Search Results (170)

Evaluating the management effectiveness of protected areas (PAs) is critical for refining conservation strategies. One of the key components in the management of PA is the regulation of human disturbance. We evaluated the management effectiveness of the Qilian Mountain National Nature Reserve (QMNNR) in mitigating human disturbance for 2000–2022. Human footprint was used as a key indicator of human disturbance. It integrates eight human disturbance factors: built environments, population density, night-time lights, cropland, pastureland, roads, railways, and navigable waterways. Evaluations are conducted across dual spatial dimensions: (1) constructing an equal-area external buffer zone to compare human footprint dynamics inside versus outside the reserve; and (2) testing the hypothesis that “stricter zonation correlates with improved control of human disturbance” by analyzing management gradients across four functional zones (core, buffer, experimental, and peripheral protection zones). Key findings include the following: (1) The increase in human footprint within the reserve was markedly lower than in surrounding areas, with the internal–external human footprint disparity expanding from 2000 to 2022. (2) Spatial analysis reveals concentrated disturbance hotspots in northern buffer zones, whereas only marginal increases occurred in Sunan County within the reserve. (3) Human footprint growth across functional zones followed a clear ascending order: core zone < buffer zone < experimental zone < peripheral protection zone, validating the efficacy of zoned management. Collectively, these results demonstrate that the QMNNR has effectively curbed human disturbance expansion—particularly in its core area—though vigilance is warranted against emerging “ecological island” risks in the northern peripheral zone. The proposed dual-dimensional human footprint assessment framework further offers a standardized evaluation methodology for large-scale PA in mitigating human disturbance. Full article

In recent years, the share of cargo transport in Poland’s water has been marginal. Through comprehensively reviewing 61 relevant studies in the field, supplemented by the investigation of several important databases, this paper estimates the historical and current state of inland navigation in Poland, and at the same time, identifies the main threats to the future development of inland navigation. A detailed evaluation in regard to the degree of technical infrastructure use is presented for the Lower Vistula section in the years 1986–2020. In that period, there was a decrease in the number of cargo vessels passing through the only lock on the Lower Vistula, at Włocławek. This was due to a number of factors, including natural conditions resulting from climate change, which led to more frequent occurrences of low water levels. In recent years (2016–2020), there has been an increase in the number of tourist vessels passing through the lock in Włocławek and locks on Vistula branches. This boost is marked mainly in the summer (from June to August) at locks near city centers. Revitalizing inland navigation in Poland is possible through joint planning, implementation and financing of strategic infrastructure investments at the national, regional and local levels. Full article

Background: Inland waterway transport is characterised by its large loading capacity, low transport costs, and minimal negative environmental impact. Inland navigation is often the first choice as an alternative to special transport of goods, such as various oversized units and high-volume production. The countries of Central Europe, especially those in the Danube region, which is traditionally linked to water transport, with the largest and most important river in Central and Southern Europe, have seen a significant decline in inland waterway freight transport over the last decade. Methods: Therefore, the most up-to-date, publicly available, open-source statistical data were collected and analysed. Water transport will play an irreplaceable role in the post-conflict reconstruction of Ukraine and its industry. Results: Ukraine maintains the same position, although the military conflict profoundly impacts Danube traffic. Conclusions: The possibility and potential for restoring large areas of land, utilising inland water transport, and combining suitable types of goods and means of transport will increase the volume of goods on the Danube and its importance as a transport artery. Of course, this is subject to the conditions of long-term sustainability. Full article

The Strait of Malacca faces persistent maritime safety challenges due to high vessel density and complex navigational conditions. Current risk assessment methods often lean towards treating static accident analysis and dynamic traffic modeling separately, although some nascent hybrid approaches exist. However, these hybrids frequently lack the capacity for comprehensive, real-time factor integration. This study proposes an integrated framework coupling accident hotspot identification with vessel traffic network analysis. The framework combines trajectory clustering using improved DBSCAN with directional filters, Kernel Density Estimation (KDE) for accident hotspots, and Fuzzy Analytic Hierarchy Process (FAHP) for multi-factor risk evaluation, acknowledging its subjective and region-specific nature. The model was trained and tuned exclusively on the 2023 dataset (47 incidents), reserving the 2024 incidents (24 incidents) exclusively for independent, zero-information-leakage validation. Results demonstrate superior performance: Area Under the ROC Curve (AUC) improved by 0.14 (0.78 vs. 0.64; +22% relative to KDE-only), and Precision–Recall AUC (PR-AUC) improved by 0.16 (0.65 vs. 0.49); both p < 0.001. Crucially, all model tuning and parameter finalization (including DBSCAN/Fréchet, FAHP weights, and adaptive thresholds) relied solely on 2023 data, with the 2024 incidents reserved exclusively for independent temporal validation. The model captures 75.2% of reported incidents within 20% of the study area. Cross-validation confirms stability across all folds. The framework reveals accidents concentrate at network bottlenecks where traffic centrality exceeds 0.15 and accident density surpasses 0.6. Model-based associations suggest amplification through three pathways: environmental-mediated (34%), traffic convergence (34%), and historical persistence (23%). The integrated approach enables identification of both where and why maritime accidents cluster, providing practical applications for vessel traffic services, risk-aware navigation, and evidence-based safety regulation in congested waterways. Full article

