Simulation and Evaluation of Network Simplex Algorithm and its Extensions for Vehicle Scheduling Problems in Ports 2 2 The Minimum Cost Flow (MCF) problem is a well-known problem in the area of network optimisation. To tackle this problem, Network Simplex Algorithm (NSA) is the fastest solution method. NSA has three extensions, namely Network Simplex plus Algorithm (NSA+), Dynamic Network Simplex Algorithm (DNSA) and Dynamic Network Simplex plus Algorithm (DNSA+). The objectives of the research reported in this paper are to simulate and investigate the advantages and disadvantages of NSA compared with those of the three extensions in practical situations. To perform the evaluation, an application of these algorithms to scheduling problem of automated guided vehicles in container terminal is used. In the experiments, the number of iterations, CPU-time required to solve problems, overheads and complexity are considered. 1 12 2018/10/10 1397/7/18 2019/02/24 1397/12/5 Hassan Rashidi Hassan Rashidi Allameh Tabataba’i University Iran hrashi@gmail.com Network Simplex Algorithm Dynamic Network Simplex Algorithm Optimization Methods Dynamic Scheduling Container Terminals Grigoriadis, M. (1986). An Efficient Implementation of the Network Simplex Method. Mathematical Programming Study, 26, 83-111.##Ahuja, R., Magnanti, T., & Orlin, J. (1993). Network lows: Theory, Algorithms and Applications. Prentice Hall.##Kelly, D., & ONeill, G. (1993). The Minimum Cost Flow Problem and The Network Simplex Solution Method (Master degree dissertation).University College, Dublin.##Rashidi, H., & Tsang, E. (2011). A Complete and an Incomplete Algorithm for Automated Guided Vehicle Scheduling in Container Terminals. Journal of Computers and Mathematics with Applications, 61, 630-641.##Rashidi, H. (2014). A Dynamic Version for the Network Simplex Algorithm. Journal of Applied Soft Computing, 24, 414-422.##Parpalea, M., & Ciurea, E. (2011). Maximum Flow of Minimum Bi-Criteria Cost in Dynamic Networks. Recent researches in computer science, 118-123.##Wook, B., & Hwan, K. (2000). A pooled dispatching strategy for automated guided vehicles in port container terminals. International Journal of Management Science, 6(2), 47-60.##Goldberg, A., & Kennedy, R. (1993). An efficient cost scaling algorithm for the assignment problem.Technical Report, Stanford University.##Mulvey, J. (1978). Pivot Strategies for Primal Simplex Network Codes. Association for Computing Machinery Journal, 25, 266-270.##Bradley, G., Brown, G., & Graves, G. (1977). Design and Implementation of Large Scale Primal Transshipment Algorithms. Management Science, 24, 1-38.##Eppstein, D. (1999). Clustering for faster network simplex pivots. In Proceedings of the 5th ACM-SIAM Symposium, Discrete Algorithms, 160-166.##Lobel, A. (2000). A Network Simplex Implementation. Technical Report, Konrad-Zuse-Zentrumfur Informations technik Berlin (ZIB).##Maros, I. (2003). A General Pricing Scheme for the Simplex Method. Technical Report, London, Department of Computing, Imperial College.##Cunningham, W. (1979). Theoretical properties of the network simplex method. Mathematics of Operations research, 4(2), 196-208.##Aronson, J. (1989). A Survey of Dynamic Network Flows. Annal of Operation research, 20, 1-66.##Skutella, M. (2009). An Introduction to Network Flows Over Time. Research Trends in Combinatorial Optimization, Berlin: Springer.##Powell, W., Jaillet, P., & Odoni, A. (1995). Stochastic and Dynamic Networks and Routing. Handbooks in Operations Research and Management Science (pp. 141-295). Amsterdam: North-Holland.##Hoppe, B. (1995). Efficient Dynamic Network Flow Algorithms (Doctoral dissertation). Cornell University, New York.##Fonoberova, M., & Lozovanu, D. (2007). Optimal Dynamic Flows in Networks and Applications. The International Symposium the Issues of Calculation Optimization, Communications.Crimea, Ukraine, pp. 292-293.##Rauch, M. (1992). Fully Dynamic Graph Algorithms and Their Data Structures (Doctoral dissertation).Princeton University, New Jersey.##Afshari Rad, M., & Taghizadeh Kakhki, H. (2013). Maximum Dynamic Network Flow Interdiction Problem: New Formulation and Solution Procedures Original Research Article. Computers & Industrial Engineering, 65(4), 531-536.##Ratliff, H., Sicilia, G., & Lubore, S. (1975). Finding the n most vital links in flow networks. Management Science, 21, 531-539.##Geranis, G., Paparrizos, K., & Sifaleras, A. (2012). On a Dual Network Exterior Point Simplex Type Algorithm and Its Computational Behavior. Operations Research, 46, 211-234.##Shen, W., Nie, Y., & Zhang, H. (2007). A Dynamic Network Simplex Method for Designing Emergency Evacuation Plans. Transportation Research Record, 20(22), 83-93.##Zheng, H., & Chiu, Y. (2011). A Network Flow Algorithm for the Cell-Based Single-Destination System Optimal Dynamic Traffic Assignment Problem. Transportation Science, 45(1), 121-137.##Parpalea, M. (2011). A Parametric Approach to the Bi-criteria Minimum Cost Dynamic Flow Problem. Open Journal of Discrete Mathematics, 1(3), 116-126.##Parpalea, M., & Ciurea, E. (2011). The Quickest Maximum Dynamic Flow of Minimum Cost. Journal of Applied Mathematics and Informatics, 5(3), 266-274.##Hosseini, S. (2010). An Introduction to Dynamic Generative Networks: Minimum Cost Flow. Applied Mathematical Modelling, 35(10), 5017-5025.##Nasrabadi, E., & Hashemi, S. (2010). Minimum Cost Time-Varying Network Flow Problems. Optimization Methods and Software, 25(3), 429-447.##Ciurea, E., & Parpalea, M. (2010). Minimum Flow in Monotone Parametric Bipartite Networks. NAUN International Journal of Computers, 4(4), 124-135.##Fonoberova, M. (2010). Algorithms for Finding Optimal Flows in Dynamic Networks. S. Rebennack et al. (eds.), Handbook of Power Systems II, Energy Systems, Springer-Verlag Berlin Heidelberg.##El-Sherbenym, N. (2012). A New Class of a Minimum Cost Flow Problem on a Time Varying and Time Window. Scientific Research and Impact, 1(3), 18-28.##Salehi Fathabadi, H., Khodayifar, S., & Raayatpanah, M. (2012). Minimum flow Problem on network flows with time-varying bounds. Applied Mathematical Modeling, 36(9), 4414-4421.##Rashidi, H., & Tsang, E. (2005). Applying the Extended Network Simplex Algorithm and a Greedy Search Method to Automated Guided Vehicle Scheduling. the 2nd Multidisciplinary International Conference on Scheduling: Theory & Applications (MISTA). New York, p. 677-693.##Grunow, M., Gunther, H., & Lehmann, M. (2004). Dispatching multi-load AVGs in highly automated seaport vontainer terminals. OR Spectrum, 26(2), 211-235.##Murty, K., Jiyin, L., Yat-Wah, W., Zhang, C., Maria, C., Tsang, J., & Richard, L. (2002). A Decision Support System for operations in a container terminal. Decision Support System, 39, 309-332.##Huang, Y., & Hsu, W. (2002). Two Equivalent Integer Programming Models for Dispatching Vehicles at a Container Terminal. Report No. 639798, Nan yang Technological University, School of Computer Engineering.