NO344835B1 - Coordination of fail safe modes - Google Patents
Coordination of fail safe modes Download PDFInfo
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- NO344835B1 NO344835B1 NO20180405A NO20180405A NO344835B1 NO 344835 B1 NO344835 B1 NO 344835B1 NO 20180405 A NO20180405 A NO 20180405A NO 20180405 A NO20180405 A NO 20180405A NO 344835 B1 NO344835 B1 NO 344835B1
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- fleet
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- activation
- safe
- safe state
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- 230000004913 activation Effects 0.000 claims description 55
- 230000007257 malfunction Effects 0.000 claims description 45
- 238000000034 method Methods 0.000 claims description 40
- 230000009429 distress Effects 0.000 claims description 11
- 230000009471 action Effects 0.000 claims description 10
- 230000011664 signaling Effects 0.000 claims description 7
- 230000009849 deactivation Effects 0.000 claims description 3
- 238000011084 recovery Methods 0.000 claims description 3
- 230000005236 sound signal Effects 0.000 claims description 3
- 230000003213 activating effect Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 description 12
- 230000008859 change Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 241000630329 Scomberesox saurus saurus Species 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B43/00—Improving safety of vessels, e.g. damage control, not otherwise provided for
- B63B43/18—Improving safety of vessels, e.g. damage control, not otherwise provided for preventing collision or grounding; reducing collision damage
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B49/00—Arrangements of nautical instruments or navigational aids
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G3/00—Traffic control systems for marine craft
- G08G3/02—Anti-collision systems
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Ocean & Marine Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Automation & Control Theory (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
- Radar Systems Or Details Thereof (AREA)
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Description
Technical field
[0001] The disclosure relates to a fleet coordination method and system that improves on the safety of a fleet in the event of a malfunction related to one of the fleet members.
Background
[0002] A fleet can be defined as a group of marine vessels, engaged in the same activity and sailing together under the same ownership or control. The fleet may comprise a wide variety of different types of vessels, depending on e.g. the activity in which they are engaged, their individual role in the fleet, etc. The types of activities may comprise fishing activities, merchant activities, military activities, raising activities, scientific activities, towing activities, or any other activity requiring the participation of a plurality of marine vessels.
[0003] The advent of remote-controlled and autonomous marine vessels is expected to result in these vessels becoming increasingly integrated in fleet operations, until entirely remotely controlled and/or autonomous fleets are a reality. Fleets comprising only remote and autonomous vessels will require a wide range of new challenges to be overcome.
[0004] From the patent literature there are examples of autonomous navigation systems for maritime use, one example can be found in US 2014/0195095 A1, FLOHR et al. which discloses an autonomous navigation system and method for a manoeuvrable platform. The method may include: obtaining a plurality of objectives relating to the manoeuvrable platform and to determine a plurality of options of direction and speed for the platform. Moreover the method includes how to autonomously select, one option of the plurality of options, in order to achieve said objectives. The selection is based on calculating a weighted grade of each option based on the weights of the objectives.
[0005] A fleet of marine vessels engaged in an operation is particularly vulnerable to malfunctions, as it only takes one vessel malfunctioning in order to potentially compromise the whole operation. A malfunction may comprise e.g. cyberattacks, loss of connectivity, mechanical failure, software failures or any other failure related to any essential on-board or onshore equipment.
[0006] In order to guarantee for the safety of a traditional manually controlled fleet of marine vessels during an operation, routines are commonly in place for what to do in the event of a malfunction in any of the vessels belonging to the fleet. The skipper on board a vessel experiencing a malfunction may e.g. signal the other vessels that a malfunction has occurred and notify which actions he intent to pursue. The fleet can then subsequently act accordingly, correcting for the malfunction if possible. In a fleet of remote and autonomous vessels, one is dependent on having similar but automated routines, which guarantee for the safety of the fleet.
[0007] It is the goal of the present invention to improve the safe operation of a fleet of vessels. In particular, it is the goal of the present invention to improve the safe operation of a fleet of vessels in the event of a malfunction on board one of the vessels belonging to the fleet.
