Browsing NTNU Open by Author "Kelasidi, Eleni"

Now showing items 41-60 of 62

    • Multi-objective optimization for efficient motion of underwater snake robots 

      Kelasidi, Eleni; Jesmani, Mansoureh; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2016)
      Underwater snake robots constitute a bio-inspired solution within underwater robotics. Increasing the motion efficiency in terms of the forward speed by improving the locomotion methods is a key issue for underwater robots. ...

    • Optimal and Adaptive Path Planning and Following for Permanent Resident Cleaning Robot Operating in Fish Farms 

      Fjæra, Sverre (Master thesis, 2021)
      Denne oppgåva presenterar resultata frå matematiske simuleringar av ein autonom undervanns notvaskarrobot som skal brukast i eit havbruksmiljø for å forhindra ei av hovedutfordringane i oppdrettsnæringa; biobegroing på ...

    • Path following control of planar snake robots using virtual holonomic constraints: theory and experiments 

      Rezapour, Ehsan; Pettersen, Kristin Ytterstad; Liljebäck, Pål; Gravdahl, Jan Tommy; Kelasidi, Eleni (Journal article; Peer reviewed, 2014-08-28)
      This paper considers path following control of planar snake robots using virtual holonomic constraints. In order to present a model-based path following control design for the snake robot, we first derive the Euler-Lagrange ...

    • Path following control of planar snake robots using virtual holonomic constraints: theory and experiments 

      Rezapour, Ehsan; Pettersen, Kristin Ytterstad; Liljebäck, Pål; Gravdahl, Jan Tommy; Kelasidi, Eleni (Journal article; Peer reviewed, 2014)
      This paper considers path following control of planar snake robots using virtual holonomic constraints. In order to present a model-based path following control design for the snake robot, we first derive the Euler-Lagrange ...

    • Path Following, Obstacle Detection and Obstacle Avoidance for Thrusted Underwater Snake Robots 

      Kelasidi, Eleni; Moe, Signe; Pettersen, Kristin Ytterstad; Kohl, Anna M; Liljebäck, Pål; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2019)
      The use of unmanned underwater vehicles is steadily increasing for a variety of applications such as mapping, monitoring, inspection and intervention within several research fields and industries, e.g., oceanography, marine ...

    • Planar maneuvering control of underwater snake robots using virtual holonomic constraints 

      Maggiore, Manfredi; Kohl, Anna M.; Mohammadi, Alireza; Kelasidi, Eleni; Pettersen, Kristin Ytterstad (Journal article; Peer reviewed, 2016)
      This paper investigates the problem of planar maneuvering control for bio-inspired underwater snake robots that are exposed to unknown ocean currents. The control objective is to make a neutrally buoyant snake robot which ...

    • Planar path following of underwater snake robots in the presence of ocean currents 

      Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Kohl, Anna M.; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2016)
      This letter presents a control system that enables an underwater snake robot to converge towards and follow a straight path in the presence of constant irrotational ocean currents. The robot is assumed to be neutrally ...

    • ResiPlan: Closing the Planning-Acting Loop for Safe Underwater Navigation 

      Xanthidis, Marios; Kelasidi, Eleni; Alexis, Konstantinos (Journal article, 2023)
      Autonomous operation in underwater environments is, arguably, one of the most complex domains. It requires safe operations under the presence of unpredictable surge, currents, uncertainty, and dynamic obstacles that ...

    • Serpentine motion control of snake robots for curvature and heading based trajectory - parameterization 

      Kelasidi, Eleni; Tzes, Anthony (Chapter, 2012)
      The control problem for the serpentine motion of a planar snake under the assumption of a trajectory characterized by its curvature and heading is examined in this article. The time varying curvature and heading attributes ...

    • Set-based path following and obstacle avoidance for underwater snake robots 

      Kohl, Anna M; Moe, Signe; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Chapter, 2017)
      This article presents a set-based guidance strategy for path following with obstacle avoidance for underwater snake robots conducting planar sinusoidal motion. The guidance scheme is designed such that the robot follows a ...

