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    <title>Transport Research International Documentation (TRID)</title>
    <link>https://trid.trb.org/</link>
    <atom:link href="https://trid.trb.org/Record/RSS?s=PHNlYXJjaD48cGFyYW1zPjxwYXJhbSBuYW1lPSJkYXRlaW4iIHZhbHVlPSJhbGwiIC8+PHBhcmFtIG5hbWU9InN1YmplY3Rsb2dpYyIgdmFsdWU9Im9yIiAvPjxwYXJhbSBuYW1lPSJ0ZXJtc2xvZ2ljIiB2YWx1ZT0ib3IiIC8+PHBhcmFtIG5hbWU9ImxvY2F0aW9uIiB2YWx1ZT0iMCIgLz48L3BhcmFtcz48ZmlsdGVycz48ZmlsdGVyIGZpZWxkPSJpbmRleHRlcm1zIiB2YWx1ZT0iJnF1b3Q7U2hpcCBkeW5hbWljIHN0YWJpbGl0eSZxdW90OyIgb3JpZ2luYWxfdmFsdWU9IiZxdW90O1NoaXAgZHluYW1pYyBzdGFiaWxpdHkmcXVvdDsiIC8+PC9maWx0ZXJzPjxyYW5nZXMgLz48c29ydHM+PHNvcnQgZmllbGQ9InB1Ymxpc2hlZCIgb3JkZXI9ImRlc2MiIC8+PC9zb3J0cz48cGVyc2lzdHM+PHBlcnNpc3QgbmFtZT0icmFuZ2V0eXBlIiB2YWx1ZT0icHVibGlzaGVkZGF0ZSIgLz48L3BlcnNpc3RzPjwvc2VhcmNoPg==" rel="self" type="application/rss+xml" />
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    <language>en-us</language>
    <copyright>Copyright © 2026. National Academy of Sciences. All rights reserved.</copyright>
    <docs>http://blogs.law.harvard.edu/tech/rss</docs>
    <managingEditor>tris-trb@nas.edu (Bill McLeod)</managingEditor>
    <webMaster>tris-trb@nas.edu (Bill McLeod)</webMaster>
    <image>
      <title>Transport Research International Documentation (TRID)</title>
      <url>https://trid.trb.org/Images/PageHeader-wTitle.jpg</url>
      <link>https://trid.trb.org/</link>
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    <item>
      <title>Time-domain prediction of pure loss of stability (PLS) in waves based on the maneuvering-seakeeping coupling method</title>
      <link>https://trid.trb.org/View/2710716</link>
      <description><![CDATA[Pure loss of stability (PLS) is a critical capsizing mechanism for ships operating in waves, so its reliable prediction in the time domain is of great importance for ensuring navigation safety. In this study, a six-degree-of-freedom (6-DOF) mathematical model based on a seakeeping–maneuvering coupling framework is developed to simulate PLS in waves. The proposed numerical approach is first validated through comparisons with results of free-running model test for the ONR Tumblehome hull. On this basis, a series of numerical investigations is conducted to examine the influence of different modeling assumptions and motion components. The results demonstrate that inclusion of the hull-induced and rudder-induced roll moments are essential for reproducing capsizing events associated with PLS. Neglecting surge, sway, and yaw motions suppresses the occurrence of the instability, whereas omission of heave and pitch leads to a noticeable overestimation of the roll response. These findings confirm that PLS arises from strongly coupled and nonlinear ship–wave interactions, and indicate that the proposed 6-DOF mathematical model is capable of capturing the key physical mechanisms governing this phenomenon in waves.]]></description>
      <pubDate>Mon, 08 Jun 2026 08:37:49 GMT</pubDate>
      <guid>https://trid.trb.org/View/2710716</guid>
    </item>
    <item>
      <title>Yaw stability and multistability of a turret-moored vessel under combined wave, wind and current excitation</title>
      <link>https://trid.trb.org/View/2697760</link>
      <description><![CDATA[Turret-moored FPSOs are widely deployed in deepwater offshore production owing to their station-keeping capability and operational reliability. However, yaw instability has been frequently observed under wave excitation, posing significant safety concerns, while combined wind-current loading further complicates the yaw response. In this study, the static yaw stability and bifurcation behavior of a turret-moored vessel subjected to combined wind-current excitation in regular waves are investigated within a nonlinear dynamical framework. A horizontal surge-sway-yaw model is established, based on which equilibrium states and their local stability are identified through linear stability analysis. One- and two-parameter bifurcation analyses are then performed to systematically examine the influence of environmental parameters on equilibrium configurations and bifurcation characteristics. The results show that head-wind excitation markedly enhances yaw stability by reshaping the equilibrium structure and shrinking unstable regions in the parameter space. Under collinear loading, the system retains symmetry and undergoes a supercritical pitchfork bifurcation, whereas directional misalignment breaks the symmetry and leads to saddle-node bifurcations, giving rise to yaw multistability. The appearance of cusp points and hysteresis loops in the two-parameter space further reveals equilibrium-state jumps under combined environmental loading. These findings provide mechanistic insights into yaw static stability and offer bifurcation-based stability maps for defining safe operational envelopes in the design and assessment of turret-moored systems.]]></description>
      <pubDate>Thu, 30 Apr 2026 16:39:45 GMT</pubDate>