This study examines the evolution characteristics of ship waves generated by large vessels in shallow waters. A CFD-based numerical wave tank, incorporating Torsvik’s ship wave theory, was developed using the VOF multiphase approach and the RNG k-ε turbulence model to capture free-surface evolution and turbulence effects. Results indicate that wave heights vary significantly near the critical depth-based Froude number ($F_h$). Comparative analyses between CFD results for a Wigley hull and proposed empirical correction formulas show strong agreement in predicting maximum wave heights in transcritical and supercritical regimes, accurately capturing the nonlinear surge of wave amplitude in the transcritical range. Simulations of 2000-ton and 6000-ton class vessels further reveal that wave heights increase with $F_h$, peak in the transcritical regime, and subsequently decay. Lateral wave attenuation was also observed with increasing transverse distance, highlighting the role of vessel dimensions and bulbous bow structures in modulating wave propagation. These findings provide theoretical and practical references for risk assessment and navigational safety in shallow waterways. Full article

With the rapid growth of global shipping, accurate vessel traffic prediction is essential for waterway management and navigation safety. This study proposes the Fusion Spatio-Temporal Transformer (FSTformer) to address non-Gaussianity, non-stationarity, and spatiotemporal heterogeneity in traffic flow prediction. FSTformer incorporates a Weibull–Gaussian Transformation for distribution normalization, a hybrid Transformer encoder with Heterogeneous Mixture-of-Experts (HMoE) to model complex dependencies, and a Kernel MSE loss function to enhance robustness. Experiments on AIS data from the Fujiangsha waters of the Yangtze River show that FSTformer consistently outperforms baseline models across multiple horizons. Compared with the best baseline (STEAformer), it reduces MAE, RMSE, and MAPE by 3.9%, 1.8%, and 6.3%, respectively. These results demonstrate that FSTformer significantly improves prediction accuracy and stability, offering reliable technical support for intelligent shipping and traffic scheduling in complex waterways. Full article

For the motion control of ships in confined and curved waterways, from broad coastal channels to narrow river bends, conventional methods often struggle to ensure both tracking accuracy and navigational safety. A key deficiency is the inability of standard algorithms to incorporate the nuanced principles of good seamanship. To address this, a novel, hierarchical adaptive control framework is proposed. The core novelty of this framework lies in its versatile and adaptive guidance rules, which embed maritime practice into the control loop for different navigating scenarios. In general maritime channels with wind and current, these rules function to ensure robust, high-fidelity route tracking. For the most challenging inland river curved channels, it is further enhanced to generate a strategic, non-centerline trajectory that replicates the crucial inland navigational practice of “holding high and taking low”. This is complemented by a reinforcement learning-based strategy at the control layer, which performs real-time tuning of PID gains to adapt to the vessel’s dynamics. The framework’s dual capabilities were systematically validated. The core adaptive algorithms proved effective for robust control in curved channels under wind and current disturbances. Furthermore, the full framework, including the seamanship-informed strategy, demonstrated superior performance in the most complex inland river scenarios. Compared to a conventional controller, the proposed method reduced the peak cross-track error by over 40% and increased the minimum safety margin from the bank by more than 49% under a strong 3 m/s cross-current. An effective solution for motion control is thus provided, bridging the gap between modern control theory and the context-dependent expertise of practical pilotage. Full article

Ship waterway tunnels are a new and special type of navigation facility that has emerged in the construction of complex hubs in high mountain valleys and rivers, and they have demonstrated broad applications worldwide. Due to their characteristics of long length, a dim visual background, and enclosed space, waterway tunnels are prone to causing tension and cognitive fatigue in ship officers on watch, affecting their decision-making and control abilities. This study constructs the visual navigation environment of a typical waterway tunnel in China using a ship maneuvering simulator. By monitoring the physiological data of ship officers, such as through electroencephalograms (EEGs) and electrocardiograms (ECGs), the temporal and spatial patterns of their physiological and psychological characteristics are analyzed systematically. Based on this, a quantitative model of the cognitive load of a ship officer working in a waterway tunnel is constructed. At the same time, the navigation risk of waterway tunnels of different lengths is quantized based on the entropy weight TOPSIS method, and finally, high-risk sections in waterway tunnels are identified and visualized, providing theoretical support for the management of safety in waterway tunnels. Full article

