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Search results for: OPTIMAL THRUST ALLOCATION, DYNAMIC POSITIONING, QUADRATIC PROGRAMMING
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DYNAMIC POSITIONING CAPABILITY ASSESSMENT BASED ON OPTIMAL THRUST ALLOCATION
PublicationThe article presents an efficient method of optimal thrust allocation over the actuators in a dynamically positioned ship, according to the DNV-ST-0111 standard, Level 1. The optimisation task is approximated to a convex problem with linear constraints and mathematically formulated as quadratic programming. The case study is being used to illustrate the use of the proposed approach in assessing the DP capability of a rescue ship....
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Adaptive dynamic control allocation for dynamic positioning of marine vessel based on backstepping method and sequential quadratic programming
PublicationIt is generally assumed in dynamic positioning of over-actuated marine vessels that the control effectiveness matrix (input matrix) is known and constant, or, in case of fault information, it is estimated by the fault detection and diagnosis system. The purpose of the study is to develop the adaptive dynamic positioning control system for an over-actuated marine vessel in the presence of uncertainties and with emphasis on limited...
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Dynamic Positioning Capability Assessment for Ship Design Purposes
PublicationThe article focuses on solving a problem of optimal thrust distribution over the actuators in a ship Dynamic Positioning, according to DNV-ST-0111 standard, Level 1. The classic Quadratic Programming approach is combined with the numerical solusion used to handle the propeller with the rudder constraints in the optimization task and the influence between thrusters and skeg. It is presented as an efficient method of minimizing the...
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Rozdział mocy w układzie napędowym robota podwodnego - porównanie algorytmów alokacji naporów
PublicationPraca dotyczy syntezy systemu automatycznego sterowania robotem podwodnym w zakresie problemu rozdziału mocy w wielopędnikowym układzie napędowym. Do alokacji naporów zastosowano metody optymalizacji z ograniczeniami, pozwalające na wyznaczanie wektora naporów na podstawie wektora sił uogólnionych. Rozważono i porównano dwie metody rozdziału mocy dla robota realizującego ruch poziomy płaski o trzech stopniach swobody, rozpatrując...
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Power efficient thrust allocation algorithms in design of dynamically positioned ships
PublicationAssessment of power consumption on a Dynamically Positioned (DP) ship in the early design stage can assist crucial design choices. The study presents a comparison between two algorithms of optimal thrust allocation in a propulsion system for an over-actuated DP ship. Applied algorithms were Quadratic Programming (QP) and Non- dominated Sorting Genetic Algorithm II (NSGAII). Based on both approaches, tools were developed for ship...
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ADAPTIVE BACKSTEPPING TRACKING CONTROL FOR OVER-ACTUATED DP MARINE VESSEL WITH INERTIA UNCERTAINTIES
PublicationDesigning a tracking control system for an over-actuated dynamic positioning marine vessel in the case of insufficient information on environmental disturbances, hydrodynamic damping, Coriolis forces and vessel inertia characteristics is considered. The designed adaptive MIMO backstepping control law with control allocation is based on Lyapunov control theory for cascaded systems to guarantee stabilization of the marine vessel...
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Synteza układu sterowania statkiem morskim dynamicznie pozycjonowanym w warunkach niepewności
PublicationNiniejsza monografia obejmuje zagadnienia związane z syntezą układu dynamicznego pozycjonowania statku w środowisku morskim z zastosowaniem wybranych nieliniowych metod sterowania. W ramach pracy autorka rozważała struktury sterowania z zastosowaniem wektorowej adaptacyjnej metody backstep oraz metod jej pokrewnych, takich jak regulatory MSS (ang. multiple surface sliding), DSC (ang. dynamic surface control), NB (ang. neural backstepping)....
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Adaptive dynamic control allocation for over-actuated dynamic positioning system based on backstepping method in case of thruster faults
PublicationThe objective of the research considered in this paper is dynamic positioning of a nonlinear over-actuated marine vessel in the presence of limited information about thruster forces. First, the adaptive backstepping method is used to estimate the input matrix which will compensate partial loss of actuator effectiveness in the presence of actuator dynamics. Then, the adaptive commanded virtual forces and moment are allocated into...
