Accurate modelling and simulation of ship motion in seaway is essential to test applications of ship motion control strategies. In this report, we review the mathematical description of ocean waves, and their effect on the motion of marine vehicles. We present a simple method suitable for accurate simulation that incorporates parameters related to the recommended spectral family and particular ...

T he process of research, development, and acquisition to procure military vehicles has historically been challenging for a variety of reasons. Sometimes, the difficulty lies in translating the threat (such as an enemy antitank guided missile) into a design criterion (such as a protection requirement of so many inches of armor plating). In other instances, problems have included a mismatch betw...

İstanbul’daki Deniz Turizm araçları ve bu araçlara ilişkin bağlama/barınma yerlerinin kayıt, denetim, işletme kontrolleri çok sayıda farklı kurum / kuruluş tarafından yapılmaktadır. Sayısı her geçen gün artış gösteren Turizmi Araçları, İstanbul genelinde kıyı şeridinde düzensiz bağlanmakta, niteliksiz işletilmekte olup durum kirliliğine İstanbulluların kullanım alanlarının daralmasına sebep olm...

Delphin2 is a hover capable torpedo style Autonomous Underwater Vehicle (AUV), developed at the University of Southampton to provide a test bed for research in marine robotics, primarily to enhance the manoeuvring capability of AUVs. This paper describes the mechanical design of the vehicle and its software architecture. The performance of the vehicle is presented as well as preliminary finding...

In this paper, the control problem of utilizing a team of autonomous marine vehicles (i.e., tug boats) cooperating to manipulate a larger floating object (i.e., disabled ship) while operating in a decentralized architecture is considered. After decomposing the problem into several phases, a control design targeting the issue of inducing controlled rotations for the manipulated object is presented.

The field of control of marine vessels is seeing new advances in control algorithms, and new technologies introduced both in the field of sensors (MEMS, nano-), as well as the actuators. All these influences have made the prospect of using fleets of unmanned marine vehicles (surface and/or underwater) very attractive. In such a fleet, individual craft need to be equipped with a control system t...