Browsing NTNU Open by Author "Schjølberg, Ingrid"

Now showing items 61-80 of 81

    • Path Following of Underactuated Marine Surface Vessels in the Presence of Unknown Ocean Currents 

      Moe, Signe; Caharija, Walter; Pettersen, Kristin Ytterstad; Schjølberg, Ingrid (Journal article; Peer reviewed, 2014)
      This paper considers path following control of snake robots and has two contributions. The first contribution is a description of how a straight line path following controller previously proposed by the authors can be ...

    • Proposal and comparison of an eXogenous Kalman Filter and a Particle Filter for use with ROV thruster models 

      Gustavsen, Herman Øen (Master thesis, 2018)
      Robust and accurate observer design is a prerequisite for safe and efficient underwater navigation. Especially with today's increased focus on automation and autonomy. In this thesis two model based observer designs for ...

    • Rao-Blackwellized Particle Filter with Grid-Mapping for AUV SLAM Using Forward-Looking Sonar 

      Sandøy, Stian Skaalvik; Matsuda, Takumi; Maki, Toshihiro; Schjølberg, Ingrid (Chapter, 2018)
      This paper adresses underwater localization for an AUV using SLAM and Forward Looking Sonar (FLS) data. The proposed method is Rao-Blackwellized Particle Filter (RBPF) with grid mapping. The original RBPF uses multiple ...

    • Risk Analysis and Modelling of Autonomous Marine Systems 

      Thieme, Christoph Alexander (Doctoral theses at NTNU;2018:346, Doctoral thesis, 2018)
      Autonomous marine systems (AMSs) are of increasing interest for the marine and maritime industries. AMSs are engineered, computer-controlled systems that take (to some degree) decisions independent of their human operators. ...

    • Risk management of autonomous marine systems and operations 

      Utne, Ingrid Bouwer; Sørensen, Asgeir Johan; Schjølberg, Ingrid (Chapter; Peer reviewed, 2017)
      Autonomous systems may lead to smarter and more efficient operations, but emerging risks are involved, because of lack of knowledge and operational experience with such systems, and challenges related to verification of ...

    • Risk modeling of autonomous underwater vehicle operation focusing on the human operator 

      Thieme, Christoph Alexander; Utne, Ingrid Bouwer; Schjølberg, Ingrid (Chapter, 2015)
      Autonomous Underwater Vehicles (AUVs) are used in scientific, commercial and military organizations to conduct surveys and follow a preprogrammed mission path through the oceans. If a fault or an unexpected deviation from ...

    • SeaArm - A Subsea Multi-Degree of Freedom Manipulator for Small Observation Class Remotely Operated Vehicles 

      Eidsvik, Ole Alexander; Haugaløkken, Bent Oddvar Arnesen; Schjølberg, Ingrid (Chapter, 2018)
      This paper presents the design of a novel low cost 4DOF fully electric subsea manipulator for small work class ROVs. The manipulator is designed to work on a wide range of typical observation class ROVs ranging from 5 kg ...

    • SeaArm-2 - Fully electric underwater manipulator with integrated end-effector camera 

      Skaldebø, Martin Breivik; Haugaløkken, Bent Oddvar Arnesen; Schjølberg, Ingrid (Chapter, 2021)
      This paper presents an electrically driven underwater manipulator named SeaArm-2 and considers the kinematic control approach to perform autonomous fixed-base grasping of an object of known size and shape at unknown positions ...

    • Station-Keeping using Deep Learning 

      Ulstein, Ingvild Tveit (Master thesis, 2019)
      Denne oppgaven undersøker muligheten for å skape en kontroller for et fjernstyrt undervannsfartøy (ROV) med en dyp forsterkningsinlæringsmetode, nærmere bestemt ved hjelp av en Proximal Policy Optimisation (PPO) ...

    • System Design for the Next Generation Subsea IMR Vehicles 

      Henriksen, Eirik Hexeberg (Doctoral theses at NTNU;2018:196, Doctoral thesis, 2018)
      This thesis is about how to unlock the full potential of unmanned underwater vehicles to save cost and increase quality in inspection maintenance and repair (IMR) services for subsea petroleum extraction equipment. Today ...

