Autonomous surface vessels comprise complex automated systems with advanced onboard sensors. These help establish situation awareness and perform many of the complex tasks required for safe navigation. However, situations occur that require assistance by a human proxy. If not physically present on board, information digestion and sharing between human and machine become crucial to maintain safe operation. This paper addresses the co-design of on-board systems and a Remote Control Centre (RCC). Using the international regulations on watch-keeping (STCW) as a basis, the paper discuss how an autonomous system is designed to meet the STCW requirements. It is discussed how the autonomous system is made aware of the state of the vessel, its surroundings, on-board defects or navigational challenges and shared with the RCC in a collaborating system perspective.
Autonomous systems strive to obtain salient features that include computer intelligence for obtaining situation awareness, decision support to a human navigator, or for facilitating autonomous decision-making in unmanned vehicles. This paper considers the case of autonomous marine surface vehicles, where high-quality decision support will be instrumental for obtaining a periodically unattended bridge and for approval of unmanned bridge operation with fallback through remote operation. The proposed design focuses on a sovereign-based architecture that facilitates safety, resilience and cyber-security. We address central elements of risk in the development and approval of autonomous systems; we analyze the challenges associated with testing, commissioning and maintenance of a highly complex cyber-physical system, and describe design principles for the sovereign agents architecture.
Ship collision with offshore installations is one of the key concerns in design and assess of platforms performance and safety. This paper presents an analysis on collision energy and structural damage in ship and offshore platform collisions for various collision scenarios. The platform or rig is treated as either rigid or flexible and its sensitivity on collision energy and structural damage is studied. An application example where an ice-strengthened supply vessel collides against a jack-up rig is analysed and the crushing resistance of the involved thin-walled structures is evaluated.
The management of produced water (PW) discharges from offshore oil and gas installations in the North Atlantic is under the auspices of OSPAR (Oslo/Paris convention for Protection of the Marine Environment of the North-East Atlantic). In 2010, OSPAR introduced the Risk Based Approach (RBA) for PW management. The RBA includes a hazard assessment estimating PW ecotoxicity using two approaches: Whole Effluent Testing (WET) and Substance Based (SB). Set against the framework of the WET and SB approach, this study conducted a literature review on the magnitude and cause of PW ecotoxicity, respectively, and on the challenges of estimating these. A large variability in the reported magnitude of PW WET was found, with (E/L)C50-values ranging from 100% and a median of 11% (n=301). Metals, hydrocarbons, and production chemicals were identified as causing ecotoxicity across literature. However, this review reveals how knowledge gaps on PW composition and high sample- and species-dependency of PW ecotoxicity makes clear identification and generalization difficult. It also highlights how limitations regarding availability and reliability of ecotoxicity data result in large uncertainties in the subsequent risk estimates, which is not adequately reflected in the RBA output (e.g. environmental impact factors). Thus, it is recommended to increase the focus on improving ecotoxicity data quality before further use in the RBA, and that WET should play a more pronounced role in the testing strategy. To increase the reliability of the SB approach, more attention should be given to the actual composition of PW. Bioassay-directed chemical analysis, combining outcomes of WET and SB in toxicity identification evaluations, may hold the key to identifying drivers of ecotoxicity in PW. Finally, an uncertainty appraisal must be an integrated part of all reporting of risk estimates in the RBA, to avoid mitigation actions based on uncertainties rather than reliable ecotoxicity estimations.
Cyber-resilience is an increasing concern for autonomous navigation of marine vessels. This paper scrutinizes cyber-resilience properties of marine navigation through a prism with three edges: multiple sensor information fusion, diagnosis of not-normal behaviours, and change detection. It proposes a two-stage estimator for diagnosis and mitigation of sensor signals used for coastal navigation. Developing a Likelihood Field approach, the first stage extracts shoreline features from radar and matches them to the electronic navigation chart. The second stage associates buoy and beacon features from the radar with chart information. Using real data logged at sea tests combined with simulated spoofing, the paper verifies the ability to timely diagnose and isolate an attempt to compromise position measurements. A new approach is suggested for high level processing of received data to evaluate their consistency, which is agnostic to the underlying technology of the individual sensory input. A combined generalized likelihood ratio test using both parametric Gaussian modelling and Kernel Density Estimation is suggested and compared with a detector using only either of two. The paper shows how the detection of deviations from nominal behaviour is possible when the navigation sensor is under attack or defects occur.
