in this paper, the problem of optimal path following for a high speed planing boat is addressed. first, a nonlinear mathematical model of the boat’s dynamics is derived and then the serret-frenet frame is presented to facilitate the path following control design. to satisfy the constraints on the states and the input controls of the boat's nonlinear dynamics and minimize both the cross tracking...

Visual hull reconstruction is the process of generating three dimensional scene geometry from silhouette images captured from different views of a scene. The visual hull is the shape maximally consistent with its silhouette projection [4]. It has been popular due to its good approximating qualities for many objects and its ease and speed of implementation. It is commonly used as a starting poin...

Supercavitation is an emerging technology that enables underwater vehicles to reach unprecedented speed. With proper design of cavitator attached to the vehicle nose, the vehicle body is surrounded by water vapor cavity, eliminating skin friction drag. This technology offers unprecedented drag reduction, though poses problems for vehicle design. The gas bubble surrounding the hull introduces hi...

We consider the problem of computing the time-convex hull of a point set under the general Lp metric in the presence of a straight-line highway in the plane. The traveling speed along the highway is assumed to be faster than that off the highway, and the shortest time-path between a distant pair may involve traveling along the highway. The time-convex hull TCH(P ) of a point set P is the smalle...

This paper presents an optimization of the hull separation, i.e. transverse clearance. The main objective is to identify the feasible speed ranges and find the optimum transverse clearance considering the minimum wave-making resistance. The dimensions and the weight of hardware systems installed in the catamaran structured fuel cell powered USV (Unmanned Surface Vehicle) were considered as cons...

A novel idea to reduce the resistance of a transom stern hull in displacement and semi-planing modes is investigated. By placing spoon-shaped device recirculating zone behind transom, momentum forward-moving water will be absorbed, pushing force generated on device. Numerical experimental techniques are applied optimize shape position explore detail physics gain. For towed at Froude number 0.4,...