##Cheng, Y., Sen, H., Natarajan, K., Ceo, T., & Tan, K. (2003). Dispatching Automated Guided Vehicles in A Container Terminal. Technical Report, National University of Singapore.##Patrick, J., & Wagelmans, P. (2001). Dynamic Scheduling of Handling Equipment at Automated Container Terminals. Report No. EI 2001-33, Erasmus University of Rotterdam, Econometric Institute.##Bose, J., Reiners, T., Steenken, D., & Vob, S. (2000). Vehicle Dispatching at Seaport Container Terminals Using Evolutionary Algorithms. In Proceedings of the 33rd Annual Hawaii International Conference on System Sciences. Hawaii, p. 1-10.##Rashidi, H., & Tsang, E. (2011). A Complete and an Incomplete Algorithm for Automated Guided Vehicle Scheduling in Container Terminals. Journal of Computers and Mathematics with Applications, 61, 630-641.##Rashidi, H. (2006). Dynamic Scheduling of Automated Guided Vehicles in Container Terminals (Doctoral dissertation).University of Essex, Colchester.##Rashidi H., Tsang E. (2016). Vehicle Scheduling in Port Automation: Advanced Algorithms for Minimum Cost Flow Problems, Second Edition. CRC Press, New York.##Grigoriadis, M. (1986). An Efficient Implementation of the Network Simplex Method. Mathematical Programming Study, 26, 83-111.##Ahuja, R., Magnanti, T., & Orlin, J. (1993). Network lows: Theory, Algorithms and Applications. Prentice Hall.##Kelly, D., & ONeill, G. (1993). The Minimum Cost Flow Problem and The Network Simplex Solution Method (Master degree dissertation).University College, Dublin.##Rashidi, H., & Tsang, E. (2011). A Complete and an Incomplete Algorithm for Automated Guided Vehicle Scheduling in Container Terminals. Journal of Computers and Mathematics with Applications, 61, 630-641. doi:10.1016/j.camwa.2010.12.009.##Rashidi, H. (2014). A Dynamic Version for the Network Simplex Algorithm. Journal of Applied Soft Computing, 24, 414-422. doi:10.1016/j.asoc.2014.07.017.##Parpalea, M., & Ciurea, E. (2011). Maximum Flow of Minimum Bi-Criteria Cost in Dynamic Networks. Recent researches in computer science, 118-123.##Wook, B., & Hwan, K. (2000). A pooled dispatching strategy for automated guided vehicles in port container terminals. International Journal of Management Science, 6(2), 47-60.##Goldberg, A., & Kennedy, R. (1993). An efficient cost scaling algorithm for the assignment problem.Technical Report, Stanford University.##Mulvey, J. (1978). Pivot Strategies for Primal Simplex Network Codes. Association for Computing Machinery Journal, 25, 266-270. doi:10.1145/322063.322070.##Bradley, G., Brown, G., & Graves, G. (1977). Design and Implementation of Large Scale Primal Transshipment Algorithms. Management Science, 24, 1-38. doi:10.1287/mnsc.24.1.1.##Eppstein, D. (1999). Clustering for faster network simplex pivots. In Proceedings of the 5th ACM-SIAM Symposium, Discrete Algorithms, 160-166.##Lobel, A. (2000). A Network Simplex Implementation. Technical Report, Konrad-Zuse-Zentrumfur Informations technik Berlin (ZIB).##Maros, I. (2003). A General Pricing Scheme for the Simplex Method. Technical Report, London, Department of Computing, Imperial College.##Cunningham, W. (1979). Theoretical properties of the network simplex method. Mathematics of Operations research, 4(2), 196-208. doi:10.1287/moor.4.2.196.##Aronson, J. (1989). A Survey of Dynamic Network Flows. Annal of Operation research, 20, 1-66. doi:10.1007/BF02216922.##Skutella, M. (2009). An Introduction to Network Flows Over Time. Research Trends in Combinatorial Optimization, Berlin: Springer.##Powell, W., Jaillet, P., & Odoni, A. (1995). Stochastic and Dynamic Networks and Routing. Handbooks in Operations Research and Management Science (pp. 141-295). Amsterdam: North-Holland.##Hoppe, B. (1995). Efficient Dynamic Network Flow Algorithms (Doctoral dissertation). Cornell University, New York.##Fonoberova, M., & Lozovanu, D. (2007). Optimal Dynamic Flows in Networks and Applications. The International Symposium the Issues of Calculation Optimization, Communications.Crimea, Ukraine, pp. 292-293.##Rauch, M. (1992). Fully Dynamic Graph Algorithms and Their Data Structures (Doctoral dissertation).Princeton University, New Jersey.##Afshari Rad, M., & Taghizadeh Kakhki, H. (2013). Maximum Dynamic Network Flow Interdiction Problem: New Formulation and Solution Procedures Original Research Article. Computers & Industrial Engineering, 65(4), 531-536. doi:10.1016/j.cie.2013.04.014.##Ratliff, H., Sicilia, G., & Lubore, S. (1975). Finding the n most vital links in flow networks. Management Science, 21, 531-539. doi:10.1287/mnsc.21.5.531.##Geranis, G., Paparrizos, K., & Sifaleras, A. (2012). On a Dual Network Exterior Point Simplex Type Algorithm and Its Computational Behavior. Operations Research, 46, 211-234. doi:10.1051/ro/2012015.##Shen, W., Nie, Y., & Zhang, H. (2007). A Dynamic Network Simplex Method for Designing Emergency Evacuation Plans. Transportation Research Record, 20(22), 83-93.##Zheng, H., & Chiu, Y. (2011). A Network Flow Algorithm for the Cell-Based Single-Destination System Optimal Dynamic Traffic Assignment Problem. Transportation Science, 45(1), 121-137. doi:10.1287/trsc.1100.0343.##Parpalea, M. (2011). A Parametric Approach to the Bi-criteria Minimum Cost Dynamic Flow Problem. Open Journal of Discrete Mathematics, 1(3), 116-126. doi:10.4236/ojdm.2011.13015.##Parpalea, M., & Ciurea, E. (2011). The Quickest Maximum Dynamic Flow of Minimum Cost. Journal of Applied Mathematics and Informatics, 5(3), 266-274.##Hosseini, S. (2010). An Introduction to Dynamic Generative Networks: Minimum Cost Flow. Applied Mathematical Modelling, 35(10), 5017-5025. doi:10.1016/j.apm.2011.04.009.##Nasrabadi, E., & Hashemi, S. (2010). Minimum Cost Time-Varying Network Flow Problems. Optimization Methods and Software, 25(3), 429-447. doi:10.1080/10556780903239121.##Ciurea, E., & Parpalea, M. (2010). Minimum Flow in Monotone Parametric Bipartite Networks. NAUN International Journal of Computers, 4(4), 124-135.##Fonoberova, M. (2010). Algorithms for Finding Optimal Flows in Dynamic Networks. S. Rebennack et al. (eds.), Handbook of Power Systems II, Energy Systems, Springer-Verlag Berlin Heidelberg.##El-Sherbenym, N. (2012). A New Class of a Minimum Cost Flow Problem on a Time Varying and Time Window. Scientific Research and Impact, 1(3), 18-28.##Salehi Fathabadi, H., Khodayifar, S., & Raayatpanah, M. (2012). Minimum flow Problem on network flows with time-varying bounds. Applied Mathematical Modeling, 36(9), 4414-4421. doi:10.1016/j.apm.2011.11.067.##Rashidi, H., & Tsang, E. (2005). Applying the Extended Network Simplex Algorithm and a Greedy Search Method to Automated Guided Vehicle Scheduling. the 2nd Multidisciplinary International Conference on Scheduling: Theory & Applications (MISTA). New York, p. 677-693.##Grunow, M., Gunther, H., & Lehmann, M. (2004). Dispatching multi-load AVGs in highly automated seaport vontainer terminals. OR Spectrum, 26(2), 211-235. doi:10.1007/s00291-003-0147-1.##Murty, K., Jiyin, L., Yat-Wah, W., Zhang, C., Maria, C., Tsang, J., & Richard, L. (2002). A Decision Support System for operations in a container terminal. Decision Support System, 39, 309-332.