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Hybrid and nonhybrid control barrier functions for constraint satisfaction in dynamical systems: Applied to safe motion control of autonomous vessels
(Doctoral theses at NTNU;2024:262, Doctoral thesis, 2024)Control barrier functions (CBFs) enable constraint satisfaction in controlled dynamical systems, by mapping state constraints into state-dependent input constraints. CBFs may then be synthesized with any nominal control ... -
Hybrid causal logic model for estimating the probability of an icebreaker–ship collision in an ice channel during an escort operation along the Northeast Passage
(Peer reviewed; Journal article, 2023)Under severe Arctic ice conditions, escort operations are the most efficient methods for facilitating shipping. Nevertheless, escort operations are among the most dangerous operations, as they may result in icebreaker–ship ... -
Hybrid Collision Avoidance with Moving Obstacles
(Master thesis, 2019)A considerable amount of work has been done in the field of Autonomous Surface Vehicles (ASV) over the past few decades. Autonomous path planning and collision avoidance (COLAV) are essential for ASV navigating in unknown ... -
Hybrid Collision Avoidance with Moving Obstacles
(Journal article; Peer reviewed, 2019)This paper proposes a hybrid collision avoidance (COLAV) approach based on the integration of a global path planning algorithm and a reactive collision avoidance technique. This combination provides a robust path planning ... -
Hybrid Control of Marine Vessels: Dynamic Positioning in Varying Conditions
(Doctoral theses at NTNU;2017:351, Doctoral thesis, 2017)The next generation marine control systems will, as a step towards increased autonomy, have more automatic functionality in order to cope with a set of complex operations in unknown and varying environments, while maintaining ... -
Hybrid Control to Improve Transient Response of Integral Action in Dynamic Positioning of Marine Vessels
(Journal article, 2015)A hybrid control approach for integral action in the PID control law for dynamically positioned marine vessels is considered. The proposed method is essentially a resetting of the integration gain when the control ... -
Hybrid controller concept for dynamic positioning of marine vessels with experimental results
(Journal article; Peer reviewed, 2018)The next generation marine control systems will, as a step towards increased autonomy, have more automatic functionality in order to cope with a set of complex operations in unknown, challenging and varying environments ... -
Hybrid fuel-cell auxiliary system for an aquaculture vessel
(Master thesis, 2018)Emission reduction in shipping and marine operations is important for the future of this planet and its oceans. This thesis looks into the operation of a hybrid fuel-cell power production system on an aquaculture vessel. ... -
A hybrid kinematic controller for resilient obstacle avoidance of autonomous ships
(Peer reviewed; Journal article, 2020)Resilience is an important feature of autonomous systems. To be resilient, a control system must be stable, robust, and safe. This paper explores the use of hybrid feedback controllers to ensure robustness towards uncertainties ... -
Hybrid marine power plants model validation with strategic loading
(Journal article, 2016)Recent advances in Energy Storage Devices (ESD) technology has enabled new supervisory control strategies for power generation and distribution on hybrid marine power plants, supported by new class society regulations. A ... -
Hybrid model testing of deep-water moored structures by active control of simulated line forces.
(Master thesis, 2010)Increased activity in deeper water areas, in connection with oil and gas exploration, has resulted in a steadily increased demand for model testing technology to predict reliable behavior of floating offshore structures ... -
Hybrid modeling of strategic loading of a marine hybrid power plant with experimental validation
(Journal article; Peer reviewed, 2016)Recent developments in marine power systems, energy storage devices (ESDs) technology, and modification to rules and regulations increase the opportunities to improve efficiency and reduce emissions. One particular application ... -
Hybrid modelling for mooring system monitoring - A digital twin framework for floating wind turbines
(Master thesis, 2022)Flytende havvind har potensiale til å være en viktig bidragsyter mot verdens behov for fornybar energi. Vedlikeholds og installasjons kostnader må reduseres for at teknologien skal bli et konkurransedyktig alternativ til ... -
Hybrid Observer Combining Measurements of Different Fidelities
(Journal article; Peer reviewed, 2016)A signal-based hybrid observer combining measurements of different fidelities is proposed for position and velocity estimation of marine vessels. The concept assumes that noisy position measurements are available only ... -
Hybrid observer concept for sensor fusion of sporadic measurements for underwater navigation
(Peer reviewed; Journal article, 2020)Accurate underwater navigation systems are required for closed-loop guidance and control of unmanned underwater vehicles (UUV). This paper proposes a sensor-based hybrid translational observer concept for underwater ... -
Hybrid observer for improved transient performance of a marine vessel in dynamic positioning
(Journal article; Peer reviewed, 2016)Dynamic positioning (DP) systems are used on marine vessels for automatic station keeping and tracking operations solely by use of thrusters. Observers are key components of DP systems, and two main types are proposed in ... -
Hybrid Observers for Autonomous Surface Vessels Experiencing Varying Operational Conditions
(Master thesis, 2021)Denne masteroppgaven tar for seg bruk av hybrid kontrollteori for å forbedre observer-ytelse i transienter på grunn av varierende operasjonelle forhold for marine overflatefartøy. Oppgaven begynner med litteraturstudie ... -
Hybrid power plant concepts for marine vessels
(Master thesis, 2017)As the requirements of energy supply for ships and marine vessels are becoming more rigorous and complex, new power supply methods are in highly interests in recent years. Flywheels used for energy storage have been used ... -
A Hybrid Power System Laboratory: Testing Electric and Hybrid Propulsion
(Peer reviewed; Journal article, 2019)Onboard hybrid power systems with low -emission energy carriers are a promising solution for green shipping replacing conventional diesel engine -based energy systems. However, there are several existing challenges related ... -
Hybrid testing of deep water moored structures
(Master thesis, 2014)This thesis presents a design concept for deep water model testing of moored floating offshore structures in ocean basin, and presents a single degree of freedom (SDOF) test setup for this purpose. Conventional methods has ...