On Saturday, May 20, President and Mrs. Author E. Hughes and Acting Dean and Mrs. Grant H. Morris will host a dinner party for California Supreme Court Associate Justice Wiley M. Manuel.

Cilj ovog rada je primjena inteligentnog upravljanja kod problema vođenja broda po kursu i trajektoriji. Opisani su najčešće korišteni postupci inteligentnog upravljanja i razlozi koji su doveli do njihove izgradnje. Kao autopiloti korišteni su neizraziti (Mamdani, Sugeno) i neuro autopiloti (BP, RB). Opisan je kompletan postupak sinteze neizrazitih autopilota. Neuro autopiloti uči od neizrazitog autopilota, pri čemu se zahtijeva da upravljačke površine neizrazitog i neuro autopilota budu identične (što je moguće bolje). Analiza problema vođenja broda po kursu i trajektoriji sprovedena je na nelinearnim modelima brodova Mariner i ESSO Tanker. Dinamičko ponašanje neizrazitih i neuro autopilota uspoređeno je sa konvencionalnim PID autopilotom. Analiziran je utjecaj valnih poremećaja na dinamičko ponašanje broda pri promjeni kursa i postupci za minimiziranje tog utjecaja. Kod problema vođenja broda po trajektoriji prikazan je manevar zaobilaženja putne točke i vođenje broda po složenoj putanji (trajektoriji). Utjecaj vanjskih hidrodinamičkih poremečaja uslijed mimoilaženja s drugim brodom analiziran je na modelu broda Mariner klase. Efekt plitke vode pri velikom manevru analiziran je na modelu broda ESSO Tanker. Također je razmatran utjecaj morske struje i valova na performanse sustava vođenja broda po trajektoriji. U tu svrhu su projektirani 3-ulazni neizraziti autopiloti (Mamdani, Sugeno), kako bi se poboljšale performanse sustava vođenja. Osim toga, projektiran je i inteligentni autopilot čiju osnovu čine neizraziti autopilot (Mamdani) i mehanizam podešavanja faktora skaliranja. Mehanizam podešavanja predstavlja neizraziti regulator koji mijenja faktore skaliranja osnovnog neizrazitog autopilota.The aim of this paper is intelligent control implementation at course-keeping and track-keeping of ship. The most used intelligent control procedures are described, as well as the reasons that caused their development. Fuzzy logic controllers (Mamdani, Sugeno) and neural networks (Backpropagation, Radial Basis) are used as autopilots. The complete design procedure of fuzzy autopilots is described. Neural autopilot learns from fuzzy autopilot where it is demanded that control surfaces of fuzzy and neural autopilots be identical (as better as possible). Analysis of ship course-keeping and track-keeping problems was performed on the nonlinear ship models Mariner i ESSO Tanker. Dynamical behavior of fuzzy and neural autopilots is compared with conventional PID autopilot. The influence of wave disturbance on dynamical behavior of ship during course-changing and methods for minimizing of that influence are analyzed. On the track-keeping problem the maneuver of way point turning and ship guiding through complex path (trajectory) are presented. The influence of the external hydrodynamic disturbance from passing ship is analyzed on Mariner Class Vessel. The shallow water effect during large maneuver is analyzed on ESSO Tanker. The influence of sea current and wave disturbances on track-keeping performance was also considered. In that purpose 3-input fuzzy autopilots (Mamdani, Sugeno) are designed in order to improve control system performance. Besides, intelligent autopilot is designed and it consists of Mamdani type fuzzy autopilot and mechanism for adjusting of scaling factors. The adjustment mechanism represents fuzzy controller that changes scaling factors of the base fuzzy autopilot

A realization model to develop the autopilot system of ships by specializing MDA

This paper presents a method which is based on the Model-Driven Architecture (MDA) and functional blocks to realize effectively the autopilot systems of ships. It brings out an executable MDA process to cover completely the requirement analysis, design and deployment phases of these systems. This process also allows the determined design elements to be customizable and re-usable in the new applications of controlled ship steering systems. The paper indicates straightforwardly the ship dynamic model-to-be used, the Computation Independent Model (CIM) of a ship autopilot system, the Platform Independent Model (PIM) of this system by using the Real-Time Unified Modeling Language (UML), and its Platform Specific Model (PSM) implemented by the functional blocks. Furthermore, the important transformation rules are also brought out and applied to convert the identified PIM into PSM for implementing quickly this system with different industrial frameworks such as the IEC61499 in a programmable controller. Then, its deployment model completely is tested on a model ship with the predetermined program and control performance

