Volume 49; Issue 23

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IFAC-PapersOnLine
Volume 49; Issue 23

IFAC-PapersOnLine

Volume 49; Issue 23

1

An On-site Current Profile Estimation Algorithm for a Moored Floating Structure**This work was supported by the Research Council of Norway (RCN) through the Centre for Research-based Innovation on Marine Operations (RCN-project 237929), and partly by the Centre of Excellence AMOS (RCN-project 223254).

Ren, Zhengru, Skjetne, Roger

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 954 KB

english, 2016

2

Efficient Modelling Methodology for Reconfigurable Underwater Robots

Nielsen, Mikkel Cornelius, Blanke, Mogens, Schjølberg, Ingrid

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 505 KB

english, 2016

3

A Nonlinear System with Coupled Switching Surfaces for Remotely Operated Vehicle Control

Dyda, A.A., Oskin, D., Longhi, S., Monteriù, A.

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 592 KB

english, 2016

4

A Study on Control of Wave Energy Converter for Motion Suppression of Semisubmersible

Zhu, Hongzhong, Hu, Changhong

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 467 KB

english, 2016

5

Online Path Planning for Surface Vehicles Exposed to Unknown Ocean Currents Using Pseudospectral Optimal Control

Lekkas, Anastasios M., Roald, Ann L., Breivik, Morten

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 464 KB

english, 2016

6

Sliding mode reference conditioning for path following applied to an AUV.**This research is partially supported by EIFFEL scholarship from France Government, by CONICET (PIP0361 and 0237), MIN-CYT(PICT2394) and UNLP(I164), Argentina.

Rosendo, Juan Luis, Clement, Benoit, Garelli, Fabricio

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 695 KB

english, 2016

7

Towards more autonomous ROV operations: Scalable and modular localization with experiment data**This work is funded by the Research Council of Norway STATOIL and FMC Technologies through the project Next Generation Subsea Inspection Maintenance and Repair Operations (NextGenIMR) 234108/E30. The work is associated with AMOS 223254.

Grøtli, Esten Ingar, Tjønnås, Johannes, Azpiazu, Jon, Transeth, Aksel A., Ludvigsen, Martin

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 973 KB

english, 2016

8

A Tension-based Position Estimation Solution of a Moored Structure and its Uncertain Anchor Positions**This work was supported by the Research Council of Norway (RCN) through the Centre for Research-based Innovation on Marine Operations (RCN-project 237929), and partly by the Centre of Excellence AMOS (RCN-project 223254).

Ren, Zhengru, Skjetne, Roger

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 913 KB

english, 2016

9

Next Generation Subsea Inspection, Maintenance and Repair Operations

Schjølberg, Ingrid, Gjersvik, Tor B., Transeth, Aksel A., Utne, Ingrid B.

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 823 KB

english, 2016

10

Vision Restricted Path Planning and Control for Underactuated Vehicles

Sans-Muntadas, Albert, Pettersen, Kristin Y., Brekke, Edmund

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 1.68 MB

english, 2016

11

Study on Turning Manoeuvre of Catamaran Surface Vessel with a Combined Experimental and Simulation Method

Pandey, Jyotsna, Hasegawa, Kazuhiko

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 947 KB

english, 2016

12

NMPC-based Trajectory Tracking and Collison Avoidance of Underactuated Vessels with Elliptical Ship Domain**This research is supported by the State of Lower Saxony as part of the project Critical Systems Engineering for Socio-Technical Systems (CSE).

Abdelaal, Mohamed, Fränzle, Martin, Hahn, Axel

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 471 KB

english, 2016

13

Some remarks on potential field constructions in a multi-obstacle environment

Prodan, Ionela, Stoican, Florin, Grøtli, Esten Ingar

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 593 KB

english, 2016

14

MEMS-based Inertial Navigation on Dynamically Positioned Ships: Dead Reckoning

Rogne, Robert H., Bryne, Torleiv H., Fossen, Thor I., Johansen, Tor A.

