it is straightforward to
State-of-the-art
were widely considered to represent the state of the art in 。。。
-conduct：Recently, shortterm deterministic sea-wave predictions (DSWPs) based on X-band radar measurements have been successfully conducted using phaserevolved wave components reconstructed from radar retrievals.
+conduct：Recently, shortterm deterministic sea-wave predictions (DSWPs) based on X-band radar measurements have been successfully conducted using phaserevolved wave components reconstructed from radar retrievals.
**show:**Ferrandis et al.18 showed the potential of the data-driven model based on the LSTM model to simulate the nonlinear dynamics of a vessel in real-time.
propose:By extension, the encoder–decoder system19,20 was proposed for forecasting ship maneuvering in waves. The records of the various physical variables such as wave elevation, 6 degrees-of-freedom (DOF) motion responses, and rudder angle were input to the encoder, and the future time series of those variables were predicted through the decoder.
**investigate:**Liu et al.22 investigated the prediction performance of the LSTM model according to the length of the adopted motion history (input vector space) in relation to the physical memory effects estimated by the impulse response function or auto-correlation function.
+present;introduce;give results and describe;presents the conclusions:The remainder of this article is organized as follows. Section II presents previous research in this domain. Section III introduces the predictors and their architecture/parameters. Section IV gives results and describes the vessel and data selected for training and testing of the predictors. Section V presents the conclusions.
+Section 2 introduces the architecture and theoretical formula of the MSA-LSTM model. The optimization strategy and the two-stage training mechanism is pre sented in section 3. In Section 4, the results of ship motion prediction experiment and the analysis of prediction results are presented. Section 5 summarizes the results of this research.
+The remainder of this article is as follows: The ADWT algorithm and the structure of the hybrid model are presented in Section 2. The prediction performance of the hybrid prediction model for ship motion attitude in different ocean conditions is discussed in Section 3. Finally, the conclusion of the experiments and the summary of the entire study are represented in Section 4.
+The rest of this paper is structured as follows. In Section 2, a variable-order model of ship maneuvering motion is proposed in detail. Section 3 introduces the basic algorithms used in the whole program, including the basic principles of EKF, LS-SVM, and BP. Section 4 describes the framework of the MDIP model. Section 5 examines the simulation data for a container ship and compares in detail the two results derived from the MDIP scheme with the optimal-order mathematical model prediction result. Finally, conclusions and future research directions are given in Section 6.
+This article is organized as follows. Section II introduces graph theory, GVFs, and radial basis function NNs (RBFNNs). Section III formulates the containment control problem under switching topologies. Section IV presents the proposed cooperative control architecture. Section V provides the stability analysis of the closed-loop control system. Section VI presents the simulation results. Section VII concludes this article.
在本文
In the present work****，：In the present work, an input vector space optimization method is proposed based on the dependence hidden in ship motion records of a sequence.
More details about the length optimisation and difference method can be found in (Wang and Zou, 2018).
diff --git a/local-search.xml b/local-search.xml index b236e14..353e069 100644 --- a/local-search.xml +++ b/local-search.xml @@ -8,7 +8,7 @@As stated above,
has a great impact on：However, non-stationary time series has a great impact on the prediction accuracy of this method.
puts forward
provides a potential way for****：The Long-Short Term Memory (LSTM) deep learning model provides a potential way for nonlinear ship motions prediction due to its capability in nonlinearity processing.
developed ：is innovatively developed by elaborately creating a self-attention-weighted bidirectional long short-term memory (Bi-LSTM) network in conjunction with 1-dimensional convolution (Conv-1D), named SeaBil.
