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Keywords: multiple thruster
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Proceedings Papers

Paper presented at the The Ninth International Offshore and Polar Engineering Conference, May 30–June 4, 1999
Paper Number: ISOPE-I-99-012
... commanded thrust and thruster azimuth to multiple thrusters (more than two) in order to best achieve the desired force system on the MOB module. The linear programming approach allows explicit consideration of many of the realworld characteristics of the thrusters, including maximum thrust capability...

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