http://journal.vsuwt.ru/index.php/jwt/issue/feed Russian Journal of Water Transport 2025-06-23T06:31:41+00:00 Раева raeva.oa@yandex.ru Open Journal Systems Russian Journal of Water Transport http://journal.vsuwt.ru/index.php/jwt/article/view/588 Estimation of some hydrofoil's hydrodynamic characteristics near free surface using «ANSYS FLUENT» 2025-06-23T06:31:41+00:00 Sergey P. Astrein theolklim260177@yandex.ru Stanislav N. Girin girin.sn@vsuwt.ru Alexander S. Gusev gususev@yandex.ru Ehor Yu. Cheban egor.cheban.2@gmail.com <p>In this paper several tasks of hydrofoil's hydrodynamic characteristics determination at the various depths using the ANSYS Fluent are considered. The purpose of this studies was consideration of the feature this software for solving some issues hydrodynamics interaction between hydrofoil and free surface. The results of numerical experiments were vitrificated by comparison with experimental data obtained by different authors. For comparison, the results of hydrofoil tests at various depths and angles of attack published in various scientific sources were used, including those of Egorov and Sokolov conducted in the 60s of the last century. The present paper shows that the maximum discrepancy in the values of the lift coefficient of numerical and model experiments does not exceed 10%. In the experiment of Zao Ni and Manhar Dhanak, modern equipment was used for model tests, which were compared with the results of numerical simulation. When comparing the results, a discrepancy of 4% was obtained, which is a good indicator. The results obtained in this work allow us to draw a conclusion about the possibility of using AnsisFluent 2020 to solve tasks related to the design of wing systems.</p> 2025-06-18T00:00:00+00:00 Copyright (c) 2025 Russian Journal of Water Transport http://journal.vsuwt.ru/index.php/jwt/article/view/608 Investigation of the effect of pointed extremities on the error in determining displacement by the draft survey method for general longitudinal deformations of the ship's hull 2025-06-23T06:31:39+00:00 Pavel A. Bimberekov bimberekov@yandex.ru Mihail D. Vasilev mihail.miha.vasilev@mail.ru <p>The work investigates on 3D models of objects with simplified contours based on a parallelepiped the effect of the sharpening of the buttocks and waterlines on the error in determining the displacement by the draft study method is investigated when the hull experiences general longitudinal deformations relative to the middle part of the vessel in the form of deflection, bending and torsion during the initial landing of the vessel straight, as well as on a even keel and the absence of a construction pitch. A pontoon with the following dimensions was chosen as the object of study: the maximum length / length between the perpendiculars / width / height of the side / draft (in full load) in meters are LN/LꞱꞱ/B/H/T=85/83/16,5/3,3/2,5. The contours of the extremities were changed by the rise of the buttock lines and/or the sharpness of the waterline with by changing the coefficient of total completeness of the extremities (with a length of 0.15LN≈0.154LꞱꞱ) δ*∈[1.0...0.33]. The bending arrows of the ships' hulls were selected within the existing real relative range from 0 to 0.005 in fractions of the length of the hulls along the structural waterline. The ships were fitted in such a way that the average values of the draft scales for deformation hulls coincided with the values in the absence of general longitudinal deformations. As a result, graphical dependences of the relationship between the coefficients of hull completeness and the relative error in determining displacement by the draft survey method for general longitudinal deformations of the hull are obtained. In particular, the dependence of the influence of the sharpness of the waterline and the buttock lines at the extremities separately and their combined influence was obtained. It is found that with the general longitudinal deformation of the hull, the displacement error depends significantly less on the change in the sharpness of the buttocks than on the sharpness of the waterlines when using the draft survey method.</p> 2025-06-18T00:00:00+00:00 Copyright (c) 2025 Russian Journal of Water Transport http://journal.vsuwt.ru/index.php/jwt/article/view/589 Investigation of a mathematical model for optimizing the characteristics of a container ship 2025-06-23T06:31:41+00:00 Yuri P. Burov burovyury@yandex.ru Yuri A. Kochnev tmnnkoch@mail.ru <p>The design of a modern marine vessel is inextricably linked with the creation of its "electronic copy", implemented in the form of a mathematical model. At the same time, it contains not only the formulas, dependencies and variables that are minimally necessary for further calculations, but also ensures the integrity, objectivity and comprehensiveness of data about the object under study in some area of the search for a solution. In conjunction with the optimization algorithm used, for which the random search method is selected in this paper, a system for calculating the characteristics of a container ship is implemented with optimization according to a given efficiency criterion in the form of reduced costs. The article presents the results of calculating the characteristics of a feeder container vessel, performed in the developed optimization program, and analyzing the properties of a mathematical model based on numerical experimental data to assess its adequacy, sensitivity, and stability. A comparison of the results obtained with actual container ships made it possible to investigate the behavior of the mathematical model in the field of the highest accuracy, and to justify the deviations of the optimal experimental data obtained for the specified defining variables from the compared vessel design.