An Inland Shore Control Centre for Monitoring or Controlling Unmanned Inland Cargo Vessels
Abstract
:1. Introduction
- I.
- Use an ACD approach [11] to develop an I-SCC concept which provides its operator with interaction possibilities with a USV, where interaction denotes the remote access of the USV actuation system and overall system settings. Accordingly, this I-SCC aims to serve as a tool to enhance the situation awareness [13] and sensemaking [14] capabilities of the remote operator. Thus, the I-SCC unlocks research on the impacts on ship sense [15] and harmony [16] when remotely monitoring or controlling a USV.
- II.
- Translate this I-SCC concept into four design requirements: (r-i.) provide the relevant information groups of [12], (r-ii.) provide interaction with the USV, (r-iii.) select industrial components, and (r iv.) keep the design modular.
- III.
- Provide technological details of the merged I-SCC and USV system design in accordance with these four design requirements.
- IV.
- Offer preliminary experimental data of an operator remotely controlling a USV via the I-SCC. These experiments investigate the performance of the system and of its operator.
- V.
- Illustrate the modular design philosophy by extending the I-SCC design within the Hull-To-Hull (H2H) project [17] which augments the remote motion control of a USV via the I-SCC. The change in operator performance due to this extension was also investigated.
2. Background: Towards Unmanned Inland Shipping
2.1. The European Inland Waterway Transport Sector
2.2. Unmanned Inland Cargo Vessels
2.2.1. The Cogge-Watertruck Scale Model
2.2.2. The Maverick-the Pallet Barge Scale Model
2.2.3. Line-Of-Sight Control Subsystem
3. Concept and Requirements of an Inland Shore Control Centre
3.1. Concept of an Inland Shore Control Centre
3.1.1. Ship Sense and Harmony
3.1.2. Situation Awareness, Sensemaking, and Interaction
3.1.3. Activity-Centred Design Concept of an Inland Shore Control Centre
3.2. Design Requirements of an Inland Shore Control Centre
- (r-i.)
- Generate and communicate elements of the information groups [12] (ii) sailing, (iii) observations, (iv) safety and emergencies, (v) security, and (vii) technical to the I-SCC. These groups will enhance the situational awareness and sensemaking abilities of the remote operator.
- (r-ii.)
- Provide interaction possibilities with the USV in order to remotely alter the USV motion and its system configurations. This interaction will also assist the sensemaking and situation awareness capabilities of the operator.
- (r-iii.)
- Install industrial, marine-grade components for both the extensions on the USV and the I-SCC system design. This requirement makes the overall system more safe, more robust, and fit closer to a potential future reality.
- (r-iv.)
- Keep the system design modular and flexible, where possible. This flexibility smoothens the likely design iterations and potential future system extensions.