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Adaptive Optimal Discrete-Time Output-Feedback Using an Internal Model Principle and Adaptive Dynamic Programming
PublicationIn order to address the output feedback issue for linear discrete-time systems, this work suggests a brand-new adaptive dynamic programming (ADP) technique based on the internal model principle (IMP). The proposed method, termed as IMP-ADP, does not require complete state feedback, merely the measurement of input and output data. More specifically, based on the IMP, the output control problem can first be converted into a stabilization...
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Fractional Order Dynamic Positioning Controller
PublicationImproving the performance of Dynamic Positioning System in such applications as station keeping, position mooring and slow speed references tracking requires improving the position and heading control precision. These goals can be achieved through the improvement of the ship control system. Fractional-order calculus is a very useful tool which extends classical, integer-order calculus and is used in contemporary modeling and control...
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Quadratic programming approach to coupled resonator filter cad
PublicationArtykuł prezentuje technikę komputerowego wspomagania procesu projektowania filtrów zbliżeniowych. Polega ona na sformułowaniu macierzy sprzężeń jako problemu programowania kwadratowego (QP). Dzięki zdefiniowaniu procedury optymalizacyjnej jako problemu QP, przy założeniu liniowej zależności współczynników sprzężeń od wymiarów geometrycznych struktury, uzyskano znaczącą redukcję liczby pełnofalowych symulacji prowadzących do uzyskania...
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Dynamic Positioning System with Vectorial Backstepping Controller
PublicationThe problem of synthesis a dynamic positioning system for low frequency model of surface vessel was considered in this paper. The recursive vectorial backstepping control design was used to keep a fixed position and heading in presence of wave disturbances. The passive observer was introduced to smooth the measurements and to estimate the velocities needed for the control algorithm. Some parameters of observer were optimized off-line...
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Ship Dynamic Positioning Based on Nonlinear Model Predictive Control
PublicationThe presented work explores the simulation test results of using nonlinear model predictive control algorithm for ship dynamic positioning. In the optimization task, a goal function with a penalty was proposed with a variable prediction step. The results of the proposed control algorithm were compared with backstepping and PID. The effect of estimation accuracy on the control quality with the implemented algorithms was investigated....
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Control System Design for Dynamic Positioning using Vectorial Backstepping
PublicationThe problem of synthesis a dynamic positioning system for low frequency model of surface vessel was considered in this paper. The recursive vectorial backstepping control design was used to keep a fixed position and heading in presence of wave disturbances. The passive observer was introduced to smooth the measurements and to estimate the velocities needed for the control algorithm. The computer simulation results were given to...
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Analysis of data fusion algorithms for the vessel with the dynamic positioning system
PublicationThe dynamic positioning (DP) system on the vessel is operated to control the position and heading of the vessel with the use of propellers and thrusters installed on the board. On DP vessels redundant measurement systems of position, heading and the magnitude and direction of environmental forces are required for safety at sea. In this case, a fusion of data is needed from individual measurement devices. The article proposes a...
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Fixed final time and free final state optimal control problem for fractional dynamic systems – linear quadratic discrete-time case
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Data fusion of GPS sensors using Particle Kalman Filter for ship dynamic positioning system
PublicationDepending on standards and class, dynamically positioned ships make use of different numbers of redundant sensors to determine current ship position. The paper presents a multi-sensor data fusion algorithm for the dynamic positioning system which allows it to record the proper signal from a number of sensors (GPS receivers). In the research, the Particle Kalman Filter with data fusion was used to estimate the position of the vessel....
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ANALYSIS OF IMPACT of SHIP model parameters on changes of control quality index in ship dynamic positioning system
PublicationIn this work there is presented an analysis of impact of ship model parameters on changes of control quality index in a ship dynamic positioning system designed with the use of a backstepping adaptive controller. Assessment of the impact of ship model parameters was performed on the basis of Pareto-Lorentz curves and ABC method in order to determine sets of the parameters which have either crucial, moderate or low impact on objective...