</p> 2025-06-18T00:00:00+00:00 Copyright (c) 2025 Russian Journal of Water Transport http://journal.vsuwt.ru/index.php/jwt/article/view/591 The role and place of scientific and design organizations of the shipbuilding industry in the scientific support of offshore field development projects 2025-06-23T06:31:41+00:00 Karina I. Kolosova karinamkolos@mail.ru Alexey V. Lobanov a.lobanov.info@gmail.com Sergey V. Verbitsky ser_verb@mail.ru <p>The article deals with the role and place of scientific and design organizations in the Russian shipbuilding industry. Several companies that are directly involved in scientific and scientific-technical support of the shipbuilding and oil and gas industries are presented as examples. The companies considered in the paper make a tangible contribution to the complex processes of offshore fields development, as well as control the safety of works performed on the continental shelf fields. In modern conditions, the results of the activities of the companies presented in this article are critical in terms of ensuring import independence of the Russian Federation.</p> <p>In addition, the paper provides information on Russian multidisciplinary research and industry centers, as well as on technological research centers of domestic oil and gas companies. Special attention is paid to the description of the functional areas of such centers, which provides an insight into their role, tasks and significance in the context of a rapidly changing market and new technological challenges.</p> <p>The study draws conclusions on how effective interaction between different scientific and design organizations contributes to achieving high results in research and in the development of innovative technologies in such important sectors of the economy as shipbuilding and fuel and economic complex. Integration of the results of joint activities of scientific and production enterprises can serve as an important factor contributing to sustainable development and technological progress of the Russian Federation in shipbuilding and oil and gas production.</p> 2025-06-18T00:00:00+00:00 Copyright (c) 2025 Russian Journal of Water Transport http://journal.vsuwt.ru/index.php/jwt/article/view/592 Design of habitable spaces on small passenger and recreational craft 2025-06-23T06:31:41+00:00 Albert G. Nazarov anmarineconsulting@ya.ru <p>The article discusses modern approaches to the creation of habitable spaces on small vessels intended for recreation, tourism, and passenger transportation. It is indicated that it is more correct to talk about habitable spaces than about the interior of the vessel, since these spaces can be located on open decks. Their design is divided into layout and styling. Before starting the design, it is necessary to perform an analysis of the functions on board the vessel, after which proceed to the dimensions of the spaces, and only then determine the dimensions of the vessel and its exterior. Additionally, the issues of safe layout and injury safety, lighting design are considered. Design techniques are provided to hide possible visible defects and provide a view from the premises. The work of the designer on the style and the order of presentation of the design project documentation is shown.</p> 2025-06-18T00:00:00+00:00 Copyright (c) 2025 Russian Journal of Water Transport http://journal.vsuwt.ru/index.php/jwt/article/view/607 An integrated approach to assessing the impact of stochastic factors on the wear processes of trawl winch bearings 2025-06-23T06:31:39+00:00 Aleksandra V. Ivanovskaya invkerch@yandex.ru Alexey A. Khalyavkin sopromat112@mail.ru Alexander V. Boroznyak invkerch@yandex.ru Vitaly V. Shapoval invkerch@yandex.ru <p>Bearings installed on the shaft of the trawl winch drum are one of the most loaded and critical structural elements. They provide rotation of the drum, perceive significant radial and axial loads arising during setting and sampling of the trawl. The reliability of the bearing assemblies directly affects the uptime of the entire winch, the productivity of the field and the cost of maintenance. This article discusses the main aspects of reliability of bearing assemblies, factors affecting their performance, determination of the load acting on the bearing assembly. The non-stationary nature of the load is determined by many factors, including the hydrodynamic resistance of the trawl during its movement in the aquatic environment, the change in the trawling depth, the uneven filling of the trawl with fishing objects, the effect of sea waves on the vessel, as well as the maneuvering of the vessel during trawling. These factors create a complex range of variable loads affecting the bearing assemblies of the trawl winch drum.