Browsing NTNU Open by Author "Sørensen, Asgeir Johan"
Now showing items 21-40 of 133
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Continuous and discrete abstractions for planning, applied to ship docking
Meyer, Pierre-Jean; Yin, He; Brodtkorb, Astrid H.; Arcak, Murat; Sørensen, Asgeir Johan (Peer reviewed; Journal article, 2021)We propose a hierarchical control framework for the synthesis of correct-by-construction controllers for nonlinear control-affine systems with respect to reach-avoid-stay specifications. We first create a low-dimensional ... -
Control allocation and observer design for autonomous ferries
Torben, Tobias Rye (Master thesis, 2019)De siste årene har det vært høy aktivitet knyttet til autonomi i skip. Grunnet relativt lav operasjonskompleksitet, utgjør bilferger en god kanditat for å drive utviklingen mot økt autonomi i skip. Denne avhandlingen ... -
Control Allocation for Double-ended Ferries with Full-scale Experimental Results
Torben, Tobias; Brodtkorb, Astrid Helene; Sørensen, Asgeir Johan (Peer reviewed; Journal article, 2020)A novel control allocation algorithm for double-ended ferries with symmetrical thruster configuration is proposed. The allocation problem is formulated using the extended thrust representation, resulting in a four dimensional ... -
Control of Thruster Assisted Position Mooring System on Floating Production Storage and Offloading
Olafsen, Helle Kristine H (Master thesis, 2014)Denne avhandlingen er et studie på forankringssystemer på flytende produksjon, lagring, lossing (FPSO) enheter, og omfatter en undersøkelse av POSMOOR system. En modell som inneholder et thruster assistert posisjon ... -
Controller Analysis in Real-Time Hybrid Model Testing of an Offshore Floating System
Vilsen, Stefan Arenfeldt; Sauder, Thomas Michel; Føre, Martin; Sørensen, Asgeir Johan (Chapter, 2018)This paper presents an experimental study using Real-Time Hybrid Model (ReaTHM) testing of a moored floating cylindrical buoy, conducted in a wave basin. ReaTHM testing is a method for studying the dynamics of marine ... -
Delay Compensation for Real-Time Hybrid Testing
Schmidt-Didlaukies, Henrik (Master thesis, 2017)Real-time hybrid testing has the potential of being a disruptive addition to the repertoire of experimentalists working in the field of marine technology, where rigorous experimental testing is both commonplace and necessary. ... -
Detection of mooring line failures using Dynamic Hypothesis Testing
Hassani, Vahid; Pascoal, António M.; Sørensen, Asgeir Johan (Journal article; Peer reviewed, 2018)Abstract This article proposes a novel methodology for the detection of mooring line breakage in thruster assisted position mooring (PM) systems, when no measurements of the tensions on the mooring lines are available. For ... -
Development and Commissioning of a DP system for ROV SF 30k
Berg, Viktor (Master thesis, 2012)This Master thesis details the development of a mathematical model of ROV SF30k, and its implementation into a DP control system developed by Espen Tolpinrud.The project was performed as a part of the Applied Underwater ... -
Development and Implementation of Computer-Based Control System for ROV with Experimental Results
Tolpinrud, Espen (Master thesis, 2012)The demand for ROV operations has increased the last couple of decades. Still, operations are heavily dependent on an experienced ROV pilot, but by developing a sophisticated control system, operations can be performed ... -
Development and testing of a risk-based control system for autonomous ships
Johansen, Thomas; Blindheim, Simon André Johnsen; Torben, Tobias Valentin Rye; Utne, Ingrid Bouwer; Johansen, Tor Arne; Sørensen, Asgeir Johan (Journal article; Peer reviewed, 2023)This paper presents a method for designing and verifying a control system with risk-based decision-making capabilities to improve its intelligence and enhance the safe operation of autonomous systems. The decision-making ... -
Development of an Irradiance Sensor Based on a Photon Counting Camera
