TY JOUR TI SYSTEM OF DYNAMIC POSITIONING FOR OPTIMAL OPERATION OF PUSH TUG BOAT WITH TOWED CARGO KW dynamic positioning system KW sensors KW logic controller KW pusher tug boat JO Vestnik of Astrakhan State Technical University AU Romanenko, N.. AU Sundetov, R.. AU Golovko, S.. PY 2016 IS 2016 PB Astrakhan State Technical University