This study introduces a novel deep learning architecture for vessel trajectory prediction based on Automatic Identification System (AIS) data. The motivation stems from the increasing importance of maritime transport and the need for intelligent solutions to enhance safety and efficiency in congested waterways—particularly with respect to collision avoidance and real-time traffic management. Special emphasis is placed on river navigation scenarios that limit maneuverability with the demand of higher forecasting precision than open-sea navigation. To address these challenges, we propose a Principal Component Analysis (PCA)-driven layered attention mechanism integrated within an encoder–decoder model to reduce redundancy and enhance the representation of spatiotemporal features, allowing the layered attention modules to focus more effectively on salient positional and movement patterns across multiple time steps. This dual-level integration offers a deeper contextual understanding of vessel dynamics. A carefully designed evaluation framework with statistical hypothesis testing demonstrates the superiority of the proposed approach. The model achieved a mean positional error of 0.0171 nautical miles (SD: 0.0035), with a minimum error of 0.0006 nautical miles, outperforming existing benchmarks. These results confirm that our PCA-enhanced attention mechanism significantly reduces prediction errors, offering a promising pathway toward safer and smarter maritime navigation, particularly in traffic-critical riverine systems. While the current evaluation focuses on short-term horizons in a single river section, the methodology can be extended to complex environments such as congested ports or multi-ship interactions and to medium-term or long-term forecasting to further enhance operational applicability and generalizability. Full article

Accurate forecasting of river siltation is essential for ensuring inland waterway navigability and guiding sustainable sediment management. This study investigates the downstream reach of the Shihutang navigation power hub along the Ganjiang River in Jiangxi Province, China, an area characterized by pronounced seasonal sedimentation and hydrological variability. To enable fine-scale prediction, we developed a data-driven framework using a random forest regression model that integrates high-resolution bathymetric surveys with hydrological and meteorological observations. Based on the field data from April to July 2024, the model was trained to forecast monthly siltation volumes at a 30 m grid scale over a six-month horizon (July–December 2024). The results revealed a marked increase in siltation from July to September, followed by a decline during the winter months. The accumulation of sediment, combined with falling water levels, was found to significantly reduce the channel depth and width, particularly in the upstream sections, posing a potential risk to navigation safety. This study presents an initial, yet promising attempt to apply machine learning for spatially explicit siltation prediction in data-constrained river systems. The proposed framework provides a practical tool for early warning, targeted dredging, and adaptive channel management. Full article

In this paper, we propose a hybrid algorithm that integrates an improved artificial potential field method (IAPF), model predictive control (MPC), and an extended state observer (ESO) to address the obstacle avoidance problem in multi-unmanned surface vehicle (Multi-USV) formations, including both dynamic and static obstacles, as well as navigation through narrow waterways. Initially, the virtual structure method was applied for formation control. Next, the traditional potential field method was enhanced by employing a saturated attractive potential field and a partitioned repulsive potential field, which improve formation stability and obstacle avoidance accuracy in complex environments. The extended state observer was then employed to estimate and compensate for unknown system dynamics and external disturbances from the marine environment in real time, improving system robustness. On this basis, by leveraging the multi-step predictive optimization capabilities of model predictive control, the proposed algorithm dynamically adjusts control inputs based on the desired trajectories generated from potential field forces, which ensures the stability of formation control and effective obstacle avoidance. The simulation results demonstrate that the proposed algorithm effectively avoids both dynamic and static obstacles in multi-unmanned surface vehicle formations and enables successful navigation through narrow waterways by altering the formation. Full article

Waterborne transportation serves as a critical pillar of trunk-line freight systems, offering unparalleled advantages in transport capacity, energy efficiency, and cost-effectiveness. As cargo throughput demands escalate, optimizing lock capacity becomes imperative. This study investigates ship sinkage dynamics through computational fluid dynamics (CFD) simulations for a representative inland cargo vessel navigating the Three Gorges on the Yangtze River. We develop a predictive sinkage model that integrates four key hydrodynamic parameters: ship velocity, draft, water depth, and bank clearance, applicable to both open shallow water and lockage conditions. The model enables determination of maximum safe drafts for lock transit by analyzing upstream/downstream water levels and corresponding chamber depths. Our results demonstrate the technical feasibility of enhancing single-lock cargo capacity while maintaining safety margins. These findings provide (1) a scientifically grounded framework for draft control optimization, and (2) actionable insights for lock operation management. The study establishes a methodological foundation for balancing navigational safety with growing throughput requirements in constrained waterways. Full article

