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  • LI Zehao, WANG Fu, HU Zhuo, YUAN Jinliang
    Journal of Dalian Maritime University. 2023, 49(3): 74-87. https://doi.org/10.16411/j.cnki.issn1006-7736.2023.03.008
    The challenges faced by the shipping industry were analyzed, the energy forms of ship hybrid systems were outlined, and the energy configurations of different ship hybrid systems were elaborated. The current structure scheme of hybrid power system and the choice of propulsion were summarized. The challenges faced by ship hybrid power propulsion systems and propulsion technologies were analyzed, and the trend of future development and the direction of in-depth research were prospected, which points out a direction for the development of green, low-carbon, and intelligent ships.
  • ZHANG Sheng, WANG Liehui
    Journal of Dalian Maritime University. 2023, 49(3): 61-73. https://doi.org/10.16411/j.cnki.issn1006-7736.2023.03.007
    In this paper, the relevant literature on the application of AIS data in the field of port geography in six academic journals, including comprehensive, geographical (humanities), transportation research (non-engineering), maritime research (non-engineering), oceanography under the engineering category (related to human geography themes), and Chinese human geography was sorted out. Research found that AIS data was currently mainly used in domestic and international port geography research to characterize international trade flows, evaluate port connectivity, refine the interaction between port and city relationships, and capture external impact effects. The depth of research topics in port geography has been improved through the application of AIS data: the research dimensions were more diverse, expanding from summarizing historical spatiotemporal patterns to predicting future trends; the research subjects were more diverse, ranging from individual sizes of ship locations to global flows. The application of AIS data can incorporate the global scale fishing port network into the scope of port geography research, which has not been fully discussed in traditional port geography. In addition, AIS data links ocean carbon emissions with ports and shipping routes, by combining ecological and environmental science perspectives to expand the breadth of port geography research. In combination with data characteristics, the three major application prospects of AIS data in port geography research in the future were proposed: research on major social issues related to global maritime based on AIS global coverage and flexible scaling characteristics of research scale, research on refined governance of port cities based on fine Granularity characteristics, and research on conclusion testing and scientific prediction based on spatiotemporal dynamics and marine characteristics.
  • ZHAO Xu, QU Runze, HUANG Rui
    Journal of Dalian Maritime University. 2024, 50(1): 102-112. https://doi.org/10.16411/j.cnki.issn1006-7736.2024.01.012
    The introduction of blockchain technology provides an effective solution to the problems in shipping logistics such as low transparency and low efficiency of transportation documents. However, the construction of blockchain system led by different members of shipping chain can have different effects on the operational decisions of all parties. In this regard, by taking into account shippers’ preference for traceability information, a three-level shipping supply chain composed of ports, carriers and freight forwarders is constructed, where each party leads the construction of the blockchain traceability system. On the basis of cost sharing strategy, the Stackelberg game model is used to compare and analyze the optimal pricing strategy under the benchmark model and the three blockchain technology models. In addition, the subsidy intensity and members’ pricing strategies under different government subsidy models are considered. The research results show that blockchain technology is not always the optimal decision-making for members of the shipping supply chain, but is related to the cost-sharing ratio, shippers’ preference for traceability information, and the delay cost of shipping documents. When shippers’ preference for traceability information is high but the cost of traceability is low, all parties should improve the traceability to increase respective revenue. Although the government’s fixed subsidy model cannot bring benefits to followers, while in the retrospective subsidy model, when the sharing ratio of the leaders of the shipping chain is higher than a certain threshold, the enhanced traceability subsidy intensity will bring maximum profits to the entire supply chain. 
  • ZHANG Wenjun, ZHANG Yingjun, LIU Zihao
    Journal of Dalian Maritime University. 2023, 49(4): 13-19. https://doi.org/10.16411/j.cnki.issn1006-7736.2023.04.002
    The risk categories and sources of intelligent ship navigation were summarized, the development process and current research hotspots of intelligent ship navigation risk assessment were introduced, and the research results of intelligent ship navigation risk assessment were classifed according to research methods. The problems in the research of intelligent ship navigation risk were proposed, and the future development trend of intelligent ship navigation risk assessment research was analyzed from multiple perspectives, and from methods to systems. This paper can provide theoretical reference and practical support for risk assessment of intelligent ships, develop and promote the maritime traffic safety of intelligent navigation systems in the new industry of intelligent shipping.
  • FENG Yinwei, LIU Zhengjiang, JIANG Ziyi, XIA Guoqing, CAO Yuhao, WANG Xinjian, WANG Huanxin
    Journal of Dalian Maritime University. 2023, 49(3): 31-44. https://doi.org/10.16411/j.cnki.issn1006-7736.2023.03.004
     In order to analyze the interactive relationship between the influencing factors of ship collision accidents more scientifically and reveal the evolution mechanism of ship collision accidents, a ship collision accident database was established based on the global ship collision accident report, which included five types of influencing factors: human factors, ship factors, management factors, environmental factors, and accident time. The Apriori association rule mining algorithm was used to determine frequent patterns, associations, co-occurrences, and causal relationships among these influential factors. Visual representations of these results were obtained by using complex network theory. The topological analysis methods,  important node sorting algorithm based on mutual information theory and edge sorting algorithm based on the centrality of edge mediations were used to identify critical influential factors and edges within the network, and evaluate their robustness. The results indicate that the influencing factors of most ship collision accidents are relatively active and the interaction network of influencing factors is closely connected, and factors such as ship tonnage, age, and navigation water area are more important in interactive information transmission.
  • ZHANG Wenjun, MU Congrui, YANG Xue, ZHOU Xiangyu, MENG Xiangkun, LI Lianbo, BAI Weiwei
    Journal of Dalian Maritime University. 2023, 49(4): 1-12. https://doi.org/10.16411/j.cnki.issn1006-7736.2023.04.001
    In this paper the autonomous ship guidelines formulated by classification societies in various countries were analyzed, and the control switching mechanism of L2 class autonomous ships was conducted from four dimensions: switching scenarios, priority of control acquisition, control takeover agents and switching process. Results indicate that switching scenarios can be classified into three types based on their characteristics, and there is a certain correspondence between different types of scenarios and the control take over agents. The priority order for obtaining control is “highest on board crew, followed by shore based operators, and lowest in autonomous systems”. There are certain differences in the switching process between different control takeover agents, but common basic principles need to be followed. The research result can serve as a reference for relevant parties in establishing control authority switching mechanisms of autonomous ships.
  • GUAN Wei, ZHANG Cheng, CUI Zhe-wen, Han Hu-sheng
    Journal of Dalian Maritime University. 2025, 51(1): 11-20. https://doi.org/10.16411/j.cnki.issn1006-7736.2025.01.002
    With the rapid development of science and technology, multi-unmanned ship systems have shown great potential in military, rescue and escort mission scenarios. The purpose of this paper is to explore the formation construction problem of multiple unmanned surface vehicle systems based on multi-agent deep reinforcement learning algorithm. Considering the sluggish convergence speed of the conventional multi-agent deep deterministic policy gradient algorithm (MADDPG), this study incorporates the attention mechanism into the value function stage to enhance the convergence speed of the formation decision model for a multi-UAV system. Through the cooperation of the formation model of the unmanned surface vehicle with the formation collision avoidance and the formation construction reward function, the efficiency of the multi-UAV to complete the formation construction task is finally improved. The simulation results conclusively demonstrate the efficacy of the proposed method in accomplishing multi-unmanned surface vehicle formation construction tasks, thereby establishing a solid theoretical foundation for future applications of multi-unmanned ship formation construction.