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Designing Particle Kalman Filter for Dynamic Positioning
PublicationThe article presents a comparative analysis of two variants of the Particle Kalman Filter designed by using two different ship motion models. The first filter bases only on the kinematic model of the ship and can be used in many types of vehicles, regardless of the vehicle dynamics model. The input value to the filter is the noisy position of the ship. The second filter makes use of the kinematic and dynamic models of the moving...
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Optimal programming of critical sections in modern network processors under performance requirements.
PublicationPrzegląd konstrukcji i zastosowań metod programowania sekcji krytycznych w nowoczesnych procesorach sieciowych rodziny Intel IXP. Porównanie wydajnościowe w formie tabeli.
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Determination of the optimal curvature of the turnout diverging track for HSR using dynamic analysis
PublicationThe paper presents an analytical method of identifying the curvature of the turnout diverging track consisting of sections of varying curvature. Such turnout is mainly applied on High Speed Railway. Both linear and nonlinear (polynomial) curvatures of the turnout diverging track are considered in the paper. Obtained solutions enable to assume curvature values at the beginning and end point of the geometrical layout of the turnout.The...
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Robust-adaptive dynamic programming-based time-delay control of autonomous ships under stochastic disturbances using an actor-critic learning algorithm
PublicationThis paper proposes a hybrid robust-adaptive learning-based control scheme based on Approximate Dynamic Programming (ADP) for the tracking control of autonomous ship maneuvering. We adopt a Time-Delay Control (TDC) approach, which is known as a simple, practical, model free and roughly robust strategy, combined with an Actor-Critic Approximate Dynamic Programming (ACADP) algorithm as an adaptive part in the proposed hybrid control...
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A novel method based on adaptive cuckoo search for optimal network reconfiguration and distributed generation allocation in distribution network
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Volume optimization of high-speed surface-mounted permanent magnet synchronous motor based on sequential quadratic programming technique and analytical solution
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BatchI: Batch effect Identification in high-throughput screening data using a dynamic programming algorithm
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Generating optimal paths in dynamic environments using RiverFormation Dynamics algorithm
PublicationThe paper presents a comparison of four optimisation algorithms implemented for the purpose of finding the shortest path in static and dynamic environments with obstacles. Two classical graph algorithms –the Dijkstra complete algorithm and A* heuristic algorithm – were compared with metaheuristic River Formation Dynamics swarm algorithm and its newly introduced modified version. Moreover, another swarm algorithm has been compared...
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Comparative analysis of positioning accuracy of Garmin Forerunner wearable GNSS receivers in dynamic testing
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Initializing the EM Algorithm for Univariate Gaussian, Multi-Component, Heteroscedastic Mixture Models by Dynamic Programming Partitions
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Optimal Rotating Receiver Angles Estimation for Multicoil Dynamic Wireless Power Transfer
PublicationThis study proposed an approach to dynamic wireless charging that uses a rotating receiver coil. Our simulation study focused on the verification of a novel way of increasing the coupling coefficient and power transfer stability by following the flux of the transmitting coils. To obtain the highest possible coupling by means of the FEM analysis, we studied the optimization of the trajectory of the angular velocity of the rotating...
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Selected Aspects of Testing the Positioning Accuracy of GNSS Receivers Used in Sports and Recreation by Dynamic Measurements
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Assessment of the Positioning Accuracy of DGPS and EGNOS Systems in the Bay of Gdansk using Maritime Dynamic Measurements
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Comparative analysis of positioning accuracy of GNSS receivers of Samsung Galaxy smartphones in marine dynamic measurements
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ZASTOSOWANIE MACIERZY PSEUDO ODWROTNEJ W METODACH ALOKACJI PĘDNIKÓW UKŁADU DYNAMICZNEGO POZYCJONOWANIA STATKU
PublicationUkłady kontroli alokacji pędników stanowią ważną część systemów dynamicznego pozycjonowania na statku. Określają one sygnały sterujące nastawami pędników, na podstawie uogólnionego wektora sił wzdłużnej, poprzecznej i momentu skręcającego, uzyskiwanych z prawa sterowania. W artykule przedstawiono wybrane algorytmy kontroli alokacji pędników, różniące się sposobem wyznaczania macierzy pseudo odwrotnej oraz algorytm bezpośredniej...