Autonomous Underwater Vehicles (AUVs) operating in dynamic, constrained underwater environments demand sophisticated navigation and detection fusion capabilities that traditional methods often fail to provide. This paper introduces a novel hybrid framework that synergistically fuses a Multithreaded Energy-Optimized Batch Informed Trees (MEO-BIT*) algorithm with Deep Q-Networks (DQN) to achieve robust AUV autonomy. The MEO-BIT* component delivers efficient global path planning through (1) a multithreaded batch sampling mechanism for rapid state-space exploration, (2) heuristic-driven search accelerated by KD-tree spatial indexing for optimized path discovery, and (3) an energy-aware cost function balancing path length and steering effort for enhanced endurance. Critically, the DQN component facilitates dynamic obstacle detection and adaptive local navigation, enabling the AUV to adjust its trajectory intelligently in real time. This integrated approach leverages the strengths of both algorithms. The global path intelligence of MEO-BIT* is dynamically informed and refined by the DQN’s learned perception. This allows the DQN to make effective decisions to avoid moving obstacles. Experimental validation in a simulated Achao waterway (Chile) demonstrates the MEO-BIT* + DQN system’s superiority, achieving a 46% reduction in collision rates (directly reflecting improved detection and avoidance fusion), a 15.7% improvement in path smoothness, and a 78.9% faster execution time compared to conventional RRT* and BIT* methods. This work presents a robust solution that effectively fuses two key components: the computational efficiency of MEO-BIT* and the adaptive capabilities of DQN. This fusion significantly advances the integration of navigation with dynamic obstacle detection. Ultimately, it enhances AUV operational performance and autonomy in complex maritime scenarios. Full article

The Pinglu Canal is a strategic inland restricted waterway under construction in southwest China. Its ship wave superposition characteristics under conditions of high-density shipping and large ships may threaten navigation safety, but little related research has been performed. Based on the Pinglu Canal project, this study uses the XBeach numerical model, which is validated by field observations on the Chengzi River waterway, to analyze the ship wave characteristics under single-ship navigation (SN) and two-ship navigation in opposite directions (2NOD). The results show the influences of ship type and water depth. For SN, secondary waves of the navigation administration boat (NAB) dominate, with wave height decreasing as water depth increases. Larger cargo ships (CSs) present significant primary wave effects and a complex relationship between the secondary wave’s height and water depth. For 2NOD, the NAB wave effect is stronger due to superposition. As for larger CSs, the primary wave effect is significantly enhanced and occupies the dominant position, with secondary wave height tending to increase with the increase in water depth. The study reveals the characteristics of single-ship and two-ship waves in the Pinglu Canal, providing a theoretical basis and technical support for ship wave risk assessment and ecological revetment design. Full article

Unmanned boat distance detection is an important foundation for autonomous navigation tasks of unmanned boats. Monocular vision ranging has the advantages of low hardware equipment requirements, simple deployment, and high efficiency of distance detection. Unmanned boats can sense the real-time navigational situation of waters through monocular vision ranging, providing data support for their autonomous navigation. This paper establishes a framework for unmanned boat distance detection. The framework extracts and recognizes the features of an unmanned boat through Yolov11m-pose and selects the key points of the ship for physical distance mapping. Using the camera calibration to obtain the pixel focal length, the main point coordinates and other parameters are obtained. The number of pixel points in the image key point to the image center pixel and the actual distance of the camera from the horizontal plane are combined with the focal length of the camera for triangular similarity conversion. These data are fused with the camera pitch angle and other parameters to obtain the final distance. At the same time, experimental verification of the key point detection model demonstrates that it fully meets the requirements for unmanned boat ranging tasks, as assessed by Precision, Recall, mAP50, mAP50-95 and other indicators. These indicators show that Yolov11m-pose has a better accuracy in the key point detection task with an unmanned boat. The verification experiments also illustrate the accuracy of the key point-based physical distance mapping compared with the traditional detection frame-based physical distance mapping, which was assessed by the mean squared error (MSE), the root mean square error (RMSE), and the mean absolute error (MAE). The metrics show that key point-based unmanned boat distance mapping has greater accuracy in a variety of environmental situations, which verifies the effectiveness of this approach. Full article