Search Results (730)

Multi-vessel formation shipping demonstrates significant potential for enhancing maritime transportation efficiency and economy. However, existing route planning systems inadequately address the unique challenges of formations, where traditional methods fail to integrate global optimality, local dynamic obstacle avoidance, and formation coordination into a cohesive system. Global planning often neglects multi-ship collaborative constraints, while local methods disregard vessel maneuvering characteristics and formation stability. This paper proposes GLFM, a three-layer hierarchical framework (global optimization–local adjustment-formation collaboration module) for intelligent route planning of transport ship formations. GLFM integrates an improved multi-objective A* algorithm for global path optimization under dynamic meteorological and oceanographic (METOC) conditions and International Maritime Organization (IMO) safety regulations, with an enhanced Artificial Potential Field (APF) method incorporating ship safety domains for dynamic local obstacle avoidance. Formation, structural stability, and coordination are achieved through an improved leader–follower approach. Simulation results demonstrate that GLFM-generated trajectories significantly outperform conventional routes, reducing average risk level by 38.46% and voyage duration by 12.15%, while maintaining zero speed and period violation rates. Effective obstacle avoidance is achieved, with the leader vessel navigating optimized global waypoints and followers maintaining formation structure. The GLFM framework successfully balances global optimality with local responsiveness, enhances formation transportation efficiency and safety, and provides a comprehensive solution for intelligent route optimization in multi-constrained marine convoy operations. Full article

In this research, the effect of ship navigation on the mooring system of a deep-sea floating tidal energy platform is experimentally investigated. Hydrodynamic experiments were conducted on a figure-of-eight mooring system with a KCS ship (KRISO Container Ship) as the sailing ship model and a catamaran as the carrier model of the tidal current energy generator under the combined effect of waves and ocean currents. The experimental results show that the increase in ship speed increases the amplitude of the carrier motion re-response. When the ship speed increases from 1.2 m/s to 1.478 m/s, the roll amplitude increases by 220%. At the same time, a decrease in the distance and draft of the navigating vessel also increases the amplitude of the motion response. Then, the actual sea conditions are simulated by the combined effect of ship waves and regular waves. As the wave period decreases and the height increases, the platform motion response is gradually reduced by the ship-generated waves. These findings provide important insights for optimizing the mooring system design in wave-dominated marine environments. Full article

Ocean Acoustic Tomography (OAT) is an important marine remote sensing technique used for inverting large-scale ocean environmental parameters, but traditional methods face challenges in computational complexity and environmental interference. This paper proposes a causal analysis-driven AI FOR SCIENCE method for high-precision and rapid inversion of oceanic hydrological parameters in complex underwater environments. Based on the open-source VTUAD (Vessel Type Underwater Acoustic Data) dataset, the method first utilizes a fine-tuned Paraformer (a fast and accurate parallel transformer) model for precise classification of sound source targets. Then, using structural causal models (SCM) and potential outcome frameworks, causal embedding vectors with physical significance are constructed. Finally, a cross-modal Transformer network is employed to fuse acoustic features, sound source priors, and environmental variables, enabling inversion of temperature and salinity in the Georgia Strait of Canada. Experimental results show that the method achieves accuracies of 97.77% and 95.52% for temperature and salinity inversion tasks, respectively, significantly outperforming traditional methods. Additionally, with GPU acceleration, the inference speed is improved by over sixfold, aimed at enabling real-time Ocean Acoustic Tomography (OAT) on edge computing platforms as smart hardware, thereby validating the method’s practicality. By incorporating causal inference and cross-modal data fusion, this study not only enhances inversion accuracy and model interpretability but also provides new insights for real-time applications of OAT. Full article

Sea ice parameters are crucial for polar ship design. During China’s 39th Antarctic Scientific Expedition, ice condition from the entire navigation process of the research vessel Xuelong 2 was recorded using shipborne cameras. To obtain sea ice parameters, two deep learning models, Ice-Deeplab and U-Net, were employed to automatically obtain sea ice concentration (SIC) and sea ice thickness (SIT), providing high-frequency data at 5-min intervals. During the observation period, ice navigation accounted for 32 days, constituting less than 20% of the total 163 voyage days. Notably, 63% of the navigation was in ice fields with less than 10% concentration, while only 18.9% occurred in packed ice (concentration > 90%) or level ice regions. SIT ranges from 100 cm to 234 cm and follows a normal distribution. The results demonstrate that, to achieve enhanced navigation efficiency and fulfill expedition objectives, the research vessel substantially reduced duration in high-concentration ice areas. Additionally, the results of SIC extracted from shipborne camera images were compared with the data from the Copernicus Marine Environment Monitoring Service (CMEMS) satellite remote sensing. In summary, the sea ice parameter data obtained from shipborne camera images offer high spatial and temporal resolution, making them more suitable for engineering applications in establishing sea ice environmental parameters. Full article

