In this paper, we present a global state feedback tracking controller for underactuated surface marine vessels. This controller is based on saturated control inputs and, under an assumption on the reference trajectory, the closed-loop system is globally asymptotically stable (GAS). It has been designed using a 3 Degree of Freedom benchmark vessel model used in marine engineering. The main featu...

In this paper, we present a global state feedback tracking controller for underactuated surface marine vessels. This controller is based on saturated control inputs and, under an assumption on the reference trajectory, the closed-loop system is globally asymptotically stable (GAS). It has been designed using a 3 Degree of Freedom benchmark vessel model used in marine engineering. The main featu...

This paper proposes a nonlinear dynamics model for a marine propeller able to reproduce the propeller thrust over the full four-quadrant range of propeller shaft speed and vessel speed. A two-state model has been identi…ed from experimental data. The model includes a state equation for the propeller shaft speed and one that describes the dynamics of the axial ‡ow velocity. The model reproduces ...

A ship or a marine structure operates in extremely harsh corrosive environment. Marine environment is more aggressive than most inland environments. Several areas of sea going vessel, typically consist of, the superstructure, boot-top area under splash zone, fully immersed areas such as ship-hull. It is well known now that the rate of corrosion of is generally, the highest for splash zone where...

In this paper, the design of a PID type stabilizer is investigated using Genetic algorithms. The proposed stabilizer is applied to a single machine infinite bus system subjected to a load disturbance. Comparison with Conventional lead-lag Power System Stabilizer (CPSS) and other design methods of PID stabilizers shows the out performance of the proposed design. Furthermore, the proposed stabili...

Marine invasive non-native species (NNS) are one of the greatest threats to global marine biodiversity, causing significant economic and social impacts. Marinas are increasingly recognised as key reservoirs for invasive NNS. They provide submersed artificial habitat that unintentionally supports the establishment of NNS introduced from visiting recreational vessels. While ballast water and ship...

composite pressure vessel cng made of epoxy – carbon material with nonmetal liner is 60% lighter than aluminum vessel under the same conditions. one of the important parameters in the pressure vessels design is their resistance against impact and prevention of explosion. in this paper, the effects of low velocity impact on composite pressure vessel are investigated using fe analysis. the vessel...

in suspension polymerization, particle size distribution of polymer is the outcome of dynamic equilibrium between the break up and coalescence phenomena. the rates of break up and coalescence and consequently polymerization stability depend on several parameters, the most important of which are type and concentration of stabilizer. in this study, the effects of type and concentration of stabili...

This article documents master logboat-builder Alalae Mohamed’s construction of a ngalawa fishing vessel in Bagamoyo, Tanzania. The is an extended logboat with double outrigger and lateen sail used by low-income, artisanal fishers. It the most common marine type East African coast. follows process from Alalae’s selection felling tree(s) to launching vessel. outlines tools materials used, details...

This paper focuses on the use of unknown input observers for detection and isolation of actuator and effector faults with control reconfiguration in overactuated systems. The control allocation actively uses input redundancy in order to make relevant faults observable. The case study of an overactuated marine vessel supports theoretical developments.