Innovatively：is innovatively developed by elaborately creating
is devised to****：the Conv-1D is devised to convert 5-dimensional-input samples consisting of course angle, yaw rate, roll angle, total speed and rudder angle
XXX argued that，
The present study proposes,
we present a data-driven approach called
More specifically,
in view of：Therefore, in view of the low accuracyof ship motionprediction with the characteristics of nonstationarity, nonlinearity and randomness, this paper proposes an improved whale optimization algorithm
传统的
Traditional，
Conventional
Design and Implementation of 设计和实现
puts forward demanding requirements for
In order to solve the problem of 为了解决问题
n consideration of the circumstance in…environment。
for the cases in which 对于其中的情景
The strong demands from commercial, scientific and environmental communities accelerate the development of USV application
To that end，为此目的 ：To that end, Neural-Fly uses a proposed learning algorithm,
In response to this problem,
which may lead to：TCN network extracts original features without any bias, which may lead to insufficient learning for some important features;
For a comparison,，
benchmark models 基准模型
Compared with the suboptimal model,
It is inevitable to repeatedly do s.t
Play a more and more important role in..
Become a feasible solution for、
becoming more and more important in
attracted lots of attentions from worldwide researchers
attracted wide attentions of researchers from all over the world
it attracts ever increasing interest and results in a series of
which have attracted the interest of many researchers over the years.。
is a critical component in
This is crucial in
are critical to
is the essential part of marine operations for
have gained increasing prominence driven by their ability to perform
has attracted considerable research attention.
has achieved impressive results by
nontrivial：Hence, convergence to a curved path under the influence of an unknown drift force is nontrivial.
It is noteworthy that:
… is a fundamental issue in …: Disturbance estimation is a fundamental issue in MV motion control,
play a vital role as an essential means for
it is extensively studied in various subjects such as
this study aims to do s.t
The objective of
Considering the high cost of
The model takes into account that
Typically:
the ship to this reference trajectory will typically include changes in the magnitude of the forward speed.
The main rationale of
one of the most explored：The auto-regressive (AR) model is one of the most explored (Huang et al., 2014) due to its simplicity and practicability.
has rarely been exploited by existing
in the manner of
describe the state-of-the-art methods of 最新方法
The mechanism of 。。。。的机制
the most applied methods 最常用的方法
illustrate the mechanism of 阐述了…的机理
opened up a new way to solve the problem of
be adopted in 采用
resort ：Then the controller is extended to cope with the MSV yaw tracking and velocity control by resorting to the augmented backstepping technique.
A frequently used solution of the
利用 leverage
One solution could be to leverage self-rotation in UAVs to extend the sensor FoV without consuming extra power.
We will dedicate effort to
adopt the strategy of 采取了。。。策略
they further proposed a … approach.
It is verified that 证明了
Some representative algorithms
There are mainly three guidance methods, namely, …, …,and …
really isn’t much more than 实际上只不过是 e.g.: A node really isn’t much more than an executable file within a ROS package.
This paper investigates the problem of。。。 这篇文章探讨了。。问题
解决方法
solves this problem by introducing：TCN solves this problem by introducing expansion convolution to achieve exponential expansion of receptive field.
Therefore
Consequently,
As such,
Thereby：For example, the value of ε in Noise Level 3 is adjusted to be nearly 10 times the value of ε in Noise Level 1, thereby ensuring the stability of the numberof SVs.
Admittedly,
Bear in mind to …
Concretely, 具体地
Subsequently
Recently,
Previously
Moreover, 此外
In addition to， 除了
Despite, 尽管
In addition,， 另外
Specifically, 特别地
In particular,
On the one hand,…., On the other hand,…
To be specific 具体而言
With regard to 至于 关于
Meanwhile, 同时，
In parallel, 同时
Nevertheless，然而
Contemporary， 当代的
Leverage. 借用
And vice versa. 反之亦然
Alternatively, 要不，或者，
i.e. 即，也就是
In other words, 换句话说，
Equivalently, 相等的
Show the flowchart of … 展示、、、流程图
Conversely, 相反地
Whereas *conj.*（表示对比）但是，然而；鉴于（用于文件的开头）：The prediction of NAF in 3-DOF motion state changes slightly as the USV moves, whereas NTF makes a prediction that the motion state of USV changes periodically.
