... ABSTRACT This paper introduces the Light-weight Work Class ROV URI-L for underwater construction. And the design and implementation of an underwater precision navigation system and dynamic positioning system that is essential for the underwater construction, position maintenance control, path...

... ABSTRACT Floating Production Storage and Offloading (FPSO) vessels for offshore operations use a Dynamic Positioning system (DP), which includes a controller to correct the position variation of the FPSO subject to internal and external disturbances. Most of these positioning systems use...

... Abstract In this paper, a new controller is designed for OFWTs on the basis of the LPV control with the grid technique. It may cover both Region 2 and Region 3 instead of switching between the generator-torque controller and the blade-pitch controller. In addition, it may ensure...

... ABSTRACT: The paper is concerned with a reentry control problem of moving a riser pipe hanged off and positioning its lower end just above a target. The difficulty of the manual control motivates us to design an automatic control system for dynamic reentry in current. A motion equation...

... ABSTRACT: In the paper, we present the application of IDA-PBC (Interconnection and Damping Assignment Passivity-Based Control) method to a marine riser control. In reentry operations, it is required to move the riser's lower end to a seabed manifold smoothly as soon as possible. In the motion...

...The Sliding Mode Controller for a Test Bed AUV-SNUUV I Kihun Kim, Joonyoung Kim, Hang S. Choi, Kyu-Yeul Lee, and Woojae Seong Department of Naval Architecture & Ocean Engineering, Seoul National University Seoul, Korea ABSTRACT This paper describes the development of a sliding mode controller...

...Development of Control System of COMRA s Deep Sea Miner Dewen Gong, Ning Yang, Mengdi Yu Changsha Research Institute of Mining & Metallurgy Changsha, Hunan, China ABSTRACT The recent research and development of a deep sea miner, focussing on its configuration and the software of the control system...

... by the central command control board or a designated group leader. In the decentralized mode, each vehicle of the group can be a leader and follower except a designated group leader and the two outmost vehicles. As a follower in this mode, each vehicle generates its own commands autonomously to maintain...

... the measured variables. Herein a static algorithm for thrust allocation is suggested in order to improve the thruster performance. The DP controller is designed based on the optimal control theory and also the robust H control theory. In order to exemplify the process, the nonlinear behavior of shuttle...

... and engineering reasons, e.g. high costs, high pretension, wide spread area, and so on. Dynamic positioning system automatically controls a vessel to maintain wanted position and heading through active thruster. The DP capabilities to the shuttle tanker have been used in the oil industry for long time, and some...

... ABSTRACT: An adaptive operation of a disturbance accommodating controller(DAC) depending on the seastate number for roll motion of a ship is suggested. DAC suggested in this paper assumes the shape of the disturbance, i. e. the wave slope excitation as a harmonic signal that consists of two...

... Homing and Docking Control of AUV Using Model Predictive Control Myung-Hwan Oh and Jun-Ho Oh Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology Taejon, Korea ABSTRACT This paper introduces a homing and docking control of autonomous underwater vehicle (AUV...

... ABSTRACT: An AUV(autonomous underwater vehicle) for scientific and industrial tasks such as precise surveying, inspection and sample gathering is being researched. The vehicle is operated both as a cruising type and an exact automatic position control type vehicle. A quarter size model vehicle...

... Gain-Scheduled Control of an Underwater Vehicle Using Quasi-LPV Techniques R. Gaoa, H. Kajiwarab, E. Kondoa, W. Koterayamac, M. Nakamurac a Dept. of Intelligent Engineering, Machinery and Systems, Kyushu University b Dept. of Marine Systems, Kyushu University c Research Institute for Applied...

... Abstract: Due to the constantly varying sea-states with which any wave energy conversion device must contend in order to efficiently extract energy the ability to control the device" s position relative to the incident waves is critical in achieving the creation of a truly functional...