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 1.36 MB

english, 2016

15

Ship Collision Avoidance Using Scenario-Based Model Predictive Control**This work was supported by the Research Council of Norway, Statoil, DNV GL and Sintef through the Centers of Excellence funding scheme, Project number 223254 - Centre for Autonomous Marine Operations and Systems (NTNU-AMOS), and the Research Council of Norway, DNV GL, Kongsberg Maritime and Maritime Robotics through the MAROFF knowledge project 244116 Sensor Fusion and Collision Avoidance for Autonomous Surface Vessels.

Johansen, Tor A., Cristofaro, Andrea, Perez, Tristan

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 1.45 MB

english, 2016

16

Efficient Path Planning Algorithms for Unmanned Surface Vehicle

Niu, Hanlin, Lu, Yu, Savvaris, Al, Tsourdos, Antonios

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 843 KB

english, 2016

17

Teleoperated trajectory tracking of remotely operated vehicles using spatial auditory interface

Vasilijevic, A., Vukic, Z., Miskovic, N.

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 699 KB

english, 2016

18

Attitude and Heave Estimation for Ships using MEMS-based Inertial Measurements

Bryne, Torleiv H., Rogne, Robert H., Fossen, Thor I., Johansen, Tor A.

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 717 KB

english, 2016

19

A Modeling and Control approach for a cubic AUV

Clement, Benoit, Rui, Yang, Mansour, Ali, Ming, Li

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 607 KB

english, 2016

20

An Output Feedback Controller with Improved Transient Response of Marine Vessels in Dynamic Positioning**Research partly funded by the Research Council of Norway (RCN) project no. 223254: CoE NTNU AMOS, and partly by RCN project no. 237929: CRI MOVE.

Værnø, Svenn Are T., Brodtkorb, Astrid H., Skjetne, Roger, Sørensen, Asgeir J.

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 490 KB

english, 2016

21

Weather-optimal control of a dynamic positioning vessel using backstepping: simulation and model experiment

Kim, Young-Shik, Kim, Jinwhan, Sung, Hong-Gun

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 617 KB

english, 2016

22

A Robust Dynamic Positioning Tracking Control Law Mitigating Integral Windup**Research partly funded by the Research Council of Norway project no. 203471: CRI SAMCoT, and project no. 223254: CoE AMOS.

Kjerstad, Øivind K., Værnø, Svenn Are T., Skjetne, Roger

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 1.12 MB

english, 2016

23

Comparing Controllers for Dynamic Positioning of Ships in Extreme Seas

Rabanal, Ole M.R., Brodtkorb, Astrid H., Breivik, Morten

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 583 KB

english, 2016

24

Dynamic Model and Nonlinear Control for a Two Degrees of Freedom First Generation Tidal Energy Converter**This work has been partially supported by the Spanish Ministerio de Economía y Competitividad under Research Grant DPI2014-53499R and hiring of Miss Marina P. Portilla was funded by the GITERM research group from the Universidad Politecnica de Madrid.

Fernández, L., Segura, E., Portilla, M.P., Morales, R., Somolinos, J.A.

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 511 KB

english, 2016

25

Trust Consensus Protocol for Heterogeneous Underwater Robotic Systems

Mazdin, Petra, Arbanas, Barbara, Haus, Tomislav, Bogdan, Stjepan, Petrovic, Tamara, Miskovic, Nikola

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 833 KB

english, 2016

26

Maritime Unmanned Vehicle Cruise Path Planning for Maritime Information Collection**The paper is supported by the Ministry of Science and Culture of Lower Saxony for funding us with the Graduate school Safe Automation of Maritime Systems (SAMS), the National Science Foundation of China (NSFC) through Grant No. 51579204, the self-determined and innovative research funds of WUT (No. 2016IVA064).

