Tytuł: The autonomous navigation system of a sea-going vessel

Autor/Autorzy: Pietrzykowski Z., Wołejsza P., Nozdrzykowski Ł., Borkowski P., Banaś P., Magaj P., Chomski J., Mąka M., Mielniczuk S., Pańka A., Hatłas - Sowińska P., Kulbiej E., Nozdrzykowska M.

Miejsce publikacji: Ocean Engineering (2022), 261, art.. No.112104

Rok: 2022

Słowa kluczowe: Autonomous navigation; Automatic communication; Collision avoidance; Maritime autonomous surface ship; Unmanned aerial vehicle

Abstrakt: We propose an integrated comprehensive system of an Autonomous Surface Vessel (ASV), dedicated to ships with various degrees of autonomy. The system performs a variety of tasks aimed at safe voyage execution. The use of basic and additional information sources is envisaged, including data from unmanned remotely controlled and autonomous aerial vehicles, to increase situational awareness. After defining the assumptions and devising the architecture of the system, we built its model. The key elements of the model, collision avoidance and automatic communication modules, are capable of developing and agreeing on manoeuvres between autonomous vessels in the negotiation process. The model was implemented as a real time system and verified in three stages: laboratory tests, quasi-real tests using physical models of ships and in real operational conditions on board ships at sea. The research results have confirmed the correctness of the assumptions, designed system architecture and developed algorithms.

Tytuł: The ship domain in navigational safety assessment

Autor/Autorzy: Mirosław Wielgosz, Zbigniew Pietrzykowski

Miejsce publikacji: PloS ONE, 2022, vol. 17, no. 4, e026581

Rok: 2022

Słowa kluczowe:

Abstrakt: Decision support and decision making systems find increasingly more applications in various modes of transport. In this connection, criteria of movement safety assessment must be established for manned, unmanned, and autonomous vehicles, bearing in mind the specifics of each transport mode. Distance is one of the basic criteria. In sea transport these include the closest point of approach and ship’s domain understood as an area that should remain free of other objects. The authors examine the relationship between the declared domain and the actually maintained effective domain in a restricted area. They define the coefficient describing this relationship for different ship’s relative bearings in the form of a mathematical function. The formulated relationship allows determining an effective passing distance based on the declared, i.e., assumed passing distance. The determined relationship also enables identification of the declarative domain based on the effective one. These relationships may be used in decision support systems of manned ships, in remote ship control centres and decision-making systems of autonomous ships for the assessment of ship movement safety, planning collision avoidance manoeuvres and generation of safe trajectories.

Tytuł: The Algorithm of Determining an Anti-Collision Manoeuvre Trajectory Based on the Interpolation of Ship’s State Vector

Autor/Autorzy: Zbigniew Pietrzykowski, Piotr Borkowski, Janusz Magaj

Miejsce publikacji: Sensors, vol. 21, no. 16, art. no. 5332, pp. 1-16

Rok: 2021

Słowa kluczowe: autonomous sea-going vessel, anti-collision manoeuvre, ship’s state vector, interpolation, Dijkstra’s algorithm

Abstrakt: The determination of a ship’s safe trajectory in collision situations at sea is one of the basic functions in autonomous navigation of ships. While planning a collision avoiding manoeuvre in open waters, the navigator has to take into account the ships manoeuvrability and hydrometeorological conditions. To this end, the ship’s state vector is predicted—position coordinates, speed, heading, and other movement parameters—at fixed time intervals for different steering scenarios. One possible way to solve this problem is a method using the interpolation of the ship’s state vector based on the data from measurements conducted during the sea trials of the ship. This article presents the interpolating function within any convex quadrilateral with the nodes being its vertices. The proposed function interpolates the parameters of the ship’s state vector for the specified point of a plane, where the values in the interpolation nodes are data obtained from measurements performed during a series of turning circle tests, conducted for different starting conditions and various rudder settings. The proposed method of interpolation was used in the process of determining the anti-collision manoeuvre trajectory. The mechanism is based on the principles of a modified Dijkstra algorithm, in which the graph takes the form of a regular network of points. The transition between the graph vertices depends on the safe passing level of other objects and the degree of departure from the planned route. The determined shortest path between the starting vertex and the target vertex is the optimal solution for the discrete space of solutions. The algorithm for determining the trajectory of the anti-collision manoeuvre was implemented in autonomous sea-going vessel technology. This article presents the results of laboratory tests and tests conducted under quasi-real conditions using physical ship models. The experiments confirmed the effective operation of the developed algorithm of the determination of the anti-collision manoeuvre trajectory in the technological framework of autonomous ship navigation.

Tytuł: Effective ship domain – Impact of ship size and speed

Autor/Autorzy: Zbigniew Pietrzykowski, Mirosław Wielgosz

Miejsce publikacji: OCEAN ENGINEERING, vol. 129, pp. 108423

Rok: 2021

Słowa kluczowe: Collision avoidance manoeuvres, Simulation research, Ship domain, Safety zone, Ship encounters, Collision risk, Restricted area, Ship speed

Abstrakt: The ship domain is a concept commonly proposed as a safety assessment criterion in planning collision avoidance manoeuvres of a ship or its safe route. The work presents authors’ methods for determining an effective ship domain based on tests using Electronic Chart Display and Information System (ECDIS) simulator. The tests were conducted on non-autonomous real time models of ships steered by expert navigators. Domains were determined for ships of different sizes and speeds. The ship domain was approximated to an ellipse. The study covered absolute and relative domains, the latter defined in ship length units. The dependence of the domain shape and size on ship size and speed has been analysed and described. The formulated analytical relationships enable us to determine the domain of a ship varying in size and speed.

