COLREGS Based Collision Avoidance of Unmanned Surface Vehicles
|
|
- Ambrose Flynn
- 5 years ago
- Views:
Transcription
1 COLREGS Based Collision Avoidance of Unmanned Surface Vehicles Aug 2nd, 2017 Michael R. Benjamin Kyle Woerner, Michael Novitzky, John Leonard MIT Dept. of Mechanical Engineering Computer Science and Artificial Intelligence Lab Acknowledgements Office of Naval Research (ONR 333) has sponsors the COLREGS algorithm development. Dr. Robert Brizzolara. Office of Naval Research (ONR 311) has sponsored MOOS-IvP for nearly 10 years. Dr. Don Wagner, Dr. Behzad Kamgar-Parsi, Dr. Wen Masters. Battelle has sponsored, beginning in 2010, MOOS-IvP, MOOS, the development of our autonomy course at MIT, the purchase of the Heron platforms, and the build-out of our Marine Autonomy Bay facilities. Mr. Mike Mellott and Mr. Mike Kuhlman. Thales UK office has sponsored the COLREGS work, beginning in Faculty collaborators: Prof. Henrik Schmidt MIT MechE Prof. John Leonard MIT MechE/CSAIL Prof. Paul Newman Oxford 1
2 COLREGS Autonomy Idea: Enable autonomous surface vehicles to obey the Rules of the Road COLREGS. Establish a road test for validating the autonomous collision avoidance. COLREGS Autonomy Funded by: Office of Naval Research (ONR) Idea: Enable autonomous surface vehicles to obey the Rules of the Road COLREGS. Establish a road test for validating the autonomous collision avoidance. Research Focus: Map the protocols written for humans into algorithmic format. Find minimal set of field tests that validate widest set of scenario permutations. Crossing Situation Head-on Situation Technical Approach: Collision avoidance protocols mapped to set of modes, and sub-modes. Modes map to a unique form of objective function. Multi-objective optimization with IvP to solve. Impact: Autonomous long-duration coastal sampling with autonomous platforms. Multi-vehicle/swarm capabilities can be built on COLREGS foundation. 2
3 Payload UUV Autonomy (3 Architecture Principles) Payload Computer Main Vehicle Computer Payload Computer IvP Helm MOOS Middleware MOOS Applications Behavior-Based Modular HELM Autonomy Research Focus Areas Aquaticus RoboChallenge COLREGS Training/Documentation/V&V MOOS-IvP 3
4 Overview of the IvP Helm Behavior Output and Action Selection 1 Mail is read in the MOOS OnNewMail() function and applied to a local buffer. 2 The helm mode is determined, and set of running behaviors determined. 3 Behaviors execute posting MOOS variables and an IvP function. 4 Competing behaviors are resolved with the IvP solver. 5 The Helm decision and any behavior postings are published to the MOOSDB. Overview of the IvP Helm Behavior Output and Action Selection Behavior 1 Behavior 2 Behavior 3 f 1 (x 1, x 2,, x n ) f 2 (x 1, x 2,, x n ) f 3 (x 1, x 2,, x n )! x * =! argmax x k 1 i= 0 w i f i (! x ) Action Objective Functions Solver The objective functions are called IvP functions functions of a certain format. The Solver is called the IvP Solver they exploit the IvP function structure. Typical Decision Space: Heading, Speed, Depth 4
5 IvP Functions The IvP Function vs. Underlying Function An IvP function is a piecewise linear approximation of an objective function, over a discrete decision space (domain). Piecewise Linear Approximation 525 Pieces Underlying Function Interval Programming Solution Algorithms Overview An IvP problem consists of a set of k functions, each with a priority weighting. The solution is given by:! x * =! argmax x k 1 i= 0 w i f i (! x ) f 1 f 2 f 3 The Search Tree: 1 level for each function n k leaf nodes (n pieces per function). The Solution algorithm: Branch and bound Pruning based on intersection lookahead. 5
6 Overview of the IvP Helm Behavior Output and Action Selection Behavior 1 Behavior 2 Behavior 3 f 1 (x 1, x 2,, x n ) f 2 (x 1, x 2,, x n ) f 3 (x 1, x 2,, x n )! x * =! argmax x k 1 i= 0 w i f i (! x ) Action Objective Functions Solver Example: Waypoint Traversal Behavior Overview of the IvP Helm Behavior Output and Action Selection Behavior 1 Behavior 2 Behavior 3 f 1 (x 1, x 2,, x n ) f 2 (x 1, x 2,, x n ) f 3 (x 1, x 2,, x n )! x * =! argmax x k 1 i= 0 w i f i (! x ) Action Objective Functions Solver Example: Collision Avoidance Behavior 6
7 Overview of the IvP Helm A Simple Collision Avoidance Example Behavior 1 Behavior 2 Behavior 3 f 1 (x 1, x 2,, x n ) f 2 (x 1, x 2,, x n ) f 3 (x 1, x 2,, x n )! x * =! argmax x k 1 i= 0 w i f i (! x ) Action Objective Functions Solver COLREGS Collision Avoidance (sponsored by ONR, Thales UK) The objective is to avoid collisions with other autonomous and non-autonomous vehicles. COLREGS are the rules of the road for seagoing vessels. They provide a protocol of roles and required actions between vessels. They were written for humans, not autonomous systems. Collision Avoidance WITHOUT COLREGS 7
