Blar i NTNU Open på forfatter "Kelasidi, Eleni"

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    • Farmed Atlantic salmon (Salmo salar L.) avoid intrusive objects in cages: The influence of object shape, size and colour, and fish length 

      Zhang, Qin; Bloecher, Nina; Evjemo, Linn Danielsen; Føre, Martin; Su, Biao; Eilertsen, Espen; Mulelid, Mats Aarsland; Kelasidi, Eleni (Peer reviewed; Journal article, 2024)
      Underwater vehicles and other mobile platforms are seeing increased use as tools within fish farming, particularly due to current trends towards Precision Farming practices, and more exposed farming sites. Although many ...

    • Fluid Parameter Identification for Underwater Snake Robots 

      Kelasidi, Eleni; Elgenes, G; Kilvær, H (Journal article; Peer reviewed, 2018)
      Nowadays different types of unmanned underwater vehicles (UUVs), such as remotely operated vehicles (ROVs) and autonomous underwater vehicles (AUVs), are widely used for subsea inspection, maintenance, and repair (IMR) ...

    • Guidance and Control of Underwater Snake Robots Using Planar Sinusoidal Gaits 

      Kohl, Anna M. (Doctoral theses at NTNU;2017:292, Doctoral thesis, 2017)
      This thesis presents different approaches for guidance and motion control of underwater snake robots. The robots considered in this thesis are neutrally buoyant and move slowly with a planar, biologically inspired sinusoidal ...

    • Innovation in Underwater Robots: Biologically Inspired Swimming Snake Robots 

      Kelasidi, Eleni; Liljebäck, Pål; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2016)
      Increasing efficiency by improving locomotion methods is a key issue for underwater robots. Moreover, a number of different control design challenges must be solved to realize operational swimming robots for underwater ...

    • Integral Line-of-Sight for path following of underwater snake robots 

      Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Liljebäck, Pål; Gravdahl, Jan Tommy (Journal article, 2014)
      This paper considers straight line path following control of underwater snake robots in the presence of constant irrotational currents. An integral line-of-sight (LOS) guidance law is proposed, which is combined with a ...

    • Integral Line-of-Sight Guidance for Path Following Control of Underwater Snake Robots: Theory and Experiments 

      Kelasidi, Eleni; Liljebäck, Pål; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2017)
      This paper proposes and experimentally validates a straight line path following controller for underwater snake robots in the presence of constant irrotational currents of unknown direction and magnitude. An integral ...

    • An integrated approach for monitoring structural deformation of aquaculture net cages 

      Su, Biao; Kelasidi, Eleni; Frank, Kevin; Haugen, Joakim; Føre, Martin; Pedersen, Magnus Oshaug (Peer reviewed; Journal article, 2021)
      The majority of present marine finfish production is conducted in flexible net cages which can deform when they are subjected to water movements generated by currents. The ability to monitor net deformation is important ...

    • Inverse Kinematic Control of a Free-Floating Underwater Manipulator Using the Generalized Jacobian Matrix 

      Amundsen, Morten Fyhn; Sverdrup-Thygeson, Jørgen; Kelasidi, Eleni; Pettersen, Kristin Ytterstad (Chapter, 2018)
      Traditional control of robot manipulators assume that the base of the manipulator is fixed in the environment. However, underwater vehicle-manipulator systems are usually floating freely. Using traditional fixed-base ...

    • Learning an AUV docking maneuver with a convolutional neural network 

      Sans-Muntadas, Albert; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Brekke, Edmund Førland (Chapter, 2017)
      This paper proposes and implements a convolutional neural network (CNN) that maps images from a camera to an error signal to guide and control an autonomous underwater vehicle into the entrance of a docking station. The ...

    • Locomotion Efficiency of Underwater Snake Robots with Thrusters 

      Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Liljebäck, Pål; Gravdahl, Jan Tommy (Chapter, 2016)
      Lately there has been an increasing interest for subsea inspection and intervention tasks, and in particular on solutions which combine smaller size, increased flexibility and maneuverability, and decreased cost. Biologically ...

    • Locomotion efficiency optimization of biologically inspired snake robots 

      Kelasidi, Eleni; Jesmani, Mansoureh; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2018)
      Snake robots constitute bio-inspired solutions that have been studied due to their ability to move in challenging environments where other types of robots, such as wheeled or legged robots, usually fail. In this paper, we ...

    • Model Predictive Control-based Path-planning and Obstacle Avoidance for Real-Time Safe Underwater Operations 

      Olsen, Torben (Master thesis, 2023)
      Bane planleggning under vann muliggjør sikker og effektiv navigering i komplekse miljøer for autonome undervannsfartøy (AUV-er), noe som er avgjørende ved drift innenfor akvakultur. Denne oppgaven har som mål å utvikle og ...

    • Model-based LOS path-following control of planar underwater snake robots 

      Kohl, Anna M; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2017)
      This chapter presents a model-based control system for straight-line path-following of neutrally buoyant underwater snake robots that move with a planar sinusoidal gait in the presence of an unknown, constant and irrotational ...

    • Modeling and control of underwater snake robots for operations in dynamically changing environments 

      Gjerden, Marie Skogstrand (Master thesis, 2023)
      In this thesis, a complex three-dimensional (3D) model of underwater snake robots (USR) in closed form has been investigated and implemented. The 3D model includes hydrodynamic effects such as linear and nonlinear drag ...

    • Modeling and Propulsion Methods of Underwater Snake Robots 

      Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Strømsøyen, Simen; Sørensen, Asgeir Johan (Chapter, 2017)
      In this paper we consider underwater snake robots (USRs) that may be equipped with additional added effectors along their body, including caudal, dorsal and pectoral fins, tunnel thrusters and/or a stern propeller. We ...

    • Modeling of Remotely Operated Vehicle (ROV) Operations for Aquaculture 

      Skaldebø, Martin Breivik; Amundsen, Herman Biørn; Su, Biao; Kelasidi, Eleni (Journal article, 2023)
      This paper proposes an extensive model for unmanned underwater vehicle operations in aquaculture and includes a dynamic 6 degrees of freedom (DOF) quaternion-based model of a remotely operated vehicle (ROV) and a model of ...

    • Modeling of underwater snake robots 

      Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Liljebäck, Pål (Chapter, 2014)
      Increasing efficiency by improving the locomotion methods is a key issue for underwater robots. Hence, an accurate dynamic model is important for both controller design and efficient locomotion methods. This paper presents ...

    • Modeling of underwater snake robots moving in a vertical plane in 3D 

      Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Journal article, 2014)
      Increasing efficiency by improving the locomotion methods is a key issue for underwater robots. Consequently, an accurate dynamic model is important for both controller design and for the development of efficient locomotion ...

    • Modeling of underwater swimming manipulators 

      Sverdrup-Thygeson, Jørgen; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2016)
      For several decades, the traditional ROV has been the workhorse used for any kind of subsea operations. The industry is now facing an important shift towards more economical and more efficient operations on subsea ...

    • Modeling, Control and Energy Efficiency of Underwater Snake Robots 

      Kelasidi, Eleni (Doctoral thesis at NTNU;2015:140, Doctoral thesis, 2015)
      This thesis is mainly motivated by the attribute of the snake robots that they are able to move over land as well as underwater while the physiology of the robot remains the same. This adaptability to different motion ...