Browsing NTNU Open by Author "Skjetne, Roger"

A Benchmark Radar-Based Dataset from the Canal in Trondheim

Hangerhagen, Petter (Master thesis, 2024)

Den maritime industrien har sett økende interesse for autonome fartøy, noe som vil kreve robust situasjonsforståelse for å navigere trygt. Denne oppgaven tar for seg gapet i tilgjengelig maritime radar-baserte datasett ved ...

A Crane Overload Protection Controller for Blade Lifting Operation Based on Model Predictive Control

Ren, Zhengru; Skjetne, Roger; Gao, Zhen (Journal article; Peer reviewed, 2019)

Lifting is a frequently used offshore operation. In this paper, a nonlinear model predictive control (NMPC) scheme is proposed to overcome the sudden peak tension and snap loads in the lifting wires caused by lifting speed ...

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 Multibeam-Based SLAM Algorithm for Iceberg Mapping Using AUVs

Norgren, Petter; Skjetne, Roger (Journal article; Peer reviewed, 2018)

Using autonomous underwater vehicles (AUVs) for mapping underwater topography of sea-ice and icebergs, or detecting keels of ice ridges, is foreseen as enabling technology in future Arctic marine operations. Wind, current, ...

A particle filter SLAM approach to online iceberg drift estimation from an AUV

Norgren, Petter; Skjetne, Roger (Chapter; Peer reviewed, 2017)

Using autonomous underwater vehicles (AUVs) for mapping the underwater topography of sea-ice and icebergs, or detecting keels of ice ridges, is foreseen as an enabling technology in future Arctic offshore operations. This ...

A Structure Preserving Power System Frequency Model for Dynamic Positioning Vessels

Dahl, Andreas Reason; Skjetne, Roger; Johansen, Tor Arne (Chapter; Peer reviewed, 2017)

This paper adapts a structure preserving model to on-board power plants. The model, originally developed for land-based power systems, is expanded for the larger frequency range allowable to on-board plants. State-space ...

A system for automated vision-based sea-ice concentration detection and floe-size distribution indication from an icebreaker

Heyn, Hans-Martin; Knoche, Martin; Zhang, Qin; Skjetne, Roger (Chapter; Peer reviewed, 2017)

This paper presents a ship-mounted multi-lens camera system for sea-ice monitoring and algorithms to automatically evaluate the sea-ice concentration and to indicate the floe-sizes in a radius of 100 meter around the vessel. ...

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, ...

A Unified Framework for Fault Detection and Diagnosis Using Particle Filter

Zhao, Bo; Skjetne, Roger (Journal article; Peer reviewed, 2014)

In this paper, a particle filter (PF) based fault detection and diagnosis framework is proposed. A system with possible faults is modeled as a group of hidden Markov models representing the system in fault-free mode and ...

Active heave compensation of floating wind turbine installation using a catamaran construction vessel

Ren, Zhengru; Skjetne, Roger; Verma, Amrit Shankar; Jiang, Zhiyu; Gao, Zhen; Halse, Karl Henning (Peer reviewed; Journal article, 2021)

The application of floating wind turbines is limited by the high cost that increases with the water depth. Offshore installation and maintenance continue to consume a high percentage of the project budget. To improve the ...

Active Single-Blade Installation Using Tugger Line Tension Control and Optimal Control Allocation

Ren, Zhengru; Skjetne, Roger; Jiang, Zhiyu; Gao, Zhen (Peer reviewed; Journal article, 2020)

The single-blade installation is a common method for the installation of wind turbine blades. In an offshore installation, a jackup vessel is often involved, and a crane is used to lift, move, and bolt each blade onto the ...

Active tugger line force control for single blade installation

Ren, Zhengru; Jiang, Zhiyu; Gao, Zhen; Skjetne, Roger (Journal article, 2018)

Single blade installation is one of the methods for installing large wind turbine blades at an offshore site. During this installation, each blade is lifted by the main crane from the deck of an installation vessel or a ...

Advanced Control Algorithms to Support Automated Offshore Wind Turbine Installation

Ren, Zhengru (Doctoral theses at NTNU;2019:231, Doctoral thesis, 2019)

The thesis presents the research on automated offshore wind turbine (OWT)installation. The aim of the project is to find innovative and cost-effective methods for installing and maintaining OWTs. Utilization of wind ...

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 ...