8 What s Wrong with Non Protocol Based Collision Avoidance Consider the head-on situation If ownship rates candidate maneuvers based on closest point of approach, a maneuver to port or starboard looks equally good. 0 Ownship m/s 180 What s Wrong with Non Protocol Based Collision Avoidance Consider the head-on situation If ownship rates candidate maneuvers based on closest point of approach, a maneuver to port or starboard looks equally good. And the same is true for the contact, so It s possible one turns to port and the other to starboard, or vice versa. Contact 0 0 Ownship m/s m/s
9 COLREGS Collision Avoidance The head-on situation is referenced in Rule 14 of the COLREGS. When two power-driven vessels are meeting on a reciprocal or nearly reciprocal courses so as to involve a risk of collision each shall alter her course to the starboard so that each shall pass on the port side of the other The COLREGS IvP Behavior on ownship heavily penalizes the wrong kind of turn. 0 Ownship m/s 180 COLREGS Collision Avoidance The head-on situation is referenced in Rule 14 of the COLREGS. When two power-driven vessels are meeting on a reciprocal or nearly reciprocal courses so as to involve a risk of collision each shall alter her course to the starboard so that each shall pass on the port side of the other The COLREGS IvP Behavior on ownship heavily penalizes the wrong kind of turn. And, of course, so does the contact: Contact 0 0 Ownship m/s m/s
10 COLREGS Collision Avoidance The give-way (crossing) situation is referenced in Rule 15 of the COLREGS. When two power-driven vessels are crossing so as to involve risk of collision, the vessel which has the other on her own starboard side shall keep out of the way and shall, if the circumstances of the case admit, avoid crossing ahead of the other vessel. The give-way vehicle may cross ahead of the other vessel if it clearly makes more sense. 0 Ownship 2.4 m/s m/s 4 m/s 180 COLREGS Collision Avoidance (sponsored by ONR) The objective is to avoid collisions with other autonomous and non-autonomous vehicles. COLREGS are the rules of the road for seagoing vessels. They provide a protocol of roles and required actions between vessels. Collision Avoidance WITH COLREGS 10
11 Testing / Validation Simulation In-Water Tests Testing / Validation 11
12 Testing / Validation Testing / Validation 12
13 How do we learn from the data? The Challenge: 12 hours of simulation 4 vehicles 1009 encounters RESULTS 1009 encounters 2 collisions -one 0.95m -one 7.5m 9 near misses (8-12m range) Auto Generated Encounter Plots collision Encounter Plots Part of the alogview tool Open Source Works on any mission log file Developed Nov 15 to present. In next release of MOOS-IvP collision Near miss range clear 13
14 In-Water Tests Heron M300 (4) Human-operated Mokai 27 In-Water Tests Day mode 28 14
15 In-Water Tests Day mode 29 In-Water Tests 30 15
16 COLREGS Collision Avoidance (sponsored by ONR, Thales UK) Open Question: Does COLREGS Scale to larger sets of vehicles, swarms? END 16
Autonomy in the Open <Click Here to Download>
Autonomy in the Open March 29th, 2017 Michael R. Benjamin Henrik Schmidt MIT Dept. of Mechanical Engineering Laboratory for Autonomous Marine Sensing Systems Computer Science and
More informationThree Architectures Release 17.7 Michael Benjamin, Henrik Schmidt Thank You!! Three Architectures
MOOS-DAWG 17 August 1st, 2017 Michael R. Benjamin Henrik Schmidt MIT Dept. of Mechanical Engineering oratory for Autonomous Marine Sensing Systems Computer Science and Artificial Intelligence mikerb@mit.edu
More informationLegibility and Predictability of Protocol-Constrained Motion: Evaluating Human-Robot Ship Interactions Under COLREGS Collision Avoidance Requirements
Legibility and Predictability of Protocol-Constrained Motion: Evaluating Human-Robot Ship Interactions Under COLREGS Collision Avoidance Requirements Kyle L. Woerner, Michael Novitzky, Michael R. Benjamin,
More informationMOOS IvP Helm Based Simulations of Collision Avoidance by an Autonomous Surface Craft Performing Repeat-Transect Oceanographic Surveys
MOOS IvP Helm Based Simulations of Collision Avoidance by an Autonomous Surface Craft Performing Repeat-Transect Oceanographic Surveys Michael A. Filimon Dept. of Ocean Engineering Daniel L. Codiga Grad.
