Department of Maritime Simulation Paweł Zalewski
Title: Integrity Concept for Maritime Autonomous Surface Ships’ Position Sensors
Author/Authors: Paweł Zalewski
Place of publication: SENSORS, vol. 20(7); pp. 2075
Year: 2020
Keywords: MASS, maritime position sensors, integrity, PVT, PNT, GNSS
Abstract: The primary means for electronic position fixing currently in use in majority of contemporary merchant ships are shipborne GPS (Global Positioning System) receivers or DGPS (Differential GPS)and IALA (International Association of Lighthouse Authorities) radio beacon receivers. More advanced GNSS (Global Navigation Satellite System) receivers
able to process signals from GPS, Russian GLONASS, Chinese Beidou, European Galileo, Indian IRNSS, Japan QZSS, and satellite-based augmentation systems (SBAS) are still relatively rare in maritime domain. However, it is expected that such combined or multi-system receivers will soon become more common in maritime transport and integrated with gyro, inertial, radar, laser, and optical sensors, and they will become indispensable onboard maritime autonomous surface ships (MASS). To be prepared for a malfunction of any position sensors, their state-of-the-art integrity monitoring should be developed and standardized,taking into account the specificity of MASS and e-navigation safety. The issues of existing requirements, performance standards, and future concepts of integrity monitoring for maritime position sensors are discussed and presented in this paper.
Website address (link) to the full text of the publication: https://www.mdpi.com/1424-8220/20/7/2075
Title: Optimization of fairway design parameters: Systematic approach to manoeuvring safety
Author/Authors: Stanisław Gucma, Paweł Zalewski
Place of publication: International Journal of Naval Architecture and Ocean
Engineering, vol. 12, pp. 129-145
Year: 2020
Keywords: Navigation channel, Fairway width, Manoeuvring safety, Marine engineering, Optimization
Abstracts: The article presents a systematic approach to design of marine navigation channels parameters resulting from manoeuvring and operational safety. Relations between the parameters of waterway system elements and the conditions of safe ship operation have been determined and the objective function of waterway parameters’ optimization problems has been minimized with respect to variables of construction and operation costs. These costs have been functionally
associated to variables of channel width at the bottom and fairway depth. The method of fairway’s width computation at specified safe depth at the preliminary and detailed stages of waterway design has been proposed. The results of this method application have been illustrated with two examples:
1.The modernization of Szczecin-Świnoujście fairway aimed at accepting vessels of 60,000 DWT capacity.
2.Construction of an approach channel leading to a newly built container terminal in Świnoujście harbour (Poland), handling ocean-going container ships of 20,000 TEU capacity.
Website address (link) to the full text of the publication: https://www.sciencedirect.com/science/article/pii/S2092678219300202
Title: A Critical Analysis of IMO S-Mode Guidelines
Author/Authors: Paweł Zalewski
Place of publication:TransNav-International Journal on Marine Navigation and Safety of Sea Transportation, vol. 13 no 4, pp. 841-846
Year: 2019
Keywords: Watchkeeping, S-Mode, International Maritime Organization (IMO), Critical Analysis, User Interface Design,
Navigation Equipment, Radar Equipment, ECDIS
Abstract: Circular on “Guidelines for the Standardization of User Interface Design for Navigation Equipment”, commonly
known as “S-Mode Guidelines”, has lately been approved by International Maritime Organisation. Its potential impact on default and common user settings of radar equipment, electronic chart display & information system, and integrated navigation system has been discussed in the article. Several issues that should be considered during technical implementation of the circular provisions and follow-up familiarization of navigators with the affected equipment have been identified.
