interpreting the data from the AIS.

Three Dimensional Intruder Closest Point of Approach Estimation Based-on Monocular Image Parameters in Aircraft Sense and Avoid

The paper deals with monocular image-based sense and avoid assuming constant aircraft velocities and straight flight paths. From very limited two dimensional image information it finally characterizes the whole three dimensional collision situation by estimating the time to closest point of approach, the horizontal relative distance and its direction and the vertical relative distance also. The distances are relative to the intruder aircraft horizontal and vertical sizes. The overall estimated relative distance is the closest between the two aircraft in three dimension. So finally, every important information can be extracted to be used in a collision decision. The applicability of the developed method is presented in software-in-the-loop simulation test runs. Several intruder size and speed values are considered together with trajectories covering the whole three dimensional space. The horizontal intruder flight directions relative to the own aircraft cover 360∘ and the intruder can come from below ar above also. Detailed evaluation and discussion of the results is also included. Finally, the missed detection rate results to be superior (below 3% in every test scenario) though the false alarm rate results a bit high between 7–14%.

Cooperative and Non-Cooperative Game Control Strategies of the Ship in Collision Situation

Cooperative and Non-Cooperative Game Control Strategies of the Ship in Collision Situation

A possible collision safer device for automobile vehicles

In our modern daily life, automobile vehicles are the most common transportation tools, however, collisions cause millions of people injury or death and billions of dollar property damage every year, safety is the top concern in automobile industry and researchers, great resources and efforts are focused on preventing collisions, but not much on reducing the severity of the collisions when they really happen. A new collision safer device is proposed to substantially reduce the impact force on the people and on the vehicles during the collision, lives can be saved and property damage can be reduced. The proposed collision safer device has one free rotation wheel installed horizontally at the vehicle lower front left and right corners, respectively, it can be also installed in the middle section of the bumper location as option; the wheels will be first contact of the vehicle when in collision; when the collision is no perpendicular, the collision force component parallel to the collision surface of the collision will cause the wheel rotating and make the vehicle rolling slide along the direction of the parallel force component, therefore, the collision will be softer and less harmful, so lives could be saved and property damage could be reduced. At 45 degree collision angle, the effective impact force on the people and the vehicle can be reduced about 30%, such 30% impact force difference could mean life or death; at 30 degree collision angle, the effective impact force is half of the original impact force; and at 20 degree collision angle, the effective impact force is about one third of the original impact force, such dramatic reduction of the effective impact force will significantly reduce the severity of the collision, and reduce the collision injures and property damages. Millions of lives and billions of dollars for the property damages will be saved in the future if the proposed collision safer devices are installed on all vehicles in the future. This collision safer device is simple, low cost and can be installed on all types of vehicles. The proposed collision safer devices can be perfectly fit into the structure of the crumple zone of the vehicles and provide maximum protection for the occupants of the vehicles. The function of the proposed collision safer devices in most frequently happened collision situations are discussed.

Implementation of Anti-Collision System on M/F ‘Wawel’

AbstractThe known navigational systems in use and methods of navigational decision support perform information functions and as such are helpful in the process of safe conduct of a vessel. However, none of these known systems provides a navigator with ready solutions of collision situations taking account of all the vessels in the proximity of own ship, where the Collision Regulations apply. This paper presents verification results of NAVDEC — new Navigational Decision Supporting System created by research team from Szczecin Maritime University both for ocean going ships and pleasure crafts. Verification was carried out in real condition on board Motor Ferry ‘Wawel’ (m/f ‘Wawel’), which belongs to shipowner Polferries (PŻB). During the journey to/from Nynashamn system was tested from customer perspective. Few suggestions for improvements were issued, which were discussed in this article.

