İnsansız deniz araçları (İDA) geliştirilmesinde model tabanlı sistem mühendisliği (MTSM) ile gereksinim yönetimi ve örnek olay incelemesi
Requirements management with model-based systems engineering (MBSE) in the development of unmanned surface vessels (USV) and case study
Yazar: EYÜP AYDIN
Danışman: DOÇ. İSMAİL ÇİÇEK
İstanbul Teknik Üniversitesi / Lisansüstü Eğitim Enstitüsü / Deniz Ulaştırma İşletme Mühendisliği Ana Bilim Dalı / Deniz Ulaştırma İşletme Mühendisliği Bilim Dalı
Derece: Yüksek Lisans, 2024
Konu: Denizcilik = Marine ; Savunma ve Savunma Teknolojileri = Defense and Defense Technologies ; Yönetim Bilişim Sistemleri = Management Information Systems

Özet:
İnsansız deniz araçları günümüzde oldukça popülerlik kazanmış durumdadır. Bu popülerliğin kazanılmasında insansız hava araçlarında sağlanan başarının büyük etkisi bulunmaktadır. Ülkemizin yer aldığı sıcak coğrafyada güçlü bir ülke olmak adına ortaya koyulan savunma sanayi projelerinde ciddi bir ivme yakalanmış durumdadır. bir örneğini deniz araçları özelinde sağlanması çok uzak bir ihtimal görünmemektedir. Bu tez kapsamında ilk aşamada insansız deniz araçları tanıtılarak dünya da ve ülkemizde var olan durumunun bir resmi oluşturulmak hedeflenmiştir. İnsansız deniz araçları sınıflandırmasında ortaya çıkan farklı yaklaşımlardan bahsedilerek bahse konu farklı yaklaşımlar kapsamında ne tür deniz araçlar projelerinin olduğu gösterilmiştir. Temelde insansız deniz araçlarında uluslararası denizcilik örgütü (IMO) tarafından yapılan tanım baz alınmıştır. Bu tanıma göre otonomi seviyeleri belirlenmiştir. Ayrıca boyutlarına, çalıştıkları çevre şartlarına ve icra ettikleri görevlere göre deniz araçları tanımlanmıştır. Temelde savunma sanayiinde İDA uygulaması yapılacağı için askeri amaçlı İDA lar konusunda daha fazla detay verilmiştir. Dünyadaki ve ülkemizde yürütülen projeler hakkında bilgi verildikten sonra temelde bir deniz aracında bulunan sistemler tanıtılmıştır. Deniz aracındaki sistemlerin başlıklar/gruplar halinde tanıtılmasındaki amaç MTSM uygulaması yaparken sistemlerin detaylandırılması ve gruplandırılmasında askeri gemi projelerinde yaygın olarak kullanılan usule uygun olmasını sağlamaktır. Buna göre gemi inşa edilirken Tekne, Tahrik sistemleri, Elektrik sistemleri, Seyir muhabere ve kontrol sistemleri, Yardımcı sistemler ve Görev sistemleri olarak ana gruplara ayrılmaktadır.
Sonraki aşamada aslında sadece savunma sanayi ile kısıtlı olmayan ve geniş bir uygulama alanı bulunan sistem mühendisliğinin temel kavramları tanıtılarak tez kapsamında yapılmak istenen uygulama projesi için bir altyapı oluşturulması istenmiştir. Sistem mühendisliğinin günümüzde yaygınlık kazanan yeni kavramı olan model tabanlı sistem mühendisliği de (MTSM) bu kısımda bahsedilmiş ve doküman tabanlı sistem mühendisliği (DTSM)'den farkları ortaya koyulmaya çalışılmıştır. Uygulama yapılan programın da dili olan Sistem Modelleme Dili (SysML) ve içerisinde yer alan şemalar tarif edilerek uygulamanın anlaşılması sağlanmak istenmiştir. Sistem mühendisliği süreçlerine uygun olarak İş İhtiyaçları ve İş Gereksinimleri, Paydaş İhtiyaç ve Gereksinimleri, Sistem İhtiyaç ve Gereksinimleri örneklerle tanıtılmış ve süreçler işletilerek uygulama için temel girdi niteliğinde olan Teknik İstekler Dokümanı (TİD) oluşturulmuştur.