Website adress (link) to the full text of the publication: http://www.transnav.eu/Article_A_Critical_Analysis_of_IMO_S-Mode_Zalewski,52,962.html
Title: The role of GNSS to support UAS operations for surveillance
Author/Authors: Marco Nisi, Pietro Cristofanilli, Lucjan Gucma, Paweł Zalewski, Alberto Mennella, Graziano Gagliarde, Gianluca Luisi, Bilal Muhammad, Ramjee Prasad, Damiano Taurino
Place of publication: Ka and Broadband Communications Conference , vol. 1, pp. 1-15
Year: 2019
Abstract: In this paper an innovative UAS approach is presented for surveillance related applications, based on
autonomous operations (conventional drone) and continuous operation (tethered drone). For both the approaches the importance of GNSS technology has been shown with particular attention to the key performance indicators to be
achieved.A test campaign has been realised aiming to demonstrate how a tethered drone configuration can be also mounted on board a moving vehicle exploiting a “follow the vehicle” functionality using the baseline measurement performed by means of GNSS receivers. The results presented shows interesting performance in terms of moving baseline estimation accuracy and RTK availability for all the collected data sets at vehicle speed of 40 kmph and 60 kmph where we opted for a vehicle which has a flat rooftop with no obstructions whatsoever that could produce multipath. Finally, we can argue that the moving baseline estimation can be effective to measure accurately the position of tethered RPA with respect to the moving maritime vessel in real time. The tests results showed that the moving baseline can be estimated at decimetric level, when the position of the receiver is RTK fixed, even at top speed of 60 kmph. As future work, further receivers coming soon in the market will be investigated and tested in other realistic environment on board a drone to perform a complete end to end test to verify the “follow the vehicle” functionality allowing a drone to be coupled with a car or a ship taking also into account the harsh weather conditions.
Website adress (link) to the full text of the publication: http://proceedings.kaconf.org/papers/2019/ka4_6.pdf
Title: GNSS Measurements Model in Ship Handling Simulators
Author/Authors: Mateusz Bilewski, Paweł Zalewski
Place of publication: IEEE Access , vol. 7, pp. 76428 - 76437
Year: 2019
Keywords: GNSS, GPS, ECDIS, simulation, ship handling, marine navigation
Abstract: Electronic chart display and information system (ECDIS) forms the basis of contemporary and future marine e-navigation, track control, and integrated navigation systems, and is a key navigational aid in maritime ship handling simulators. All the ECDIS information is referred to as positioning, navigation, and timing (PNT) data derived from the global navigation satellite system (GNSS) by default. GNSS data fidelity, its representation, and accurate model of error propagation to ship final position are becoming the key factors enabling ship handling simulators to be utilized in navigators’ training and research analyses of vessels’ maneuvering. This paper presents an advanced stochastic model of GNSS code pseudorange observations and position-fix calculation based on GPS example. It has been developed for simulated GPS shipborne receivers interconnected to the ECDISs in physical and virtual reality ship simulators.
Website address (link) to the full text of the publication: https://ieeexplore.ieee.org/document/8733882
Title: Modern Dynamic Positioning (DP) System of ORP “KORMORAN” - Class Mine Destryer
Author/Authors: Paweł Zalewski, Roman Haberek, Mirosław Chmieliński
Place of publication: Zeszyty Naukowe Akademii Marynarki Wojennej, vol.215 Issue 4, pp. 143-155
Keywords: DP, dynamic positioning, thrust allocation, constrained convex optimization, ORP “Kormoran”
Abstract: The paper presents the dynamic positioning system (DP), particularly its thruster allocation model, designed
for ORP ‘Kormoran’, a Polish mine destroyer built for the Polish Navy in Remontowa Shipbuilding S.A. in Gdańsk. The ORP ‘Kormoran’ ship is the newest and best equipped minehunter ship in Europe. The main task of the new Polish
mine destroyer is to search for, classify, identify and combat marine mines and improvised underwater explosives, recognize waterways, transport mines, deploy mines and provide remote control of self-propelled anti-mine platforms. The dynamic positioning control system of the ship presented in the article was constructed by Autocomp Management Ltd. from Szczecin, the only in Poland and one of the few producers of dynamic ship positioning systems in the world.
Website address (link) to the full text of the publication: https://content.sciendo.com/view/journals/sjpna/215/4/article-p143.xml
Title: Assessment of GNSS Position Integrity with the Use of Postprocessed EGNOS Data in the Area of Szczecin-Świnoujście Waterway
Author/Authors: Mateusz Bilewski, Paweł Zalewski
Place of publication: Annual of Navigation, vol.25/2018 , pp. 66-77
Year: 2018
Keywords: EGNOS, SBAS, integrity data, SISNET parser, CRC-24Q
Abstract: GNSS measurements can be supplemented by the information available in EGNOS system even if one has only GNSS receiver that is not processing Satellite-Based Augmentation Systems data. The article describes how to obtain the variances of ranges to the satellites used for positioning when the final antenna position and satellites’ elevation
and azimuths values are recorded. To verify how the resultant estimates of position error correspond to real errors the research based on GPS receiver was conducted.
