Construction mode detection for autonomous offshore heavy lift operations

Offshore platforms and windmills are constructed by assembling huge mechanical structures transported heavy lift vessels. The construction process comprises two interconnected operations, the dynamic positioning (DP) of vessel lifting loads. DP system is commonly designed tuned for case that there no load or free-hanging (mode 1). During transition from to connected a which mounted platform 2), may not be able preserve position stability vessel, jeopardizing human safety. goal this work design an intelligent monitoring early detection between modes adopting nonlinear state estimation approach. Simulation results used illustrating effectiveness proposed mode system.