Blar i NTNU Open på forfatter "Schjølberg, Ingrid"
-
Determination of Hydrodynamic Parameters for Remotely Operated Vehicles
Eidsvik, Ole Alexander Nørve; Schjølberg, Ingrid (Chapter; Peer reviewed, 2016)In this paper the hydrodynamic parameters that characterize the behaviour of a typical unmanned underwater vehicle are evaluated. A complete method for identifying these parameters is described. The method is developed to ... -
Development of a Simulation Platform for ROV systems
Mo, Sigrid Marie (Master thesis, 2015)ROVs are frequently used in subsea operations, both in the oil and gas industry, by scientists and in aquacultures. The ROV missions are normally controlled by a human operator, and the results are highly depending on ... -
Development of an Obstacle Detection and Avoidance System for ROV
Grefstad, Ørjan (Master thesis, 2018)Unmanned underwater vehicles, such as remotely operated vehicles (ROVs) and autonomous underwater vehicles (AUVs) are commonly used for inspection, maintenance and repair (IMR) missions in the oil and gas industry. This ... -
Development of collision risk indicators for autonomous subsea inspection maintenance and repair
Hegde, Jeevith; Utne, Ingrid Bouwer; Schjølberg, Ingrid (Journal article; Peer reviewed, 2016)The objective of this article is to present a method for developing collision risk indicators applicable for autonomous remotely operated vehicles (AROVs), which are essential for promoting situation awareness in decisions ... -
Development of dynamic safety envelopes for autonomous remotely operated underwater vehicles
Hegde, Jeevith; Henriksen, Eirik Hexeberg; Utne, Ingrid Bouwer; Schjølberg, Ingrid (Chapter, 2018)This paper describes the implementation of dynamic safety envelopes for Autonomous Remotely Operated Vehicles (AROVs). A safety envelope is defined as a three-dimensional spatial area around the AROV, which forms a virtual ... -
Development of safety envelopes and subsea traffic rules for autonomous remotely operated vehicles
Hegde, Jeevith; Henriksen, Eirik Hexeberg; Utne, Ingrid Bouwer; Schjølberg, Ingrid (Journal article; Peer reviewed, 2019)This article presents the process used to develop safety envelopes and subsea traffic rules for autonomous remotely operated vehicles (AROVs) used in subsea inspection, maintenance, and repair (IMR) operations. Preventing ... -
DP Solutions with Rudder Force Feedback for Exposed Aquaculture
Haugland, Johan Magne (Master thesis, 2017)Aquaculture and especially exposed aquaculture is a business heading into a period of large growth and rapid change. Considerable amounts of resources are and will be put into research to insure safe and sustainable ... -
Dynamic Bayesian Networks for Reduced Uncertainty in Underwater Operations
Skaldebø, Martin Breivik; Schjølberg, Ingrid (Peer reviewed; Journal article, 2022)This paper presents a novel framework for modelling dynamic Bayesian belief networks (BBNs) for online risk assessment in underwater operations. Existing frameworks spans from commercial software with restricted code access ... -
Dynamics of Remotely Operated Underwater Vehicle Systems
Eidsvik, Ole Alexander Nørve (Doctoral theses at NTNU;2018:224, Doctoral thesis, 2018)The dynamics of typical remotely operated vehicle (ROV) systems are considered, and the subject is divided into three topics. Topic 1 considers the dynamics of single-body and multi-body ROVs, topic 2 considers the dynamics ... -
Efficient Modelling Methodology for Reconfigurable Underwater Robots
Nielsen, Mikkel Cornelius; Blanke, Mogens; Schjølberg, Ingrid (Journal article; Peer reviewed, 2016)This paper considers the challenge of applying reconfigurable robots in an underwater environment. The main result presented is the development of a model for a system comprised of N, possibly heterogeneous, robots dynamically ... -
Emission Reduction in Shipping Using Hydrogen and Fuel Cells