More informationAutonomous COLREGS Modes and Velocity Functions Michael R. Benjamin
Computer Science and Artificial Intelligence Laboratory Technical Report MIT-CSAIL-TR-2017-009 May 16, 2017 Autonomous COLREGS Modes and Velocity Functions Michael R. Benjamin massachusetts institute of
More informationModel-based Adaptive Acoustic Sensing and Communication in the Deep Ocean with MOOS-IvP
Model-based Adaptive Acoustic Sensing and Communication in the Deep Ocean with MOOS-IvP Henrik Schmidt & Toby Schneider Laboratory for Autonomous Marine Sensing Systems Massachusetts Institute of technology
More informationCollision Avoidance Road Test for COLREGS-Constrained Autonomous Vehicles*
Collision Avoidance Road Test for COLREGS-Constrained Autonomous Vehicles* Kyle L. Woerner, Michael R. Benjamin, Michael Novitzky, and John J. Leonard Abstract Recently developed algorithms quantify and
More informationThe Evolution of an Autonomous Unmanned Surface Vessel and Software for Hydrographic Survey
The Evolution of an Autonomous Unmanned Surface Vessel and Software for Hydrographic Survey Paul Donaldson In 2017, Leidos, Inc. participated in both the Gulf of Mexico Unmanned Systems Operational Demonstration
More informationQuantifying protocol evaluation for autonomous collision avoidance
Quantifying protocol evaluation for autonomous collision avoidance The MIT Faculty has made this article openly available. Please share how this access benefits you. Your story matters. Citation As Published
More informationNavigation of Unmanned Marine Vehicles in Accordance with the Rules of the Road
Navigation of Unmanned Marine Vehicles in Accordance with the Rules of the Road Under submission for peer-review publication May 26 Michael Benjamin NAVSEA Division Newport Newport RI 2841 Center of Ocean
More informationCollision in restricted visibility
August 2018 Collision in restricted visibility Vessel A, a container vessel, was approaching the pilot station at full speed which was 17 knots and on a course of 280. It was in the afternoon there was
More informationQuantifying protocol evaluation for autonomous collision avoidance
https://doi.org/10.1007/s10514-018-9765-y Quantifying protocol evaluation for autonomous collision avoidance Toward establishing COLREGS compliance metrics Kyle Woerner 1 Michael R. Benjamin 1 Michael
More informationAutonoVi-Sim: Modular Autonomous Vehicle Simulation Platform Supporting Diverse Vehicle Models, Sensor Configuration, and Traffic Conditions
AutonoVi-Sim: Modular Autonomous Vehicle Simulation Platform Supporting Diverse Vehicle Models, Sensor Configuration, and Traffic Conditions Andrew Best, Sahil Narang, Lucas Pasqualin, Daniel Barber, Dinesh
More informationOPTIMIZATION OF MULTI-STAGE DECISION-MAKING PROCESS AT THE GAME MARINE ENVIRONMENT
PRACE NAUKOWE POLITECHNIKI WARSZAWSKIEJ z. 114 Transport 216 Józef Lisowski Gdynia Maritime University, Faculty of Electrical Engineering, Department of Ship Automation OPTIMIZATION OF MULTI-STAGE DECISION-MAKING
More informationA smart navigation and collision avoidance approach for Autonomous Surface Vehicle
Indian Journal of Geo Marine Sciences Vol. 46 (12), December 2017, pp. 2415-2421 A smart navigation and collision avoidance approach for Autonomous Surface Vehicle Jian Hong Mei 1,2 & M. R. Arshad 2 1
More informationPlanning and Acting in Partially Observable Stochastic Domains
Planning and Acting in Partially Observable Stochastic Domains Leslie Pack Kaelbling and Michael L. Littman and Anthony R. Cassandra (1998). Planning and Acting in Partially Observable Stochastic Domains,
More informationAn experimental validation of a robust controller on the VAIMOS autonomous sailboat. Fabrice LE BARS
An experimental validation of a robust controller on the VAIMOS autonomous sailboat Fabrice LE BARS Outline Introduction VAIMOS, an autonomous sailboat for oceanography Autonomy / control Theoretical validation
More informationNAEST(M) training Course Structure and Session Objectives. Day Introduction and enrolment
NAEST(M) training Course Structure and Session Objectives Day 1 0830-0930 Introduction and enrolment 0930-1330 Effective Bridge Procedures & Rule of the Road Lecturer will go through the PowerPoint on
More informationCOMP219: Artificial Intelligence. Lecture 8: Combining Search Strategies and Speeding Up
COMP219: Artificial Intelligence Lecture 8: Combining Search Strategies and Speeding Up 1 Overview Last time Basic problem solving techniques: Breadth-first search complete but expensive Depth-first search
More informationUninformed search methods II.
CS 2710 Foundations of AI Lecture 4 Uninformed search methods II. Milos Hauskrecht milos@cs.pitt.edu 5329 Sennott Square Announcements Homework assignment 1 is out Due on Tuesday, September 12, 2017 before
More informationIntelligent Decision Making Framework for Ship Collision Avoidance based on COLREGs
Intelligent Decision Making Framework for Ship Collision Avoidance based on COLREGs Seminar Trondheim June 15th 2017 Nordic Institute of Navigation Norwegian Forum for Autonomous Ships SINTEF Ocean, Trondheim
More informationUsing MATLAB with CANoe
Version 2.0 2017-03-09 Application Note AN-IND-1-007 Author Restrictions Abstract Vector Informatik GmbH Public Document This application note describes the usage of MATLAB /Simulink combined with CANoe.