Child's attitude towards adult

The purpose of this was study to reveal positive and negative aspects of child‘s attitude towards adults. Analysis of literature sources, interview, collision situation and SPSS were used in the method of the study. The research showed that more than one third of the children had experienced offence from adults of one or another kind. The experienced offence reveals itself in a wide range of negative emotions in children’s memories. The majority of children tend to rely on adult‘s authority in situations that are dangerous to life or health but the latter fail to ensure safe environment in all the cases, what would guarantee elimination of experience of harmful habits from child’s life. An adult remains the most important person in child’s life, who has to show positive examples of own behaviour and interpersonal relations. Keywords: Contemporary child; attitude; behaviour; adults.

Vision Only Collision Detection with Omnidirectional Multi-Camera System

This article presents an omnidirectional multi-camera system applied to monocular image based visual aircraft sense and avoid. The proposed system can cover 360 degrees horizontal field fo view and so estimate possibility of collision even for intruders coming from backward. First, the definitions of time-to-collision (TTC) and closest point of approach (CPA) are summarized then a simple image parameter based method is proposed for their estimation even in case of oblique camera placement relative to aircraft forward direction. An error analysis of the applied approximation formula is done and a solution to pass past measurements from one camera coordinate system to another if the intruder moves is also presented. Finally a six camera system covering all the horizontal plane is proposed and simulated in software-in-the-loop. A large range of collision and non collision situations with different intruder sizes, velocities, miss distances and flight directions is tested. The validity of decisions is evaluated and the further development directions are determined.

The Ship Movement Trajectory Prediction Algorithm Using Navigational Data Fusion.

It is essential for the marine navigator conducting maneuvers of his ship at sea to know future positions of himself and target ships in a specific time span to effectively solve collision situations. This article presents an algorithm of ship movement trajectory prediction, which, through data fusion, takes into account measurements of the ship’s current position from a number of doubled autonomous devices. This increases the reliability and accuracy of prediction. The algorithm has been implemented in NAVDEC, a navigation decision support system and practically used on board ships.

Laws of Formation and Criteria for Predicting Nickel Content in Weathering Crusts of East Kazakhstan

ABSTRACT The article considers from the theoretical point of new global tectonics the geological conditions of formation, peculiar features of material composition, and criteria for predicting deposits of nickeliferous weathering crusts of east Kazakhstan. According to geotectonic zoning, this territory includes geological structures of the Big Altai (BA), which is part of the central Asian mobile belt. The ore-controlling role is assigned to the area of global interaction of the Kazakhstan and Siberian paleocontinents during the stage of the Hercynian collision (Ñ1-Ñ3) followed by the formation of the Zaisan suture zone, the structure of which is represented by the Charsky-Gornostaevsky ophiolite belt (suture stitch). During the Hercynian cycle of tectogenesis, main gold fields of the regions appeared in the Zaisan suture (gold-quartz, gold-sulphide, gold-listvenite, etc.) in a collision situation, controlled by a system of deep faults of the crust and mantle type. In similar tectonic environment, large stockwork gold deposits were formed in Rudny Altai, north Kazakhstan, and other regions. During the Cimmerian cycle, the residual weathering crust deposits of Au, Ti-Zr, Ni-Co were formed in the region of continental rifting. The article emphasizes the spatial association of silicate cobalt-nickel deposits to the outputs of serpentinized ultrabasites of the Charsky-Gornostaevsky belt and provides a characteristic of the geological structure and material composition of nickel content in ores of the Belogorskoye and Gornostaevskoye standard deposits. Expansion of prospects depends on the possibility of growth of reserves of cobalt and nickel ores on the flanks and deep horizons of the known ore fields and search for buried deposits in prospective areas determined by geological and geophysical studies.