Zhu, Man, Hahn, Axel, Wen, Yuan Q., Zhang, Fan

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 1.38 MB

english, 2016

27

Verifying Collision Avoidance Behaviours for Unmanned Surface Vehicles using Probabilistic Model Checking

Lu, Yu, Niu, Hanlin, Savvaris, Al, Tsourdos, Antonios

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 658 KB

english, 2016

28

Adaptable Joystick Control System for Underwater Remotely Operated Vehicles**This work is supported by the Research Council of Norway, Statoil and FMC Technologies through the project Next Generation Subsea Inspection, Maintenance and Repair, 234108/E30. The work is associated with CoE AMOS, 223254.

Henriksen, Eirik Hexeberg, Schjølberg, Ingrid, Gjersvik, Tor Berge

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 595 KB

english, 2016

29

Energy-efficient environmentally adaptive consensus-based formation control with collision avoidance for multi-vehicle systems

Babić, Anja, Lončar, Ivan, Mišković, Nikola, Vukić, Zoran

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 728 KB

english, 2016

30

Enhanced Hydroacoustic Range Robustness of Three-Stage Position Filter based on Long Baseline Measurements with Unknown Wave Speed**This work is supported by the Center of Autonomous Marine Operations and Systems (AMOS), grant no. 223254.

Jørgensen, Erlend K., Johansen, Tor A., Schjølberg, Ingrid

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 847 KB

english, 2016

31

Comparison between Optimal Control Allocation with Mixed Quadratic & Linear Programming Techniques

Grechi, Simone, Caiti, Andrea

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 855 KB

english, 2016

32

Probabilistic quantification of ship collision risk considering trajectory uncertainties

Park, Jeonghong, Han, Jungwook, Kim, Jinwhan, Son, Nam-sun

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 1.13 MB

english, 2016

33

Fuzzy Reasoned Waypoint Controller for Automatic Ship Guidance

Ahmed, Yaseen Adnan, Hasegawa, Kazuhiko

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 693 KB

english, 2016

34

A Dynamic Model for Underwater Vehicle Maneuvering Near a Free Surface**The authors gratefully acknowledge the sponsorship of the Office of Naval Research under Grant No. N00014-14-1-0651.

Battista, Thomas, Woolsey, Craig, Perez, Tristan, Valentinis, Francis

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 473 KB

english, 2016

35

Hydrodynamic modelling for the remotely operated vehicle Visor3 using CFD

Ramírez-Macías, Juan A., Brongers, Persijn, Rúa, Santiago, Vásquez, Rafael E.

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 1.05 MB

english, 2016

36

Use of Tunnel- and Azimuthing Thrusters for Roll Damping of Ships

Rudaa, Sigbjørn Eng, Steen, Sverre, Hassani, Vahid

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 545 KB

english, 2016

37

Integral Line-of-Sight Guidance of Underwater Vehicles Without Neutral Buoyancy**This work was partly supported by the Research Council of Norway through the Centres of Excellence funding scheme, project no. 223254 - NTNU AMOS

Wiig, Martin S., Caharija, Walter, Krogstad, Thomas Røbekk, Pettersen, Kristin Y.

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 478 KB

english, 2016

38

Experimental validation of magnetic navigation of marine robotic vehicles**Funding: This research was supported in part by the European project WiMUST (GA No. 645141) and the Portuguese FCT funding program [PEst-OE/EEI/LA0009/2011]. The authors gratefully acknowledge the sponsorhip of the South Korean Agency for Defense Development under a collaborative research agreement between KAIST and IST.

Teixeira, Francisco Curado, Quintas, João, Pascoal, António

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 1.03 MB

english, 2016

39

Acoustic based navigation of cooperative marine robots with advanced filter techniques

Glotzbach, Thomas, Grebner, Anna-Maria, Ament, Christoph

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 596 KB

english, 2016

40

Time Domain Modeling of ROV Umbilical using Beam Equations

Eidsvik, Ole Alexander, Schjølberg, Ingrid

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 610 KB

english, 2016

41

A Ship’s Automatic Maneuvering System Using Optimal Preview Sliding Mode Controller with Adaptation Mechanism

Mizuno, Naoki, Saka, Naoki, Katayama, Takuya

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 1.00 MB

english, 2016

42

Modeling of underwater swimming manipulators**This research was partly funded by the Research Council of Norway through the Centres of Excellence funding scheme, project No. 223254 NTNU AMOS, and partly funded by VISTA, a basic research program in collaboration between The Norwegian Academy of Science and Letters, and Statoil.

