Browsing NTNU Open by Author "Skjetne, Roger"
Now showing items 21-40 of 189
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Autonom kailegging av skip ved bruk av nærhetssensorer
Edvard Meyer Flaatten (Master thesis, 2019)Denne avhandlingen presenterer utformingen av et kontrollsystem for autonom kailegging av skip ved hjelp av nærhetssensorer. Simuleringer og eksperimenter har blitt utført med moddelfartøyet C/S Inocean Cat I Drillship. ... -
Autonom stegvis banegenerering og banefølging for en undervannsdrone
Lundby, Erlend Torje Berg (Master thesis, 2019)Denne oppgaven presenterer de hovedkomponentene til en Autonom Undervannsfarkost (AUV) som erknyttet til kontroll og overordnede beslutninger i det autonome systemet. Dette inkluderer et systemsom er ansvarlig for ... -
Autonomous Docking for Marine Vessels Using a Lidar and Proximity Sensors.
Spange, Joachim (Master thesis, 2016)This thesis reviews the development of an autonomous docking feature for a marine vessel in a small-scale, sheltered, environment. Proximity sensors are added to aid the autonomous exploration by detecting obstacles outside ... -
Autonomous guidance, stepwise path planning, and path-following control with anti-collision for autonomous marine robots
Zhou, Hongyu (Master thesis, 2020)This thesis presents methods for autonomous guidance, stepwise path planning, and path-following control with anti-collision and COLREGs compliance. The system is validated through simulations. Two waypoint generation ... -
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 Maneuvering of a Surface Vessel
Knædal, Magnus (Master thesis, 2020)Denne oppgaven tar for seg et intelligent veiledningskonsept for en overflatefarkost som beveger seg fra start- til endelig veipunkt. Problemet blir løst stegvis for å legge til rette for utførelse i sanntid og for å kunne ... -
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 ship maneuvering with guaranteed safety
Åsheim, Nora (Master thesis, 2021)Autonome skip følger vanligvis en nominell bane under en reise. Denne banen planlegges gjerne før reisen begynner. Kjente, statiske hindringer kan unngås gjennom planleggingen av den nominelle banen, i motsetning til ukjente ... -
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 ... -
Co-simulation of the propulsion system onboard the icebreaker Oden.
Odéen, Terese (Master thesis, 2020) -
COLREGs-aware Trajectory Planning and Collision Avoidance for Autonomous Surface Vessels
Thyri, Emil Hjelseth (Doctoral theses at NTNU;2022:318, Doctoral thesis, 2022)This thesis considers trajectory planning and collision avoidance for autonomous surface vessels (ASVs) operating in complex domains in the presence of other vessels. In particular, the task of maneuvering in compliance ... -
Comparing Combinations of Linear and Nonlinear Feedback Terms for Ship Motion Control
Sørensen, Mikkel Nørgaard; Breivik, Morten; Skjetne, Roger (Peer reviewed; Journal article, 2020)In this article, combinations of linear and nonlinear feedback terms are investigated for 3 degrees-of-freedom pose and velocity control of ships. Nonlinear control algorithms that are found in the literature often have ... -
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 ...