Website address (link) to the full text of the publication: https://annualofnavigation.pl/wp-content/uploads/2019/03/5_BILEWSKI_ZALEWSKI_1807121714174704.pdf
Title: Constraints in allocation of thrusters in a DP simulator
Author/Authors: Paweł Zalewski
Place of publication: Zeszyty Naukowe Akademii Morskiej w Szczecinie, vol. 52(124)2017 , pp.45-50
Year: 2017
Keywords: dynamic positioning, thrust allocation, convex optimization, constrained optimization, DP simulator, thrusters
Abstract: Vessels conducting dynamic positioning (DP) operations are usually equipped with thruster configurations
that enable the generation of force and torque. Some thrusters in these configurations are deliberately redundant to minimize consequences of thruster failures, enable overactuated control and increase the safety in operation. On
such vessels, a thrust allocation system must be used to distribute the control actions determined by the DP controller among the thrusters. The optimal allocation of the thrusters’ settings in DP systems is a problem that can be solved
by convex optimization methods depending on the criteria and constraints used. This paper presents a quadratic programming (QP) method, adopted in a DP control model, which is being developed in Maritime University of Szczecin for ship simulation purposes.
Website address (link) to the full text of the publication: http://repository.am.szczecin.pl/handle/123456789/2442
Author/Authors of Chapter 6.1: Parametryzacja systemu podejściowych dróg wodnych metodą CIRM (Centrum Inżynierii Ruchu Morskiego), strony 147-161.
Title of monograph : Inżynieria ruchu morskiego. Wytyczne do projektowania morskich dróg wodnych i portów oraz warunków ich bezpiecznej eksploatacji
Author/Authors : Stanisław Gucma, Jarosław Artyszuk, Mateusz Bilewski, Rafał Gralak, Lucjan Gucma, Maciej Gucma, Krzysztof Marcjan, Wojciech Ślączka, Paweł Zalewski
Place of publication: Wydawnictwo Akademii Morskiej w Szczecinie
Year: 2017
Keywords: morskie drogi wodne, wymiarowanie morskich dróg wodnych, eksploatacja statków, przepustowość dróg wodnych, analiza ryzyka
Abstract: Inżynieria ruchu morskiego jest dyscypliną zajmującą się jakościowym i ilościowym opisem ruchu jednostek pływających na akwenach ograniczonych w aspektach bezpieczeństwa nawigacji i efektywności żeglugi. Opracowywane metody i procedury inżynierii ruchu morskiego znalazły szerokie zastosowanie przy projektowaniu morskich dróg wodnych, portów, statków oraz warunków ich bezpiecznej eksploatacji. Projektowanie w inżynierii ruchu morskiego utożsamiane jest z następującymi podstawowymi zadaniami:
• optymalizacja parametrów budowanych i modernizowanych
systemów morskich dróg wodnych;
• określenie warunków bezpiecznej eksploatacji statków na
drogach wodnych;
• optymalizacja parametrów statków przewidzianych do
eksploatacji na określonych drogach wodnych. Opisane w książce metodologia i
metody projektowania różnego rodzaju dróg wodnych ich systemów oraz promów
morskich zostały opracowane w oparciu o odpowiednie rozwiązania stosowane w
inżynierii ruchu morskiego. Metody te bazują na modelach deterministycznych i
probalistycznych procesu ruchu statków, modelowaniu matematycznym i symulacji
komputerowej ruchu statków na morskich drogach wodnych.
ISBN 978-83-60584-71-2
Author/Authors of Chapter: The Visual System in a DP Simulator at Maritime University of Szczecin, str. 221-224.