##Huang, Y., & Hsu, W. (2002). Two Equivalent Integer Programming Models for Dispatching Vehicles at a Container Terminal. Report No. 639798, Nan yang Technological University, School of Computer Engineering.##Cheng, Y., Sen, H., Natarajan, K., Ceo, T., & Tan, K. (2003). Dispatching Automated Guided Vehicles in A Container Terminal. Technical Report, National University of Singapore.##Patrick, J., & Wagelmans, P. (2001). Dynamic Scheduling of Handling Equipment at Automated Container Terminals. Report No. EI 2001-33, Erasmus University of Rotterdam, Econometric Institute.##Bose, J., Reiners, T., Steenken, D., & Vob, S. (2000). Vehicle Dispatching at Seaport Container Terminals Using Evolutionary Algorithms. In Proceedings of the 33rd Annual Hawaii International Conference on System Sciences. Hawaii, p. 1-10.##Rashidi, H., & Tsang, E. (2011). A Complete and an Incomplete Algorithm for Automated Guided Vehicle Scheduling in Container Terminals. Journal of Computers and Mathematics with Applications, 61, 630-641. doi:10.1016/j.camwa.2010.12.009.##Rashidi, H. (2006). Dynamic Scheduling of Automated Guided Vehicles in Container Terminals (Doctoral dissertation).University of Essex, Colchester.##Rashidi H., Tsang E. (2016). Vehicle Scheduling in Port Automation: Advanced Algorithms for Minimum Cost Flow Problems, Second Edition. CRC Press, New York.## ##

Hydrodynamic Characteristics of Inverse T-Type Floating Breakwaters 2 2 Various types of floating breakwaters in different configuration and shapes are used to reduce wave height in coastal areas. The most important parameter in designing breakwaters are their shapes which determines hydrodynamic reaction to incident waves. Some cross sections are more effective and more efficient than others. In framework of numerical methods, finite element and boundary element methods are two popular and effective approaches which have been widely applied to floating body problems. In this study by using boundary element method, diffraction problem is solved for a new type of breakwater, which is called inverse T-type floating breakwater. To have a validated results, a rectangular cross section floating breakwater is analyzed and results are compared to previous researches. The final goal of this study is obtaining hydrodynamic characteristics of this new type of breakwater and comparing its response to sinusoidal waves with other conventional floating breakwaters. It is shown that in same weight, this new type of breakwater has better transmission coefficient among other conventional breakwaters and might be used as an efficient alternative. 13 20 2018/10/102019/02/6 1397/11/17 2019/02/242019/03/16 1397/12/25 Esmaeel Masoudi Esmaeel Masoudi Amirkabir University of Technology Iran esmaeelmasoodi@aut.ac.ir Floating breakwater Rectangular cross section Transmission coefficient Reflection coefficient Inverse T-type C. Garrett, 1971. Wave forces on a circular dock, Journal of Fluid Mechanics, 46, 129-139##Black, J.L., Mei, C.C. and Bray, M.C.G., 1971. Radiation and scattering of water waves by rigid bodies. Journal of Fluid Mechanics, 46(1), 151-164##A. Hulme, 1982. The wave forces acting on a floating hemisphere undergoing forced periodic oscillations, Journal of Fluid Mechanics, 121, 443-463##G. Wu and R. E. Taylor, 1990. The second order diffraction force on a horizontal cylinder in finite water depth, Applied Ocean Research, 12, 106-111##L. Berggren and M. Johansson, 1992. Hydrodynamic coefficients of a wave energy device consisting of a buoy and a submerged plate, Applied Ocean Research, 14, 51-58##J.-F. Lee, 1995. On the heave radiation of a rectangular structure, Ocean Engineering, 22, 19-34##H. Hsu and Y.-C. Wu, 1997. The hydrodynamic coefficients for an oscillating rectangular structure on a free surface with sidewall, Ocean Engineering, 24, 177-199##Zheng, Y.H., You, Y.G. and Shen, Y.M., 2004. On the radiation and diffraction of water waves by a rectangular buoy. Ocean engineering, 31(8-9), 1063-1082##Zheng, Y.H., Shen, Y.M., You, Y.G., Wu, B.J. and Jie, D.S., 2004. On the radiation and diffraction of water waves by a rectangular structure with a sidewall. Ocean Engineering, 31(17-18), 2087-2104##Masoudi. E, Zeraatgar. H., (2015), Application of method of separation of variables for analyzing floating breakwater, IJMT, Vol (11) / No.22##Deng, Z., Wang, L., Zhao, X., & Huang, Z., (2019), Hydrodynamic performance of a T-shaped floating breakwater. Applied Ocean Research, 82, 325-336.##Sannasiraj, S.A., Sundar, V. and Sundaravadivelu, R., 1995. The hydrodynamic behaviour of long floating structures in directional seas. Applied Ocean Research, 17(4), 233-243##Christensen, E.D., Bingham, H.B., Friis, A.P.S., Larsen, A.K. and Jensen, K.L., 2018. An experimental and numerical study of floating breakwaters. Coastal Engineering, 137, 43-58##Ji, C., Deng, X. and Cheng, Y., 2018. An experimental study of double-row floating breakwaters. Journal of Marine Science and Technology, 1-13##B. Li, S. Lau, and C. Ng, (1991), Second order wave diffraction forces and run up by finite-infinite element method, applied ocean research, vol. 13, 270-286##T. Yamamoto, A. Yoshida, and T. Ijima, (1980), Dynamics of elastically moored floating objects, applied ocean research, vol. 2, 85-92##E. Masoudi, H. Zeraatgar, 2017. Hydrodynamic Analysis of Various Cross Sections of Floating Breakwaters, Proceedings of 7th international offshore industries conference (Sharif University of technology, Tehran, Iran), pp. 82##E. Masoudi, 2016. Hydrodynamic study of Various Cross Sections of Floating Breakwaters, Proceedings of 18th marine industries conference (Iranian Association of Naval architecture and Marine engineering, Kish, Iran), pp. 26##Zhan, J.M., Chen, X.B., Gong, Y.J. and Hu, W.Q., 2017. Numerical investigation of the interaction between an inverse T-type fixed/floating breakwater and regular/irregular waves. Ocean engineering, 137, 110-119##Zhang, X. S., Ma, S., & Duan, W. Y., (2018). A new L type floating breakwater derived from vortex dissipation simulation. Ocean Engineering, 164, 455-464.##Longuet-Higgins, M.S., 1977. The mean forces exerted by waves on floating or submerged bodies with applications to sand bars and wave power machines. Proceedings of the Royal Society of London. A. Mathematical and Physical Sciences, 352(1671), 463-480.##C. Garrett, 1971. Wave forces on a circular dock, Journal of Fluid Mechanics, 46, 129-139##Black, J.L., Mei, C.C. and Bray, M.C.G., 1971. Radiation and scattering of water waves by rigid bodies. Journal of Fluid Mechanics, 46(1), 151-164##A. Hulme, 1982. The wave forces acting on a floating hemisphere undergoing forced periodic oscillations, Journal of Fluid Mechanics, 121, 443-463##G. Wu and R. E. Taylor, 1990. The second order diffraction force on a horizontal cylinder in finite water depth, Applied Ocean Research, 12, 106-111##L. Berggren and M. Johansson, 1992. Hydrodynamic coefficients of a wave energy device consisting of a buoy and a submerged plate, Applied Ocean Research, 14, 51-58##J.