• Cartesian thrust allocation algorithm with variable direction thrusters, turn rate limits and singularity avoidance 

      Veksler, Aleksander Vladimirovitsj; Johansen, Tor Arne; Borrelli, Francesco; Realfsen, Bjørnar (Proceedings of the IEEE Conference on Control Applications;2014, Conference object, 2014)
      The literature on thrust allocation algorithms that is currently available usually focuses on solving only a few of the many facets of the thrust allocation problem at a time. This paper presents a unified thrust allocation ...
    • Dynamic Positioning System as Dynamic Energy Storage on Diesel-Electric Ships 

      Johansen, Tor Arne; Bø, Torstein Ingebrigtsen; Mathiesen, Eirik; Veksler, Aleksander Vladimirovitsj; Sørensen, Asgeir Johan (Journal article; Peer reviewed, 2014)
      A dynamic positioning (DP) system on a diesel-electric ship applies electric power to keep the positioning and heading of the ship subject to dynamic disturbances due to the winds, waves and other external forces using ...
    • Dynamic positioning with model predictive control 

      Veksler, Aleksander Vladimirovitsj; Johansen, Tor Arne; Borrelli, Francesco; Realfsen, Bjørnar (Journal article; Peer reviewed, 2016)
      Marine vessels with dynamic positioning (DP) capability are typically equipped with sufficient number of thrusters to make them overactuated and with satellite navigation and other sensors to determine their position, ...
    • In-transit cargo transfer between ships 

      Veksler, Aleksander Vladimirovitsj (Master thesis, 2009)
      Cargo transfer between two vessels at sea requires the ramp connection between the vessels to be as stable as possible. The complex nature of the system makes employing control methods difficult. This thesis explores two ...
    • Reducing power transients in diesel-electric dynamically positioned ships using re-positioning 

      Veksler, Aleksander Vladimirovitsj; Johansen, Tor Arne; Skjetne, Roger; Mathiesen, Eirik (Conference object; Journal article; Peer reviewed, 2014)
      A thrust allocation method with a functionality to assist power management systems by using the hull of the ship as a store of potential energy in the field of environmental forces has been recently proposed and ...
    • Thrust Allocation with Dynamic Power Consumption Modulation for Diesel-Electric Ships 

      Veksler, Aleksander Vladimirovitsj; Johansen, Tor Arne; Skjetne, Roger; Mathiesen, Eirik (Journal article; Peer reviewed, 2016)
      Modern ships and offshore units built for dynamic positioning (DP) are often powered by an electric power plant consisting of two or more diesel-electric generators. Actuation in any desired direction is achieved by placing ...