Blar i NTNU Open på forfatter "Skjetne, Roger"
-
A kinematic hybrid feedback controller on the unit circle suitable for orientation control of ships
Skjetne, Roger; Teel, Andrew R. (Chapter, 2020)This paper presents a hybrid feedback controller suitable for orientation control of ships. A hybrid kinematic controller on the unit circle is constructed from the gradient of a synergistic potential function, which ... -
Line-of-sight iceberg edge-following using an AUV equipped with multibeam sonar
Norgren, Petter; Skjetne, Roger (Journal article; Peer reviewed, 2015)Obtaining 3D information about ice features, like icebergs, are of interest to researchers and offshore operators moving into the Arctic. Icebergs are affected by wind, and ocean currents, and can have unpredictable drift ... -
Line-Of-Sight-based maneuvering control design, implementation, and experimental testing for the model ship C/S Enterprise I.
Tran, Nam Dinh (Master thesis, 2014)This report documents the progress, methods and engineering in building and testing theframework for CyberShip Enterprise 1. The main focus have been to modularize, standardize and improve the infrastructure and the operative ... -
Load Control for Real-time Hybrid Model Testing using Cable-Driven Parallel Robots
Ueland, Einar Skiftestad (Doctoral theses at NTNU;2021:284, Doctoral thesis, 2021)Real-time hybrid model testing (ReaTHM testing) is a method for emulating ocean structures that combines numerical methods with traditional hydrodynamic model testing. This is done by partitioning the ocean structure under ... -
Low- and Zero-Emission Hybrid-Electric Power Systems for Passenger Ferries
Igland, Brynhild Resell (Master thesis, 2021)Den maritime industrien er blitt oppfordret til å redusere klimagassutslippene betydelig, med et mål om en reduksjon på 50% innen 2050 sammenliknet med 2008-nivåene. Dette har oppmuntret til utvikling av nye lav- og ... -
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 ... -
Maneuvering with safety guarantees using control barrier functions
Marley, Mathias; Skjetne, Roger; Basso, Erlend Andreas; Teel, Andrew R. (Journal article; Peer reviewed, 2021)Control barrier functions (CBFs) ensure safety of controlled dynamical systems, by restricting the control inputs to render desired sets forward invariant. In this paper we propose a dynamic guidance scheme for autonomous ... -
Marine Autonomous Exploration using a Lidar
Ueland, Einar Skiftestad (Master thesis, 2016)This thesis reviews the complete design of a control system on a marine surface vessel, capable of autonomous exploration in small-scale marine environments. This involves the development of strategies for map exploration, ... -
Marine Autonomous Exploration Using a Lidar and SLAM
Ueland, Einar Skiftestad; Skjetne, Roger; Dahl, Andreas Reason (Chapter; Peer reviewed, 2017)This paper presents the implementation of a 2D-lidar to a model-scale surface vessel, and the design of a control system that makes the vessel able to perform autonomous exploration of a small-scale marine environment by ... -
Marine Cybernetics Vessel CS Saucer: - Design, construction and control
Idland, Tor Kvestad (Master thesis, 2015)This thesis presents the design, construction and control systems development of the marine cybernetics vessel CS Saucer. CS Saucer is a fully actuated and highly controllable vessel with a spherically shaped hull, much ... -
Marine Inverted Pendulum
Sharoni, Rotem (Master thesis, 2016)The purpose of this thesis is to investigate whether an inverted pendulum can be balanced on a hydrodynamic platform actuated by thrusters. The vessel is the omnidirectional CS Saucer actuated by three rotating azimuth ... -
Marine Telepresence System
Valle, Eirik (Master thesis, 2015)Maneuvering remotely operated vehicles (ROV) can be challenging, especially when the mission requires the use of a manipulator arm. Today such operations are usually conducted by two operators: a pilot in charge of keeping ... -
Marine Vessel and Power Plant System Simulator
Bø, Torstein Ingebrigtsen; Dahl, Andreas Reason; Johansen, Tor Arne; Mathiesen, Eirik; Rejani Miyazaki, Michel; Pedersen, Eilif; Skjetne, Roger; Sørensen, Asgeir Johan; Thorat, Laxminarayan; Yum, Kevin K. (Journal article; Peer reviewed, 2015)Modern marine electric propulsion vessels have many systems. These interactions and integration aspects are essential when studying a system and subsystem behavior. This is especially important when considering fault ... -
Mating Control of a Wind Turbine Tower-Nacelle-Rotor Assembly for a Catamaran Installation Vessel
Jiang, Zhiyu; Ren, Zhengru; Gao, Zhen; Sandvik, Peter Christian; Halse, Karl Henning; Skjetne, Roger (Chapter, 2018)The assembly and installation costs of an offshore wind farm can approach 20% of the capital expenditures; therefore, time efficient installation methods are needed for installing offshore wind turbines. This study ... -
Mitigating Force Oscillations in a Wave Energy Converter Using Control Barrier Functions
Marley, Mathias; Skjetne, Roger (OMAE;82707, Chapter, 2022)Control barrier functions (CBFs) is a novel feedback control strategy for enforcing safety constraints of mechanical systems. An appealing feature of the CBF method is that the safety objective is defined and enforced ... -
Model Predictive Control of Marine Vessel Power System by Use of Structure Preserving Model
Dahl, Andreas Reason; Thorat, Laxminarayan; Skjetne, Roger (Journal article; Peer reviewed, 2018)The paper presents model predictive control (MPC) based on an optimization model drawn from the structure preserving model (SPM) for marine vessel power systems. Three objective functions are proposed to control frequency, ... -
Model-Based Optimization for Energy and Emission Management of a Marine Hybrid Electric Power System
Fiksdahl, Olav (Master thesis, 2020)Den maritime næringen står for omtrent 3% av de globale CO2-utslippene. Med et økende fokus på mer miljøvennlige løsninger og et ønske om å løse dagens klimautfordringer, er hybridelektriske skip essensielle for at den ... -
Modeling and Control for Dynamic Positioned Marine Vessels in Drifting Managed Sea Ice
Kjerstad, Øivind Kåre; Skjetne, Roger (Journal article; Peer reviewed, 2014)This paper presents a development framework for dynamic positioning control systems for marine vessels in managed ice. Due to the complexity of the vessel-ice and ice-ice interactions a configurable high fidelity numerical ... -
Modeling and Control of Crane Overload Protection During Marine Lifting Operation Based on Model Predictive Control
Ren, Zhengru; Skjetne, Roger; Gao, Zhen (Chapter; Peer reviewed, 2017)This paper deals with a nonlinear model predictive control (NMPC) scheme for a winch servo motor to overcome the sudden peak tension in the lifting wire caused by a lumped-mass payload at the beginning of a lifting off or ... -
Modeling and control of hybrid marine power plants
Miyazaki, Michel Rejani (Doctoral theses at NTNU;2017:199, Doctoral thesis, 2017)Recent advancements in energy storage devices technology, together with increased concerns and regulations on greenhouse gas emissions have been a major factor for the development of new and innovative marine power plants ...