Blar i Institutt for marin teknikk på emneord "Marin teknikk, Marin kybernetikk"

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    • Adaptive Vertical Motion Control System for a Surface Effect Ship 

      Fjellvang, Snorre Ludvig (Master thesis, 2018)
      In this thesis, an adaptive controller is developed, with the purpose of actuating the pressure of the air cushion of a Surface effect ship (SES), as means of reducing wave induced vertical vessel motions. The rise in the ...

    • Application of Data Driven control in Dynamic Positioning 

      Onstein, Tord Fjordheim (Master thesis, 2017)
      This master thesis examines the motivation of studying adaptive control, presents the framework of Unfalsified Adaptive Control (UAC) and its theoretical background. Detailed explanation is given for key features that make ...

    • Autonomous Docking for Marine Vessels Using a Lidar and Proximity Sensors. 

      Spange, Joachim (Master thesis, 2016)
      This thesis reviews the development of an autonomous docking feature for a marine vessel in a small-scale, sheltered, environment. Proximity sensors are added to aid the autonomous exploration by detecting obstacles outside ...

    • Autonomous heading control in position mooring with thruster assist 

      Johannessen, Silje Aarvik (Master thesis, 2017)
      The main topic of this thesis is Thruster-Assisted Position Mooring (TAPM), which is a positioning system for automatic thruster assistance of a moored structure. The system has been commercially available since the late ...

    • Autonomous navigation of an ROV using tightly coupled integration of inertial and pseudo-range measurements 

      Seel, Katrine (Master thesis, 2017)
      Underwater navigation is one of the key issues that need to be addressed in order to make operation of underwater vehicles more autonomous. This thesis investigates two different methods for integration of inertial and ...

    • Autonomous Path-Planning and -Following for a Marine Surface Robot 

      Follestad, Mats Håkon (Master thesis, 2017)
      Autonomous navigation for unmanned surface vessels is a modern and rapidly growing field of research. In recent years, many concepts and solutions have been proposed in order to achieve autonomous control of marine vessels. ...

    • Autonomous Robotic Intervention using ROV 

      Rist-Christensen, Ida (Master thesis, 2016)
      This thesis proposes a semi-autonomous agent architecture for a Remotely Operated Vehicle (ROV). The purpose of this architecture is to apply control strategies from Autonomously Operated Vehicles (AUVs) onto ROVs, in order ...

    • Battery Management System for a low-cost ROV 

      Gulsvik, Knut Amund Knutsen (Master thesis, 2017)
      A combination of advanced State-of-charge (SoC), State-of-Health (SoH) and State-of-Power (SoP) estimation techniques have been combined into a novel scheme to ensure safe and efficient operation of a battery pack. A ...

    • Bayesian Estimation of Non-Stationary Ship Response Spectra 

      Møgster, Christian (Master thesis, 2015)
      The main topic of this master thesis is to obtain spectral information of non-stationary ship responses, with the motive of facilitating improvement of sea state estimation methods, that are using the wave buoy analogy. ...

    • Camera-assisted Dynamic Positioning of ROVs 

      Henriksen, Andreas Viggen (Master thesis, 2016)
      When ROVs are operated with manual joysticks, the user will experience a lack of control because of currents and drag forces from the umbilical. This will induce undesirable oscillations and motions that are hard to ...

    • Camera-based SLAM for Dynamic Positioning of Low-cost ROV 

      Mo-Bjørkelund, Tore (Master thesis, 2017)
      A range of low-cost Remotely Operated Vehicles(ROVs) are currently emerging in the consumer market. In this thesis we are exploring the possibilities of using monocular camera-based Simultaneous Localization And Mapping(SLAM) ...

    • Camera-Based State Estimation for Surface Vessels 

      Harbitz, Erlend S. (Master thesis, 2017)
      Simultaneous localization and mapping (SLAM) is the twofolded problem of locating a vehi- cle starting at an unknown location and mapping the surrounding environment simultane- ously. This thesis considers the SLAM problem ...

    • COLREGS Compatible Motion Planning for Autonomous Surface Vessels 

      Eidal, Maren Kristine (Master thesis, 2018)
      In the past decades, autonomy has gone from a technology of the future to an inevitability. Driver-less cars are already on the roads, and autonomous surface vessels (ASVs) are well within range. With this increase in ...

    • Combined Dynamic Positioning and Optimal Wave Frequency Motion Damping of Surface Effect Ship 

      Sodeland, Per Sondre (Master thesis, 2015)
      The offshore wind industry is requesting high annual accessibility to wind-turbines. The turbines are located increasingly further from the shore. Simultaneously, operations & maintenance costs are to be minimized, therefore ...

    • Control Allocation for Underwater Snake Robots using Optimization Methods 

      Øvregård, Siri Bjørkedal (Master thesis, 2018)
      Although the concept of underwater vehicles has existed for a very long time, the technology within the field has progressed substantially over the recent decades. As more and more oil and gas installations and operations ...

    • Control and Estimation of Wave Energy Converters 

      Brask, Annette Kristin (Master thesis, 2015)
      The increasing scarcity of fresh water threatens the well being of both humans and the environment. Wave power desalination is a method of producing freshwater that has been in the developing stages since 1970. One of the ...

    • Data-driven fault detection for plunger pumps 

      Farnes, Sigurd (Master thesis, 2018)
      In this thesis, a method for detecting faults for plunger pumps using a data-driven approach is developed. Large amounts of data have been accumulated in the process industry during the recent decades. A general digitization ...

    • Deep Reinforcement Learning Based Controllers In Underwater Robotics 

      Kjærnli, Eirik F. (Master thesis, 2018)
      This thesis investigates the possibility of creating a controller for a Remotely Operated Vehicle (ROV) using deep neural networks, optimized by either of the model-free reinforcement learning algorithms Deep Deterministic ...

    • Deep Reinforcement Learning based tracking behavior for underwater vehicles 

      Khan, Abir (Master thesis, 2018)
      This thesis introduces the use of Machine Learning, specifically Reinforcement Learning, to create a model-free tracking property for Remotely Operated Vehicles (ROV). In detail, the ROV is trained by a RL algorithm to ...

    • Delay Compensation for Real-Time Hybrid Testing 

      Schmidt-Didlaukies, Henrik (Master thesis, 2017)
      Real-time hybrid testing has the potential of being a disruptive addition to the repertoire of experimentalists working in the field of marine technology, where rigorous experimental testing is both commonplace and necessary. ...