Summary of the invention
[0008] In a first aspect of the invention, the invention provides a fleet coordination method where individual fleet members carries out the steps of: estimating regularly at least one fail-safe state, which can be activated in the event of a malfunction, communicating regularly the at least one fail-safe state to the other fleet members, and activating one of the at least one fail-safe states in the event of a malfunction.
[0009] The fleet is according to one embodiment of the invention a fleet of marine vessels. The fleet may be a fleet of tugs cooperating in an operation.
[0010] According to one embodiment of the invention, the estimating of at least one fail-safe state is performed by an autonomous navigation system. The step of estimating at least one fail-safe state may be carried out by at least one system chosen from the group comprising: a rout planning module, a collision avoidance module, a dynamic positioning system, a situation awareness module and a ship state definition module.
[0011] According to one embodiment of the invention, the fleet coordination method may further comprise the step of: transmitting from an individual/single fleet member, entering a fail-safe state, a distress signal to the other fleet members. The fleet coordination method may comprise the step of transmitting from an individual/single fleet member, entering a specific one of the communicated fail-safe states, a distress signal to the other fleet members signalling which of the previously communicated fail-safe states that it is about to enter.
[0012] According to another embodiment of the invention, the fleet coordination method may further comprise the step of: carrying out by an autonomous system the activation of one of the at least one fail-safe states in the event of a malfunction. The fleet coordination method may further comprise the step of: carrying out by a system comprising an autonomous navigation system or a subsystem of an autonomous navigation system, the activation of one of the at least one fail-safe states in the event of a malfunction.
[0013] According to another embodiment of the invention the fleet coordination method may further comprise the step of: predetermining which fail-safe state to activate in the event of a malfunction prior to the occurrence of a malfunction.
[0014] According to yet another embodiment of the invention, the fleet coordination method may further comprise the step of: a vessel carrying out at least one action upon activation of a fail-safe-state. The fleet coordination method may further comprise the step of: preparing by each vessel in the fleet, at least one action to perform in the event of the activation of each one of the communicated fail-safe states from the other members of the fleet.
[0015] According to yet another embodiment of the invention, the fleet coordination method may further comprise the step of executing at least one activation command, where the activation command can be one of: activation of a dynamic positioning system, activation of a distress signal communication system, activation of a route planning system, activation of a situation awareness system, activation of a collision avoidance system, activation of a machinery recovery system, notification of a remote operator, activation of a sound signal (vessel whistle), activation of a light signal (flash signalling device), activation of a light signal (lantern activation/deactivation) and activation of a loudspeaker announcement.
[0016] According to yet another embodiment of the invention, the fleet coordination method may further comprise the step of: defining at least one fail-safe state amongst the actions chosen from a group comprising: the marine vessel proceeds to the next waypoint, the marine vessel stops and enters DP-mode, the marine vessel returns to the previous waypoint, the marine vessel navigates back to its last known safe position, the marine vessel navigates to the nearest available safe position, the marine vessel drops an anchor, the marine vessel shuts down some machinery, the marine vessel shuts down all machinery, the marine vessel stops propellers and drifts, and the marine vessel maintains it relative position relative to an object.
[0017] In a second aspect of the invention, the invention provides a fleet coordination system, which ensures that a fleet of vessels coordinates their fail safe-states across the fleet, the fleet coordination system at least comprises: at least one fail-safe state estimation system, configured to regularly estimate at least one fail-safe state, which can be activated in the event of a malfunction, at least one communication system, configured to regularly communicate the at least one fail-safe state to the other fleet members, and at least one fail-safe state activation system, configured to activate one of the at least one fail-safe states in the event of a malfunction, in a plurality of vessels in the fleet.
[0018] The at least one fail-safe estimation system may comprise an autonomous navigation system or a subsystem of an autonomous navigation system.
[0019] According to one embodiment of the invention, the at least one fail-safe state activation system may comprise an autonomous system. The fail-safe state activation system may comprise an autonomous navigation system or a subsystem of an autonomous navigation system.
[0020] According to a third aspect of the invention, the invention provides a fleet of vessels comprising a system that ensures that a fleet of vessels coordinates their fail safe-states across the fleet.
[0021] Other advantageous features will be apparent from the accompanying claims.
Brief description of the drawings
[0022] In order to make the invention more readily understandable, the discussion that follows will refer to the accompanying drawings, in which
[0023] Fig. 1 shows a fleet of fleet members which regularly communicates at least one fail-safe state to one another via a communication system.
