Conference Session

Ocean and Marine Division Technical Session 1

Collection

2016 ASEE Annual Conference & Exposition

Authors

Vukica M. Jovanovic, Old Dominion University; Petros J Katsioloudis, Old Dominion University; Mileta Tomovic, Old Dominion University; Thomas B. Stout, Tidewater Community College

Tagged Divisions

Ocean and Marine

with technology innovations, since computingcapabilities are driving advances in data management and cyber-physical system capabilities. 6 Acknowledgments The authors wish to acknowledge support from Office of Naval Research for grant “HigherEducation Pathways for Maritime Mechatronics Technicians (MechTech)”, Agency ProposalNumber N00014-15-1-2422.ReferencesArciszewski, H. F. R., de Greef, T. E., & van Delft, J. H. (2009). Adaptive Automation in a Naval Combat Management System. IEEE Transactions on Systems, Man & Cybernetics: Part A, 39(6), 1188-1199. doi: 10.1109/TSMCA.2009.2026428Arregi, B., Granados, S., Hascoet, J. Y., Hamilton, K., Alonso, M., & Ares, E

Conference Session

Ocean and Marine Division Technical Session 1

Collection

2016 ASEE Annual Conference & Exposition

Authors

Lifford McLauchlan, Texas A&M University, Kingsville; Mehrube Mehrubeoglu, Texas A&M University, Corpus Christi

Tagged Divisions

Ocean and Marine

) 𝑦̇ = 𝑈 sin(𝜓) (1) 𝜓̇ = 𝑟The position is x, y, U is the velocity and r is the input. This can then be extended to i vehicleswhich will move in a flocking behavior, a coordinated formation, with the same direction andvelocity. This can be accomplished using a local voting protocol [8] 𝑥̇ 𝑖 = 𝑈𝑖 cos(𝜓𝑖 ) 𝑦̇ 𝑖 = 𝑈𝑖 s 𝑖𝑛(𝜓𝑖 ) (2) 𝑈̇𝑖 = 𝑢𝑖where in a given neighborhood Ni around vehicle i given 𝑖 ≠ 𝑗 [8] 𝜓̇𝑖 = ∑𝑗∈𝑁𝑖 𝑎𝑖𝑗 (𝜓𝑗 − 𝜓𝑖

Conference Session

Ocean and Marine Division Technical Session 1

Collection

2016 ASEE Annual Conference & Exposition

Authors

David Clippinger P.E., U.S. Coast Guard Academy; Ronald Adrezin, U.S. Coast Guard Academy; Mary Shalane Regan, U.S. Coast Guard Academy

Tagged Divisions

Ocean and Marine

) 𝐵𝐵𝜃𝜃̇ M(t) Figure 1: Top View of Ship and the Associated Free Body Diagram (right)The ship has a mass moment of inertia about its vertical axis I, and is subject to a turningmoment M(t) from the ship’s rudder. The angle of the ship relative to the earth’s cardinal(inertial) directions is θ. The ship also experiences damping from the water, which here isapproximated as a linear function of the angular velocity 𝜃𝜃̇. The differential equation of motionfor such a system may be developed using appropriate techniques1, and is given as equation (1). 𝐼𝐼𝜃𝜃̈ + 𝐵𝐵𝜃𝜃̇ = 𝑀𝑀(𝑡𝑡) (1)A transfer function relating the transformed input moment M(s) to the transformed