Blar i NTNU Open på forfatter "Johansen, Tor Arne"
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Coordinating UAVs and AUVs for Oceanographic Field Experiments:Challenges and Lessons Learned
Faria, Margarida; Pinto, José; Py, Frédéric; Fortuna, João; Dias, Hugo; Martins, Ricardo; Leira, Frederik Stendahl; Johansen, Tor Arne; Sousa, João; Rajan, Kanna (Journal article, 2014)Obtaining synoptic observations of dynamic ocean phenomena such as fronts, eddies, oxygen minimum zones and blooms has been challenging primarily due to the large spatial scales involved. Traditional methods of observation ... -
Corrosion Detection System using Deep Neural Networks for Automated UAV-based Ship Inspection
Askildsen, Mathias (Master thesis, 2020) -
Data Acquisition with Unmanned Aerial Vehicle (UAV) from Floating Sensor Nodes
Barbatei, Remus-Gabriel (Master thesis, 2014)In the last decades an increase in the need for ocean monitoring capabilities has arisen. To be able to meet these requirements a low-cost, automated solution is needed. It should be easy to maintain and to reconfigure as ... -
Data-Efficient Deep Reinforcement Learning for Attitude Control of Fixed-Wing UAVs: Field Experiments
Bøhn, Eivind Eigil; Coates, Erlend M.; Reinhardt, Dirk Peter; Johansen, Tor Arne (Peer reviewed; Journal article, 2023)Attitude control of fixed-wing unmanned aerial vehicles (UAVs) is a difficult control problem in part due to uncertain nonlinear dynamics, actuator constraints, and coupled longitudinal and lateral motions. Current ... -
Dead Reckoning of a Fixed-Wing UAV with Inertial Navigation Aided by Optical Flow
Fusini, Lorenzo; Johansen, Tor Arne; Fossen, Thor I. (Chapter; Peer reviewed, 2017)This paper provides experimental results for dead reckoning of a fixed-wing UAV using a nonlinear observer (NLO) and a more recent tool called eXogenous Kalman Filter (XKF), which uses the NLO itself as a first-stage filter. ... -
Dead Reckoning System for UAV Using RSSI and Extremum Seeking Control
Røyland, Daniel (Master thesis, 2016)Motivated by the vulnerability of Unmanned Aerial Vehicles (UAVs) to loss of GNSS, this master thesis investigates the development of a backup navigation system. The system can be used by the UAV to navigate back to the ... -
A decision support system for autonomous ship trajectory planning
Akdag, Melih; Pedersen, Tom Arne; Fossen, Thor Inge; Johansen, Tor Arne (Peer reviewed; Journal article, 2023)This study presents an approach to enhance human–machine collaboration in autonomous ship trajectory planning. A decision support system is developed, considering crucial environmental factors such as ocean currents, wind, ... -
Deep Reinforcement Learning Attitude Control of Fixed Wing UAVs Using Proximal Policy Optimization
Bøhn, Eivind Eigil; Coates, Erlend Magnus Lervik; Moe, Signe; Johansen, Tor Arne (Chapter, 2019)Contemporary autopilot systems for unmanned aerial vehicles (UAVs) are far more limited in their flight envelope as compared to experienced human pilots, thereby restricting the conditions UAVs can operate in and the types ... -
Design and comparison of adaptive estimators for Under-balanced Drilling
Nikoofard, Amirhossein; Johansen, Tor Arne; Kaasa, Glenn-Ole (Book, 2014)Real time knowledge of total mass of gas and liquid in the annulus and geological properties of the reservoir is very useful in many active controllers, fault detection systems and safety applications in the well during ... -
Design and comparison of adaptive estimators for Under-Balanced Drilling
Nikoofard, Amirhossein; Johansen, Tor Arne; Kaasa, Glenn-Ole (Journal article, 2014)Real time knowledge of total mass of gas and liquid in the annulus and geological properties of the reservoir is very useful in many active controllers, fault detection systems and safety applications in the well during ... -