Tytuł: Navigators’ Behavior Analysis Using Data Mining

Autor/Autorzy: Zbigniew Pietrzykowski, Mirosław Wielgosz, Marcin Breitsprecher

Miejsce publikacji: Journal of Marine Science and Engineering, vol. 8, no. 1, pp. 50

Rok: 2020

Słowa kluczowe: behavior patterns, sea navigation, safety profile, data mining

Abstrakt: One of the ways to prevent accidents at sea is to detect risks caused by humans and to counteract them. These tasks can be executed through an analysis of ship maneuvers and the identification of behavior considered to be potentially dangerous, e.g., based on data obtained online from the automatic identification system (AIS). As a result, additional measures or actions can be taken, e.g., passing at a distance greater than previously planned. The detection of risks at sea requires a prior definition of behavior patterns and the criteria assigned to them. Each pattern represents a specific navigator’s safety profile. The criteria assigned to each pattern for the identification of the navigator’s safety profile were determined from previously recorded AIS data. Due to a large amount of data and their complex relationships, these authors have proposed to use data mining tools. This work continues previous research on this subject. The conducted analysis covered data recorded in simulation tests done by navigators. Typical ship encounter situations were included. Based on additional simulation data, the patterns of behavior were verified for the determination of a navigator’s safety profile. An example of using the presented method is given.

Tytuł monografii: Development of Transport by Telematics

Tytuł rozdziału monografii: The Determination of the Sea Navigator Safety Profile Using Data Mining

Autor/Autorzy: Zbigniew Pietrzykowski, Mirosław Wielgosz, Marcin Breitsprecher

Rok: 2019

Słowa kluczowe: sea navigation, navigator, safety profile, data mining

Abstrakt: A person steering a transport vehicle needs to have qualifications confirmed by appropriate certificates. The holder of the certificates has to satisfy the criteria for a transport vehicle operator set under mandatory examination procedures. The operator safety profile, identified on the basis of psychological assessment, can essentially complement these criteria. The profile can be broadened from a comprehensive analysis of operator’s actual behaviour, based on electronic data from recorders installed in the vehicle. In shipping, the data would come mainly from the automatic identification system and voyage data recorders. This article proposes to use data mining tools for an analysis and identification of selected characteristics of sea navigator’s safety profile.

ISBN: 978-3-030-27546-4

Tytuł: Operations of Maritime Autonomous Surface Ships

Autor/Autorzy: Zbigniew Pietrzykowski, Jerzy Hajduk

Miejsce publikacji: TransNav-International Journal on Marine Navigation and Safety of Sea Transportation, vol. 13, no. 4, pp. 725-733

Rok: 2019

Słowa kluczowe: Maritime Autonomous Surface Ships (MASS), Autonomous Ship, MASS Technology, MASS Autonomy, MASS Safety, Advanced Autonomous Waterborne Application (AAWA), Sea Traffic Management (STM), Situational Awareness at Sea, Situational Awareness at Sea

Abstrakt: Advancing technologies create unique opportunities for constructing autonomous ships, which, in turn, raise growing interest of the maritime industry, shipowners in particular. These authors have analyzed actions taken in this field and some aspects related to the operations of maritime autonomous surface ships (MASS). The presented case study refers to a ship with a skeleton crew on a deep sea voyage, where the ship’s autonomy is narrowed to the fourth stage of transport task – sea voyage and its navigational aspect.

Tytuł: Navigation decision support for sea-going ships in port approach areas

Autor/Autorzy: Zbigniew Pietrzykowski, Janusz Magaj, Mirosław Wielgosz

Miejsce publikacji: Zeszyty Naukowe Akademii Morskiej w Szczecinie, vol. 54, no. 126, pp. 75-83

Rok: 2018

Słowa kluczowe: navigation, safety, decision support, collision avoidance

Abstrakt: Port approaches are high-traffic areas with limited manoeuvring space. Navigation in such areas requires the analysis of large amounts of information, which can impede decision processes. One solution may be the development of decision support systems dedicated to these areas. This paper presents an attempt to build a navigation decision support system operable in the approach area leading to the port of Świnoujście (Poland), with ship domain implemented as a safety criterion. Assumptions for a decision support system to be used by sea-going vessels in port approach areas are formulated and discussed. Specific features of these areas, such as traffic density, bathymetry, available manoeuvring space and legal limitations are taken into account. The source and scope of information available to the ship have been analysed. The scope of decision support has been defined. A ship domain has been proposed as a safety criterion. Approach areas leading to the port of Świnoujście have been investigated on the basis of real Automatic Identification System (AIS) data. Vessel movement processes in the chosen area were analysed. Ship domains in various parts of the area were determined. The first results concerning criteria for navigational safety assessment are presented. The conducted studies showed significant differences in the size of domains. A case study was performed on a decision support system operable in the approach area leading to Świnoujście.

Tytuł monografii: Management Perspective for Transport Telematics

Tytuł rozdziału monografii: Autonomous Ship – Responsibility Issues

Autor/Autorzy: Zbigniew Pietrzykowski, Rafał Malujda

Rok: 2018

Słowa kluczowe: Autonomous ship, Responsibility, Safety, Security law, Economic efficiency

Abstrakt: Research on autonomous road vehicles, aircraft and vessels is presently underway at many research centres. The work is being enhanced by two factors: growing interest of future users and new technologies that make constructing autonomous vehicles possible. One of the problems to be solved in this context is to establish a party or parties responsible for undesired events that may hinder the execution of a transport task, and, first and foremost, create safety risks to personnel, ship, cargo and the environment. These authors look into the stages of a transport task and identify areas calling for legislative measures addressing safety, security and responsibility.