  • SUN Shichao, ZHENG Yong, CHENG Luju, ZHANG Xiushuang
    Journal of Dalian Maritime University. 2023, 49(3): 1-10. https://doi.org/10.16411/j.cnki.issn1006-7736.2023.03.001

    In order to solve the contradiction between the development of urban rail transit system and the unbalanced travel demand of residents, the study on the fairness of rail transit travel was carried out. Taking Dalian rail transit system as an example, firstly, the actual travel demand of rail transit passengers was obtained by using mobile phone signaling data, and the DBSCAN method was used to identify demand intensive areas, with this to determine the core passenger group of rail transit services. Then, the Gaode map API was used to obtain the actual pre and post transit travel times of passengers in the high-density demand areas, and constructed passenger accessibility indicators for rail transit. Finally, the Lorenz curve, Gini coefficient, and Theil index evaluation methods were adopted to evaluate the fairness of rail transit from both temporal and spatial dimensions. Results show that walking is the primary mode of transit connection, and buses are the auxiliary mode; in terms of time fairness, there is a serious unfairness in Dalian’s rail transit system, the Line 2 is more unfair than Line 1; in terms of spatial fairness, unfairness is mainly caused by differences in passenger accessibility within the service scope of rail transit stations.

  • ZHAN Xiaofei, ZHAO Hong, WANG Ning, LI Wangyang, XIE Yizhe
    Journal of Dalian Maritime University. 2024, 50(1): 1-10. https://doi.org/10.16411/j.cnki.issn1006-7736.2024.01.001

    To obtain the navigation path of high-performance unmanned surface vehicle (USV),  a multi-strategy improved sparrow search algorithm (MISSA) was proposed.Firstly, a fitness function with a steering angle penalty term was designed; Secondly, the position update strategy was improved by using the golden sine method and parameter self-spiral setting,at the same time information exchange between sparrow individuals was strengthened during the position update process to balance global exploration and local search processes,again,chaotic circular mapping was introduced to improve the quality and diversity of the initial sparrow population.Finally, a local search optimization mechanism was designed to solve the problem of the original sparrow algorithm(SSA) easily falling into local optima and obtain a global path with better fitness. Results show that compared with three excellent algorithms, namely improved A*, improved ant colony algorithm combined with genetics, and original SSA, the MISSA algorithm in this paper performs the best in key performance indicators such as path distance, turning angle,  frequency, providing an effective path for autonomous and safe operation of USV.

  • WANG Shuaifei, DONG Gang, LIU Yifan
    Journal of Dalian Maritime University. 2023, 49(3): 11-19. https://doi.org/10.16411/j.cnki.issn1006-7736.2023.03.002
    In order to further enhance the autonomy and controllability of regional logistics networks among Regional Comprehensive Economic Partnership (RCEP) member countries, the two-stage method was used to optimize the layout of regional logistics distribution centers in RCEP. Firstly, from the perspective of Beibu Gulf port, by considering the key factors such as trade volume and GDP, the alternative logistics distribution center nodes were selected qualitatively based on three selection criteria. Secondly, the complex network of railway, water transport and highway was constructed respectively according to the correlation between nodes by incorporating the current construction situation and long-term planning of the“Trans-Asian railway”. Then, the UCINET tool and the entropy weight TOPSIS method were used to quantitatively evaluate the importance of candidate nodes. Finally, the comprehensive ranking of nodes was calculated by weighting, and the logistics distribution layout was double optimized based on the location characteristics of the nodes. The results show that the logistics distribution center layout with Chongqing, Guangzhou, Qinzhou, Kunming, Yangon, Ho Chi Minh, Singapore, Surabaya, Melbourne and Naha as the core nodes will further enhance the synergy of the RCEP regional logistics network. The research results can provide decision-making references for the transportation authorities to optimize the layout of RCEP regional logistics distribution centers, and for relevant logistics enterprises to participate in the investment and construction of RCEP regional logistics distribution centers.
  • WANG Yihang, LIU Zhengjiang, FANG Siming, WANG Xinjian, ZHANG Xinyu
    Journal of Dalian Maritime University. 2023, 49(3): 45-50. https://doi.org/10.16411/j.cnki.issn1006-7736.2023.03.005
    In order to study the influence of ship rolling on pedestrian evacuation speed, a three-dimensional dynamic social force model considering ship rolling motion was established by calculating the forces on pedestrians in different dimensions of rolling motion space and based on the realtime updated rolling angle and angular velocity. Taking the rolling amplitude and rolling period as variables to set up multi scene simulation experiments, and calculate the pedestrian mean motion speed and evacuation time, then analyze the pedestrian movement law under different rolling states. The simulation results show that compared to static tilting, ship rolling further leads to pedestrian movement speed attenuation and evacuation process delay. As the rolling amplitude increases, the pedestrian speed constantly decreasing. After the rolling amplitude exceeds 15 °, the evacuation time rapidly increases. Increasing the rolling period of a ship has a positive impact on the evacuation process, which can effectively improve personnel walking speed and reduce evacuation time, but the degree of impact is still related to the rolling amplitude. Under the same rolling amplitude, when the rolling period reaches 10 s or more, the evacuation efficiency can be significantly improved. The results can provide theoretical basis and technical support for designers to improve ship safety and managers to make evacuation-decisions.
  • JIANG Ziyi, XIAO Zhongming, FENG Yinwei, ZHOU Dongjian
    Journal of Dalian Maritime University. 2025, 51(1): 63-70. https://doi.org/10.16411/j.cnki.issn1006-7736.2025.01.007
    Ship pilotage accident refers to the marine traffic accidents that occur in the process of the pilot manipulating the ship in the team of the ship's auxiliary steering station, and the human factor is the main cause of ship pilotage accidents. In order to better analyze the human factors in ship pilotage accidents, this paper establishes a new human factors analysis model for ship pilotage accidents, identifies and evaluates the transfer path of key risk factors in the ship pilotage process. Firstly, the original Human Factors Analysis and Classification System (HFACS) framework is adjusted and refined based on accident reports to identify human factors in pilotage accidents. Secondly, a HFACS-BN model of ship pilotage accidents is constructed based on the logical relationships within the HFACS framework and Bayesian network (BN) theory to verify the reliability of the model. Finally, the key risk factor transmission path is identified by integrating BN inference and sensitivity analysis. The results of the study showed that of all the human factor transmission pathways, the "R1 (behavioral error) → P2 (bad operator status) → S2 (improper operation plan) → M2 (bad organizational climate)" is the key risk factor transfer path. The implementation of effective control measures to address these factors is important to prevent the further development of risks. 

