Most ocean vessels are underactuated but control of their motion in the real ocean environment is essential. Starting with a review of the background on ocean-vessel dynamics and nonlinear control theory, the authors' systematic approach is based on various nontrivial coordinate transformations coupled with advanced nonlinear control design methods. This strategy is then used for the development and analysis of a number of ocean-vessel control systems with the aim of achieving advanced motion control tasks including stabilization, trajectory-tracking, path-tracking and path-following.

Control of Ships and Underwater Vehicles offers the reader: - new results in the nonlinear control of underactuated ocean vessels; - efficient designs for the implementation of controllers on underactuated ocean vessels; - numerical simulations and real-time implementations of the control systems designed on a scale-model ship for each controller developed to illustrate their effectiveness and afford practical guidance.

A Thorough Overview of the Next Generation in Computing Poised to follow in the footsteps of the Internet, grid computing is on the verge of becoming more robust and accessible to the public in the near future. Focusing on this novel, yet already powerful, technology, Introduction to Grid Computing explores state-of-the-art grid projects, core grid technologies, and applications of the grid. After comparing the grid with other distributed systems, the book covers two important aspects of a grid system: scheduling of jobs and resource discovery and monitoring in grid. It then discusses existing and emerging security technologies, such as WS-Security and OGSA security, as well as the functions of grid middleware at a conceptual level. The authors also describe famous grid projects, demonstrate the pricing of European options through the use of the Monte Carlo method on grids, and highlight different parallelization possibilities on the grid. Taking a tutorial approach, this concise book provides a complete introduction to the components of the grid architecture and applications of grid computing. It expertly shows how grid computing can be used in various areas, from computational mechanics to risk management in financial institutions.

Most ocean vessels are underactuated but control of their motion in the real ocean environment is essential. Starting with a review of the background on ocean-vessel dynamics and nonlinear control theory, the authors' systematic approach is based on various nontrivial coordinate transformations coupled with advanced nonlinear control design methods. This strategy is then used for the development and analysis of a number of ocean-vessel control systems with the aim of achieving advanced motion control tasks including stabilization, trajectory-tracking, path-tracking and path-following.

Control of Ships and Underwater Vehicles offers the reader: - new results in the nonlinear control of underactuated ocean vessels; - efficient designs for the implementation of controllers on underactuated ocean vessels; - numerical simulations and real-time implementations of the control systems designed on a scale-model ship for each controller developed to illustrate their effectiveness and afford practical guidance.

As more and more data is generated at a faster-than-ever rate, processing large volumes of data is becoming a challenge for data analysis software. Addressing performance issues, Cloud Computing: Data-Intensive Computing and Scheduling explores the evolution of classical techniques and describes completely new methods and innovative algorithms. The book delineates many concepts, models, methods, algorithms, and software used in cloud computing. After a general introduction to the field, the text covers resource management, including scheduling algorithms for real-time tasks and practical algorithms for user bidding and auctioneer pricing. It next explains approaches to data analytical query processing, including pre-computing, data indexing, and data partitioning. Applications of MapReduce, a new parallel programming model, are then presented. The authors also discuss how to optimize multiple group-by query processing and introduce a MapReduce real-time scheduling algorithm. A useful reference for studying and using MapReduce and cloud computing platforms, this book presents various technologies that demonstrate how cloud computing can meet business requirements and serve as the infrastructure of multidimensional data analysis applications.

As more and more data is generated at a faster-than-ever rate, processing large volumes of data is becoming a challenge for data analysis software. Addressing performance issues, Cloud Computing: Data-Intensive Computing and Scheduling explores the evolution of classical techniques and describes completely new methods and innovative algorithms. The book delineates many concepts, models, methods, algorithms, and software used in cloud computing. After a general introduction to the field, the text covers resource management, including scheduling algorithms for real-time tasks and practical algorithms for user bidding and auctioneer pricing. It next explains approaches to data analytical query processing, including pre-computing, data indexing, and data partitioning. Applications of MapReduce, a new parallel programming model, are then presented. The authors also discuss how to optimize multiple group-by query processing and introduce a MapReduce real-time scheduling algorithm. A useful reference for studying and using MapReduce and cloud computing platforms, this book presents various technologies that demonstrate how cloud computing can meet business requirements and serve as the infrastructure of multidimensional data analysis applications.