-F. Lee, 1995. On the heave radiation of a rectangular structure, Ocean Engineering, 22, 19-34##H. Hsu and Y.-C. Wu, 1997. The hydrodynamic coefficients for an oscillating rectangular structure on a free surface with sidewall, Ocean Engineering, 24, 177-199##Zheng, Y.H., You, Y.G. and Shen, Y.M., 2004. On the radiation and diffraction of water waves by a rectangular buoy. Ocean engineering, 31(8-9), 1063-1082##Zheng, Y.H., Shen, Y.M., You, Y.G., Wu, B.J. and Jie, D.S., 2004. On the radiation and diffraction of water waves by a rectangular structure with a sidewall. Ocean Engineering, 31(17-18), 2087-2104##Masoudi. E, Zeraatgar. H., (2015), Application of method of separation of variables for analyzing floating breakwater, IJMT, Vol (11) / No.22##Deng, Z., Wang, L., Zhao, X., & Huang, Z., (2019), Hydrodynamic performance of a T-shaped floating breakwater. Applied Ocean Research, 82, 325-336.##Sannasiraj, S.A., Sundar, V. and Sundaravadivelu, R., 1995. The hydrodynamic behaviour of long floating structures in directional seas. Applied Ocean Research, 17(4), 233-243##Christensen, E.D., Bingham, H.B., Friis, A.P.S., Larsen, A.K. and Jensen, K.L., 2018. An experimental and numerical study of floating breakwaters. Coastal Engineering, 137, 43-58##Ji, C., Deng, X. and Cheng, Y., 2018. An experimental study of double-row floating breakwaters. Journal of Marine Science and Technology, 1-13##B. Li, S. Lau, and C. Ng, (1991), Second order wave diffraction forces and run up by finite-infinite element method, applied ocean research, vol. 13, 270-286##T. Yamamoto, A. Yoshida, and T. Ijima, (1980), Dynamics of elastically moored floating objects, applied ocean research, vol. 2, 85-92##E. Masoudi, H. Zeraatgar, 2017. Hydrodynamic Analysis of Various Cross Sections of Floating Breakwaters, Proceedings of 7th international offshore industries conference (Sharif University of technology, Tehran, Iran), pp. 82##E. Masoudi, 2016. Hydrodynamic study of Various Cross Sections of Floating Breakwaters, Proceedings of 18th marine industries conference (Iranian Association of Naval architecture and Marine engineering, Kish, Iran), pp. 26##Zhan, J.M., Chen, X.B., Gong, Y.J. and Hu, W.Q., 2017. Numerical investigation of the interaction between an inverse T-type fixed/floating breakwater and regular/irregular waves. Ocean engineering, 137, 110-119##Zhang, X. S., Ma, S., & Duan, W. Y., (2018). A new L type floating breakwater derived from vortex dissipation simulation. Ocean Engineering, 164, 455-464.##Longuet-Higgins, M.S., 1977. The mean forces exerted by waves on floating or submerged bodies with applications to sand bars and wave power machines. Proceedings of the Royal Society of London. A. Mathematical and Physical Sciences, 352(1671), 463-480.## ##

Seismic Analysis of an Offshore Structure in Persian Gulf Utilizing a Physical Model 2 2 A simple dynamic model of an offshore jacket platform is developed based on the scaled hydro-elastic model of the jacket to estimate the dynamic response of the system. The finite element model of the platform is updated numerically by using the experimental modal analysis (EMA) results. Dynamic characteristics of the improved simple dynamic model (SPM) and idealized model are specified based on updated model properties. The effects of the experimental test are studied to investigate the dynamic response of a scaled model of an offshore jacket platform through the SPM and idealized models. Seismic response of the jacket platform is studied by using the idealized model under an earthquake acceleration. The effects of marine growth and the corrosion are considered within the calculation process by considering the jacket mass and stiffness variation. The developed SPM and idealized model provide a feasible and effective approach for evaluating the dynamic response of the offshore jacket platform. The results indicate the importance of the experimental studies in validating the numerical results and reducing the uncertainties for the fixed marine structures. 21 31 2018/10/102019/02/62018/07/5 1397/4/14 2019/02/242019/03/162019/03/6 1397/12/15 Farhad Hosseinlou Farhad Hosseinlou Graduated Ph.D. Student Iran f.hosseinlou@tabrizu.ac.ir Hamid Hokmabady Hamid Hokmabady Ph.D candidate Iran H.hokmabady@tabrizu.ac.ir Alireza Mojtahedi Alireza Mojtahedi Associated Professor Iran a.Mojtahed@tabrizu.ac.ir Samira Mohammadyzadeh Samira Mohammadyzadeh Graduated MSc Student Iran S.mohammadyzadeh@gmail.com Offshore jacket platform Improved reduction technique Simplified platform model Dynamic response analysis Model updating Hokmabady, H., Mojtahedi, A., Lotfollahi Yaghin, M., Farajpour, I. 2019. Calibration and Bias-Correction of the Steel Offshore Jacket Platform Models Using Experimental Data. J Waterway Port Coast and Ocean Eng. 145(3):04019008-1-15. ##https://doi.org/10.1061/(ASCE)WW.1943-5460.0000509##Ewins D.J. 2000. Model testing: theory, practice and application. second ed. Research studies press.##Baruch M. and Wis M. 1978. Optimization procedure to correct stiffness and flexibility matrices using vibration tests. The Am. Ins. Aero. And Astro. 16(11):1208−1210.##Denoyer K. K. and Peterson L. D. 1997. Method for structural model update using dynamically measured static flexibility matrices. The Am. Ins. Aero. And Astro. 35(2):362−368.##Lin, R. -M., Lim, M. -K. and Du, H.,"Improved inverse eigensensitivity method for structural analytical model updating," Trans. ASME, Vol. 117, pp.192−198, 1995.##Guyan, R.J. 1965. Reduction of stiffness and mass matrices. The Am. Ins. Aero. And Astro. 3:380-392.##O'Callahan J. 1989. A procedure for improved reduced system (IRS) Model. 7th IMAC. Las Vegas. USA.##Zeinoddini, M., Matin Nikoo, H., Estekanchi, H., 2012. Endurance Wave Analysis (EWA) and its application for assessment of offshore structures under extreme waves. Applied Ocean Research 37(0): 98-110.##Najafian G. 2007. Application of system identification techniques in efficient modelling of offshore structural response. Part I: model development. J. App. Ocean Res. 29:1-16.##API-RP2A. 2000. Recommended practice for planning designing and constructing fixed offshore platform-working stress design. 21st ed. Washington, DC: American Petroleum Institute.##Zeinoddini M. 2006. Design and performance of fixed offshore platform. Iranian National Oceanology Institute. Persian.##Asgarian B, Lesani M. 2009. Pile-soil-structure interaction in pushover analysis of jacket offshore platforms using fiber elements. J. Cons. Steel Res. 6:209-18.##Gomathinayagam S, Vendhan CP, Shanmugasundaram J. Dynamic effects of wind loads on offshore deck structures - a critical evaluation of provisions and practices. J. Wind Eng. and Ind. Aerodyn. 84(3):345-67.##Winsor F. 2003. Evaluation of methods to remove inertial force from measured model wave impact force signals. Ocean Eng. 30(1):47-84.##Elshafey, A.A, Haddara, M.R, Marzouk, H. 2009. Dynamic response of offshore jacket structures under random loads, Marine Struc. 