COLREGs-based collision avoidance strategies for unmanned surface vehicles

The aim of this paper is to report the preliminary development of an automatic collision avoidance technique for unmanned marine craft based on standardised rules, COLREGs, defined by the International Maritime Organisation. It is noted that all marine surface vessels are required to adhere to COLREGs at all times in order to minimise or eliminate the risk of collisions. The approach presented is essentially a reactive path planning algorithm which provides feedback to the autopilot of an unmanned vessel or the human captain of a manned ship for steering the craft safely. The proposed strategy consists of waypoint guidance by line-of-sight coupled with a manual biasing scheme. This is applied to the dynamic model of an unmanned surface vehicle. A simple PID autopilot is incorporated to ensure that the vessel adheres to the generated seaway. It is shown through simulations that the resulting scheme is able to generate viable trajectories in the presence of both stationary and dynamic obstacles. Rules 8 and 14 of the COLREGs, which apply to the amount of manoeuvre and to a head-on scenario respectively are simulated. A comparison is also made with an offline or deliberative grid-based path planning algorithm which has been modified to generate COLREGs-compliant routes.

Autonomous COLREGs Compliant Ship Navigation, Using BridgeSimulators and an Unmanned Vessel

This paper presents an approach to COLREGs compliant ship navigation. A system architecture is proposed, which will be implemented and tested on two platforms: networked bridge simulators and at sea trials using an autonomous unmanned surface vessel. Attention is paid to collision avoidance software and its risk mitigation.

The effect of rudder angle on the scouring action produced by the propeller wash of a manoeuvring ship

.

Effective collision strengths for transitions in Fe XIII

Effective collision strengths for transitions among the lowest 97 fine-structure levels belonging to the (1s(2)2s(2)2p(6)) 3s(2)3p(2), 3s3p(3), 3s(2)3p3d, 3p(4), 3s3p(2)3d and 3s(2)3d(2) configurations of Fe XIII have been calculated using the fully relativistic Dirac Atomic R-matrix Code (DARC) of Norrington & Grant (2004). Resonances have been resolved in the threshold region, and results are reported over a wide electron temperature range up to log T-e = 6.8 K. Comparisons are made with the earlier available R-matrix results of Gupta & Tayal (1998), and the accuracy of the data is assessed.

Effective collision strengths for transitions in Fe X

Collision strengths for 4005 transitions among the lowest 90 levels of the (1s(2)2s(2)2p(6)) 3s(2)3p(5), 3s3p(6), 3s(2)3p(4)3d, 3s3p(5)3d and 3s(2)3p(3)3d(2) configurations of Fe X have been calculated using the Dirac Atomic R-matrix Code (DARC) of Norrington & Grant, over a wide energy range up to 210 Ryd. Resonances have been resolved in the threshold region, and effective collision strengths have been obtained over a wide temperature range up to 107 K. The present calculations should represent a significant improvement ( in both range and accuracy) over the earlier available results of Bhatia & Doschek and Pelan & Berrington. Based on several comparisons, the accuracy of our data is assessed to be better than 20%, for a majority of transitions.

Radiative rates, collision strengths and effective collision strengths for transitions in Mo XXXIV

Radiative rates for electric dipole (E I), electric quadrupole (E2), magnetic dipole (M1), and magnetic quadrupole (M2) transitions among the lowest 60 fine-structure levels of the (1s(2)) 2S(2)2p(5), 2s2p(6), and 2S(2)2p(4)3l configurations of F-like Mo XXXIV have been calculated using the fully relativistic GRASP code. Additionally, collision strengths for transitions among these levels have been computed over a wide energy range below 3200Ry, using the Dirac Atomic R-matrix Code. Resonances have been resolved in a fine energy mesh in order to calculate the effective collision strengths. Results for radiative rates and excitation rates are presented for all transitions, and for collision strengths for transitions from the lowest three levels to the higher lying levels. The accuracy of the present data is assessed to be similar to 20%.