More informationCollision Avoidance System using Common Maritime Information Environment.
TEAM 2015, Oct. 12-15, 2015, Vladivostok, Russia Collision Avoidance System using Common Maritime Information Environment. Petrov Vladimir Alekseevich, the ass.professor, Dr. Tech. e-mail: petrov@msun.ru
More informationA Distributed Control System using CAN bus for an AUV
International Conference on Information Sciences, Machinery, Materials and Energy (ICISMME 2015) A Distributed Control System using CAN bus for an AUV Wenbao Geng a, Yu Huang b, Peng Lu c No. 710 R&D Institute,
More informationUninformed search methods II.
CS 1571 Introduction to AI Lecture 5 Uninformed search methods II. Milos Hauskrecht milos@cs.pitt.edu 5329 Sennott Square Uninformed methods Uninformed search methods use only information available in
More informationIntroduction. AI and Searching. Simple Example. Simple Example. Now a Bit Harder. From Hammersmith to King s Cross
Introduction AI and Searching We have seen how models of the environment allow an intelligent agent to dry run scenarios in its head without the need to act Logic allows premises to be tested Machine learning
More informationG53CLP Constraint Logic Programming
G53CLP Constraint Logic Programming Dr Rong Qu Basic Search Strategies CP Techniques Constraint propagation* Basic search strategies Look back, look ahead Search orders B & B *So far what we ve seen is
More informationSite Planning and On-Board Collision Avoidance Software to Optimize Autonomous Surface Craft Surveys
University of Rhode Island DigitalCommons@URI Open Access Master's Theses 2013 Site Planning and On-Board Collision Avoidance Software to Optimize Autonomous Surface Craft Surveys Michael A. Filimon University
More informationEvaluating chaff fire pattern algorithms in a simulation environment. JP du Plessis Institute for Maritime Technology South Africa
Evaluating chaff fire pattern algorithms in a simulation environment JP du Plessis (jdp@imt.co.za) Institute for Maritime Technology South Africa Overview What is seduction chaff? Chaff solution algorithm
More informationOverview. Depth Limited Search. Depth Limited Search. COMP219: Artificial Intelligence. Lecture 8: Combining Search Strategies and Speeding Up
COMP219: Artificial Intelligence Lecture 8: Combining Search Strategies and Speeding Up Last time Basic problem solving techniques: Breadth-first search complete but expensive Depth-first search cheap
More informationBHATNAGAR. Reducing Delay in V2V-AEB System by Optimizing Messages in the System
Reducing Delay in V2V-AEB System by Optimizing Messages in the System Shalabh Bhatanagar Stanley Chien Yaobin Chen TASI, IUPUI, Indianapolis USA Paper Number: 17-0330 ABSTRACT In V2V-AEB (Vehicle to Vehicle
More informationMUNIN s Autonomous Bridge
MUNIN s Autonomous Bridge MUNIN Final Event June 10 th 2015, Hamburg, Germany Dipl.-Wirt.-Ing. Wilko C. Bruhn Research Associate Fraunhofer CML http://www.unmanned-ship.org SST.2012.5.2-5: Grant no. 314286
More informationAN AUTONOMOUS DRIVER MODEL FOR THE OVERTAKING MANEUVER FOR USE IN MICROSCOPIC TRAFFIC SIMULATION
AN AUTONOMOUS DRIVER MODEL FOR THE OVERTAKING MANEUVER FOR USE IN MICROSCOPIC TRAFFIC SIMULATION OMAR AHMAD oahmad@nads-sc.uiowa.edu YIANNIS E. PAPELIS yiannis@nads-sc.uiowa.edu National Advanced Driving
More informationTraffic circles. February 9, 2009
Traffic circles February 9, 2009 Abstract The use of a traffic circle is a relatively common means of controlling traffic in an intersection. Smaller Traffic circles can be especially effective in routing
More informationIMPLEMENTATION OF TRAFFIC SEPARATION SCHEME FOR PREVENTING ACCIDENTS ON THE SUNDA STRAIT
International Journal of Technology (2015) 6: 990-997 ISSN 2086-9614 IJTech 2015 IMPLEMENTATION OF TRAFFIC SEPARATION SCHEME FOR PREVENTING ACCIDENTS ON THE SUNDA STRAIT Sunaryo 1*, Antoni Arif Priadi
More informationProblem Solving as Search - I
Problem Solving as Search - I Shobhanjana Kalita Dept. of Computer Science & Engineering Tezpur University Slides prepared from Artificial Intelligence A Modern approach by Russell & Norvig Problem-Solving
More informationSpacecraft Simulation Tool. Debbie Clancy JHU/APL
FSW Workshop 2011 Using Flight Software in a Spacecraft Simulation Tool Debbie Clancy JHU/APL debbie.clancy@jhuapl.edu 443-778-7721 Agenda Overview of RBSP and FAST Technical Challenges Dropping FSW into
More informationExamples of Carter Corrected DBDB-V Applied to Acoustic Propagation Modeling
Naval Research Laboratory Stennis Space Center, MS 39529-5004 NRL/MR/7182--08-9100 Examples of Carter Corrected DBDB-V Applied to Acoustic Propagation Modeling J. Paquin Fabre Acoustic Simulation, Measurements,
More informationCS472 Foundations of Artificial Intelligence. Final Exam December 19, :30pm
CS472 Foundations of Artificial Intelligence Final Exam December 19, 2003 12-2:30pm Name: (Q exam takers should write their Number instead!!!) Instructions: You have 2.5 hours to complete this exam. The
More informationBetter Search Improved Uninformed Search CIS 32
Better Search Improved Uninformed Search CIS 32 Functionally PROJECT 1: Lunar Lander Game - Demo + Concept - Open-Ended: No One Solution - Menu of Point Options - Get Started NOW!!! - Demo After Spring
More informationMaritime Traffic Situations in Bornholmsgat
http://www.transnav.eu the International Journal on Marine Navigation and Safety of Sea Transportation Volume 9 Number 1 March 2015 DOI: 10.12716/1001.09.01.14 Maritime Traffic Situations in Bornholmsgat
More informationInternational regulations and guidelines for maritime spatial planning related to safe distances to multiple offshore structures (e.g.
