A new closed loop fuzzy motion control system including on-line Kalman’s filter (KF) for the two dimensional motion of underactuated and underwater Remotely Operated Vehicle (ROV) is presented. Since the sway force is unactuated, new continuous and discrete time models are developed using a polar transformation. A new hierarchical control architecture is developed, where the high level fuzzy gu...

During the operation of moored, floating devices in renewable energy sector, tight coupling between mooring system and floater motion results snap load conditions. Before events occur, line is typically slack. Here, mechanism propagation changes from axial to bending dominant, correct modelling rotational deformation lines becomes important. In this paper, a new numerical solution for dynamics ...

As a complex multi degree of freedom coupling system, floating offshore wind turbine usually works in and changeable marine environment. The research often needs to consider the effect wind, wave current at same time. Under action load, will produce large motion response. Generally, surge pitch are most obvious aspects, their amplitude is also largest, large-scale platform directly affect relat...

The hundredfold speedup in glacier motion in a surge of the kind the kind that took place in Variegated Glacier in 1982-1983 is caused by the buildup of high water pressure in the basal passageway system, which is made possible by a fundamental and pervasive change in the geometry and water-transport characteristics of this system. The behavior of the glacier in surge has many remarkable featur...

The impact of the surge tank has been incorporated into the platform of the impulse response method. The impedance functions for pipeline systems equipped with a surge tank were also derived. Hydraulic transients could be efficiently analyzed by the developed method. The simulation of normalized pressure variation using the method of characteristics and the impulse response method shows good ag...

This paper deal with planar motion control of multiple underactuated Remotely Operated Vehicles (ROVs) based on merging of Fuzzy/Lyapunov and kinetic controllers. A cooperative algorithm based on a decentralized planning algorithm which considers the underwater vehicles in an initial open chain configuration is developed. All the planned trajectories are intersections-free, and each trajectory ...

Studies of center of mass (COM) motion are fundamental to understanding the dynamics of animal movement, and have been carried out extensively for terrestrial and aerial locomotion. But despite a large amount of literature describing different body movement patterns in fishes, analyses of how the center of mass moves during undulatory propulsion are not available. These data would be valuable f...

There are many advantages of floating wind turbines in deep waters, however, there are also significant technological challenges associated with it too. The dynamic excitation of wind and waves will induce excessive motions along each of the 6 degrees of freedom (6-DOF) of the floating platforms. These motions will then be transferred to the turbine, and directly impact the turbines’ performanc...