[0024] Fig. 2 shows a flow diagram for the fleet coordination method.
[0025] Fig. 3 shows an example of the present invention, where a fleet members experiencing a malfunction enters a pre-communicated fail-safe state, and the other fleet members act accordingly.
Detailed description of the Invention
[0026] In the following, general embodiments as well as particular exemplary embodiments of the invention will be described. References and possible numerals will be made to the accompanying drawings. It shall be noted, however, that the drawings are exemplary embodiments only, and that other features and embodiments may well be within the scope of the invention as described.
[0027] A fleet 10 according to the present invention can be defined as a group of marine vessels, engaged in the same activity and sailing together under the same control. The fleet 10 may comprise a wide variety of different types of vessels, depending on e.g. the activity in which they are engaged, their individual role in the fleet 10, etc. The present invention concerns a fleet coordination method 1 aiming at improving the safety of a fleet comprising a plurality of fleet members 20. The method can act as an emergency procedure in the event of a malfunction in one of the fleet members, which may compromise the operation of the fleet 10 as a whole. The method is based on sharing information regarding individual fail-safe states for the individual fleet members 20 so that all the fleet members 20 at any one time are aware of the various fail-safe states of the other members in the fleet 10. Upon a malfunction in one of the fleet members 20, information regarding previously shared fail-safe states is used by the other fleet members 20 in order to ensure a safe operation of the fleet 10.
[0028] According to the present invention, the fleet coordination method 1 comprises each individual fleet member 20 to estimate regularly at least one fail-safe state, which that fleet member 20 can activate in the event of the occurrence of a malfunction related to that said fleet member 20. The current at least one fail-safe state for each fleet member 20 is communicated 30 to the other fleet members 20 so that all the fleet members 20 at all times are aware of what each fleet member 20 will do in the event of a malfunction. As a fail-safe state of each individual fleet member 20 may change over time, information regarding the current fail-safe state may be regularly updated so that all the fleet members 20 at all times have the latest information regarding the current fail-state configuration of each fleet member 20. Each individual fleet member 20 may, upon the occurrence of a malfunction related to that fleet member 20, activate least one fail-safe state.
[0029] Figure 3 shows an example of an execution of the method for a fleet 10 comprising three vessels (fleet members), A, B and C, engaged in an operation comprising of moving in a straight line. Each one of the three vessels regularly estimates one fail-safe state, which they communicate 30 to the other fleet members 20 via a communication system. Each fleet member 20 hence knows what the other fleet members 20 will do in the event of a malfunction, enabling them to react accordingly. Upon the occurrence of a malfunction, e.g. the loss of connectivity (loss of communication) 31 between vessel A and the rest of the fleet 10, vessel A will enter its previously communicated fail-safe state, which may e.g. be to enter a DP mode. The remaining fleet members B and C, already aware of what vessel A will do in the event of a malfunction, are now capable of reacting in a way that maintains the safety of the fleet 10 as a whole. The response by vessel B and C may in this example be to e.g. enter a DP state themselves or to take a right turn in order to avoid collision.
[0030] The present invention is particularly relevant for fleets 10 of marine vessels, where a plurality of marine vessels may work together on an operation. Such an operation may require certain functionalities from the various members of the fleet 10. The fleet 10 can thus according to one embodiment of the invention be a fleet of marine vessels, where the marine vessels may be any type or combination of types of marine vessels. Examples of such vessels are fishing vessels, military vessels, commercial vessels, scientific vessels, tugs, ferries, etc. According to one embodiment of the invention, the fleet 10 is a fleet comprising tugs cooperating in an operation.
[0031] The fleet coordination method 1 can be used for any type of vessels, including remotely controlled vessels, autonomous vessels, manually controlled vessels or any combination of the aforementioned. When used for a fleet of autonomous or semi-autonomous vessels, there will be autonomous systems on board each vessel, which may be capable of calculating/estimating operations of both the fleet 10 as a whole, but also for the individual fleet members 20. The estimating of at least one fail-safe state may thus be performed by an autonomous navigation system, semiautonomous navigation system or any subsystem of the aforementioned. Examples of systems which may estimate at least one fail-safe state are: a rout planning module, a collision avoidance module, a dynamic positioning system, a situation awareness module and a ship state definition module. Either one of these systems, a subsystem of these systems, or a combination of these systems may be used in order to estimate a fail-safe state for a fleet member 20.