International regulations and guidelines for maritime spatial planning related to safe distances to multiple offshore structures (e.g. wind farms) Introduction This is a summary of the most important international
More informationUNIT Coastal Navigation 1 (Intermediate 1)
National Unit Specification: general information NUMBER DC63 10 COURSE SUMMARY This unit is designed to enable candidates to understand the basic elements of coastal navigation and to plan a coastal passage
More informationArtificial Intelligence for the EChO Mission Scheduler
Artificial Intelligence for the EChO Mission Scheduler Álvaro García Piquer Ignasi Ribas Josep Colomé Institute of Space Sciences (CSIC/IEEC), Barcelona, Spain SCIOPS 2013 September 10 13, 2013 Introduction
More informationVirtual Breadboarding. John Vangelov Ford Motor Company
Virtual Breadboarding John Vangelov Ford Motor Company What is Virtual Breadboarding? Uses Vector s CANoe product, to simulate MATLAB Simulink models in a simulated or real vehicle environment. Allows
More informationEvolutionary approach to ship s trajectory planning within Traffic Separation Schemes
POLISH MARITIME RESEARCH 1(72) 2012 Vol 19; pp. 11-20 10.2478/v10012-012-0002-x Evolutionary approach to ship s trajectory planning within Traffic Separation Schemes Rafał Szłapczyński, Ph. D. Gdańsk University
More informationunsignalized signalized isolated coordinated Intersections roundabouts Highway Capacity Manual level of service control delay
Whether unsignalized or signalized, isolated or coordinated, you can use TransModeler to simulate intersections with greater detail and accuracy than any other microsimulation software. TransModeler allows
More informationEuropean Defence Agency / SARUMS
14.CAT.OP.065 Liability for Operations in Unmanned Maritime Vehicles with Differing Levels of Autonomy European Defence Agency / SARUMS Robert Veal Senior Research Fellow, Institute of Maritime Law 14.CAT.OP.065
More informationTASK-BASED INTERFACES FOR DECENTRALIZED MULTIPLE UNMANNED VEHICLE CONTROL
AUVSI 11 Clare TASK-BASED INTERFACES FOR DECENTRALIZED MULTIPLE UNMANNED VEHICLE CONTROL Andrew S. Clare * and Mary L. Cummings INTRODUCTION Enhanced autonomy in Unmanned Vehicles (UV) has given human
More informationAn effective approach for wide area detailed seabed mapping
An effective approach for wide area detailed seabed mapping Busan, 15th November 2017 11/15/2017 1 Ocean Infinity & Partner Proving a comprehensive seabed exploration system for water depth down to 6000
More informationFluid-Structure Interaction Analysis of a Flow Control Device
Abaqus Technology Brief Fluid-Structure Interaction Analysis of a Control Device TB-06-FSI-2 Revised: April 2007. Summary The Vernay VernaFlo flow controls are custom-designed fluid flow management devices
More informationPrincess Nora University Faculty of Computer & Information Systems ARTIFICIAL INTELLIGENCE (CS 370D) Computer Science Department
Princess Nora University Faculty of Computer & Information Systems 1 ARTIFICIAL INTELLIGENCE (CS 370D) Computer Science Department (CHAPTER-3-PART2) PROBLEM SOLVING AND SEARCH (Course coordinator) Searching
More informationLecturers. Multi-Agent Systems. Exercises: Dates. Lectures. Prof. Dr. Bernhard Nebel Room Dr. Felix Lindner Room
Lecturers Multi-Agent Systems Prof. Dr. Bernhard Nebel Room 52-00-028 Phone: 0761/203-8221 email: nebel@informatik.uni-freiburg.de Albert-Ludwigs-Universität Freiburg Dr. Felix Lindner Room 52-00-043 Phone:
More informationSimulation Model Portability 2 standard support in EuroSim Mk4
Simulation Portability 2 standard support in EuroSim Mk4 Jeroen Moelands EuroSim Design Leader (moelands@nlr.nl) Collaborative Engineering Systems department National Aerospace Laboratory NLR EuroSim Workshop
More informationThe Cooperative Cleaners Case Study: Modelling and Analysis in Real-Time ABS
: Modelling and Analysis in Real-Time ABS Silvia Lizeth Tapia Tarifa Precise Modelling and Analysis University of Oslo sltarifa@ifi.uio.no 29.11.2013 S. Lizeth Tapia Tarifa Outline Motivation 1 Motivation
More informationREGULATORY SCOPING EXERCISE FOR THE USE OF MARITIME AUTONOMOUS SURFACE SHIPS (MASS)
