Blar i Institutt for marin teknikk på tidsskrift "IFAC-PapersOnLine"

Viser treff 21-34 av 34

    • Integration of risk in hierarchical path planning of underwater vehicles 

      Lefebvre, Nicolas; Schjølberg, Ingrid; Utne, Ingrid Bouwer (Journal article; Peer reviewed, 2016)
      This paper focuses on path planning problems integrating the risk of collision. This challenge is crucial regarding the use of autonomous underwater vehicles (AUVs) for inspection, maintenance and repair operations. The ...

    • Maneuvering with safety guarantees using control barrier functions 

      Marley, Mathias; Skjetne, Roger; Basso, Erlend Andreas; Teel, Andrew R. (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 ...

    • Model Predictive Control of Marine Vessel Power System by Use of Structure Preserving Model 

      Dahl, Andreas Reason; Thorat, Laxminarayan; Skjetne, Roger (Journal article; Peer reviewed, 2018)
      The paper presents model predictive control (MPC) based on an optimization model drawn from the structure preserving model (SPM) for marine vessel power systems. Three objective functions are proposed to control frequency, ...

    • A multi-camera system for the integrated documentation of Underwater Cultural Heritage of high structural complexity; The case study of M/S Helma wreck 

      Diamanti, Eleni; Løvås, Håvard; Larsen, Martin Kvisvik; Ødegård, Øyvind (Peer reviewed; Journal article, 2021)
      High structural complexity is quite common in underwater archaeological sites and perhaps on top of the list when it comes to challenges regarding 3D reconstruction. Advances in underwater robotics and optical sensors are ...

    • Next Generation Subsea Inspection, Maintenance and Repair Operations 

      Schjølberg, Ingrid; Gjersvik, Tor Berge Stray; Transeth, Aksel Andreas; Utne, Ingrid Bouwer (Peer reviewed; Journal article, 2016)
      This paper presents the latest developments in the project Next Generation Subsea Inspection, Maintenance and Repair (IMR). Subsea IMR operations are frequently carried out in the offshore oil and gas business. Increased ...

    • Online Path Planning for Surface Vehicles Exposed to Unknown Ocean Currents Using Pseudospectral Optimal Control 

      Lekkas, Anastasios M.; Roald, Ann Louise; Breivik, Morten (Journal article; Peer reviewed, 2016)
      This paper investigates the feasibility of using pseudospectral (PS) optimal control in real-time path planning for marine surface vehicles in environments where both obstacles and unknown disturbances are present. In ...

    • Online wave estimation using vessel motion measurements 

      Brodtkorb, Astrid H.; Nielsen, Ulrik Dam; Sørensen, Asgeir Johan (Journal article; Peer reviewed, 2018)
      In this paper, a computationally efficient online sea state estimation algorithm is proposed for estimation of the onsite sea state. The algorithm finds the wave spectrum estimate from motion measurements in heave, roll ...

    • Path planning for marine vehicles using Bezier curves 

      Hassani, Vahid; Lande, Simen V. (Journal article; Peer reviewed, 2018)
      Over the past few years maritime sector has witnessed an increasing interest in use of autonomous ships and in particular Autonomous Surface Vehicles (ASV) in complex applications with high associated risks. There is an ...

    • Roll damping of a surface effect ship with split air cushion 

      Tønnesen, Jonas; Bryn, Håkon; Gravdahl, Jan Tommy; Hassani, Vahid; Auestad, Øyvind Fidje (Journal article; Peer reviewed, 2018)
      This paper considers linear modeling of a surface effect ship (SES) where roll motions are damped by exclusively exploiting a longitudinally split air cushion design. On a SES, the pressurized air cushions can support up ...

    • Sea State Estimation Using Quadratic Discriminant Analysis and Partial Least Squares Regression 

      Arneson, Ina Bjørkum; Brodtkorb, Astrid H.; Sørensen, Asgeir Johan (Journal article; Peer reviewed, 2019)
      This paper proposes non-model based sea state estimation methods for a dynamically positioned vessel. Sea state estimation entails finding the wave direction, significant wave height and peak wave period and is done based ...

    • Surface Effect Ship with Four Air Cushions Part II: Roll and Pitch Damping 

      Haukeland, Ola Mosebø; Hassani, Vahid; Auestad, Øyvind Fidje (Peer reviewed; Journal article, 2019)
      This paper introduce damping of roll and pitch motion on a Surface Effect Ship (SES) in low vessel speeds. The SES consist of two side-hulls, a reinforced rubber bow and stern seal skirt system and four air cushion. The ...

    • Time Domain Modeling of ROV Umbilical using Beam Equations 

      Eidsvik, Ole Alexander Nørve; Schjølberg, Ingrid (Journal article, 2016)
      This paper presents a finite element model for representing the cable dynamics of a typical ROV(Remotely Operated Vehicle) umbilical. The goal is to produce a model able to capture the most important dynamic effects of the ...

    • Towards autonomy in ROV operations 

      Schjølberg, Ingrid; Utne, Ingrid Bouwer (Journal article, 2015)
      This paper presents an on-going research project focusing on the development of technology to enable autonomy in ROV operations. The project is a collaborative project between Norwegian offshore industry and academia. ...

    • Vent Valve Thrust Force for Surface Effect Ships 

      Teigland, Håkon; Hassani, Vahid; Auestad, Øyvind Fidje (Journal article; Peer reviewed, 2019)
      The Surface Effect Ship (SES) holds promise as a viable and appealing alternative for transferring crew to offshore wind farms and oil platforms due to its superior seakeeping capability, high comfort and speed. A SES is ...