[0032] Any estimated fail-safe state may be regularly, continuously or routinely communicated 30 to the other fleet members 20, using one or more amongst a variety of communication techniques. The requirements for how frequent a fail-safe state needs to be communicated may depend on the operation of the fleet 10, the number of fleet members 20, the weather, etc., but is generally determined by how frequently the fail-safe states for the individual fleet members 20 change. Whenever a fleet member 20 estimates an updated failsafe state, it may communicate this to the other fleet members 20.
[0033] Upon the occurrence of a malfunction in a fleet member 20, the affected fleet member 20 may enter a fail-safe state depending on the severity of the malfunction. The fail-safe state may previously have been communicated to the other fleet members 20, but the other fleet members 20 may still not be aware of the fact that a fleet member 20 is experiencing a malfunction. An individual/single fleet member 20 may therefore transmit a distress signal to the other fleet members 20 when entering a fail-safe state as a way of informing the other fleet members 20 that it is entering a fail-safe state. The transmission of a distress signal may simply be done by sounding an alarm, lighting a lantern, or it may e.g. be done through conventional radio or telecommunication methods.
[0034] An individual/single fleet member 20 entering a specific one amongst previously communicated fail-safe states may optionally transmit a distress signal to the other fleet members 20 signalling which of the previously communicated fail-safe states that it is about to enter. This may give the other fleet members 20 valuable information which they may use in order to choose how to respond. An individual/single fleet member 20 may enter a specific non-communicated fail-safe state if it transmits a distress signal to the other fleet members 20, signalling which fail-safe states it is about to enter together with information regarding the fail-safe state. Such information may comprise information not previously communicated, and gives the fleet members 20 more flexibility in order to choose which fail-safe state they will enter upon the occurrence of a malfunction. The latter may be of particular importance in the event of the occurrence of a malfunction not previously postulated.
[0035] A fail-safe state may e.g. be activated manually, by a system on board or remotely from a system on shore. Said systems may e.g. comprise various control systems, which normally may determine e.g. the manoeuvers or other actions performed by the fleet member 20. A fail-safe state may be activated by an autonomous or semi-autonomous system, which may in itself be an autonomous navigation system or a subsystem of an autonomous navigation system.
[0036] During a certain operation involving a fleet 10, there are certain malfunctions which are more likely to occur than others. Since at least some of these malfunctions may be possible to postulate, it is also possible to estimate a corresponding fail-safe state for each possible malfunction. This makes it possible to predetermine which fail-safe state to activate in the event of a malfunction prior to the occurrence of a malfunction.
[0037] When a vessel enters a fail-safe state, it may e.g. execute any number of commands which contribute to placing the vessel in a fail-safe state. The any number of commands executed by the vessel entering the fail-safe state may thus be said to define the fail-safe state, and may e.g. involve taking various manoeuvres, dropping anchor, shutting down machinery etc. Upon the activation of a fail-safe state by a vessel in the fleet, the other vessels need to be aware of what the vessel entering the fail-safe state will do, and hence know what to do themselves in order to maintain the safety of the remaining fleet 10. It may therefore be required for the fleet members 20 to prepare at least one command to execute as a response to each one of the communicated fail-safe states from the other members of the fleet 10. In this case, all the fleet members 20 know what to do in the event where one of the fleet members 20 enters a fail-safe state which it previously communicated.
[0038] The command(s) executed by a vessel upon entering a fail-safe state may comprise any number commands from the group comprising activation of a dynamic positioning system, activation of a distress signal communication system, activation of a route planning system, activation of a situation awareness system, activation of a collision avoidance system, activation of a machinery recovery system, notification of a remote operator, activation of a sound signal (vessel whistle), activation of a light signal (flash signalling device), activation of a light signal (lantern activation/deactivation) and activation of a loudspeaker announcement.