Sverdrup-Thygeson, J., Kelasidi, E., Pettersen, K.Y., Gravdahl, J.T.

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 423 KB

english, 2016

43

Integrated Motion Planning, Control, and Estimation for Range-Based Marine Vehicle Positioning and Target Localization

Moreno-Salinas, D., Crasta, N., Ribeiro, M., Bayat, B., Pascoal, A.M., Aranda, J.

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 1.10 MB

english, 2016

44

Optimal Motion Planning for Range-Based Marine Vehicle Positioning in the Presence of Unknown Currents

Crasta, N., Moreno-Salinas, D., Bayat, M., Pascoal, A.M., Aranda, J.

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 653 KB

english, 2016

45

A control framework for biologically inspired underwater swimming manipulators equipped with thrusters**This research was partly funded by the Research Council of Norway through the Centres of Excellence funding scheme, project No. 223254 NTNU AMOS, and partly funded by VISTA, a basic research program in collaboration between The Norwegian Academy of Science and Letters, and Statoil.

Sverdrup-Thygeson, J., Kelasidi, E., Pettersen, K.Y., Gravdahl, J.T.

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 546 KB

english, 2016

46

From Nautical Path Planning in ECDIS to Their Realisation Applied for Fully Actuated Ships

Köckritz, Oliver, Kurowski, Martin, Grunert, Dennis, Korte, Holger, Hahn, Axel

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 863 KB

english, 2016

47

Three-axis Motion Compensated Crane Head Control**This work has been carried out at the Centre for Autonomous Marine Operations and Systems (NTNU AMOS). The Norwegian Research Council is acknowledged as the main sponsor of NTNU AMOS. This work was supported by Ulstein Power & Control AS and the Research Council of Norway, Project number 241205.

Henriksen, Vegard Wie, Røine, Audun Gerhardsen, Skjong, Espen, Johansen, Tor Arne

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 1.07 MB

english, 2016

48

Shape estimate of a streamer of hydrophones towed by an Autonomous Underwater Vehicle**This work has received funding from the European Unions Horizon 2020 research and innovation programme under grant agreement No. 645141 (WiMUST project)

Arrichiello, Filippo, Antonelli, Gianluca, Kelholt, Elbert

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 2.48 MB

english, 2016

49

Measurement of Network Latency in Remote Presence Applications

Kaknjo, A., Omerdic, E., Toal, D.

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 1.32 MB

english, 2016

50

A Reactive COLREGs-Compliant Navigation Strategy for Autonomous Maritime Navigation

Naeem, Wasif, Henrique, Sable C, Hu, Liang

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 1.62 MB

english, 2016

51

ANCHOR: Navigation, Routing and Collision Warning during Operations in Harbors**The research leading to these results has received funding from BONUS, the joint Baltic Sea research and development programme (Art 185), funded jointly from the European Unions Seventh Programme for research, technological development and demonstration and from BMBF by FZ Jülich (Projektträger Jülich).

Trzuskowsky, Andreas, Hoelper, Carsten, Abel, Dirk

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 927 KB

english, 2016

52

Experimental Evaluation of Sliding Mode Cooperative-Controlled DP Vessels

Ianagui, André S.S., Queiroz Filho, Asdrubal N., Tannuri, Eduardo A.

