Blar i NTNU Open på forfatter "Skjetne, Roger"
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Autonomous heading control in position mooring with thruster assist
Johannessen, Silje Aarvik (Master thesis, 2017)The main topic of this thesis is Thruster-Assisted Position Mooring (TAPM), which is a positioning system for automatic thruster assistance of a moored structure. The system has been commercially available since the late ... -
Autonomous online path planning and path-following control for complete coverage maneuvering of a USV
Lenes, Jan Henrik (Master thesis, 2019)Manøvrering med full dekning krever planlegging og følging av en bane slik at en observasjonssensor eller robotdel dekker hele arbeidsområdet. Utformingen av baner med full dekning er et viktig problem ved kartlegging av ... -
Autonomous Path-Planning and -Following for a Marine Surface Robot
Follestad, Mats Håkon (Master thesis, 2017)Autonomous navigation for unmanned surface vessels is a modern and rapidly growing field of research. In recent years, many concepts and solutions have been proposed in order to achieve autonomous control of marine vessels. ... -
Autonomous underwater vehicles in Arctic marine operations: Arctic marine research and ice monitoring
Norgren, Petter (Doctoral theses at NTNU;2018:255, Doctoral thesis, 2018)This thesis considers autonomous underwater vehicles (AUVs) in Arctic marine operations. It focuses on their use as a sensor platform in ice monitoring operations and the use of AUVs for Arctic marine research. Arctic AUV ... -
AutoVoyage: Autonom baneplanlegging, banegenerering, og banefølging for autonome skip under transit
Nordstoga, Aksel Knudsen (Master thesis, 2019)Denne avhandlingen presenterer et komplett system for autonom baneplanlegging, banegenerering og banefølging for et marint overflateskip. Baneplanleggeren er delt inn i en global planlegger med lav oppløsning, som planlegger ... -
Battery Management System for a low-cost ROV
Gulsvik, Knut Amund Knutsen (Master thesis, 2017)A combination of advanced State-of-charge (SoC), State-of-Health (SoH) and State-of-Power (SoP) estimation techniques have been combined into a novel scheme to ensure safe and efficient operation of a battery pack. A ... -
Camera-assisted Dynamic Positioning of ROVs
Henriksen, Andreas Viggen (Master thesis, 2016)When ROVs are operated with manual joysticks, the user will experience a lack of control because of currents and drag forces from the umbilical. This will induce undesirable oscillations and motions that are hard to ... -
Camera-based SLAM for Dynamic Positioning of Low-cost ROV
Mo-Bjørkelund, Tore (Master thesis, 2017)A range of low-cost Remotely Operated Vehicles(ROVs) are currently emerging in the consumer market. In this thesis we are exploring the possibilities of using monocular camera-based Simultaneous Localization And Mapping(SLAM) ... -
Camera-Based State Estimation for Surface Vessels
Harbitz, Erlend S. (Master thesis, 2017)Simultaneous localization and mapping (SLAM) is the twofolded problem of locating a vehi- cle starting at an unknown location and mapping the surrounding environment simultane- ously. This thesis considers the SLAM problem ... -
Can a computer see what an ice expert sees? Multilabel ice objects classification with convolutional neural networks
Kim, Ekaterina; Dahiya, Gurvinder; Løset, Sveinung; Skjetne, Roger (Journal article; Peer reviewed, 2019)Computer-aided scene analysis has drawn much attention, especially in autonomous navigation and advanced navigation assistance systems for surface vessels. In ice-infested waters, multilabel ice object classification and ... -
Comparison of Fuel Consumption on A Hybrid Marine Power Plant with Low-Power versus High-Power Engines
Wu, Zhenying (Master thesis, 2017)Due to operation cost and environmental concerns, there is ongoing effort to reduce the fuel consumption and emissions in all transportation sectors including marine transportation. In the last decade, the development of ... -
Comparison of Fuel Consumption on a Hybrid Marine Power Plant With Low-Power Versus High-Power Engines
Wu, Zhenying; Thorat, Laxminarayan; Skjetne, Roger (Chapter, 2018)In this paper, we are comparing fuel consumption on a case study hybrid marine power plant with diesel gensets and batteries. Optimization methods are used to find an optimal operating point for the gensets, under different ... -
Compensation of bias loads in dynamic positioning of marine surface vessels
Værnø, Svenn Are Tutturen; Brodtkorb, Astrid H.; Skjetne, Roger (Journal article; Peer reviewed, 2019)This paper investigates different methods for compensating the mean and slowly varying environmental loads, and unmodeled dynamics (bias loads) in dynamic positioning of marine vessels. Four different methods are compared; ... -
Constrained Optimal Thrust Allocation for C/S Inocean Cat I Drillship
Frederich, Preben (Master thesis, 2016)It is essential to have a good thruster system when it comes to offshore operations and dynamic positioning. Not only can this save fuel, but also make the vessel and operations safer. A good thruster system consists ... -
Control and Estimation of Wave Energy Converters
Brask, Annette Kristin (Master thesis, 2015)The increasing scarcity of fresh water threatens the well being of both humans and the environment. Wave power desalination is a method of producing freshwater that has been in the developing stages since 1970. One of the ... -
Control and Simulation of a Thruster-Assisted Moored Offshore Vessel in Sea-ice
Gjessing, Ivar Aleksander (Master thesis, 2015)The exploration of the northern seas is constantly raising new and interesting research topics in order to adapt our technology to handle this extraordinary harsh climate. Darkness, remoteness, cold and harsh weather, and ... -
Development and application of a simulator for offshore wind turbine blades installation
Ren, Zhengru; Jiang, Zhiyu; Skjetne, Roger; Gao, Zhen (Journal article, 2018)In an offshore environment, offshore wind energy resources are more available and stable, but the investment cost is much higher than that of onshore wind. The installation cost is a crucial factor of the investment. With ... -
Distributed motion sensing on ships
Heyn, Hans-Martin; Udjus, Guttorm; Skjetne, Roger (Journal article; Peer reviewed, 2017)A current trend is autonomous transport of goods and people in the air, at land, and at sea. For safe and reliable operations, autonomous systems require sensors that replace, or even exceed, the senses of a human operator. ... -
Distributed sensing of loads acting against the hull of a stationkeeping vessel in ice
Heyn, Hans-Martin; Skjetne, Roger; Scibilia, Francesco (Chapter, 2018)This paper introduces the concept of distributed motion sensing for stationkeeping vessels in ice infested waters. During the SKT 2017 project, conducted in February and March 2017 in the Bay of Bothnia, five inertial ... -
Disturbance rejection by acceleration feedforward for marine surface vessels
Kjerstad, Øivind Kåre; Skjetne, Roger (Journal article; Peer reviewed, 2016)Acceleration signals have a powerful disturbance rejection potential in rigid body motion control, as they carry a measure proportional to the resulting force. Yet, they are seldom used, since measuring, decoupling, and ...