      <guid>https://trid.trb.org/View/2697760</guid>
    </item>
    <item>
      <title>Investigation of depth-effects on the doppler shift and the consequence in spectral response calculations for ships</title>
      <link>https://trid.trb.org/View/2656387</link>
      <description><![CDATA[Reliable prediction of wave-induced ship responses is an important part in digital twins and decision support systems focused on ship safety and crew/passenger comfort with both post-voyage and real-time applications in mind. Often, the prediction is made via spectral calculations, combining a wave spectrum and transfer functions. If the on-the-ship observed spectrum is of interest, the calculations must include the Doppler shift, relating the intrinsic wave frequency to the encountered frequency. For ships sailing in seaways at deep water, no complexities are faced in this context, as closed-form solutions exist between the set of frequencies. However, at finite/intermediate water depth, this is not the case because, here, the dispersion of waves is governed by a transcendental equation. This paper investigates depth effects on the Doppler shift and the consequences in spectral response calculations. The paper shows that it is, in fact, crucially important to include the exact dispersion relation when computing response spectra for a ship sailing in water depths lower than 40–50 m. With the paper, we include the developed algorithm for computing the response spectra.]]></description>
      <pubDate>Tue, 21 Apr 2026 14:30:15 GMT</pubDate>
      <guid>https://trid.trb.org/View/2656387</guid>
    </item>
    <item>
      <title>On the applicability of the SOLAS 2020 probabilistic damage stability rules to large inland passenger ships</title>
      <link>https://trid.trb.org/View/2688280</link>
      <description><![CDATA[In the absence of a common international regulatory framework, the stability of inland vessels is addressed by a number of different national and regional standards, which feature significant discrepancies. A possible approach to improvement and harmonization of stability rules for inland vessels could be based on application of the state-of-the-art rules for seagoing ships. Thus, this paper explores whether the application of the SOLAS 2020 probabilistic damage stability requirements could be a pragmatic solution for the harmonization of damage stability standards for large inland passenger ships. The analysis is conducted on two existing river cruisers, representative of the contemporary Western European fleet of large inland passenger ships. While one of the vessels (somewhat unexpectedly) met the SOLAS damage stability requirements with a considerable margin, the other could not comply with the rules in any realistic loading condition. Therefore, the applicability of the SOLAS 2020 probabilistic damage stability rules to ships whose features were not considered in formulating the underlying models of the rules is not granted, and the results should be treated with caution. Nevertheless, a probabilistic approach could be implemented into the damage stability standards for inland passenger ships, provided that their design and operational characteristics are built into the rules.]]></description>
      <pubDate>Wed, 08 Apr 2026 13:55:55 GMT</pubDate>
      <guid>https://trid.trb.org/View/2688280</guid>
    </item>
    <item>
      <title>Simplified prediction methods for roll added inertia and effective wave slope coefficient of river-sea ships</title>
      <link>https://trid.trb.org/View/2688274</link>
      <description><![CDATA[The natural roll frequency and the effective wave slope coefficient are two essential parameters used in dynamic ship stability assessment. Although these parameters can be determined from direct hydrodynamic calculations or even experimentally, simplified semi-empirical methods remain a more practical choice for routine applications. However, suitable methods specifically tailored to river-sea ships, which are essentially inland vessels complying with additional requirements for navigating in maritime stretches, are still lacking. Existing semi-empirical prediction methods have been typically developed for conventional sea-going ships, thus applicability to river-sea ships is limited due to the significant differences in hull forms. To fill this gap, this paper presents regression formulae for added inertia, intended for use in predicting the natural roll frequency, as well as formulae for the effective wave slope coefficient at the natural roll frequency and for the frequency-dependent effective wave slope coefficient. The dataset for the development of the regressions is based on direct 3DOF linear hydrodynamic calculations. The performance of the developed formulae is evaluated both against the training data and independent test vessels. Results demonstrate very good agreement with directly computed values, indicating that the proposed formulae represent a promising tool for supporting dynamic stability assessment of river-sea ships.]]></description>