Ideally,：理想上地
First, Next , Then, Finally
Lastly, 最后
Eventually,
Overall，
The results demonstrate that：
**and, on the other hand,**：it is sufficiently simple and transparent for analysis and, on the other hand, identification of its parameters is definitely a nontrivial task.
It must be noticed, however, that：It must be noticed, however, that the resulting model should not be regarded as that of a Mariner type ship but rather of some realistic generic vessel.
That is to say,: 也就是说That is to say, the first 60s of datain ship movement is used as training data, and the last 20s is used as test data set.
**As the name implies,**：顾名思义，
Based on … the model: Based on the TCN model, this paper puts forward the mechanism of increasing attention.
**bit by bit,**：The Multiply layer multiplies the output of Attention and the output of the TCN network layer bit by bit, thus
Respectively
are distinguished in: In this paper, definitions of short term, middle term and long term prediction of ship mo tions are distinguished in Section 2 while Section 3 gives the various classifications of shortterm prediction techniques for ship motions.
Promote：which promote the sensitivity of the whole system by paying more attention to significant information。
Suppress：suppress the interference of noise signals.
The above surveyed … all have their own advantages and disadvantages in specific application scenarios.
Optimal 最佳的
are beneficial for
advances have been achieved through
trade-off between…
a good level of ：retaina good level of agility
The benefit of this design is that
The main merits of
innovatively 创新地
The drawback is
To adequately demonstrate the effectiveness and superiority of
Versatile: adj. 多才多艺的，有多种技能的；多用途的，多功能的
are versatile means to
tremendous,
a variety of
substantial
extensive：extensive research
are rich in the literature and are to be reviewed in-depth in this section.
a paucity of 缺乏
in the magnitude of … 。。。的大小
substantially 大体上
With the booming development of
determine the application prospect of
With recent advances in technology, …
based on the development in
With the continuous innovation of
可靠性the reliability of
下位机 its lower machine
上升和下降 ascending and descending
Endeavors 努力奋力
Since most of the time， 大多时候
Representative 典型的
the kinematic and dynamic model 运动和动力学的模型
the optimal solution 最优解
障碍物：
terrain obstacles 地形障碍物
floating obstacles 漂浮障碍物
interacts with 相互作用、与
holonomic 完全的
hierarchical 分等级的
Is verified to …
prove to
Be widely used in
Be used interchangeably 可交换使用
have great value with their ability to execute
dwell on：The data-driven part dwells on prediction residuals which are approximated by a least square-support vector machine.
is fully compatible with
is identical to：The basic structure of the decoder is identical to that of the encoder.
包含、包括
comprises
The difference lies in
In contrast with，相比之下
As opposed to
and vice versa 反之亦然
Touch up
hazardous
Taking the time derivative of (2) along (1) yields 对(2)沿(1)求导得到的结果
a diminished oscillatory behavior
aggravate 使加重，使恶化
degrade the performance of
it is impractical to
In a similarly simple way,
Intuitive
It is trivial to 是微不足道的
it is straightforward to
State-of-the-art
were widely considered to represent the state of the art in 。。。
conduct：Recently, shortterm deterministic sea-wave predictions (DSWPs) based on X-band radar measurements have been successfully conducted using phaserevolved wave components reconstructed from radar retrievals.
**show:**Ferrandis et al.18 showed the potential of the data-driven model based on the LSTM model to simulate the nonlinear dynamics of a vessel in real-time.
propose:By extension, the encoder–decoder system19,20 was proposed for forecasting ship maneuvering in waves. The records of the various physical variables such as wave elevation, 6 degrees-of-freedom (DOF) motion responses, and rudder angle were input to the encoder, and the future time series of those variables were predicted through the decoder.
