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A new ship maneuvering control framework is presented. This framework entails a three layered control architecture, a principled approach to design and implementation within the architecture, and hybrid systems design techniques. The formal model is dynamic networks of hybrid automata. The control architecture is structured according to the princip...
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... this case, Module 1 sends this message first. Upon the reception of this message, Module 2, accepts the request, enters the mode blocked for join, and sends a message to Module 1 giving it permission to start the join op- eration (see Figure 1). In this mode, Module 2 performs a DP maneuver at its current location. ...
Citations
... As mentioned, a dynamic positioning (DP) system would be employed to keep each module properly oriented. Tests and simulations with real models, along with virtual tank tests, had shown good performance with this system (Girard et al., 2011a(Girard et al., , 2011bBorges de Sousa et al. 2001). A Multi-Module Control Dynamic Positioning System (MMDPCS) was developed for this purpose. ...
Very LargeFloatingStructures(VLFS)havesparkedtremendousinterestandbeenthefocalpointof
severalarticles.TheMegafloat isparticularlywellknownforcoastaluse.Theaimofthisarticleisto
reviewtheconceptofVLFS,showinghowtheyaredeployedforbothcoastalandoffshoreareas.Forthese
offshore areas,theMOBproject(MobileOffshoreBase)isthedesignthathasbeenmostfullydeveloped.
Although theMegafloat hasbeenwidelystudied,attentionshouldalsobegiventootherVLFSfor
offshore purposes.AmongtheseistheMOBmentionedearlier,aswellasotherVLFS,includingthe
Pneumatic stabilizedplatform(PSP)orVersabuoy.These floating structureshavebeendesignedin
response tologisticdevelopments,mainlytocreate floating harboursandairports,bothonthecoastand
offshore. Theyhaveawidevarietyoffunctions.
AfterprovidinganoverviewofeachVLFS,thedifferentmodelswillbecompared.Theiradvantages
and disadvantageswillbeassessedaccordingtothedepthinwhichtheyworkandtheirproximityto
the coast.
Another comparisonisthenmadebetweentheVLFSandother floating structuresthathavealready
been inuseonthecoastandoffshore:pontoons,barges,shipsandsemisubmersibleplatforms.
It mustbeaddedthatalloftheVLFSareonlyatthedesignstage,withtheexceptionoftheMega-
Float inTokyoBay,theonlymanufacturedVLFSinexistence..Theseprojectshavenotbeencarriedout.
Nevertheless,theyhaveinspiredresearchonbehaviour-relatedproblemsinVLFSdesign.Oneareain
particular ishydroelasticity.
For coastalwaters,theincreaseincostsofrealestateandthesensitivitytowardstheprotectionof
coastal areaswillhaveanimpactonthedevelopmentofthesestructuresinthe21stcentury.
Their useinopenoceanwater-offshore-requiresfurtherstudiesinordertolowerthecostsandto
offer morereliablesolutions.
We describe the methodology, tools and technologies for designing and implementing communication and control systems for networked automated or driver assist vehicles. In addressing design, we discuss enabling methodologies and our suite of enabling computational tools for formal modeling, simulation, and implementation. We illustrate our description with design, development and implementation work we have performed for Automated Highway Systems, Autonomous Underwater Vehicles, Mobile Offshore Base, Unmanned Air Vehicles, and Cooperative Adaptive Cruise Control. We conclude with the assertion – borne from our experience – that ground vehicle systems with any degree of automated operation could benefit from the type of integrated development process that we describe.