E MARITIME SAFETY COMMITTEE 100th session Agenda item 5 MSC 100/INF.6 28 September 2018 ENGLISH ONLY REGULATORY SCOPING EXERCISE FOR THE USE OF MARITIME AUTONOMOUS SURFACE SHIPS (MASS) Preliminary analysis
More informationHydrodynamic analysis of submersible robot
International Journal of Advanced Research and Development ISSN: 2455-4030, Impact Factor: RJIF 5.24 www.advancedjournal.com Volume 1; Issue 9; September 2016; Page No. 20-24 Hydrodynamic analysis of submersible
More informationSWARM INTELLIGENCE APPROACH TO SAFE SHIP CONTROL
POLISH MARITIME RESEARCH 4(88) 2015 Vol. 22; pp. 34-40 10.1515/pomr-2015-0068 SWARM INTELLIGENCE APPROACH TO SAFE SHIP CONTROL Agnieszka Lazarowska Gdynia Maritime University, Poland ABSTRACT This paper
More informationE Navigation Data Auditing Report
E Navigation Data Auditing Report Ship s Name Name_not_disclosed Period March 1 st to 31 st, 2016 General 1. Introduction. The data from the above ship was analyzed in order to carry our Navigational Audit
More informationSolving MINLPs with BARON. Mustafa Kılınç & Nick Sahinidis Department of Chemical Engineering Carnegie Mellon University
Solving MINLPs with BARON Mustafa Kılınç & Nick Sahinidis Department of Chemical Engineering Carnegie Mellon University MINLP 2014 Carnegie Mellon University June 4, 2014 MIXED-INTEGER NONLINEAR PROGRAMS
More informationApplication of Bayesian Networks to Shopping Assistance
Application of Bayesian Networks to Shopping Assistance Yang Xiang, Chenwen Ye, and Deborah Ann Stacey University of Guelph, CANADA Abstract. We develop an on-line shopping assistant that can help a e-shopper
More informationPedestrian Dynamics: Models of Pedestrian Behaviour
Pedestrian Dynamics: Models of Pedestrian Behaviour John Ward 19 th January 2006 Contents Macro-scale sketch plan model Micro-scale agent based model for pedestrian movement Development of JPed Results
More informationIDENTIFYING SKILL GAPS IN THE KNOWLEDGE AND TEACHING OF COLREGS
IDENTIFYING SKILL GAPS IN THE KNOWLEDGE AND TEACHING OF COLREGS ABSTRACT Đani Mohović, Ph.D. Robert Mohović, Ph.D. Mate Barić, B.Sc. University of Rijeka Faculty of Maritime Studie Studentska 2, 51000
More informationAdvanced Applications in Naval Architecture Beyond the Prescriptions in Class Society Rules
Advanced Applications in Naval Architecture Beyond the Prescriptions in Class Society Rules CAE Naval 2013, 13/06/2013 Sergio Mello Norman Neumann Advanced Applications in Naval Architecture Introduction
More informationBEHAVIOR OF SHIP OFFICERS IN MANEUVERING TO PREVENT A COLLISION
Journal of Marine Science and Technology, Vol. 14, No. 4, pp. 225-230 (2006) 225 BEHAVIOR OF SHIP OFFICERS IN MANEUVERING TO PREVENT A COLLISION Bin Lin* Key words: navigational safety, ship collision,
More informationA Numerical Simulation of Fluid-Structure Interaction for Refrigerator Compressors Suction and Exhaust System Performance Analysis
1131, Page 1 A Numerical Simulation of Fluid-Structure Interaction for Refrigerator Compressors Suction and Exhaust System Performance Analysis Shoufei Wu*, Zonghuai Wang Jiaxipera Compressor Co., Ltd.,
More informationISOLATION OF NON-HYDROSTATIC REGIONS WITHIN A BASIN
ISOLATION OF NON-HYDROSTATIC REGIONS WITHIN A BASIN Bridget M. Wadzuk 1 (Member, ASCE) and Ben R. Hodges 2 (Member, ASCE) ABSTRACT Modeling of dynamic pressure appears necessary to achieve a more robust
More informationCSE 3401: Intro to AI & LP Uninformed Search II
CSE 3401: Intro to AI & LP Uninformed Search II Required Readings: R & N Chapter 3, Sec. 1-4. 1 {Arad}, {Zerind, Timisoara, Sibiu}, {Zerind, Timisoara, Arad, Oradea, Fagaras, RimnicuVilcea }, {Zerind,
More informationThe Use of Genetic Algorithm for Traffic Light and Pedestrian Crossing Control
88 The Use of Genetic Algorithm for Traffic Light and Pedestrian Crossing Control Ayad Mashaan Turky, Mohd Sharifuddin Ahmad and Mohd Zaliman Mohd Yusoff, University Tenaga Nasional, Km 7, Jalan Kajang-Puchong,
More informationTraffic flow optimization at sags by controlling the acceleration of some vehicles
Traffic flow optimization at sags by controlling the acceleration of some vehicles? Bernat Goñi-Ros Delft University of Technology b.goniros@tudelft.nl TGF 15 Nootdorp (Netherlands) / 28 Oct. 2015 Characteristics
More informationOne Dimensional Kinematics Challenge Problems