22:504-521.##Bargi, K., Hosseini, S., Tadayon, M., Shariﬁan, H., 2011. Seismic response of a typical ﬁxed jacket-type offshore platform (SPD1) under sea waves. Open J. Mar. Sci. 1:36-42.##Park, M., Koo, W., Kawano, K. 2011. Dynamic response analysis of an offshore platform due to seismic motions. Eng. Struct. 33:1607-1616.##Hutton, D.V. 2004. Fundamentals of Finite Element Analysis. McGraw-Hill. New York.##Bea, R.G., Stear J.D., 1998. Simplified strength-level earthquake assessment of jacket-type platforms, Eighth Int. Offshore and Polar Engineering Conference, Montreal, Canada.##Zhou, B., Han, X., Tan, S.K, 2014. A simplified computational method for random seismic responses of a jacket platform. Ocean Eng. 82:85-90.##Chakrabarti, S. K. 1994. Offshore structure modeling. World Scientific Publishing Co. Pte. Ltd. Singapore.##Hosseinlou, F., Mojtahedi, A. 2016. Developing a robust simplified method for structural integrity monitoring of offshore jacket-type platform using recorded dynamic responses. J. App. Ocean Res. 56:107-118.##Chopra, A., 2005. Dynamics of Structure: Theory and Application to Earthquake Engineering, second ed. Tsinghua University Press. Beijing. China.## ##

Sensitivity Analysis of Pile Supported Wharves against Directional Uncertainty of Earthquakes Using Fragility Curves 2 2 This paper aims to tackle an important uncertainty which extremely affects seismic performance of wharf structures in earthquake events. According to previous studies performed for structures on land, it is shown that structures on land are highly susceptible to unknown orientation of earthquakes called as the directional uncertainty. However, for marine structures, especially pile supported wharves, research efforts are rare to assess the effect of directional uncertainty of earthquakes. Therefore, to show this effect on pile supported wharves, fragility analysis is performed based on methodology suggested by Pacific Earthquake Engineering Research Center (PEER) for the modeled pile supported wharf located in Maah-shahr port as a case study. As the first phase of this methodology, nonlinear static pushover analyses are performed for randomly chosen incident angles in order to quantitatively measure damage states suggested by marine design code. After damage states are obtained, IDA analysis are conducted in the selected incident angles to obtain nonlinear structural responses which are supposed to be used for fragility analysis as inputs. Finally, once fragility curves have been developed according to the last phase of PEER methodology, the more vulnerable directions of wharf are represented. 33 40 2018/10/102019/02/62018/07/52019/02/18 1397/11/29 2019/02/242019/03/162019/03/62019/03/13 1397/12/22 Mohsen Soltani Mohsen Soltani University of Qom Iran M.Soltani1@stu.qom.ac.ir Rouhollah Amirabadi Rouhollah Amirabadi University of Qom Iran r.amirabadi@qom.ac.ir IDA Fragility analysis Pile-supported wharf Directional uncertainty Brunet, S., de la Llera, J.C., Jacobsen, A., Miranda, E. and Meza, C., (2012), Performance of port facilities in Southern Chile during the 27 February 2010 Maule earthquake. Earthquake Spectra, 28(S1), pp. S553-S579.##SEAOC Vision 2000 Committee, (1995), Performance-Based Seismic Engineering, Report prepared by Structural Engineers Association of California, Sacramento, California.##Dong, Y. and Frangopol, D.M., (2016), Performance‐based seismic assessment of conventional and base‐isolated steel buildings including environmental impact and resilience. Earthquake Engineering & Structural Dynamics, 45(5), pp.739-756.##Ferritto, J.M., (1997), Design Criteria for Earthquake Hazard Mitigation of Navy Piers and Wharves (No. NFESC-TR-2069-SHR). Naval Facilities Engineering Service Center Port Hueneme Ca.##Lee, W.K., and Billington, S.L., (2009) simulation and performance-based earthquake engineering assessment of self-centering post-tensioned concrete bridge systems, Pacific Earthquake Engineering Research Center (PEER), College of Engineering, University of California, Berkeley.##Vamvatsikos, D. and Cornell, C., (2002), Incremental Dynamic Analysis, Earthquake Engineering and Structural Dynamics, 491-514.##Dezvareh, R., (2019), Upgrading the Seismic Capacity of Pile-Supported Wharfs Using Semi-Active Liquid Column Gas Damper. Journal of Applied and Computational Mechanics.##Lee, T.H. and Mosalam, K.M., (2006), Probabilistic seismic evaluation of reinforced concrete structural components and systems, Pacific Earthquake Engineering Research Center (PEER) report, College of Engineering, University of California, Berkeley.##Pacific Earthquake Engineering Research Center, (2002), Estimation of Uncertainty in Geotechnical Properties for Performance-Based Earthquake Engineering, University of Washington.##Na, U.J. and Shinozuka, M., (2009), Simulation-based Seismic Loss Estimation of Seaport Transportation System, Reliability Engineering & System Safety, Vol. 9, No.3, pp. 722-731.##Na, U.J., S.R., Chaudhuri, and Shinozuka, M., (2009), performance evaluation of pile supported wharf under seismic loading, Proc., TCLEE, p.1032-1041.##Torkamani, H., Bargi, K., and Amirabadi, R., (2013), Fragility curves derivation for a pile-supported wharf, International Journal of Maritime Technology, 1:1-10.##Lagaros, Nikos D., (2010), Multicomponent incremental dynamic analysis considering variable incident angle, Structure and Infrastructure Engineering, 77-94.##Rupali, J. and Jaiswal, J., (2017), Study of Effect of Seismic Excitation Angle for the Analysis of Regular and Irregular RC Frame, Mechanical and Civil Engineering, 80-83.##Shafieezadeh, A., (2011), seismic vulnerability assessment of wharf structure, in Civil and Environmental Engineering, Georgia Institute of Technology.##Chiou, J.S., Chiang, C.H., Yang, H.H, and Hsu, S.Y., (2011), Developing fragility curves for a pile-supported wharf, Soil Dynamics and Earthquake Engineering, Journal homepage: www.elsevier.com/locate/soildyn.##Thomopoulos, C., and Lai, C., (2012), Preliminary definition of fragility curves for pile supported wharves, Journal of Earthquake Engineering. 16(sup1): p.83-106.##Yang, C.-S.W., Desroches, R., and Rix, G.J., (2012), Numerical fragility analysis of vertical pile-supported wharves in the western United States, Journal of Earthquake Engineering. 16(4): p.579-594##Heidary-Torkamani, H., Bargi, K., Amirabadi, R., and McCllough, N.J., (2014), Fragility estimation and sensitivity analysis of an idealized pile supported wharf with batter piles, Soil Dynamics and Earthquake Engineering. 61-62(0): p. 92-106.##Banayan-Kermani, A., Bargi. Kh., and Heidary-Torkamani. H., (2016), Seismic performance assessment of pile-supported wharves retrofitted by carbon fiber-reinforced polymer composite considering aging effect, Advances in Structural Engineering. DOI: 10.1177/1369433216630187.##Kermani. A, and Bargi. K., (2016), Fragility curves: a powerful tool for seismic vulnerability assessment of pile-supported wharves, International Journal of Science and Engineering. ISSN:2454.##SAP2000 V19.0, (2017), CSI Analysis Reference Manual for SAP 2000, Computers and Structures, Inc., Berkley, California.##American Petroleum Institute (API), (2000) Recommended practice for planning, designing, and constructing offshore platforms: API recommended practice 2A (RP 2A), 17th ed. Washington, DC: American Petroleum Institute.##PIANC., (2001), Seismic Design Guidelines for Port Structures, Permanent International Navigation Association, A.A. Balkema Publishers, Rotterdam, The Netherlands.##Amirabadi, R., Bargi, K., Dolatshahi Piroz, M., Heydari Torkamani, H., Mccllough, N., (2012), Probabilistic seismic demand model of PEER-PBEE framework for pile and deck structure, International Journal of Civil and Structural Engineering.##Pacific Earthquake Engineering Research Center (PEER), (2107) Data from: PEER Ground Motion Database. Retrieved from http://ngawest2.berkeley.edu/users/sign_in.## ##