The paper outlines a rational design procedure for bridge piers and pylons against ship collision impacts. Firstly, a set of risk acceptance criteria are proposed. This is followed by a mathematically based procedure for calculation of the probability of critical ship meeting situations near the bridge, and the probability of ship collision accidents caused by human errors as well as technical errors. This first part of the paper leads to identification of the largest striking ship, “design vessels”, a given bridge pier must withstand without structural failure in order for the bridge connection to fulfil the risk acceptance criteria. The final part of the paper is devoted to an analysis of the needed impact capacity for the bridge pylons and piers exposed to ship bow impact loads from these “design vessels”. For a number of different ship types and different tonnage merchant vessels, load – displacement relations for ship bow collisions against rigid walls are derived. Based on these comprehensive numerical results, a new empirical relation is derived which is suited for design against bow collisions. This expression for maximum bow collision forces is compared with a previously published expression for ice-strengthened ships and with existing standards for assessment of bow crushing forces. It is shown that there is need for an update of these existing standards. For design of piers and pylons against local impact pressure loads, a pressure - area relation for bulbous bow impacts is derived.
This chapter is about emergent safety hazards in engineering systems. These
hazards are those that emerge from a system without arising from any part of the
system alone, but because of interactions between parts. We distinguish two
approaches to analysing engineering systems: one is to view them as sociotechnical, and the other is to consider them as cyber-physical systems. We
illustrate a great deal of emergent hazardous behaviours and phenomena due to
unknown accident physics, malign actions, chemistry, and biology and due to
deficiencies in managements and organisations. The method that follows the
socio-technical view consists in the representation of a system by sequential
functionally unrelated processes that can in reality influence the performance of each other via sneak paths. The method that follows the cyber-physical systems
view focuses on the analysis of control loops (feedback, feedforward, positive,
and negative) and, especially, interrelated loops. The chapter explores also the
realm of security threats due to malign actions that can trigger safety-threatening events. And finally it gives general guidance for avoiding and eliminating safety hazards when designing engineering systems.
Coupled mooring analysis using CFD with dynamic mooring models is becoming an established field. This is an important step for better predictions of responses of moored marine structures in extreme sea states and also for capturing the low-frequency response correctly. The coupling between the CFD and mooring solvers are most often carried out by exchanging the fairlead/anchor points and fairlead forces. In this paper we will discuss the effects of using (i) viscous fluid flow on a mooring component level (submerged buoys and clump weights) and (ii) the fluid-structure coupling between the viscous fluid solver and the mooring system.
This paper proposes an economic and resilient operation architecture for a coupled hydrogen-electricity energy system operating at port. The architecture is a multi-objective optimization problem, which includes the energy system optimal economy as the goal orientation and the optimal resilience as the goal orientation. The optimal resilience orientation looks for the best resilience performance of the port through reasonable energy management including (1) reducing the amount of electricity purchased by the port power grid from the external power grid (2) improving the energy level of electric energy storage (3) improving the energy level of hydrogen energy storage. Taking the actual coupled hydrogen-electricity energy system of Ningbo-Zhoushan Port as an example, four typical scenarios were selected according to renewable generation and load characteristics, and a comparative analysis was carried out during the oriented operation. The results show that although the resilience orientation increases the operating cost compared with the economic orientation, the four scenarios reduce the load shedding by 44.84%, 30.26%, 48.49% and 34.37% respectively when the external power grid is disconnected. The impact of changes in resilience-oriented weight coefficients and hydrogen price on system resilience performance was investigated to provide more references for decision makers.
The present numerical study aims to assess the performance of an Eulerian Stochastic Field (ESF) model in simulating spray flames produced by three fuel injectors with different nozzle diameters of 100 µm, 180 µm and 363 µm. A comparison to the measurements shows that although the simulated ignition delay times are consistently overestimated, the relative differences remain below 28%. Furthermore, the change of the averaged pressure rise with respect to the variation of nozzle diameter is captured by the model. The simulated flame lift-off lengths also agree with the measurements, with a maximum relative difference of 13%. The spray flame produced by a larger nozzle diameter has a fuel-richer premixed core region despite the longer lift-of length, indicating that the higher fueling rate used with the larger nozzle diameter is a more dominating factor than the lift-off length is in influencing the air entrainment into the upstream of the spray flames. In addition, the simulated normalised flame lengths are found to decrease when the nozzle diameters increase. These predictions are in good qualitative agreement with the experimental observation. This work proves that the ESF model can serve as an important tool for the simulation of spray flames in marine diesel engines, where fuel injectors with different nozzle diameters are applied for pilot and main injections.