[0039] The various commands which a vessel may execute when enters a fail-safe state may contribute to the vessel performing certain actions, which may define the fail-safe state. Such actions may be e.g. that the marine vessel proceeds to the next waypoint, the marine vessel stops and enters DP-mode, the marine vessel returns to the previous waypoint, the marine vessel navigates back to its last known safe position, the marine vessel navigates to the nearest available safe position, the marine vessel drops an anchor, the marine vessel shuts down some machinery, the marine vessel shuts down all machinery, the marine vessel stops propellers and drifts, or the marine vessel maintains it relative position relative to an object.
[0040] The fleet coordination method 1 may in one aspect of the invention be carried out by a fleet coordination system, which ensures that a fleet coordinates fail safe-states for each individual fleet member 20 across the fleet 10. The fleet coordination system may comprise, in a plurality of vessels in the fleet 10, at least one fail-safe state estimation system, configured to regularly estimate at least one fail-safe state, which can be activated in the event of a malfunction. Additionally, the fleet coordination system may comprise, in a plurality of vessels in the fleet 10, at least one communication system, configured to regularly communicate the at least one fail-safe state to the other fleet members 20, and at least one fail-safe state activation system, configured to activate one of the at least one fail-safe states in the event of a malfunction.
[0041] The estimation of a fail-safe state in the fleet coordination system may be performed by a variety of existing systems, comprising e.g. various navigation systems or other systems capable of handling the operation of a vessel.
Various autonomous navigation system or a subsystem of an autonomous navigation system may be used, including a rout planning module, a collision avoidance module, a dynamic positioning system, a situation awareness module, a ship state definition module or a combination of the listed.
[0042] In the fleet coordination system, the communication system may comprise any system capable of transmitting data between the fleet members 20.
[0043] Autonomous navigation systems or any subsystem of an autonomous navigation system may be used for several purposes in a fleet coordination system. These systems are designed to perform a series of estimation and control tasks in fleet members 20. The at least one fail-safe state activation system may thus comprise an autonomous system. The at least one fail-safe state activation system may comprise an autonomous navigation system or a subsystem of an autonomous navigation system.
[0044] According to a third aspect of the invention, the invention provides a fleet of vessels comprising a system that ensures that a fleet 10 of vessels coordinates their fail safe-states across the fleet 10. This system may comprise any of the previously described features. The system is capable of performing any of the previously described method steps.
Reference list
Claims (19)
1. A fleet coordination method where individual fleet members carries out the steps of:
- estimating regularly at least one fail-safe state, which can be activated in the event of a malfunction,
- communicating regularly the at least one fail-safe state to the other fleet members,
- activating one of the at least one fail-safe states in the event of a malfunction.
2. A method according to claim 1, where the fleet is a fleet of marine vessels.
3. A method according to claim 1 or 2, where the fleet is a fleet of tugs cooperating in an operation.
4. A method according to any one of the preceding claims, wherein the step of estimating at least one fail-safe state is performed by an autonomous navigation system.
5. A method according to claim 1 or 4, wherein the step of estimating of at least one fail-safe state is carried out by at least one system chosen from the group comprising:
- a rout planning module,
- a collision avoidance module,
- a dynamic positioning system,
- a situation awareness module,
- a ship state definition module.
6. A method according to any one of the preceding claims, further comprising the step of:
- transmitting from an individual/single fleet member, entering a fail-safe state, a distress signal to the other fleet members.
7. A method according to any one of the preceding claims, further comprising the step of:
- transmitting from an individual/single fleet member, entering a specific one of the communicated fail-safe states, a distress signal to the other fleet members signalling which of the previously communicated fail-safe states that it is about to enter.
8. A method according to any one of the preceding claims, further comprising the step of:
- carrying out by an autonomous system the activation of one of the at least one fail-safe states in the event of a malfunction.
9. A method according to any one of the preceding claims, further comprising the step of:
- carrying out by a system comprising an autonomous navigation system or a subsystem of an autonomous navigation system, the activation of one of the at least one fail-safe states in the event of a malfunction.
10. A method according to any one of the preceding claims, further comprising the step of:
- predetermining which fail-safe state to activate in the event of a malfunction prior to the occurrence of a malfunction.
11. A method according to any one of the preceding claims, further comprising the step of:
- a vessel carrying out at least one action upon activation of a fail-safestate.