Lønne, Lars (Master thesis, 2014)This thesis describes the development and testing of a new irradiance sensor. Light from the sun affects all life on earth, and recent studies give reason to believe that some life might even react to the microscopic levels ... -
Development of Fault Detection Methods for Guidance and Navigation of Underwater Vehicles
Fylling, Marte Cecilie Fladmark (Master thesis, 2019)Undervannsfartøy har et bredt spekter av bruksområder under vann hvor de spiller en stadig viktigere rolle. Slike bruksområder inkluderer inspeksjoner, overvåkning og vedlikehold av offshore- og subsea-installasjoner, samt ... -
Distributed Control of a Drifting Formation of Autonomous Underwater Vehicles
Vandervaeren, Nathan (Master thesis, 2014)Cooperative underwater missions grow larger and larger. For survey mission such as seismic acquisition, such missions would involve hundreds of independent nodes in formation. But batteries limit the endurance. To make ... -
DUNE: Unified Navigation Environment for the REMUS 100 AUV - Implementation, Simulator Development, and Field Experiments
Holsen, Sigurd Andreas (Master thesis, 2015)This master thesis presents a new software system for developing control systems on the REMUS 100 autonomous underwater vehicle (AUV). Software written to control autonomous vehicles generally involve many components, and ... -
Dynamic consequence analysis of marine electric power plant in dynamic positioning
Bø, Torstein Ingebrigtsen; Johansen, Tor Arne; Sørensen, Asgeir Johan; Mathiesen, Eirik (Journal article; Peer reviewed, 2016)Diesel-electric power and propulsion systems with electric thrusters are the industry standard for vessels with dynamic positioning (DP) systems. Diesel engines are paired with generators in generator sets and are used to ... -
Dynamic Positioning in Extreme Sea States: Improving Operability Using Hybrid Design Methods
Brodtkorb, Astrid Helene (Master thesis, 2014)This thesis investigates the performance of high-level hybrid dynamic positioning (DP) algorithms in extreme environmental conditions. A vessel in DP uses the thrusters as the sole means of keeping position in wind, waves ... -
Dynamic Positioning System as Dynamic Energy Storage on Diesel-Electric Ships
Johansen, Tor Arne; Bø, Torstein Ingebrigtsen; Mathiesen, Eirik; Veksler, Aleksander Vladimirovitsj; Sørensen, Asgeir Johan (Journal article; Peer reviewed, 2014)A dynamic positioning (DP) system on a diesel-electric ship applies electric power to keep the positioning and heading of the ship subject to dynamic disturbances due to the winds, waves and other external forces using ... -
Estimating waves via measured ship responses
Nielsen, Ulrik Dam; Bingham, Harry B.; Brodtkorb, Astrid H.; Iseki, Toshio; Jensen, Jørgen Juncher; Mittendorf, Malte; Mounet, Raphaël Emile Gilbert; Shao, Yanlin; Storhaug, Gaute; Sørensen, Asgeir Johan; Takami, Tomoki (Peer reviewed; Journal article, 2023)Optimisation of energy efficiency and operational performance as well as assessment of safety levels and emissions of marine operations require detailed information about the acting wave system. It is possible—with an ... -
Evaluation of wave-frequency motions extraction from dynamic positioning measurements using the empirical mode decomposition
Garcia Rosa, Paula Bastos; Brodtkorb, Astrid H.; Sørensen, Asgeir Johan; Molinas Cabrera, Maria Marta (Chapter, 2019)For dynamic positioning operations, high-frequency wave induced motions cause excessive control action, and consequently additional power consumption and wear of actuators in the propulsion system. Thus, such operations ... -
Experimental results of Discrete Time Variable Structure Control for Dynamic Positioning of Marine Surface Vessels
Raspa, Paolo; Benetazzo, F.; Longhi, S.; Ippoliti, G.; Sørensen, Asgeir Johan (Journal article, 2013)This paper presents a Discrete-Time Variable-Structure Control (DTVSC) for the dynamic positioning system of a marine supply vessel to guarantee robustness with respect to disturbances and parametric variations. The control ...