Design and application of ship remote-driving control system

LI Chen; YAN Xin-ping; LIU Jia-lun; TANG Min; CHEN Guang-lin; LIN Nan

doi:10.19818/j.cnki.1671-1637.2024.05.021

Volume 24 Issue 5

Oct. 2024

Turn off MathJax

Article Contents

Article Navigation > Journal of Traffic and Transportation Engineering > 2024 > 24(5): 333-347

Next Previous

LI Chen, YAN Xin-ping, LIU Jia-lun, TANG Min, CHEN Guang-lin, LIN Nan. Design and application of ship remote-driving control system[J]. Journal of Traffic and Transportation Engineering, 2024, 24(5): 333-347. doi: 10.19818/j.cnki.1671-1637.2024.05.021

Citation:

LI Chen, YAN Xin-ping, LIU Jia-lun, TANG Min, CHEN Guang-lin, LIN Nan. Design and application of ship remote-driving control system[J]. Journal of Traffic and Transportation Engineering, 2024, 24(5): 333-347. doi: 10.19818/j.cnki.1671-1637.2024.05.021

Citation:

PDF( 10948 KB)

Design and application of ship remote-driving control system

doi: 10.19818/j.cnki.1671-1637.2024.05.021

LI Chen^{1, 2
,},
YAN Xin-ping^{1, 3, 4
,},
LIU Jia-lun^{1, 3, 4
,
,},
TANG Min^{1, 3},
CHEN Guang-lin^{1, 2},
LIN Nan^{1, 2}

1.
State Key Laboratory of Maritime Technology and Safety, Wuhan University of Technology, Wuhan 430063, Hubei, China
2.
School of Transportation and Logistics Engineering, Wuhan University of Technology, Wuhan 430063, Hubei, China
3.
Intelligent Transport Systems Research Center, Wuhan 430063, Hubei, China
4.
Hubei Donghu Laboratory, Wuhan 430063, Hubei, China

Funds:

National Key Research and Development Program of China 2022YFB4301402

National Natural Science Foundation of China 51920105014

National Natural Science Foundation of China 52272425

Fundamental Research Funds for the Central Universities 2024-JSJ-A1-02

More Information

Author Bio:
LI Chen(1998-), male, doctoral student, chenli1998@whut.edu.cn

YAN Xin-ping(1959-), male, professor, academician of Chinese Academy of Engineering, PhD, xpyan@whut.edu.cn

LIU Jia-lun(1987-), male, professor, PhD, jialunliu@whut.edu.cn
Received Date: 2024-06-29
Available Online: 2024-12-20
Publish Date: 2024-10-25

Abstract

Abstract

To ensure safe and efficient navigation and stable operation control under the "shore-based control supplemented by onboard monitoring and watch-keeping" mode, the definition of ship remote-driving control system and "ship-shore-cloud" cross-domain collaborative integrated fusion architecture were proposed. Aiming at the network time-varying delay problem under stochastic communication environments, incremental redundant retransmission and delay-tolerance compensation methods were integrated to establish the video communication processing mechanism. The Luenberger state observer was constructed to improve the networked control performance, and the control quantity offset caused by environmental interference or model mismatch could be avoided. A typical 64 TEU inland water model ship was taken as the research prototype to develop the system's modularized functions and standard interface protocols, and the effectiveness of the proposed method was verified at a control station 690 km away. Experimental results indicate that turning is more sensitive to network fluctuations compared with straight and path-following conditions. Specifically, the responding time of shipboard underlying hardware increases from 124.53 ms to 135.76 ms at the ultimate turning angle and rotation jitters. After optimization, the influence of 5% packet loss and 40 ms network jitters is eliminated, the end-to-end transmission delay is stabilized at 150-200 ms, and the video stutter rate is controlled within 1.2% by the video communication processing mechanism. The maximum lateral offset error of the path following is 1.54 m, with an average error of 0.61 m, improving the stability and reliability of remote-driving control system effectively, so that it can meet the requirements of typical remote-driving scenarios. As the driver needs some time to familiar with the ship's current steering task and motion state, immediate exit from the control loop will result in increased offsets, temporary jitter, and oscillations during take-over.
- waterway transportation,
- shore-based control,
- Luenberger state observer,
- delay tolerance compensation,
- networked control

FullText(HTML)

References(39)