12. A method according to any one of the preceding claims, further comprising the step of:
- preparing by each vessel in the fleet at least one action to perform in the event of the activation of each one of the communicated fail-safe states from the other members of the fleet.
13. A method according to any one of the preceding claims, wherein entering a failsafe state further comprises the step of:
executing at least one activation command, where the activation command can be one of:
- activation of a dynamic positioning system,
- activation of a distress signal communication system,
- activation of a route planning system,
- activation of a situation awareness system,
- activation of a collision avoidance system,
- activation of a machinery recovery system,
- notification of a remote operator,
- activation of a sound signal (vessel whistle),
- activation of a light signal (flash signalling device),
- activation of a light signal (lantern activation/deactivation) and
- activation of a loudspeaker announcement.
14. A method according to any one of the claims 2- 13, further comprising the step of:
defining at least one fail-safe state amongst the actions chosen from a group comprising:
- the marine vessel proceeds to the next waypoint,
- the marine vessel stops and enters DP-mode,
- the marine vessel returns to the previous waypoint,
- the marine vessel navigates back to its last known safe position, - the marine vessel navigates to the nearest available safe position, - the marine vessel drops an anchor,
- the marine vessel shuts down some machinery,
- the marine vessel shuts down all machinery,
- the marine vessel stops propellers and drifts, and
- the marine vessel maintains it relative position relative to an object.
15. A fleet coordination system, which ensures that a fleet of vessels coordinates their fail safe-states across the fleet, the fleet coordination system at least comprises:
- at least one fail-safe state estimation system, configured to regularly estimate at least one fail-safe state, which can be activated in the event of a malfunction,
- at least one communication system, configured to regularly communicate the at least one fail-safe state to the other fleet members, and
- at least one fail-safe state activation system, configured to activate one of the at least one fail-safe states in the event of a malfunction, in a plurality of vessels in the fleet.
16. A system according to claim 15, wherein the at least one fail-safe estimation system comprises an autonomous navigation system or a subsystem of an autonomous navigation system.
17. A system according to any one of the claims 15-16, wherein the at least one fail-safe state activation system comprises an autonomous system.
18. A system according to any one of the claims 15-17, wherein the at least one fail-safe state activation system comprises an autonomous navigation system or a subsystem of an autonomous navigation system.
19. A fleet of vessels comprising a system that ensures that a fleet of vessels coordinates their fail safe-states across the fleet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| NO20180405A NO344835B1 (en) | 2018-03-22 | 2018-03-22 | Coordination of fail safe modes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| NO20180405A NO344835B1 (en) | 2018-03-22 | 2018-03-22 | Coordination of fail safe modes |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| NO20180405A1 NO20180405A1 (en) | 2019-09-23 |
| NO344835B1 true NO344835B1 (en) | 2020-05-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| NO20180405A NO344835B1 (en) | 2018-03-22 | 2018-03-22 | Coordination of fail safe modes |
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| Country | Link |
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| NO (1) | NO344835B1 (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120265380A1 (en) * | 2011-04-13 | 2012-10-18 | California Institute Of Technology | Target Trailing with Safe Navigation with colregs for Maritime Autonomous Surface Vehicles |
| US8614633B1 (en) * | 2007-01-08 | 2013-12-24 | Lockheed Martin Corporation | Integrated smart hazard assessment and response planning (SHARP) system and method for a vessel |
| US20140195095A1 (en) * | 2008-12-30 | 2014-07-10 | Elbit Systems Ltd. | Autonomous navigation system and method for a maneuverable platform |
-
2018
- 2018-03-22 NO NO20180405A patent/NO344835B1/en unknown
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8614633B1 (en) * | 2007-01-08 | 2013-12-24 | Lockheed Martin Corporation | Integrated smart hazard assessment and response planning (SHARP) system and method for a vessel |
| US20140195095A1 (en) * | 2008-12-30 | 2014-07-10 | Elbit Systems Ltd. | Autonomous navigation system and method for a maneuverable platform |
| US20120265380A1 (en) * | 2011-04-13 | 2012-10-18 | California Institute Of Technology | Target Trailing with Safe Navigation with colregs for Maritime Autonomous Surface Vehicles |
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| Publication number | Publication date |
|---|---|
| NO20180405A1 (en) | 2019-09-23 |
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