ISBN: 978-3-319-97954-0

Tytuł: Ship domainin various visibility conditions in restricted waters

Autor/Autorzy: Zbigniew Pietrzykowski, Marek Siemianowicz, Mirosław Wielgosz

Miejsce publikacji: Annual of Navigation, vol. 25, pp. 41-50

Rok: 2018

Słowa kluczowe: navigational safety, restricted area, ship domain

Abstrakt: Ship domain is one of navigational safety assessment criteria. Its shape and size depend on many factors, including visibility. This article examines the influence of visibility on the shape and dimensions of ship domain in restricted waters. The research was conducted using a simulator of the ECDIS system with the participation of experts’ navigators. The domains of ships in good and restricted visibility have been compared.

Tytuł: Analysis and generation of messages in an automatic communication system at sea

Autor/Autorzy: Zbigniew Pietrzykowski, Paweł Banaś, Paulina Hatłas-Sowińska, Piotr Wołejsza

Miejsce publikacji: Archives of Transport System Telematics, vol. 10, no. 1, pp. 38-44

Rok: 2017

Słowa kluczowe: automatic communication, message interpretation, navigation

Abstrakt: The development of unmanned remotely controlled and autonomous vehicles necessitates seeking new and improving existing systems of communications between such objects themselves and control or monitoring centers. This applies to maritime transport and other areas of transport. The article characterizes communication processes between the navigators on ships taking place via VHF in view of their automation. Some of the issues concerning analysis processes of message reception and generation of outgoing messages resulting from automatic reasoning are discussed. We also consider selected operations: message parsing, interpretation of data concerning the context and generation of outgoing message. An example is given of the analysis of the received message and corresponding answer.

Tytuł: Decision Support in Collision Situations at Sea

Autor/Autorzy: Zbigniew Pietrzykowski, Piotr Wołejsza, Piotr Borkowski

Miejsce publikacji: JOURNAL OF NAVIGATION, vol. 70, no. 3, pp. 447-464

Rok: 2017

Słowa kluczowe: Navigation, Collision avoidance, Decision support system

Abstrakt: The known navigational systems in use perform information functions and as such are helpful in the process of safe conduct of a vessel. One of the ways to assist in reducing the number of marine accidents is the development of systems which perform decision support functions, i.e. automatically generate solutions to collision situations. The use of information (and communication) technologies including knowledge engineering allows the generation of proposals for anti-collision manoeuvres taking into account the COLREGs. Demand for further enhancement of navigational safety by limiting human errors has initiated a trend to convert navigational information systems into decision support systems. The implementation of decision support systems will potentially reduce the number of human errors, which translates into a reduction of accidents at sea and their adverse consequences. This paper presents a summary of the research to date on the navigational decision support system NAVDEC. The system has been positively verified in laboratory conditions and in field tests – on a motor ferry and a sailing ship. Challenges associated with the development and implementation of such systems are outlined.

Tytuł monografii: Automatyzacja procesów zapobiegania kolizjom na morzu

Autor/Autorzy: Zbigniew Pietrzykowski

Rok: 2017

Słowa kluczowe: nawigacja morska, antykolizja, automatyzacja, statek autonomiczny, sea navigation, automation, anti-collision, autonomous vessel

Abstrakt: Praca dotyczy zagadnień automatyzacji procesów zapobiegania kolizjom na morzu, w szczególności procesów podejmowania decyzji w oparciu o analizę i ocenę sytuacji nawigacyjnej. Przedstawiono aktualny stan badań w tym zakresie oraz wyzwania związane z budową i eksploatacją statków bezzałogowych i autonomicznych. Wiąże się to z szybkim rozwojem technologii, stwarzającym szerokie możliwości automatyzacji procesów planowania i realizacji zadania transportowego dla zwiększenia bezpieczeństwa i efektywności tej gałęzi trans- portu. Powodem jest fakt, że jedną z najczęstszych przyczyn wypadków morskich jest błąd człowieka. Dlatego ważnym zagadnieniem jest automatyzacja procesów zapobiegania wypadkom nawigacyjnym. Prace prowadzone w wielu ośrodkach obejmują zarówno automatyzację poszczególnych procesów, jak i opracowanie kompleksowych rozwiązań – budowę statków bezzałogowych sterowanych zdalnie oraz statków autonomicznych. Pierwsza część pracy (rozdziały 1, 2 i 3) jest wprowadzeniem do tematyki transportu wodnego i zawiera charakterystykę żeglugi morskiej i śródlądowej, środków transportu oraz portów i dróg wodnych jako elementów infrastruktury systemu transportowego. Zagadnienia analizy i oceny sytuacji nawigacyjnej oraz jej zastosowanie w identyfikacji sytuacji niebezpiecznych i zapobieganiu kolizjom na morzu po- ruszono w drugiej części pracy (rozdziały 4, 5 i 6). Monografię zamyka rozdział siódmy, w którym przedstawiono stan obecny, kierunki badań nad statkami autonomicznymi oraz funkcje i zakres działania ośrodków lądowych w procesie eksploatacji jednostek bezzałogowych i autonomicznych. Analizowano aspekt prawny budowy i eksploatacji statków tego typu. Zwrócono uwagę na zagadnienia wymagające dalszych badań. Nakreślono kierunki rozwoju i wyzwania z tym związane. Rozdział jest jednocześnie podsumowaniem rozważań zawartych w monografii oraz nakreśleniem przewidywanych scenariuszy rozwoju żeglugi morskiej.

