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Annual Report 2014 OUR VISION AMOS Centre for Autonomous Marine Operations and Systems Annual Report 2014 Annual Report OUR VISION To establish a world-leading research centre for autonomous marine operations and systems: To nourish a lively scientific heart in which fundamental knowledge is created through multidisciplinary theoretical, numerical, and experimental research within the knowledge fields of hydrodynamics, structural mechanics, guidance, navigation, and control. Cutting-edge inter-disciplinary research will provide the necessary bridge to realise high levels of autonomy for ships and ocean structures, unmanned vehicles, and marine operations and to address the challenges associated with greener and safer maritime transport, monitoring and surveillance of the coast and oceans, offshore renewable energy, and oil and gas exploration and production in deep waters and Arctic waters. Editors: Annika Bremvåg and Thor I. Fossen Copyright AMOS, NTNU, 2014 www.ntnu.edu/amos AMOS • Annual Report 2014 Table of Contents Our Vision ........................................................................................................................................................................ 2 Director’s Report: Licence to Create............................................................................................................................. 4 Organization, Collaborators, and Facts and Figures 2014 ......................................................................................... 6 Presentation of New Affiliated Scientists.................................................................................................................... 8 Board of Directors........................................................................................................................................................... 12 Research Projects •. Optimization.and.fault-tolerant.control.of.offshore.renewable.energy.systems..................................................... 15 •. Intelligent.offshore.aquaculture.structures............................................................................................................... 16 •. Autonomous.unmanned.vehicle.systems................................................................................................................... 18 •. Autonomous.underwater.robotics.for.mapping,.monitoring.and.intervention......................................................... 19 •. Autonomous.aerial.systems.for.marine.monitoring.and.data.collection................................................................. 23 •. Energy.management.and.propulsion.for.greener.operations.of.ships.and.offshore.structures............................. 25 •. Autonomous.marine.operations.in.extreme.seas,.violent.water-structure.interactions,. deep.and.shallow.waters,.and.the.Arctic................................................................................................................... 27 •. Consequences.of.accidental.and.abnormal.events.on.ships.and.offshore.structures............................................ 35 •. Safety,.risk.and.autonomy.in.subsea.intervention..................................................................................................... 39 Associated Research Projects •. Fault-tolerant.inertial.sensor.fusion.for.marine.vessels.(MarineINS)..................................................................... 40 •. Low-cost.integrated.navigation.systems.using.nonlinear.observer.theory.(LowCostNav)...................................... 41 •. Design.and.verification.of.control.systems.for.safe.and.energy-efficient.vessels.with. hybrid.power.plants.(D2V)........................................................................................................................................... 42 •. Next.generation.subsea.inspection,.maintenance.and.repair.(NextGenIMR).......................................................... 44 •. Control,.information.and.communication.systems.for.environmental.and.safety.critical.systems........................ 45 •. Snake.locomotion.in.challenging.environments........................................................................................................ 48 •. Dynamic response analysis of wind turbines under fault conditions...................................................................... 49 •. Nonlinear wave loads on offshore wind turbines...................................................................................................... 50 •. Numerical and experimental study of a combined wind and wave energy concept – STC (Spar-Torus-Combination).................................................................................................................................. 51 Photo Gallery................................................................................................................................................................... 52 Laboratory Highlights and Research Campaigns •. Highlights.of.the.Applied.Underwater.Vehicle.Laboratory.(AUR-Lab)...................................................................... 56 •. Highlights.of.the.Marine.Cybernetics.Laboratory.(MC-Lab)...................................................................................... 59 •. Highlights.of.the.Unmanned.Aerial.Vehicle.Laboratory.(UAV-Lab).......................................................................... 61 •. Highlights.of.the.experiments.at.CNR-INSEAN......................................................................................................... 63 •. Research.campaign:.AMOS.researchers.investigate.mysteries.in.the.sea.during.the.polar.night......................... 64 Honours, Awards and other Achievements.................................................................................................................. 65 Innovation and Training of PhD Candidates.................................................................................................................. 67 Interviews with PhD Candidates ................................................................................................................................... 70 Appendices ...................................................................................................................................................................... 73 3 AMOS • Annual Report 2014 www.ntnu.edu/amos DIRECTOR’S REPORT: LICENCE TO CREATE ... AMOS has completed its second year of operation and has become a lively scientific centre of research on auton- omous marine operations and systems with the licence to create – competence, knowledge and innovations. The organisation efficiently operates with strong support from NTNU, as the host institution, and committed partner- ships with the Research Council of Norway, Statoil, DNV GL, MARINTEK, SINTEF Fisheries and Aquaculture and SINTEF ICT. In addition to the core activity of AMOS, several new associated research projects, which expand the capabilities of AMOS and the centre’s impact, are established with national and international collaborators. Licence to create competence following control. A generic theoretical result, which proves Currently, 65 young and talented PhD candidates, including that the well-celebrated proportional LOS guidance law ten females and four post-doctorates are employed at NTNU for path following is uniformly semi-globally exponentially in AMOS research areas. 88 MSc students fulfilled their mas- stable, was published in Automatica by Fossen and Pettersen ter’s degree requirements in cooperation with AMOS in 2014, (2014). Additionally, theoretical results on synchronisation of and five candidates received their PhD degrees in 2014. networked vehicles and agents was published in Automatica by Peymani et al. (2014). In the past year, one new full professorship on sensor • The research group also conducted important theoret- fusion was sponsored by DNV GL and three new professor-II ical and experimental work on autonomous net-landing sys- positions on marine hydrodynamics and structural mecha- tems for UAVs using single-frequency carrier-phase differ- nics have been created to increase the expertise offered at ential GNSS for accurate positioning. The main results will different levels to students and to strengthen the in-depth appear in the IEEE Aerospace and Electronic Systems Maga- research performed at the centre. zine in 2015. Extensions of this work on autonomous landing onboard ships are in progress. AMOS has been instrumental in the development of a joint • Intervention AUVs is another topic of research, and new PhD degree (Cotutelle agreement) between NTNU and the research results on robotic manipulator control that can in- Technical University of Denmark (DTU). The first PhD candi- crease the degree of autonomy for both remotely operated date has been enrolled at AMOS. This degree program vehicle (ROV) operations and intervention AUVs have been will strengthen the cooperation between AMOS and DTU developed. Furthermore, the research group developed sig- research ers. Four DTU professors are currently employed nificant new results for hyper-redundant underwater mani- in adjunct positions. pulators, i.e., swimming snake robots. These robots may constitute the next generation of intervention AUVs. In par- NTNU will coordinate a new Marie Skłodowska-Curie Inno- ticular, these robots have the promising potential to improve vative Training Network on Autonomous Marine Unmanned the efficiency and manoeuvrability of next-generation AUVs. Aerial Systems for Marine and Coastal
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