  • JIANG Yujie, WAN Zheng, CHEN Jihong
    Journal of Dalian Maritime University. 2024, 50(1): 76-84. https://doi.org/10.16411/j.cnki.issn1006-7736.2024.01.009
     To explore the causal path of various water traffic accidents in China Coast, a causal path analysis method for water traffic accidents based on Human factors analysis and classification system (HFACS) model, Bayesian network (BN) model and path model was proposed. Firstly, based on the HFACS model, 5 levels including 38 causal factors for water traffic accidents were identified from the investigation report of water traffic accidents in China Coast. Secondly, the K2 algorithm was used for BN structure learning, and combined with chi-square test results and prior knowledge to determine the BN structure. Next, the maximum expectation algorithm was utilized for BN parameter learning. Then, the sensitivity analysis method was used to extract the causal path of various water traffic accidents. Finally, the path model was applied to calculate the causal path coefficients of various water traffic accidents and test their statistical significance. The results indicate that there are respectively 7, 6, 3, 7, 4, 4, and 2 significant causative pathways for accidents such as collision, sinking, contact, grounding, fire/explosion, wind strike, and stranding, in China Coast. From the perspective of effect level of causal path, the largest causal path of both contact accidents and stranding accidents is “improper allocation of chart data → improper navigation plan → contact/stranding accident”.
  • TANG Sixing, DENG Yingjie, ZHAO Yunli
    Journal of Dalian Maritime University. 2023, 49(4): 57-64. https://doi.org/10.16411/j.cnki.issn1006-7736.2023.04.007

    Aiming at high-precision depth tracking control problem of autonomous underwater vehicles (AUVs) in unknown model dynamics and environmental disturbances, an event-triggered adaptive neural asymptotic tracking controller was designed.  RBF neural networks (NNs) was used to approximate the nonlinear uncertain terms, and the integral-bounded functions were incorporated into control laws and adaptive laws to achieve asymptotic convergence of tracking errors. The minimum learning parameters (MLPs) technique was adopted to compress neural weights and construct a single parameter adaptive law. The variable type event triggering condition was constructed by using the event-triggered mechanism on the controller-to-actuator channel, and avoid “Zeno” phenomenon. The inequality relationship of radial basis functions was used to solve the problem of “algebraic loop”. The Lyapunov direct method and Barbalat Lemma were used to analyze the stability of the closed-loop system and prove the asymptotic convergence of tracking errors. Simulation experiments verified that the control strategy proposed in this paper has high-precision depth tracking performance.

  • ZHAN Tianbi, FENG Hui, XU Haixiang, WANG Yong
    Journal of Dalian Maritime University. 2025, 51(1): 43-53. https://doi.org/10.16411/j.cnki.issn1006-7736.2025.01.005
     In order to address the challenges encountered in intelligent ship global path planning using the DQN algorithm, such as paths being planned too close to obstacles, excessive turning points, large turning angles, and slow algorithm convergence, a method based on Noisy DQN (NoisyNet-DQN) for global path planning is proposed. Firstly, to maintain a safe distance between intelligent ships and obstacles, and to reduce path turning points and large turning angles, additional reward functions including heading reward, time reward, turning point reward, and safety reward are incorporated on top of the traditional reward function. Secondly, to tackle the slow convergence issue in complex navigation scenarios, parameter noise is introduced into the output layer of the DQN neural network, thereby enhancing the convergence speed of the DQN network. Simulation studies are conducted in the actual maritime environments of Dalian and Zhoushan. The simulation results indicate that compared to the traditional DQN algorithm, the proposed Noise-DQN algorithm significantly improves the convergence speed and, greatly enhances the safety and economy of the planned global path, better aligning with the actual navigation requirements of ships. The research results can provide a certain reference for global path planning in intelligent ship navigation.

