Browsing Institutt for marin teknikk by Subject "Marin teknikk, Marin kybernetikk"
Now showing items 41-60 of 62
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Marine Telepresence System
(Master thesis, 2015)Maneuvering remotely operated vehicles (ROV) can be challenging, especially when the mission requires the use of a manipulator arm. Today such operations are usually conducted by two operators: a pilot in charge of keeping ... -
Modeling and control of a SES in various operational modes
(Master thesis, 2018)Accessibility and comfort of often go in compromise of cost efficiency of the vehicle for offshore commutation. The Surface effect ship (SES) is one of the most cost-efficient and comfortable vehicles currently available ... -
Modeling and Simulation of a Super-redundant Marine Power Plant as a Hybrid Dynamical System
(Master thesis, 2017)During the last years the maritime industry has experienced increased demands in energy efficient and low emission vessels with high reliability and availability. These demands have been a motivation for electrical powered ... -
Modelling and Control of a Two-Body Offshore Wave Energy Converter - Evaluation of Passive Control Strategies
(Master thesis, 2015)The main motivation behind this thesis is using the renewable resource of wave energy to solve two of the most important challenges for sustainability; energy and freshwater. The DynOcean is a two-body offshore wave energy ... -
Online Consequence Analysis of Situational Awareness for Autonomous Vehicles
(Master thesis, 2018)The maritime industry is undergoing substantial changes with regards to autonomy, and lately important steps has been done in realizing highly autonomous vessels for industry use. This master s thesis presents a framework ... -
Online Shape Estimation of Icebergs at Sea
(Master thesis, 2015)Offshore operations in the Arctic present several challenges, such as the threat of icebergs colliding with offshore structures.This thesis will investigate methods of estimating the shape and size of iceberg keel geometries. ... -
Optimal recursive thrust allocation applied for ROV Minerva
(Master thesis, 2014)This master thesis considers the thrust allocation problem of the Remotely Operated Vehicle Minerva, operated by the NTNU Applied Underwater Robotics Laboratory. The Minerva is reported to have some issues with the yaw ... -
Path Planning for Marine Vehicles using Bézier curves
(Master thesis, 2018)The maritime sector have over the last few years witnessed a growing demand for the development of Autonomous Surface Vehicles (ASV), capable of performing complex tasks with high associated risk. Central in this development ... -
Preventing Tower Resonance Induced by Thrust Variations on a Large 10MW Wind Turbine
(Master thesis, 2015)A simulation model based on a 10MW wind turbine is developed to test the performance of a speed exclusion zone algorithm with the purpose of preventing tower resonance. The model includes rotor aerodynamics, drive-train ... -
Proposal and comparison of an eXogenous Kalman Filter and a Particle Filter for use with ROV thruster models
(Master thesis, 2018)Robust and accurate observer design is a prerequisite for safe and efficient underwater navigation. Especially with today's increased focus on automation and autonomy. In this thesis two model based observer designs for ... -
Propulsion methods for under water snake robots - Investigation and simulation using foil for propulsion of a snake robot
(Master thesis, 2015)In this thesis we present a model of a swimming underwater snake robot. How aquatic animals move in water has fascinated people for decades. NTNU started the research on land based snake robots 11 years ago. The last years ... -
Real-Time Hybrid Model Testing - Force-actuation and implementation
(Master thesis, 2017)To be able to understand the behaviour of complex mechanical systems, physical testing has been - and still is - of importance. Sophisticated models and numerical tools have been developed to analyze the dynamics of such ... -
Remote Control and Automatic Path-following for C/S Enterprise I and ROV Neptunus.
(Master thesis, 2015)Remote control and monitoring of marine operations is in many cases desirable, due to distance, harsh environment, and dangers related to human life, and safety. Marine control systems in interaction with remote control ... -
Simultaneous Path-Generation and -Following for an ROV
(Master thesis, 2017)This thesis starts by introducing the facilities and systems used while conducting experiments. It then goes on to present the methods and techniques used for rendering and superimposition, to project a curved path onto ... -
Sonar tracking and obstacle avoidance for navigation of ROV
(Master thesis, 2018)Remotely Operated Underwater Vehicles (ROVs) have represented a revolution by replacing divers. But now robotics can increase the efficiency of underwater operations in a new step of technology. This is mainly due to its ... -
Subsea Cable Tracking using Sensor Fusion on an Autonomous Underwater Vehicle
(Master thesis, 2017)Surveys of underwater power cables by Remotely Operated Vehicles (ROVs) are time demanding and expensive. We want to examine the possibility of using an Autonomous Underwater Vehicle (AUV) with magnetometers for estimating ... -
Sway Control on a Surface Effect Ship - using asymmetric vent valve opening
(Master thesis, 2016)The lateral maneuvering for Surface Effect Ships (SESs) in low velocities is highly limited. Due to SESs hull shape in the bow, it is not an option to use conventional means to get lateral thrust, such as tunnel- or ... -
Thrust Losses on Underwater Snake Robots with Thrusters
(Master thesis, 2017)The main motivation behind this thesis is to study the effects from different thrust losses on an underwater snake robot (USR) with thrusters. In-line velocity fluctuations, transverse velocity fluctuations, thruster-thruster ... -
Thruster-Assisted Position Mooring of C/S Inocean Cat I Drillship
(Master thesis, 2016)This thesis presents the development of a new research foundation into the Marine Cybernetic Laboratory, the C/S Inocean Cat I Drillship. This is a 1:90 scaled model of an Arctic drillship design by Inocean for Statoil. The ... -
Vibration-based Fault Detection and Condition Monitoring of Mechanical Systems in Wind Turbines
(Master thesis, 2018)An increased energy demand of the future, combined with problems related to climate change and emissions of greenhouse gases, has made solutions for reliable and efficient renewable energy producers attractive. Wind turbines ...