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Guidance and control of ocean vehicles
Anromarrco. Vol. 32, No. 8, pp. 1235-1236. 19% Cmvrieht 0 1996 Elsevier Science Ltd Pnnted’in &eayBritam. ALI nghts reserved was-10981% $15.00 + 0.00
Pergamon
Book
Guidance
Reviews
and Control of Ocean Vehicles* Thor I. Fossen
Reviewer:
vehicle kinematics and dynamics in six degrees of freedom and environmental disturbances from wind, waves and currents are covered in two chapters. General nonlinear equations of motion and derived, and simplified equations for specific applications are also discussed. Environmental disturbances are included by use of the principle of superposition, for both linear and nonlinear models. Mathematical models derived under this assumption are useful for model-based control system design and simplified analysis, but more accurate models are sometimes required, for example in advanced simulation applications. A discussion of the validity of the models derived under the principle of superposition is lacking, and would have been valuable. Fossen has taught a course on ‘Systems for Guidance and Institute of Control’ since 1991 at the Norwegian Technology, Trondheim, and the textbook does indeed have a very pedagogical approach. There are many exercises of varying degree of difficulty, and the reference list is comprehensive. In one of the appendices nonlinear models of a Mariner Class Vessel, a 190000dwt tanker, a container ship and three underwater vehicles are summarised with complete lists of parameter values. The tanker model also contains shallow-water effects. All these models are very useful for computer simulations, and Matlab M-files are also included in some cases. With so much detailed information about design of marine control systems compiled in this textbook in a systematic way, I am convinced that this book will be widely used as a reference.
CLAES G. KALLSTRGM SSPA Maritime Consulting AB, PO Box 24001, S-40022 GGteborg, Sweden. Thor I. Fossen has written a very comprehensive textbook for senior and graduate students on modelling and control of marine vehicles. The book is ‘an attempt to draw the disciplines of engineering cybernetics and marine engineering together’, and the author has succeeded from the point of view that a control engineer working with ocean vehicle applications certainly has got a very useful book. I am not convinced that marine engineers and naval architects will find the book that useful, since the discussions about the physical interpretation and understanding are sometimes drowned in mathematics. However, for a reader with basic knowledge of control engineering and calculus, especially linear and nonlinear control theory, vector analysis and differential equations, Fossen’s textbook is a mine of information, with a stringent mathematical approach. The book covers most marine vehicles, such as submarines, torpedoes, unmanned and manned underwater vehicles, conventional ships, high-speed craft and semisubmersible oil rigs. Special chapters in the book are devoted to small unmanned underwater vehicles, surface ships and high-speed craft. Unfortunately the chapter on high-speed crafts is limited to surface effect ships (SES) and foilborne catamarans, while high-speed vehicles today often quite are designed as catamarans (without foils) or monohulls. Waterjet systems are frequently used as means of propulsion and steering of high-speed vessels, but this subject is completely lacking from the book. A number of control systems are discussed in detail: control systems for forward speed, autopilots for coursekeeping and diving, turning controllers, track-keeping systems, dynamic positioning (DP) systems, rudder-roll stabilisation (RRS) systems, fin control systems and ride control systems of surface effect ships (SES) and foilborne catamarans. The information in these chapters is very useful for engineers designing new marine control systems, especially when process knowledge is required. The book is organised as follows. Modelling of marine
About the reviewer
Claes G. Klllstrijm, Vice President Research and Development, SSPA Maritime Consulting AB, Gtiteborg, Sweden, received his MSc degree in Electrical Engineering in 1970 and his Doctor of Engineering degree in Automatic Control in 1979, both at Lund Institute of Technology, Lund. Sweden. Since 1979, he has been with SSPA, and is today responsible for R&D. Claes G. Klllstriim’s research interest is the application of modern control theory to marine vehicles and advanced use of computer simulation techniques. He is the author of more than 30 scientific papers presented at international conferences and in journals.
*Guidance and Control of Ocean Vehicles, by Thor I. Fossen. Wiley, Chichester (1996). ISBN 0-471-94113-I.
Detection
of Abrupt Changes: Theory and Application* Michkle Basseville and Igor V. Nikiforov
Reviewer:
