Blar i NTNU Open på forfatter "Kelasidi, Eleni"
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A control framework for biologically inspired underwater swimming manipulators equipped with thrusters
Sverdrup-Thygeson, Jørgen; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (IFAC Proceedings series;, Journal article; Peer reviewed, 2016)In this paper we present a control framework for a novel biologically inspired underwater swimming manipulator (USM) equipped with thrusters. The framework consists of a kinematic part and a dynamic part. The kinematic ... -
A control-oriented model of underwater snake robots exposed to currents
Kohl, Anna M.; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Chapter, 2015)This paper presents a control-oriented model of a neutrally buoyant underwater snake robot that is exposed to a constant irrotational current. The robot is assumed to move in a horizontal, fully submerged plane with a ... -
A waypoint guidance strategy for underwater snake robots
Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2014)In this paper, a waypoint guidance strategy is proposed for an underwater snake robot. The robot is directed to follow a path which is derived using path planning techniques. A first version of the path is derived by ... -
Adaptive motion planning and path following for permanent resident biofouling prevention robot operating in fish farms
Føre, Martin; Fjæra, Sverre; Ohrem, Sveinung Johan; Kelasidi, Eleni; Bloecher, Nina; Amundsen, Herman Biørn (Journal article, 2022)This paper presents a study where the potential of achieving autonomous net cleaning operations in commercial net pens is demonstrated through numerical simulations. Specifically, we investigated solutions for coping with ... -
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 ... -
An Experimental Investigation of Path Following for an Underwater Snake Robot with a Caudal Fin
Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Kohl, Anna M; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2017)In this paper, we present a bioinspired underwater snake robot (USR) equipped with a passive caudal (tail) fin. In particular, a highly flexible configuration of a USR is presented, which is capable of locomotion both on ... -
Analysis of underwater snake robot locomotion based on a control-oriented model
Kohl, Anna M.; Pettersen, Kristin Ytterstad; Kelasidi, Eleni; Gravdahl, Jan Tommy (Proceedings of the 2015 IEEE Conference on Robotics and Biomimetics;, Journal article; Peer reviewed, 2015)This paper presents an analysis of planar underwater snake robot locomotion in the presence of ocean currents. The robot is assumed to be neutrally buoyant and move fully submerged with a planar sinusoidal gait and limited ... -
Automating tank operations in smolt production – A concept study for automating tank cleaning using robotic arms
Hofset Skeide, Pål (Master thesis, 2020)Denne oppgaven tar sikte på å utforske muligheten for å bruke et nytt mobilt robot system for å automatisere identifiserte operasjoner i smoltproduksjonsanlegg. Arbeidet er gjort som en del av en masteroppgave ved NTNU ... -
Autonomous Monitoring and Inspection Operations with UUVs in Fish Farms
Kelasidi, Eleni; Su, Biao; Caharija, Walter; Føre, Martin; Pedersen, Magnus Oshaug; Frank, Kevin (Peer reviewed; Journal article, 2022)In this study, a general control framework for autonomous operations in highly complex and dynamically changing environments such as fish farms is proposed and experimentally validated. Since fish farms feature an environment ... -
Autonomous Monitoring and Inspection Operations with UUVs in Fish Farms
Kelasidi, Eleni; Su, Biao; Caharija, Walter; Føre, Martin; Pedersen, Magnus Oshaug; Frank, Kevin (Peer reviewed; Journal article, 2022)In this study, a general control framework for autonomous operations in highly complex and dynamically changing environments such as fish farms is proposed and experimentally validated. Since fish farms feature an environment ... -
Control of an Underwater Swimming Manipulator, With Compensation for Reaction Forces and Hydrostatic Forces
Amundsen, Morten Fyhn (Master thesis, 2017)The underwater swimming manipulator (USM) is a new class of robots that combines the underwater snake robot's biologically inspired shape with the thruster actuators typical of other underwater robots. This combination ... -
Control Strategies for Autonomous Net Cleaning Operations using Underwater Robotic System
Seehuus, Håvard Løvseth (Master thesis, 2020)Motivert av utfordringer innen havbruksnæringen kunnet til uønsket begroing vil denne oppgave fokusere på løsninger innen robotikk for håndtering av begroing. Ved å finne nye løsninger for å hindre store ansamlinger av ... -
Deep Learning Approaches for Real-Time Fish Perception in Aquaculture
O'Brien, Emilia (Master thesis, 2024)Hovedfokuset i denne masteroppgaven er å utforske dyp-læringsbaserte metoder for å utvikle et sanntidsdyktig maskinsynsystem som er egnet for bruk i industrielle fiskeoppdrettsmiljøer. Dette systemet kan muliggjøre betydelige ... -
Deep-learning algorithms for estimation of fish-population parameters from stereo vision video data
Jakobsen, Stian Mjelde (Master thesis, 2023)Denne masteroppgaven fokuserer på å analysere hvordan fiskeadferd påvirkes av undervannsstrukturer med varierende former og farger, hovedsakelig målt i form av avstanden de opprettholder fra strukturen. For å sikre robusthet ... -
Deep-learning algorithms for estimation of fish-population parameters from video data
Jin, Kristoffer Chi Rong (Master thesis, 2022)Denne hovedoppgaven presenterer en metode for å estimere distansen og hastigheten til fisk ved å bruke to dyplæring metoder og et stereoskopisk kamera i samarbeid med SINTEF Ocean. Stereobilder er fanget av kameraet og ... -
Digital Twins in intensive aquaculture — Challenges, opportunities and future prospects
Føre, Martin; Alver, Morten Omholt; Alfredsen, Jo Arve; Rasheed, Adil; Hukkelås, Thor; Bjelland, Hans Vanhauwaert; Su, Biao; Ohrem, Sveinung Johan; Kelasidi, Eleni; Norton, Tomas; Papandroulakis, Nikos (Peer reviewed; Journal article, 2024)Digital Twin technology has emerged to become a key enabling technology in the ongoing transition into Industry 4.0. A Digital Twin is in essence a digital representation of an asset that provides better insight into its ... -
Energy efficiency of underwater robots
Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Journal article, 2015)Increasing efficiency by improving locomotion methods is a key issue for underwater robots. In this paper, we investigate the power consumption of different underwater robotic systems and compare the energy efficiency of ... -
Energy efficiency of underwater snake robot locomotion
Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2015)Energy efficiency is one of the main challenges for long-term autonomy of underwater robotic systems. In this paper, we present results regarding the power consumption of underwater snake robots. In particular, we investigate ... -
Experimental investigation of efficient locomotion of underwater snake robots for lateral undulation and eel-like motion patterns
Kelasidi, Eleni; Liljebäck, Pål; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Journal article, 2015)Underwater snake robots offer many interesting capabilities for underwater operations. The long and slender structure of such robots provide superior capabilities for access through narrow openings and within confined ... -
Experimental investigation of locomotion efficiency and path-following for underwater snake robots with and without a caudal fin
Kelasidi, Eleni; Kohl, Anna M; Pettersen, Kristin Ytterstad; Hoffmann, B; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2018)Over the last few decades, the robotics community has shown increasing interest in developing bioinspired swimming robots, driven by the need for more economical, more efficient, autonomous, highly flexible and maneuverable ...