</p> 2025-06-18T00:00:00+00:00 Copyright (c) 2025 Russian Journal of Water Transport http://journal.vsuwt.ru/index.php/jwt/article/view/593 Characteristics of a turbomachine impeller with radial blades of symmetrical profile in compressor mode 2025-06-23T06:31:41+00:00 Viacheslav L. Konyukov seykgmtu@mail.ru Alexander N. Gorbenko gan0941@yandex.ru <p>The paper presents the results of studies of the characteristics of a turbomachine impeller with radial blades of a symmetrical profile, in which some of the blades operate in turbine mode, and some of the blades operate in compressor mode. This combination of modes is provided by partial supply of the working gas. The characteristics of the compressor part of the blades were determined by the conditions of the energy and kinematic balances of the turbine and compressor blades. The dependences of the specific powers of turbine and compressor parts for different blade installation angles on the speed characteristic determining the operating mode of the turbine part are obtained. The influence of the blade installation angle on the total efficiency, which characterizes the losses during the energy conversion of the velocity pressure incident on the turbine blades into the energy of the working fluid at the outlet of the interblade channels of the compressor part, is determined. The dependence of the specific consumption of the working gas on the blade installation angle was obtained. The characteristics of the compressor part of the impeller are presented as dependencies on the flow coefficient. It was found that for each blade installation angle there are flow coefficients corresponding to the maximum degree of pressure increase and the maximum efficiency of the compressor part.</p> 2025-06-18T00:00:00+00:00 Copyright (c) 2025 Russian Journal of Water Transport http://journal.vsuwt.ru/index.php/jwt/article/view/594 Model of heat exchange in the stand of thermal neutralization of oil-containing waters 2025-06-23T06:31:41+00:00 Oleg P. Shurayev solwrk@inbox.ru Vladimir A. Chernov vov7777@bk.ru Alexander G. Chichurin alex1.chich@yandex.ru <p>The article continues the analysis of the results of the screening experiment on the stand of thermal neutralization of oil-containing waters. This time, the law of gas temperature distribution along the flue length in the steady state during its heating before the supply of oil-containing water is considered. It is established that at the heating stage, the gas temperature distribution along the flue length obeys the exponential law. When normalizing the temperature values relative to the readings of the first thermocouple along the gas flow and switching to dimensionless values, a reference temperature distribution is obtained that depends on only one parameter. This parameter characterizes the intensity of heat transfer from the gas in the flue to the environment. It is shown that it can be calculated by determining the heat transfer coefficients from the gas in the flue to its walls and from the walls to the environment, and then determining the heat transfer coefficient. On the other hand, this parameter is determined by approximating the experimental data with an exponential dependence. An example of its determination in Mathcad and Excel is given. The obtained research results will be in demand when modeling the temperature field in a flue when supplying oil-containing water for its neutralization.</p> 2025-06-18T00:00:00+00:00 Copyright (c) 2025 Russian Journal of Water Transport http://journal.vsuwt.ru/index.php/jwt/article/view/599 Organizing the delivery of oil products to the points of the Yakutia arctic coast 2025-06-23T06:31:40+00:00 Viktor M. Buneev buneev_vm@mail.ru Gulmira Z. Gulmira Z. g.z.iglikova@nsawt.ru <p>The article presents the results of the study of the problem of organizing the delivery of goods to points on the Arctic coast of Yakutia. The goal, tasks, object and subject of the study are defined. The provisions of the theory of transport processes and systems, principles of transport logistics, and methods for assessing the efficiency of transport systems were used. Two main schemes are considered. The first - existing - products of the Achinsk Oil Refinery by rail to the Lena station with transshipment in the Osetrovsky port and then by river transport in tankers of the 1754A and 1754B projects. The second - alternative - products of the Komsomolsk Oil Refinery by rail to the Nizhniye Bestyakh station with transshipment to river transport, a tanker of the Lunaneft type.