Effective collision strengths for transitions in Fe XI

Collision strengths for transitions among the lowest 48 fine- structure levels belonging to the (1s(2)2s(2)2p(6)) 3s(2)3p(4), 3s3p(5), 3s(2)3p(3)3d and 3p(6) configurations of Fe XI have been calculated using the Dirac Atomic R-matrix Code (DARC) of Norrington & Grant (2003). Results are tabulated at energies above thresholds in the range 10 less than or equal to E less than or equal to 100 Ry, although resonances have been resolved in a fine energy mesh in the thresholds region. Effective collision strengths, obtained after integrating the collision strengths over a Maxwellian distribution of electron velocities, are also tabulated over a wide electron temperature range below 5 x 10(6) K. Comparisons with other available results are made, and the accuracy of the present data is assessed.

Effective collision strengths for transitions within the ground configuration of Fe XXI

Effective collision strengths for transitions among the energetically lowest 46 fine-structure levels belonging to the (1s(2)) 2S(2) 2p(2), 2s2p(3), 2p(4), 2S(2)2p3s, 2s(2)2p3p and 2S(2)2p3d configurations of Fe XXI are computed, over an electron temperature range of 5.6 less than or equal to log T-e less than or equal to 7.4 K, using the recent Dirac Atomic R- matrix Code (DARC) of Norrington and Grant. Results are presented for transitions within the ground configuration only, and are compared with earlier R matrix calculations. Large discrepancies are observed for many transitions, especially at lower temperatures.

Radiative rates, collision strengths and effective collision strengths for transitions in Gd XXXVII

Energy levels and radiative rates for transitions among 107 fine-structure levels belonging to the (1s(2)2S(2)p(6)) 3S(2)3p(6)3d(10), 3S(2)3p(6)3d(9)4e. 3S(2)3p(5)3d(10)4e. and 3s3p(6)3d(10)4e configurations of Ni-like Gd XXXVII have been calculated using the fully relativistic GRASP code. Radiative rates and oscillator strengths are tabulated for all allowed transitions among these levels. Additionally. collision strengths for transitions among the lowest 59 levels have been computed using the Dirac Atomic R-matrix Code. Resonances in the threshold region have been delineated, but results for collision strengths are tabulated only at energies above thresholds in the range 120

Effective collision strengths for transitions in Fe XV

Collision strengths for transitions among the energetically lowest 53 fine-structure levels belonging to the (1s(2)2s(2)2p(6)) 3l(2), 3l3l', 3s4l and 3p4s configurations of Fe XV are computed, over an electron energy range below 160 Ryd, using the Dirac Atomic R-matrix Code (DARC) of Norrington & Grant (2003). Effective collision strengths, obtained after integrating the collision strengths over a Maxwellian distribution of electron energies, have also been calculated. These results of effective collision strengths are tabulated for all 1378 inelastic transitions over a wide temperature range of 10(5) to 10(7) K. Comparisons are also made with other R-matrix calculations and the accuracy of the results is assessed.

Energy levels, radiative rates, and collision strengths for transitions in Fe XVII

Energy levels and radiative rates have been calculated for fine-structure transitions among the lowest 89 levels of the (1s(2)) 2s(2)2p(6), 2s(2) 2p(5) 3 l, 2s(2) 2p(5) 4l, 2s2p(6) 3 l, and 2s2p(6)4l configurations of Fe XVII using the GRASP code of Dyall et al. Collision strengths have also been calculated, for transitions among the lowest 55 levels, using the recently developed Dirac atomic R-matrix code (DARC) of Norrington & Grant. The results are compared with those available in the literature, and the accuracy of the data is assessed.

Effective collision strengths for transitions among the 3s(2), 3s3p and 3p(2) configurations of Fe xv

Effective collision strengths for transitions among the ten energetically lowest fine-structure levels belonging to the (1s(2)2s(2)2p(6))3s(2), 3s3p and 3p(2) configurations of Fe xv have been calculated in the electron temperature range of 10(5)-10(7) K, using the recent Dirac atomic R-matrix code of Norrington and Grant. The results are compared with the other recently available independent Breit-Pauli R-matrix calculations of Eissner et al (Eissner W, Galavis M E, Mendoza C and Zeippen C J 1999 Astron. Astrophys. Suppl. 137 165) and Griffin et al (Griffin DC, Badnell N R, Pindzola M S and Shaw J A 1999 J. Phys. B: At. Mol. Opt. Phys. 32 2139, 4129). Large differences are observed for many transitions over almost the entire temperature range. These differences are analysed and discussed, and the accuracy of the calculations is assessed.