Transient Behavior of Saltwater Wedge and Mixing Zone in Head-Controlled Coastal Aquifer: Experimental Measurements and Numerical Modeling 2 2 Saltwater intrusion is a transient process that affects the coastal aquifers quality and hydrodynamics. The transient behavior of the saltwater wedge (SW) and mixing zone (MZ) due to the changes of the inland freshwater head was investigated through experimental and numerical approaches using image processing technique and the numerical code SUTRA. To acquire data in the transient conditions, automated algorithms were designed and employed for both methods. Numerical simulations were extended to a reference problem of field scale for further study of the transient aspect of the saltwater intrusion phenomena. The results demonstrated that the behavior of SW area is significantly similar to the behavior of SW toe length in transient conditions. Also, in the advancing case, the SW height reaches the steady state condition much sooner than the SW toe length and the SW area, while in the receding case, all the three indicators are stabilized almost simultaneously. Furthermore, the results showed that the MZ expanded at early stages of the receding and after a while condensed again gradually until it finally reaches to its original state at the beginning of the advancing case. Although local velocity of brackish water toward sea boundary in the dilute region of the MZ is more than in the dense region, the flushing and mixing process causes to increase the MZ in the receding case. Sensitivity analyzes showed that the speed of SW advancing or receding does not affect the MZ thickness in a steady state condition. 41 51 2018/10/102019/02/62018/07/52019/02/182018/12/6 1397/9/15 2019/02/242019/03/162019/03/62019/03/132019/02/21 1397/12/2 Abbasali Rezapour Abbasali Rezapour Department of Civil Engineering, Birjand University of Technology iran abbas.rezapoor@birjandut.ac.ir Fazlolah Saghravani Fazlolah Saghravani Department of Civil Engineering, Shahrood University of Technology iran saghravani@shahroodut.ac.ir Alireza Ahmadyfard Alireza Ahmadyfard Department of Electrical Engineering, Shahrood University of Technology iran ahmadyfard@shahroodut.ac.ir Mehdi Rezapour Mehdi Rezapour Department of Civil Engineering, Chabahar Maritime University iran rezapour@cmu.ac.ir saltwater intrusion transient condition saltwater wedge mixing zone image processing numerical modelling Kuan, W. K., Jin, G., Xin, P., Robinson, C., Gibbes, B. Li, L., (2012), Tidal influence on seawater intrusion in unconfined coastal aquifers. Water Resources Research, 48:W02502##Chang, S. W., Clement, T. P., (2012), Experimental and Numerical Investigation of Saltwater Intrusion Dynamics in Flux-Controlled Groundwater Systems. 48(March), 1-10.##Werner, A.D. et al. (2013), Seawater Intrusion Processes, Investigation and Management: Recent Advances and Future Challenges, Advances in Water Resources, 51: 3-26.##Barlow, P.M., (2003), Ground Water in Freshwater-Saltwater Environments of the Atlantic coast. U.S. Geological Survey Circular 1262.##Price, R.M., Top, Z., Happell, J. D., Swart, P.K., (2003), Use of tritium and helium to define groundwater flow conditions in Everglades National Park##Cherry, G. S., (2006), U.S. Geological Survey Georgia Water Science Center and City of Brunswick-Glynn County Cooperative Water Program - Summary of Activities, July 2005 through June 2006, U.S.G.S. Open-File Report 2006-1368.##Abarca, E., Clement, T. P., (2009), A Novel Approach for characterizing the mixing zone of a Saltwater Wedge, Geophysical Research Letters. 36(6). 1-5.##Goswami, R. R., Clement, T. P, (2007), Laboratory-Scale Investigation of Saltwater Intrusion Dynamics, Water Resources Research. 43(4), 1-11.##Luyun, R, Momii, K. and Nakagawa, K., (2009), Laboratory-Scale Saltwater Behavior due to Subsurface Cutoff Wall. Journal of Hydrology. 377(3-4), 227-36.##Luyun, R., Momii, K., Nakagawa, K., (2011), Effects of recharge wells and flow barriers on seawater intrusion. Ground Water 49, 239e249##Mehdizadeh, S., Werner, A. D., Vafaie, F., and Badaruddin, S., (2014), Vertical Leakage in Sharp-Interface Seawater Intrusion Models of Layered Coastal Aquifers, Journal of Hydrology. 519, 1097-1107.##Oz, I., Shalev, E., Yechieli, Y., Gavrieli, I., Gvirtzman, H., (2014), Flow Dynamics and Salt Transport in a Coastal Aquifer Driven by a Stratified Saltwater Body: Lab Experiment and Numerical Modeling, Journal of Hydrology 511: 665-74.##Oz, I., Shalev, E., Yechieli, Y., and Gvirtzman, H. (2015), Saltwater Circulation Patterns within the Freshwater-Saltwater Interface in Coastal Aquifers: Laboratory Experiments and Numerical Modeling. Journal of Hydrology 530: 734-41.##Robinson, G., Hamill, G. A., Ahmed A. A., (2015), Automated Image Analysis for Experimental Investigations of Salt Water Intrusion in Coastal Aquifers. Journal of Hydrology. 530: 350-60.##Lu, Chunhui, Yiming Chen, Chang Zhang, and Jian Luo, (2013), Steady-State Freshwater-Seawater Mixing Zone in Stratified Coastal Aquifers. Journal of Hydrology, 505: 24-34.##Rezapoor, A. A., Saghravani.S. F., Ahmadifard, A. R., (2018), (in Farsi), Study of saltwater intrusion phenomenon in the coastal aquifers under transient condition using image processing and numerical modelling. Journal of hydraulics. 13(2), 69-82.##Abarca, E., Carrera, J., Sánchez-Vila, X., Dentz, M., (2007), Anisotropic Dispersive Henry Problem. Advances in Water Resources. 30(4). 913-926.##Simpson, M. J., and Clement, T. P., (2004), Improving the Worthiness of the Henry Problem as a Benchmark for Density-Dependent Groundwater Flow Models. Water Resources Research. 40(1), 1-12.##Held, R., Attinger, S., Kinzelbach, W., (2005), Homogenization and Effective Parameters for the Henry Problem in Heterogeneous Formations. Water Resources Research. 41(11), 1-14.##Sanz, E., Voss, C. I., (2006), Inverse Modeling for Seawater Intrusion in Coastal Aquifers: Insights about Parameter Sensitivities, Variances, Correlations and Estimation Procedures Derived from the Henry Problem. Advances in Water Resources. 