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 791 KB

english, 2016

53

Underwater vehicle guidance control design within the DexROV project: preliminary results

De Palma, Daniela, Indiveri, Giovanni

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 1.28 MB

english, 2016

54

A nonlinear fault-tolerant thruster allocation architecture for underwater remotely operated vehicles

Corradini, Maria Letizia, Cristofaro, Andrea

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 573 KB

english, 2016

55

Modelling and Control of ASV acting as communication node for deep-sea applications

Kurowski, Martin, Rentzow, Erik, Ritz, Sebastian, Lampe, Bernhard, Jeinsch, Torsten

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 1.05 MB

english, 2016

56

Nonlinear Observer-Based Ship Control and Disturbance Compensation

Aschemann, Harald, Wirtensohn, Stefan, Reuter, Johannes

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 935 KB

english, 2016

57

Active FTC for waterjets propelled ships based on Adaptive Estimator and Sliding Techniques

Rebhi, Hassène, Nejim, Samir

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 608 KB

english, 2016

58

Potential of Acoustic Emission in Unsupervised Monitoring of Gas-Fuelled Engines

Bondarenko, Oleksiy, Fukuda, Tetsugo

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 955 KB

english, 2016

59

Experimental testing of a cooperative ASV-ROV multi-agent system

Conte, Giuseppe, Scaradozzi, David, Mannocchi, Daniele, Raspa, Paolo, Panebianco, Luca, Screpanti, Laura

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 1.63 MB

english, 2016

60

Cooperative Surface/Underwater Navigation for AUV Path following missions

Nad, Dula, Ribeiro, Miguel, Silva, Henrique, Ribeiro, Jorge, Abreu, Pedro, Miskovic, Nikola, Pascoal, Antonio

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 875 KB

english, 2016

61

A Distributed, Passivity-Based Control of Autonomous Mobile Sensors in an Underwater Acoustic Network

Fabiani, F., Fenucci, D., Fabbri, T., Caiti, A.

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 413 KB

english, 2016

62

Reduced Order Model for Control Applications in Offshore Wind Turbines**This work has been carried out at the Centre for Autonomous Marine Operations and Systems at the Norwegian University of Science and Technology (NTNU AMOS). The Norwegian Research Council is acknowledged as the main sponsor of NTNU AMOS. This work was supported by the Research Council of Norway through the Centres of Excellence funding scheme, Project number 223254 - NTNU AMOS.

Smilden, Emil, Horn, Jan-Tore H., Sørensen, Asgeir J., Amdahl, Jørgen

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 861 KB

english, 2016

63

Estimation and Optimization of Vessel Fuel Consumption

Lundh, Michael, Garcia-Gabin, Winston, Tervo, Kalevi, Lindkvist, Rickard

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 603 KB

english, 2016

64

Hybrid marine power plants model validation with strategic loading

Miyazaki, Michel R., Sørensen, Asgeir J., Vartdal, Bjørn J.

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 669 KB

english, 2016

65

Waste-heat recovery estimation on ships by means of Conditionally-Gaussian Filtering

Nguyen, Philipp, Tenno, Robert

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 3.25 MB

english, 2016

66

Dexterous Undersea Interventions with Far Distance Onshore Supervision: the DexROV Project

Gancet, Jeremi, Weiss, Peter, Antonelli, Gianluca, Pfingsthorn, Max Folkert, Calinon, Sylvain, Turetta, Alessio, Walen, Cees, Urbina, Diego, Govindaraj, Shashank, Letier, Pierre, Martinez, Xavier, Sal

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 952 KB

english, 2016

67

CADDY Project, Year 2: The First Validation Trials**This work is supported by the European Commission under the FP7-ICT project "CADDY - Cognitive Autonomous Diving Buddy" Grant Agreement No. 611373.

Mišković, Nikola, Pascoal, Antonio, Bibuli, Marco, Caccia, Massimo, Neasham, Jeffrey A., Birk, Andreas, Egi, Murat, Grammer, Karl, Marroni, Alessandro, Vasilijević, Antonio, Vukić, Zoran

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 1.71 MB

english, 2016

68

The European Marie-Curie Training Network ROBOCADEMY

Vögele, Thomas, Wehbe, Bilal, Nascimento, Samy, Runge, Tom, Kirchner, Frank

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 1.05 MB

english, 2016

69

Overview and first year progress of the Widely scalable Mobile Underwater Sonar Technology H2020 project**This work has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement No. 645141 (WiMUST project, http://www.wimust.eu).