Title of monograph: Marine Navigation. Marine Navigation and Safety of Sea Transportation
Author/Authors: P.Zalewski, R.Gralak, B.Muczynski, M.Bilewski
Place of publication: Taylor & Francis Group
Year: 2017
Keywords: DP, Unity
Abstract: The paper presents the visual system designed in Maritime University of Szczecin in conformance to the Nautical Institute’s requirements of Dynamic Positioning (DP) simulator class B. The specific functionalities and capabilities of this visual system connected to a DP advanced trainer of Kongsberg K-Pos type has been described.
ISBN 978-1-138-29762-3
DOI: https://doi.org/10.1201/9781315099132
Website address (link) to the full text of the publication: https://www.taylorfrancis.com/books/e/9781315099132/chapters/10.1201/9781315099132-26
Title: Conception of EGNOS Integrity Data Utilization in ENC Systems
Author/Authors: Mateusz Bilewski, Paweł Zalewski
Place of publication: TransNav - The International Journal on Marine Navigation and Safety of Sea Transportation, Vol. 10 No.3, pp.389-393
Year: 2016
Keywords: Global Navigation Satellite System (GNSS), EGNOS, Electronic Chart Display and Information System (ECDIS), Marine Vessel Protection Area (MVPA), Electronic Navigational Charts (ENC), Full Mission Bridge Simulator (FMBS), Integrity
Abstract: The paper presents the processing of EGNOS integrity data received either directly from the satellite network or the Sisnet internet relay. Relationship between the individual frames in EGNOS messages has been described. Usefulness of these data was indicated by the three examples. In the first example data form EGNOS was used to compare integrity parameters and the calculated position error. In further examples the simulated position with error and calculated integrity parameters were implemented together. The results were presented in two ways: with use of dedicated program which presents only ship contours (the one not covering GNSS uncertainty and the one covering this uncertainty called Marine Vessel Protection Area) and as a layer in existing ECDIS.
Website address (link) to the full text of the publication: http://www.transnav.eu/Article_Conception_of_EGNOS_Integrity_Data_Bilewski,39,659.html
Title: Methods of Thrust Allocation in a DP Simulation System of Maritime University of Szczecin
Author/Authors: Paweł Zalewski
Place of publication: Annual of Navigation, Vol. 23/2016, pp.209 - 218
Year: 2016
Keywords: dynamic positioning thrust allocation, convex optimization
Abstract: Vessels conducting dynamic positioning (DP) operations are usually equipped with thruster configurations that enable generation of resultant force and moment in any direction. These configurations are deliberately redundant in order to reduce the consequences of thruster failures and increase the safety. On such vessels a thrust allocation system must be used to distribute the control actions determined by the DP controller among the thrusters. The optimal allocation of
thrusters′ settings in DP systems is a problem that can be solved by several convex optimization methods depending on criteria and constraints used. The paper presents linear programming (LP) and quadratic programming (QP) methods
adopted in DP control model which is being developed in Maritime University of Szczecin for ship simulation purposes.
Website address (link) to the full text of the publikation: Annual of Navigation
Title: SBAS integrity data in e-navigation systems
Author/Authors: Paweł Zalewski
Place of publication: Prace Naukowe Politechniki Warszawskiej. Transport, Zeszyt 113, pp.495-506
Year: 2016
Keywords: SBAS, ECDIS, usability testing
Abstract: The paper presents the usable form of SBAS integrity data presentation in e-navigation systems.
The usability testing of ECDIS display augmented with innovative SBAS integrity data tool was based on the IMO’s Guidelines on Software Quality Assurance and Human-centred Design for e-Navigation. By incorporating the eye tracking
techniques into the procedure it was possible to measure the visual attention distribution and the cognitive workload. The applied usability evaluation method proved that the seafarers were able to successfully perform primary operations of the systems reasonably upgraded with SBAS integrity tool and raise their situation awareness, regardless of the type and specifications of the system and their knowledge and experience with the system.