ISBN: 978-83-64434-18-1

Tytuł monografii: European Navigation Conference 2017

Tytuł rozdziału monografii: Proof-of-concept demonstrator to Improve Safety of Maritime navigation in the Baltic Sea

Autor/Autorzy: Sarang Thombre, Robert Guinness, Heidi Kuusniemi, Zbigniew Pietrzykowski, Paweł Banaś, Piotr Wołejsza, Olli Seppälä, Juhani Laukkanen, Philippe Ghawi

Rok: 2017

Słowa kluczowe: Decision support system, situational awareness, crowdsourcing, navigation

Abstrakt: This paper describes the proof-of-concept demonstrator implemented as part of the project Enhanced Situational Awareness to Improve Maritime Safety in the Baltic (BONUS ESABALT). The demonstrator represents the system as used in different classes of vessels including leisure craft (small boats), larger ships, and authority vessels. Various validation scenarios are implemented to demonstrate the system functionality, for example application of ESABALT to aid in recovery operations after an oil spill, rerouting in the presence of significant sea-ice, aiding vessel navigation in case of a GNSS interference event, and situations where multiple ships are in distress. The demonstrator is implemented on a laptop computer and using the FURUNO FFSC-200 software environment, FURUNO Finland FICE-100 ice radar and FOIL-200 oil radar, live ship data from AIS receivers, dashboard camera, and the FURUNO Navisimu simulator environment. The simulated data include AIS tracks, radar echo and tracks, and small boat tracks. The paper also describes the implementation challenges, quality of service factors, and results of the economic and non-economic viability analysis of the proposed ESABALT system for potential full-implementation in the future. This study shows that the system would be cost-effective and the benefits to international cooperation, maritime safety, and environmental monitoring would outweigh the management costs necessary to sustain it.

ISBN: 978-1-5090-5922-5

Tytuł: Ship Domain as a Safety Criterion in a Precautionary Area of Trafic Separation Scheme

Autor/Autorzy: Zbigniew Pietrzykowski, Janusz Magaj

Miejsce publikacji: TransNav - The International Journal on Marine Navigation and Safety of Sea Transportation, vol. 11, no. 1, pp. 93-98

Rok: 2017

Słowa kluczowe: ship domain, navigation, traffic

Abstrakt: The ship domain is one of the criteria for navigational safety assessment. It is particularly important in restricted areas with high intensity traffic, where the criteria of closest point of approach (CPA) and time to CPA are difficult to apply. This research continues to examine ship domains in Traffic Separation Schemes (TSS). We have analyzed precautionary areas established within TSSs in connection with changed arrangements of vessel traffic. Besides, we have defined ship domains in a precautionary area of a specific TSS, and compared them to domains of vessels proceeding along traffic lanes.

Tytuł monografii: Challenge of Transport Telematics. TST, Communications in Computer and Information Science, vol 640. Springer, Cham. pp.462-474

Tytuł rozdziału monografii: Decision support system in marine navigation

Autor/Autorzy: Zbigniew Pietrzykowski, Piotr Wołejsza

Rok: 2016

Słowa kluczowe: Marine navigation, Decision support, Safety of navigation

Abstrakt: The article presents basic functionalities of a navigational decision support system used in collision situations, illustrated with example performance of the NAVDEC system. Other similar systems have been characterized. The authors draw attention to the need to introduce legal regulations for the construction and operation of navigational decision support systems. The authors also attempt to outline directions of their development in the years to come in view of expected increase in number of unmanned and autonomous ships.

ISBN 978-3-319-49645-0

Tytuł: Operational Scenarios for Maritime Safety in the Baltic Sea

Autor/Autorzy: Zbigniew Pietrzykowski, Piotr Wołejsza

Miejsce publikacji: Navigation, Journal of the Institute of Navigation, vol. 63, no. 4, pp. 521-531

Rok: 2016

Słowa kluczowe: marine navigation, safety of navigation

Abstrakt: The project Enhanced Situational Awareness to Improve Maritime Safety in the Baltic (BONUS ESABALT) studies the feasibility of data crowdsourcing among marine stakeholders in the Baltic Sea for enhancing maritime safety. This paper describes the system architecture, and by use of practical maritime scenarios demonstrates the system utility. These scenarios are categorized under maritime safety, intelligent navigation, and environmental monitoring with cross-border cross-sector operability. The paper also summarizes the validation campaign performed onboard Viking Line’s cruise ship M/S Amorella, operating between Turku and Stockholm. Analysis of the vessel-generated data and end-user requirements recorded during this voyage is expected to enable distillation of the most critical information for crowdsourcing in the maritime scenario. Finally, the paper compares the BONUS ESABALT project with the state-of-the-art and provides the estimated economic and policy impact of the proposed system in the Baltic Sea Region.

Tytuł: Modelowanie bezpieczeństwa w żegludze offshore

Autor/Autorzy: Zbigniew Pietrzykowski

Miejsce publikacji: Logistyka

Rok: 2015

Słowa kluczowe:

Abstrakt:

Tytuł: Navigational information exchange and negotiation system

Autor/Autorzy: Zbigniew Pietrzykowski, Jacek Skorupski

Miejsce publikacji: Tools of Transport Telematics. Communications in Computer and Information Science, vol 531. Springer, Cham, pp. 333-342

Rok: 2015

Słowa kluczowe: communication, maritime navigation, air navigation

Abstrakt: The article addresses issues of the automation of communication processes in maritime and air transport, in particular in sea and airspace navigation. The communication process refers to transmitting information between the sender and the receiver, which comprises information exchange as well as negotiations resulting from divergent objectives of the process participants. The authors, presenting the current state and concepts of communication automation, indicate similarities and differences. The concept of a joint automated maritime and air communication platform is considered.

