Fundamental Design and Automation Technologies in Offshore Robotics

Fundamental Design and Automation Technologies in Offshore Robotics introduces technological design, modelling, stability analysis, control synthesis, filtering problem and real time operation of robotics vehicles in offshore environments.

The book gives numerical and simulation results in each chapter to reflect the engineering practice yet demonstrate the focus of the developed analysis and synthesis approaches. The book is ideal to be used as a reference book for senior and graduate students. It is written in a way that the presentation is simple, clear, and easy to read and understand which would be appreciated by graduate students. Researchers working on marine vehicles and robotics would be able to find reference material on related topics from the book.

The book could be of a significant interest to the researchers within offshore and deep see society, including both academic and industrial parts.

• Provides a series of latest results in, including but not limited to, motion control, robotics, and multi-vehicle systems towards offshore environment
• Presents recent advances of theory, technological aspects, and applications of robotics in offshore environment
• Offers a comprehensive and up-to-date references, which plays an indicative role for further study of the reader

1. Introduction to fundamental design and automation
technologies in offshore robotics
2. Continuous system integration and validation for underwater
perception in offshore inspection and intervention tasks
3. Azimuth thruster single lever type remote control system
4. Autonomous environment and target perception of underwater
offshore vehicles
5. Autonomous control of underwater offshore vehicles
6. Development of hybrid control architecture for a small
autonomous underwater vehicle
7. Adaptive sliding mode control based on local recurrent neural
networks for an underwater robot
8. Thruster fault reconstruction for autonomous underwater vehicle
based on terminal sliding mode observer
9. Robust sampled-data control for dynamic positioning ships
based on T-S fuzzymodel
10. Finite-time control of autonomous surface vehicles
11. Way-point tracking control of underactuated USV based on GPC
path planning
12. ESO-based guidance law for distributed path maneuvering
of multiple autonomous surface vehicles with a time-varying
formation
13. Finite-time extended state observer based fault tolerant output
feedback control for UAV attitude stabilization under actuator
failures and disturbances

Dr. Karimi received the B.Sc. (First Hons.) degree in power systems from the Sharif University of Technology, Tehran, Iran, in 1998, and the M.Sc. and Ph.D. (First Hons.) degrees in control systems engineering from the University of Tehran, Tehran, in 2001 and 2005, respectively. His research interests are in the areas of control systems/theory, mechatronics, networked control systems, intelligent control systems, signal processing, vibration control, ground vehicles, structural control, wind turbine control and cutting processes. He is an Editorial Board Member for some international journals and several Technical Committee. Prof. Karimi has been presented a number of national and international awards, including Alexander-von-Humboldt Research Fellowship Award (in Germany), JSPS Research Award (in Japan), DAAD Research Award (in Germany), August-Wilhelm-Scheer Award (in Germany) and been invited as visiting professor at a number of universities in Germany, France, Italy, Poland, Spain, China, Korea, Japan, India.