Website address (link) to the full text of the publication: http://www.wt.pw.edu.pl/Badania-i-nauka/Prace-Naukowe-Politechniki-Warszawskiej-Transport/Zeszyty/Zeszyt-113
Title: Convex optimization of thrust allocation in a dynamic positioning simulation system
Author/Authors: Paweł Zalewski
Place of publication: Zeszyty Naukowe Akademii Morskiej w Szczecinie, vol. 48 (120) 2016, pp.58-62
Year: 2016
Keywords: simulator, programming, dynamic positioning, thrust allocation, convex optimization, configurations
Abstract: Vessels conducting dynamic positioning (DP) operations are usually equipped with thruster configurations
that enable the generation of resultant force and moment in any direction.These configurations are deliberately redundant in order to reduce the consequences of thruster failures and increase the safety. On such vessels a thrust allocation system must be used to distribute the control actions determined by the DP controller among the thrusters. The optimal allocation of thrusters’ settings in DP systems is a problem that can be solved by several convex optimization methods depending on criteria and constraints used. The paper presents linear programming (LP) and quadratic programming (QP) methods adopted in the DP control model which is being developed at the Maritime University of Szczecin for ship simulation purposes.
Website address (link) to the full text of the publication: https://repository.am.szczecin.pl/handle/123456789/2353
Title: Optimization of waterway bend widths using computer simulation methods of ship movement
Author/Authors: Jarosław Artyszuk, Rafał Gralak, Maciej Gucma, Stanisław Gucma, Wojciech Ślączka, Paweł Zalewski
Place of publication: Zeszyty Naukowe Akademii Morskiej w Szczecinie, vol.46(118)2016, pp.115-121
Year: 2016
Keywords: computer simulation of vessel traffic, marine traffic engineering, waterways, bends in the fairway, simulation methods of optimizing the parameters of waterways, Świnoujście–Szczecin fairway
Abstract: The paper presents the development of a new simulation method to optimize bends in marine waterways. This method, using results of empirical research and simulation methods, would allow accurate determination of safe manoeuvring areas. The method was used for detailed design of parameters of a waterway which is undergoing modernization to determine the optimum parameters of bend shapes in horizontal plane. The study was conducted on the ship bridge simulator by marine pilots.
Website address (link) to the full text of the publication: http://repository.scientific-journals.eu/handle/123456789/1231
Title: Extended framework for usability testing in e-Navigation system
Author/Authors: Paweł Zalewski, Bartosz Muczyński
Place of publication: TransNav - The International Journal on Marine Navigation and Safety of Sea Transportation, vol. 10 no.1, pp. 43-48
Year: 2016
Keywords: ECDIS, e-Navigation Concept, e-Navigation Implementation, e-Navigation Strategy, e-Navigation, Usability
Testing
Abstract: The paper presents the framework of usability testing of ECDIS equipment based on the IMO’s Guidelines on Software Quality Assurance and Human-centred Design for e-Navigation. By incorporating the eye tracking techniques into the procedure it was possible to measure the visual attention distribution and the cognitive work-load. The presented method could be used to evaluate usability of every e-navigation system, which is necessary to ensure that the seafarers are able to successfully perform primary operations of systems upgraded with e-navigation functions, regardless of the
type and specifications of the system and users’ knowledge and experience with the system. The initial results are presented and discussed as the study is still ongoing.
Website address (link) to the full text of the publication: http://www.transnav.eu/Article_Extended_Framework_for_Usability_Zalewski,37,625.html
Title: Presentation of Satellite Based Augmentation System integrity data in an Electronic Chart System display
Author/Authors: Paweł Zalewski
Place of publication: Zeszyty Naukowe Akademii Morskiej w Szczecinie, vol. 45 (117) 2016, pp. 150-156
Year: 2016
Keywords: GNSS, ECS, SBAS, Integrity Data, MVPA, HPL
Abstract: We propose a Marine Vessel Protection Area (MVPA) model as the means of satellite-based augmentation system (SBAS) integrity data presentation in an electronic chart system (ECS) display. The model takes into account several factors that influence the shape and dimensions of the MVPA. These factors include GNSS signal aspects, where measurement errors depend on the geometry of visible satellites and the signal propagation, the ship’s size, the ship’s heading and its estimated accuracy, position of the GNSS/SBAS antenna relative to the ship’s hull, and SBAS integrity data. The resultant safety contour or domain can be displayed within the ECS or ECDIS as a graphical representation of the marine ship position and the protection level of the electronic position/course fixing equipment, equivalent to the horizontal protection level (HPL) used in aviation.
Website address (link) to the full text of the publication: http://repository.scientific-journals.eu/handle/123456789/1195