Jafarzadeh, Sepideh; Schjølberg, Ingrid (Chapter; Peer reviewed, 2017)Despite various technical and operational improvements, shipping remains a contributor to global emissions of greenhouse gases, nitrogen oxides, and sulphur oxides, among others. As a part of its efforts to limit adverse ... -
Energy management strategies for a zero-emission hybrid domestic ferry
Balestra, Lorenzo; Schjølberg, Ingrid (Peer reviewed; Journal article, 2021)The paper presents three approaches for the sizing and control of a maritime hybrid power-plant equipped with proton exchange membrane fuel cells and batteries. The study focuses on three different power-plant configurations, ... -
Enhanced Hydroacoustic Range Robustness of Three-Stage Position Filter based on Long Baseline Measurements with Unknown Wave Speed
Jørgensen, Erlend Kvinge; Johansen, Tor Arne; Schjølberg, Ingrid (Journal article; Peer reviewed, 2016)This paper considers the problem of constructing a globally convergent position-and velocity estimator with close-to-optimal noise properties using hydroacoustic long baseline measurements. Three ways of improving the range ... -
Experimental validation of attitude and rate-sensor bias filter using range-difference measurements
Jørgensen, Erlend Kvinge; Fossen, Thor I.; Schjølberg, Ingrid; Esperanca, Paulo TT (Peer reviewed; Journal article, 2018)This paper considers the problem of constructing a filter for estimating attitude and rate-sensor bias, that has both proven stability and close-to-optimal performance with respect to noise. The filter is based on measuring ... -
Experimental Validation of End-Effector Stabilization for Underwater Vehicle-Manipulator Systems in Subsea Operations
Haugaløkken, Bent Oddvar Arnesen; Jørgensen, Erlend Kvinge; Schjølberg, Ingrid (Journal article, 2018)This paper considers the kinematic control approach for controlling an underwater vehicle-manipulator system. Three different kinematic control schemes have been applied, and the performance of each scheme is compared. The ... -
Experimental verification of underwater positioning system in aquaculture
Sandøy, Stian Skaalvik; Schjølberg, Ingrid (Chapter; Peer reviewed, 2017)This paper presents a filter for positioning of an underwater vehicle in exposed aquaculture environments. The input to the filter is time of flight measurements from acoustic transponders mounted at near the sea surface. ... -
Finite element cable-model for Remotely Operated Vehicles (ROVs) by application of beam theory
Eidsvik, Ole Alexander; Schjølberg, Ingrid (Journal article, 2018)Increasing autonomy, efficiency and safety for Remotely Operated Vehicles (ROVs) is crucial for future subsea operations and requires accurate models for optimal control, operations and design. This involves precise modeling ... -
Globally Exponentially Stable Aided Inertial Navigation with hydroacoustic Measurements from A Single Transponder
Stovner, Bård Bakken; Johansen, Tor Arne; Schjølberg, Ingrid (Journal article; Peer reviewed, 2017)This paper provides a novel formulation relating underwater range measurements to body-fixed position when several acoustic transceivers are mounted on the vehicle and only one transponder is placed in the vehicle's ... -
Globally Exponentially Stable Filters for Underwater Position Estimation Using an Array of Hydroacoustic Transducers on the Vehicle and A Single Transponder
Stovner, Bård Nagy; Johansen, Tor Arne; Schjølberg, Ingrid (Journal article; Peer reviewed, 2018)This paper presents two novel globally exponentially stable position estimators using hydroacoustic measurements from a single transponder to several transceivers on the vehicle. A comparison study of these and several ... -
Guidance and Control of Marine Robotics for Ocean Mapping and Monitoring
Nornes, Stein M. (Doctoral theses at NTNU;2018:202, Doctoral thesis, 2018)The ocean is an integral part of life on Earth, both as a source of food and oxygen, a medium of transportation and a major influence on weather and climate. Unfortunately, proper management and preservation of the ocean ...