3.3. The Hull-To-Hull Navigation Concept
3.4. Risk and Safety Analysis of an Inland Shore Control Centre
4. Design and Construction of an Inland Shore Control Centre
4.1. Technical Design of an Inland Shore Control Centre
4.1.1. Design Results for Requirement One (R-I.)
4.1.2. Design Results for Requirement Two (R-Ii.)
4.1.3. Design Results for Requirement Three and Four (R-Iii.–R-Iv.)
4.2. Construction of an Inland Shore Control Centre
4.3. Technical Design Hull-To-Hull-Extended Inland Shore Control Centre
4.4. Construction of Hull-To-Hull-Extended Inland Shore Control Centre
4.5. Design of Experiments
4.5.1. First USV and I-SCC System Stress Tests and Experiments
4.5.2. First USV and H2H-Extended I-SCC System Stress Tests and Experiments
5. Results
5.1. First USV and I-SCC System Stress Tests and Experiments
5.2. First USV and H2H-Extended I-SCC System Stress Tests and Experiments
6. Discussion and Future Work
7. Conclusions
Supplementary Materials
Author Contributions
Funding
Conflicts of Interest
Abbreviations
ACD | Activity-Centred Design |
ASV | Autonomous or Automated Surface Vessel |
CBA | Cost-Benefit Analysis |
GNSS | Global Navigational Satellite System |
H2H | Hull-To-Hull |
HCD | Human-Centred Design |
IMP | Intelligent Mobile Platforms research group |
IMU | Inertial Measurement Unit |
I-PC | Industrial Computer |
I-SCC | Inland Shore Control Centre |
JCS | Joint Cognitive System |
LIDAR | LIght Detection And, Ranging |
MBR | Maritime Broadband Radio |
PLC | Programmable Logic Controller |
RC | Remote Controller |
R-PC | Rugged Computer |
STAMP | Systems-Theoretic Accident Modelling and Processes |
UCD | User-Centred Design |
USV | Unmanned Surface Vessel |
Appendix A
Nr. | Description | Abbreviation/Name | Type |
---|---|---|---|
1 | Programmable logic controller | Onboard PLC | Wago PFC200 750-8207 |
2 | Industrial computer | I-PC | Moxa MC-7200-MP-T |
3 | Power over Ethernet switch | POE switch | Wago 5-port 1000 Base-T Industrial Eco Switch |
4 | Industrial Router USV | Quartz Router USV | Siretta,Quartz-W22-LTE, 4G/LTE, WiFi, 2 LAN/2 SIM Port Router |
5 | Radio receiver | RR | Danfoss MPCAN |
6 | Antenna LTE (PLC) | PLC antenna | LTE Antenna for PLC |
7 | Antenna LTE (Quartz) | LTE antenna | LTE Antenna for Quartz LTE |
8 | Antenna Wifi (Quartz) | Wifi antenna | Wifi Antenna for Quartz LTE |
9 | Bow thruster motor drive | Bow motor drive | Roboteq MBL1660A |
10 | Bow angle integrated stepper | Bow angle quickstep | JVL MIS234S |
11 | Bow thruster motor | Bow motor | Turnigy RotoMAx 150cc |
12 | Stern thruster motor drive | Stern motor drive | Roboteq MBL1660A |
13 | Stern angle integrated stepper | Stern angle quickstep | JVL MIS343 |
14 | Stern thruster motor | Stern motor | Turnigy Aerodrive SK3-6364-245KV |
15 | Stereo cameras (2x) | Stereo cameras | Custom built, UI-5280FA-C-HQ Vision++ |
16 | Inertial measurements unit | IMU | EKINOX2-E-G4A3 |
17 | Navigational GNSS sensor | GNSS | Septentrio AsteRx-U MARINE |
18 | Laser scanner | LIDAR | Neptec OPAL-1000 |
19 | Emergency stops (4x) | ESTOP | Twist to reset 40 mm Mushroom |
20 | Bilge pumps (3x) | Bilge pumps | Rule Bilge pump 800 |
21 | Stern light | Stern light | LED white 12–24 V |
22 | Directional lights bow | Port/Starboard light | Allpa LED 2 colors 8–30 V |
23 | Battery monitoring system | BMS | Mastervolt-Amperian interface |
24 | Battery 24 V | 24V DC | Navex |
25 | Battery 24 V (2 × 12v) | 2 × 12V DC | Navex |
26 | Wind Sensor | Wind Sensor | Rugged NMEA0183 Wind Transducer WND100 |