29(3): 439-57.##Sebben, M.L., Werner, A.D., (2015), Seawater intrusion in fractured coastal aquifers: a Preliminary numerical investigation using a fractured Henry problem. Adv. Water Resour. 85, 93-108.##Paster, A., Dagan, G., (2007), Mixing at the Interface between Two Fluids in Porous Media: A Boundary-Layer Solution. Journal of Fluid Mechanics 584: 455. http://www.journals.cambridge.org/abstract_S0022112007006532.##Oostrom, M., Hayworth, J. S., Dane, J. H., Guven, O., (1992), Behavior of dense aqueous phase leachate plumes in homogenous porous media, Water Resour##Voss, C., Provost, A., (2010), SUTRA-a Model for Saturated-unsaturated, Variabledensity Ground-water Flow with Solute or Energy Transport, U.S Geological Survey Water-Resources Investigations Report, 02-4231.##Lu, C., Werner, A. D., (2013), Advances in Water Resources Timescales of Seawater Intrusion and Retreat, Advances in Water Resources 59, 39-51.##Robinson, G., Ahmed, A. A., Hamill, G. A., (2016), Experimental Saltwater Intrusion in Coastal Aquifers Using Automated Image Analysis: Applications to Homogeneous Aquifers, Journal of Hydrology 538: 304-13.##Watson, T. A., Werner, A. D., Simmons, C. T., (2010), Transience of seawater intrusion in response to sea level rise. Water Resource. Res. 46, W12533,## ##

Design of Dynamic Positioning Control System for an ROV with Unknown Dynamics Using Modified Time Delay Estimation 2 2 In this paper, a control system is designed for dynamic positioning of an ROV with unknown dynamics, subject to external disturbances using passive arm measurements. To estimate uncertain dynamics and external disturbances, a new method based on time delay estimation (TDE) is proposed. The proposed TDE, not only maintains the advantages of conventional TDE, but also eliminates its sensitivity to sensor noise and fast-varying external disturbances which in turn, results in smooth control signal. The proposed control system is considered as a nonlinear PD-type controller together with feedforward of estimated dynamics and disturbances. This structure presents good performance against uncertainties and external disturbances which is guaranteed via stability analysis presented. To evaluate the performance of proposed TDE, simulations are conducted and comparison are made with conventional TDE. Besides, the performance of the proposed control system is compared with conventional time delay controller (TDC) and PID controller to verify its performance. Simulations show high accuracy and superior performance of the proposed control system. 53 59 2018/10/102019/02/62018/07/52019/02/182018/12/62018/10/31 1397/8/9 2019/02/242019/03/162019/03/62019/03/132019/02/212019/05/29 1398/3/8 alireza hosseinnajad alireza hosseinnajad Department of Mechanical Engineering, Isfahan University of Technology Iran alirezahosseinnajad@yahoo.com Mehdi Loueipour Mehdi Loueipour Research Institute for Subsea Science and Technology, Isfahan University of Technology Iran loueipour@cc.iut.ac.ir Dynamic Positioning Passive Arm ROV Time Delay Estimation Unknown Dynamics. Hosseinnajad, A. and Loueipour, M., (2018), Dynamic Positioning of an ROV with Unknown Dynamics and in the Presence of External Disturbances Using Extended-State Observer, 20th Marine Industries Conference, Tehran, Iran.##Yoerger, D. R. and Slotine, J. J. E., (1985), Robust Trajectory Control of Underwater Vehicles, IEEE Journal of Oceanic Engineering, Vol. 10(4), p. 462-470.##Healey, A. J. and Lienhard, D., (1993), Multivariable sliding mode control for autonomous diving and steering of unmanned underwater vehicles, IEEE Journal of Oceanic Engineering, Vol. 18(3), p. 327-339.##Valdovinos, L. G. G., Jimenez, T. S. and Rodriguez, H. T., (2009), Model free high order sliding mode control for ROV: station keeping approach, OCEANS, Biloxi, USA.##Conte, G. and Serrani, A., (1998), Robust control of a remotely operated underwater vehicle, Automatica, Vol. 34(3), p. 193-198.##Kumar, R. P., Dasgupta, A. and Kumar, C. S., (2006), Robust trajectory control of underwater vehicles using time delay control law, Ocean Engineering, Vol. 34, p. 842-849.##Slotine, J. J. E. and Benedetto, M. D. D., (1990), Hamiltonian adaptive control of spacecraft, IEEE Transactions on Automatic Control, vol. 35(7), p. 848-852.##Fossen, T. I. and Sagatun, S. I., (1991), Adaptive control of nonlinear underwater robotic systems, Proceedings of the IEEE International Conference on Robotics and Automation, Sacramento, California.##G. Antonelli, S. Chiaverini, N. Sarkar, and M. West, "Adaptive control of autonomous underwater vehicle: Experimental results on ODIN," IEEE Transactions on Control Systems Technology, vol. 9, no. 5, pp. 756-765, 2001.##Smallwood, D. A. and Whitcomb, L., (2004), Model-based dynamic positioning of underwater robotic vehicles: theory and experiments, IEEE Journal of Oceanic Engineering, Vol. 29(1), p. 169-186.##Mohammad, A. R., Eghtesad, M. and Kamali, R., (2011), A robust adaptive fuzzy sliding mode controller for trajectory tracking of ROVs, IEEE Conference on Decision and Control and European Control Conference, Orlando, USA.##Patompak, P. and Nikhamhang, I., (2012), Adaptive backstepping sliding mode controller with bound estimation for underwater robotic vehicles, International Conference on Electrical Engineering/ Electronics, Computer, Telecommunications and Information Technology, Thailand.##Liu, Y., Kung, T., Chang, K. and Chen, S., (2013), Observer-based adaptive sliding mode control for pneumatic servo system, Precision Engineering, Vol. 37, p. 522-530.##Yao, J., Jiao, Z., and Ma, D., (2014), Extended-state-observer-based output feedback nonlinear robust control of hydraulic systems with backstepping, IEEE Transactions on Industrial Electronics, Vol. 61(11), p. 6285-6293.##Qian, J., Xiong, A., and Ma, W., (2016), Extended state observer-based sliding mode control with new reaching law for PMSM speed control, Mathematical Problems in Engineering, Vol. 2016, ##https://doi.org/10.1155/2016/6058981##Castaneda, H., Salas-Pena, O., and Leon-Morales, J., (2017), Extended observer based on adaptive second order sliding mode control for a fixed wing UAV, ISA Transactions, Vol. 66, p. 226-232.##Cui, R., Chen, L., Yang, C., and Chen, M., (2017), extended state observer-based integral sliding mode control for an underwater robot with unknown disturbances and uncertain nonlinearities" IEEE Transactions on Industrial Electronics, Vol. 64(8), p. 6785-6795.##Tong, S., Wang, T., Li, Y., and Zhang, H., (2014), Adaptive neural network output feedback control for stochastic nonlinear systems with unknown dead-zone and unkodeled dynamics, IEEE Transactions on Cybernetics, Vol. 44(4), p. 910-921.##Hu, X., Du, J., and Shi, J., (2015), Adaptive fuzzy controller design for dynamic positioning system of vessels, Applied Ocean Research, Vol. 53, p.46-53.##He, W., Huang, H., and Ge, S. S., (2017), Adaptive neural network control of a robotic manipulator with time-varying output constraints, IEEE Transactions on Cybernetics, Vol. 47(10), p. 3136 - 3147.