H. VINCENT POOR Electrical Engineering Department, Princeton, NJ 08544, U.S.A.
Princeton
the problem of detecting changes in the quality of manufacturing processes. In the context of electronic and mechanical systems, the change detection problem has received a particularly high level of attention over the past two decades. In addition to a considerable body of theoretical work, this problem has been studied in the context of a number of applications areas, including biomedical signal processing, geophysical signal processing, navigation systems, vibration monitoring and condition-based maintenance, speech processing, and image processing. Change detection has also received attention in the field of
University,
The problem of detecting abrupt changes in the statistical structure underlying an observed signal or time series is a classical one whose provenance dates to work in the 1930s on * Detection of Abrupt Changes: Theory and Application, by Michkle and Igor V. Nikiforov. PTR Prentice-Hall, Englewood Cliffs. NJ (1993). ISBN O-13-126780-9. 123s
Pergamon
Book
Guidance
Reviews
and Control of Ocean Vehicles* Thor I. Fossen
Reviewer:
vehicle kinematics and dynamics in six degrees of freedom and environmental disturbances from wind, waves and currents are covered in two chapters. General nonlinear equations of motion and derived, and simplified equations for specific applications are also discussed. Environmental disturbances are included by use of the principle of superposition, for both linear and nonlinear models. Mathematical models derived under this assumption are useful for model-based control system design and simplified analysis, but more accurate models are sometimes required, for example in advanced simulation applications. A discussion of the validity of the models derived under the principle of superposition is lacking, and would have been valuable. Fossen has taught a course on ‘Systems for Guidance and Institute of Control’ since 1991 at the Norwegian Technology, Trondheim, and the textbook does indeed have a very pedagogical approach. There are many exercises of varying degree of difficulty, and the reference list is comprehensive. In one of the appendices nonlinear models of a Mariner Class Vessel, a 190000dwt tanker, a container ship and three underwater vehicles are summarised with complete lists of parameter values. The tanker model also contains shallow-water effects. All these models are very useful for computer simulations, and Matlab M-files are also included in some cases. With so much detailed information about design of marine control systems compiled in this textbook in a systematic way, I am convinced that this book will be widely used as a reference.
CLAES G. KALLSTRGM SSPA Maritime Consulting AB, PO Box 24001, S-40022 GGteborg, Sweden. Thor I. Fossen has written a very comprehensive textbook for senior and graduate students on modelling and control of marine vehicles. The book is ‘an attempt to draw the disciplines of engineering cybernetics and marine engineering together’, and the author has succeeded from the point of view that a control engineer working with ocean vehicle applications certainly has got a very useful book. I am not convinced that marine engineers and naval architects will find the book that useful, since the discussions about the physical interpretation and understanding are sometimes drowned in mathematics. However, for a reader with basic knowledge of control engineering and calculus, especially linear and nonlinear control theory, vector analysis and differential equations, Fossen’s textbook is a mine of information, with a stringent mathematical approach. The book covers most marine vehicles, such as submarines, torpedoes, unmanned and manned underwater vehicles, conventional ships, high-speed craft and semisubmersible oil rigs. Special chapters in the book are devoted to small unmanned underwater vehicles, surface ships and high-speed craft. Unfortunately the chapter on high-speed crafts is limited to surface effect ships (SES) and foilborne catamarans, while high-speed vehicles today often quite are designed as catamarans (without foils) or monohulls. Waterjet systems are frequently used as means of propulsion and steering of high-speed vessels, but this subject is completely lacking from the book. A number of control systems are discussed in detail: control systems for forward speed, autopilots for coursekeeping and diving, turning controllers, track-keeping systems, dynamic positioning (DP) systems, rudder-roll stabilisation (RRS) systems, fin control systems and ride control systems of surface effect ships (SES) and foilborne catamarans. The information in these chapters is very useful for engineers designing new marine control systems, especially when process knowledge is required. The book is organised as follows. Modelling of marine
About the reviewer
Claes G. Klllstrijm, Vice President Research and Development, SSPA Maritime Consulting AB, Gtiteborg, Sweden, received his MSc degree in Electrical Engineering in 1970 and his Doctor of Engineering degree in Automatic Control in 1979, both at Lund Institute of Technology, Lund. Sweden. Since 1979, he has been with SSPA, and is today responsible for R&D. Claes G. Klllstriim’s research interest is the application of modern control theory to marine vehicles and advanced use of computer simulation techniques. He is the author of more than 30 scientific papers presented at international conferences and in journals.
*Guidance and Control of Ocean Vehicles, by Thor I. Fossen. Wiley, Chichester (1996). ISBN 0-471-94113-I.
Detection
of Abrupt Changes: Theory and Application* Michkle Basseville and Igor V. Nikiforov
Reviewer:
H. VINCENT POOR Electrical Engineering Department, Princeton, NJ 08544, U.S.A.
Princeton
the problem of detecting changes in the quality of manufacturing processes. In the context of electronic and mechanical systems, the change detection problem has received a particularly high level of attention over the past two decades. In addition to a considerable body of theoretical work, this problem has been studied in the context of a number of applications areas, including biomedical signal processing, geophysical signal processing, navigation systems, vibration monitoring and condition-based maintenance, speech processing, and image processing. Change detection has also received attention in the field of
University,
The problem of detecting abrupt changes in the statistical structure underlying an observed signal or time series is a classical one whose provenance dates to work in the 1930s on * Detection of Abrupt Changes: Theory and Application, by Michkle and Igor V. Nikiforov. PTR Prentice-Hall, Englewood Cliffs. NJ (1993). ISBN O-13-126780-9. 123s