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Studies on the Control Aspects of Human Pilots and the Expert System for Automatic Navigation.

人类飞行员的控制方面和自动导航专家系统的研究。

基本信息

批准号：
62850079
负责人：
KOSE Kuniji
金额：
$ 6.59万
依托单位：
Hiroshima University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Developmental Scientific Research
财政年份：
1987
资助国家：
日本
起止时间：
1987 至 1988
项目状态：
已结题

项目摘要

At the present, ships are maneuvered by human operators in harbors. A berthing maneuver of ships is one of the most sophisticated controls conducted by human operators. In this berthing maneuver, a pilot has to take firstly maneuvering safety into consideration. It is very important to control maneuvering motion accurately, because the final berthing speed has to be kept under 5 cm/sec. Therefore a pilot has to predict the maneuvering motion which is executed by his operation under relatively large disturbances. For ships have large mass but they have only equipped with relatively small control power. Then there are many practices which enable a pilot to keep maneuvering safety.In collision avoidances in narrow waterways, the situation is about similar. As a pilot has to estimate correctly the relative motions among own ship and encountered ships, he has to predict the paths of target ships, taking traffic rules, mariners' practices and so on into consideration.In order to realize a co … More mputer aided maneuvering system for such complicated maneuvers, It is necessary to analyze maneuvering motions of ships in harbors and collision avoidance actions which are conducted bypilots.In the present report, firstly an attempt is made to design and to construct a ship maneuvering simulator which can realize real time maneuvering simulations by human pilots. The Harbor Kaneuverins Simulator of Hiroshima University has been established, constructing a mockup of the wheelhouse with conventional navigational aids, developing a visual display system of computer generated imagery type, building up a mathematical models of ship motions, environmental situations in a computer. The reality of the simulations has been assured by many professional pilots of the Japan Pilots Association.At the second, maneuvers of course keeping, changing, berthing and berthing are simulated and analyzes with special emphasis on the maneuvering safety problems such as the allowable limit of ship maneuverability. The allowabLe limits in course-keeping and -changing have been evaluated. Those are important for realizing a computer aided maneuvering system.Finally, the expert system has been developed for the maneuvers at confused and narrow waterways with regulated traffic routes. The Knowledge base with hierarchy structures is built. The knowledge base contains the rules of reasoning control, decision making after prediction, sub-decision making and elementaL knowledge. Traffic simulations have been carried out by the expert system for checking the maneuvering performance and improving the knowledge base. The expert system has been confirmed to work well for collision avoidance maneuvers and passing maneuvers through traffic routes. Less

目前，船舶在港口由人工操作。船舶靠泊操纵是由人类操作员进行的最复杂的控制之一。在这种靠泊操纵中，驾驶员首先要考虑操纵安全。精确控制操纵运动非常重要，因为最终靠泊速度必须保持在5 cm/s以下。因此，飞行员必须预测在相对大的扰动下由他的操作执行的机动运动。船舶质量大，但控制力相对较小。在狭窄水道的避碰中，也有类似的情况。由于驾驶员要正确估计本船与会遇船之间的相对运动，因此需要在考虑交通规则、航海习惯等因素的情况下，对目标船的航迹进行预测，从而实现对目标船的航向控制。 ...更多信息本文首次尝试设计和建造一个船舶操纵模拟器，它能实现驾驶员真实的实时操纵模拟。建立了广岛大学的港口操纵模拟器，建立了具有常规助航设备的驾驶室模型，开发了计算机生成图像式的视景显示系统，在计算机上建立了船舶运动、环境状况的数学模型。其次，对船舶的航向保持、变向、靠泊和靠泊等操纵进行了仿真，并着重分析了船舶操纵性的允许极限等操纵安全问题。对航向保持和航向改变的允许极限进行了评估。最后，针对复杂、狭窄、航线管制的航道，开发了船舶操纵专家系统。建立了具有层次结构的知识库。知识库包括推理控制规则、预测后决策规则、子决策规则和基本知识。为了检验操纵性能和完善知识库，专家系统进行了交通仿真。该专家系统已被证实工作良好的避碰演习和通过交通路线的演习。少