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In order to monitor the risk during the navigation of MASS，the safety control structure of MASS was constructed based on System-theoretic Accident Model and Process (STAMP). STPA was used to define the losses/accidents and system-level hazards，identify unsafe control actions，analyze loss scenarios，and construct an accident model for system state transition. FTPN was used to model the process model，and a given MASS navigation situation was used to obtain the relevant fuzzy time functions and to project the situational evolution of FTPN. A new risk level expression was introduced，and a two-dimensional path diagram of system loss/accident was used to visualize the real-time system risk level and system unsafe states transition paths. The results show that at the current moment of the set navigation situation，no safe water depth input，no updated collision avoidance path，unsafe heading and speed，and grounding are the highest risk system unsafe states and correspond to the four highest risk transition paths. The study shows that the FTPN process model driven by STPA can comprehensively assess the real-time risk level of MASS navigation. Visualize real-time risk with a two-dimensional path diagram of real-time losses/accidents of the system，which can monitor the unsafe system states during MASS navigation and describe their transition paths.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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