Determining Dynamic Positioning capability for an offshore vessel is mandatory to identify the environmental forces system can counteract, together with operability in a specific operational area of interest. Conventional predictions evaluate as maximum sustainable wind speed at predefined encounter angle given wind–wave correlation, not reflecting effective and waves occurrence site. In this r...

Construction crane vessels make use of dynamic positioning (DP) systems during the installation and removal offshore structures to maintain vessel's position. Studies have reported cases instability DP operation caused by uncertainties, such as mooring forces. “robustification” for heavy lift operations, i.e., handling uncertainties systematically with stability guarantees, is a long-standing c...

Underway replenishment is essential for ships performing long-term missions at sea, which can be formulated into the problem of leader-tracking configuration. Not only position and orientation but also velocities are required to controlled ensuring synchronization; additionally, control inputs constrained. On this basis, in paper, a novel synchronization controller on account model predictive (...

Abstract: In many industrial applications like semiconductor production and optical inspection systems, the availability of positioning systems capable to follow trajectory paths in the range of several centimetres, featuring at the same time a nanometre-range precision, is demanding. Pure piezoelectric stages and standard positioning systems with motor and spindle are not able to meet such req...

At the Advanced Photon Source (APS), the desire to combine sample handling, sample positioning or goniometer functionality into one piece of equipment has provided the impetus for the development of a precision six degree-of-freedom robot with approximately 2 μm dynamic positioning uncertainty. This specification is driven by the need for a positioning uncertainty that should be 10 to 20 percen...