Design and Comparison of Constrained MPC with PID Controller for Heave Disturbance Attenuation in Offshore Managed Pressure Drilling Systems
Nikoofard, Amirhossein; Johansen, Tor Arne; Mahdianfar, Hessam; Pavlov, A (Journal article, 2014)This paper presents a constrained finite horizon model predictive control (MPC) scheme for regulation of the annular pressure in a well during managed pressure drilling from a floating vessel subject to heave motion. In ... -
Design and experimental validation of a control architecture for a wave-propelled USV: From system design to ocean studies
Dallolio, Alberto (Doctoral theses at NTNU;2022:42, Doctoral thesis, 2022)In a time of unprecedented anthropogenic pressures on the oceans, preserving the health of underwater ecosystems is of the uttermost importance. Since the beginning of human exploration of the oceans, ship-based ocean ... -
Design and Implementation of Control System for Green Unmanned Surface Vehicle
Agdal, Bendik Olai (Master thesis, 2018)The development, implementation, and testing of a control and monitoring system for a wave and solar-powered Unmanned Surface Vehicle (USV) are presented. In the future, the USV will be used for numerous science experiments ... -
Design and Implementation of Hardware and Software Interfaces for a Hyperspectral Payload in a Small
Hov, Magne (Master thesis, 2019)Denne oppgaven beskriver design og implementasjon av et filoverføringssystem for en nyttelast på en liten satellitt med et hyperspektralt kamera. Nyttelasten produserer store mengder bildedata som må lastes ned for å ... -
Design and Validation of a Course Control System for a Wave-Propelled Unmanned Surface Vehicle
Dallolio, Alberto; Øveraas, Henning; Alfredsen, Jo Arve; Fossen, Thor Inge; Johansen, Tor Arne (Journal article, 2022)Unlike common marine vessels, wave-propelled vehicles cannot directly control their speed, but rely instead on the forces exerted by the environment to navigate as intended. The unique navigation capabilities of such ... -
Design of inertial navigation systems for marine craft with adaptive wave filtering aided by triple-redundant sensor packages
Bryne, Torleiv Håland; Fossen, Thor I.; Johansen, Tor Arne (Journal article; Peer reviewed, 2017)Marine craft feedback control systems typically require estimates of position, velocity and heading where the wave-induced motions should be suppressed. This paper presents a strapdown inertial navigation system with ... -
Designing a Flow-Through Particle Imaging System for Autonomous Surface Vehicles
Haugum, Matias (Master thesis, 2022)Innsamling av vannprøver er ofte gjort for h˚and, og logistikken rundt innhenting og analyse av prøver kan være en tidkrevende prosess. In-situ partikkelavbilding ved hjelp av autonome overflatefartøy og billedtakingsystemer ... -
Detectability of Objects at the Sea Surface in Visible Light and Thermal Camera Images
Rodin, Christopher D; Johansen, Tor Arne (Chapter, 2018)In a number of ocean surveillance and remote sensing applications, visible light and thermal cameras are used to detect and identify objects at the sea surface. Knowing beforehand what the camera can detect or not can be ... -
Detection and Isolation of Propeller Icing and Electric Propulsion System Faults in Fixed-Wing UAVs
Haaland, Ole Max (Master thesis, 2021)This thesis presents a fault detection and isolation (FDI) framework for detecting propeller icing, and other propulsion faults of unmanned aerial vehicles (UAVs). Such faults are among the main causes for incidents and ... -
Detection and Trcking of Floating Objects using UAVs with Optical Sensors
Helgesen, Håkon Hagen (Doctoral theses at NTNU;2019:373, Doctoral thesis, 2019)This thesis focuses on detection and tracking of floating objects using fixed-wing unmanned aerial vehicles (UAVs) equipped with a monocular thermal camera. UAVs with optical sensors are useful in a vast number of applications ...