Blar i Institutt for teknisk kybernetikk på tidsskrift "IEEE Journal of Oceanic Engineering"
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A Benchmarking Framework for Control Methods of Maritime Cranes Based on the Functional Mockup Interface
(Journal article, 2017)A benchmark framework for advanced control methods of maritime cranes is presented based on the use of the functional mockup interface. The system integrates different manipulator models, all the corresponding hydraulic ... -
Autonomous ROV inspections of aquaculture net pens using DVL
(Peer reviewed; Journal article, 2021)This article presents a method for guiding a remotely operated vehicle (ROV) to autonomously traverse an aquaculture net pen. The method is based on measurements from a Doppler velocity log (DVL) and uses the measured ... -
Dynamic Positioning Using Model Predictive Control With Short-Term Wave Prediction
(Peer reviewed; Journal article, 2023)Remotely operated vehicle (ROV) operations are today typically supported by large designated vessels. New emerging concepts aim to streamline ROV operations by utilizing unmanned surface vessels of a smaller size. Reduction ... -
Inertial Navigation aided by Ultra-Wideband Ranging for Ship Docking and Harbor Maneuvering
(Peer reviewed; Journal article, 2022)This article presents an inertial navigation system aided by local ranging measurements derived from an ultra-wideband system. The system consists of one onboard tag and several onshore anchors. It is motivated by the need ... -
Multitarget Tracking with Multiple Models and Visibility: Derivation and Verification on Maritime Radar Data
(Peer reviewed; Journal article, 2021)In this article, we demonstrate how a variation of the joint integrated probabilistic data association with interacting multiple models and a visibility state can be derived as a special case of the Poisson multi-Bernoulli ... -
On the Usage of Low-Cost MEMS Sensors, Strapdown Inertial Navigation and Nonlinear Estimation Techniques in Dynamic Positioning
(Peer reviewed; Journal article, 2020)In this article, we suggest that a strapdown inertial navigation system based on microelectromechanical system (MEMS) inertial sensors is a useful addition to a vessel with dynamic positioning (DP). We conduct full-scale ... -
The Underwater Swimming Manipulator — A Bioinspired Solution for Subsea Operations
(Journal article; Peer reviewed, 2018)Underwater vehicles have carried out subsea operations for many decades, and since the 1980s, remotely operated vehicles (ROVs) have been essential for the development and maintenance of subsea installations. As the ... -
Underwater Position and Attitude Estimation Using Acoustic, Inertial, and Depth Measurements
(Peer reviewed; Journal article, 2019)This article considers the problem of constructing an observer for estimating position, velocity, attitude, underwater wave speed, rate sensor bias, and accelerometer bias that has both proven stability and close-to-optimal ...