Indiveri, Giovanni, Antonelli, Gianluca, Arrichiello, Filippo, Caffaz, Andrea, Caiti, Andrea, Casalino, Giuseppe, Volpi, Nicola Catenacci, de Jong, Ivan Bielic, De Palma, Daniela, Duarte, Henrique, Go

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 618 KB

english, 2016

70

Towards an Approach to 6 DOF Inertial Kinematics

Korte, Holger, Wesuls, Jan-Hendrik, Stuppe, Sven, Takagi, Tsutomu

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 626 KB

english, 2016

71

Marine Vehicles with Streamers for Geotechnical Surveys: Modeling, Positioning, and Control**This research was supported by the EC WiMUST project (Grant no. 645141) and the Portuguese FCT funding program [PEst-OE/EEI/LA0009/2011]. The second author was supported by the Brasilian Navy during his sabbatical leave at the ISR/IST, Lisbon, Portugal.

Abreu, Pedro, Morishita, Hélio, Pascoal, António, Ribeiro, Jorge, Silva, Henrique

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 853 KB

english, 2016

72

Complementary control allocation for a Lagrangian seafloor imaging platform

Snyder, William, Roman, Christopher, Licht, Stephen

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 1.21 MB

english, 2016

73

Hand gesture recognition from multibeam sonar imagery**This work has been done within the scope of CADDY, a collaborative project funded by the European Community’s Seventh Framework Programme FP7-Challenge 2: Cognitive Systems and Robotics-under grant agreement 611373.

Gustin, Franka, Rendulic, Ivor, Miskovic, Nikola, Vukic, Zoran

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 580 KB

english, 2016

74

The use of underwater hyperspectral imaging deployed on remotely operated vehicles - methods and applications

Johnsen, Geir, Ludvigsen, Martin, Sørensen, Asgeir, Sandvik Aas, Lars Martin

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 702 KB

english, 2016

75

The Scottish Marine Robotics Facility: Use of unmanned vehicles for environmental measurement, monitoring and decision making

Macdonald, Fraser, Howe, John A., Jones, Sam C., Weeks, Rebecca J., Houpert, Loïc

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 817 KB

english, 2016

76

A new method for underwater archaeological surveying using sensors and unmanned platforms

Ødegård, Øyvind, Sørensen, Asgeir J., Hansen, Roy E., Ludvigsen, Martin

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 945 KB

english, 2016

77

Ice-tethered observational platforms in the Arctic Ocean pack ice

Berge, Jørgen, Geoffroy, Maxime, Johnsen, Geir, Cottier, Finlo, Bluhm, Bodil, Vogedes, Daniel

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 423 KB

english, 2016

78

Towards Visual Detection, Mapping and Quantification of Posidonia Oceanica using a Lightweight AUV**This work is partially supported by Ministry of Economy and Competitiveness under contracts TIN2014-58662-R, DPI2014-57746-C3-2-R and FEDER funds

Bonin-Font, Francisco, Campos, Miquel Massot, Codina, Gabriel Oliver

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 1.35 MB

english, 2016

79

Hybrid Observer Combining Measurements of Different Fidelities**This work was supported by the Research Council of Norway through the Centres of Excellence funding scheme, project number 23254 - NTNU AMOS, and in part by NSF grant number ECCS-1508757 and AFOSR grant number FA9550-15-1-0155.

Brodtkorb, Astrid H., Teel, Andrew R., Sørensen, Asgeir J.