**investigate:**Liu et al.22 investigated the prediction performance of the LSTM model according to the length of the adopted motion history (input vector space) in relation to the physical memory effects estimated by the impulse response function or auto-correlation function.
在本文
In the present work****，：In the present work, an input vector space optimization method is proposed based on the dependence hidden in ship motion records of a sequence.
More details about the length optimisation and difference method can be found in (Wang and Zou, 2018).
and more details can be found in the literature (Strom-Tejsen, 1965).
The method of noise generationrefers to the literature(Sutulo and Guedes Soares, 2014), using the formula as:
A similar study：A similar study by Silva and Maki21 simulated the 6 DOF ship motions during specific maneuvering scenarios such as turning and course-keeping.
Related work for
总结了。。。。等方向的代表性工作。
Numerical simulations are carried out for vilification and comparison purpose.
A variety of models have been attempted to****：A variety of models have been attempted to achieve real-time prediction of vessel motions.
were developed based on****： Early studies on the real-time ship motions prediction were developed based on the linear ship hydrodynamic equations.
it is extensively studied in various subjects such as
the effect of: results and discussion are presented, the effect of the ACF function in input vector space optimization is analyzed.
The detailed prediction results are analyzed as follows.
To adequately demonstrate the effectiveness and superiority of
show excellent prediction
are consequences of：The memory effects are consequences of the radiatedwaves result from the ship motions and their scattering of incident waves.
Aesthetically 美观地
Logarithmic 对数地：In order to display the data more aesthetically, the logarithmic coordinate axis is used in Fig. 11.
Intuitively****：直觉地、易懂地：The prediction effect of the three models can be more intuitively displayed by comparing the RMSE of ship motion response in Fig. 13.
Numerical simulations are carried out for vilification and comparison purpose.
In order to verify our conclusion,
The results show that : The results show that the method of online modeling and prediction of MASS under ocean waves proposed in this paper is effective
The results demonstrate that：The results demonstrate that the identified model has good generalisation, verifying the robustness and efficiency of the algorithm.
The simulation experiment shows that：The simulation experiment shows that IWOA-TCN-Attention model can effectively realize the prediction of ship motion, reduce the error of motion prediction and improve the prediction accuracy.
the following conclusions can be drawn.
in line with our conclusion: The new calculation results are in line with our conclusions.
For a more quantitative investigation, : For a more quantitative investigation, the root mean squared errors at several specific time instants are evaluated for the entire test dataset.
the immediate goal of the present study was demonstration of：the immediate goal of the present study was demonstration of the consistency of the method and selection of the best metric.
is versatile. The IWOA-TCN-Attention prediction model proposed in this paper is versatile.
To sum up, 综上所述
and the following conclusions can be drawn：
**which will be discussed and specified later;**：C is a constant observation matrix of appropriate dimensions which will be discussed and specified later;
It can be clearly confirmed that：It can be clearly confirmed that without the memory vector, the forecasting results are remarkably different from the exact values.
stable course tracking of 稳定的航向跟踪
the lateral thruster 侧推
steering system 转向系统
autonomous
surface vehicles (ASVs),
autonomous underwater vehicles(AUVs),
autonomous wave gliders,
autonomous sailboats,
mimics the actions of a helmsman
a temporal constraint 时间约束
is defined in Cartesian coordinates，定义在笛卡尔坐标系下
steering the ship 驾驶船舶
acceleration and retardation 加速和减速
maritime operational safety and efficiency.
is essential in decision-making when performing motions sensitive activities.
Riparian adj. 河边的；水滨的
the generalization capability 泛化能力
benchmark models 基准模型
performs better in both training efficiency and prediction accuracy.
highlight the essential features in data and reduce the influence of unimportant features to speed up the model’s training speed and prediction accuracy
The model consists of the input layer, TCN network layer, Attention mechanism, and output layer.
输入
The input of this layer is the output vector of
The operation performance of marine vehicles is significantly vulnerable to external disturbances induced by wind, waves, and ocean currents in complex marine environments.
