Positioning Of Large Surface Vessels Using Multiple Tugboats
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Positioning Of Large Surface Vessels Using Multiple Tugboats
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Author :
language : en
Publisher:
Release Date : 2006
Positioning Of Large Surface Vessels Using Multiple Tugboats written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2006 with categories.
In this paper, the positioning of large surface vessels using multiple, autonomous tugboats is investigated. Specifically, the paper investigates the development of two control strategies: (1) an adaptive position controller that compensates for select system parameters such as mass and drag coefficients and also for an unknown thrust configuration matrix that is the result of unknown tugboat locations and (2) a robust position control strategy that does not require transmission of information between the tugs. The control design for (2) is facilitated by strategic placement of the tugs about the vessel hull such that the resulting thrust matrix is upper triangular. Performance of both controllers is investigated by simulations for a scaled model of a surface vessel.
Swarm Manipulation Of Large Surface Vessels
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Author : Erik Thomas Smith
language : en
Publisher:
Release Date : 2007
Swarm Manipulation Of Large Surface Vessels written by Erik Thomas Smith and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2007 with Adaptive control systems categories.
The goal of this Trident project was to develop an independent control scheme to allow a team of autonomous tugboats to move a large disabled vessel, such as a barge, to a desired position and orientation. Independence refers to the extent to which each tugboat's actions were free from knowledge of the locations and actions of other tugboats. Performance of the team was quantified by measuring the positional error and time required to affect the motion, while respecting maximum power constraints on the thrust. Applications of the project include difficult or dangerous tasks such as moving disabled vessels or vessels "not under command" through hostile or dangerous areas, and transportation of large objects such as marine construction equipment, off-shore bases, drilling platforms, and sonar arrays. Although it would be ideal to increase both the independence and performance of the system, it must be realized that by increasing one of these, the other is typically degraded. In order to measure performance, a control strategy (the baseline) was designed that required the attachment points of all tugboats to be known. However, this architecture was not desirable, since it was less independent of system knowledge. In contrast, to allow for the elimination of known tugboat location, an adaptive control strategy was developed which resulted in degradation of performance. These two Scenarios were explored and in the course of solving them, the tradeoff between performance and independence was quantified. To the author's knowledge, this is the first study of its kind and complexity. Although previous work has studied adaptive control of a multi-input and multi-output system, its extent and focus was not close to this research. Each tugboat used on-line adaptive control methods to compensate for the unknown actions of other swarm members. The analysis was verified through simulation. In addition, an experimental proof-of-concept device was built and in-water experiments were used to validate the results. An incremental approach to experiment design was used to mitigate the challenges of in-water experimentation.
Optimal Lay Out And Dimensions For The Adjustment To Large Ships Of Maritime Fairways In Shallow Seas Seastraits And Maritime Waterways
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Author :
language : en
Publisher: PIANC
Release Date :
Optimal Lay Out And Dimensions For The Adjustment To Large Ships Of Maritime Fairways In Shallow Seas Seastraits And Maritime Waterways written by and has been published by PIANC this book supported file pdf, txt, epub, kindle and other format this book has been release on with categories.
Regulatory Assessment Use Of Tugs To Protect Against Oil Spills In The Puget Sound Area
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Author :
language : en
Publisher: DIANE Publishing
Release Date :
Regulatory Assessment Use Of Tugs To Protect Against Oil Spills In The Puget Sound Area written by and has been published by DIANE Publishing this book supported file pdf, txt, epub, kindle and other format this book has been release on with categories.
Lloyd S Register Oneocean S Guide To Port Entry 1989 90 Nations M Z
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Author : Lloyd's Register Foundation
language : en
Publisher: Lloyd's Register
Release Date : 1989-01-01
Lloyd S Register Oneocean S Guide To Port Entry 1989 90 Nations M Z written by Lloyd's Register Foundation and has been published by Lloyd's Register this book supported file pdf, txt, epub, kindle and other format this book has been release on 1989-01-01 with Business & Economics categories.
First published in 1971, these Guides provide invaluable information on thousands of commercial ports and terminals across the globe. They are compiled and published annually by LR OneOcean, whose years of global maritime experience allows them to provide expert and innovative solutions that enhance efficiency, sustainability, and overall industry success. The Guides cover a significant geographical breadth, and the most recent volume includes information on over 12,500 ports, harbours and terminals worldwide. These are fully indexed and contain detailed port plans and mooring diagrams.
