In this master thesis the flow behavior and the performance of a bow tunnel thruster at slow forward vessel motion is studied using Computational Fluid Dynamics (CFD). In this Definition Study a literature study is made, fundamental theory is explained and a roadmap for the master thesis is developed. At Royal IHC it is noticed that trailing suction hopper dredgers experience a significant decr...

OPTIMAL THRUSTER SELECTION WITH ROBUST ESTIMATION FOR FORMATION FLYING APPLICATIONS By Trent Yang Submitted to the Department of Aeronautics and Astronautics on May 21, 2003 in Partial Fulfillment of the Requirements for the Degree of Master of Science in Aeronautics and Astronautics The research goal was to develop a computationally fast mapper that can be easily configured to any spacecraft w...

Historically, sensor noise has been a key factor in the analysis of system performance for formation flying spacecraft. Since most interesting formation missions require coordination between multiple spacecraft, knowledge of the relative states must be as accurate as possible. This knowledge is typically used to design a trajectory to meet specific criteria, such as minimizing fuel use or maint...

We are developing a visually-guided autonomous underwater vehicle. We have implemented a computed torque controller, using Euler parameters, for position and velocity control. This formulation eliminates singularity in the model and controller and offers some degrees of coupling between vehicle degrees of freedom. A calibrated thruster model which computes thrust output from measured voltage an...

Recent advances in computer hardware and algorithms make it possible to consider more computationally demanding control methods, allowing more effective exploitation of the equipment under control. This thesis explores new ways of controlling ships (or other marine vessels) that are designed to keep a predetermined position and heading automatically exclusively by the means of their thrusters –...

In this paper, an adaptive control technique is applied to controlling the chaotic behavior in thruster motor system for deepwater ocean robot. This chaotic oscillation has a direct impact on the stability, reliability and security of the robot. In addition, the proposed approach is also verified in the way of both flexibility and effectiveness, and a kind of chaotic controller that is applicab...

The azimuth thruster is mainly installed on a vessel that requires dynamic positioning (DP) function for special purposes. When the operates DP, thrust loss induced by thruster-hull interaction. This study examined influence of boundary conditions in numerical simulations predicting loss. Wind turbine installation vessels (WTIV) and floating production storage offloading (FPSO) were chosen as t...