  • WANG Qian, GAO Haibo, ZUO Wen
    Journal of Dalian Maritime University. 2024, 50(1): 134-142. https://doi.org/10.16411/j.cnki.issn1006-7736.2024.01.015
    Aiming at the problems of poor real-time, small storage data and low quality of ship power load data prediction, this paper proposes a new short-term load prediction method that combines data interpolation, wavelet threshold denoising and ProbSparse Self-Attention mechanism. Firstly, in data preprocessing stage, the database is expanded by interpolation to meet the model training requirements without affecting the characteristics and trends of the original data; at the same time, taking into account noise disturbance in the original ship power load data, in order to reduce its impact on the model prediction effect, a new wavelet threshold denoising method is adopted to process the original signals and to improve the quality of the data. Secondly, by introducing probabilistic sparse self-attention mechanism in the forecasting model. While effectively capturing the dependencies and important features in the time series power data, it reduces the memory resource consumption and model complexity. It meets the real-time requirements of ship power load forecasting and realizes the double optimization of forecasting accuracy and efficiency. In the comparison experiments with other models, this paper's model reduces at least 13.1% and 18.6% on average in the two indicators of root mean square error and average absolute percentage error, respectively, and improves the efficiency by more than 24.0% on average, and the results show that the method has obvious advantages in the accuracy and efficiency of the ship power load data forecasting model.
  • YAO Lin, ZHENG Hongxing, LIU Baoli
    Journal of Dalian Maritime University. 2024, 50(2): 119-130. https://doi.org/10.16411/j.cnki.issn1006-7736.2024.02.013
    To cope with the impact of frequent yard crane failures in the import container yard of a container terminal and to improve the efficiency of the yard’s container lifting operations, this paper investigates the joint optimization problem of yard crane maintenance and scheduling. To be specific, a mathematical model that focuses on the impact of yard crane operation volume on its failure probability is proposed by considering the safety interval of yard crane operation and the waiting time limit of container trucks. This model aims to minimize operation, maintenance, and opportunity costs due to failure. To solve the model, a genetic algorithm embedded in a large neighborhood search is designed in accordance with the model characteristics. Numerical experiments are conducted on the imported container yard of a terminal in Dalian port to verify the effectiveness of the proposed scheme and algorithm. Compared with other scheduling schemes and maintenance strategies, the proposed scheduling scheme reduces the average cost by 3.35% and 2.84%, respectively. The research results can provide decision support for the daily operation of the terminal.


  • LIAN Jie, FENG Xing, LIU Yifan, LIAO Weimin, LII Wei
    Journal of Dalian Maritime University. 2023, 49(3): 122-128. https://doi.org/10.16411/j.cnki.issn1006-7736.2023.03.013
     In order to accurately assess the possible explosion risk caused by thermal runaway accidents of the lithium battery powered marine vessels, a numerical model for simulating the diffusion and transport of explosive gas clouds in the battery compartment under different ventilation conditions was established based on the Euler multiphase flow model coupling the standard k- ε turbulence model. Taking a domestic lithium battery powered marine ship as the research target, the gas transport process after thermal runaway of batteries with various number scales under different air conditioning conditions was analyzed, and the distribution and transportation of combustible and explosive gas clouds characterized by using the combustion and explosion range of the main component-H2 of the released gas were obtained. The calculation results indicate that the released gas rapidly diffuses inside the cabin and accumulates towards the cabin roof. The larger the number of batteries with gas release, the larger the explosive gas cloud area and gas concentration. The explosive gas cloud can be decreased by ventilation but cannot be efficiently reduced by simply increasing the supplied air rate. CFD numerical simulation can be utilized to assist in evaluating the cabin explosion risk caused by gas release events.
  • SUN Shichao, ZHANG Linlin
    Journal of Dalian Maritime University. 2024, 50(4): 89-99. https://doi.org/10.16411/j.cnki.issn1006-7736.2024.04.010
    Focusing on the core audience of the Mobility as a Service (MaaS)service platform, namely public transportation users, this study aimed to investigate the underlying mechanisms of their willingness to use the MaaS service platform and gained a deeper understanding of the driving factors that encouraged this group to use MaaS services. This paper divided the public transportation user group into passive passenger group and selective passenger group. Based on the questionnaire survey data of Dalian City, Liaoning Province, a multi-index and multi-factor structural equation model was used to deeply explore the satisfaction level of these two groups with the current level of public transportation services, and their attitudes and behavioral intentions toward using MaaS services. Research has found that passengers’ attitudes and willingness to use MaaS services are positively correlated with their satisfaction with public transportation services, but there are mechanism differences between the two types of passengers in the process of converting satisfaction into MaaS usage willingness. Selective passengers’ satisfaction directly converts into usage intention, while passive passengers first change their attitudes towards MaaS, thereby affecting their usage behavior. Therefore, when promoting MaaS services, differentiated strategies should be developed for different passenger groups,that is,for selective passengers, the efficiency and convenience of MaaS services should be highlighted, while for passive passengers, the quality of MaaS services and environmental comfort should be reflected. In addition, factors such as gender, age, and transfer frequency also affect the willingness to use MaaS. The above findings provide decision-making basis for relevant departments to plan MaaS service platforms, optimize public transportation services, and improve MaaS penetration rates.
  • LI Zhenfu, GAO Ruiyang, CAI Meijiang
    Journal of Dalian Maritime University. 2024, 50(2): 11-22. https://doi.org/10.16411/j.cnki.issn1006-7736.2024.02.002
    According to the change law reflected in the Arctic shipping data, the characteristics of Arctic shipping are systematically arranged: the navigation period is summer and autumn, the shipping volume is constrained by external conditions, the shipping structure is single and external transportation is the mainstay. On this basis, it is proposed that the transportation time, transportation complexity and transportation range are more suitable for the pendulum transportation mode of Arctic shipping, and the pendulum transportation mode design of the northeast Arctic route is carried out from the aspects of fulcrum port, ship type and modular transportation, and the annual shipping revenue of the pendulum transportation mode and the traditional transportation mode and mixed transportation mode are comparatively analyzed. The results show that compared with the other two transport modes, the pendulum transportation mode of the Northeast Arctic route can complete one more voyage per year, and the annual shipping revenue is 9% and 11.3%, respectively. Arctic shipping can be developed according to this mode of transport to further develop the potential of Arctic shipping.
  • JIANG Weiqi, ZHONG Ming, ZHANG Mengdi
    Journal of Dalian Maritime University. 2023, 49(3): 20-30. https://doi.org/10.16411/j.cnki.issn1006-7736.2023.03.003
    In response to the existing policies on ship energy efficiency coefficients and carbon intensity indicators proposed by the International Maritime Organization, it is expected that a certain number of existing ships will need to use new technologies or modify the propulsion plant components to improve ship energy efficiency. At the same time, more and more ships were choosing to install closed desulfurization devices to cope with sulfur emission control zone restrictions. In this context, in response to the problem of crude oil tanker fleet deployment, a mixed integer nonlinear optimization model was established by considering the transformation strategy of improving energy efficiency and installing desulfurization devices, with the goal of minimizing the sum of annual fuel cost and carbon emission cost, and considering carbon emission constraints. A self-adaptive-simulated annealing particle swarm optimization algorithm was selected to solve the model, and the sensitivity analysis of fuel price fluctuation and carbon tax rate was carried out, and the rationality and effectiveness of the model were verified through numerical examples.
  • WU Wanqing, BAI ZHaoao, ZHAO Zihao, ZHENG Qinggong, FENG Xing, DU Jiali, ZHANG Chunlong, JI Hailong
    Journal of Dalian Maritime University. 2024, 50(1): 66-75. https://doi.org/10.16411/j.cnki.issn1006-7736.2024.01.008
    In order to effectively manage the ship capsizing risk caused by liquefaction of liquefiable solid bulk cargo during sea transport, based on ship kinematics and wave energy theory, AWQA hydrodynamic analysis software was used to simulate and analyze the external environmental loads encountered by ships while sailing in various typical sea areas. According to the theory of soil dynamics and results of triaxial tests, the equivalent analysis of the liquefaction risk of the cargo and the related assessment model were carried out. On account of the assessment model and numerical calculation samples, BP propagation neural network algorithm was applied to construct the predict model, which realized the quick intelligent assessment of the liquefaction risk of cargo shipping. The dominant expression of the BP quick predict model was obtained through the weight matrix and threshold matrix of the model, and the predict model was used to quick assess the liquefaction risk of four typical liquefiable solid bulk cargos under shipping environment. The predict results were in good agreement with the assessment results. This risk predict model can quickly and effectively assess the liquefaction risks of solid bulk cargo according to the parameters such as ship type and sea conditions, which provides an effective method for the front-line maritime supervision, and a good promotion for the development of IMSBC Code.
  • ZHANG Wenjun, WANG Yu, MU Congrui, ZHOU Xiangyu, MENG Xiangkun, YANG Xue, WU Zhongdai
    Journal of Dalian Maritime University. 2024, 50(2): 1-10. https://doi.org/10.16411/j.cnki.issn1006-7736.2024.02.001
    In view of the complexity of the ice situation and geographical environment of the Arctic shipping route, there are risks such as ship ice collision and grounding in polar navigation. In order to ensure the safety and economy of ship polar navigation, a route planning method that comprehensively considered multiple risk factors such as water depth, sea ice concentration and sea ice thickness was proposed. Firstly, for the global route planning, the polar operational limit assessment risk indexing system (POLARIS) was adopted to calculate the risk index outcome (RIO) of the Arctic safe water depth region, thereby reclassifying the risk grade and assigning it to risk cost. The lowest risk cost route in the safe water depth region was generated by geographic information system (GIS) lowest cost path analysis method and was recommended as the global route. Secondly, the grid proportion of each risk level was extracted to evaluate the feasibility of the route. Finally, for the sea ice area along the global route that was larger than the maximum ice thickness of the International Association of Classification Societies (IACS) polar class ship operating restrictions comparison table, the local route planning was carried out by combining with the improved A* and the dynamic window approach (DWA), thereby considering the risk of ship-ice collision under complex and variable ice conditions. The comparison of global and local routes with different risk factors shows that the global routes planned in this paper have the lowest risk with grounding avoidance, in addition that the ship can make collision-avoidance decision against the new ice blocking the channel when sailing along the local planned route.

