Browsing Institutt for teknisk kybernetikk by Author "Ohrem, Sveinung Johan"
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Adaptive Generalized Super-Twisting Tracking Control of an Underwater Vehicle
Haugaløkken, Bent Oddvar Arnesen; Amundsen, Herman Biørn; Fadum, Håkon Syverud; Gravdahl, Jan Tommy; Ohrem, Sveinung Johan (Chapter, 2023)Tracking control for unmanned underwater vehicles is essential, both for autonomous operations and complex tasks where the vehicle is manually controlled by a pilot. Underwater vehicles are typically subjected to perturbations ... -
Adaptive motion planning and path following for permanent resident biofouling prevention robot operating in fish farms
Føre, Martin; Fjæra, Sverre; Ohrem, Sveinung Johan; Kelasidi, Eleni; Bloecher, Nina; Amundsen, Herman Biørn (Journal article, 2022)This paper presents a study where the potential of achieving autonomous net cleaning operations in commercial net pens is demonstrated through numerical simulations. Specifically, we investigated solutions for coping with ... -
Adaptive Speed Control of ROVs with Experimental Results from an Aquaculture Net Pen Inspection Operation
Ohrem, Sveinung Johan; Evjemo, Linn Danielsen; Haugaløkken, Bent Oddvar Arnesen; Amundsen, Herman Biørn; Kelasidi, Eleni (Peer reviewed; Journal article, 2023)Remotely operated vehicles (ROVs) are often used for inspection in aquaculture net pens which serves the important purpose of localizing holes in the net and reporting potential irregularities and damages. Manual control ... -
Control Strategies for Autonomous Net Cleaning Operations using Underwater Robotic System
Seehuus, Håvard Løvseth (Master thesis, 2020)Motivert av utfordringer innen havbruksnæringen kunnet til uønsket begroing vil denne oppgave fokusere på løsninger innen robotikk for håndtering av begroing. Ved å finne nye løsninger for å hindre store ansamlinger av ... -
Development of a Dynamic Positioning System for Merlin WR 200 ROV - Development and implementation of a model based control law for station keeping and path following
Ohrem, Sveinung Johan (Master thesis, 2015)Control of Remotely Operated Vehicles (ROVs) with manipulator arms require control of all degrees of freedom. In particular, it is necessary to be able to keep the vehicle at a constant position and orientation in order ... -
Digital Twins in intensive aquaculture — Challenges, opportunities and future prospects
Føre, Martin; Alver, Morten Omholt; Alfredsen, Jo Arve; Rasheed, Adil; Hukkelås, Thor; Bjelland, Hans Vanhauwaert; Su, Biao; Ohrem, Sveinung Johan; Kelasidi, Eleni; Norton, Tomas; Papandroulakis, Nikos (Peer reviewed; Journal article, 2024)Digital Twin technology has emerged to become a key enabling technology in the ongoing transition into Industry 4.0. A Digital Twin is in essence a digital representation of an asset that provides better insight into its ... -
Optimal and Adaptive Path Planning and Following for Permanent Resident Cleaning Robot Operating in Fish Farms
Fjæra, Sverre (Master thesis, 2021)Denne oppgåva presenterar resultata frå matematiske simuleringar av ein autonom undervanns notvaskarrobot som skal brukast i eit havbruksmiljø for å forhindra ei av hovedutfordringane i oppdrettsnæringa; biobegroing på ... -
The Generalized Super-Twisting Algorithm Used for Robust Control of Unmanned Subsea Vehicles Operating at Exposed Aquaculture Sites
Fadum, Håkon Syverud (Master thesis, 2022)Fiskeoppdrett er en industri i stor vekst. Den norske fiskeoppdrettsindustrien ønsker å utnytte eksponerte havbrukslokasjoner for fiskeoppdrett. Dette er på grunn av forskjellige miljø og plassproblemer som industrien ... -
Towards a holistic digital twin solution for real-time monitoring of aquaculture net cage systems
Su, Biao; Bjørnson, Finn Olav; Tsarau, Andrei; Endresen, Per Christian; Ohrem, Sveinung Johan; Føre, Martin; Fagertun, Jan Tore; Pascal, Klebert; Kelasidi, Eleni; Bjelland, Hans Vanhauwaert (Peer reviewed; Journal article, 2023)Digital twins and relevant concepts are being applied in a wide variety of ways, and they are of most use when an actual real-world physical system or process (a physical twin) is changing over time and when measurement ...