References

[1]	LI Zhi-hong, ZHANG Di, HAN Bing, et al. Risk and reliability analysis for maritime autonomous surface ship: a bibliometric review of literature from 2015 to 2022[J]. Accident: Analysis and Prevention, 2023, 187: 107090. doi: 10.1016/j.aap.2023.107090
[2]	YAN Xin-ping, HE Ya-peng, HE Yi, et al. Development trends of waterway transportation technology[J]. Journal of Traffic and Transportation Engineering, 2022, 22(4): 1-9. (in Chinese) doi: 10.19818/j.cnki.1671-1637.2022.04.001
[3]	NEGENBORN R R, GOERLANDT F, JOHANSEN T A, et al. Autonomous ships are on the horizon: here's what we need to know[J]. Nature, 2023, 615(7950): 30-33. doi: 10.1038/d41586-023-00557-5
[4]	ZHANG Bao-chen, GENG Xiong-fei, LI Ya-bin, et al. Development status and trend of intelligent navigation technology[J]. Science and Technology Review, 2022, 40(14): 51-56. (in Chinese)
[5]	YUAN Xue, JIANG Ai-hua. Analysis of the legal status of shore control center operators of MASS based on IMO classification[J]. Journal of Ocean University of China (Social Sciences), 2023(1): 34-48. (in Chinese)
[6]	YAN Xin-ping, LI Chen, LIU Jia-lun, et al. Architecture and key technologies for new generation of waterborne transportation system[J]. Journal of Transportation Systems Engineering and Information Technology, 2021, 21(5): 22-29, 76. (in Chinese)
[7]	CHENT T T, UTNE I B, WU B, et al. A novel system-theoretic approach for human-system collaboration safety: case studies on two degrees of autonomy for autonomous ships[J]. Reliability Engineering and System Safety, 2023, 237: 109388. doi: 10.1016/j.ress.2023.109388
[8]	CHEN Yu-hang, ZHU Yu, HAN Bing, et al. Design of an information management system for intelligent remote operation of ships[J]. Journal of Shanghai Ship and Shipping Research Institute, 2022, 45(5): 23-28. (in Chinese)
[9]	LONGO G, ORLICH A, MERLO A, et al. Enabling real-time remote monitoring of ships by lossless protocol transformations[J]. IEEE Transactions on Intelligent Transportation Systems, 2023, 24(7): 7285-7295. doi: 10.1109/TITS.2023.3258365
[10]	HÖYHTYÄ M, MARTIO J. Integrated satellite-terrestrial connectivity for autonomous ships: survey and future research directions[J]. Remote Sensing, 2020, 12(15): 2507. doi: 10.3390/rs12152507
[11]	LI Chang-zhen, CHEN Wei, WANG Jue, et al. Wireless channel measurement and typical channel characteristics for intelligent inland navigation communications[J]. Journal of Traffic and Transportation Engineering, 2022, 22(4): 322-333. (in Chinese) doi: 10.19818/j.cnki.1671-1637.2022.04.025
[12]	ZENG H, WANG T J, ZHANG J D, et al. A novel encryption scheme in ship remote-control against differential fault attack[J]. Applied Sciences, 2022, 12(16): 8278. doi: 10.3390/app12168278
[13]	CHEN S J, XIONG X, WEN Y Q, et al. State compensation for maritime autonomous surface ships' remote-control[J]. Journal of Marine Science and Engineering, 2023, 11(2): 450. doi: 10.3390/jmse11020450
[14]	ZHOU Xiang-yu, WU Zhao-lin, WANG Feng-wu, et al. Definition of autonomous ship and its autonomy level[J]. Journal of Traffic and Transportation Engineering, 2019, 19(6): 149-162. (in Chinese) doi: 10.19818/j.cnki.1671-1637.2019.06.014
[15]	WRÓBEL K, GIL M, MONTEWKA J. Identifying research directions of a remotely-controlled merchant ship by revisiting her system-theoretic safety control structure[J]. Safety Science, 2020, 129: 104797. doi: 10.1016/j.ssci.2020.104797
[16]	CHENG Ting-ting, VEITCH E A, UTNE I B, et al. Analysis of human errors in human-autonomy collaboration in autonomous ships operations through shore control experimental data[J]. Reliability Engineering and System Safety, 2024, 246: 110080.
[17]	DOMINGUEZ-PERY C, VUDDARAJU L N R. From human automation interactions to social human autonomy machine teaming in maritime transportation[C]//Springer. Re-imagining Diffusion and Adoption of Information Technology and Systems: A Continuing Conversation: IFIP WG 8.6 International Conference on Transfer and Diffusion of IT. Berlin: Springer, 2020: 45-56.
[18]	ZHANG Ming-yang, ZHANG Di, YAO Hou-jie, et al. A probabilistic model of human error assessment for autonomous cargo ships focusing on human-autonomy collaboration[J]. Safety Science, 2020, 130: 104838.
[19]	THIEME C A, RAMOS M A, HOLTE E A, et al. New Design Solutions and Procedures for Ensuring Meaningful Human Control and Interaction with Autonomy: Automated Ferries in Profile[M]//JOHANSSON T M, FERNANDEZ J E, DALAKLIS D, et al. Autonomous Vessels in Maritime Affairs: Law and Governance Implications. Berlin: Springer International Publishing, 2023: 213-242.
