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Keywords: controller
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Proceedings Papers

Paper presented at the The Thirteenth ISOPE Pacific/Asia Offshore Mechanics Symposium, October 14–17, 2018
Paper Number: ISOPE-P-18-119
... ABSTRACT This paper introduces the Light-weight Work Class ROV URI-L for underwater construction. And the design and implementation of an underwater precision navigation system and dynamic positioning system that is essential for the underwater construction, position maintenance control, path...
Proceedings Papers

Paper presented at the The Thirteenth ISOPE Pacific/Asia Offshore Mechanics Symposium, October 14–17, 2018
Paper Number: ISOPE-P-18-058
... ABSTRACT Floating Production Storage and Offloading (FPSO) vessels for offshore operations use a Dynamic Positioning system (DP), which includes a controller to correct the position variation of the FPSO subject to internal and external disturbances. Most of these positioning systems use a...
Proceedings Papers

Paper presented at the The Eleventh ISOPE Pacific/Asia Offshore Mechanics Symposium, October 12–14, 2014
Paper Number: ISOPE-P-14-038
... Abstract In this paper, a new controller is designed for OFWTs on the basis of the LPV control with the grid technique. It may cover both Region 2 and Region 3 instead of switching between the generator-torque controller and the blade-pitch controller. In addition, it may ensure the...
Proceedings Papers

Paper presented at the The Eighth ISOPE Pacific/Asia Offshore Mechanics Symposium, November 10–14, 2008
Paper Number: ISOPE-P-08-012
... ABSTRACT: The paper is concerned with a reentry control problem of moving a riser pipe hanged off and positioning its lower end just above a target. The difficulty of the manual control motivates us to design an automatic control system for dynamic reentry in current. A motion equation of a...
Proceedings Papers

Paper presented at the The Seventh ISOPE Pacific/Asia Offshore Mechanics Symposium, September 17–21, 2006
Paper Number: ISOPE-P-06-039
... ABSTRACT: In the paper, we present the application of IDA-PBC (Interconnection and Damping Assignment Passivity-Based Control) method to a marine riser control. In reentry operations, it is required to move the riser's lower end to a seabed manifold smoothly as soon as possible. In the motion...
Proceedings Papers

Paper presented at the The Fifth ISOPE Pacific/Asia Offshore Mechanics Symposium, November 17–20, 2002
Paper Number: ISOPE-P-02-001
... ABSTRACT: This paper describes the development of a sliding mode controller for the test bed autonomous underwater vehicle (AUV) named by SNUUV I (Seoul National University Underwater Vehicle I). A 6 DOF dynamic model for the SNUUV I is derived with hydrodynamic coefficients, which are...
Proceedings Papers

Paper presented at the The Fifth ISOPE Pacific/Asia Offshore Mechanics Symposium, November 17–20, 2002
Paper Number: ISOPE-P-02-007
... ABSTRACT: The recent research and development of a deep sea miner, focussing on its configuration and the software of the control system, was presented together with preliminary test results. In September 2001 the control system of the miner performed as designed, and communicated with the...
Proceedings Papers

Paper presented at the The Fifth ISOPE Pacific/Asia Offshore Mechanics Symposium, November 17–20, 2002
Paper Number: ISOPE-P-02-022
... the central command control board or a designated group leader. In the decentralized mode, each vehicle of the group can be a leader and follower except a designated group leader and the two outmost vehicles. As a follower in this mode, each vehicle generates its own commands autonomously to maintain...
Proceedings Papers

Paper presented at the The Fifth ISOPE Pacific/Asia Offshore Mechanics Symposium, November 17–20, 2002
Paper Number: ISOPE-P-02-002
... modulation can be reduced by implementing a Kalman filter for the estimation of the low frequency state vector by removing the wave frequency motion from the measured variables. Herein a static algorithm for thrust allocation is suggested in order to improve the thruster performance. The DP controller is...
Proceedings Papers

Paper presented at the The Fifth ISOPE Pacific/Asia Offshore Mechanics Symposium, November 17–20, 2002
Paper Number: ISOPE-P-02-032
... pretension, wide spread area, and so on. Dynamic positioning system automatically controls a vessel to maintain wanted position and heading through active thruster. The DP capabilities to the shuttle tanker have been used in the oil industry for long time, and some information can be found in Bray(1990). The...
Proceedings Papers

Paper presented at the The Fifth ISOPE Pacific/Asia Offshore Mechanics Symposium, November 17–20, 2002
Paper Number: ISOPE-P-02-028
... ABSTRACT: An adaptive operation of a disturbance accommodating controller(DAC) depending on the seastate number for roll motion of a ship is suggested. DAC suggested in this paper assumes the shape of the disturbance, i. e. the wave slope excitation as a harmonic signal that consists of two...
Proceedings Papers

Paper presented at the The Fifth ISOPE Pacific/Asia Offshore Mechanics Symposium, November 17–20, 2002
Paper Number: ISOPE-P-02-004
... ABSTRACT: This paper introduces a homing and docking control of autonomous underwater vehicle (AUV) using model predictive control. There are many system uncertainties in modeling of AUV and disturbances in a deep sea. Therefore, model of AUV will be changed according to velocity of AUV, a sea...
Proceedings Papers

Paper presented at the The Fifth ISOPE Pacific/Asia Offshore Mechanics Symposium, November 17–20, 2002
Paper Number: ISOPE-P-02-035
... ABSTRACT: An AUV(autonomous underwater vehicle) for scientific and industrial tasks such as precise surveying, inspection and sample gathering is being researched. The vehicle is operated both as a cruising type and an exact automatic position control type vehicle. A quarter size model vehicle...
Proceedings Papers

Paper presented at the The Fifth ISOPE Pacific/Asia Offshore Mechanics Symposium, November 17–20, 2002
Paper Number: ISOPE-P-02-010
... ABSTRACT: In this paper, the longitudinal control problem of an underwater vehicle undergoing obstacle avoidance, with large velocity variation, is considered and a gain-scheduled design is presented as a solution. Vehicle dynamics are transformed into a quasi-linear parameter varying form...
Proceedings Papers

Paper presented at the The First ISOPE Pacific/Asia Offshore Mechanics Symposium, June 24–28, 1990
Paper Number: ISOPE-P-90-034
... Abstract: Due to the constantly varying sea-states with which any wave energy conversion device must contend in order to efficiently extract energy the ability to control the device" s position relative to the incident waves is critical in achieving the creation of a truly functional and...

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