      <pubDate>Wed, 08 Apr 2026 13:55:55 GMT</pubDate>
      <guid>https://trid.trb.org/View/2688274</guid>
    </item>
    <item>
      <title>Numerical analysis on the effects of parametric roll in ship-to-ship interactions</title>
      <link>https://trid.trb.org/View/2634008</link>
      <description><![CDATA[Ship-to-ship interaction is considered as a contributory factor for collision accidents between vessels in close proximity. It continues to pose a significant challenge to ship maneuvering during overtaking operations, not merely the side-by-side arrangement. The aim of this article is to reveal the mechanism of bow-stern ship interaction. With the occurrence of parametric roll on the leading ship (KCS), the influence scope of its ship-generated wave was determined in head waves of λ/L = 1.15. The rear ship (DTMB 5415) advanced at the same speed ranging from Fr = 0.09–0.15, while the lateral distance varied within the range of Δy/Lm = 0.42–0.96. Both time history analysis and spectrum analysis were carried out to specify the impact of parametric roll on ship-to-ship interaction. In terms of flow field characteristics and hydrodynamic force, the relative position and the attitudes of ships would influence the ship-to-ship interaction between ships, especially under large-amplitude motions. When Δy/Lm≤0.78, the interference of reflected and radiated waves from the leading ship plays a more significant role than the incoming wave in the lateral force of the rear ship. For sake of navigation safety, maintaining a lateral distance greater than 0.6Lm and keeping a forward speed Fr ≤ 0.125 are preferred to reduce hazardous hydrodynamic interactions.]]></description>
      <pubDate>Tue, 10 Mar 2026 09:55:43 GMT</pubDate>
      <guid>https://trid.trb.org/View/2634008</guid>
    </item>
    <item>
      <title>Comprehensive analysis of ship sinking accidents using Bayesian network</title>
      <link>https://trid.trb.org/View/2632894</link>
      <description><![CDATA[Sinking accidents can cause catastrophic losses in human, economic resources and environmental damage. Sinking accidents are one of the most common maritime accidents that occur in Indonesia. Therefore, this study aims to analyze the cause-and-effect probability of ship sinkings in Indonesian waters. Bayesian Network method and accident factor level are used to analyze the causal factors of ship sinking accidents. The results found that the Loss of Stability of the vessel is the most sensitive node. An additional take from the investigated sinking is that half of the accidents occurred on passenger vessels, and ships over 25 years old are prone to sinking due to corrosion and lack of proper maintenance. While 70.5% of accident caused by human error that is majorly triggered by unsafe acts. The real-case analysis also performed in this study reveals that eliminating Human Error and ship’s associated factors can reduce the probability of sinking by 17.2%.]]></description>
      <pubDate>Mon, 02 Mar 2026 08:55:14 GMT</pubDate>
      <guid>https://trid.trb.org/View/2632894</guid>
    </item>
    <item>
      <title>Adaptive prescribed-time stabilization of uncertain nonlinear time-varying systems and its application in ship steering system</title>
      <link>https://trid.trb.org/View/2670567</link>
      <description><![CDATA[For a class of nonlinear time-varying systems with unknown control directions, this paper overcomes two challenging limitations in its adaptive prescribed-time control: the singularity caused by infinite control magnitude and the poor steady-state performance beyond the prescribed time. By introducing an improved time-varying gain function, a coordinate transformation and type-B Nussbaum function, a singularity-free controller is designed. It is proved that system state converges to zero before the prescribed time and maintains zero after that. Two simulation examples including a Norrbin ship steering system are provided to demonstrate the effectiveness and advantages of the control scheme.]]></description>
      <pubDate>Tue, 24 Feb 2026 15:39:13 GMT</pubDate>
      <guid>https://trid.trb.org/View/2670567</guid>
    </item>
    <item>
      <title>Event-triggered adaptive heading control for unmanned surface vehicles with input quantification and disturbance observer</title>
      <link>https://trid.trb.org/View/2631594</link>
