Voyage Planning Research Articles

A near real-time carbon accounting framework for the decarbonization of maritime transport

The recently proposed marine greenhouse gas (GHG) emission pricing mechanism has pressured shipping companies and regulators to adopt effective methods for the real-time monitoring of carbon emissions. This study proposes a Near Real-Time (NRT) carbon accounting framework that leverages machine learning models to enable carbon emission tracking at a 15-minute time interval. The framework incorporates critical factors, such as ship navigation characteristics, weather, and sea conditions to achieve accurate carbon accounting. We validate the framework’s efficacy through a case study of four mega-container ships of varying sizes and navigation scenarios. Our results show a maximum cumulative error of 5.83% for all ship navigation scenarios, even without critical data, and during the most extended voyages of their respective services. The proposed framework provides a new perspective on the decarbonization application of ship energy efficiency prediction research. By integrating it with a cloud-computing platform, shipping companies can enhance their voyage planning and route adjustment to optimize operational efficiency and reduce carbon footprints. Using this framework, international maritime transport regulators can develop an early warning system for carbon emissions to coordinate and improve environmental sustainability practices in the shipping industry.

Reducing carbon footprint of ships in voyage planning: A case study of Atlantic passage

Determining the most efficient ship routes is crucial for ensuring both safety and fuel savings during voyage planning. Great circle Navigation (GC) and weather routing (WR) are the two most common methods used by navigators for ocean crossings. GC Navigation is renowned for its potential to save time and fuel by following shorter routes over long distances; however, it may expose vessels to adverse weather conditions and sea states due to navigating at higher latitudes. On the other hand, weather routing integrates pilot charts and meteorological data to identify safer routes, albeit potentially longer, minimizing risks associated with rough weather. This study focuses on route planning for a handy-sized tanker contracting a westbound Atlantic ocean voyage within a specific timeframe. The main objective of the study is to evaluate the efficacy of these two methods. The GC route components were computed using spherical trigonometry equations, while weather routing planning relied on pilot charts and meteorological data. Environmental conditions were simulated and tested in the Transas Full Mission Simulator (NTPRO 4000). The results reveal that the WR method provides 21.3% higher energy efficiency than GC. The insights derived from this research contribute significantly to enhancing the operational efficiency and safety standards of commercial vessels.

Intelligent Ship Scheduling and Path Planning Method for Maritime Emergency Rescue

Intelligent ship navigation scheduling and planning is of great significance for ensuring the safety of maritime production and life and promoting the development of the marine economy. In this paper, an intelligent ship scheduling and path planning method is proposed for a practical application scenario wherein the emergency rescue center receives rescue messages and dispatches emergency rescue ships to the incident area for rescue. Firstly, the large-scale sailing route of the task ship is pre-planned in the voyage planning stage by using the improved A* algorithm. Secondly, the full-coverage path planning algorithm is used to plan the ship’s search route in the regional search stage by updating the ship’s navigation route in real time. In order to verify the effectiveness of the proposed algorithm, comparative experiments were carried out with the conventional algorithm in the two operation stages of rushing to the incident sea area and regional search and rescue. The experimental results show that the proposed algorithm can adapt to emergency search and rescue tasks in the complex setting of the sea area and can effectively improve the efficiency of the operation, ensure the safety of the operation process, and provide a more intelligent and efficient solution for the planning of maritime emergency rescue tasks.

Strategies to improve the isochrone algorithm for ship voyage optimisation

ABSTRACT An optimisation algorithm is an essential part of voyage planning systems to achieve autonomous and intelligent operations. Various algorithms have been proposed for voyage planning to minimise fuel consumption and increase punctuality. Among them, the isochrone method has been recognised for its robustness and efficiency in voyage optimizations. This paper improves it to overcome its incompetence in multi-objective optimisation and reliable route convergence towards the destination. Five improved methods are proposed and compared, to investigate the most effective enhancing strategy to achieve robustness and practicality in real-time application. By changing search space after the middle stage of the voyage, and formulating an augmented cost function to refine search criteria according to different optimisation objectives, one improved isochrone method (named Isochrone-A*) shows more competitive capability, with potential in real-time implementations. The effectiveness and efficiency of these five improved strategies are compared using four ocean-crossing voyages collected by a chemical tanker.

