Browsing NTNU Open by Author "Kjerstad, Øivind Kåre"
Now showing items 1-16 of 16
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A method for real-time estimation of full-scale global ice loads on floating structures
Kjerstad, Øivind Kåre; Lu, Wenjun; Skjetne, Roger; Løset, Sveinung (Journal article; Peer reviewed, 2018)This paper proposes an algorithm that uses conventional measurements found on-board ships coupled with additional Inertial Measurement Units to estimate the motions and global loads acting on them. The work is motivated ... -
A Tension-based Position Estimation Approach for Moored Marine Vessels
Ren, Zhengru; Skjetne, Roger; Kjerstad, Øivind Kåre (10th IFAC Conference on Manoeuvring and Control of Marine Craft;MCMC 2015, Journal article; Peer reviewed, 2015)This paper presents a novel idea on a tension-based localization approach as a redundancy measure to handle the situation when the position reference (posref) signals are not available or significant GNSS drifts occur, ... -
AMOS DP Research Cruise 2016: Academic full-scale testing of experimental dynamic positioning control algorithms onboard R/V Gunnerus
Skjetne, Roger; Sørensen, Mikkel Eske Nørgaard; Breivik, Morten; Værnø, Svenn Are Tutturen; Brodtkorb, Astrid H.; Sørensen, Asgeir Johan; Kjerstad, Øivind Kåre; Calabrò, Vincenzo; Vinje, Bjørn Ole (Chapter; Peer reviewed, 2017)In order to validate relevant dynamic positioning (DP) control algorithms in a realistic environment, a full-scale DP test campaign, the AMOS DP Research Cruise 2016 (ADPRC’16), was organized in a collaboration between the ... -
An Ice-Drift Estimation Algorithm Using Radar and Ship Motion Measurements
Kjerstad, Øivind Kåre; Løset, Sveinung; Skjetne, Roger; Skarbø, Runa A. (Journal article; Peer reviewed, 2018)This paper presents a novel automatic real-time remote sensing algorithm that uses radar images and global positioning satellite system measurements to estimate the ice-drift velocity vector in a region around a free-floating ... -
A Cascaded Heading Control Design With Motion Constraint Handling for Marine Surface Vessels
Kjerstad, Øivind Kåre; Coates, Erlend Magnus Lervik (Journal article, 2023)Maritime motion control systems traditionally employ proportional-integral-derivative (PID) feedback control combined with a model-based feedforward structure for heading control. However, such control designs often suffer ... -
Disturbance rejection by acceleration feedforward for marine surface vessels
Kjerstad, Øivind Kåre; Skjetne, Roger (Journal article; Peer reviewed, 2016)Acceleration signals have a powerful disturbance rejection potential in rigid body motion control, as they carry a measure proportional to the resulting force. Yet, they are seldom used, since measuring, decoupling, and ... -
Disturbance rejection by acceleration feedforward: Application to dynamic positioning
Kjerstad, Øivind Kåre; Skjetne, Roger; Jenssen, Nils Albert (Journal article, 2011)This paper addresses environmental disturbance rejection in dynamic systems by means of acceleration feedforward. A feedforward structure calculates the environmental force and magnitude by comparing the filtered acceleration ... -
Hvilken informasjon er de ulike fiskefartøyene ute etter, og hvordan blir denne innhentet?
Bjørge, Guro Solem; Holmeset, Ruben Grytten; Pettersen, Anna (Bachelor thesis, 2022)Denne bacheloroppgaven omhandler hvordan line-, trål- og ringnotfartøy anvender hydroakustikk og kartmaskiner for å optimalisere fangst. Hensikten med arbeidet er å avdekke forskjeller i utstyrsbruken på tvers av de tre ... -
Inertial Navigation aided by Ultra-Wideband Ranging for Ship Docking and Harbor Maneuvering
Helgesen, Håkon Hagen; Fuglestad, t; Cisek, Krzysztof Piotr; Vik, Bjørnar; Kjerstad, Øivind Kåre; Johansen, Tor Arne (Peer reviewed; Journal article, 2022)This article presents an inertial navigation system aided by local ranging measurements derived from an ultra-wideband system. The system consists of one onboard tag and several onshore anchors. It is motivated by the need ... -
Konseptutvikling av et integrert automatisk lade- og fortøyningsystem
Adam, Milkeyso Abdujalil (Bachelor thesis, 2023)Automatiske lade- og fortøyningsystemer ble først tatt i bruk for over 10 år siden men det er ikke før nå at anvendelsen har begynt utbre seg og teknologien utvikles raskt. Skipsfarten er på vei mot en elektrifisert og ... -
Localization for Ships during Automated Docking using a Monocular Camera
Thiagarajah, Dinosshan; Helgesen, Håkon Hagen; Kjerstad, Øivind Kåre; Johansen, Tor Arne (Chapter, 2022)Automating docking operations of ships requires at least two robust and precise localization systems for reaching the typically required safety and redundancy levels. Global navigation satellite systems are typically chosen ... -
Modeling and Control for Dynamic Positioned Marine Vessels in Drifting Managed Sea Ice
Kjerstad, Øivind Kåre; Skjetne, Roger (Journal article; Peer reviewed, 2014)This paper presents a development framework for dynamic positioning control systems for marine vessels in managed ice. Due to the complexity of the vessel-ice and ice-ice interactions a configurable high fidelity numerical ... -
A Resetting Observer for Linear Time-Varying Systems with Application to Dynamic Positioning of Marine Surface Vessels
Torben, Tobias Valentin Rye; Teel, Andrew R.; Kjerstad, Øivind Kåre; Wittemann, Emilie H. T.; Skjetne, Roger (Journal article; Peer reviewed, 2024)This brief presents a resetting observer for linear time-varying (LTV) systems. The motivation for the observer is better handling of unmodeled dynamics and reactiveness to external disturbances without compromising ... -
Topics in dynamic positioning: System identification, GNSS and MRU lever arm estimation, and hybrid integral action
Tutturen, Svenn Are (Master thesis, 2014)This thesis consists of three main parts. The first part of the master thesis looks at the identification of thruster dynamics and low speed ship dynamics. The relevant parameters identified are time constants and time ... -
Weather-Optimal Positioning Control for Underactuated USVs
Kjerstad, Øivind Kåre (Master thesis, 2010)This thesis considers the design and development of a weather optimal positioning control system which is implemented on a developed 6 degrees of freedom vessel model of a Viknes 830 augmented with actuator and environmental ... -
Weather-Optimal Positioning Control for Underactuated USVs
Kjerstad, Øivind Kåre (Master thesis, 2010)This thesis considers the design and development of a weather optimal positioning control system which is implemented on a developed 6 degrees of freedom vessel model of a Viknes 830 augmented with actuator and environmental ...