Browsing Institutt for teknisk kybernetikk by Journals "Ocean Engineering"
Now showing items 1-20 of 22
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Automatic Dock-to-Dock Control System for Surface Vessels using Bumpless Transfer
(Peer reviewed; Journal article, 2023)This paper proposes and demonstrates an automatic steering system designed for passenger ferries with dock-to-dock capabilities. The method consists of a modular control architecture and bumpless transfer transition ... -
Characteristic current flow through a stocked conical sea-cage with permeable lice shielding skirt
(Peer reviewed; Journal article, 2021)The characteristic current flow field around a 55 m deep full-scale stocked conical Atlantic salmon sea-cage equipped with a 10 m permeable skirt was studied experimentally using acoustic Doppler velocimeters and profilers. ... -
Collaborative collision avoidance for Maritime Autonomous Surface Ships: A review
(Peer reviewed; Journal article, 2022)Collision avoidance algorithms for autonomous ships are frequently proposed, but very few studies consider the interaction and information exchange between ships, and if they do, this is usually limited to only between ... -
Comparison of two second-order sliding mode control algorithms for an articulated intervention-AUV: Theory and experimental results
(Peer reviewed; Journal article, 2021)An articulated intervention autonomous underwater vehicle (AIAUV) is a slender, multi-articulated underwater robot. Accurate trajectory tracking is essential for AIAUV operations. Furthermore, due to hydrodynamic and ... -
Constrained multi-body dynamics for modular underwater robots — Theory and experiments
(Journal article, 2018)This paper investigates the problem of modelling a system of interconnected underwater robots with highly coupled dynamics. The objective is to develop a mathematical description of the system that captures its most ... -
A decision support system for autonomous ship trajectory planning
(Peer reviewed; Journal article, 2023)This study presents an approach to enhance human–machine collaboration in autonomous ship trajectory planning. A decision support system is developed, considering crucial environmental factors such as ocean currents, wind, ... -
Development and experimental evaluation of visual-acoustic navigation for safe maneuvering of unmanned surface vehicles in harbor and waterway areas
(Peer reviewed; Journal article, 2023)Ship maneuvering in narrow harbor environments requires accurate navigation data to operate safely. Since Global Navigation Satellite Systems (GNSS) can be unreliable and inaccurate in such environments, other aiding ... -
An environmental disturbance observer framework for autonomous surface vessels
(Peer reviewed; Journal article, 2023)This paper proposes a robust disturbance observer framework for maritime autonomous surface vessels considering model and measurement uncertainties. The core contribution lies in a nonlinear disturbance observer, reconstructing ... -
Fault-tolerant Position-Mooring Control for Offshore Vessels
(Journal article; Peer reviewed, 2018)Fault-tolerance is crucial to maintain safety in offshore operations. The objective of this paper is to show how systematic analysis and design of fault-tolerance is conducted for a complex automation system, exemplified ... -
Fuzzy domain and meta-heuristic algorithm-based collision avoidance control for ships: Experimental validation in virtual and real environment
(Peer reviewed; Journal article, 2020)Collisions at sea are frequently caused by human-related factors, such as; manoeuvre timing mistakes, risk assessment failures and deficiencies in strategies for collision avoidance. These factors reveal the importance of ... -
Gain-scheduled steering control for a wave-propelled unmanned surface vehicle
(Peer reviewed; Journal article, 2022)The persistent observation of oceanographic phenomena is nowadays hampered by technological limitations, that prevent marine robotic platforms to autonomously execute scientific surveys for extended periods of time. The ... -
Globally Exponentially Stable Filters for Underwater Position Estimation Using an Array of Hydroacoustic Transducers on the Vehicle and A Single Transponder
(Journal article; Peer reviewed, 2018)This paper presents two novel globally exponentially stable position estimators using hydroacoustic measurements from a single transponder to several transceivers on the vehicle. A comparison study of these and several ... -
Heterogeneous multi-sensor tracking for an autonomous surface vehicle in a littoral environment
(Peer reviewed; Journal article, 2022)Sensor fusion plays a key part in autonomous surface vehicles, however, the high cost of sensors makes the barrier of entry in this research field quite high. In this work, we present a complete system for sensor fusion ... -
An integrated approach for monitoring structural deformation of aquaculture net cages
(Peer reviewed; Journal article, 2021)The majority of present marine finfish production is conducted in flexible net cages which can deform when they are subjected to water movements generated by currents. The ability to monitor net deformation is important ... -
Intention modeling and inference for autonomous collision avoidance at sea
(Peer reviewed; Journal article, 2022)The open wording of the traffic rules of the sea, COLREGS, and the existence of unwritten rules, make it essential for an autonomous ship to understand the intentions of other ships. This article uses a dynamic Bayesian ... -
Method for Real-Time Hybrid Model Testing of ocean structures: Case study on horizontal mooring systems
(Journal article; Peer reviewed, 2019)This paper presents a method for Real-Time Hybrid Model testing (ReaTHM testing) of ocean structures. ReaTHM testing is an extension to traditional hydrodynamic model-scale testing, where the system under study is partitioned ... -
Online wave direction and wave number estimation from surface vessel motions using distributed inertial measurement arrays and phase-time-path-differences
(Peer reviewed; Journal article, 2022)A common approach for finding the direction of ocean waves is to use the phase-time-path-differences (PTPDs) between a static array of various types of sensors mounted on either the sea surface or seabed. However, some ... -
Parametric Roll Resonance Monitoring using Signal-based Detection
(Journal article; Peer reviewed, 2015)Extreme roll motion of ships can be caused by several phenomena, one of which is parametric roll resonance. Several incidents occurred unexpectedly around the millennium and caused vast fiscal losses on large container ... -
A phase-time-path-difference approach for online wave direction and wave number estimation from measured ship motions in zero and forward speed using a single inertial measurement unit
(Journal article; Peer reviewed, 2023)This study investigates the potential capability of a relatively new and unexplored signal-based approach for shipboard wave estimation. The approach uses the phase-time-path-differences (PTPDs) from an array of shipboard ... -
A review of path planning algorithms in maritime autonomous surface ships: Navigation safety perspective
(Peer reviewed; Journal article, 2022)Unmanned maritime systems are evolving in a rapidly changing environment. Although the regulation and international law processes are still in progress, there are numerous research attempts regarding autonomous maritime ...