This paper addresses the trajectory tracking control problem of underactuated ships in ocean engineering, which faces the dual challenges of tracking error time–performance regulation and robustness design due to the system’s underactuated characteristics, model uncertainties, and external disturbances. Aiming to address the issues of traditional finite-time control (convergence time dependent on initial states) and fixed-time control (control chattering and parameter conservativeness), this paper proposes a predefined-time adaptive control framework that integrates an event-triggered mechanism and neural networks. By constructing a Lyapunov function with time-varying weights and designing non-periodic dynamically updated dual triggering conditions, the convergence process of tracking errors is strictly constrained within a user-prespecified time window without relying on initial states or introducing non-smooth terms. An adaptive approximator based on radial basis function neural networks (RBF-NNs) is employed to compensate for unknown nonlinear dynamics and external disturbances in real-time. Combined with the event-triggered mechanism, it dynamically adjusts the update instances of control inputs, ensuring prespecified tracking accuracy while significantly reducing computational resource consumption. Theoretical analysis shows that all signals in the closed-loop system are uniformly ultimately bounded, tracking errors converge to a neighborhood of the origin within the predefined-time, and the update frequency of control inputs exhibits a linear relationship with the predefined-time, avoiding Zeno behavior. Simulation results verify the effectiveness of the proposed method in complex marine environments. Compared with traditional control strategies, it achieves more accurate trajectory tracking, faster response, and a substantial reduction in control input update frequency, providing an efficient solution for the engineering implementation of embedded control systems in unmanned ships. Full article

The growth and sustainability of today’s global economy heavily relies on smooth maritime operations. The increasing security concerns to marine environments pose complex security challenges, such as smuggling, illegal fishing, human trafficking, and environmental threats, for traditional surveillance methods due to their limitations. Artificial intelligence (AI), particularly deep learning, has offered strong capabilities for automating object detection, anomaly identification, and situational awareness in maritime environments. In this paper, we have reviewed the state-of-the-art deep learning models mainly proposed in recent literature (2020–2025), including convolutional neural networks, recurrent neural networks, Transformers, and multimodal fusion architectures. We have highlighted their success in processing diverse data sources such as satellite imagery, AIS, SAR, radar, and sensor inputs from UxVs. Additionally, multimodal data fusion techniques enhance robustness by integrating complementary data, yielding more detection accuracy. There still exist challenges in detecting small or occluded objects, handling cluttered scenes, and interpreting unusual vessel behaviours, especially under adverse sea conditions. Additionally, explainability and real-time deployment of AI models in operational settings are open research areas. Overall, the review of existing maritime literature suggests that deep learning is rapidly transforming maritime domain awareness and response, with significant potential to improve global maritime security and operational efficiency. We have also provided key datasets for deep learning models in the maritime security domain. Full article

The maritime sector is undergoing rapid transformation, driven by increasingly stringent international regulations targeting air pollution. While newly built vessels integrate advanced technologies for compliance, the global fleet averages 21.8 years of age and must meet emission requirements through retrofitting or operational changes. This study evaluates, at environmental and economic levels, two key sulphur abatement strategies for a 1998-built cruise vessel nearing the end of its service life: (i) the installation of open-loop scrubbers with fuel enhancement devices, and (ii) a switch to marine diesel oil as main fuel. The analysis was based on real operational data from a cruise vessel. For the environmental assessment, a Tier III hybrid emissions model was used. The results show that scrubbers reduce SO_x emissions by approximately 97% but increase fuel consumption by 3.6%, raising both CO₂ and NO_x emissions, while particulate matter decreases by only 6.7%. In contrast, switching to MDO achieves over 99% SO_x reduction, an 89% drop in particulate matter, and a nearly 5% reduction in CO₂ emissions. At an economic level, it was found that, despite a CAPEX of nearly USD 1.9 million, scrubber installation provides an average annual net saving exceeding USD 8.2 million. From the deterministic and probabilistic analyses performed, including Monte Carlo simulations under various fuel price correlation scenarios, scrubber installation consistently shows high profitability, with NPVs surpassing USD 70 million and payback periods under four months. Full article

