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References 1. Directive of the European Parliament and of the Council of 12 December 2006 laying down technical requirements for inland waterway vessels and repealing Council Directive 82/714/EEC (2006/87/EC) 2. Y. Yoshimura: Mathematical Model for Manoeuvring Ship Motion (MMG Model), Workshop on Mathematical Models for Operations involving Ship-Ship Interaction, Tokyo, August 2005 3. H. Yasukawa, N. Hirata, K.K. Koh, K. Punayangkool, K. Kose: Hydrodynamic force characteristics on maneuvering of pusher-barge systems, Journal of Japan Society of Naval Architecture


The article discusses the main features of the applied simulation model of helicopter flight indicating references, where it was elaborated in detail. It focuses on presenting the simulation results of pull-up manoeuvre during which the helicopter does not respond correctly. The reasons for the behaviour as mentioned above were explained based on the results of calculations. The capabilities of the simulation model were used to determine the current loads of particular blades of the helicopter’s main rotor. The results were illustrated by maps of the angles of attack and aerodynamic lift on the surface of the main rotor and the distributions of these parameters along blades on characteristic azimuth for individual manoeuvre phases.


A classification system for the segmentation of driving maneuvers and its validation in autonomous parking using a small-scale vehicle are presented in this work. The classifiers are designed to detect points that are crucial for the path-planning task, thus enabling the implementation of efficient autonomous parking maneuvers. The training data set is generated by simulations using appropriate vehicle-dynamics models and the resulting classifiers are validated with the small-scale autonomous vehicle. To achieve both a high classification performance and a classification system that can be implemented on a microcontroller with limited computational resources, a two-stage design process is applied. In a first step an ensemble classifier, the Random Forest (RF) algorithm, is constructed and based on the RF-kernel a General Radial Basis Function (GRBF) classifier is generated. The GRBF-classifier is integrated into the small-scale autonomous vehicle leading to excellent performance in parallel-, cross- and oblique-parking maneuvers. The work shows that segmentation using classifies and open-loop control are an efficient approach in autonomous driving for the implementation of driving maneuvers.

Regional Lung Blood Perfusion Measured With Laser Doppler Method During Body Position Change, Valsalva Manoeuvre and Cardiopulmonary Bypass

Methodological approaches to investigate local regulatory mechanisms of lung blood supply in humans are restricted. We tried a new approach using laser Doppler technique. During bronchoscopy, an angled laser Doppler flow probe was introduced through a biopsy channel and wedged into small bronchus. Laser light penetrated the wall of small bronchus and was reflected from blood cells running through neighbouring capillaries. Regional blood perfusion changes were recorded during body position change from vertical to supine and back to vertical, while performing Valsalva maneuver and during cardiac bypass surgery. Body position change and Valsalva maneuver markedly influenced the blood perfusion signal. During cardiac bypass when lungs were supplied with blood only through bronchial arteries regional blood perfusion dropped substantially on average from 93 ± 42 to 7.3 ± 4.3 perfusion units. We conclude that blood perfusion measured with this method reflect mainly the pulmonary vascular bed and may be used for investigation of its local regulatory mechanisms.

References 1. Abramowicz-Gerigk T.: Safety of critical manoeuvres of ships in sea highway transport system(in Polish). Prace Naukowe (Scientific bulletin). Transport, issue 83. Oficyna Wydawnicza Politechniki Warszawskiej (Publishing House of Warsaw University of Technology), Warszawa 2012. 2. Benjamin J. R., Cornell C. A.: Calculus of probability, mathematical statistics and decision-making theory for engineers (in Polish). WNT (Scientific Technical Publishers), Warszawa 1977. 3. Firkowicz S.: Statistical assessment of quality and reliability of electronic lamps

-upon-Tyne, 2004 Stettler J. W., Hover F.S., Triantafyllou M.S.: Preliminary results of testing on the dynamics of an azimuthing podded propulsor relating to vehicle maneuvering . Naval Engineering And Research Consortium, Massachusetts Institute of Technology, 2004.

maneuver), (9) ligation and division of the right or middle or left hepatic vein according to type and extent of hepatic resection, (10) division of left or right hepatic duct of the hepatic segments to be removed, (11) complete hemostasis with electrocoagulation on the raw surface of the hepatic remnant, and (12) placement of 2 vacuum drains in the space between the raw surfaces of the resected hepatic segments, the diaphragm, and the posterior abdominal wall. The above-mentioned steps in hepatic resection were used in right hepatectomy (removal of segment V, VI, VII

REFERENCES 1. IMO Res MSC (2002): Standards for Ship Manoeuvrability , 137 (76). 2. IMO MSC/Circ.1053 (2002): Explanatory Notes to the Standards for Ship Manoeuvrability. 3. ITTC, Manoeuvring Committee (2008): Final Report and Recommendations to the 25th ITTC . Proceedings of 25th International Towing Tank Conference, Fukuoka, Japan. 4. Mofidi A., Carrica P.M. (2014): Simulations of Zigzag Maneuvers for a Container Ship with Direct Moving Rudder and Propeller . Comput. Fluids, 96, 191–203. 5. Shen Z., Wan D., Carrica P.M. (2015): Dynamic Overset Grids in

, October 2001 IMO Resolution, Standards for ship manoeuvrability. MSC.137(76), adopted on 4 December 2002 Inoue S., Hirano M., Kijama M., Takashina: A practical calculation method of ship manoeuvring motion , Int. Shipbuilding Progress , vol. 28, no 325, 1981 McClelland J., and D. Rumelhart: Explorations in Parallel Distributed Processing , MIT Press, Cambridge 1988 Koushan K.: Prediction of propeller induced pressure pulses using artificial neural networks , 1st Int. Conf. Computer Applications and Information Technology in the Maritime Industries, Potsdam 2000

, Guidelines for protecting berthing structures from scour caused by ships , Maritime Navigation Commission, Report No. 180, , 2015. [11] PRS Rules, Navigability and manoeuvrability tests of inland waterway vessels and convoys, Polish Register of Shipping, 2010. [12] Rabant, H., Habel, M., Babiński, Z., Transport of the oversized goods on the Vistula waterway , The basic waterway parameters and main difficulties , Works of Commission of Communication Geography, PTG, 19(3), pp. 7-17, 2016. [13] Tabaczek, T., Kulczyk, J., Zawislak, M., Analysis of hull