Pradya Prempraneerach

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In the paper, we model the integrated power system (IPS) of a typical destroyer ship coupled to hydrodynamics. This IPS is composed of a 21 MW, 3-phase synchronous generator supplying electric power to 4160 V AC bus and to a 19 MW, 15-phase induction motor driven by an indirect rotor field oriented control for the motor torque. Moreover, stochastic(More)
In this research work, an industrial-process prototype, particularly pick-and-place of machined parts, is developed by using an OWI-535 5-axis robot manipulator arm and controlling with Faulhaber motion control systems. To make an end-effector of the OWI-535 robot arm following desired positions with specified joint velocities, the inverse kinematics(More)
In a design process of a Delta or parallel robot, link parameters and actuators size must be selected to maximize appropriate workspace and payload capability. To derive a workspace of the Delta robot, the Cartesian reachable position of the Delta-robot end effector can be efficiently identified using an inverse kinematics. By varying upper-arm and fore-arm(More)
We present a detailed model of the integrated power system coupled to hydrodynamics that allows us to study global sensitivities in the All-Electric Ship. A novel element of our formulation is the stochastic modeling of the coupled system to account for uncertainty in the parameters or operating conditions. This new computational framework is applied to a(More)
Integration of local incremental planning and potential field is proposed for a motion planning of the car-like robot in this research so that obstacle avoidance and goal seeking could be achieved in real time. The feedback linearization control using a desired trajectory generated from the virtual force of potential function could help accomplishing these(More)
This research proposes a hydrographical survey technique using combined point cloud data from rotating echo sounder and two fixed laser scanners and correcting instantaneous position and orientation from GPS and IMU data to reconstructed a three-dimensional environment image. As a result, river/canal depth and bank slope/height can be measured. All survey(More)
Trajectory-tracking controller using Sliding Mode Control (SMC) approach are derived and applied to control Autonomous Surface Vessel. First, maneuverability performance of catamarans with two different thruster configurations: 1) two rotatable transom thrusters and 2) two fixed transom thrusters accompanying with two bow thrusters, are dynamically(More)
In this paper we present the design of a rechargeable battery storage device for use in an all-electric ship. The purpose of this device is to provide power of predictable quality to selected equipment. In addition a recharging unit is proposed for recharging the battery from the ship’s electric bus.
We formulate a modeling and simulation framework that integrates models of an all-electric ship (AES) with ship and propeller hydrodynamic models. In particular we present the first simulation study about the transient behavior of the propulsion system of AES during crash stop and backing maneuvers. A time domain model of all electric propulsion system of a(More)
Monitoring ocean acidification (OA) is very important for healthy fisheries and marine ecology systems, especially in coastal areas, like the Boston Harbor and the Massachusetts Bay areas. This problem is particularly exacerbated in this region as it is related to the so-called reduced “buffering capacity” of the New England coastal waters.(More)