Abstract：

With the reduction in production of oil reserves in onshore and shallow water oil fields, oil companies are increasingly tapping oil reserves in offshore deepwater with harsher environment using subsea systems.

The subsea systems have to be installed accurately in a specified spatial position and compass heading within tight limits. The control for the dynamic positioning of the subsea payload is challenging due to the unpredictable disturbances such as fluctuating currents and transmission of motions from the surface vessel through the lift cable. In our work, we model the coupled dynamics and control of the vessel, crane, flexible cable and payload with thrusters attached under environmental disturbances for subsea installation operations. For the practical system with physical constraints, Barrier Lyapunov Functions are employed in the design of positioning control for the flexible crane-cable-payload subsystem to ensure that the constraints are not violated. We also investigated active control of the flexible marine riser which is used to pipe oil from the seabed to surface using boundary control. The design is based on the PDEs of the system, to reduce the top angle and forced vibration due to the time varying ocean current disturbances. 

 

Biography:

Shuzhi Sam Ge, IEEE Fellow, P.Eng, is the Director of Institute of Intelligent Systems and Information Technology (ISIT), and Robotics Institute, University of Electronic Science and Technology of China, and the Director of Social Robotics Lab, Interactive Digital Media Institute, and Supervisor of Edutainment Robotics Lab, Department of Electrical and Computer Engineering, The National University of Singapore.

 

He received his PhD degree and DIC from the Imperial College, London, and BSc degree from Beijing University of Aeronautics & Astronautics.  He has (co)-authored three books, and over 300 international journal and conference papers. He serves as Vice President of Technical Activities, 2009-2010, and Member of Board of Governors, 2007-2009, and Chair of Technical Committee on Intelligent Control, 2005-2008, of IEEE Control Systems Society. He served as General Chair and Program Chair for a number of IEEE international conferences.

 

He is the Editor-in-Chief, International Journal of Social Robotics, Springer. He has served/been serving as an Associate Editor for a number of flagship journals including IEEE Transactions on
Automatic Control, IEEE Transactions on Control Systems Technology, IEEE Transactions on Neural Networks, and Automatica, and Book Editor for Taylor & Francis Automation and Control Engineering Series.

 

He was the recipient of the inaugural Thousand Talent Scheme (TTS) Professorship, China, 2008; Changjiang Guest Professor, Ministry of Education, China, 2008; the Fellow, IEEE (Institute of Electrical and Electronic Engineers), USA, 2006; Outstanding Overseas Young Research Award, National Science Foundation, China, 2004; Inaugural Temasek Young Investigator Award, Defence Science and Technology Agency (DSTA), Singapore, 2002; National Technology Award of the National Science & Technology Board, Singapore,1999. He provides technical consultancy to industrial and government agencies. His current research interests include social robotics, multimedia fusion, adaptive control, intelligent systems and artificial intelligence. His current research interests include social robotics, multimedia fusion, adaptive control, intelligent systems and artificial intelligence.