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Analiza przepływu oleju przez rowek smarowy wzdłużnego łożyska ślizgowego z wykorzystaniem komputerowej dynamiki płynów (CFD) = Analysis of the lubricant flow through the hydrodynamic thrust bearings groove with the use of computational fluid dynamic
PublicationSmarowanie zanurzeniowe jest tradycyjnym sposobem smarowania wzdłużnych łożysk ślizgowych. Jednak rozwiązanie to wykazuje umiarkowaną skuteczność w zapewnieniu optymalnie niskich temperatur w filmie smarowym a ponadto jest przyczyną strat mocy związanych z mieszaniem oleju w obudowie łożyska, co jest szczególnie widoczne w łożyskach szybkoobrotowych. Obecnie wymagania stawiane nowym konstrukcjom łożysk ślizgowych to zwiększanie...
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Evolutionary Algorithms in MPLS network designing
PublicationMPLS technology become more and more popular especially in core networks giving great flexibility and compatibility with existing Internet protocols. There is a need to optimal design such networks and optimal bandwidth allocation. Linear Programming is not time efficient and does not solve nonlinear problems. Heuristic algorithms are believed to deal with these disadvantages and the most promising of them are Evolutionary Algorithms....
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The structure of the control system for a dynamically positioned ship
PublicationThe article discusses functions and tasks of dynamic positioning (DP) systems for ships. The analysed issues include ship steering, in particular stabilisation of ship position and direction of motion (real course) at low manoeuvring speeds, and commonly used DP ship models. Requirements imposed by classification societies on DP ships are quoted. A multi-layer structure of the DP control system is presented, with special attention...
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Optimised allocation of actuators for DWDS
PublicationThis paper addresses the problem of actuators’ allocation within networked structured system, namely allocation of disinfectant booster stations within Drinking Water Distribution System (DWDS), under receding horizon optimised control – Model Predictive Control (MPC) to be exact. The allocation task is kept within dynamic multiobjective optimisation framework. The MPC is defined as a single objective predictive operator. Two numerical...
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Performance evaluation of unified memory and dynamic parallelism for selected parallel CUDA applications
PublicationThe aim of this paper is to evaluate performance of new CUDA mechanisms—unified memory and dynamic parallelism for real parallel applications compared to standard CUDA API versions. In order to gain insight into performance of these mechanisms, we decided to implement three applications with control and data flow typical of SPMD, geometric SPMD and divide-and-conquer schemes, which were then used for tests and experiments. Specifically,...
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High performance super-twisting sliding mode control for a maritime autonomous surface ship (MASS) using ADP-Based adaptive gains and time delay estimation
PublicationThis research addresses two kinds of problems related to optimal trajectory tracking of a Maritime Autonomous Surface Ship (MASS): those caused by the time-varying external disturbances including winds, waves and ocean currents as well as those resulting from inherent dynamical uncertainties. As the paper shows, an accurate and robust optimal controller can successfully deal with both issues. An improved Optimal Adaptive Super-Twisting...
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High performance super-twisting sliding mode control for a maritime autonomous surface ship (MASS) using ADP-Based adaptive gains and time delay estimation
PublicationThis research addresses two kinds of problems related to optimal trajectory tracking of a Maritime Autonomous Surface Ship (MASS): those caused by the time-varying external disturbances including winds, waves and ocean currents as well as those resulting from inherent dynamical uncertainties. As the paper shows, an accurate and robust optimal controller can successfully deal with both issues. An improved Optimal Adaptive Super-Twisting...
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Optymalizacja strategii sieci inteligentnych agentów za pomocą programowania genetycznego w systemie rozproszonym realizującym paradygmat volunteer computing
PublicationDynamicznie rosnąca złożoność i wymagania w odniesieniu do rozproszonych systemów informatycznych utrudnia zarządzanie dostępnymi zasobami sprzętowymi i programistycznymi. Z tego powodu celem rozprawy jest opracowanie wielokryterialnej metody programowania genetycznego, która pozwala na optymalizację strategii zespołu inteligentnych agentów programistycznych w zakresie zarządzania systemem realizującym paradygmat volunteer computing....