The Development of a Machine Learning-Based Carbon Emission Prediction Method for a Multi-Fuel-Propelled Smart Ship by Using Onboard Measurement Data

Zero-carbon shipping is the prime goal of the seaborne trade industry at this moment. The utilization of ammonia and liquid hydrogen propulsion in a carbon-free propulsion system is a promising option to achieve net-zero emission in the maritime supply chain. Meanwhile, optimal ship voyage planning is a candidate to reduce carbon emissions immediately without new buildings and retrofits of the alternative fuel-based propulsion system. Due to the voyage options, the precise prediction of fuel consumption and carbon emission via voyage operation profile optimization is a prerequisite for carbon emission reduction. This paper proposes a novel fuel consumption and carbon emission quantity prediction method which is based on the onboard measurement data of a smart ship. The prediction performance of the proposed method was investigated and compared to machine learning and LSTM-model-based fuel consumption and gas emission prediction methods. The results had an accuracy of 81.5% in diesel mode and 91.2% in gas mode. The SHAP (Shapley additive explanations) model, an XAI (Explainable Artificial Intelligence), and a CO2 consumption model were employed to identify the major factors used in the predictions. The accuracy of the fuel consumption calculated using flow meter data, as opposed to power load data, improved by approximately 21.0%. The operational and flow meter data collected by smart ships significantly contribute to predicting the fuel consumption and carbon emissions of vessels.

An Isochrone-Based Predictive Optimization for Efficient Ship Voyage Planning and Execution

An Isochrone-Based Predictive Optimization for Efficient Ship Voyage Planning and Execution

Improvement of operational planning by small shipping enterprises

The article analyzes the current state and prospects for the development of the system for operation planning of the river cargo fleet. The main changes in the work of the fleet since the early 1990s and the necessity for improvement of the existing planning system are noted. The factors that should be taken into account when developing a fleet operation planning system (FOP) for a particular shipping company are specified. The analysis of the "small enterprise" concept in relation to a shipping company (SC) is given and the main distinguishing features of a small enterprise from a large one are indicated. The reference is made to the necessity of developing a FOP system for small SC, which will take into account modern economic conditions and trends. The importance and possibility of using information technologies as a basis for continuous voyage planning is substantiated. Some distinctive features of implementing continuous planning in maritime transport and on inland waterways are formulated. The principles that the operational planning system must comply with in modern conditions are presented.

A coordinated generation and voyage planning optimization scheme for all-electric ships under emission policy

The International Maritime Organization has introduced the concept of Emission Control Area to reduce sulfur emissions from coastal areas. The expensive low-sulfur fuels are required to be used in Emission Control Area, leading to increased sulfide emissions due to bypassing by ship operators. It creates new challenges for navigation and power generation scheduling of all-electric ships. This article presents a new bi-objective joint optimization scheme for ship sailing routes and energy management. It considers emission control strategies to balance the total cost of operation and sulfur dioxide emissions throughout the ship’s voyage. Unlike previous optimization problems with fixed routes and sailing time, the influence of emission policies on the operator’s navigation decisions is considered. The route options and sailing time are treated as variables embedded in the model. In addition, the optimization accuracy is improved by integrating the model into mixed integer linear programming through a modified piecewise linearization model. The results show that the total operating cost for the same route is reduced by 6.05%, and the SO2 emission is 8.36% after integrating the emission policy influencing factor in the model. The effectiveness of the proposed scheme is validated, and the model’s necessity for optimizing ship power generation and voyage within Emission Control Area is also illustrated.

The effectiveness of S-100 ECDIS capable of ENDS in the view of ship officers’ visual characteristics

The development of electronic chart display and information systems (ECDIS) has enabled conversion of nautical charts from paper publications to electronic format. Because the International Maritime Organization (IMO) has mandated the installation of ECDIS in ships engaged in international navigation, the effectiveness of the newly introduced S-100 ECDIS must be determined using electronic equipment, compared with traditional navigation preparation tasks. Here, the effectiveness of the S-100 ECDIS, capable of Electronic Navigational Data Service (ENDS), was compared with the effectiveness of the existing ECDIS and traditional nautical publications by analyzing the visual performance of ship officers during tasks involved in developing a voyage plan. This study showed that the S-100 ECDIS with ENDS is more effective than the S-57 ECDIS with nautical publications. The improvement in voyage planning using the S-100 ECDIS was demonstrated by ship officers’ visual performance.