Tytuł: Safe ship trajectory determination in the ENC environment

Autor/Autorzy: Zbigniew Pietrzykowski, Janusz Magaj, Marcin Mąka

Miejsce publikacji: Telematics - Support for Transport. Communications in Computer and Information Science, vol 471, Springer, Berlin, pp. 304-312

Rok: 2015

Słowa kluczowe: optimization, ship trajectory, trapezoidal mesh, ship domain

Abstrakt: The paper presents the problem of determining a safe ship trajectory in real conditions with the use of information comprised in electronic navigational charts (ENC). Ship trajectory optimisation is one of essential functionalities of decision support systems which are part of intelligent transport systems. An ENC data transformation method herein presented is aimed to reduce the time of creating the numerical terrain model for an optimization problem. Trapezoidal meshes are proposed for this purpose. Water area parameters as well as moving targets are considered. The three dimensional ship domain is used as a safety criterion. The implementation of the presented method is discussed.

Tytuł: Schema of Inference Processes in a Preliminary Identification of Navigational Situation in Maritime Transport

Autor/Autorzy: Zbigniew Pietrzykowski, Anna Wójcik, Paweł Banaś

Miejsce publikacji: Telematics - Support for Transport. Communications in Computer and Information Science, vol 471. Springer, Berlin, pp. 130-136

Rok: 2014

Słowa kluczowe: automatic communication, fuzzy sets, safety of navigation, enavigation

Abstrakt: Article presents a modified inference model for the automatic communication system at sea. After an expert examinations, the inference model based on mechanism used by navigators during decisions making has been developed. The results of expert examinations have been taken into account. The schema of actions during decision making in preliminary stage of navigational situations identification was presented on the example of collision situation at sea. The key values used in the assessment of navigational safety have been included. The examples of model application have been shown by making uses of the proposed schema.

Tytuł: Model of Inference Processes in the Automatic Maritime Communication System

Autor/Autorzy: Zbigniew Pietrzykowski, Anna Wójcik, Paweł Banaś

Miejsce publikacji: Activities of Transport Telematics. Communications in Computer and Information Science, vol 395. Springer, Berlin, pp. 7-14

Rok: 2013

Słowa kluczowe: automatic communication, negotiation process, inference rules, e-navigation

Abstrakt: This article presents an inference model for the automatic communication system at sea. Based on an analysis of inference methods used in other fields such as business, inference methods for the automatic communication at sea have been presented in this article. The complexity of communication at sea and specific navigation issues have been taken into account. Part of the process of automatic communication has been shown by making use of the proposed model and automatic inference.

Tytuł: Marine Integrated Navigational Decision Support System

Autor/Autorzy: Zbigniew Pietrzykowski, Piotr Borkowski, Piotr Wołejsza

Miejsce publikacji: Telematics in the Transport Environment. Communications in Computer and Information Science, vol 329. Springer, Berlin, pp. 284-292

Rok: 2012

Słowa kluczowe: sea transport, navigation, decision support system

Abstrakt: The article presents a concept of an integrated navigational decision support system for vessel traffic control. The system is based on a joint platform for decision support systems on land and ships. The platform construction is recommended to be based on the shipboard navigational decision support system. The necessary scope of work to build such system is defined. The proposed integrated decision support system NAVDEC fits such concepts as e-navigation, e-maritime and intelligent marine transport systems that reflect global trends in the development of navigational systems, widely using modern information communication technologies.

Tytuł: Automation of Message Interchange Process in Maritime Transport

Autor/Autorzy: Zbigniew Pietrzykowski,

Miejsce publikacji: TransNav-International Journal on Marine Navigation and Safety of Sea Transportation

Rok: 2011

Słowa kluczowe:

Abstrakt:

Tytuł: Navigation Safety Assessment in the Restricted Area with the Use of ECDIS

Autor/Autorzy: Zbigniew Pietrzykowski,

Miejsce publikacji: TransNav-International Journal on Marine Navigation and Safety of Sea Transportation

Rok: 2011

Słowa kluczowe:

Abstrakt:

Tytuł: Fuzzy Logic in the Navigational Decision Support Process Onboard a Sea-Going Vessel

Autor/Autorzy: Zbigniew Pietrzykowski, Janusz Magaj, Piotr Wołejsza, Jarosław Chomski

Miejsce publikacji: Artificial Intelligence and Soft Computing. ICAISC 2010. Lecture Notes in Computer Science, vol 6113. Springer, Berlin, pp.185-193

Rok: 2010

Słowa kluczowe: fuzzy logic, fuzzy environment, ship movement, original trajectory, ship collision

Abstrakt: Ship collisions make up one of the major hazards in marine navigations. The problem of collision prevention in ship encounter situations are characterized. Described with fuzzy logic tools, criteria for the choice of track are discussed. The presented algorithm of ship track optimization in collision situations is based on the method of multi-stage control in fuzzy environment. Finally, the algorithm integrated into the navigational decision support system is presented.