</p> 2025-06-18T00:00:00+00:00 Copyright (c) 2025 Russian Journal of Water Transport http://journal.vsuwt.ru/index.php/jwt/article/view/606 Justification of the best option for infrastructure support of the water transport terminal 2025-06-23T06:31:40+00:00 Olga I. Kartashova lesy_g@mail.ru Andrey O. Nichiporuk nichiporouk@rambler.ru <p>The article presents the results of testing the economic and mathematical model for determining the optimal composition of the infrastructure of the river port terminal. The basic conditions and requirements for the economic and mathematical model are formulated, various methodological approaches to solving the problem are considered. On the basis of the author's model, calculations were made and the results were presented for a number of possible options for technical equipment and technology for transshipment work in river ports. The dependence of various indicators (capital investments, operating costs, cost of transshipment work) on the used version of technology and equipment, as well as the cargo turnover mastered at the terminal, is shown. Conclusions were drawn on the most preferable options for organizing the operation of port terminals depending on the various existing and promising volumes of cargo processing.</p> 2025-06-18T00:00:00+00:00 Copyright (c) 2025 Russian Journal of Water Transport http://journal.vsuwt.ru/index.php/jwt/article/view/604 Ensuring the quality of transport education: modern challenges and prospects 2025-06-23T06:31:40+00:00 Igor K. Kuzmichev rector@vsuwt.ru Vera V. Krainova krainova.vv@vsuwt.ru <p><em>This article examines the multifaceted task of ensuring the quality of transport education. From the standpoint of a systematic methodological approach, the author's view on ensuring the quality of education at the transport university is justified. The main conditions for ensuring the quality of education, according to the authors, are: firstly, the quality of the design of the educational program and, secondly, the quality of the educational process itself. The components that ensure the quality of education are considered considering the sectoral orientation of personnel training at the Volga State University of Water Transport.</em></p> 2025-06-18T00:00:00+00:00 Copyright (c) 2025 Russian Journal of Water Transport http://journal.vsuwt.ru/index.php/jwt/article/view/600 Evolution of logistics hubs on inland waterways: from transit points to intelligent transport centers 2025-06-23T06:31:40+00:00 Igor K. Kuzmichev rector@vsuwt.ru Stanislav S. Chebotarev StSt57@yandex.ru Ilya V. Bondar ilya.vl.bondar@gmail.com <p>The article explores the transformation of logistics hubs on Russia’s inland waterways (IWW) into intelligent transport centers capable of integrating into the country’s digital multimodal infrastructure. The relevance of the study is driven by the urgent need to modernize outdated river ports, enhance their logistics efficiency, and align their functions with national priorities in digitalization, sustainability, and spatial connectivity.</p> <p>Based on the analysis of strategic documents (Presidential Decree No. 309, the Transport Strategy of the Russian Federation, and national projects), scholarly literature, and international case studies, the authors justify the need for a systemic shift from traditional transshipment points to smart logistics hubs. These centers are to be equipped with advanced digital platforms, predictive management systems, multimodal integration capabilities, and environmental control technologies.</p> <p>The paper presents a conceptual model of an intelligent logistics center comprising five core components: a digital management platform, predictive analytics and artificial intelligence, multimodal integration interfaces, an environmental monitoring module, and a digital twin of the logistics node. This model aligns with both Russian state strategies and global trends in the development of smart ports and green logistics.</p> 2025-06-18T00:00:00+00:00 Copyright (c) 2025 Russian Journal of Water Transport http://journal.vsuwt.ru/index.php/jwt/article/view/601 Railway transport corridors as an alternative and complement to water routes in international logistics 2025-06-23T06:31:40+00:00 Andrey A. Podhlebny podkhlebny@mail.ru Zhandos K. Kegenbekov kegenbekov@dku.kz Elina S. Emenova student.emenova@dku.kz <p>Railway transport corridors play a key role in international trade, connecting countries and continents. The article analyzes the importance of these routes, their impact on the economy and logistics, as well as key problems and development prospects. Special attention is paid to the Trans-Caspian International Transport Route (TMTM), the Northern Corridor and the New Silk Road. Special attention is paid to their interaction with water transport, the potential for replacing traditional sea routes such as the Suez Canal, as well as the advantages of rail transportation in conditions of geopolitical and climatic instability. Their advantages, infrastructural limitations and the influence of geopolitical factors are investigated. The statistical indicators of freight transportation growth were also studied, and the main barriers, including administrative, tariff, and infrastructural restrictions, were identified. The prospects for development, including the modernization of the railway network, digitalization of logistics and the introduction of environmentally sustainable technologies, are considered. The main focus is on the advantages of rail transportation, such as high load capacity, reliability, safety, cost-effectiveness and weather resistance, which makes rail transport an important element of international logistics. The role of railway corridors in improving Kazakhstan's transit potential is also emphasized, and it is concluded that it is important to integrate international efforts to improve the efficiency of rail transport and its competitiveness in the global market.