Optimizing Voyage Costs in Maritime Supply Chains: A Holistic Approach Towards Logistics Service Improvement and Supply Chain Finance

Abstract The multi-objective optimization for voyage planning, which aims to balance time, fuel utilization, and all other relevant service costs, is noticeably absent in the scientific literature. The reason behind this gap is closely linked to the involvement of a large number of participants with conflicting interests in the process. This complexity explains why modelling an optimization tool for maritime logistics services appears challenging. Although new technologies such as blockchains and smart contracts have helped reduce the number of participants and address some complexities, they cannot fully resolve the fragmentation observed in maritime transport. To address the need for optimized voyage management for vessels, this study takes a holistic approach to voyage costs within the maritime supply chain, similar to how a single company would approach it. The study combines a case study from the container shipping industry, expert interviews, project results, and secondary empirical data research to develop a financial model for optimizing voyage costs. The research opens up opportunities for improving logistics services and developing new business models in the field of supply chain finance.

Route optimization for vessels in ice: Investigating operational implications of the carbon intensity indicator regulation

The International Maritime Organization has adopted the Carbon Intensity Indicator (CII) regulation to promote decarbonization of shipping operations. The CII regulation includes specific treatment for vessels sailing in ice, which allows the time spent in ice, the associated emissions and transport work, to be excluded from the reported annual CII. The current study investigates the implications and possible side effects of this exemption in all ice-covered waters. A proposed model integrates the CII regulation into a route optimization tool for vessels in ice. The research decomposes the regulation from evaluating an annual CII value to monitoring an instantaneous CII value over a unit distance. A ship performance model is used to estimate resistance, powering, and fuel consumption. A graph-based pathfinding method is applied to find optimal routes and speeds for the vessel. A hypothetical bulk carrier with ice class 1A Super operating in the Canadian Arctic is considered as a case study. The Polar Operational Limit Assessment Risk Indexing System is applied to promote safe operations in ice. The demonstrations explore route optimization with and without CII considerations, including the exemption for ships sailing ice. The results show that the CII regulation promotes reduced speeds to curb fuel consumption and carbon emissions. The findings also indicate that the exemption for sailing in ice conditions influences routing decisions with results that are contrary to the intent of the regulation. This research provides a tool to support ship operators with voyage planning and policy-makers in evaluating the impact of the CII regulation.

A Comparative Study of Machine Learning Models for Predicting Vessel Dwell Time Estimation at a Terminal in the Busan New Port

Container shipping plays a pivotal role in global trade, and understanding the duration that vessels spend in ports is crucial for efficient voyage planning by shipping companies. However, these companies often rely solely on one-way communication for required arrival times provided by terminals. This reliance on fixed schedules can lead to vessels arriving punctually, only to face berths that are still occupied, resulting in unnecessary waiting times. Regrettably, limited attention has been given to these issues from the perspective of shipping companies. This study addresses this gap by focusing on the estimation of dwell times for container vessels at a terminal in the Port of Busan using various machine learning techniques. The estimations were compared against the terminal’s operational reference. To compile the dataset, a 41-month history of terminal berth schedules and vessel particulars data were utilized and preprocessed for effective training. Outliers were removed, and dimensions were reduced. Six regression machine learning algorithms, namely adaptive learning, gradient boosting, light gradient boosting, extreme gradient boosting, categorical boosting and random forest, were employed, and their parameters were fine-tuned for optimal performance on the validation dataset. The results indicated that all models exhibited superior performance compared to the terminal’s operating reference model.

Predicting ship fuel consumption using a combination of metocean and on-board data

Fuel Oil Consumption (FOC) accounts for a significant proportion of a vessel's operating costs. The cost of fuel for a fishing vessel operation may often go up to 50% or more. Accurate forecasting FOC in voyage planning stage is essential for route optimization decision support system with the objective of fuel-saving, which is difficult because the future state of the vessel and its power and machinery systems for fuel modelling are not available during route planning stage. Moreover, the state of the environment conditions and its impact on vessel performance should be considered. In this paper, machine learning approaches were applied to predict FOC from plannable in-situ variables and modelled speed through water. The latter is estimated from speed over ground and environmental variables in this work, whose prediction is also critical for decision support systems to avoid collisions. By applying the proposed methodology, the final selected Random Forest models can achieve high mean accuracies (over 92%) in predicting fuel consumption on unseen future data.

