Blar i NTNU Open på forfatter "Hassani, Vahid"
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A multiple model adaptive architecture for the state estimation in discrete-time uncertain LPV systems
Rotondo, Damiano; Hassani, Vahid; Cristofaro, Andrea (Journal article, 2017)This paper addresses the problem of multiple model adaptive estimation (MMAE) for discrete-time linear parameter varying (LPV) systems that are affected by parametric uncertainty. The MMAE system relies on a finite number ... -
A novel methodology for robust dynamic positioning of marine vessels: theory and experiments
Hassani, Vahid; Sørensen, Asgeir Johan; Pascoal, Antonio (Journal article, 2013)The paper describes a novel robust adaptive controller for Dynamic Positioning (DP) of marine vessels. The proposed Robust Multiple Model Adaptive Dynamic Positioning (RMMADP) structure consists of a bank of robust controllers ... -
Adaptive Vertical Motion Control System for a Surface Effect Ship
Fjellvang, Snorre Ludvig (Master thesis, 2018)In this thesis, an adaptive controller is developed, with the purpose of actuating the pressure of the air cushion of a Surface effect ship (SES), as means of reducing wave induced vertical vessel motions. The rise in the ... -
Adaptive Wave Filtering for Dynamic Positioning of Marine Vessels Using Maximum Likelihood Identification: Theory and Experiments
Hassani, Vahid; Sørensen, Asgeir Johan; Pascoal, Antonio (Chapter, 2016)This paper addresses a filtering problem that arises in the design of dynamic positioning systems for ships and offshore rigs subjected to the influence of sea waves. The dynamic model of the vessel captures explicitly the ... -
Application of Data Driven control in Dynamic Positioning
Onstein, Tord Fjordheim (Master thesis, 2017)This master thesis examines the motivation of studying adaptive control, presents the framework of Unfalsified Adaptive Control (UAC) and its theoretical background. Detailed explanation is given for key features that make ... -
Autonomous Sailboats - Modeling, Simulation, Control
Wille, Kristian Løken (Master thesis, 2016)This thesis is divided into five parts. In the first part, a general mathematical model of a sailboat is created. The model presented builds upon previous work and improves the modeling at multiple different areas such as ... -
COLREGS Compatible Motion Planning for Autonomous Surface Vessels
Eidal, Maren Kristine (Master thesis, 2018)In the past decades, autonomy has gone from a technology of the future to an inevitability. Driver-less cars are already on the roads, and autonomous surface vessels (ASVs) are well within range. With this increase in ... -
Current Profile Estimation for a Moored Floating Structure
Lu, Ying (Master thesis, 2018)Stationkeeping operations for offshore vessels (drillrigs, drillships, construction and intervention vessels, PSVs, etc.) are essential for offshore filed development and oil and gas production. Short-term subsea operations ... -
Cyber Security Issues in Navigation Systems of Marine Vessels From Control Perspective
Hassani, Vahid; Crasta, Naveena; Pascoal, Antonio (Chapter, 2017)Autonomous marine vessels are the way forward to revolutionize maritime operations. However, the safety and success of autonomous missions depend critically on the availability of a reliable positioning system and time ... -
Data-driven control in marine systems
Hassani, Vahid; Pascoal, António M.; Onstein, Tord Fjordheim (Journal article; Peer reviewed, 2018)With the advent of cheap smart sensors installed on board marine vehicles and the increasing computational power of small embedded processors there is tremendous potential for the implementation of new strategies to control ... -
Data-driven fault detection for plunger pumps
Farnes, Sigurd (Master thesis, 2018)In this thesis, a method for detecting faults for plunger pumps using a data-driven approach is developed. Large amounts of data have been accumulated in the process industry during the recent decades. A general digitization ... -
Design and verification of a sway-yaw control system for Surface Effect Ships using vent valves
Teigland, Håkon; Hassani, Vahid; Auestad, Øyvind Fidje (Journal article; Peer reviewed, 2019)For an offshore worker in the oil and gas industry, the helicopter transport is the activity associated with the highest risk. An alternative to helicopter crew transfers is to use Surface Effect Ships (SES) to transport ... -
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 ... -
Disturbance rejection of a High Speed Hydrofoil Craft using a Frequency Weighted H2-Optimal Controller
Piene, Erik Bakkevig (Master thesis, 2018)The study presented in this report look into the design of a Ride Control System reducing wave-induced motions in heave, roll and pitch on a fully submerged hydrofoil craft sailing in 17 m/s. A frequency weighted, ... -
Dynamic Positioning of Surface Effect Ships using vent valve actuation
Teigland, Håkon (Master thesis, 2019)For en offshore-arbeidstaker i olje- og gassindustrien er helikoptertransporten til installasjonen den aktiviteten knyttet til den høyeste risikoen. Et alternativ til personelltransport ved hjelp av helikopter er å bruke ... -
Experimental Testing, Dynamic Modeling and Control of Roll and Pitch for a SES with a Split Cushion
Haukeland, Ola Mosebø (Master thesis, 2019)Denne masteroppgaven undersøker egenskapene for rull og trim demping til et overflateffektskip med en luftpute som er delt inn i fire separate putekamre. Denne nye puteinndelingen gjør det mulig å generere et motvirkende ... -
Fault Detection for Position Mooring Using Statistical Analysis
Kolstø, Andreas Bro (Master thesis, 2018)The standard approach for detecting mooring line failures for position moored vessels is by measuring the tension in the mooring lines, either directly or indirectly. The sensors measuring the line tensions are often hard ... -
High-level demonstration of holistic design and optimisation process of Offshore Support Vessel
de Jongh, Martijn; Olsen, K. E.; Berg, Bård; Jansen, J. E.; Torben, Sverre; Abt, Claus; Dimopoulos, G.; Zymaris, A.; Hassani, Vahid (Chapter, 2018)Design of highly complex vessels involves a multitude of disciplines designing different modules and units of the vessel using different tools and methods requiring specialist competence in specific areas. The vessel may ... -
Hybrid Collision Avoidance with Moving Obstacles
Chai, Yi (Master thesis, 2019)A considerable amount of work has been done in the field of Autonomous Surface Vehicles (ASV) over the past few decades. Autonomous path planning and collision avoidance (COLAV) are essential for ASV navigating in unknown ... -
Hybrid Collision Avoidance with Moving Obstacles
Chai, Yi; Hassani, Vahid (Journal article; Peer reviewed, 2019)This paper proposes a hybrid collision avoidance (COLAV) approach based on the integration of a global path planning algorithm and a reactive collision avoidance technique. This combination provides a robust path planning ...