  • CAO Zhen, WANG Wenyuan, LIU Keke, XU Xinglu, GUO Zijian
    Journal of Dalian Maritime University. 2024, 50(4): 67-78. https://doi.org/10.16411/j.cnki.issn1006-7736.2024.04.008
    The issue of reclaiming scheduling in dry bulk terminal yards was examined, with the objective of enhancing operational efficiency, minimizing delays, and optimizing the advantages of ship loading mixing operations. An optimization model was developed to schedule the reclaiming operations at a dry bulk terminal, considering the loading mixing process, in order to reduce delays. The integrated optimization of reclaiming scheme formulation, stacking position allocation, and reclaimer scheduling was conducted, by considering constraints such as dynamic yard storage of various goods, mutual interference of reclaimer operations, and proportional synchronous reclaiming of multiple stacking positions. Based on the characteristics of the problem and model, a heuristic algorithm was designed to efficiently solve large-scale problems by using adaptive large neighborhood search. The experimental results show that, compared to a general solver, the method proposed in this paper can obtain high-quality material retrieval scheduling schemes for large-scale cases within 1 hour. Compared with the squeaking wheel algorithm, the average improvement of the objective function value in solving large-scale cases is 19.9%. Meanwhile, this method comprehensively considers the integrated optimization of stacking allocation and reclaimer scheduling for mixed loading. Compared with the results obtained without considering mixed loading, the total delay of reclaimer operations reduced by an average of 28.35%,which can provide theoretical support for dry bulk terminals to allocate yard resources and plan operations when considering mixed loading process.
  • LIU Jinping, XU Ning
    Journal of Dalian Maritime University. 2025, 51(2): 87-96. https://doi.org/10.16411/j.cnki.issn1006-7736.2025.02.010
     In the online order picking system of large supermarkets, considering the workload balance among pickers, the optimization of order batching and picking route was studied. For the scenario of " sort-after-pick" batch picking in large supermarkets with a limited number of pickers during peak periods, a dual-objective optimization model was constructed with two objectives of minimizing total completion time and minimizing the range in completion times. According to the problem feature and the dual-objective solution method, an improved NSGA-II algorithm was designed by combining the K-means clustering algorithm and the nearest neighbor strategy of the greedy algorithm. Based on the practical operation of large supermarkets such as Walmart, a picking layout and case parameters were set. The correctness of the model and the effectiveness of the algorithm were verified through examples of different scales. Numerical experiments show that range as workload balance criteria in a dual-objective model not only achieve workload balance but also has fewer negative impacts on picking efficiency. A further sensitivity analysis indicates that a population size of 50 and an iteration number of 100 are conducive to obtaining quality solutions. Comparative experiments conducted on datasets of different sizes reveals that the "sort-after-pick" method can reduce the average completion time of orders by 44.37% in comparison to the single order picking strategy. The conclusion indicates that the dual-objective model and algorithm can achieve a balance between workload balance and picking efficiency, improving picking efficiency while satisfying workload balance requirement from pickers’ perspective.

