# Towards a Cyber-Physical Range for the Integrated Navigation System (INS) System (INS)
## 2 Related Work
### Testbeds
As per the block diagram, different equipment and sensors on a real vessel (e.g., loading computer, anemometer, gyro compass) are connected to the HiCASS platform through an interface module. The components of the eMIR testbed are shown in [25]. eMIR consists of a mobile platform, a test field, a Verification and Validation (V&V) lab, and so on. An overview of the interconnected eMIR components is given in [23]. Moreover, the architecture of the eMIR for different purposes (e.g., simulation, V&V) is illustrated in many articles, e.g., [23; 25; 26; 29; 30; 31; 32; 33; 34; 35; 36]. The LABSKAUS is the physical part of the eMIR platform, and the HAGGIS is its simulation part. The LABSKAUS is based on three layers, namely vessel, environment, and system, as shown in [30]. The LABSKAUS architecture, including data flows between data sources on a real vessel and data sources in developed systems at shore, is provided in [28]. Another architecture of the LABSKAUS testbed consisting of V&V components is provided in [30]; the LABSKAUS architecture, including developed mobile bridge, test vessel, control station, and test zone equipped with sensors, is also provided therein. The communication infrastructure of the LABSKAUS is provided in [34]. References [27; 31; 33; 36; 37] provide the architecture of the HAGGIS. The information flows of the HAGGIS are provided in [27], and its configuration and simulation cycle appear in [37]. The distributed software architecture for the message passing middleware is given in [36]. The integration of both HAGGIS and LABSKAUS is shown in [36; 37], and the communications within the integrated testbed are described in [30]. The eMIR's sensor box that allows it to connect to different sensors, such as Global Positioning System (GPS), compass, AIS etc. is called NaviBox. Its architecture is provided in [28] and photos of it are shown in [28; 32; 33; 35]. Data connections in the Navibox are presented in [26; 35; 36]. The eMIR platform can be used for safety risk assessment of developing e-navigation technologies in the simulated environment, as shown in [29; 31; 33]. The eMIR platform can be used for the development of remote control and autonomous ships; elements of the eMIR for testing highly automated and autonomous ships are discussed in [36]. Moreover, an implementation for remote control vessels is discussed in [34]. The eMIR can be used for loop test, as shown in [36]. The eMIR platform includes an experimental Vessel Traffic Service (VTS) [28]. The architecture for maritime traffic simulation is presented in [37]. Photos of the developed virtual mobile bridge are shown in [8; 28; 30; 35]. Virtual controls for the bridge are shown in [8]. The virtual bridge is placed in cases, to facilitate mobility. The case sketch with dimensions and wiring diagram are shown in [8]. The eMIR platform also includes a container for transporting it [25]. Figures belonging to the test zone at sea of the eMIR are shown in [28; 30; 36]. The interaction among tools developed for various purposes (e.g., simulation, assessment, analysis) is given in [31; 33]. The modelling and analysis processes of the eMIR are discussed in [31; 33]. A screenshot in [35] shows AIS \begin{table}
\begin{tabular}{c c c c c} \hline
**No** & **Title** & **Ref.** & **Year** & **Type** \\ \hline
12 & Test bed for safety assessment of new e-navigation systems & [33] & 2014 & J \\ \hline
13 & Testbed architecture for maritime cyber physical systems & [34] & 2017 & C \\ \hline
14 & Testbeds for verification and validation of maritime safety & [35] & 2016 & C \\ \hline
15 & Vessel-in-the-loop architecture for testing highly automated maritime systems & [36] & 2018 & C \\ \hline
16 & Virtual test bed for maritime safety assessment & [37] & 2015 & J \\ \hline \end{tabular}
\end{table} 
Table 1: _Cont._targets of the LABSKAUS infrastructure using OpenCPN. Sensor data distribution via Multi-Broker is discussed in [35]. When comparing the two, we note that the eMIR was not developed for any specific marine applications.