One Dimensional Kinematics Challenge Problems Problem 1: One-Dimensional Kinematics: Two stones are released from rest at a certain height, one after the other. a) Will the difference between their speeds
More informationPropaGator Autonomous Surface Vehicle
PropaGator Autonomous Surface Vehicle Andrew Wegener December 4, 2012 University of Florida Department of Electrical and Computer Engineering EEL 5666C IMDL Final Report Instructors: A. Antonio Arroyo,
More informationMoLE Gas Laws Activities
MoLE Gas Laws Activities To begin this assignment you must be able to log on to the Internet using Internet Explorer (Microsoft) 4.5 or higher. If you do not have the current version of the browser, go
More informationRobust Task Execution: Procedural and Model-based. Outline. Desiderata: Robust Task-level Execution
Robust Task Execution: Procedural and Model-based Mission Goals and Environment Constraints Temporal Planner Temporal Network Solver Projective Task Expansion Initial Conditions Temporal Plan Dynamic Scheduling
More information6.034 Artificial Intelligence
Massachusetts Institute of Technology 6.034 Artificial Intelligence Examination Solutions # 1 Problem 1 Enforcing the Rules on Wall Street (30 points) Part A (12 points) Worksheet Initial Database Joe
More informationOlympus Production Contour Plot
Olympus Production Contour Plot Overview An alternative to the Scale Scenario calculation is the Contour Diagram. The conditions defined in the Scale Scenario are specific to production locations (wellhead,
More informationCSE 3402: Intro to Artificial Intelligence Uninformed Search II
CSE 3402: Intro to Artificial Intelligence Uninformed Search II Required Readings: Chapter 3, Sec. 1-4. 1 {Arad}, {Zerind, Timisoara, Sibiu}, {Zerind, Timisoara, Arad, Oradea, Fagaras, RimnicuVilcea },
More informationTrial 3: Interactions Between Autonomous Vehicles and Pedestrians and Cyclists
Trial 3: Interactions Between Autonomous Vehicles and Pedestrians and Cyclists What is VENTURER? VENTURER is a 5m research and development project funded by government and industry and delivered by Innovate
More informationOcean Fishing Fleet Scheduling Path Optimization Model Research. Based On Improved Ant Colony Algorithm
4th International Conference on Sensors, Measurement and Intelligent Materials (ICSMIM 205) Ocean Fishing Fleet Scheduling Path Optimization Model Research Based On Improved Ant Colony Algorithm Li Jia-lin2,
More informationLecture 1 Temporal constraints: source and characterization
Real-Time Systems Lecture 1 Temporal constraints: source and characterization Basic concepts about real-time Requirements of Real-Time Systems Adapted from the slides developed by Prof. Luís Almeida for
More informationINTERNATIONAL Steering and Sailing Rules
INTERNATIONAL Section II Conduct of Vessels in Sight of One Another RULE 11 Application Rules in this section apply to vessels in sight of one another. RULE 12 Sailing Vessels (a) When two sailing vessels
More informationAutomating Injection Molding Simulation using Autonomous Optimization
Automating Injection Molding Simulation using Autonomous Optimization Matt Proske, Rodrigo Gutierrez, & Gabriel Geyne SIGMASOFT Virtual Molding Autonomous optimization is coupled to injection molding simulation
More informationiii) Satisfactory completion of approved training in the following:
Enclosure (1) to NVIC 13-14 DISCUSSION OF QUALIFICATION REQUIREMENTS FOR MASTER AND OFFICER IN CHARGE OF A NAVIGATIONAL WATCH ON VESSELS OF LESS THAN 500 GT LIMITED TO NEAR-COASTAL WATERS 1. GENERAL. This
More informationCMI QUESTIONNAIRE ON UNMANNED SHIPS
HRVATSKO DRUŠTVO ZA POMORSKO PRAVO ASSOCIATION CROATE DE DROIT MARITIME CROATIAN MARITIME LAW ASSOCIATION Member of Comité Maritime International University of Rijeka Faculty of Maritime Studies Studentska
More informationNaval Postgraduate School, Operational Oceanography and Meteorology. Since inputs from UDAS are continuously used in projects at the Naval
How Accurate are UDAS True Winds? Charles L Williams, LT USN September 5, 2006 Naval Postgraduate School, Operational Oceanography and Meteorology Abstract Since inputs from UDAS are continuously used
More informationUninformed search methods