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 519 KB

english, 2016

80

Disturbance Estimation and Wave Filtering Using an Unscented Kalman Filter

Wirtensohn, Stefan, Schuster, Michael, Reuter, Johannes

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 1.86 MB

english, 2016

81

Construction and Control of an Autonomous Sail Boat

Stenersen, Henning Seeberg

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 2.16 MB

english, 2016

82

Modeling and Course Control of Sailboats

Wille, Kristian L., Hassani, Vahid, Sprenger, Florian

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 663 KB

english, 2016

83

Robust Lateral Control of a Surface Effect Ship using H∞ Mixed Sensitivity Synthesis

Vamråk, Vegard, Bua, Nils Haktor, Hassani, Vahid, Auestad, Øyvind Fidje

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 1.04 MB

english, 2016

84

Roll Stabilization Control of Sailboats

Wille, Kristian L., Hassani, Vahid, Sprenger, Florian

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 566 KB

english, 2016

85

Roll Damping Using Voith Schneider Propeller: a Repetitive Control Approach**The authors want to express their gratitude to the German Federal Ministry of Economics and Technology (BMWi) which has supported this work under Grant DPMotion (No. 03SX351).

Schubert, Agnes U., Koschorrek, Philipp, Kurowski, Martin, Lampe, Bernhard P., Jeinsch, Torsten

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 669 KB

english, 2016

86

Optimal controllers for rudder roll damping with an autopilot in the loop**The work was supported in part by the European Research Council (ERCStG-307207), RFBR, grant 14-08-01015 and Russian Federation President’s Grant MD-6325.2016.8.

Kapitanyuk, Yuri A., Proskurnikov, Anton V., Cao, Ming

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 1.17 MB

english, 2016

87

Generalized Dynamic Inversion based Attitude Control of Autonomous Underwater Vehicles

Ansari, Uzair, Bajodah, Abdulrahman H., Alam, Saqib

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 892 KB

english, 2016

88

GPS-less Coastal Navigation using Marine Radar for USV Operation

Han, Jungwook, Park, Jeonghong, Kim, Jinwhan, Son, Nam-sun

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 985 KB

english, 2016

89

Contents

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 762 KB

english, 2016

90

Mobile beacon control algorithm that ensures observability in single range navigation**This work is supported by the European Commission under the FP7–ICT project ”CADDY – Cognitive Autonomous Diving Buddy” (Grant Agreement No. 611373) and ARCHROV project (DPI2014-57746-C3-3-R). Joint results were obtained as a result of staff exchange within H2020–TWINNING project ”EXCELLABUST - Excelling LABUST in Marine Robotics” (Grant Agreement No. 691980). Filip Mandic is financed by the Croatian Science Foundation through the Project for the young researcher career development.

Mandić, Filip, Mišković, Nikola, Palomeras, Narcís, Carreras, Marc, Vallicrosa, Guillem

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 1.56 MB

english, 2016

91

Autonomous homing and docking for AUVs using Range-Only Localization and Light Beacons

Vallicrosa, G., Bosch, J., Palomeras, N., Ridao, P., Carreras, M., Gracias, N.

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 918 KB

english, 2016

92

Diver Tracking Using Path Stabilization - the Virtual Diver Experimental Results

Nađ, Đula, Mandić, Filip, Misković, Nikola

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 876 KB

english, 2016

93

Integration of risk in hierarchical path planning of underwater vehicles

Lefebvre, Nicolas, Schjølberg, Ingrid, Utne, Ingrid B.

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 860 KB

english, 2016

94

Comparing Combinations of Linear and Nonlinear Feedback Terms for Motion Control of Marine Surface Vessels

Nørgaard Sørensen, Mikkel Eske, Breivik, Morten

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 585 KB

english, 2016

95

Statistical Filter based Sensor and DAQ Fault Detection for Onboard Ship Performance and Navigation Monitoring Systems

Perera, Lokukaluge P.

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 1.31 MB

english, 2016

96

Marine Engine Operating Regions under Principal Component Analysis to evaluate Ship Performance and Navigation Behavior

Perera, Lokukaluge P., Mo, Brage

Journal:

IFAC-PapersOnLine

Year:

2016

Language:

english

File:

PDF, 720 KB

english, 2016

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