目前In particular, digital services based on short-term deterministic future estimates for ocean environments and the hydrodynamic (HD) performances of the ship can support the operator’s decision-making for immediate navigation which can avoid any sudden risk or failure, such as excessive motions, structural damage, cargo loss, and capsizing. T…主要集中于…
为了克服定点浮标和载人监测船的 缺陷，减少对监测系统的投入，扩大探测范围，提高系统的智能化水平，提高监 测站的性能和探测投资的经济效益，实现智能化、自动化、低成本的大区域海洋 水面环境资源的可靠监测，有必要开发一种，，，
针对。。。等问题展开了研究。提出了以。。。，实现了。。。。通过海试验证了。。。能力，成功实现了。。。
]]>As stated above,
has a great impact on：However, non-stationary time series has a great impact on the prediction accuracy of this method.
puts forward
provides a potential way for****：The Long-Short Term Memory (LSTM) deep learning model provides a potential way for nonlinear ship motions prediction due to its capability in nonlinearity processing.
developed ：is innovatively developed by elaborately creating a self-attention-weighted bidirectional long short-term memory (Bi-LSTM) network in conjunction with 1-dimensional convolution (Conv-1D), named SeaBil.
Innovatively：is innovatively developed by elaborately creating
is devised to****：the Conv-1D is devised to convert 5-dimensional-input samples consisting of course angle, yaw rate, roll angle, total speed and rudder angle
XXX argued that，
The present study proposes,
we present a data-driven approach called
More specifically,
in view of：Therefore, in view of the low accuracyof ship motionprediction with the characteristics of nonstationarity, nonlinearity and randomness, this paper proposes an improved whale optimization algorithm
传统的
Traditional，
Conventional
Design and Implementation of 设计和实现
puts forward demanding requirements for
In order to solve the problem of 为了解决问题
n consideration of the circumstance in…environment。
for the cases in which 对于其中的情景
The strong demands from commercial, scientific and environmental communities accelerate the development of USV application
To that end，为此目的 ：To that end, Neural-Fly uses a proposed learning algorithm,
In response to this problem,
which may lead to：TCN network extracts original features without any bias, which may lead to insufficient learning for some important features;
For a comparison,，
benchmark models 基准模型
Compared with the suboptimal model,
It is inevitable to repeatedly do s.t
Play a more and more important role in..
Become a feasible solution for、
becoming more and more important in
attracted lots of attentions from worldwide researchers
attracted wide attentions of researchers from all over the world
it attracts ever increasing interest and results in a series of
which have attracted the interest of many researchers over the years.。
is a critical component in
This is crucial in
are critical to
is the essential part of marine operations for
have gained increasing prominence driven by their ability to perform
has attracted considerable research attention.
has achieved impressive results by
nontrivial：Hence, convergence to a curved path under the influence of an unknown drift force is nontrivial.
It is noteworthy that:
… is a fundamental issue in …: Disturbance estimation is a fundamental issue in MV motion control,
play a vital role as an essential means for
it is extensively studied in various subjects such as
this study aims to do s.t
The objective of
Considering the high cost of
The model takes into account that
Typically:
the ship to this reference trajectory will typically include changes in the magnitude of the forward speed.
The main rationale of
one of the most explored：The auto-regressive (AR) model is one of the most explored (Huang et al., 2014) due to its simplicity and practicability.
has rarely been exploited by existing
in the manner of
describe the state-of-the-art methods of 最新方法
The mechanism of 。。。。的机制
the most applied methods 最常用的方法
illustrate the mechanism of 阐述了…的机理
opened up a new way to solve the problem of
be adopted in 采用
resort ：Then the controller is extended to cope with the MSV yaw tracking and velocity control by resorting to the augmented backstepping technique.
A frequently used solution of the
利用 leverage
One solution could be to leverage self-rotation in UAVs to extend the sensor FoV without consuming extra power.