Impact of Carbon Intensity Indicator on the Vessels’ Operation and Analysis of Onboard Operational Measures

The new carbon intensity indicator (CII) is an operational tool that is part of SEEMP III and came into force on 1 January 2023. It is a measure of a vessel’s efficiency in CO2 emitted per deadweight nautical mile and is aimed at supporting the decarbonization of maritime transportation. There are studies indicating that no matter which CII option is applied, the overall CO2 emissions can increase, and maybe the proposal of a new CII is required. It has been suggested that an average CII could be calculated for an entire company rather than for each individual ship. This case study analyzed the 1-year calendar routes of four vessels (one container carrier, two bulk carriers, and one tanker vessel); the CII results were evaluated, and further operational measures were applied to improve the CII rating. It was observed that CII is highly dependent on idle and laden voyages, and very good cooperation between shipowners and charterers is a must. The anchor/drifting and port times must be reduced to the minimum, and vessels’ schedules should be adjusted for just-in-time arrival to optimize the speed between ports. That requires the voyage planning to be evaluated and adjusted based on port operations.

Generating a path-search graph based on ship-trajectory data: Route search via dynamic programming for autonomous ships

Voyage optimization is critical for voyage planning and an important approach for realizing the autonomous and green operation modes for ships. In recent years, voyage optimization (also referred to as weather routing) has been extensively investigated and commercial solutions have also been launched. It is used to find the shortest path (optimum path) for voyage planning, which can help reduce the operating costs of the ship. However, accurately estimating fuel costs and validating routes within an acceptable computational time remain challenging. In this study, we devised methods to generate a path-search graph based on ship-trajectory data and determined an optimal route based on dynamic programming. The trajectory data of the vessels were extracted from their automatic identification systems, and the errors contained in the data were discarded via preprocessing. The trajectory data were subsequently simplified using the Douglas–Peucker method, following which a path-search graph was created using Delaunay triangulation and the number of vertices were reduced using the quadtree method. The search graph was validated using a high-resolution bathymetric chart, and dynamic programming was adopted to determine the optimal route for minimizing fuel costs. Changes in the operational performance caused by meteorological conditions were calculated, and the fuel costs were estimated using the wind resistance coefficient and SHOPERA-NTUA-NTU-MARIC method. The effect on power was determined by the effect of current on the vessel speed; this methodology was simulated and tested on oil tankers, container ships, and car and gas carriers. The fuel saved for each vessel compared to that used for the shortest path was estimated when sailing the transpacific and transatlantic routes; a maximum fuel reduction of approximately 7.8% was estimated. The proposed methods can be applied to various ship types and maritime zones to reduce the computation time of path-search graph generation while considering the high-resolution map and accurately estimating the fuel-oil consumption.

Ship voyage optimization based on fuel consumption under various operational conditions

Aiming at reducing ship emissions and lower operational cost, less fuel consumption is always pursued by shipping industry. Compared with other methods on reducing the fuel consumption, such as optimizing the design of hull lines or ship propulsion system, setting additional energy saving device, the voyage optimization is a way which is easier to implement and needs less investment cost. In this paper, an integrated simulation model of ship propulsion and maneuvering system is established and verified. Then, a benchmark 38800 t cargo ship and a 32n miles coastal service are selected for the case study. Based on the ship operating characteristic and voyage environments, 24 representative cases of combination about the voyage set up and ship control modes are proposed. The ship fuel consumptions under 24 cases are calculated using the integrated simulation model. Finally, fuel consumption change under different conditions are analyzed and the most reasonable case of saving fuel consumption is provided. This study tries to investigate the influence of multiple factors on the ship fuel consumption considering the realistic and representative operating conditions, and provides theoretical suggestions for ship propulsion and maneuvering control, voyage planning and engine management for reducing fuel consumption over ship voyages.

A Decade of ECDIS: Analytical Review of the ECDIS Effect Towards the Safety of Maritime Shipping

The Electronic Charts Display Information System (ECDIS) on board ships is one of the latest amendments that have been stipulated by the International Maritime Organization (IMO) since 2008 and had been widely spread in 2012, and the main purpose of implementing the use of ECDIS was to use modern technology to help in operating ships to obtain a safe navigational watch and a safe approach and mooring in ports. Additionally, it facilitates voyage planning as an easy-to-use tool. Hence, ten years passed (2012-2022). The question arose, was the use of ECDIS considered an improvement to the safe operation of ships, or, on the contrary, it led to an increase in marine accidents? The authors initiated the study after the hypothesis that the ECDIS could be a major cause of marine accidents, and the authors found that the statistics in the hands of the researchers were not indicative of a conclusive opinion. Therefore, the researcher used the criterion of questionnaire as a means of quantitative statistics as a research tool to identify the opinion and vision of bridge seafarers for the use of ECDIS in a decade and to identify if any development is needed either in operational or educational sight. The methodology used in this research was the qualitative analysis data method through a questionnaire for different ECDIS users and indicated that the equipment carried an unprecedented positive effect on the safety of navigation. The questionnaire was based on 10 different questions. Yet, a great fraction agreed that there is a massive room for improvement in the areas of software, hardware, and external sensors to effectively contribute to an efficient Integrated Bridge System.