Lecture 3 Uninformed search methods Milos Hauskrecht milos@cs.pitt.edu 5329 Sennott Square Announcements Homework 1 Access through the course web page http://www.cs.pitt.edu/~milos/courses/cs2710/ Two
More informationNATIONAL INSTRUMENTS AUTONOMOUS ROBOTICS COMPETITION Task and Rules Document
NATIONAL INSTRUMENTS AUTONOMOUS ROBOTICS COMPETITION 2018 2018 Task and Rules Document Table of Contents Competition Background:... 2 Theme: Autonomous Vehicles Fast Track to the Future... 2 Design Elements
More informationNavigators Behavior in Traffic Separation Schemes
http://www.transnav.eu the International Journal on Marine Navigation and Safety of Sea Transportation Volume 9 Number 1 March 2015 DOI: 10.12716/1001.09.01.15 Navigators Behavior in Traffic Separation
More informationFlight Software Overview
Solar Probe Plus A NASA Mission to Touch the Sun Flight Software Overview Christopher Krupiarz Christopher.Krupiarz@jhuapl.edu Overarching Science Objective To determine the structure and dynamics of the
More informationLOCOMOTION CONTROL CYCLES ADAPTED FOR DISABILITIES IN HEXAPOD ROBOTS
LOCOMOTION CONTROL CYCLES ADAPTED FOR DISABILITIES IN HEXAPOD ROBOTS GARY B. PARKER and INGO CYLIAX Department of Computer Science, Indiana University, Bloomington, IN 47405 gaparker@cs.indiana.edu, cyliax@cs.indiana.edu
More informationCollision in restricted visibility
August 2013 Collision in restricted visibility It was early morning and both vessels were sailing in a busy traffic separation scheme in South East Asia. The sea was calm but there were some rain showers
More informationManoeuvring Simulation of Multiple Underwater Vehicles in Close Proximity
Manoeuvring Simulation of Multiple Underwater Vehicles in Close Proximity Dr Adam Mawby SEA (Group) Ltd Beckington Castle PO Box 800 Frome BA11 6TB Tel. +44 (0) 1373 852236 adam.mawby@sea.co.uk Paul Wilson
More informationAIS data analysis for vessel behavior during strong currents and during encounters in the Botlek area in the Port of Rotterdam
International Workshop on Next Generation Nautical Traffic Models 2013, Delft, The Netherlands AIS data analysis for vessel behavior during strong currents and during encounters in the Botlek area in the
More information7 MAN OVERBOARD PROCEDURES
7 MAN OVERBOARD PROCEDURES Overview... 142 Primary Actions... 143 Shout... 143 Throw... 143 Point... 143 Secondary Actions... 144 Initiate Turn... 144 Methods for Turning... 145 Williamson Turn... 145
More information/435 Artificial Intelligence Fall 2015
Final Exam 600.335/435 Artificial Intelligence Fall 2015 Name: Section (335/435): Instructions Please be sure to write both your name and section in the space above! Some questions will be exclusive to
More informationCOLREGs-Compliant Path Planning for Autonomous Surface Vehicles: A Multiobjective Optimization Approach
COLREGs-Compliant Path Planning for Autonomous Surface Vehicles: A Multiobjective Optimization Approach Hu, L., Naeem, W., Rajabally, E., Watson, G., Mills, T., Bhuiyan, Z., & Salter, I. (20). COLREGs-Compliant
More informationSpring Locomotion Concepts. Roland Siegwart, Margarita Chli, Martin Rufli. ASL Autonomous Systems Lab. Autonomous Mobile Robots
Spring 2016 Locomotion Concepts Locomotion Concepts 01.03.2016 1 Locomotion Concepts: Principles Found in Nature ASL Autonomous Systems Lab On ground Locomotion Concepts 01.03.2016 2 Locomotion Concepts
More information1.1 The size of the search space Modeling the problem Change over time Constraints... 21
Introduction : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : 1 I What Are the Ages of My Three Sons? : : : : : : : : : : : : : : : : : 9 1 Why Are Some Problems Dicult to Solve? : : :
More informationOBJECTIFICATION TECHNOLOGY OF PERCEIVED SAFETY & COMFORT DURING ASSISTED DRIVING
OBJECTIFICATION TECHNOLOGY OF PERCEIVED SAFETY & COMFORT DURING ASSISTED DRIVING Erich Ramschak Dr. Jürgen Holzinger Erik Bogner AVL List GmbH erich.ramschak@avl.com ConCar-Forum Berlin 5.-6.July 2017
More informationEvaluation of Unstructured WAVEWATCH III for Nearshore Application
Evaluation of Unstructured WAVEWATCH III for Nearshore Application Jane McKee Smith, Tyler Hesser, Mary Anderson Bryant USACE Research and Development Center, Coastal and Hydraulics Lab Aron Roland BGS
More information