Title Page
Contents
List of Abbreviations 6
List of Symbols 8
Abstract 15
Chapter 1. Introduction 17
1.1. Background and purpose of research 17
1.2. Structure of research 24
Chapter 2. Literature review 27
2.1. Definitions of ship domain 27
2.2. Methods of ship domain determinations 31
2.2.1. Experience-based ship domain models 31
2.2.3. Empirical-determined ship domain models 33
2.2.3. Numerical analysis-based ship domain models 37
2.3. Sizes and shapes of ship domains 40
2.3.1. Elliptical ship domains 40
2.3.2. Circular ship domains 43
2.3.3. Polygonal ship domains 45
2.4. Summary 47
Chapter 3. Potential Risk Ship Domain Modeling 49
3.1. Influence and density function 49
3.2. Potential Risk Ship Domain Modeling 51
Chapter 4. Ship domain by PRSD model 57
4.1. In restricted areas 58
4.2. In open sea areas 68
4.3. Summary 71
Chapter 5. Collision Assessment Zone using potential collision risk 73
Chapter 6. Simulations 83
6.1. Scenario 1 83
6.2. Scenario 2 90
6.3. Discussion 95
Chapter 7. Conclusion and future work 96
7.1. Conclusion 96
7.2. Future work 99
References 100
Bibliography 109
Table 2.1. Definitions of ship domain 28
Table 4.1. Dimension of ship domains in restricted areas in case v = 12kn 66
Table 4.2. Dimension of ship domains in open sea areas in case v = 15kn, LOA=... 70
Table 4.3. Recommendation for value of influence parameter for different sea areas. 72
Table 5.1. New proposal of Collision Assessment Zone around a ship. 75
Table 5.2. PCR values for three boundaries. 79
Table 5.3. New proposal of Collision Assessment zone around a ship. 81
Table 5.4. A summary of new features in PRSD model. 82
Table 6.1. Positions and motion parameters of two ships in scenario 1 85
Table 6.2. Positions and motion parameters of two ships in scenario 2 91
Figure 2.1. Different domain-based safety criteria: (a) OS domain is not violated; (b)... 29
Figure 2.2. Ship domain concept of Zhu (2001) 31
Figure 2.3. Ship fuzzy domain of Pietrzykowski (2008) 32
Figure 2.4. Intensity plot for all AIS registrations in the Fehmarn Belt Strait together... 34
Figure 2.5. Three domains of Gucma for different encounter situation (2013) 34
Figure 2.6. Ship domain proposed by Wang (2016) 35
Figure 2.7. The ship domain of Hörteborn et al. for different ship sizes compiled... 36
Figure 2.8. Quaternion ship domain (QSD) proposed in (Wang et al., 2010)... 38
Figure 2.9. Blocking area and Action area in Dinh (2016) 39
Figure 2.10. Domain proposed in (Rawson et al., 2014) with nose extending forward... 40
Figure 2.11. Dimension of Fujii's domain in: (a) Open sea and narrow channel; (b)... 41
Figure 2.12. Ship domain of Coldwell in head-on and overtaking situation (1983) 42
Figure 2.13. Circular ship domain of Goodwin (1975) 43
Figure 2.14. (a) Davis's ship domain (1980) ; (b) Comparison of Arena and ship... 44
Figure 2.15. The first fuzzy boundary of ship domain of Zhao (1993) 44
Figure 2.16. A hexagon ship domain of Smierzchalski (2000) 46
Figure 2.17. The concept of polygonal ship domain of Pietrzykowski (2008, 2009) 47
Figure 3.1. Example of kernel-density function: (a) Data set; (b) Gaussian function 51
Figure 3.2. The schematic diagram of motion parameters 53
Figure 3.3. PRSD Model with different levels of boundaries. 56
Figure 4.1. PRSDs of same ship with different values of parameters (from the left:... 58
Figure 4.2. Process of approximation method 60
Figure 4.3. Comparisons between Df at σ1 = 0.1 of PRSD and previous ship domains...(이미지참조) 63
Figure 4.4. Comparisons between Df at σ2 = 1 of PRSD and previous ship domains in...(이미지참조) 63
Figure 4.5. PRSD and previous ship domains in restricted areas in case v = 12kn 67
Figure 4.6. PRSD and previous ship domains in open sea areas... 70
Figure 5.1. Collision Assessment Zone divided by three boundaries 75
Figure 5.2. Ship domains in restricted areas in case v = 12kn 79
Figure 5.3. Ship domains in open sea areas in case v =15kn, LOA = 200m 80
Figure 6.1. Location (red mark on the map) and ships' trajectories of the... 84
Figure 6.2. (a) When cautious boundaries are not overlapped (time step 0); (b) When... 86
Figure 6.3. Dynamic Df of 2 ships in real time(이미지참조) 88
Figure 6.4. Dynamic PCR indexes of 2 ships in real time 89
Figure 6.5. Location (red mark on the map) and ships' trajectories of the scenario 2 91
Figure 6.6. (a) When cautious boundaries are not overlapped (time step 0); (b) When... 92
Figure 6.7. Dynamic Df of 2 ships in real time(이미지참조) 94
Figure 6.8. Dynamic PCR indexes of 2 ships in real time 94