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    Model Predictive Control of an Autonomous Semi-Submersible Vehicle for Depth Control

    , M.Sc. Thesis Sharif University of Technology Amin Hatamy, Erfan (Author) ; Nejat Pishkenari, Hossein (Supervisor) ; Salarieh, Hassan (Supervisor)
    In the past few decades, with the advancement of technology, using autonomous robots has been receiving growing interest. Autonomous semi-submersible vehicles are a subset of autonomous underwater vehicles (AUV). This type of vehicle operates near the surface of the water and is semi-submerged. Nonlinear coupled dynamics, structural uncertainties, model parameters dependency to robot velocity, external disturbances, and model constraints are AUV’s workspace challenges. For this reason, depth control of these vehicles in the presence of environmental disturbances is crucial. However, MPC as one of the advanced control methods in the field of robotics is increasingly developing. This control... 

    Iran atlas of offshore renewable energies

    , Article Renewable Energy ; Volume 36, Issue 1 , January , 2011 , Pages 388-398 ; 09601481 (ISSN) Abbaspour, M ; Rahimi, R ; Sharif University of Technology
    The aim of the present study is to provide an Atlas of IRAN Offshore Renewable Energy Resources (hereafter called 'the Atlas') to map out wave and tidal resources at a national scale, extending over the area of the Persian Gulf and Sea of Oman. Such an Atlas can provide necessary tools to identify the areas with greatest resource potential and within reach of present technology development. To estimate available tidal energy resources at the site, a two-dimensional tidally driven hydrodynamic numerical model of Persian Gulf was developed using the hydrodynamic model in the MIKE 21 Flow Model (MIKE 21HD), with validation using tidal elevation measurements and tidal stream diamonds from...