  • XU Shuang, LIU Cheng, GUO Weili
    Journal of Dalian Maritime University. 2024, 50(1): 20-27. https://doi.org/10.16411/j.cnki.issn1006-7736.2024.01.003

    A neural network sliding mode controller based on the robust line-of-sight (LOS) guidance method for the path tracking of underactuated ship was proposed to solve the problem of underactuated and ship model uncertainty. Firstly, the robust LOS was utilized to solve the problem that the ship’s input degrees of freedom dimension were less than the output degrees of freedom dimension, and at the same time, to reduce the influence of the differences of ship kinematics. Secondly, the controller was designed by combining radial basis function neural network and sliding mode to reduce the effect of external disturbances and realize the path tracking of underactuated ships. Finally, the Lyapunov stability theory was applied to prove the stability of the guidance system and the control system. A robust line-of-sight guidance method was introduced to  design the guidance system, taking into account the influence of ship kinematics differences while reducing external interference. The simulation experiments respectively realize the linear path tracking and curved path tracking of underactuated ships, and verify the effectiveness and feasibility of the designed controller.

  • SUI Jianghua, LI Yinfu, SONG Chunyu
    Journal of Dalian Maritime University. 2024, 50(3): 97-103. https://doi.org/10.16411/j.cnki.issn1006-7736.2024.03.011
    To avoid the phenomenon of parameter drift caused by dynamic cancellation in identification modeling stage of unmanned surface vessel (USV), two measures of parallel processing and estimation of too large and too small initial values were combined to form a comprehensive application method, and on this basis, a nonlinear innovation identification algorithm was proposed. Experimental results show that the proposed algorithm avoids the drift phenomenon of hydrodynamic coefficients and improves the ability to reprocess historical data. The algorithms have the characteristics of strong solving ability, high identification efficiency, and low computational burden, laying the foundation for stable navigation of USV in interference environments.

  • ZHANG Xiaozhen, ZHU Jingwei, LONG Teng
    Journal of Dalian Maritime University. 2024, 50(3): 31-38. https://doi.org/10.16411/j.cnki.issn1006-7736.2024.03.004
    In order to improve the control performance of the fault-tolerant permanent magnet vernier rim-driven motor (FTPMV-RDM) position sensorless control system, the speed controller and rotor position estimation algorithm of the system were studied. A fast super-twisting sliding mode controller was used to reduce the chattering phenomenon existing in traditional sliding mode controller, and an adaptive sliding mode observer was used to estimate the rotor position to improve the position estimation accuracy. A simulation model of the FTPMV-RDM position sensorless control system was built in the Matlab/Simulink environment. The simulation results show that the control method proposed in this paper can accurately estimate the speed and rotor position information of FTPMV-RDM in the absence of fault and one-phase open-circuit fault, and the system has good dynamic and static performance.
  • GUAN Wei , LUO Wenzhe, CUI Zhewen
    Journal of Dalian Maritime University. 2024, 50(1): 11-19. https://doi.org/10.16411/j.cnki.issn1006-7736.2024.01.002

    To solve the problem of multi-vessel collision avoidance of unmanned ships, a multi-vessel collision avoidance decision-making method in multi-ship encounter scenarios based on deep deterministic policy gradient (DDPG) algorithm was proposed, which combining knowledge of ship domain, international regulations for preventing collisions at sea (COLREGs), and ship maneuvering characteristics.  The gated recurrent units (GRU) was used to construct a neural network model and  performs layer normalization,which can effectively process high-dimensional observation data and improve the efficiency of behavioral decision-making methods. The reward function designed in this study conforms to the GOLREGs, while considering the ship maneuvering habit of using small rudder angles as much as possible for avoidance. The simulation experiments of multiple-ship encounters scenarios verified the advantages of the collision avoidance decision-making method in terms of flexibility and effectiveness in this paper.


  • ZHANG Teng, ZHANG Zhenhua, XUE Fanyan, LI Rui, SHEN Shuai, ZHAI Xiaofeng
    Journal of Dalian Maritime University. 2025, 51(2): 22-31. https://doi.org/10.16411/j.cnki.issn1006-7736.2025.02.003
    To provide maritime simulator with the reliable and applicable ship heave and pitch motion mathematical model in waves, avoid the influence of irregular frequency of Frank source and sink distribution method within the two-dimensional strip theory, high precision fitting of ship’s transverse sections was carried out based on the multi-parameter conformal mapping method, the integration of the hydrodynamic coefficient and the wave exciting force of the ship's transverse sections was carried out by the STF(Salvesen-Tuck-Faltinsen) method,  the Abkowitz model was adopted for the maneuverability motion equations considering the interaction among ship, propeller and rudder, and the numerical prediction of the ship heave and pitch motion in regular waves under the maneuvering conditions can be realized. The Mariner vessel was used as the simulation case at a Froude number of 0.2: when the Mariner vessel sails in head waves, the relative errors between the calculated results and the experimental results is less than 8.8% for heave amplitude operators, and the relative errors between the calculated results and the test results is less than 12.9% for pitch amplitude operators, and the calculated results and the experimental results show the same variation trend; when the wave angle range is  ~  ,the calculated results of the heave and pitch motion amplitude are symmetrical with respect to the wave angle of   , the calculated results of heave motion amplitude tend to be constant with the increase of wavelength; when the Mariner vessel carries out a   turning circle in regular waves, the time for computer operation is 609.3 seconds when carrying out turning maneuvers for 3000 seconds, which can satisfy the real-time requirements of maritime simulator. The ship heave and pitch motion mathematical model is applied to Mariner vessel and connected to the visual system of maritime simulator, which is proved effective and applicable to the maritime simulator.