27 | Network cameras (4x) | IP cameras | Panasonic WV-S3531L |
28 | LTE Router | Pepwave LTE Router | Pepwave MAX Transit MAX TST DUO LTEA W T |
29 | 12 Port Switch | Zyxel Switch | Zyxel 12-port GbE Managed PoE Switch RGS200-12P |
30 | Wearable remote control | RC | IK3 Danfoss |
31 | Rugged shore side laptop | R-PC | Dell latitude rugged 7204 |
32 | Monitor stern | Stern displ. | Samsung C27F591FDU Color Display Unit |
33 | Monitor bow | Bow displ. | Samsung C27F591FDU Color Display Unit |
34 | Monitor starboard | Stbd displ. | Samsung C27F591FDU Color Display Unit |
35 | Monitor port | Port displ. | Samsung C27F591FDU Color Display Unit |
36 | Monitor information | Ctrl displ. | HP LD5512 UHD 4K Conferencing Display |
37 | Monitoring Computer | SCC PC | Intel i9X based PC |
38 | Programmable logic controller | Shore PLC | Wago PFC200, 750-8207 |
39 | Azimuth controllers (2x) | AC | Verhaar Omega IVOP-BS-01 |
40 | Motion control touch screen | Touch screen | Wago Touch Panel 600, 762-4103 |
41 | Industrial Router SCC | Quartz Router SCC | Siretta,Quartz-W22-LTE, 4G/LTE, WiFi, 2 LAN/2 SIM Port Router |
42 | VPN server | VPN server | OpenVPN |
43 | LTM942 Antenna | Multi Band Antenna | Mobilemark Dual Carrier MIMO Multi-Band Mobile Antenna LTM942 |
44 | MBR Antenna 179 | MBR 179 Antenna | Kongsberg Maritime Broadband Radio MBR 179 |
45 | H2H Combined Engine | H2H Engines (combined) | Kongsberg Rack, 2x DPS R+ HMI, 2x DPS 232 R+, Display, Keyboard |
46 | 4G LTE Router | Pepwave Router | Pepwave MAX BR1 Embedded 4G LTE Automatic Failover Router |
47 | GNSS Antenna shore | NovAtel Antenna | NovAtel GPS-713-GGG-N, GNSS & GPS Antenna |
48 | Dynamic positioning systems | DPS (2x) | 2x Kongsberg DPS 232 R+ |
49 | MBR Antenna 144 | MBR 144 Antenna | Kongsberg Maritime Broadband Radio MBR 144 |
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Requirement | Design Result | Discussed in | |
---|---|---|---|
(r-i.) | Information Groups | Figure 7: sensor and I-SCC subsystem, PLC | Section 4.1.1 |
(r-ii.) | USV Interaction | Figure 7: I-SCC subsystem | Section 4.1.2 |
(r-iii.) | marine-grade, industrial components | Table A1 | Section 4.1.3 |
(r-iv.) | modular and flexible design | Figure 7 | Section 4.1.3 |
Information Group | Design Result |
---|---|
Sailing information | Figure 7: autonomy sensor subsystem |
Observation information | Figure 7: autonomy and monitoring sensor subsystems |
Safety and Emergency information | Figure 7: PLC |
Security information | Figure 7: monitoring sensor subsystem |
Technical information | Figure 7: PLC |
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Peeters, G.; Yayla, G.; Catoor, T.; Van Baelen, S.; Afzal, M.R.; Christofakis, C.; Storms, S.; Boonen, R.; Slaets, P. An Inland Shore Control Centre for Monitoring or Controlling Unmanned Inland Cargo Vessels. J. Mar. Sci. Eng. 2020, 8, 758. https://doi.org/10.3390/jmse8100758
Peeters G, Yayla G, Catoor T, Van Baelen S, Afzal MR, Christofakis C, Storms S, Boonen R, Slaets P. An Inland Shore Control Centre for Monitoring or Controlling Unmanned Inland Cargo Vessels. Journal of Marine Science and Engineering. 2020; 8(10):758. https://doi.org/10.3390/jmse8100758
Chicago/Turabian StylePeeters, Gerben, Gökay Yayla, Tim Catoor, Senne Van Baelen, Muhammad Raheel Afzal, Christos Christofakis, Stijn Storms, René Boonen, and Peter Slaets. 2020. "An Inland Shore Control Centre for Monitoring or Controlling Unmanned Inland Cargo Vessels" Journal of Marine Science and Engineering 8, no. 10: 758. https://doi.org/10.3390/jmse8100758