</p> 2025-06-18T00:00:00+00:00 Copyright (c) 2025 Russian Journal of Water Transport http://journal.vsuwt.ru/index.php/jwt/article/view/602 Analysis and design of blockchain business processes in logistics companies 2025-06-23T06:31:40+00:00 Michail V. Firsov fimv@inbox.ru Alla S. Stepanova allastepanova@mail.ru Andrey A. Krit qgc89092850880@gmail.com <p>За последние два десятилетия отрасли грузоперевозок, логистики и коммерческого транспорта претерпели значительное количество технологических инноваций, позволяющих уменьшить стоимость комбинированной доставки.</p> <p>Технология блокчейн, которая стала известна с 2008 года благодаря криптовалютам, в настоящее время является технологией, которая обещает трансформировать логистическую и транспортную отрасли наряду с искусственным интеллектом и машинным обучением.</p> <p>В статье проводится анализ преимуществ применения блокчейн в логистической сфере, исследуется реализация смарт-контрактов для логистической системы, особенности бизнес-процесов блокчейн в логистических компаниях с целью повышения их эффективности и дальнейшей разработки программного кода блокчейн системы.</p> <p>Центральным звеном данных бизнес-процессов является выбор вариантов реализации консенсуса блокчейн. Приводится методика и дополнительные условия внедрения блокчейн в логистике.</p> 2025-06-18T00:00:00+00:00 Copyright (c) 2025 Russian Journal of Water Transport http://journal.vsuwt.ru/index.php/jwt/article/view/603 Container transportation is a new step in the interaction of sea and rail transportation in modern Russia 2025-06-23T06:31:40+00:00 Vladislav S. Chebotarev vschebotarev@rambler.ru Pavel N. Peshekhonov orb.pfo@mail.ru Zhanna Y. Pyzhova pyzhova.zu@vsuwt.ru Artyom V. Dorozhkin dorozhkin_av@unn.ru <p>The article presents the authors' position on current trends in container transportation, both in the world and in the current conditions of sanctions restrictions from foreign countries in relation to the sectors of the economy of the Russian Federation. Statistical data on global container shipping are presented, and the main routes of sea freight transportation are considered. Attention is drawn to emerging problems in cargo shipping via the Suez and Panama Canals. The issues related to climate change, in particular global warming and its impact on maritime transportation and emerging prospects of the Northern Sea Route, are touched upon, and its graphical scheme is presented. The economic advantages and promising development of the Northern Sea Route, including from the point of view of transportation safety, are outlined. The structure of container transportation in Russia is considered, and the topic of significant changes in recent years due to the imposition of sanctions by unfriendly states is touched upon. Changes in the directions of cargo flows are presented, and statistical data on Russian exports and imports are provided. The prospects for the development of transport infrastructure, the seaport of Olya as the main port of the Caspian Sea and the commercial seaport of Ust-Luga are outlined. The issues related to the changes in container transportation and rail transport are reflected. The innovations and developments in the container transportation service by rail are outlined. Statistical data on container transportation by rail in early 2025 have been announced. Examples of the development of rail container transportation and their relationship with water transport and its infrastructure are given. The tasks set for the development of container transportation in Russia and their prospects are outlined.</p> 2025-06-18T00:00:00+00:00 Copyright (c) 2025 Russian Journal of Water Transport http://journal.vsuwt.ru/index.php/jwt/article/view/595 Simulation of multi-barge tow operating on a river regular container line 2025-06-23T06:31:41+00:00 Dmitry I. Avdonin awdonin.dmitrij2017@yandex.ru Alexander A. Lisin lisin_aa@mail.ru <p>The article presents a model for the deployment of barges, covering the container transportation and related processes such as locking and port-raid operation. Special attention is paid to coordinating the arrival and departure schedules of river ships, as they are an integral part of optimizing the operation of tows for minimal downtime due to waiting.</p> <p>The parameters of hydraulic structures and waterways that affect the formation pattern and duration of transport operations are considered. To improve the accuracy of the schedule, the specifics of the locks' operation and possible delays caused by the need to form a multi-barge tow with the maximum carrying capacity (load capacity).