Blar i NTNU Open på forfatter "Sandøy, Stian Skaalvik"
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Acoustic-Based Probabilistic Localization and Mapping for Unmanned Underwater Vehicles in Aquaculture Operations
Sandøy, Stian Skaalvik (Doctoral theses at NTNU;2020:208, Doctoral thesis, 2020)The aquaculture industry needs automation to meet the world's increasing demand for fish protein. However, it is considered to be one of the most dangerous occupations in Norway due to the required amount of manual labor ... -
Experimental verification of underwater positioning system in aquaculture
Sandøy, Stian Skaalvik; Schjølberg, Ingrid (Chapter; Peer reviewed, 2017)This paper presents a filter for positioning of an underwater vehicle in exposed aquaculture environments. The input to the filter is time of flight measurements from acoustic transponders mounted at near the sea surface. ... -
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. ... -
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 ... -
System Identification and State Estimation for ROV uDrone
Sandøy, Stian Skaalvik (Master thesis, 2016)This master thesis makes an introduction to all aspects of the design of an advanced model-based control system for the Remotely Operated Vehicle (ROV) uDrone. The design of thrust allocation along with a known mathematical ... -
A systems-theoretic approach to hazard identification of marine systems with dynamic autonomy
Yang, Xue; Utne, Ingrid Bouwer; Sandøy, Stian Skaalvik; Ramos, Marilia Abilio; Rokseth, Børge (Peer reviewed; Journal article, 2020)Autonomous marine systems may switch between various operational modes with different levels of autonomy (LoA), due to a rapidly changing environment and the complex nature of tasks. The dynamic autonomy brings an additional ... -
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 ...