A Decade of ECDIS: Analytical Review of the ECDIS Effect towards the Safety of Maritime Shipping

The Electronic Charts Display Information System (ECDIS) on board ships is one of the latest amendments that have been stipulated by the International Maritime Organization (IMO) since 2008 and had been widely spread in 2012, and the main purpose of implementing the use of ECDIS was to use modern technology to help in operating ships to obtain a safe navigational watch and a safe approach and mooring in ports. Additionally, it facilitates voyage planning as an easy-to-use tool. Hence, ten years passed (2012-2022). The question arose, was the use of ECDIS considered an improvement to the safe operation of ships, or, on the contrary, it led to an increase in marine accidents? The authors initiated the study after the hypothesis that the ECDIS could be a major cause of marine accidents, and the authors found that the statistics in the hands of the researchers were not indicative of a conclusive opinion. Therefore, the researcher used the criterion of questionnaire as a means of quantitative statistics as a research tool to identify the opinion and vision of bridge seafarers for the use of ECDIS in a decade and to identify if any development is needed either in operational or educational sight. The methodology used in this research was the qualitative analysis data method through a questionnaire for different ECDIS users and indicated that the equipment carried an unprecedented positive effect on the safety of navigation. The questionnaire was based on 10 different questions. Yet, a great fraction agreed that there is a massive room for improvement in the areas of software, hardware, and external sensors to effectively contribute to an efficient Integrated Bridge System.

EFFECT OF THE LEARNING OUTCOMES OF THE TERRESTIAL NAVIGATION COURSE IN COMPETENCE PASSAGE PLANNING FOR CADETS WHO ARE CARRYING OUT SEA PROJECT ON BOARD

Terrestial Navigation is a harmonious union between science and art that teaches us how to sail a ship from one place to another safely, quickly, efficiently, and economically and safely to the destination. Passage Planning is the planning of ship voyages from one place to another safely, quickly and economically, and safely to the destination. Shipping from one port to another must be coordinated by all crew members. Politeknik Pelayaran Malahayati, which is a Technical Implementation Unit under the Ministry of Transportation, the Transportation HR Development Agency, which has the task of implementing Vocational Education, research, and Community Service in the field of Shipping, has organized a Diploma III Nautical Studies, Ship Engineering Studies, and Ship Electrical System Studies. This study aims to evaluate the influence of understanding Passage Planning Terrestial Navigation on the competence of cadets when doing Sea Project on board. The research method used is quantitative research with a sampling technique using purposive sampling on cadets at Voyage schools. Data was collected through questionnaires and regression analysis was used to test the hypothesis. The results of the study show that the understanding of Passage Planning in Terrestial Navigation has a significant effect on the competence of cadets when carrying out maritime practices on board. Therefore, it is suggested for Voyage schools improve the learning of Terrestial Navigation Passage Planning to increase the competence of cadets in carrying out maritime practices on board. The results of the study simultaneously obtained the value of Fcount > Ftable [29.008 > 2.513] at the significance level∝ = 5%, this states that simultaneously the variables Catalog & Nautical Chart (x1), Plotting Position (x2), Distance and Course Voyage Determination (x3), Voyage Planning Tabulation (x4), affect competence cadets during Sea Project on board at Politeknik Pelayaran Malahayati.

Joint Voyage Planning and Onboard Energy Management of Hybrid Propulsion Ships

Maritime transportation decarbonization has become a crucial factor in reducing carbon emissions and mitigating climate change. As an industry that historically relies on fossil fuels, in particular, heavy fuel oil, the reinvention of the maritime transportation system is occurring at an unprecedented speed to integrate renewable and green energy, low-/zero- carbon fuels, and green infrastructure to support emission-free shipping. In this paper, a two-stage joint optimization model is proposed to optimize the voyage planning of a ship among multiple ports as well as its onboard energy management during each section of the voyage. More specifically, in the first stage, the arrival time of ships is optimized according to the mission of the ship and the electricity prices offered at each port. In the second stage, the speed of the ship, the dispatch of the onboard diesel engine, and the usage of energy storage systems (ESSs) are optimized based on emission control areas and maritime meteorological conditions. Simulation results have shown that the proposed approach would help ship operators minimize the operating cost over the whole voyage while significantly contributing to carbon emissions reduction.