</p> <p>The proposed model makes it possible to calculate the need for a barges and tows, which ensures transport links between all ports of departure on a regular schedule.</p> <p>This model makes it possible to increase the capacity of hydraulic structures, minimize ship downtime, switch foreign trade cargo to river transport and increase the efficiency of port container terminals. The results obtained can be used to organize the fleet of shipping companies, port operators and logistics centers interested in optimizing river transportation processes.</p> 2025-06-18T00:00:00+00:00 Copyright (c) 2025 Russian Journal of Water Transport http://journal.vsuwt.ru/index.php/jwt/article/view/598 Selection of a turbulence model in mathematical modeling of propeller operation 2025-06-23T06:31:40+00:00 Sergey S. Gerasimov Gerasimov.s.sergeevich@mail.ru <p>mathematical modeling is widely used to solve applied problems in the field of shipping safety. Modeling of ship motion includes modeling the operation of the propeller, which creates hydrodynamic processes in the stern area. The quality of the modeling results depends on the mathematical models used. Turbulence arising from the rotation of the propeller is described using a special turbulence model. Currently, there are three main mathematical models of turbulence: k-ε, k-ω and Reynolds stress equations. The most suitable model can be selected by conducting a numerical experiment. This article presents the results of a numerical experiment aimed at comparing the above turbulence models and their analysis using the example of solving a specific problem.</p> 2025-06-18T00:00:00+00:00 Copyright (c) 2025 Russian Journal of Water Transport http://journal.vsuwt.ru/index.php/jwt/article/view/596 Conceptual basis for the mathematical formalization of navigator fatigue 2025-06-23T06:31:40+00:00 Sergey V. Ermakov sv.ermakov@bgarf.ru Pavel А. Moiseev pamoiseev182@gmail.com <p>Fatigue of navigators, as well as of all other crew members, is a resonant and at the same time still unresolved problem of modern maritime shipping, the consequence of which is a decrease in labor efficiency and an increase in the likelihood of maritime accidents and incidents. The article analyzes some private and general approaches to fatigue assessment and control, presents the principles of mathematical formalization of navigators' fatigue, substantiates the classification of fatigue, including three types of fatigue - short-term, medium-term and long-term, and records the fatigue functions in general. Each of the functions contains three categories of arguments: time, arguments affecting only a specific type of fatigue and arguments determining the relationship between types of fatigue. An explanation of the arguments of the last category, determining the fundamental difference of the proposed formalization method, is given in tabular form. The presented concept, as a result of its development, can be transformed into a full-fledged method of fatigue management for navigators, taking into account not only the accumulation of fatigue during a watch due to insufficient sleep and rest, but also many other, including long-term, factors of fatigue. To ensure such development, an open list of tasks for continuing the research is formulated in the conclusion of the article.</p> 2025-06-18T00:00:00+00:00 Copyright (c) 2025 Russian Journal of Water Transport http://journal.vsuwt.ru/index.php/jwt/article/view/597 Mathematical modelling of the ship transfer from a turn of a given radius to a straight line 2025-06-23T06:31:40+00:00 Vadim I. Tikhonov vitnn12@mail.ru Yuriy V. Bazhankin seaman77@mail.ru Igor M. Osokin abcd1055@mail.ru Vasily A. Lobanov lobbas@mail.ru <p>This paper describes a mathematical model of unsteady curvilinear motion of a vessel on a river bend. The main components of the model are dimensionless angular and linear velocities, drift angle at the vessel's centre of mass, heading, advance and transfer of the vessel's centre of mass and roll angle. The proposed mathematical model in combination with the control algorithm allows to obtain the following parameters: the rudder angle of the steady circulation (turn), the angle of manoeuvre commencement anticipation, the rudder angle to the side opposite to the turn, if necessary, the time of rudder delay and the angle of checking helm. These parameters are necessary for transferring the vessel from a curvilinear path of a given radius to a straight line. Before commencement of calculations using the proposed model and control algorithm, the parameters of the vessel motion on the steady circulation (turn) are calculated. These parameters include dimensionless angular and linear velocities, control shifting angle, drift angle, roll angle. The results obtained from the calculations can be incorporated into the control system of fully autonomous vessel, as well as into ship simulators.</p> 2025-06-18T00:00:00+00:00 Copyright (c) 2025 Russian Journal of Water Transport