Optimal Universal Controllers for Roll Stabilization

Roll stabilization is an important problem of ship motion control. This problem becomes especially difficult if the same set of actuators (e.g. a single rudder) has to be used for roll stabilization and heading control of the vessel, so that the roll stabilizing system interferes with the ship autopilot. Finding the "trade-off" between the concurrent goals of accurate vessel steering and roll stabilization usually reduces to an optimization problem, which has to be solved in presence of an unknown wave disturbance. Standard approaches to this problem (loop-shaping, LQG, $H_{\infty}$-control etc.) require to know the spectral density of the disturbance, considered to be a \colored noise". In this paper, we propose a novel approach to optimal roll stabilization, approximating the disturbance by a polyharmonic signal with known frequencies yet uncertain amplitudes and phase shifts. Linear quadratic optimization problems in presence of polyharmonic disturbances can be solved by means of the theory of universal controllers developed by V.A. Yakubovich. An optimal universal controller delivers the optimal solution for any uncertain amplitudes and phases. Using Marine Systems Simulator (MSS) Toolbox that provides a realistic vessel's model, we compare our design method with classical approaches to optimal roll stabilization. Among three controllers providing the same quality of yaw steering, OUC stabilizes the roll motion most efficiently

Rudder roll stabilization for ships

This paper describes the design of an autopilot for rudder roll stabilization for ships. This autopilot uses the rudder not only for course keeping but also for reduction of the roll. The system has a series of properties which make the controller design far from straightforward: the process has only one input (the rudder angle) and two outputs (the heading and the roll angle); the transfer from rudder to roll is non-minimum-phase; because large and high-frequency rudder motions are necessary, the non-linearities of the steering machine cannot be disregarded; the disturbances caused by the waves vary considerably in amplitude and frequency spectrum.\ud \ud In order to solve these problems a new approach to the LQG method has been developed. The control algorithms were tested by means of computer simulations, scale-model experiments and full-scale trials at sea. The results indicate that a rudder roll stabilization system is able to reduce the roll as well as a conventional fin stabilization system, while it requires less investments. Based on the results obtained in this project the Royal Netherlands Navy has decided to implement rudder roll stabilization on a series of ships under construction at this moment

Tekwan (Teknologi Wireless Automatic Nahkoda) for Ship

More than 60% or 3,257,483 km2 of Indonesia is covered by sea. Sea transportation is extremely important for economic integration and for domestic and International trade but unfortunately besides natural factor, the biggest factor causing accident in the sea is human error. TEKWAN (Teknologi Wireless Automatic Nahkoda) for Ship is an autopilot system for ship and long distance controlled. TEKWAN for ship is a smart solution for Indonesia\u27s sea problems, equipped with two cameras for computer vision and automatically avoid other ship or obstacle in ship\u27s track. There are some supporting systems such as GPS navigation, compass, radar systems, online systems and visualisation of digital maps which is connected to operator in TEKWAN

Development of control Algorithm and system Software for Autopilot System of Fishing Boat

A development of the system software for a small class ship autopilot is presented. A dynamics modeling for small class ship is firstly described. A control system with several operating conditions for the autopilot system is constructed. This is based on the conventional PID control technique. The system is composed of power amplifier, gear unit, and ship dynamics. The ship dynamics is realized by microprocessor. A system software is built up using 80C196KC microprocessor on an one chip format. The autopilot system proposed is simpler to operate comparing to others due to the simple design of the operating panel and economical due to the design of the one chip microprocessor. This also has varieties of expansion to a large scale system because of using high level microprocessor. The experimental results by using a model plant for the autopilot system as well as computor simulation results are given to illustrate the useful ability of the proposed system.bstract = ⅳ 제 1 장 서론 = 1 제 2 장 제어알고리즘 및 소프트웨어 = 3 2.1 전자동 조타기 = 3 2.2 선체 모델링 = 4 2.3 제어계 설계 = 15 2.3.1 자동운항 제어시스템 = 15 2.3.2 제어계 설계 = 16 2.3.3 제어시스템 = 18 2.4 제어 소프트웨어 = 27 2.4.1 전체 제어계 개략도 = 27 2.4.2 프로그램 = 28 제 3 장 시뮬레이션 및 실험 = 34 3.1 실험방법 = 34 3.2 시뮬레이션 및 실험결과 = 34 제 4 장 결론 = 46 참고문헌 = 4