    • Spiral path planning for docking of underactuated vehicles with limited FOV 

      Sans-Muntadas, Albert; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Brekke, Edmund Førland (Chapter, 2017)
      This paper proposes a novel approach for constructing a docking path for underwater vehicles, using a new spiral resulting of combining the Fermat and logarithmic spirals. The proposed spiral path has two properties that ...

    • Stability Analysis of Underwater Snake Robot Locomotion Based on Averaging Theory 

      Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Chapter, 2014)
      This paper presents an averaged model of the velocity dynamics of an underwater snake robot, suited for stability analysis and motion planning purposes for general sinusoidal motion gait patterns. Averaging theory is applied ...

    • The Underwater Swimming Manipulator - A Bio-Inspired AUV 

      Sverdrup-Thygeson, Jørgen; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Chapter, 2016)
      Autonomous underwater vehicles (AUVs) have been used for environmental mapping and surveys of various kinds for some time. More recently, the AUVs have entered the domain of the remotely operated vehicles (ROVs) to tackle ...

    • The Underwater Swimming Manipulator — A Bioinspired Solution for Subsea Operations 

      Sverdrup-Thygeson, Jørgen; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2018)
      Underwater vehicles have carried out subsea operations for many decades, and since the 1980s, remotely operated vehicles (ROVs) have been essential for the development and maintenance of subsea installations. As the ...

    • Three-dimensional obstacle avoidance and path planning for unmanned underwater vehicles using elastic bands 

      Amundsen, Herman Biørn; Føre, Martin; Ohrem, Sveinung Johan; Haugaløkken, Bent Oddvar Arnesen; Kelasidi, Eleni (Journal article; Peer reviewed, 2024)
      Unmanned underwater vehicles (UUVs) have become indispensable tools for inspection, maintenance, and repair operations in the underwater domain. The major focus and novelty of this work is collision-free autonomous navigation ...

    • Thrust Losses on Underwater Snake Robots with Thrusters 

      Galta, Mari Gilje (Master thesis, 2017)
      The main motivation behind this thesis is to study the effects from different thrust losses on an underwater snake robot (USR) with thrusters. In-line velocity fluctuations, transverse velocity fluctuations, thruster-thruster ...

    • Towards a holistic digital twin solution for real-time monitoring of aquaculture net cage systems 

      Su, Biao; Bjørnson, Finn Olav; Tsarau, Andrei; Endresen, Per Christian; Ohrem, Sveinung Johan; Føre, Martin; Fagertun, Jan Tore; Pascal, Klebert; Kelasidi, Eleni; Bjelland, Hans Vanhauwaert (Peer reviewed; Journal article, 2023)
      Digital twins and relevant concepts are being applied in a wide variety of ways, and they are of most use when an actual real-world physical system or process (a physical twin) is changing over time and when measurement ...

    • Towards Visual Feedback in Salmon Farm Feeding Processes. 

      Thorset, Jonas (Master thesis, 2022)
      Nesten halvparten av de totale utgiftene i fiskeoppdrett kommer fra fôrpellets. I dag utføres fôring for det meste manuelt og med store mengder avfall på grunn av uspist pellets som synker eller driver ut av merden. Dette ...

    • Underwater Communication and Position Reference System - OC2020 A-034 

      Su, Biao; Kelasidi, Eleni; Thorbjørnsen, Eirik Storås (Research report, 2020)
      This report presents results obtained in the CageReporter project regarding the development of a low cost hydroacoustic subsea communication system adapted for use in fish cages. The report mainly addresses tasks regarding ...

    • Underwater Robotics - Fluid Parameter Identification for Modelling of Underwater Snake Robots 

      Elgenes, Gard Farstad; Kilvær, Henrik (Master thesis, 2017)
      Unmanned underwater vehicles are being increasingly used for subsea maintenance, inspection and repair. Development of underwater snake robots show promising results towards extending the capabilities of traditional unmanned ...