Uygulama aşamasında ise bir İDA için hazırlanmış olan TİD temel alınarak gereksinimler programda tanımlanmıştır. Gereksinimlere uygun olarak tasarlanması ve üretilmesi beklenen İDA için yukarıda tarif edilen ana gruplandırmalar yapılmıştır. SysML de tanımlı şemalar oluşturularak bir İDA'nın yapısal ve davranışsal şemaları oluşturulmuştur. Bu süreçte yoğun mühendislik faaliyetleri yürütülmesi gereken ve birçok paydaşın katkı sağlaması ile ortaya çıkacak olan İDA için bir gösterim yapılmak istenmiştir. Tüm sistem mühendisliği süreçlerini uygulayacak imkan ve bilgi birikiminin bir tek insanda toplanması mümkün olmayacağı için sistemler üst seviyede gösterilebilmiştir.

Abstract:
Unmanned naval/surface vehicles have gained a lot of popularity today. The success achieved in unmanned aerial vehicles has a great impact on this popularity. A serious momentum has been achieved in the defense industry projects put forward in order to become a strong country in the hot geography where our country is located. The fact that the unmanned aerial vehicles produced by Turkey have proven themselves in wars has caused them to be preferred by many countries. Especially the successes achieved in countries such as Iraq, Syria, Azerbaijan and Libya are proof of these products. If the necessary effort is made, it is not a distant possibility that the success achieved in the air can be achieved at sea in a similar way. A good reading of the needs and concept of operation and the development of appropriate products will be the first step in achieving this success. 
Within the scope of this thesis, a literature review of the academic literature on unmanned maritime vehicles was first conducted. Both unmanned naval/surface vehicles (usv) and model-based systems engineering (MBSE) studies are relatively new fields. The intersection of these two fields covers a very small area. However, despite this, it has been observed that there are many publications in this field. This proves that the thesis topic will be of even greater interest in the near future. The fact that the number of articles containing the term Maritime Autonomous Surface Ships (MASS), which is the nomenclature made by IMO, has increased from 200 to 1400 per year is proof that the interest in this field of study is increasing day by day.   
After the literature review, a general introduction was made by classifying unmanned vehicles as unmanned surface vehicle (usv) and unmanned underwater vehicle. And examples suitable for this classification were shown within the scope of the thesis. 
When underwater vehicles are examined, it is possible to define them in two groups as remotely operated underwater vehicles (rov) and autonomous underwater vehicles (auv). Although it may seem outside the scope of our study, underwater vehicles are used as the main payload in many missions. In this respect, underwater vehicles perform missions by launching and recovering from unmanned surface vehicles. Due to this aspect, they are included in the scope of this thesis. 
When unmanned surface vehicles are examined, it is possible to make different definitions according to the area of use. We defined unmanned surface vehicles as surface vehicles by autonomy level (1-5), surface vehicles by size (small, medium, large), surface vehicles by the environment in which they operate (open sea, inland sea, lake, river), and surface vehicles by the missions they perform. When the studies on surface vehicles were examined according to the levels of autonomy at the top of the above classifications, it was found that there were many different studies that provided definitions suitable for this classification. These studies also are included in the scope of the thesis. However, it is considered that the work carried out by the IMO in this area will have a binding and guiding function in the future. According to IMO, the definition of Maritime Autonomous Surface Ships (MASS) has been officially determined. ISO 23860, Nato, alfus, Bureau Veritas (BV), and Lloyd's Register (LR) autonomy classifications, which classify according to autonomy levels, are also included in this thesis. In all autonomy classifications, the basic logic refers to the stages that vehicles go through as they move from non-autonomous to autonomous mode. While NATO has four sub-classifications, Alfus has ten, ISO has six, Bureau Veritas (BV) has four and Lloyd's Register (LR) has six. The areas of use of autonomous surface vehicles for civilian purposes are also quite wide. these areas of use are classified as follows. Monitoring, surveillance and protection of coastal areas, search and rescue, maritime fire fighting, pollution detection and clean up, offshore energy platforms and pipelines construction, maintenance, control, maritime ambulance services, scientific research activities (oceanographic research, hydrographic research, bathymetric measurements, collection of water samples, etc.), offshore wind turbines, monitoring of ıllegal activities, commercial maritime activities
Also as our main area of interest is the use of unmanned surface vehicles for military purposes, the classification and mission concepts defined in this field are considered in a broader framework. It has been noted that military unmanned surface vehicles, which are included in the mission classification for this purpose, are used for the following purposes mine countermeasures(mcm), anti-submarine warfare(asw), ıntelligence, reconnaissance, surveillance(ırs), surface warfare(sw), electronic warfare(ew), maritime security(ms). 
