Blar i Institutt for marin teknikk på tidsskrift "IFAC-PapersOnLine"
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A new method for underwater archaeological surveying using sensors and unmanned platforms
(Journal article; Peer reviewed, 2016)As most of the world’s oceans are inaccessible to diving archaeologists, we must rely on advanced underwater technology and marine robotics to explore, map and investigate ship wrecks in these areas. New sensors and unmanned ... -
A Tension-based Position Estimation Approach for Moored Marine Vessels
(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, ... -
Adaptive Backstepping Control of Ship Speed Tracking and Hybrid Mode Selection.
(Peer reviewed; Journal article, 2021)This paper investigates the application of adaptive backstepping control to a hybrid power system for ship propulsion, using a main diesel engine in conjunction with a battery for auxiliary power supply. Fuel injection ... -
An On-site Current Profile Estimation Algorithm for a Moored Floating Structure
(Journal article; Peer reviewed, 2016)The current speed influences the safety of subsea and marine operations. This paper proposes an algorithm to estimate the depth-dependent current profile though data from existing commercial sensors, that is the mooring ... -
Autonomous subsea intervention (SEAVENTION)
(Peer reviewed; Journal article, 2022)This paper presents the main results and latest developments in a 4-year project called autonomous subsea intervention (SEAVENTION). In the project we have developed new methods for autonomous inspection, maintenance and ... -
Combining Supervised Learning and Digital Twin for Autonomous Path-planning
(Peer reviewed; Journal article, 2021)Over the last decade, the evolution of autonomous automobiles based on artificial intelligence has increased rapidly with significant success. Naturally, this has caught the interest of the maritime industry and the ... -
A Communication Interface for Multilayer Cloud Computing Architecture for Low Cost Underwater Vehicles
(Journal article; Peer reviewed, 2022) -
Comparing Controllers for Dynamic Positioning of Ships in Extreme Seas
(Journal article; Peer reviewed, 2016)This paper considers the design, implementation and experimental verification of two controllers for ship station keeping in extreme seas. In particular, the performance of two dynamic positioning controllers are compared, ... -
Continuous and discrete abstractions for planning, applied to ship docking
(Peer reviewed; Journal article, 2021)We propose a hierarchical control framework for the synthesis of correct-by-construction controllers for nonlinear control-affine systems with respect to reach-avoid-stay specifications. We first create a low-dimensional ... -
Control Considerations for Very Large Floating Wind Turbines
(Peer reviewed; Journal article, 2022)Increasingly large floating wind turbines (FWTs) are being introduced to access the offshore wind resource over deep water at lower cost. In connection with designing a 25 MW semi-submersible wind turbine, we examine the ... -
Design and verification of a sway-yaw control system for Surface Effect Ships using vent valves
(Journal article; Peer reviewed, 2019)For an offshore worker in the oil and gas industry, the helicopter transport is the activity associated with the highest risk. An alternative to helicopter crew transfers is to use Surface Effect Ships (SES) to transport ... -
Dynamic Bayesian Networks for Reduced Uncertainty in Underwater Operations
(Peer reviewed; Journal article, 2022)This paper presents a novel framework for modelling dynamic Bayesian belief networks (BBNs) for online risk assessment in underwater operations. Existing frameworks spans from commercial software with restricted code access ... -
Enhanced Hydroacoustic Range Robustness of Three-Stage Position Filter based on Long Baseline Measurements with Unknown Wave Speed
(Journal article; Peer reviewed, 2016)This paper considers the problem of constructing a globally convergent position-and velocity estimator with close-to-optimal noise properties using hydroacoustic long baseline measurements. Three ways of improving the range ... -
Force actuated real-tme hybrid model testing of a moored vessel: A case study investigating force errors
(Journal article; Peer reviewed, 2018)This paper presents a study where real-time hybrid testing is used to emulate a moored barge. The barge is modelled physically while the mooring forces are simulated numerically and actuated onto the physical substructure. ... -
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 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 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 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 Tracking Controller for an ASV Providing Mission Support for an AUV
(Peer reviewed; Journal article, 2022)Autonomous underwater vehicles (AUVs) rely on surface support for communication with operators and position fixes to bound inertial navigation errors. By installing an acoustic modem on an autonomous surface vehicle (ASV), ... -
Icing diagnosis in unmanned aerial vehicles using an LPV multiple model estimator
(Journal article; Peer reviewed, 2017)The phenomenon of icing, i.e. ice accretion on aircraft surfaces, affects the flight performance of unmanned aerial vehicles (UAVs). Autonomous icing detection schemes are needed in order to assure high efficiency and limit ...