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dynamic-positioning

thruster station-keeping of vessels and rigs: position-reference fusion, wave-filtered observer, thrust-allocation QP, DP2/DP3 redundancy and FMEA

Kongsberg K-Pos, Wärtsilä, Marine Technologies

SystemTechniques · 18Primitives · 51 dynamic-positioning Gain scheduled control lawscontrol · medium: Interpolate controller gains over flight condition (airspeed, altitude) from precomputed design points to keep performance across the envelopeAlarm managementembedded · medium: Turn raw process limits into a few actionable operator alarms with delay, deadband, acknowledge and shelving states, plus flood measurement.›Fault detection isolation recoveryembedded · medium: Monitor/response tables, fault isolation and safe-mode recovery hierarchies for autonomous systemsFault tree analysisembedded · medium: Write the unwanted top event as AND/OR logic over component failures, reduce it to minimal cut sets, then compute its probability and each failure's share.›Hot-standby redundancyembedded · medium: A second, always-current controller shadows the primary and takes over within a few cycles of silence; epochs stop the old primary from fighting back.›Safety monitor architectureembedded · medium: Independent doer/checker safety monitor that forces a safe state when the main channel misbehavesQuadratic programmingoptimization · medium: Convex QP solvers (active-set, interior-point, ADMM) for constrained optimizationRedundancy votingembedded · low: N-modular redundancy and MooN voting (2oo3, TMR) with discrepancy detectionWatchdog timerembedded · low: A hardware down-counter that resets the chip unless software proves, in time and in a plausible pattern, that it is still healthy.›Fixed-rate control loopembedded · low: Run a controller at an exact period using absolute deadlines and a fixed dt, so jitter never accumulates and the math stays valid.›Kalman filterrobotics · low: Optimal recursive estimator for a linear system with Gaussian noise: fuses a motion model with noisy measurements into a state estimate plus its covariance.›Complementary filterrobotics · low: Blend high-passed gyro integration with low-passed accelerometer/magnetometer attitude (Mahony/Madgwick)Extended Kalman filterrobotics · low: Kalman filter for nonlinear motion and measurement models: linearize f and h with Jacobians at the current estimate each step. The default estimator in robot navigation.›Quaternion rotationsgeometry · low: Unit quaternions as 3D rotations: 4 floats, cheap composition, no gimbal lock, plus the conversions, interpolation choices and numerical care needed in practice.›Modbus protocolembedded · low: Modbus RTU/TCP registers and function codes with polling and CRCReal time fieldbusembedded · low: Deterministic cyclic fieldbuses (EtherCAT, PROFINET IRT): on-the-fly frames, distributed clocksTime triggered schedulingembedded · low: Static cyclic schedules where every task and message has a precomputed time slotControl allocation mixingrobotics · low: Map desired thrust and torques to actuator commands via mixer matrices with saturation handlingPID controllerrobotics · low: Drive a measured value to a setpoint with three terms on the error: proportional, integral, derivative. The default feedback loop for motors, heaters, drones and gimbals.›IIR and FIR filterssignal-processing · low: Two ways to shape a sampled signal's spectrum: FIR (finite taps, always stable, exact linear phase) or IIR (feedback, a few coefficients, cheap but phase-distorting).›Debouncing throttlingsystems · low: Coalescing rapid events: debounce (wait for quiet), throttle (max rate), and cancelling stale in-flight requestsHierarchical state machinesystems · low: Nest states so a substate inherits its parent's reactions and only overrides what differs, with ordered entry and exit actions along the path.›BFS and DFSgraphs · low: The two basic graph traversals; BFS gives hop distances and levels, DFS gives discovery/finish order for cycles, components and topological order.›+ 11 more techniques+ 35 more primitives

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