To achieve robust trajectory tracking performance for autonomous surface vessels (ASVs), a robust adaptive fuzzy control (RAFC) scheme is proposed. The trajectory tracking problem of ASVs is addressed through a unified control framework that integrates a nonlinear controller with an adaptive fuzzy estimator. In this framework, a nonlinear transformation is employed to first generate the trajectory tracking error dynamics, and then the adaptive fuzzy estimator is utilized to accurately estimate the effects of multiple ocean perturbations. This unified design ensures both robustness and high-precision trajectory tracking for the controlled ASVs. To validate the effectiveness of the proposed method, two challenging simulation scenarios are investigated. The simulation results demonstrate the superior control performance and robustness of the proposed approach. Full article

Despite navigation advancements in enhanced sensor utilization and increased focus on maritime training and education, most marine accidents still involve collisions with high human involvement. Furthermore, navigators’ knowledge and application of the most often misunderstood Rule 10 Traffic Separation Schemes (TSS) according to the Convention on the International Regulations for Preventing Collisions at Sea (COLREG) represents the first focus in this study. To provide insight into the level of understanding and knowledge regarding COLREG Rule 10, a customized, worldwide survey has been created and disseminated among marine industry professionals. The survey results reveal a notable knowledge gap in Rule 10, where we initially assumed that more than half of the respondents know COLREG regulations well. According to the probability calculation and chi-square test results, all three categories (OOW, Master, and others) have significant rule misunderstanding. In response to the COLREG misunderstanding, together with the increasing density of maritime traffic, the implementation of Decision Support Systems (DSS) in navigation has become crucial for ensuring compliance with regulatory frameworks and enhancing navigational safety in general. This study presents a structural approach to vessel prioritization and decision-making within a DSS framework, focusing on the classification and response of the own vessel (OV) to bow-crossing scenarios within the TSS. Through the real-time integration of AIS navigational status data, the proposed DSS Architecture offers a structured, rule-compliant architecture to enhance navigational safety and the decision-making process within the TSS. Furthermore, implementing a Fall-Back Strategy (FBS) represents the key innovation factor, which ensures system resilience by directing operator response if opposing vessels disobey COLREG rules. Based on the vessel’s dynamic context and COLREG hierarchy, the proposed DSS Architecture identifies and informs the navigator regarding stand-on or give-way obligations among vessels. Full article

To address the limitations of conventional single-stack fuel cell hybrid systems using equivalent hydrogen consumption strategies, this study proposes a multi-stack energy management strategy incorporating fuel cell health degradation. Leveraging a fuel cell efficiency decay model and lithium-ion battery cycle life assessment, power distribution is reformulated as an equivalent hydrogen consumption optimization problem with stack degradation constraints. A hybrid Genetic Algorithm–Particle Swarm Optimization (GA-PSO) approach achieves global optimization. The experimental results demonstrate that compared with the Frequency Decoupling (FD) method, the GA-PSO strategy reduces hydrogen consumption by 7.03 g and operational costs by 4.78%; compared with the traditional Particle Swarm Optimization (PSO) algorithm, it reduces hydrogen consumption by 3.61 g per operational cycle and decreases operational costs by 2.66%. This strategy ensures stable operation of the marine power system while providing an economically viable solution for hybrid-powered vessels. Full article

Liquefied natural gas (LNG) is increasingly used as a marine fuel due to its capacity to significantly reduce emissions of particulate matter, sulfur oxides (SO_x), and nitrogen oxides (NO_x), compared to conventional fuels. In addition, LNG combustion produces less carbon dioxide (CO₂) than conventional marine fuels, and the use of non-fossil LNG offers further potential for reducing greenhouse gas emissions. However, this benefit can be partially offset by methane slip—the release of unburned methane in engine exhaust—which has a much higher global warming potential than CO₂. This study presents an experimental evaluation of methane emissions from a RoPax vessel powered by low-pressure dual-fuel four-stroke engines with a direct mechanical propulsion system. Methane slip was measured directly during onboard testing and combined with a year-long analysis of engine operation using an Engine Load Monitoring (ELM) method. The yearly average methane slip coefficient (C_slip) obtained was 1.57%, slightly lower than values reported in previous studies on cruise ships (1.7%), and significantly lower than the default values specified by the FuelEU (3.1%) Maritime regulation and IMO (3.5%) LCA guidelines. This result reflects the ship’s operational profile, characterized by long crossings at high and stable engine loads. This study provides results that could support more representative emission assessments and can contribute to ongoing regulatory discussions. Full article