      <description><![CDATA[This paper presents a new approach enhancing communication resource efficiency for the unmanned surface vessel heading control systems. Considering the limited network resources during information transmission, a novel event-triggered condition is derived to reduce the communication frequency when the norm of control input is less than one. Furthermore, to address the effects of slow time-varying external disturbances, a disturbance observer is employed for real-time estimation. In the framework of a networked control, control input is quantized by a linear analytical model. Thereafter, the quantized feedback controller avoids the reliance on prior knowledge of the quantization parameters. Thereby, a sliding mode control strategy is merged with the new event-triggered approach to achieve a quantized feedback control. Using Lyapunov stability theory, the closed loop stability is rigorously proven, ensuring bounded observation and heading tracking errors. A series of numerical simulations further validate the effectiveness of the proposed heading control scheme.]]></description>
      <pubDate>Wed, 18 Feb 2026 13:22:47 GMT</pubDate>
      <guid>https://trid.trb.org/View/2631594</guid>
    </item>
    <item>
      <title>Heading control of USV based on fractional-order model predictive control</title>
      <link>https://trid.trb.org/View/2660766</link>
      <description><![CDATA[Research on the stability of Unmanned Surface Vehicle (USV) heading control remains a crucial focus in the field of maritime applications. When navigating at the sea, environmental disturbances caused by the wind, waves and currents significantly impact the USV’s ability to maintain its heading. This study introduces a Fractional Order Model Predictive Control (FOMPC) within the framework of Extended Predictive Self-Adaptive Control (EPSAC) for USV heading control. A fractional-order cost function is developed, replacing the integer weight factor with a fractional-order operator. To suppress the disturbance and address the oscillation issues in rudder angle input under specific fractional-order parameters, a Linear Extended State Observer (LESO) is incorporated to estimate the system states. Comparative simulations reveal that the proposed fractional-order MPC with the extended state observer outperforms traditional integer-order MPC in sustaining USV heading under disturbances.]]></description>
      <pubDate>Wed, 11 Feb 2026 15:10:46 GMT</pubDate>
      <guid>https://trid.trb.org/View/2660766</guid>
    </item>
    <item>
      <title>Rudder roll stabilisation control method of ship with input constraints</title>
      <link>https://trid.trb.org/View/2608108</link>
      <description><![CDATA[The effect of roll on the ship’s motion is most obvious because the ship’s transverse damping is small. To achieve roll reduction of the ship, a linear ship model is constructed, and a design method of rudder roll stabilisation controller based on linear matrix inequalities (LMIs) technology is studied. In this case, the rudder is used for simultaneous course keeping and roll reduction. Due to the rudder angle is constrained by a maximum angle and the rudder rate is constrained by a maximum rate, there is a problem of input constraints. Therefore, the solution conditions of the controller are derived based on the input constraints of rudder angle and rudder rate. These conditions are presented in the form of LMIs. The technology of rudder roll stabilisation does not need to add additional hardware, is relatively inexpensive, and can be applied to different ship types. Finally, the course keeping and roll reduction abilities of the rudder roll stabilisation controller is verified by simulation.]]></description>
      <pubDate>Mon, 15 Dec 2025 10:34:10 GMT</pubDate>
      <guid>https://trid.trb.org/View/2608108</guid>
    </item>
    <item>
      <title>Lyapunov-Based Model Predictive Visual Servo Control of an Underwater Vehicle-Manipulator System</title>
      <link>https://trid.trb.org/View/2598827</link>
      <description><![CDATA[In this work, an improved model predictive visual servo control method with guaranteed stability and feasibility is presented for an underwater vehicle-manipulator system (UVMS) to track the visual reference trajectory of a camera fixed on the end-effector in manipulation tasks. The hybrid visual features including visual moments and quaternions are used, and the new system dynamic equations are derived. A Lyapunov-based model predictive control (LMPC) algorithm is developed for the visual tracking task, which generates the constrained control signals to consistently achieve optimal tracking performance in accordance with the objective function. An auxiliary Lyapunov-based controller is designed to construct the contraction constraint for LMPC. With the assistance of this auxiliary controller and the contraction constraint, the feasibility and stability of the proposed LMPC controller are analyzed. The trouble of the complex local linearization step in traditional model predictive control (MPC) is resolved and the linearization-induced inaccuracy can be avoided. A barrier cost is integrated into the cost function of LMPC to prevent the visual target from escaping the field of view. Finally, comparative simulation experiments are conducted and the results verify the improved convergence and robustness of the proposed high-dimensional visual servo tracking controller of UVMSs.]]></description>
