Blar i Publikasjoner fra CRIStin - NTNU 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 ... -
A Neural Network-Based Sensitivity Analysis Approach for Data-Driven Modeling of Ship Motion
(Journal article; Peer reviewed, 2018)Researchers have been investigating data-driven modeling as a key way to achieve ship intelligence for years. This paper presents a novel data analysis approach to data-driven modeling of ship motion. We propose a global ... -
Adaptive Sampling of Surface Fronts in the Arctic Using an Autonomous Underwater Vehicle
(Peer reviewed; Journal article, 2021)Fronts between Arctic- and Atlantic-origin waters are characterized by strong lateral gradients in temperature and salinity. Ocean processes associated with fronts are complex with considerable space and time variability. ... -
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 ... -
Ice condition assessment using onboard accelerometers and statistical change detection
(Journal article; Peer reviewed, 2019)The presence of sea ice is the predominant risk for ship operations in the Arctic, and monitoring of ice condition around a vessel is crucial during all times of operation. This paper presents a system for online onboard ... -
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 ... -
A Methodology for Consistent Georegistration in Underwater Hyperspectral Imaging
(Peer reviewed; Journal article, 2021)This article proposes a novel methodology for precise georegistration in underwater hyperspectral imaging (UHI) using a red–green–blue (RGB) camera to build a photogrammetry model that estimates the pose and a 3-D seabed ... -
Modeling of Generic Offshore Vessel in Crane Operations With Focus on Strong Rigid Body Connections
(Journal article; Peer reviewed, 2016)Both marine surface vehicles and underwater vehicles are often equipped with cranes, robotic manipulators, or similar equipment. Much attention is given to modeling of both the dynamics of marine vehicles and the dynamics ... -
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 ... -
Semantic Segmentation in Underwater Ship Inspections: Benchmark and Dataset
(Journal article; Peer reviewed, 2022)In this paper, we present the first large-scale dataset for underwater ship Lifecycle Inspection, Analysis and Condition Information (LIACI). It contains 1893 images with pixel annotations for 10 object categories: defects, ... -
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 ... -
Toward Time-Optimal Trajectory Planning for Autonomous Ship Maneuvering in Close-Range Encounters
(Journal article; Peer reviewed, 2019)Ship intelligence has been a hot topic in recent years. How to achieve autonomous maneuvers in a complex marine environment in a safe, efficient, and low-cost manner is a fundamental task that ocean engineers face. This ... -
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 ...