Browsing NTNU Open by Author "Haugaløkken, Bent Oddvar Arnesen"

Now showing items 1-12 of 12

    • Adaptive Generalized Super-Twisting Tracking Control of an Underwater Vehicle 

      Haugaløkken, Bent Oddvar Arnesen; Amundsen, Herman Biørn; Fadum, Håkon Syverud; Gravdahl, Jan Tommy; Ohrem, Sveinung Johan (Chapter, 2023)
      Tracking control for unmanned underwater vehicles is essential, both for autonomous operations and complex tasks where the vehicle is manually controlled by a pilot. Underwater vehicles are typically subjected to perturbations ...

    • Adaptive Speed Control of ROVs with Experimental Results from an Aquaculture Net Pen Inspection Operation 

      Ohrem, Sveinung Johan; Evjemo, Linn Danielsen; Haugaløkken, Bent Oddvar Arnesen; Amundsen, Herman Biørn; Kelasidi, Eleni (Peer reviewed; Journal article, 2023)
      Remotely operated vehicles (ROVs) are often used for inspection in aquaculture net pens which serves the important purpose of localizing holes in the net and reporting potential irregularities and damages. Manual control ...

    • Autonomous Grasping Using Novel Distance Estimator 

      Skaldebø, Martin Breivik; Haugaløkken, Bent Oddvar Arnesen; Schjølberg, Ingrid (Peer reviewed; Journal article, 2023)
      This paper introduces a novel distance estimator using monocular vision for autonomous underwater grasping. The presented method is also applicable to topside grasping operations. The estimator is developed for robot ...

    • Autonomous subsea intervention (SEAVENTION) 

      Transeth, Aksel Andreas; Schjølberg, Ingrid; Lekkas, Anastasios; Risholm, Petter; Mohammed, Ahmed Kedir; Skaldebø, Martin Breivik; Haugaløkken, Bent Oddvar Arnesen; Bjerkeng, Magnus Christian; Tsiourva, Maria Efstathia; Py, Frédéric (Peer reviewed; Journal article, 2022)
      This paper presents the main results and latest developments in a 4-year project called autonomous subsea intervention (SEAVENTION). In the project we have developed new methods for autonomous inspection, maintenance and ...

    • Autonomous Technology for IMR Operations in the Norwegian Aquaculture 

      Haugaløkken, Bent Oddvar Arnesen (Doctoral theses at NTNU;2020:9, Doctoral thesis, 2020)

    • 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 ...

    • Monocular vision-based gripping of objects 

      Haugaløkken, Bent Oddvar Arnesen; Skaldebø, Martin Breivik; Schjølberg, Ingrid (Peer reviewed; Journal article, 2020)
      Optics-based systems may provide high spatial and temporal resolution for close range object detection in underwater environments. By using a monocular camera on a low cost underwater vehicle manipulator system, objects ...

    • Pose Estimation of Aquaculture Crane Using IMUs 

      Ljevo, Irfan (Master thesis, 2022)
      Et av norges største eksport varer er laks, derfor er akvakultur sektoren en av de mest betydelige sektorene i landet. Det vil derfor være avgjørende å skape endringer innenfor dette området for å oppnå størst mulig suksess, ...

    • Probabilistic Localization and Mapping of Flexible Underwater Structures using Octomap 

      Haugaløkken, Bent Oddvar Arnesen; Sandøy, Stian Skaalvik; Ingrid Schjølberg; Alfredsen, Jo Arve; Utne, Ingrid Bouwer (Chapter, 2018)
      This paper addresses localization and mapping of flexible ocean structures. The methodology is based on a network of low cost acoustic transmitters on the structure and receivers stationed in the vicinity of the structure. ...

    • 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 ...

    • The Generalized Super-Twisting Algorithm Used for Robust Control of Unmanned Subsea Vehicles Operating at Exposed Aquaculture Sites 

      Fadum, Håkon Syverud (Master thesis, 2022)
      Fiskeoppdrett er en industri i stor vekst. Den norske fiskeoppdrettsindustrien ønsker å utnytte eksponerte havbrukslokasjoner for fiskeoppdrett. Dette er på grunn av forskjellige miljø og plassproblemer som industrien ...