[20]	XIANG Lin-hao, TANG Wei-qiang, ZHOU Zeng-hui. "5G+" ship real-time remote inspection technology solution of China Classification Society[J]. China Ship Survey, 2021(1): 52-55. (in Chinese)
[21]	MENG Guang-wei, ZHANG Qing-liang, JIANG Xu-yang. Construction of ship-shore integration system in deep ocean aquaculture engineering ship[J]. Ship Engineering, 2020, 42(S2): 83-85, 126. (in Chinese)
[22]	GAO Yue-hong, YANG Hao-tian, YIN Ning, et al. Analysis and prospect of CBG HARQ technique in 5G system[J]. Communications Technology, 2021, 54(2): 363-368. (in Chinese)
[23]	DUAN Wei, GU Jin-yuan, WEN Miao-wen, et al. Emerging technologies for 5G-IoV networks: applications, trends, and opportunities[J]. IEEE Network, 2020, 34(5): 283-289.
[24]	WANG Le, LI Shi-jie, LIU Jia-lun, et al. Design and implementation of a testing platform for ship control: a case study on the optimal switching controller for ship motion[J]. Advances in Engineering Software, 2023, 178: 103427.
[25]	JIANG Pei-wen, WEN Chao-kai, JIN Shi, et al. Wireless semantic communications for video conferencing[J]. IEEE Journal on Selected Areas in Communications, 2022, 41(1): 230-244.
[26]	GOLAGHAZADEH F, COULOMBE S, ROBERT J M. Residual packet loss rate analysis of 2-D parity forward error correction[J]. Signal Processing: Image Communication, 2022, 102: 116597.
[27]	LI T H, SIVARAMAN V, FAN L J, et al. Reparo: loss-resilient generative codec for video conferencing[J]. arXiv, 2023, DOI: 10.48550/arXiv.2305.14135.
[28]	ZHAO Y, ZHOU A, CHEN X. Reducing latency in interactive live video chat using dynamic reduction factor[C]//IEEE. 2020 IEEE Wireless Communications and Networking Conference. New York: IEEE, 2020: 9120837.
[29]	LIU Su-jie, YANG Xiu-zhi, CHEN Ping-ping, et al. Frame-level forward error correction channel coding for real-time video transmission[J]. Journal of Xiamen University (Natural Science), 2020, 59(6): 964 -971. (in Chinese)
[30]	ZHANG Rui, ZHU Min, ZHANG Ji, et al. Study on 5G incremental redundancy HARQ transmission strategy[J]. Journal of Beijing University of Posts and Telecommunications, 2018, 41(5): 92-97. (in Chinese)
[31]	WANG H B, RANGANATHAN S V S, WESEL R D. Variable-length coding with shared incremental redundancy: design methods and examples[J]. IEEE Transactions on Communications, 2019, 67(9): 5981-5995.
[32]	ZHAO Yun-bo, PAN Xiao-kang, YU Shi-ming. Predictive event-triggered control for disturbanced wireless networked control systems[J]. Journal of Systems Science and Complexity, 2021, 34(3): 1028-1043.
[33]	ZHANG Xian-ming, HAN Qing-long, GE Xiao-hua, et al. Networked control systems: a survey of trends and techniques[J]. IEEE/CAA Journal of Automatica Sinica, 2019, 7(1): 1-17.
[34]	DENG Y, LÉCHAPPÉ V, MOULAY E, et al. Predictor-based control of time-delay systems: a survey[J]. International Journal of Systems Science, 2022, 53(12): 2496-2534.
[35]	ZHAO Dong-dong, YAN Lei, ZHOU Xing-wen, et al. Robust state feedback design for uncertain systems based on Luenberger observer[J]. Journal of Shanghai Jiao Tong University, 2024, 58(4): 492-497. (in Chinese)
[36]	TONG Shi-wen, QIAN Dian-wei, YU Qing-lin, et al. Networked control system design based on simplified model prediction[J]. Control Engineering of China, 2021, 28(2): 367-374. (in Chinese)
[37]	FAN Shao-shuai, RONG Zhi-qiang, TIAN Hui, et al. High-precision indoor fast positioning algorithm based on carrier phase[J]. Journal on Communications, 2022, 43(1): 172-181. (in Chinese)
[38]	MORALES J J, KASSAS Z M. Tightly coupled inertial navigation system with signals of opportunity aiding[J]. IEEE Transactions on Aerospace and Electronic Systems, 2021, 57(3): 1930-1948.
[39]	JIANG Chang-hui, CHEN Shuai, CHEN Yu-wei, et al. Research on a chip scale atomic clock driven GNSS/SINS deeply coupled navigation system for augmented performance[J]. IET Radar, Sonar and Navigation, 2019, 13(2): 326-331.

Relative Articles

Supplements(0)

Cited By

Get Citation

PDF

XML

Article Metrics

Article views (330) PDF downloads(27)

Design and application of ship remote-driving control system

doi: 10.19818/j.cnki.1671-1637.2024.05.021

Abstract

References

Catalog

Article Metrics

Related

Design and application of ship remote-driving control system

doi: 10.19818/j.cnki.1671-1637.2024.05.021

Abstract

References

Catalog

Article Metrics

Related

Export File

Citation

Format

Content