Biogeography-based combinatorial strategy for efficient autonomous underwater vehicle motion planning and task-time management

Autonomous Underwater Vehicles (AUVs) are capable of spending long periods of time for carrying out various underwater missions and marine tasks. In this paper, a novel conflict-free motion planning framework is introduced to enhance underwater vehicle’s mission performance by completing maximum number of highest priority tasks in a limited time through a large scale waypoint cluttered operating field, and ensuring safe deployment during the mission. The proposed combinatorial route-path planner model takes the advantages of the Biogeography-Based Optimization (BBO) algorithm toward satisfying objectives of both higher-lower level motion planners and guarantees maximization of the mission productivity for a single vehicle operation. The performance of the model is investigated under different scenarios including the particular cost constraints in time-varying operating fields. To show the reliability of the proposed model, performance of each motion planner assessed separately and then statistical analysis is undertaken to evaluate the total performance of the entire model. The simulation results indicate the stability of the contributed model and its feasible application for real experiments.     

Visualisation of uncertainty in probabilistic traffic models for policy and operations

This study investigates different methods to visualise uncertainty in static representations of probabilistic traffic models predictions on road-networks. Although various graphical cues may be used to represent uncertainty it is not a priori clear which of them are most suited for this purpose, since their legibility, intelligibility and the degree to which they interfere with other graphical elements in a representation differ widely. Several graphical uncertainty representations were therefore developed and analysed in expert sessions. A selection of the initial set of uncertainty visualisations was further evaluated in a cognitive alternative task-switching experiment. The results show that graphical representations are able to convey uncertainty information relatively accurately, while some uncertainty visualisations outperform others. It depends on the model and scenario which representation is most suited for a given application. This paper presents an overview of possible graphic uncertainty representations and the considerations involved when applying them to uncertainty in traffic model visualisations.     

Correlates of bicycling trip flows in Hamilton,Ontario: fastest,quietest, or balanced routes?

Transportation - Bicycling is an increasingly popular mode of travel in Canadian urban areas, like the Greater Toronto and Hamilton Area (GTHA). While trip origins and destinations can be inferred...     

The continental shelf and the exclusive economic zone: the problem of delimitation at UNCLOS III

If the Third United Nations Conference on the Law of the Sea succeeds in adopting a new Caracas Convention on the Law of the Sea, it is likely to embody detailed provisions on the delimitation of both the continental shelf and the new zone, the exclusive economic zone. In this paper, the most recent draft of these rules—contained in the Revised Single Negotiating Text—is subjected to a detailed and critical scrutiny which leads to the conclusion that the Sixth Session of the Conference still has a great deal of work to do before agreement can be reached on a satisfactory set of rules.     

Book reviews

The European Community Transport Policy: Towards a Common Transport Policy. By Jurgen Erdmenger (Gower Publishing Co. 1984) [Pp. 155.] £14.50.

Transport Reform: Changing the Rules. By Stephen Plowden. P.S.I. No. 642 (London: Institute, 1985.) [Pp. 250.] £6.50. ISBN 0–85374–258–8.

The Atlas of British Railway History. By Michael Freeman and Derek Aldcroft (London: Croom Helm, 1985.) [Pp. 128.] £12.95.

Losing Track. By Kerry Hamilton and Stephen Potter (Routledge & Kegan Paul in association with Channel Four, 1985.) [Pp. viii + 152.] £7.95. Paperback.     

Nanoparticle emission characteristics and reduction strategies by boost pressure control and injection strategies in a passenger diesel engine

This research attempted to analyze nanoparticles and other harmful exhaust emissions in accordance with injection strategies and air-fuel ratio (AFR) changes for small diesel engines. The emission characteristics were analyzed in the medium-speed condition, which is the main driving range of a diesel engine. In the case of particulate matter (PM), the number of particles was measured, analyzed, and compared to identify the correlation and emission characteristics of nanoparticles by using a dilution device and condensation particle counter (CPC), which are international standards for particle measurement recommended by the Particulate Measurement Programme (PMP). The engine torque tended to be reduced as pilot injections were added, and the torque was increased by the increased boost pressure, but reduced by the exhaust pressure increase in a part of the low-load range. The number of nanoparticles was not influenced greatly by the change in AFR, but the reduction effect on the PM weight was great depending on the boost pressure increase. In addition, the number of nanoparticles tended to increase as the fuel injection timing became closer to TDC in all conditions, and its difference became larger with an increase in AFR. In addition, in the case of the pilot injection, nanoparticle emission showed similar characteristics depending on the main injection timing, but it was increased by advanced injection timing when performing the main injection only, and the number of the nanoparticles increased as pilot injections were added. Last, the optimal conditions for EMS calibration were analyzed by selecting the conditions of torque reduction and NOx increase within 5 % from all of the engine operating conditions; optimized conditions are presented.     

CFD Analysis of Ship-to-Ship Hydrodynamic Interaction

A numerical study of ship-to-ship interaction forces is performed using a commercial CFD code, and the results are compared with experimental data and with the results of a panel method analysis. Two ship models have been used in the interaction forces analysis: a tug and a tanker, advancing parallel to each other with different lateral distances and two different values of the fluid depth. Computations are carried out with four different flow models: inviscid and viscous flow with the free surface modeled as a rigid wall and inviscid and viscous flow with the deformable free surface. A fair agreement was obtained with available experimental data and results obtained by panel method. The influence of viscosity in the computations is found to be comparatively weak, while the wavemaking effects may be important, at small magnitude of the horizontal clearance.     