      <pubDate>Mon, 08 Dec 2025 17:05:43 GMT</pubDate>
      <guid>https://trid.trb.org/View/2598827</guid>
    </item>
    <item>
      <title>Formation of Time-Varying Multi-AUVs Under Directed Graphs With Event-Triggered Control: An Online Model-Free Parameter Learning</title>
      <link>https://trid.trb.org/View/2598826</link>
      <description><![CDATA[This paper delves into the study of the leader-following formation of multiple autonomous underwater vehicles (AUVs) under a directed graph, encompassing both cases with unknown time-invariant and time-varying model parameters. This investigation employs an online model-free parameter learning mechanism, and develops a fully distributed event-triggered communication (ETC)- and actuation (ETA)- based control protocol. Initially, given the challenge of accurately modeling the intricate dynamics of AUVs, we construct a formulation of AUV with a well-defined inverse-matrix-based regression function and a vector of unknown model parameters. Thus, an online model-free parameter learning approach is designed for its estimation. Subsequently, a fully distributed ETC-based leader observer is developed for constructing the reference formation trajectory for each AUV. Then, we devise an ETA-based control protocol, which enables the asymptotic model-free formation of multiple AUVs with unknown time-invariant model parameters. For scenarios involving time-varying unknown model parameters, we extend our methodology by incorporating 𝜎-modification, which achieves the bounded formation. Both ETC-based observer and ETA-based control algorithm will not exhibit the Zeno behavior with determining a minimum interval for the proposed event-triggered mechanisms (ETMs). Finally, the effectiveness of the proposed control schemes has been verified by some numerical simulations and comparisons.]]></description>
      <pubDate>Mon, 08 Dec 2025 17:05:43 GMT</pubDate>
      <guid>https://trid.trb.org/View/2598826</guid>
    </item>
    <item>
      <title>State Recovery and Fault-Tolerant Control of Autonomous Surface Vehicle With Actuator and Sensor Faults</title>
      <link>https://trid.trb.org/View/2591849</link>
      <description><![CDATA[This paper is concerned with the trajectory tracking problem for autonomous surface vehicles (ASVs) subject to simultaneous actuator and sensor faults. An output-feedback multiple fault-tolerant control (MFTC) scheme is proposed by using inaccurate position-heading measurement only. First, a modified extended state observer (ESO) is proposed to simultaneously achieve the state recovery of position-heading and non-measurable velocities under unknown dynamics and external disturbances. To eliminate the effect of multiple faults, separated adaptive compensation mechanisms are introduced to estimate various fault factors individually. Based on the proposed ESO and estimated factors, an adaptive output-feedback MFTC strategy is explored to stabilize the closed-loop control system in the presence of multiple faults. It is proven that the proposed controller guarantees that all signals in the closed-loop control system are bounded, including tracking error, observer error, and estimation errors. Finally, simulation results with several cases are provided to demonstrate the effectiveness of the proposed MFTC method.]]></description>
      <pubDate>Wed, 05 Nov 2025 10:02:34 GMT</pubDate>
      <guid>https://trid.trb.org/View/2591849</guid>
    </item>
    <item>
      <title>Nonlinear ELM Estimator-Based Formation Control for Perturbed Unmanned Surface Vehicle Systems With Prescribed Performance</title>
      <link>https://trid.trb.org/View/2591791</link>
      <description><![CDATA[This paper addresses the challenge of achieving resilient formation control for a class of multiple unmanned surface vehicles (USVs) systems operating amidst perturbations, which encompass external disturbances and parametric uncertainties. In order to alleviate the unfavorable effects of perturbations, an innovative nonlinear perturbation estimator rooted in the extreme learning machine (ELM) is introduced to meticulously evaluate the perturbations. Based on the estimation results, a perturbation-rejection formation control scheme is designed using dynamic surface control (DSC) and prescribed performance control (PPC) technologies. The aim is to prevent complexity explosion and ensure that the errors of the multiple USVs system converge to predefined regions, thereby enabling USVs to avoid collisions and prevent communication interruptions. The asymptotic formation control of the multiple USVs system is substantiated through Lyapunov stability theory. Ultimately, the effectiveness of the proposed perturbation-rejection formation control technique, based on the nonlinear ELM-based estimator, is validated through simulations.]]></description>
      <pubDate>Fri, 31 Oct 2025 17:03:53 GMT</pubDate>
      <guid>https://trid.trb.org/View/2591791</guid>
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