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Multiprocessor Implementation of Parallel Multiobjective Genetic Algorithm for Optimized Allocation of Chlorination Stations in Drinking Water Distribution System a New Water Quality Model Approach
PublicationThe Critical Infrastructure Systems (CISs) have received in recent years a considerable attention due to their heavy impact on sustainable development of modern societies. Most CISs may be classied as large scale complex systems of network structure, in uenced by strong interactions form the surrounding environment, internal and external interconnections. The later is a result of inter-CIS dependencies. The control, monitoring...
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A selection of PID type controller settings via LQR approach for two-wheeled balancing robot
PublicationThe problem of PID type controller tuning has been addressed in this paper. In particular, a method of selection of PD settings based on the solution of linear–quadratic optimisation problem using the energy criterion has been investigated. Thus, the possibility of transforming optimal settings of the linear–quadratic regulator into the settings of the controller in the classical control system has been given. The presented methodology...
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Introducing a Computational Method to Retrofit Damaged Buildings under Seismic Mainshock-Aftershock Sequence
PublicationRetrofitting damaged buildings is a challenge for engineers, since commercial software does not have the ability to consider the local damages and deformed shape of a building resulting from the mainshock record of an earthquake before applying the aftershock record. In this research, a computational method for retrofitting of damaged buildings under seismic mainshock-aftershock sequences is proposed, and proposed computational...
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Experimentally feasible semi-device-independent certification of four-outcome positive-operator-valued measurements
PublicationRecently the quantum information science community devoted a lot of attention to the theoretical and practical aspects of generalized measurements, the formalism of all possible quantum operations leading to acquisition of classical information. On the other hand, due to imperfections present in quantum devices, and limited thrust to them, a trend of formulating quantum information tasks in a semi-device-independent manner emerged....
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Optimum number of actuators to minimize the cross-sectional area of prestressable cable and truss structures
PublicationThis paper describes a new computational method for determining the optimum number of actuators to design the optimal and economic cross-sectional area of pin-jointed assemblies based on the conventional force method. The most active members are selected to be prestressed to redistribute stress in the whole structure, resulting in regulating the internal force of bars that face high stress. Reducing stress in critical members allows...
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PROJEKTOWANIE WIELOWYMIAROWEGO REGULATORA BACKSTEPPING W UKŁADZIE DYNAMICZNEGO POZYCJONOWANIA STATKU
PublicationW komercyjnych systemach dynamicznego pozycjonowania statku, pomimo znacznego wzrostu poziomu automatyzacji, wykorzystywane jest nadal sterowanie typu PID. Poprawę jakości procesu pozycjonowania może umożliwić wykorzystanie bardziej efektywnych algorytmów, oferujących zaawansowane nieliniowe techniki sterowania. W artykule przedstawiono zagadnienie projektowania regulatora pozycji i kursu dla układu dynamicznego pozycjonowania...
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An Intergrated Model of Motion, Steering, Positioning and Stabilization of an Unmanned Autonomous Maritime Vehicle
PublicationIn the paper the aim of an interdisciplinary research is presented. The research method is introduced. An object the unmanned autonomous maritime vehicle is briefly described. The key research problem concerns a combined model of the vehicle motion including the loads of lift and hydrodynamic nature. The model takes into account the gravity and displacement forces, resistance and thrust forces, lift and other hydrodynamic forces....
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Mobile indicators in GIS and GPS positioning accuracy in cities
PublicationThe publication describes the possible use of tele-geoprocessing as a synergy of modern IT solutions, telecommunications and GIS algorithms. The paper presents a possibility of urban traffic monitoring with the use of mobile GIS indicators of dedicated monitoring system designed for taxi corporation. The system is based on a stationary and mobile software package. The optimal and minimal assumptions for the monitoring of urban...
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Dynamic GNSS Mission Planning Using DTM for Precise Navigation of Autonomous Vehicles
PublicationNowadays, the most widely used method for estimating location of autonomous vehicles in real time is the use of Global Navigation Satellite Systems (GNSS). However, positioning in urban environments using GNSS is hampered by poor satellite geometry due to signal obstruction created by both man-made and natural features of the urban environment. The presence of obstacles is the reason for the decreased number of observed satellites...