  • LI Haoyang, ZHANG Qiang, ZHAO Enrui, HU Yancai, ZHANG Yan
    Journal of Dalian Maritime University. 2024, 50(2): 41-52. https://doi.org/10.16411/j.cnki.issn1006-7736.2024.02.005
    Aiming at the problem of intelligent ship trajectory tracking control under network spoofing attacks, an improved reaching law sliding mode trajectory tracking control scheme with observer is proposed. Using Bernoulli distribution to generate random binary numbers to simulate network spoofing attacks. By designing observers to observe the impact of attacks and feedback compensation to the controller to resist the damage caused by attacks on the system. Design adaptive laws to cope with the impact of environmental disturbances, while further enhancing system robustness through coordination with the observer. Design an improved sliding mode reaching law with fast compensation for large errors and smooth compensation for small errors, which reduces the chattering problem of traditional sliding mode control and improves the control efficiency of the controller. Finally, the overall stability of the system was verified using Lyapunov stability theory, and comparative simulation experiments were conducted using Matlab. The experimental results show that the control scheme can respond quickly to the impact of attacks and provide good compensation, and the trajectory tracking error can quickly converge to a very small bounded interval near zero, achieving ship trajectory tracking in a network attack environment. This plan can provide certain reference value for research on safe navigation of ships and military confrontation of maritime equipment.
  • WANG Ning, JIA Wei, CHEN Yanzheng, WEI Yi, WU Haojun
    Journal of Dalian Maritime University. 2024, 50(3): 1-12. https://doi.org/10.16411/j.cnki.issn1006-7736.2024.03.001
    Due to inherent scattering and absorption, underwater images inevitably suffer from multiple degradations arising from blurring, low contrast and color distortion, thereby seriously deteriorating visual perception. In this paper, a deep learning-based underwater image restoration and enhancement framework (UIRENet) was proposed by virtue of depth estimation and gradient descent strategy. With the aid of convolutional and nonlinear activation function modules, a deep perception network was constructed to achieve scene depth perception maps for different degradation regions, thereby overcoming the dependence of scene depth degradation. A gradient optimization strategy was further proposed to optimize the parameters of convolutional networks and improve the performance of deep network enhancement. Combined with perceptual, edge and underwater color constancy losses, a comprehensive loss function for underwater image enhancement networks was rationally formed.  Comprehensive experiments on the UIEB-90, UIEB-M and EUVP datasets show that the UIRENet framework significantly outperforms  typical underwater image enhancement methods in terms of reducing underwater image blurriness and improving visual effects. In particular, comparing to CLAHE, ICM, GC, IBLA, DCP, ULAP, FUnIE-GAN, UGAN and Uformer, the objective evaluation metric UIQM can be promoted by 0.3700, 0.6446, 0.5919, 1.3081,1.3032, 1.1672, 0.0593, 0.1329 and 0.0934, respectively.
  • CHEN Hongyu, TAN Fei, DONG Zaopeng
    Journal of Dalian Maritime University. 2023, 49(4): 46-56. https://doi.org/10.16411/j.cnki.issn1006-7736.2023.04.006

    Aiming at the problem of model predictive controller(MPC) oscillations caused by excessive position deviation and constraints in the early stage of tracking tasks for unmanned surface vehicle(USV), the MPC control strategy guided by virtual USV was proposed, which used virtual transition trajectories to replace the target trajectories of actual USV, and conversion conditions were designed to determine when the USV  exits the virtual guidance strategy during execution. To solve the stability problem of MPC, based on the quasi infinite model predictive control theory, a terminal penalty function was added in the MPC design, and by constructing a Lyapunov function, the stability of the proposed method in the finite time domain was demonstrated. A nonlinear disturbance observer was introduced to observe the disturbances in complex marine environments, and was compensated by using controller. The simulation experiments of circular, sinusoidal, and straight working conditions have verified the effectiveness and accuracy of the proposed method, which can achieve trajectory tracking control of USV in complex marine environments.

  • SUN Hui, XUE Qing, PAN Mingyang, ZHANG Ruolan , HAO Jiangling
    Journal of Dalian Maritime University. 2025, 51(2): 39-48. https://doi.org/10.16411/j.cnki.issn1006-7736.2025.02.005
    For multi-unmanned surface vehicle (USV) systems navigating through narrow channels and other complex environments, a formation obstacle-avoidance control algorithm is presented that integrates the artificial potential field (APF) method with model predictive control (MPC). To mitigate these problems,the traditional APF approach is improved, including the use of a saturated gravitational potential field and a partitioned repulsive potential field. These modifications aim to improve the precision of obstacle avoidance and the ability to maintain formation coherence in complex environments. Furthermore, by leveraging the multi-step predictive optimization capabilities of MPC, the proposed algorithm dynamically adjusts control inputs based on desired trajectories generated from potential field forces, which ensures the stability of formation control and the effectiveness of obstacle avoidance, thereby avoiding the path oscillation issues encountered by traditional artificial potential field methods in narrow waters. Simulation results demonstrate that the proposed algorithm outperforms traditional methods in terms of obstacle-avoidance success rate, formation stability, and path planning efficiency. And the improved algorithm can avoid local minima, maintains formation integrity, and ensure smoothly passage through narrow channels, thereby validating its effectiveness.

  • GAN Jiamin, YUAN Zhitao, CHEN Mozi, WU Xiaolie
    Journal of Dalian Maritime University. 2025, 51(1): 54-62. https://doi.org/10.16411/j.cnki.issn1006-7736.2025.01.006
    To better guide ships in collision avoidance decision-making, a collision risk evaluation method considering the maneuvering capabilities of ships is proposed. By integrating AIS data, NOMOTO maneuvering motion equations, the COLREGS, and ship domain intrusion measurement model, two risk evaluation indicators related to the latest rudder application time and the safety avoidance angle set are established, namely Avoidance Difficulty (AD) and Avoidance Time Urgency (ATU), which evaluate the risk from spatial and temporal dimensions, respectively. Then, the CRITIC method is used to determine the weight of the two indicators. Finally, the effectiveness of the method is demonstrated through multi-risk comparison experiments in different scenarios using data from the outer waters of the Ningbo Zhoushan port area. The results indicate that the method takes into account the differences in maneuvering performance of various ships, the COLREGS, and the relative motion trends between ships, while paying special attention to the potential collision risk that may arise from avoidance maneuvers during the multi-ship risk assessment process, achieving a more reasonable evaluation of ship collision risk and has certain application value for ship collision avoidance decision-making.