    • Time Domain Modeling of ROV Umbilical using Beam Equations 

      Eidsvik, Ole Alexander Nørve; Schjølberg, Ingrid (Journal article, 2016)
      This paper presents a finite element model for representing the cable dynamics of a typical ROV(Remotely Operated Vehicle) umbilical. The goal is to produce a model able to capture the most important dynamic effects of the ...

    • Tools and methods to manage risk in autonomous subsea inspection, maintenance and repair operations 

      Hegde, Jeevith (Doctoral theses at NTNU;2018:71, Doctoral thesis, 2018)
      Autonomous subsea interventions are anticipated to decrease operational costs, reduce response time and optimally maintain the subsea infrastructure. However, the introduction of autonomy may lead to emerging risk factors ...

    • Towards autonomy in ROV operations 

      Schjølberg, Ingrid; Utne, Ingrid Bouwer (Journal article, 2015)
      This paper presents an on-going research project focusing on the development of technology to enable autonomy in ROV operations. The project is a collaborative project between Norwegian offshore industry and academia. ...

    • Towards Safety Barrier Analysis of Hydrogen Powered Maritime Vessels 

      Balestra, Lorenzo; Yang, Ruochen; Schjølberg, Ingrid; Utne, Ingrid Bouwer; Ulleberg, Øystein (Chapter, 2021)
      This paper focuses on the use of safety barrier analysis, during the design phase of a vessel powered by cryogenic hydrogen, to identify possible weaknesses in the architecture. Barrier analysis can be used to evaluate a ...

    • Transfer Learning in Underwater Operations 

      Skaldebø, Martin Breivik; Sans-Muntadas, Albert; Schjølberg, Ingrid (Journal article, 2019)
      This paper investigates a method for reducing the reality gap that occurs when applying simulated data in training for vision-based operations in a subsea environment. The distinction in knowledge in the simulated and real ...

    • Underwater Position and Attitude Estimation Using Acoustic, Inertial, and Depth Measurements 

      Jørgensen, Erlend Kvinge; Fossen, Thor I.; Bryne, Torleiv Håland; Schjølberg, Ingrid (Peer reviewed; Journal article, 2019)
      This article considers the problem of constructing an observer for estimating position, velocity, attitude, underwater wave speed, rate sensor bias, and accelerometer bias that has both proven stability and close-to-optimal ...

    • Underwater Positioning using near Surface Long Baseline Transponder’s Induced by Wave Motion 

      Sandøy, Stian Skaalvik; Schjølberg, Ingrid (Chapter, 2017)
      This paper presents a filter for underwater positioning in an aquaculture environment with demanding weather conditions. The positioning system is based on acoustic transponders mounted at a net pen on the sea surface. The ...

    • Validation of multi-body modelling methodology for reconfigurable underwater robots 

      Nielsen, Mikkel Cornelius; Eidsvik, Ole Alexander; Blanke, Mogens; Schjølberg, Ingrid (Chapter; Peer reviewed, 2016)
      This paper investigates the problem of employing reconfigurable robots in an underwater setting. The main results presented is the experimental validation of a modelling methodology for a system consisting of N dynamically ...

    • Velferdsteknologi i boliger. Muligheter og utfordringer 

      Aspnes, Espen; Ausen, Dag; Høyland, Karin; Mikalsen, Marius; Steen-Hansen, Anne Elise; Storesund, Karolina; Schjølberg, Ingrid; Svagård, Ingrid Storruste; Walderhaug, Ståle (SINTEF Rapport;A23938, Research report, 2012)
      Målsettingen med denne rapporten er å belyse og diskutere muligheter og utfordringer med implementering av velferdsteknologi knyttet til boligløsninger og det å klare seg godt i egen bolig. Utvikling og implementering av ...

    • Vision Based Localization for Subsea Intervention 

      Henriksen, Eirik Hexeberg; Schjølberg, Ingrid; Gjersvik, Tor Berge (Chapter; Peer reviewed, 2017)
      A vision based underwater localization system using fiducial markers is proposed. The system is implemented as a new control mode in a shared control system for ROVs and tested experimentally in a pool. A high accuracy ...