Tytuł: Knowledge Representation in a Ship’s Navigational Decision Support System

Autor/Autorzy: Zbigniew Pietrzykowski,

Miejsce publikacji: TransNav-International Journal on Marine Navigation and Safety of Sea Transportation

Rok: 2010

Słowa kluczowe:

Abstrakt:

Tytuł: Maritime intelligent transport systems

Autor/Autorzy: Zbigniew Pietrzykowski,

Miejsce publikacji: Communications in Computer and Information Science

Rok: 2010

Słowa kluczowe:

Abstrakt:

Tytuł: Assumptions of an RIS operator/user decision support system model

Autor/Autorzy: Zbigniew Pietrzykowski,

Miejsce publikacji: Polish Journal of Environmental Studies

Rok: 2009

Słowa kluczowe:

Abstrakt:

Tytuł: Knowledge representation in a ship’s navigational decision support system

Autor/Autorzy: Zbigniew Pietrzykowski, Janusz Uriasz

Miejsce publikacji: Marine Navigation and Safety of Sea Transportation, CRC Press/Balkema

Rok: 2009

Słowa kluczowe:

Abstrakt:

Tytuł: Optymalizacja informacji nawigacyjnych w systemach map elektronicznych

Autor/Autorzy: Maciej Gucma, Zbigniew Pietrzykowski,

Miejsce publikacji: Logistyka, nr 4/2009, str. 12

Rok: 2009

Słowa kluczowe:

Abstrakt:

Tytuł: The ship domain - A criterion of navigational safety assessment in an open sea area

Autor/Autorzy: Zbigniew Pietrzykowski, Janusz Uriasz

Miejsce publikacji: Journal of Navigation, vol. 62, no. 1, pp. 93-108.

Rok: 2009

Słowa kluczowe: navigational safety, ship domain, open sea area

Abstrakt: One of the basic tasks in shipping is to ensure safe navigation of vessels. The concept of the ship domain is of major importance in the assessment of a navigational situation and the avoidance of ship collisions. It is difficult to determine a ship domain as its shape and size depend on a number of factors. One question to be answered before the determination of the ship domain is which method to use: statistical, analytic, or expert method using artificial intelligence tools; other questions are connected with domain interpretation. The authors have analyzed the ship domain as a criterion for the assessment of ship navigational safety in an encounter situation in the open sea. The research results are used to answer some of the questions.

Part 2 includes definitions of the ship domain and ship fuzzy domain. Part 3, in turn, presents methods of their determination as well as relevant questions. The results of the authors’ research, described in Part 4, make up a basis for the determination of the domain and ship fuzzy domain. These have been determined with the so-called dynamic domains as a point of departure. The criteria of ship domain and closest point of approach are compared and discussed. Encounters of various size ships are considered in Part 5. The research and its results are described. Both ship domains and ship fuzzy domains of encountering ships are analyzed. Then, conclusions have been formulated in relation to the effect of the sizes of encountering ships on the shapes and sizes of their domains. Final conclusions are given in Part 6.

Tytuł: Optimization of the ship movement trajectory in the navigational decision support system

Autor/Autorzy: Zbigniew Pietrzykowski, Janusz Magaj

Miejsce publikacji: Zeszyty naukowe AM w Szczecinie nr 18(90), 2009,

str. 171-176

Rok: 2009

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Tytuł: Presentation of information in the navigational decision support system onboard a sea-going ship

Autor/Autorzy: Zbigniew Pietrzykowski, Janusz Magaj, Marcin Mąka, Janusz Uriasz, Piotr Wołejsza

Miejsce publikacji: Wydawnictwa Komunikacji i Łączności, Warszawa 2009, str. 219-227

Rok: 2009

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Tytuł: A method of ship movement parameters prediction

Autor/Autorzy: Zbigniew Pietrzykowski,

Miejsce publikacji: Zeszyty Naukowe Akademii Marynarki Wojennej

Rok: 2008

Słowa kluczowe:

Abstrakt:

Tytuł: Algorithm of safe course determination based on the probabilistic assessment of a navigational situation

Autor/Autorzy: Zbigniew Pietrzykowski,

Miejsce publikacji: Polish Journal of Environmental Studies

Rok: 2008

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Abstrakt:

Tytuł: Probability of a fuzzy event in ship’s movement safety assessment

Autor/Autorzy: Zbigniew Pietrzykowski,

Miejsce publikacji: Polish Journal of Environmental Studies

Rok: 2008

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Tytuł: Ship’s Fuzzy Domain – a Criterion for Navigational Safety in Narrow Fairways

Autor/Autorzy: Zbigniew Pietrzykowski,

Miejsce publikacji: Journal of Navigation, vol. 61 no. 3, 499-514.

Rok: 2008

Słowa kluczowe: navigational safety, ship’s domain, restricted area

Abstrakt: The concept of ship’s domain plays an important role in navigating a ship. It is a criterion of safety in the process of making decisions by the navigator – in analyzing and assessing a navigational situation and in performing the right manoeuvre. This concept is particularly useful in restricted areas, including narrow fairways, which results from the fact that in such waters a manoeuvring area is restricted so that the criterion of the closest point of approach (CPA) cannot be used. This author has analyzed definitions of ship’s domain and methods of its determination found in the literature on the subject. Then a method of navigational safety assessment using the fuzzy domain concept is proposed in reference to a ship in a restricted area. The concept and method of determination have been, respectively, defined and described. The method is based on relevant navigators’ knowledge. The methods and tools for knowledge acquisition and representation make use of artificial intelligence. Ships and navigational areas of various size have been considered.

