Blar i Fakultet for ingeniørvitenskap (IV) på emneord "Marin kybernetikk"
Viser treff 1-20 av 24
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A method for real-time estimation of full-scale global ice loads on floating structures
(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
(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, ... -
AMOS DP Research Cruise 2016: Academic full-scale testing of experimental dynamic positioning control algorithms onboard R/V Gunnerus
(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
(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 ... -
Artificial intelligence for ship speed management during navigation in the Arctic
(Peer reviewed; Journal article, 2021)Difficult ice conditions are one of the major threats to ships, shipboard crew, and cargoes carried in Arctic waters. Ship-speed choice is influenced by many factors including the navigational conditions (ice, weather, ... -
Comparison of Fuel Consumption on a Hybrid Marine Power Plant With Low-Power Versus High-Power Engines
(Chapter, 2018)In this paper, we are comparing fuel consumption on a case study hybrid marine power plant with diesel gensets and batteries. Optimization methods are used to find an optimal operating point for the gensets, under different ... -
Distributed sensing of loads acting against the hull of a stationkeeping vessel in ice
(Chapter, 2018)This paper introduces the concept of distributed motion sensing for stationkeeping vessels in ice infested waters. During the SKT 2017 project, conducted in February and March 2017 in the Bay of Bothnia, five inertial ... -
Dynamic Model Predictive Control for Load Sharing in Electric Power Plants for Ships
(Master thesis, 2012)The main contribution of this thesis is an investigation of model predictive control(MPC) for marine diesel electric power plants. Recommendations and new ideasfor further development are emphasized.The motivation of the ... -
Four Degree-of-Freedom Hydrodynamic Maneuvering Model of a Small Azipod-Actuated Ship With Application to Onboard Decision Support Systems
(Peer reviewed; Journal article, 2023)The main contribution of this paper is a numerical ship motion model of NTNU’s research vessel Gunnerus, capturing the surge, sway, roll, and yaw dynamics when sailing in uniform and steady currents. The model utilizes a ... -
Ice condition assessment using onboard accelerometers and statistical change detection
(Journal article; Peer reviewed, 2019)The presence of sea ice is the predominant risk for ship operations in the Arctic, and monitoring of ice condition around a vessel is crucial during all times of operation. This paper presents a system for online onboard ... -
Maneuvering with safety guarantees using control barrier functions
(Journal article; Peer reviewed, 2021)Control barrier functions (CBFs) ensure safety of controlled dynamical systems, by restricting the control inputs to render desired sets forward invariant. In this paper we propose a dynamic guidance scheme for autonomous ... -
Modeling and Control of ROV Manipulator
(Master thesis, 2012)The main objective of this thesis is to investigate and present the most relevant techniques and topics within the field of robot modeling and control. The studies will then be used to develop a working control system for ... -
Multi Modal Mapping of Sea Ice Fields From Remote Shipborne Instrumentation
(Chapter, 2024)This work investigates the perception bias caused by ice floes occluding open water regions behind them when analyzing sea ice from shipborne cameras. We propose a method to model this effect by predicting an occlusion ... -
Optimal Force Allocation for Overconstrained Cable-Driven Parallel Robots: Continuously Differentiable Solutions With Assessment of Computational Efficiency
(Peer reviewed; Journal article, 2020)In this article, we present a novel method for force allocation for overconstrained cable-driven parallel robot setups that guarantees continuously differentiable cable forces and allows for small penalized errors in the ... -
Optimal Online Configuration and Load-Sharing in a Redundant Electric Power System for an Offshore Vessel Using Mixed Integer Linear Programming
(Chapter, 2018)This paper proposes several schemes for optimal online configuration and load sharing for a shipboard power system of a typical offshore vessel, having a number of varying capacity gensets. Different methods are presented ... -
A phase-time-path-difference approach for online wave direction and wave number estimation from measured ship motions in zero and forward speed using a single inertial measurement unit
(Journal article; Peer reviewed, 2023)This study investigates the potential capability of a relatively new and unexplored signal-based approach for shipboard wave estimation. The approach uses the phase-time-path-differences (PTPDs) from an array of shipboard ... -
A Resetting Observer for Linear Time-Varying Systems with Application to Dynamic Positioning of Marine Surface Vessels
(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 ... -
ROV Control System for Positioning of Subsea Modules
(Master thesis, 2014)Installation of deep water Xmas trees for subsea oil production is sometimes done by lowering the tree using one wire. Xmas trees are interfacing with other equip- ment on the seafloor and will therefore need to be positioned, ... -
ROV-Based Autonomous Maneuvering for Ship Hull Inspection with Coverage Monitoring
(Journal article; Peer reviewed, 2024)Hull inspection is an important task to ensure sustainability of ships. To overcome the challenges of hull structure inspection in an underwater environment in an efficient way, an autonomous system for hull inspection has ... -
Sea state estimation based on vessel motion responses: Improved smoothness and robustness using Bezier surface and L1 optimization
(Peer reviewed; Journal article, 2021)Floating structures oscillate in waves, where these wave-induced motions may be critical for various marine operations. An important consideration is thereby given to the sea states at the planning and operating stages for ...