Laboratory and numerical study of intense envelope solitons of water waves: Generation, reflection from a wall, and collisions

The investigation of dynamics of intense solitary wave groups of collinear surface waves is performed by means of numerical simulations of the Euler equations and laboratory experiments. The processes of solitary wave generation, reflection from a wall, and collisions are considered. Steep solitary wave groups with characteristic steepness up to kAcr ≈ 0.3 (where k is the dominant wavenumber and Acr is the crest amplitude) are concerned. They approximately restore the structure after the interactions. In the course of the interaction with the wall and collisions, the maximum amplitude of the wave crests is shown to enhance up to 2.5 times. A standing-wave-like structure occurs in the vicinity of the wall, with certain locations of nodes and antinodes regardless the particular phase of the reflecting wave group. A strong asymmetry of the maximal wave groups due to an anomalous setup is shown in situations of collisions of solitons with different frequencies of the carrier. In some situations of head-on collisions, the amplitude of the highest wave is larger than in overtaking collisions of the same solitons. The discovered effects in interactions of intense wave groups are important in the context of mechanisms and manifestations of oceanic rogue waves.

Decentralized control for harmonic drive–based modular and reconfigurable robots with uncertain environment contact

In this article, a decentralized control strategy is presented for harmonic drive–based modular and reconfigurable robots with uncertain environment contact. Unlike conventional methods that rely on robot–environment contact model or force/torque sensing, this article addresses the problem of controlling modular and reconfigurable robots in contact with uncertain environment using only encoder data of each joint module. By employing a control-oriented harmonic drive model, the dynamic model of modular and reconfigurable robot is formulated as a synthesis of interconnected subsystems, in which the interconnected joint couplings are with small magnitudes. Based on the integral sliding mode control technique and the adaptive super-twisting algorithm, the decentralized controller is designed to compensate model uncertainty in which the up-bound is unknown. The stability of the modular and reconfigurable robot system is proved using Lyapunov theory. Finally, simulations are conducted for 2-degree-of-freedom modular and reconfigurable robots with different configurations under the situations of dynamic contact and collision to investigate the advantage of the proposed approach.

The Effect of Traffic Complexity on the Development of Near Misses on the North Sea

Vessel traffic is changing due to changing transport demands, larger ships, and new use of sea space, such as windmill parks. This may have an effect on the risks at sea. This paper uses ship state information provided by automatic identification system-messages to analyze the traffic on the North Sea. From the ship-state information conflict situations are selected, i.e., situations where the ships need to maneuver to avoid collision. In addition, situations of near-miss collisions are calculated. It was found that complex conflicts lead to more near misses. It was also found that near misses are not spread evenly over the sea but are concentrated in a number of specific locations. These findings may be important for the design of route structures for ships, as well as for investigations into methods to resolve complex conflict situations.

An adaptive block-based matching algorithm for crowd motion sequences

For crowd analytics and surveillance systems, motion estimation is an essential first step. Lots of crowd motion estimation algorithms have been presented in the last years comprising pedestrian motion. However, algorithms based on optical flow and background subtraction have numerous limitations such as the complexity of the computation in the presence of high dense crowd and sudden motion changes. Therefore, a novel estimation algorithm is proposed to measure the motion of crowd with less computational complexity and satisfy the real time requirements. The proposed algorithm is based on block-based matching, particle advection, and social force model. By the block-based matching, the motion is estimated in each frame, and the corresponding motion field is created. The particle advection process provides more information about the behavior of pedestrians groups, their tracked trajectories and the boundary of each group segment. Relying on the social force model, a predicted direction of the motion vectors (MV) could be measured significantly. Subsequently, the block-based technique is combined with the social force model to obtain the accurate motion vector with the less possible number of search points. The experimental results indicate that the proposed method achieves high performance by reducing the search points, particularly when many collision situations or obstacles exist in the scenes. Considering the reduction in the computational complexity, the quality of degradation is very low. In all cases, average PSNR degradation of the proposed algorithm is only 0.09.

Using Contactless Scanners for Quality Inspection

The article presents the research of use of modern 3D measurement contactless methods for quality inspection in automotive industry production. The experience with measuring functional assemblies and parts of complex shapes as well as advantages of optical measurement methods are shown on practical research example, whose aim was to find effective procedures and methods of obtaining 3-dimensional high-definition models of measured components. The obtained models were then subjected to inspection of their dimensional and shape accuracy, which was performed by means of comparison with the nominal CAD model, as well as to analyses of the assembly functionality by searching or collision situations of the movable parts of this mechanism.