Lloyd S Register Oneocean S Guide To Port Entry 1987 1988 Nations A L
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Author : Lloyd's Register Foundation
language : en
Publisher: Lloyd's Register
Release Date : 1987-01-01
Lloyd S Register Oneocean S Guide To Port Entry 1987 1988 Nations A L written by Lloyd's Register Foundation and has been published by Lloyd's Register this book supported file pdf, txt, epub, kindle and other format this book has been release on 1987-01-01 with History categories.
First published in 1971, these Guides provide invaluable information of thousands of maritime ports across the globe. They are compiled and published annually by LR One Ocean, whose years of global maritime experience allows them to provide expert and innovative solutions to the sector’s problems. The Guides cover a significant geographical breadth, and the most recent volume includes information on over 12,500 ports, harbours and terminals worldwide. These are fully indexed and contain detailed port plans and mooring diagrams.
Lloyd S Register Oneocean S Guide To Port Entry 1987 1988 Nations M Z
DOWNLOAD
Author : Lloyd's Register Foundation
language : en
Publisher: Lloyd's Register
Release Date : 1987-01-01
Lloyd S Register Oneocean S Guide To Port Entry 1987 1988 Nations M Z written by Lloyd's Register Foundation and has been published by Lloyd's Register this book supported file pdf, txt, epub, kindle and other format this book has been release on 1987-01-01 with Business & Economics categories.
First published in 1971, these Guides provide invaluable information of thousands of maritime ports across the globe. They are compiled and published annually by LR One Ocean, whose years of global maritime experience allows them to provide expert and innovative solutions to the sector’s problems. The Guides cover a significant geographical breadth, and the most recent volume includes information on over 12,500 ports, harbours and terminals worldwide. These are fully indexed and contain detailed port plans and mooring diagrams.
Lloyd S Register Oneocean S Guide To Port Entry 1995 96 Latvia Zaire
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Author : Lloyd's Register Foundation
language : en
Publisher: Lloyd's Register
Release Date : 1995-01-01
Lloyd S Register Oneocean S Guide To Port Entry 1995 96 Latvia Zaire written by Lloyd's Register Foundation and has been published by Lloyd's Register this book supported file pdf, txt, epub, kindle and other format this book has been release on 1995-01-01 with History categories.
First published in 1971, these Guides provide invaluable information on thousands of commercial ports and terminals across the globe. They are compiled and published annually by LR OneOcean, whose years of global maritime experience allows them to provide expert and innovative solutions that enhance efficiency, sustainability, and overall industry success. The Guides cover a significant geographical breadth, and the most recent volume includes information on over 12,500 ports, harbours and terminals worldwide. These are fully indexed and contain detailed port plans and mooring diagrams.
Lloyd S Register Oneocean S Guide To Port Entry 1993 94 Albania Jordan
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Author : Lloyd's Register Foundation
language : en
Publisher: Lloyd's Register
Release Date : 1993-01-01
Lloyd S Register Oneocean S Guide To Port Entry 1993 94 Albania Jordan written by Lloyd's Register Foundation and has been published by Lloyd's Register this book supported file pdf, txt, epub, kindle and other format this book has been release on 1993-01-01 with Business & Economics categories.
First published in 1971, these Guides provide invaluable information on thousands of commercial ports and terminals across the globe. They are compiled and published annually by LR OneOcean, whose years of global maritime experience allows them to provide expert and innovative solutions that enhance efficiency, sustainability, and overall industry success. The Guides cover a significant geographical breadth, and the most recent volume includes information on over 12,500 ports, harbours and terminals worldwide. These are fully indexed and contain detailed port plans and mooring diagrams.
Lloyd S Register Oneocean S Guide To Port Entry 1989 1990 Nations A L
DOWNLOAD
Author : Lloyd's Register Foundation
language : en
Publisher: Lloyd's Register
Release Date : 1989-01-01
Lloyd S Register Oneocean S Guide To Port Entry 1989 1990 Nations A L written by Lloyd's Register Foundation and has been published by Lloyd's Register this book supported file pdf, txt, epub, kindle and other format this book has been release on 1989-01-01 with History categories.
First published in 1971, these Guides provide invaluable information on thousands of commercial ports and terminals across the globe. They are compiled and published annually by LR OneOcean, whose years of global maritime experience allows them to provide expert and innovative solutions that enhance efficiency, sustainability, and overall industry success. The Guides cover a significant geographical breadth, and the most recent volume includes information on over 12,500 ports, harbours and terminals worldwide. These are fully indexed and contain detailed port plans and mooring diagrams.