| We consider the problem of stabilizing the position and orientation of a ship to constant desired values, when the ship has only two independent controls and also the ship is subject to an environmental force of unknown magnitude. We propose a time-varying feedback control law and a disturbance adaptation law, and show that this provides semi-global practical asymptotic stability. The control...

Modifications of existing clouds by the exhaust of ships are well-known but inadequately quantified impacts, which could contribute to climate change. The perturbation of a cloud layer by ship-generated aerosol changes the cloud reflectivity and is identified by long curves in satellite images, known as ship tracks. As ship tracks indicate a pollution of a very clean marine environment and also...

Voyage optimization is a technology to predict the ship performance in various sea states and current conditions, and based on the performance of the ship to assist ship masters in route selection. The targets of increasing energy efficiency and reducing Green House Gas (GHG) emission in the shipping industry can be achieved by voyage optimization. However, the practical and accurate prediction...

There are many occasions where the base of a robotic manipulator is attached to a moving platform, such as on a moving ship, terrain or space shuttle. In this paper a dynamic model of a robotic manipulator mounted on a moving base is derived using both Newton-Euler and Lagrange-Euler methods. The presented models are simulated for a Mitsubishi PA10-6CE robotic manipulator characteristics mounte...

A controller is developed for underactuated surface ships with only surge force and yaw moment available to globally track a reference trajectory generated by a suitable virtual ship in a frame attached to the ship body. The control development is based on Lyapunov’s direct method and backstepping technique, and utilizes several properties of ship dynamics and their interconnected structure. Nu...

In view of fault diagnosis of the ship generator , the paper proposes improved fault diagnosis method of ship generator ,which is Optimized Neural Network based on Multipopulation Chaos Genetic Algorithm. The results prove that the method effectively solves low precision,slow constringency and local minimum of neural network and improves global search ability, optimizes the rate and precision o...

The aim of this paper is to present a comparative study on two different methods for the evaluation of the equilibrium point of a ship, core issue for designing an On Board Stability System (OBSS) module that, starting from geometry information of a ship hull, described by a discrete model in a standard format, and the distribution of all weights onboard calculates the ship floating conditions ...

SUMMARY A stable minimum phase transfer function from rudder angle to yaw angle is used to design a globally convergent adaptive ship autopilot. 1st-order wave disturbances in yaw are ltered by applying a notch lter. Integral action is introduced by augmenting the plant. Global convergence is proven for the total system which include the observer, the parameter update law, the feedback controll...

Ship maneuvering performance is typically predicted in calm water conditions. This provides very valuable information at the initial ship design stage. However, since the ship always sails in waves, the maneuvering performance of the ship in seaway may be significantly different from calm water condition. Therefore, if the effect of waves and the corresponding motion responses can be included i...