Tytuł: Fuzzy Control in Solving collision Situations at Sea, Computational Intelligence: Methods and Applications

Autor/Autorzy: Zbigniew Pietrzykowski

Miejsce publikacji: Akademicka Oficyna Wydawnicza EXIT, str. 103-111, Warszawa

Rok: 2008

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Abstrakt:

Tytuł: Fusion of data from GPS receivers based on a multi-sensor Kalman filter

Autor/Autorzy: Piotr Borkowski, Zbigniew Pietrzykowski, Janusz Magaj, Marcin Mąka

Miejsce publikacji: Problemy Transportu tom 3, zeszyt 4, Gliwice, 2008r, str. 5-11

Rok: 2008

Słowa kluczowe:

Abstrakt:

Tytuł: Prediction of ship movement parameters in a navigational decision support system

Autor/Autorzy: Zbigniew Pietrzykowski, Piotr Borkowski

Miejsce publikacji: Computer Systems Aided Science and Engineering Work in Transport, Mechanics and Electrical Engeneering, K. Pułaski Technical University of Radom, Faculty of Transport, Radom

Rok: 2008

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Abstrakt:

Tytuł: An approach to e-Navigation

Autor/Autorzy: Zbigniew Pietrzykowski,

Miejsce publikacji: Coordinates, The Monthly Magazine on Positioning, Navigation and Beyond

Rok: 2007

Słowa kluczowe:

Abstrakt:

Tytuł: Assessment of Navigational Safety in Vessel Traffic in an Open Area

Autor/Autorzy: Zbigniew Pietrzykowski,

Miejsce publikacji: TransNav-International Journal on Marine Navigation and Safety of Sea Transportation

Rok: 2007

Słowa kluczowe:

Abstrakt:

Tytuł: Polish approach to e-navigation concept

Autor/Autorzy: Zbigniew Pietrzykowski,

Miejsce publikacji: TransNav-International Journal on Marine Navigation and Safety of Sea Transportation

Rok: 2007

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Abstrakt:

Tytuł: Automation of Communication and Co-operation Processes in Marine Navigation

Autor/Autorzy: Zbigniew Pietrzykowski, Jarosław Chomski, Janusz Magaj, Grzegorz Niemczyk

Miejsce publikacji: Intelligent Information Processing and Web Mining. Advances in Soft Computing, vol 35. Springer, Berlin, pp.371-375

Rok: 2006

Słowa kluczowe: international maritime organization, intership communication, cooperation process, information ontology, navigational information,

Abstrakt:The problem of information exchange and communication in marine navigation is presented. The authors propose a sub-ontology for automatic intership communication as a supplement to the ontology of navigational information. The application of the sub-ontology enables the improvement of information exchange and co-operation between navigators steering the ships. The automation allows to reduce the impact of human errors resulting from the failure to effiectively communicate and coordinate actions. The human factor is often to blame for marine accidents. Applications in the ship communication and co-operation system are shown.

Tytuł: Modelling of navigator’s behaviour in restricted area navigation

Autor/Autorzy: Zbigniew Pietrzykowski,

Miejsce publikacji: Journal of Konbin

Rok: 2006

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Tytuł: Ship Manoeuvring in Restricted Areas: An Attempt to Quantify Dangerous Situations Using a Probabilistic-Fuzzy Method

Autor/Autorzy: Zbigniew Pietrzykowski, Lucjan Gucma

Miejsce publikacji: Journal of Navigation, vol. 59, no.2, pp. 251-262.

Rok: 2006

Słowa kluczowe: human factor, dangerous situation, manoeuvring, fuzzy probability

Abstrakt: This paper presents a practical application of the probabilistic-fuzzy method for assessment of the safety of a ship manoeuvring in waterways. The method, based on probabilistic risk analysis and elements of fuzzy logic, takes into account situations of threatened navigational safety and situations when a navigator intuitively thinks that the safety of manoeuvring ship is threatened. The probability of grounding a ship manoeuvring in a waterway bend is determined by means of simulation method. Then, with the use of experts’ knowledge and tools of fuzzy logic the probability of a dangerous situation is determined. Two different approaches are applied for the determination of that probability. The results are compared.

Tytuł: Formalization of Vessel Communication and Cooperation Processes

Autor/Autorzy: Zbigniew Pietrzykowski,

Miejsce publikacji: Polish Journal of Environmental Studies

Rok: 2005

Słowa kluczowe:

Abstrakt:

Tytuł: Human factor in a Vessel Navigational Decision Support System

Autor/Autorzy: Zbigniew Pietrzykowski,

Miejsce publikacji: Advances in Safety and Reliability - Proceedings of the European Safety and Reliability Conference, ESREL

Rok: 2005

Słowa kluczowe:

Abstrakt:

Tytuł: Multi-stage ship control in a fuzzy environment

Autor/Autorzy: Zbigniew Pietrzykowski,

Miejsce publikacji: Enhanced Methods in Computer Security, Biometric and Artificial Intelligence Systems. Springer, Boston, pp. 285-299

Rok: 2005

Słowa kluczowe: multi-stage control fuzzy environment ship movement control

Abstrakt: Serious consequences of marine accidents necessitate the development and implementation of systems enhancing the level of navigational safety. The analysis of navigational situations and preparation of collision avoiding manoeuvres call for particular attention. These issues are connected with the determination of a ship’s optimal and, first of all, safe trajectory. Ship control is connected with decisions made in the conditions of uncertainty, which results from difficulties in describing control goals and constraints. The problem of ship control as a task of multi-stage control in a fuzzy environment is presented. Simulation research of ship encounter situations in an open area has been carried out. The results have been discussed.

Tytuł: Fuzzy Linear Programming in Ship Trajectory Optimization in a Restricted Area

Autor/Autorzy: Zbigniew Pietrzykowski,

Miejsce publikacji: Artificial Intelligence and Soft Computing - ICAISC 2004. ICAISC 2004. Lecture Notes in Computer Science, vol 3070. Springer, Berlin. pp. 364-369

Rok: 2004

Słowa kluczowe: membership function, restricted area, safe distance, mooring line, ship movement

Abstrakt: The problem of determining a safe trajectory of a ship moving in a restricted area is presented. Goals and constraints are formulated for the optimal trajectory of ship movement in a fairway. The problem is presented as an optimization problem in a fuzzy environment. To solve it, the method of fuzzy linear programming is proposed. The results for a ship passing manoeuvre are given and conclusions are drawn.