  • SHENG Jinliang, DONG Zaopeng, KUANG Wenqi, LI Zhihao, SUN Pengbo
    Journal of Dalian Maritime University. 2024, 50(4): 12-21. https://doi.org/10.16411/j.cnki.issn1006-7736.2024.04.002
    A self-following dual-mode obstacle avoidance model predictive control method based on improved dynamic window method was proposed for the trajectory tracking control problem of unmanned surface vehicle (USV) formation under the influence of sudden obstacles. Firstly, the longitudinal velocity and bow angular velocity oscillation constraints were introduced to reduce the jitter of the velocity and bow angle in the design of the evaluation function of the dynamic window algorithm so as to achieve better integration of obstacle avoidance planning and control. A strategy of calculating the steering azimuth based on intermediate distance was proposed to reduce the sharp turns in the obstacle avoidance process of the USV, while an evaluation term based on the deviation of the predicted and the expected position ending was designed. Meanwhile, the formation keeping information was combined to correct the obstacle avoidance endpoint and reduce the deviation of the USV formation. Secondly, based on the linearized Taylor expansion principle, a prediction model for USV formation was designed. The prediction value of the model was corrected by the prediction error between the system output measurement and the model prediction values. At the same time, a rolling finite time domain iterative online optimization strategy was adopted to propose a trajectory tracking model prediction control method for USV formation that integrated autonomous following dual-mode obstacle avoidance strategy. Finally, a nonlinear disturbance observer was designed to compensate the environmental disturbances, while the Lyapunov function was constructed to prove the stability of the system by combining with the terminal penalty theory. Eventually, the effectiveness and reliability of the proposed USV formation obstacle avoidance and trajectory tracking control algorithm were verified by simulation experiments.
  • Yang Hua-long, Ma Shuang, Peng Chong
    Journal of Dalian Maritime University. 2025, 51(1): 120-129. https://doi.org/10.16411/j.cnki.issn1006-7736.2025.01.013
     This paper studies the exporting offshore/in-transit inventory financing risk problem with high demand uncertainty. Applying the principle of double Stackelberg master-slave game, profit functions of importer, exporter and shipping company were constructed. Employing the conditional value at risk (CVaR) measurement method, an optimization model of exporting offshore/in-transit inventory financing under risk measurement was established, where the overall profit of the supply chain was maximized. Then, the optimal decision-making results such as the pledge rate of the shipping company, the exporter's delivery lead time and the importer's order quantity were demonstrated and analyzed. The study shows that the importer's order lot size and the exporter's delivery lead time decrease with the increase in the pledge rate of the maritime logistics company. The optimal pledge rate of the shipping company is negatively related to the risk aversion coefficient of the exporter, the pledge service fee rate of the shipping company, and the market selling price of the pledged goods, and positively related to the risk aversion coefficient of the importer and the import price of the importer. The findings of the research can provide useful decision-making references for all parties involved in exporting offshore/in-transit inventory financing. 

  • WANG Jianchao, CUI Chunyi, ZHANG Peng, LIU Hailong, WANG Kunpeng
    Journal of Dalian Maritime University. 2023, 49(3): 106-113. https://doi.org/10.16411/j.cnki.issn1006-7736.2023.03.011
    SACS software was used to establish a frequency domain fatigue analysis model for offshore wind turbine jacket foundation, different wave spectra and spectral parameters were used to generate wave loads, and different S-N curves and SCF empirical formulas were used to calculate the fatigue life of the jacket foundation and the connection parts with the tower, and the influence of key parameters on the fatigue life calculation results of structural hot spots was analyzed. It was shown that factors such as S-N curve, SCF calculation method, wave spectrum, corrosion, and pile soil weakening have significant impact on the fatigue life calculation results of jacket foundation pipe nodes.
  • SUN Shichao, WANG Jingyue
    Journal of Dalian Maritime University. 2024, 50(2): 81-91. https://doi.org/10.16411/j.cnki.issn1006-7736.2024.02.009
    In the context of a bus fleet combining gasoline and electric vehicles, the introduction of on-route wireless charging infrastructure significantly influences their operation and scheduling. This study revolves around the challenge of optimizing the placement of wireless charging stations and formulating operational strategies for such a hybrid bus fleet. A mixed-integer programming model has been thoughtfully devised, taking into account an array of constraints, including variables related to bus operations and the state of electric bus batteries. The objective is to minimize the overall operational costs. To tackle this model, an adaptive large neighborhood search algorithm is employed. Additionally, practical scenarios are meticulously designed to simulate a variety of fleet compositions and charging strategies. A comprehensive comparative analysis of overall operational costs is undertaken, accounting for different fleet compositions and charging strategies. Furthermore, a sensitivity analysis is conducted to scrutinize the effects of the charging power of wireless charging facilities on the results. The results underscore that in an environment featuring on-route wireless charging, the hybrid bus fleet stands out with the lowest total operational costs. Moreover, with the increase in charging power of wireless charging facilities, there is a concurrent reduction in the number of planned charging stations and gasoline-fueled buses, culminating in reduced overall costs. Therefore, the proposed model in this study offers an effective and efficient approach for significantly trimming down the overall operational costs of the bus fleet in the context of on-route wireless charging.
  • Journal of Dalian Maritime University. 2025, 51(1): 21-30. https://doi.org/10.16411/j.cnki.issn1006-7736.2025.01.003
    A fixed-time sliding mode fault-tolerant control strategy based on a disturbance observer is proposed for the cooperative encirclement control of multiple unmanned surface vehicles (USVs) with actuator faults and unknown environmental disturbances. The method is grounded in the hierarchical control concept, where the cooperative encirclement system is decoupled into a guidance layer and a control layer. Firstly, in the guidance layer, a fixed-time distributed cooperative control law combined with a sideslip angle observer (SO) is designed to achieve equidistant rotation around the target. Secondly, in the control layer, actuator faults are treated as disturbances affecting the layer, and a fixed-time disturbance observer (FxDO) is introduced to observe the nonlinear lumped disturbances caused by actuator faults and unknown environmental factors in real-time. A fixed-time sliding mode controller (FxSMC) is then designed to compensate for these disturbances, ensuring fast convergence of dynamic errors while smoothing the control output. Finally, the stability of the closed-loop control system is proven using the Lyapunov function, and the effectiveness of the proposed method in mitigating the adverse effects of actuator faults on the cooperative encirclement task is validated through a comparative simulation involving three USVs.