J.R. Marx et al.
Icean Engineering 343 (2026) 123388
Fig. 10. Central visualization and control systems in the back bridge of the DENEB.
"1
RN
DENEB
SZ
—_-
ES
2C°7 DER.
Fig. 11. Switching mimic between manual and automatic operation for all three vehicles on the remote control device on the back bridge of DENEB.
54°10'30'N |
JENEB,.; |
DENEB
MESSIN,
MESSIN
PLA
54°10'25"N'
VAR
D
5
sn
5 94°1020"N
54°410°15'N
A4°10'10'N
100m
Teo0#
| 2°06'158"E
12°06'30"F
497906 ARE
12°07E
Longitude
419°07' 15°C
4192°07'30"E
12°07'45"E
Fig. 12. Reference and actual paths for automatic collision avoidance maneuver of the research vessel DENEB, catamaran BELA and USV MESSIN.
rzween Q and R, vary significantly, as they are strongly dependent on
the specific characteristics of each vessel.
5.2. Real-world tests
5.2.1. Environment of real-world tests
In contrast to the simulation tests, all operators on the individual ve-
nicles must be included in the real-world tests. There is the chief mate
on the research vessel DENEB and the skipper on board BELA and the
operator with the RCD on board the escort vehicle of MESSIN. In each
nelm station, there is a switching or handshake mimic to change the con-
trol mode between manual and automatic. As the highest supervisor, the
captain of DENEB stands together with the leading control engineer at
che back of the ship’s bridge where the central visualization and control
systems are located, as shown in Fig. 10.
The test procedure starts with the information to all skippers and
‘he chief mate about a new cooperative, automatic maneuver by radio.
7or this purpose, all initial trajectories are sent to the following mod-
ıles, the MAS installed above the DENEB bridge for visualization for the
chief mate, to the visualization systems and controllers on each ship. The
;hips are sailed manually close to their starting position. After another
:adio consultation, the new maneuver starts. The central management of
che operating modes is carried out via the RCD on the DENEB, as shown
schematically in Fig. 11. First, the external control is requested on each