We will dedicate effort to
adopt the strategy of 采取了。。。策略
they further proposed a … approach.
It is verified that 证明了
Some representative algorithms
There are mainly three guidance methods, namely, …, …,and …
really isn’t much more than 实际上只不过是 e.g.: A node really isn’t much more than an executable file within a ROS package.
This paper investigates the problem of。。。 这篇文章探讨了。。问题
解决方法
solves this problem by introducing：TCN solves this problem by introducing expansion convolution to achieve exponential expansion of receptive field.
Therefore
Consequently,
As such,
Thereby：For example, the value of ε in Noise Level 3 is adjusted to be nearly 10 times the value of ε in Noise Level 1, thereby ensuring the stability of the numberof SVs.
Admittedly,
Bear in mind to …
Concretely, 具体地
Subsequently
Recently,
Previously
Moreover, 此外
In addition to， 除了
Despite, 尽管
In addition,， 另外
Specifically, 特别地
In particular,
On the one hand,…., On the other hand,…
To be specific 具体而言
With regard to 至于 关于
Meanwhile, 同时，
In parallel, 同时
Nevertheless，然而
Contemporary， 当代的
Leverage. 借用
And vice versa. 反之亦然
Alternatively, 要不，或者，
i.e. 即，也就是
In other words, 换句话说，
Equivalently, 相等的
Show the flowchart of … 展示、、、流程图
Conversely, 相反地
Whereas *conj.*（表示对比）但是，然而；鉴于（用于文件的开头）：The prediction of NAF in 3-DOF motion state changes slightly as the USV moves, whereas NTF makes a prediction that the motion state of USV changes periodically.
Ideally,：理想上地
First, Next , Then, Finally
Lastly, 最后
Eventually,
Overall，
The results demonstrate that：
**and, on the other hand,**：it is sufficiently simple and transparent for analysis and, on the other hand, identification of its parameters is definitely a nontrivial task.
It must be noticed, however, that：It must be noticed, however, that the resulting model should not be regarded as that of a Mariner type ship but rather of some realistic generic vessel.
That is to say,: 也就是说That is to say, the first 60s of datain ship movement is used as training data, and the last 20s is used as test data set.
**As the name implies,**：顾名思义，
Based on … the model: Based on the TCN model, this paper puts forward the mechanism of increasing attention.
**bit by bit,**：The Multiply layer multiplies the output of Attention and the output of the TCN network layer bit by bit, thus
Respectively
are distinguished in: In this paper, definitions of short term, middle term and long term prediction of ship mo tions are distinguished in Section 2 while Section 3 gives the various classifications of shortterm prediction techniques for ship motions.
Promote：which promote the sensitivity of the whole system by paying more attention to significant information。
Suppress：suppress the interference of noise signals.
The above surveyed … all have their own advantages and disadvantages in specific application scenarios.
Optimal 最佳的
are beneficial for
advances have been achieved through
trade-off between…
a good level of ：retaina good level of agility
The benefit of this design is that
The main merits of
innovatively 创新地
The drawback is
To adequately demonstrate the effectiveness and superiority of
Versatile: adj. 多才多艺的，有多种技能的；多用途的，多功能的
are versatile means to
tremendous,
a variety of
substantial
extensive：extensive research
are rich in the literature and are to be reviewed in-depth in this section.
a paucity of 缺乏
in the magnitude of … 。。。的大小
substantially 大体上
With the booming development of
determine the application prospect of
With recent advances in technology, …
based on the development in
With the continuous innovation of
可靠性the reliability of
下位机 its lower machine
上升和下降 ascending and descending
Endeavors 努力奋力
Since most of the time， 大多时候
Representative 典型的
the kinematic and dynamic model 运动和动力学的模型
the optimal solution 最优解
障碍物：
terrain obstacles 地形障碍物
floating obstacles 漂浮障碍物
interacts with 相互作用、与
holonomic 完全的
hierarchical 分等级的
Is verified to …
prove to
Be widely used in
Be used interchangeably 可交换使用
have great value with their ability to execute
dwell on：The data-driven part dwells on prediction residuals which are approximated by a least square-support vector machine.
is fully compatible with
is identical to：The basic structure of the decoder is identical to that of the encoder.