##Elmali, H., and Olgac, N., (1992), Theory and implementation of sliding mode control with perturbation estimation (SMCPE), IEEE International Conference on Robotics and Automation, Nice, France.##Kim, J., Joe, H., Yu, S., Lee, J. S., and Kim, M., (2016), Time delay controller design for position aly.control of autonomous underwater vehicles under disturbances, IEEE Transactions on Industrial Electronics, p. 1-10, DOI: 10.1109/TIE.2015.2477270.##Hsu, L., Costa, R. R., Lizarralde, F., and Cunha, J. P., (1999), Passive Arm based dynamic positioning system for remotely operated underwater vehicle, Proceedings of the IEEE international Conference on Robotics and Automation, Michigan, USA.##Hsu, L., Costa, R. R., Lizarralde, F., and Cunha, J. P., (2000), Dynamic positioning of remotely operated underwater vehicles, IEEE Robotics and Automation Magazine, Vol. 7(3), p. 21-31.##Hoang, N. Q., and Kreuzer, E., (2006), adaptive PD-controller for positioning of a remotely operated vehicle close to an underwater structure: theory and experiments, Control Engineering Practice, Vol. 15, p. 411-419.##Lei, Q., Lixing, Z., and Weidong, Z., (2016), robust adaptive PID control for positioning of remotely operated vehicles working in close proximity of underwater structures, 35th Chinese Control Conference.##Candeloro, M., Sorensen, A. J., Longhi, S., and Dukan, F., (2012), Observers for dynamic positioning of ROVs with Experimental results, IFAC Conference on Maneuvering and Control of Marine Craft, Arenzano, Italy##Hosseinnajad, A. and Loueipour, M., (2018), Dynamic Positioning of an ROV with Unknown Dynamics and in the Presence of External Disturbances Using Extended-State Observer, 20th Marine Industries Conference, Tehran, Iran.##Yoerger, D. R. and Slotine, J. J. E., (1985), Robust Trajectory Control of Underwater Vehicles, IEEE Journal of Oceanic Engineering, Vol. 10(4), p. 462-470.##Healey, A. J. and Lienhard, D., (1993), Multivariable sliding mode control for autonomous diving and steering of unmanned underwater vehicles, IEEE Journal of Oceanic Engineering, Vol. 18(3), p. 327-339.##Valdovinos, L. G. G., Jimenez, T. S. and Rodriguez, H. T., (2009), Model free high order sliding mode control for ROV: station keeping approach, OCEANS, Biloxi, USA.##Conte, G. and Serrani, A., (1998), Robust control of a remotely operated underwater vehicle, Automatica, Vol. 34(3), p. 193-198.##Kumar, R. P., Dasgupta, A. and Kumar, C. S., (2006), Robust trajectory control of underwater vehicles using time delay control law, Ocean Engineering, Vol. 34, p. 842-849.##Slotine, J. J. E. and Benedetto, M. D. D., (1990), Hamiltonian adaptive control of spacecraft, IEEE Transactions on Automatic Control, vol. 35(7), p. 848-852.##Fossen, T. I. and Sagatun, S. I., (1991), Adaptive control of nonlinear underwater robotic systems, Proceedings of the IEEE International Conference on Robotics and Automation, Sacramento, California.##G. Antonelli, S. Chiaverini, N. Sarkar, and M. West, "Adaptive control of autonomous underwater vehicle: Experimental results on ODIN," IEEE Transactions on Control Systems Technology, vol. 9, no. 5, pp. 756-765, 2001.##Smallwood, D. A. and Whitcomb, L., (2004), Model-based dynamic positioning of underwater robotic vehicles: theory and experiments, IEEE Journal of Oceanic Engineering, Vol. 29(1), p. 169-186.##Mohammad, A. R., Eghtesad, M. and Kamali, R., (2011), A robust adaptive fuzzy sliding mode controller for trajectory tracking of ROVs, IEEE Conference on Decision and Control and European Control Conference, Orlando, USA.##Patompak, P. and Nikhamhang, I., (2012), Adaptive backstepping sliding mode controller with bound estimation for underwater robotic vehicles, International Conference on Electrical Engineering/ Electronics, Computer, Telecommunications and Information Technology, Thailand.##Liu, Y., Kung, T., Chang, K. and Chen, S., (2013), Observer-based adaptive sliding mode control for pneumatic servo system, Precision Engineering, Vol. 37, p. 522-530.##Yao, J., Jiao, Z., and Ma, D., (2014), Extended-state-observer-based output feedback nonlinear robust control of hydraulic systems with backstepping, IEEE Transactions on Industrial Electronics, Vol. 61(11), p. 6285-6293.##Qian, J., Xiong, A., and Ma, W., (2016), Extended state observer-based sliding mode control with new reaching law for PMSM speed control, Mathematical Problems in Engineering, Vol. 2016, ##https://doi.org/10.1155/2016/6058981##Castaneda, H., Salas-Pena, O., and Leon-Morales, J., (2017), Extended observer based on adaptive second order sliding mode control for a fixed wing UAV, ISA Transactions, Vol. 66, p. 226-232.##Cui, R., Chen, L., Yang, C., and Chen, M., (2017), extended state observer-based integral sliding mode control for an underwater robot with unknown disturbances and uncertain nonlinearities" IEEE Transactions on Industrial Electronics, Vol. 64(8), p. 6785-6795.##Tong, S., Wang, T., Li, Y., and Zhang, H., (2014), Adaptive neural network output feedback control for stochastic nonlinear systems with unknown dead-zone and unkodeled dynamics, IEEE Transactions on Cybernetics, Vol. 44(4), p. 910-921.##Hu, X., Du, J., and Shi, J., (2015), Adaptive fuzzy controller design for dynamic positioning system of vessels, Applied Ocean Research, Vol. 53, p.46-53.##He, W., Huang, H., and Ge, S. S., (2017), Adaptive neural network control of a robotic manipulator with time-varying output constraints, IEEE Transactions on Cybernetics, Vol. 47(10), p. 3136 - 3147.##Elmali, H., and Olgac, N., (1992), Theory and implementation of sliding mode control with perturbation estimation (SMCPE), IEEE International Conference on Robotics and Automation, Nice, France.##Kim, J., Joe, H., Yu, S., Lee, J. S., and Kim, M., (2016), Time delay controller design for position aly.control of autonomous underwater vehicles under disturbances, IEEE Transactions on Industrial Electronics, p. 1-10, DOI: 10.1109/TIE.2015.2477270.##Hsu, L., Costa, R. R., Lizarralde, F., and Cunha, J. P., (1999), Passive Arm based dynamic positioning system for remotely operated underwater vehicle, Proceedings of the IEEE international Conference on Robotics and Automation, Michigan, USA.##Hsu, L., Costa, R. R., Lizarralde, F., and Cunha, J. P., (2000), Dynamic positioning of remotely operated underwater vehicles, IEEE Robotics and Automation Magazine, Vol. 7(3), p. 21-31.##Hoang, N. Q., and Kreuzer, E., (2006), adaptive PD-controller for positioning of a remotely operated vehicle close to an underwater structure: theory and experiments, Control Engineering Practice, Vol. 15, p. 411-419.##Lei, Q., Lixing, Z., and Weidong, Z., (2016), robust adaptive PID control for positioning of remotely operated vehicles working in close proximity of underwater structures, 35th Chinese Control Conference.##Candeloro, M., Sorensen, A. J., Longhi, S., and Dukan, F., (2012), Observers for dynamic positioning of ROVs with Experimental results, IFAC Conference on Maneuvering and Control of Marine Craft, Arenzano, Italy## ##