Employability skills of maritime business graduates: industry perspectives

The maritime industry underpins international business and world trade. As to be expected, business management is critical for the maritime industry, requiring highly trained individuals and teams to lead the development, implementation and control of sound contemporary management practices. Maritime business degrees are developed by universities to meet such demand by providing graduates with sufficient skills for the onshore business-related roles. This empirical study conducted in Australia, USA and Canada, investigates current and future industry employability skills for maritime business graduates through focus groups, individual interviews and an online survey with senior managers in maritime organisations. This study found the important employability skills for maritime business graduates which include communication, problem solving, adaptability, self-management, team work, and digital literacy and technology. Demand for digital literacy and technology knowledge and skills have increased due to the maritime industry having a trend of moving towards digitalisation and automation. However, the survey findings revealed that a skills focus for maritime business graduates will not be the technology itself but the use and management of technology. In relation to future skills/knowledge required from maritime business degree graduates in 10 years’ time, communication and adaptability are recognised as being the most important. Employers expect that maritime business graduates should be able to adopt new technology and be competent in communication, and be more adaptable given the highly dynamic nature of the maritime industry. Moreover, they require graduates to be equipped with a higher level of computer skills, have a strong work ethic and multilingual skills.     

Robust network pricing and system optimization under combined long-term stochasticity and elasticity of travel demand

Network pricing serves as an instrument for congestion management, however, agencies and planners often encounter problems of estimating appropriate toll prices. Tolls are commonly estimated for a single-point deterministic travel demand, which may lead to imperfect policy decisions due to inherent uncertainties in future travel demand. Previous research has addressed the issue of demand uncertainty in the pricing context, but the elastic nature of demand along with its uncertainty has not been explicitly considered. Similarly, interactions between elasticity and uncertainty of demand have not been characterized. This study addresses these gaps and proposes a framework to estimate nearest optimal first-best tolls under long-term stochasticity in elastic demand. We show first that the optimal tolls under the deterministic-elastic and stochastic-elastic demand cases coincide when cost and demand functions are linear, and the set of equilibrium paths is constant. These assumptions are restrictive, so three larger networks are considered numerically, and the subsequent pricing decisions are assessed. The results of the numerical experiments suggest that in many cases, optimal pricing decisions under the combined stochastic-elastic demand scenario resemble those when demand is known exactly. The applications in this study thus suggest that inclusion of demand elasticity offsets the need of considering future demand uncertainties for first-best congestion pricing frameworks.     

The importance of oceanographic fronts to marine birds and mammals of the southern oceans

During the last 30 years, at-sea studies of seabirds and marine mammals in the oceans south of the Subtropical Front have described an association with major frontal areas. More recently, the advancement in microtechnology has allowed the tracking of individuals and investigations into how these marine predators actually use the frontal zones. In this review, we examine 1) the relative importance to apex predators of the different frontal zones in terms of spatial distribution and carbon flux; 2) the processes that determine their preferential use; and 3) how the mesoscale dynamics of frontal structures drive at-sea foraging strategies of these predators. We review published results from southern waters and place them in a broader context with respect to what has been learned about the importance of fronts in oceans farther north.Some fronts constitute important boundaries for seabird communities in southern waters. At a mesoscale the maximum values of seabird diversity and abundance correspond to the location of the main fronts. At-sea surveys show a strong curvilinear correlation between seabird abundance and sea surface temperatures. High mean species richness and diversity for whales and seabirds are consistently associated with the southern water mass boundary of the Antarctic Circumpolar Current, the Subtropical Front and the Subantarctic Front; in the case of the Polar Front mean seabird densities are more variable. At small-scales, variation in seabird occurrence has been directly related to the processes at fronts in a limited number of cases. A significant positive relation was found between some plankton feeding species and frontal temperature gradient–phytoplankton variables.Telemetric studies have revealed that several apex predators (penguins, albatrosses, seals) perform long, directed foraging trips either to the Subtropical front or Polar Front, depending on locality. Seabirds with low flight costs, such as albatrosses, are able to reach fronts at long distances from colonies, showing variable foraging strategies as a function of the distances involved. Diving birds such as King penguins, that travel at a higher cost and lower speed, rely on the predictable spatial distribution of mesopelagic fish found close to the Polar Front. They may use the currents associated with eddies as oceanographic cues in the active search for frontal zones. Once in these areas they dive preferentially in and below the depth of the thermocline where catches per unit effort are high. Elephant seals concentrate foraging activity principally inside or at the boundary of cyclonic eddies. These mesoscale features appear to offer exceptional productivity favourable for foraging by various diving top predators.The connection between biophysical parameters at fronts and predators is likely to be made through biological enhancement. Top predators appear to forage at locations where prey are advected by physical processes and others where prey are produced locally. Long-term research on at-sea distributions and demographic parameters of top predators are essential to assess the consequences of potential shift in front distributions in relation to global warming. Such environmental changes would add to the impact of fish extraction by the industrial fisheries on the southern food webs.