包含、包括
comprises
The difference lies in
In contrast with，相比之下
As opposed to
and vice versa 反之亦然
Touch up
hazardous
Taking the time derivative of (2) along (1) yields 对(2)沿(1)求导得到的结果
a diminished oscillatory behavior
aggravate 使加重，使恶化
degrade the performance of
it is impractical to
In a similarly simple way,
Intuitive
It is trivial to 是微不足道的
it is straightforward to
State-of-the-art
were widely considered to represent the state of the art in 。。。
conduct：Recently, shortterm deterministic sea-wave predictions (DSWPs) based on X-band radar measurements have been successfully conducted using phaserevolved wave components reconstructed from radar retrievals.
**show:**Ferrandis et al.18 showed the potential of the data-driven model based on the LSTM model to simulate the nonlinear dynamics of a vessel in real-time.
propose:By extension, the encoder–decoder system19,20 was proposed for forecasting ship maneuvering in waves. The records of the various physical variables such as wave elevation, 6 degrees-of-freedom (DOF) motion responses, and rudder angle were input to the encoder, and the future time series of those variables were predicted through the decoder.
**investigate:**Liu et al.22 investigated the prediction performance of the LSTM model according to the length of the adopted motion history (input vector space) in relation to the physical memory effects estimated by the impulse response function or auto-correlation function.
present;introduce;give results and describe;presents the conclusions:The remainder of this article is organized as follows. Section II presents previous research in this domain. Section III introduces the predictors and their architecture/parameters. Section IV gives results and describes the vessel and data selected for training and testing of the predictors. Section V presents the conclusions.
Section 2 introduces the architecture and theoretical formula of the MSA-LSTM model. The optimization strategy and the two-stage training mechanism is pre sented in section 3. In Section 4, the results of ship motion prediction experiment and the analysis of prediction results are presented. Section 5 summarizes the results of this research.
The remainder of this article is as follows: The ADWT algorithm and the structure of the hybrid model are presented in Section 2. The prediction performance of the hybrid prediction model for ship motion attitude in different ocean conditions is discussed in Section 3. Finally, the conclusion of the experiments and the summary of the entire study are represented in Section 4.
The rest of this paper is structured as follows. In Section 2, a variable-order model of ship maneuvering motion is proposed in detail. Section 3 introduces the basic algorithms used in the whole program, including the basic principles of EKF, LS-SVM, and BP. Section 4 describes the framework of the MDIP model. Section 5 examines the simulation data for a container ship and compares in detail the two results derived from the MDIP scheme with the optimal-order mathematical model prediction result. Finally, conclusions and future research directions are given in Section 6.
This article is organized as follows. Section II introduces graph theory, GVFs, and radial basis function NNs (RBFNNs). Section III formulates the containment control problem under switching topologies. Section IV presents the proposed cooperative control architecture. Section V provides the stability analysis of the closed-loop control system. Section VI presents the simulation results. Section VII concludes this article.
在本文
In the present work****，：In the present work, an input vector space optimization method is proposed based on the dependence hidden in ship motion records of a sequence.
More details about the length optimisation and difference method can be found in (Wang and Zou, 2018).
and more details can be found in the literature (Strom-Tejsen, 1965).
The method of noise generationrefers to the literature(Sutulo and Guedes Soares, 2014), using the formula as:
A similar study：A similar study by Silva and Maki21 simulated the 6 DOF ship motions during specific maneuvering scenarios such as turning and course-keeping.
Related work for
总结了。。。。等方向的代表性工作。
Numerical simulations are carried out for vilification and comparison purpose.