Tytuł: Fuzzy linear programming for various interpretations of fuzzy inequalities applied to optimisation of vessel traffic

Autor/Autorzy: Zbigniew Pietrzykowski,

Miejsce publikacji: Marine and Maritime

Rok: 2003

Słowa kluczowe:

Abstrakt:

Tytuł: Implementation of marine regulations in decision support systems for vessel traffic services

Autor/Autorzy: Zbigniew Pietrzykowski,

Miejsce publikacji: Water Studies

Rok: 2002

Słowa kluczowe:

Abstrakt:

Tytuł: Domena statku w ocenie bezpieczeństwa nawigacyjnego na akwenie ograniczonym

Autor/Autorzy: Pietrzykowski Z.

Miejsce publikacji: IV Sympozjum Nawigacyjne, WSM w Gdyni, Gdynia 2001, t str. 369-378.

Rok: 2001

Tytuł: Application of the probabilistic-fuzzy method of assessing the risk of a ship manoeuvre in a restricted area

Autor/Autorzy: Zbigniew Pietrzykowski,

Miejsce publikacji: Marine and Maritime

Rok: 2001

Słowa kluczowe:

Abstrakt:

Tytuł: An expert system for the vessel traffic management in the Szczecin - Swinoujscie fairway

Autor/Autorzy: Zbigniew Pietrzykowski,

Miejsce publikacji: Water Studies

Rok: 2000

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Abstrakt:

Tytuł: Prediction of ship movement in a restricted area using artificial neural networks, 7th International Conference Advanced Computer Systems ACS’2000

Autor/Autorzy: Pietrzykowski Z., Ch. Reich

Miejsce publikacji:

Rok: 2000

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Tytuł: The acquisition of expert knowledge by the sequential graph method in navigational situations classification; 7th

International Conference Advanced Computer Systems ACS’2000; str. 171-178

Autor/Autorzy: Pietrzykowski Z., E.Adamus

Miejsce publikacji:

Rok: 2000

Słowa kluczowe:

Abstrakt:

Tytuł: Knowledge-Based System for Evaluation of Ship’s Navigational Safety

Autor/Autorzy: T. Dziedzic, , Z. Pietrzykowski, J. Uriasz

Miejsce publikacji:1st International Conferenceon Computer Applications and Information Technology in the Maritime Industries COMPIT 2000, Berlin-Potsdam 2000, str. 132-140.

Rok: 2000

Tytuł: Implementation of navigators’ knowledge in an expert system for the evaluation of safety of a ship navigating in a restricted area

Autor/Autorzy: Pietrzykowski Z., Uchacz W.

Miejsce publikacji: Annual of Navigation No 2; Annual of Navigation No 2, Gdynia 2000, str. 99-114.

Rok: 2000

Słowa kluczowe:

Tytuł: Acquisition and representation of knowledge for decision-supporting systems in marine navigation

Autor/Autorzy: Pietrzykowski Z., Richards B.

Miejsce publikacji: VI International Conference Methods and Models in Automation and Robotics, Szczecin-Międzyzdroje 2000, str. 437-442.

Rok: 2000

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Tytuł: Intelligent agent’s technology application for navigational safety of ships

Autor/Autorzy: Pietrzykowski Z., Dziedzic T.

Miejsce publikacji: 2nd International Conference SAFE NAVIGATION BEYOND 2000, Gdynia 2000, str. 167-173

Rok: 2000

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Tytuł: Rozmyta domena statku w ocenie bezpieczeństwa nawigacyjnego na akwenie ograniczonym

Autor/Autorzy: Pietrzykowski Z

Miejsce publikacji: III Sympozjum Nawigacyjne, WSM w Gdyni, Gdynia 1999, tom I, str. 253-264

Rok: 1999

Słowa kluczowe:

Tytuł: Efekty zastosowania kalkulatora rozmytego stanu załadowania statku morskiego

Autor/Autorzy: Szozda Z., Pietrzykowski Z.

Miejsce publikacji: Informatyka i zarządzanie strategiczne, edytor R. Budzyński, Szczecin 1999, PAN Oddział w Gdańsku, str. 481-492,

Rok: 1999

Słowa kluczowe:

Tytuł: Fuzzy numbers in calculations of ship stability

Autor/Autorzy: Szozda Z., Pietrzykowski Z.

Miejsce publikacji: 5th International Conference „Advanced Computer Systems”, Politechnika Szczecińska, Szczecin 1998, str. 414-421

Rok: 1998

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Tytuł: Applications of neuro-fuzzy networks for identification of distress situations in vessel traffic in restricted areas

Autor/Autorzy: Pietrzykowski Z.

Miejsce publikacji: VII Międzynarodowa Konferencja Naukowo-techniczna Inżynierii Ruchu Morskiego, WSM

Szczecin 1997, str. 131-142

Rok: 1997

Słowa kluczowe:

Tytuł: Ocena bezpieczeństwa manewru podążania statków na akwenie ograniczonym

Autor/Autorzy: Pietrzykowski Z.

Miejsce publikacji: Zeszyty Naukowe WSM w Szczecinie nr 48, Szczecin 1995, str. 59-80.

Rok: 1995

Tytuł: Założenia Systemu Zarządzania i Nadzoru Ruchu Statków na torze wodnym Świnoujście-Szczecin

Autor/Autorzy: Pietrzykowski Z., Uchacz W., Wojcieszek D.

Miejsce publikacji: VI Międzynarodowa Konferencja Naukowo-techniczna Inżynierii Ruchu Morskiego, WSM

Szczecin 1995, str. 301-310

Rok: 1995

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