Blar i NTNU Open på forfatter "Nguyen, Dong Trong"
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Autonom baneplanlegging for auto dokking av ferjer
Johansen, Thomas (Master thesis, 2019)Hovedproblemet i denne oppgaven har vært å identifisere og utvikle en algoritme for baneplanlegging for auto dokking av autonome ferjer. Den foreslåtte planleggeren løser problemet som er ulineært optimeringsproblem og ... -
Collision avoidance for multiple autonomous surface vehicles utilizing information exchange - A centralized optimization based approach
Xu, Xiaolun (Master thesis, 2022)Centralized collision avoidance algorithms for multiple autonomous surface vehicles are frequently proposed, but most of them assume ideal condition. However, vessels’ non-collaboration and non-compliance motion in Convention ... -
COLREGs-based Collision Avoidance for ASVs using Modified Timed-Elastic-Band Approach: A Decentralized and Optimal Method
Zhuang, Ziyue (Master thesis, 2023)Autonome overflatefartøy (ASV-er) er ubemannede fartøy som brukes til ulike formål, inkludert oseanografisk forskning, miljøovervåking og maritim transport. På grunn av sin autonome drift må ASV-er være i stand til å unngå ... -
Combining Supervised Learning and Digital Twin for Autonomous Path-planning
Vasanthan, Chanjei; Nguyen, Dong Trong (Peer reviewed; Journal article, 2021)Over the last decade, the evolution of autonomous automobiles based on artificial intelligence has increased rapidly with significant success. Naturally, this has caught the interest of the maritime industry and the ... -
Combining Supervised Learning and Digital Twin for Path-planning with Dynamic Obstacle-avoidance
Vasanthan, Chanjei (Master thesis, 2020)I denne masteroppgaven undersøkes en veiledet læringsmetode for å generere kubiske Bézier kurver. Målet er å utvikle en kurve som unngår kollisjon, følger COLREG og forsøker å velge den korteste banen, når mulig. For å ... -
Control Allocation for Underwater Snake Robots using Optimization Methods
Øvregård, Siri Bjørkedal (Master thesis, 2018)Although the concept of underwater vehicles has existed for a very long time, the technology within the field has progressed substantially over the recent decades. As more and more oil and gas installations and operations ... -
Control of a thruster assisted position mooring system for a semi-submersible with an asymmetric mooring configuration
Paulsen, Magnus F. (Master thesis, 2020)Norsk kontinentalsokkel er værutsatt, spesielt over vinterhalvåret. Derfor er det behov for spesialbygde halvt-nedsenkbare borerigger for tøffe forhold. I et forsøk på å øke oppetiden, minske miljøutslipp og øke sikkerheten ... -
Current Estimation for Autonomous Underwater Vehicle using Supervised Learning
Riise, Ørjan Gjernes (Master thesis, 2021)Navigasjonsteknikker for undervannsfartøy avhenger av pålitelige hastighetsestimater. Den største usikkerheten for estimatene er havstrømninger, som utgjør den største eksterne forstyrrelsen. DVL er per i dag den ledende ... -
Deep Reinforcement Learning Based Parameter Optimisation for Installation Analysis of Marine Cables
Sætre, Sanne Lin (Master thesis, 2023)Masteroppgaven "Deep Reinforcement Learning basert parameter optimalisering for installasjonsanalyse av sjøkabler" utforsker anvendelsen av deep reinforcement learning (RL) teknikker innen marin kybernetikk. Målet med denne ... -
Digital Twin of Vessels in Arctic Environments - Extending a Simulation Environment to allow for External Control of Multiple Vessels
Rolandsen, Andre Nilsson; Hoel, Preben Jensen (Master thesis, 2018)This thesis presents the work performed on extending and improving a numerical ice tank simulator developed by ArcISo AS called Simulator of Arctic Marine Structures (SAMS). The main work for this thesis has been on extending ... -
Dynamic Positioning using Deep Reinforcement Learning
Øvereng, Simen Sem (Master thesis, 2020)Classic methods for Dynamic Positioning (DP) of surface vessels often consists of first calculating desired forces and moments to exert on the vessel by using a motion controller, followed by a thrust allocation scheme for ... -
Dynamic Positioning using Deep Reinforcement Learning
Øvereng, Simen Sem; Nguyen, Dong Trong (Journal article; Peer reviewed, 2021)This paper demonstrates the implementation and performance testing of a Deep Reinforcement Learning based control scheme used for Dynamic Positioning of a marine surface vessel. The control scheme encapsulated motion control ... -
Enabling intelligent multi-modular concept for solar energy harvest by local control of connectors.
Fagerbakke, Vegard Njøten (Master thesis, 2023)Bruken av flytende multi-modulære strukturer har potensial til å bidra betydelig til å oppnå netto nullutslipp. Imidlertid er disse strukturene fortsatt i en tidlig utviklings fase og det kreves ytterligere forskning. Denne ... -
Evaluating Collision Avoidance Algorithms in Urban and Semi-restricted Waters using Fuzzy Logic
Løvoll, Eivind (Master thesis, 2022)Utviklingen av teknologi som muliggjør autonom navigering til havs har skutt til værs de siste årene. Å introdusere autonome overflatefartøy til et domene styrt av regler skrevet med intensjon om menneskelig tolkning utgjør ... -
Fault-tolerant Position-Mooring Control for Offshore Vessels
Blanke, Mogens; Nguyen, Dong Trong (Journal article; Peer reviewed, 2018)Fault-tolerance is crucial to maintain safety in offshore operations. The objective of this paper is to show how systematic analysis and design of fault-tolerance is conducted for a complex automation system, exemplified ... -
Finite-time Backstepping of a Nonlinear System in Strict-feedback Form: Proved by Bernoulli Inequality
Ren, Zhengru; Zhao, Bo; Nguyen, Dong Trong (Peer reviewed; Journal article, 2020)In this paper, we propose a novel state-feedback backstepping control design approach fora single-input single-output (SISO) nonlinear system in strict-feedback form. Rational-exponent Lyapunovfunctions (ReLFs) are employed ... -
Hybrid modelling for mooring system monitoring - A digital twin framework for floating wind turbines
Lyngstad, Haakon; Engelsen, Jørgen (Master thesis, 2022)Flytende havvind har potensiale til å være en viktig bidragsyter mot verdens behov for fornybar energi. Vedlikeholds og installasjons kostnader må reduseres for at teknologien skal bli et konkurransedyktig alternativ til ... -
Hybrid Observers for Autonomous Surface Vessels Experiencing Varying Operational Conditions
Wittemann, Emilie H. T. (Master thesis, 2021)Denne masteroppgaven tar for seg bruk av hybrid kontrollteori for å forbedre observer-ytelse i transienter på grunn av varierende operasjonelle forhold for marine overflatefartøy. Oppgaven begynner med litteraturstudie ... -
Hydrostatic Stability and Hydrodynamics of a Floating Wind Turbine Platform Integrated with Oscillating Water Columns: A Design Study
Aboutalebi, Payam; Garrido, Aitor; Garrido, Izaskun; Nguyen, Dong Trong; Gao, Zhen (Peer reviewed; Journal article, 2024)One of the challenges in the installation of Floating Wind Turbines (FWTs) is the occurrence of undesired resonant motions under environmental conditions, which adversely impact their lifespan, maintenance cost, components ... -
Low-Cost Observer and Path-Following Adaptive Autopilot for Ships
Mykland, Alexander (Master thesis, 2017)In this thesis a signal-based observer and a path-following autopilot design will be derived and implemented on the model vessel C/S Enterprise I. Using scaling methods the goal is to transfer the controllers into a full ...