Browsing Institutt for teknisk kybernetikk by Subject "Marine cybernetics"
Now showing items 1-7 of 7
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AMOS DP Research Cruise 2016: Academic full-scale testing of experimental dynamic positioning control algorithms onboard R/V Gunnerus
(Chapter; Peer reviewed, 2017)In order to validate relevant dynamic positioning (DP) control algorithms in a realistic environment, a full-scale DP test campaign, the AMOS DP Research Cruise 2016 (ADPRC’16), was organized in a collaboration between the ... -
Maneuvering with safety guarantees using control barrier functions
(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-Based Motion Control Design for the Milliampere1 Prototype Ferry
(Chapter, 2024)Following the recent upgrade of the propulsion plant configuration for the milliAmpere1 passenger ferry prototype, a model-based controller pipeline suitable for all the milliAmpere1 speed ranges is proposed and evaluated. ... -
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 ... -
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 Radar Dataset from the Trondheim City Canal
(Chapter, 2024)In the automotive community, methods for tracking, localization,and situational awareness are routinely tested on well-known open-source datasets from the real world. In many other applications of target tracking, such as ... -
Sea state estimation based on vessel motion responses: Improved smoothness and robustness using Bezier surface and L1 optimization
(Peer reviewed; Journal article, 2021)Floating structures oscillate in waves, where these wave-induced motions may be critical for various marine operations. An important consideration is thereby given to the sea states at the planning and operating stages for ...