A variety of models have been attempted to****：A variety of models have been attempted to achieve real-time prediction of vessel motions.
were developed based on****： Early studies on the real-time ship motions prediction were developed based on the linear ship hydrodynamic equations.
it is extensively studied in various subjects such as
the effect of: results and discussion are presented, the effect of the ACF function in input vector space optimization is analyzed.
The detailed prediction results are analyzed as follows.
To adequately demonstrate the effectiveness and superiority of
show excellent prediction
are consequences of：The memory effects are consequences of the radiatedwaves result from the ship motions and their scattering of incident waves.
Aesthetically 美观地
Logarithmic 对数地：In order to display the data more aesthetically, the logarithmic coordinate axis is used in Fig. 11.
Intuitively****：直觉地、易懂地：The prediction effect of the three models can be more intuitively displayed by comparing the RMSE of ship motion response in Fig. 13.
Numerical simulations are carried out for vilification and comparison purpose.
In order to verify our conclusion,
The results show that : The results show that the method of online modeling and prediction of MASS under ocean waves proposed in this paper is effective
The results demonstrate that：The results demonstrate that the identified model has good generalisation, verifying the robustness and efficiency of the algorithm.
The simulation experiment shows that：The simulation experiment shows that IWOA-TCN-Attention model can effectively realize the prediction of ship motion, reduce the error of motion prediction and improve the prediction accuracy.
the following conclusions can be drawn.
in line with our conclusion: The new calculation results are in line with our conclusions.
For a more quantitative investigation, : For a more quantitative investigation, the root mean squared errors at several specific time instants are evaluated for the entire test dataset.
the immediate goal of the present study was demonstration of：the immediate goal of the present study was demonstration of the consistency of the method and selection of the best metric.
is versatile. The IWOA-TCN-Attention prediction model proposed in this paper is versatile.
To sum up, 综上所述
and the following conclusions can be drawn：
**which will be discussed and specified later;**：C is a constant observation matrix of appropriate dimensions which will be discussed and specified later;
It can be clearly confirmed that：It can be clearly confirmed that without the memory vector, the forecasting results are remarkably different from the exact values.
stable course tracking of 稳定的航向跟踪
the lateral thruster 侧推
steering system 转向系统
autonomous
surface vehicles (ASVs),
autonomous underwater vehicles(AUVs),
autonomous wave gliders,
autonomous sailboats,
mimics the actions of a helmsman
a temporal constraint 时间约束
is defined in Cartesian coordinates，定义在笛卡尔坐标系下
steering the ship 驾驶船舶
acceleration and retardation 加速和减速
maritime operational safety and efficiency.
is essential in decision-making when performing motions sensitive activities.
Riparian adj. 河边的；水滨的
the generalization capability 泛化能力
benchmark models 基准模型
performs better in both training efficiency and prediction accuracy.
highlight the essential features in data and reduce the influence of unimportant features to speed up the model’s training speed and prediction accuracy
The model consists of the input layer, TCN network layer, Attention mechanism, and output layer.
输入
The input of this layer is the output vector of
The operation performance of marine vehicles is significantly vulnerable to external disturbances induced by wind, waves, and ocean currents in complex marine environments.
目前In particular, digital services based on short-term deterministic future estimates for ocean environments and the hydrodynamic (HD) performances of the ship can support the operator’s decision-making for immediate navigation which can avoid any sudden risk or failure, such as excessive motions, structural damage, cargo loss, and capsizing. T…主要集中于…
为了克服定点浮标和载人监测船的 缺陷，减少对监测系统的投入，扩大探测范围，提高系统的智能化水平，提高监 测站的性能和探测投资的经济效益，实现智能化、自动化、低成本的大区域海洋 水面环境资源的可靠监测，有必要开发一种，，，
针对。。。等问题展开了研究。提出了以。。。，实现了。。。。通过海试验证了。。。能力，成功实现了。。。
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