This paper presents a new sensor based integrated guidance and control law to solve the homing problem of an underactuated autonomous underwater vehicle (AUV), in the horizontal plane, using the information provided by an Ultra-Short Base Line (USBL) positioning system. Global asymptotic stability (GAS) is achieved in the presence (and absence) of constant known ocean currents and simulation re...

This thesis gives a short introduction to the Dynamic Positioning (DP) domain and focuses on developing a fuel optimal thrust allocation algorithm for marine DP vessels with a diesel electric power plant. Obtained data is used to develop a static model for the fuel consumption of a diesel generator, as a function of its produced power. This model is used to formulate a convex Quadratic Programm...

In order to solve the selection of the optimal wavelet basis for the gas pipeline leak monitoring, the feature of wavelet basis especially for gas pipeline leak monitoring and positioning has been summarized based on the analyze of wavelet basis parameters characteristic and gas pipeline leak negative pressure wave signal feature. A parameter which named reconstruction and mutation joint factor...

In this paper, optimal placement of Phasor Measurement Unit (PMU) using Global Positioning System (GPS) is discussed. Ant Colony Optimization (ACO), Simulated Annealing (SA), Particle Swarm Optimization (PSO) and Genetic Algorithm (GA) are used for this problem. Pheromone evaporation coefficient and the probability of moving from state x to state y by ant are introduced into the ACO. The modifi...

To improve the positioning accuracy and robustness of indoor positioning technology, a fingerprint positioning method is proposed based on the Kalman filter and the probability weighted Bayes algorithm. Firstly, the optimal estimation of signal strength is calculated using the prediction and correction model of Kalman filter, and then the position is estimated using the posterior probability we...

Abstract The article presents an efficient method of optimal thrust allocation over the actuators in a dynamically positioned ship, according to DNV-ST-0111 standard, Level 1. optimisation task is approximated convex problem with linear constraints and mathematically formulated as quadratic programming. case study being used illustrate use proposed approach assessing DP capability rescue ship. ...

In order to improve the accuracy of positioning wireless sensor and aiming at optimizing the least square support vector machine’s parameters, a sensor node positioning method based on fisher fishing optimization – the least square support vector machine is proposed. First of all, learning samples of the three-dimensional wireless sensor positioning model are established, and then the least squ...