Unmanned Surface Vehicle (USV) offers a cost-effective platform for high-resolution marine magnetic surveys using shipborne fluxgate magnetometers. However, platform-induced magnetic interference and electromagnetic interference (EMI) can degrade data quality, even with paramagnetic hulls. This study evaluates fluxgate magnetometer data acquired from a paramagnetic-hulled USV. Noise characterization identified EMI and maneuver-induced high-frequency noise, the latter of which was effectively reduced through low-pass filtering. We compared four different correction approaches addressing both vessel attitude and magnetization. The results demonstrate that the paramagnetic hull significantly reduces magnetic interference and shortens the duration of viscous magnetization (VM) effects caused by eddy currents in the platform, compared to conventional ferromagnetic vessels. Nonetheless, residual magnetization from onboard ferromagnetic components still requires correction. A method utilizing all nine components of the susceptibility tensor demonstrated improved accuracy and stability. Despite corrections, low-frequency VM-related noise during azimuth changes and a consistent absolute offset (~200 nT) remain when compared to towed scalar magnetometer data. These findings validate the use of paramagnetic USV for vector magnetic surveys, highlighting their benefit in VM mitigation while emphasizing the need for further development in VM correction and offset correction to achieve high-precision measurements. Full article

The expansion of global maritime activities threatens marine ecosystems and biodiversity. Collisions between ships and marine megafauna profoundly impact vulnerable species such as whales, who serve as keystone predators. However, the specific regions most heavily affected by shipping traffic and the multi-species facing collision risk remain poorly understood. Here, we analyzed global shipping data to assess the distribution of areas with high shipping pressure and identify global hotspots for whale–ship collisions. The results reveal that high-pressure habitats are primarily distributed within exclusive economic zones (EEZs), which are generally consistent with the distribution of collision hotspots. High-pressure habitats exhibit significant spatial mismatch: 32.9% of Marine Protected Areas endure high shipping stress and yet occupy merely 1.25% of protected ocean area. Additionally, 25.1% of collision hotspots (top 1% risk) affect four or more whale species, forming critical aggregation in regions like the Gulf of St. Lawrence and Northeast Asian marginal seas. Most of these high-risk areas lack protective measures. These findings offer actionable spatial priorities for implementing targeted conservation strategies, such as the introduction of mandatory speed restrictions and dynamic vessel routing in high-risk, multi-species hotspots. By focusing on critical aggregation areas, these strategies will help mitigate whale mortality and enhance marine biodiversity protection, supporting the sustainable coexistence of maritime activities with vulnerable marine megafauna. Full article

Vessel detection technology based on marine remote sensing imagery is of great importance. However, it often faces challenges, such as small vessel targets, cloud occlusion, insufficient data volume, and severely imbalanced class distribution in datasets. These issues result in conventional models failing to meet the accuracy requirements for practical applications. In this paper, we first construct a novel remote sensing vessel image dataset that includes various complex scenarios and enhance the data volume and diversity through data augmentation techniques. Secondly, we address the class imbalance between foreground (small vessels) and background in remote sensing imagery from two perspectives: the sensitivity of IoU metrics to small object localization errors and the innovative design of a cost-sensitive loss function. Specifically, at the dataset level, we select vessel targets appearing in the original dataset as templates and randomly copy–paste several instances onto arbitrary positions. This enriches the diversity of target samples per image and mitigates the impact of data imbalance on the detection task. At the algorithm level, we introduce the Normalized Wasserstein Distance (NWD) to compute the similarity between bounding boxes. This enhances the importance of small target information during training and strengthens the model’s cost-sensitive learning capabilities. Ablation studies reveal that detection performance is optimal when the weight assigned to the NWD metric in the model’s loss function matches the overall proportion of small objects in the dataset. Comparative experiments show that the proposed NWD-YOLO achieves Precision, Recall, and ${\mathrm{AP}}_{50}$ scores of 0.967, 0.958, and 0.971, respectively, meeting the accuracy requirements of real-world applications. Full article

The marine habitats of the world’s oceans are being driven beyond their resilience. The ongoing biodiversity crisis is happening fast, within the lifespan of researchers trying to produce the information necessary for the conservation of habitats and marine ecosystems. Here, we report on the destruction of sciaphilic sessile communities and coralligenous concretions produced by the anchoring of a high-tonnage vessel inside a Marine Protected Area in Cyprus. The damage from the anchors and the chains consisted of the dislodgement of large boulders that were dragged or rolled over the seafloor, increasing the breakage and further dislodgement of more boulders; many were left upside-down. The biological communities that thrived in the dark environments below the boulders were directly exposed to high irradiance levels and went through a slow mortality and decaying process, most probably due to a combination of several deterioration agents, such as exposure to direct sunlight, predation, mucilage aggregates, and cyanobacterial blooms. The enforcement of regulatory measures for anchoring and transit in the MPA is necessary to prevent similar destruction. Given the extent of the irreversible damage to these sciaphilic communities, our study is, unfortunately, another environmental post-mortem contribution. Full article