Blar i NTNU Open på forfatter "Amundsen, Herman Biørn"
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Adaptive Generalized Super-Twisting Tracking Control of an Underwater Vehicle
Haugaløkken, Bent Oddvar Arnesen; Amundsen, Herman Biørn; Fadum, Håkon Syverud; Gravdahl, Jan Tommy; Ohrem, Sveinung Johan (Chapter, 2023)Tracking control for unmanned underwater vehicles is essential, both for autonomous operations and complex tasks where the vehicle is manually controlled by a pilot. Underwater vehicles are typically subjected to perturbations ... -
Adaptive motion planning and path following for permanent resident biofouling prevention robot operating in fish farms
Føre, Martin; Fjæra, Sverre; Ohrem, Sveinung Johan; Kelasidi, Eleni; Bloecher, Nina; Amundsen, Herman Biørn (Journal article, 2022)This paper presents a study where the potential of achieving autonomous net cleaning operations in commercial net pens is demonstrated through numerical simulations. Specifically, we investigated solutions for coping with ... -
Adaptive Speed Control of ROVs with Experimental Results from an Aquaculture Net Pen Inspection Operation
Ohrem, Sveinung Johan; Evjemo, Linn Danielsen; Haugaløkken, Bent Oddvar Arnesen; Amundsen, Herman Biørn; Kelasidi, Eleni (Peer reviewed; Journal article, 2023)Remotely operated vehicles (ROVs) are often used for inspection in aquaculture net pens which serves the important purpose of localizing holes in the net and reporting potential irregularities and damages. Manual control ... -
Autonomous ROV inspections of aquaculture net pens using DVL
Amundsen, Herman Biørn; Caharija, Walter; Pettersen, Kristin Ytterstad (Peer reviewed; Journal article, 2021)This article presents a method for guiding a remotely operated vehicle (ROV) to autonomously traverse an aquaculture net pen. The method is based on measurements from a Doppler velocity log (DVL) and uses the measured ... -
Choice and design of 6 degree-of-freedom observer for ROVs operating in fish farms in the presence of time-varying environmental disturbances
Stenså, Olav Austrheim (Master thesis, 2023)Fjernstyrte undervannsfarkoster (ROVer) har blitt et nyttig verktøy for inspeksjon og vedlikehold i oppdrettsnæringen. Denne oppgaven dokumenterer valg, utvikling, implementering og fullskala testing av en observer til en ... -
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 ... -
Robust adaptive backstepping DP control of ROVs
Ohrem, Sveinung Johan; Amundsen, Herman Biørn; Caharija, Walter; Holden, Christian (Peer reviewed; Journal article, 2022)Dynamic positioning is an important control feature for an underwater remotely operated vehicle. This paper presents a nonlinear dynamic positioning controller suited for application to vehicles with model uncertainties, ... -
Robust Nonlinear ROV Motion Control for Autonomous Inspections of Aquaculture Net Pens
Amundsen, Herman Biørn (Master thesis, 2020)Denne oppgaven presenterer en metode for a kontrollere en fjernstyrt undervannsbåt (ROV) til å autonomt traversere og inspisere en not for bruk i fiskeoppdrett. Metoden er basert på Doppler velocity log- (DVL) målinger, ... -
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 ... -
Towards Autonomous ROVs in Aquaculture: Implementation of Autonomous Mission Control for Unmanned Operations
Karlsen, Henning Ødeby (Master thesis, 2021)I denne oppgaven utformes og implementeres et autonomt system for oppdragskontroll av en autonom ROV, slik at den er i stand til å utføre autonome undervanns- inspeksjons-, vedlikeholds- og reparasjonsoppdrag innenfor ...