Future Marine Launch and Recovery Systems

该研究计划的任务是通过推进运动补偿系统和机器人技术来提高海上船只的安全性。由于在两个浮动平台的货物转移期间以及在发射和回收作业期间物体之间的相对运动，出现了具体问题。为了提高海上载荷转移期间的操作可用性和福利，该研究计划专注于开发可用于对所有轴上的相对运动进行建模、预测和补偿的技术。该计划的最终目标是无论天气条件或相对运动如何，都能可靠地将任何负载或物体从海面或其他船只发射、回收或转移到主船上。该计划采用系统级的方法来解决这个问题，以在控制算法、系统建模、机器视觉、机器人驱动以及船用甲板机械和机器人的机械设计方面取得进展。*这项NSERC发现基金专门专注于基本模型的开发和推进控制系统的预测算法。控制系统的开发将减少海洋运动补偿系统的功耗和故障模式。此外，这项研究将把典型的“被动”方法改变为“主动”系统，以减轻和防止海上起重作业过程中的碰撞和其他灾难。拟议的研究还将调查完整的起重机和绞车系统的集成，以减少作业期间的相对运动。根据这一发现拨款进行的进展将有助于该计划实现其最终目标。此外，未来五年开展的研究将有助于价值50亿美元的加拿大海洋产业，因为它将有助于提高海洋设备的安全性。探索助学金的资金将直接支持1名博士、6名硕士和5名BASC学生。

The mission of the research program is to increase safety on maritime vessels by advancing motion compensation systems and robotics. Specific issues arise, due to the relative motion between bodies during cargo transfer of two floating platforms and during launch and recovery operations. To increase operational availability and welfare during maritime load transfers, the research program focuses on developing technologies that can be used to model, predict and compensate for the relative motion on all axes. The ultimate goal of the program is to reliably launch, recover or transfer any load or object from the sea surface or another vessel to the host ship irrespective of weather conditions or relative motions. The program takes a systems level approach to the problem to make advances in: control algorithms, system modelling, machine vision, robotic actuation, and mechanical design of marine deck machinery and robotics.***This NSERC Discovery Grant specifically focuses on fundamental model development and advancing a prediction algorithm for control systems. The control system developments will reduce power consumption and failure modes of marine motion compensation systems. Moreover, the research will alter the typical ‘reactive' methodology to a ‘proactive' system to mitigate and prevent collisions and other calamities during marine lifting operations. The proposed research also will investigate the integration of a complete crane and winch system to mitigate the relative motions during operations. The advances carried out under this Discovery Grant will assist the program towards its ultimate goal. Moreover, the research carried out over the next five years will help the $5 billion Canadian marine industry, as it will assist in improving the safety of maritime equipment. The funding of the Discovery Grant will directly support 1 PhD, 6 MASc, and 5 BASc students.