After mentioning the definitions below, it is intended to give a picture of the current situation in our country (Turkiye) and in the world by presenting ongoing unmanned surface vehicle projects. The large number and diversity of projects carried out in Turkiye is an indication of the importance attached to this special type of vehicles. the products offered in this field are pioneering in the world. the large number of studies carried out in the world shows the extent of competition in this field. Apart from Turkiye, the United States, Israel and a few European countries are competing in this field. It is shown what kind of naval vehicle projects exist within the scope of these different purposes.
After giving information about the projects carried out in the world and in our country, the systems in a naval vessel are basically introduced. The purpose of introducing the systems in the naval vessel in headings/groups is to ensure that the detailing and grouping of the systems while applying mbse is in accordance with the procedure commonly used in military ship projects. Accordingly, while the ship is being built, project is divided into main groups as the hull, propulsion systems, electrical systems, navigation communication and control systems, auxiliary systems and mission systems.
In the next stage, the basic concepts of systems engineering, which is not limited to the defense industry and has a wide range of applications, are introduced to create an infrastructure for the application project to be carried out within the scope of the thesis. Systems engineering is an interdisciplinary field of engineering and engineering management that focuses on how to design, integrate, and manage complex systems over their life cycles. At its core, systems engineering utilizes systems thinking principles to organize this body of knowledge. Information is given about the international rule sets published on systems engineering and the systems engineering processes in the International Systems Engineering Council (INCOSE) handbook. Model-based systems engineering (mbse), which is the new concept of systems engineering that has become widespread today, is mentioned in this section. According to incose model-based systems engineering (mbse) is the formalized application of modeling to support system requirements, design, analysis, verification and validation activities beginning in the conceptual design phase and continuing throughout development and later life cycle phases.
 Document-based systems engineering (DBSE), which is the customary for systems engineering, is mentioned in this section. Differences between model-based systems engineering (mbse) and document-based systems engineering (dbse) are tried to be revealed. System Modeling Language (SysML), which is also the language of the applied program, and the schemas in it, are described to provide an understanding of the application. The applied program (genesys) interface and sysml diagrams also tried to explain in this section. SysML consists of 9 diagrams and is expressed in 4 main parts; Structure, Behaviour, Requirements, Parametrics. Our application is based on these diagrams. In accordance with the system engineering processes, project begins with the Corporate Concept of Operation (ConOps) and other corporate strategic goals and objectives that business management uses to define business (mission) needs. These needs are supported by draft life cycle concepts (supply concept, installation concept, operational concept (OpsCon), support concept and retirement concept). Business needs are then detailed and formalized as business requirements. In accordance with this thesis Business Needs and Business Requirements, Stakeholder Needs and Requirements, System Needs and Requirements were introduced with examples and the Technical Requirements Document (TRD), which is the basic input for the application was created by operating the processes. 
In the implementation phase, the requirements were defined in the program based on the trd prepared for an usv. The main groupings described above were made for the usv that is expected to be designed and produced in accordance with the requirements. Structural and behavioral diagrams of an usv were created by creating schematics defined in SysML. In this process, it is desired to make a representation for the usv, which will emerge with the contribution of many stakeholders, where intensive engineering activities should be carried out. Since it would not be possible to gather the means and knowledge to implement all system engineering processes in a single person, the systems could be demonstrated at a high level.