NTNU AMOS Centre for Autonomous Marine Operations and Systems Annual Report 2015 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, Thor I. Fossen and Asgeir J. Sørensen Copyright NTNU AMOS, 2015 www.ntnu.edu/amos NTNU AMOS • Annual Report 2015 TABLE OF CONTENTS Our Vision ..................................................................................... 2 Director’s report – Time to Invest and Harvest Knowledge and Competence . 4 Organization, Collaborators, and Facts and Figures 2015 . 5 Presentation of New Affiliated Scientists . 7 Board of Directors ............................................................................. 10 Research Highlights RESEARCH AREA: UNMANNED VEHICLES AND ROBOTS • Autonomous marine robotic systems ............................................................. 14 • Icing protection for small unmanned aircraft . 16 • Non-linear observers for GNSS- and camera-aided inertial navigation ................................. 18 RESEARCH AREA: SAFER, SMARTER AND GREENER MARINE OPERATIONS • A numerical and experimental study of a two- dimensional body with moonpool in waves and current . 20 • Autonomy in complex marine offshore operations . 22 • Consequences of accidental and abnormal events on ships and offshore structures ...................... 25 • Improving the performance of dynamic positioning systems using hybrid control methods . 27 Associated Research Projects • Assessment of operational limits for installation of OWT monopile and transition piece and development of an alternative installation procedure ........................................................... 29 • Design and verification of control system for safe and energy-efficient vessels with hybrid power plants (D2V) 31 • Efficient stochastic dynamic response analysis for design of offshore wind turbines ...................... 32 • Experimental and numerical study of the combined wind/wave energy concept SFC in extreme and ­operational environmental conditions . 33 • External sea loads and internal hydraulics of closed flexible cages .................................... 34 • Fatigue damage analysis of drivetrains in land-based and floating TLP, spar and semi- submersible wind turbines . 36 • Fault-tolerant inertial sensor fusion for marine vessels (MarineINS) . 37 • Innovative training network for autonomous unmanned aerial systems for marine and coastal monitoring (MarineUAS) . 38 • Low-cost integrated navigation systems using nonlinear observer theory (LowCostNav) . 40 • Next-generation subsea inspection, maintenance and repair operations (NextGenIMR) ................... 41 • Numerical analysis of the dynamic response of an offshore wind turbine under wind and ice loads . 42 • Numerical modelling and dynamic analysis of floating vertical axis wind turbines ........................ 43 • Probability estimation of trawler board hooking of pipelines .......................................... 44 • Sensor fusion and collision avoidance for autonomous surface vehicles (Autosea) . 45 • Snake locomotion in challenging environments . 46 • Structural design of reliable offshore aquaculture structures . 48 Photo Gallery . 50 Laboratory Highlights and Research Campaigns • Highlights of the Applied Underwater Vehicle laboratory (AUR-lab) .................................... 54 • Highlights of the Unmanned Aerial Vehicle laboratory (UAV-lab) . 57 • Highlights of the experiments at CNR-INSEAN sloshing lab .......................................... 58 • Research campaign: Rapid Environment Picture 2015 (REP’15) ....................................... 59 • Research campaign: Oden Arctic technology research cruise 2015 . 60 • Research campaign: Marine archaeology survey in the Arctic . 63 Honours and Awards . 64 Innovation and Training of PhD Candidates ...................................................... 65 Interviews with PhD Candidates ................................................................ 70 Appendices . 72 3 NTNU AMOS • Annual Report 2015 www.ntnu.edu/amos DIRECTOR’S REPORT – TIME TO INVEST AND HARVEST KNOWLEDGE AND COMPETENCE NTNU AMOS has completed the third year of operation. It is NTNU AMOS is promoting technology and methods that will fair to say that we have become a centre of gravity for funda- contribute to a greener world, the green shift, by working mental education, research and innovation on autonomous on a variety of areas, such as energy optimization and the marine operations and systems. Currently, close to 80 PhD intro duction of hybrid power plants, which take advantage of candidates and 100 MSc students are engaged at NTNU e.g., energy storage devices such as batteries, in combina- AMOS. The footprint and value of the hundreds of MSc and tion with optimal driven engines. The potential to reduce fuel PhDs that have graduated on the topics of the Centre cannot consumption and emissions is significant. In addition, off- be overestimated. Fundamental knowledge is developed, shore renewable energy, in particular offshore wind, is a pri- and scientific results are published in highly ranked peer ority area. In spite of renewable energy, hydrocarbons will be reviewed journals and international conference proceedings. an important contribution to the world’s energy supply and National and international cooperation has been vital for the mixture for decades. Technology and new methods should outcome and success. contribute to reduce energy consumption and gas emissions. More than ever, 2015 has reminded us of the effects of glo- Norway, with its long coastline and port to the Arctic, has a balization and sustainability and of the importance of being global responsibility to manage the oceans for the best of willing and capable to drive changes. Norway is facing mankind. One of the main achievements met together with increasing challenges related to unemployment after years colleges at the University of Tromsø, The Arctic University of of growth in the offshore energy sector. On the other hand, Norway, The University Centre in Svalbard (UNIS), University the seafood industry is at an all-time high activity level. of Delaware, and The Scottish Association for Marine Science, SAMS is the exploration of the new arctic ocean that is Norway is one of the world’s leading players, hosting a appearing as a consequence of global warming. Fundamental super cluster of industries associated with the ocean. The knowledge about ecosystems and marine biology during the blue economy, consisting of the three big industries, offshore polar night is being developed. This is an inter- and multi- oil and gas, maritime, and fisheries and aquaculture in addi- disciplinary field of research bridging marine science and tion to emerging areas such as offshore renewable energy, technology. Advanced sensors on different robotic platforms marine mining, tourism and marine science, will for decades in the air, on the sea surface and underwater have enabled be important for the welfare of Norway. This fact underlines scientists to reach new levels of ocean research. the foundation and importance of NTNU AMOS by investing in knowledge and competence and the expectation of society It is also with great pleasure and proudness that I recognize to reap the benefits. that Professor Thor I. Fossen was elevated to IEEE fellow for his contribution to modelling and control of marine craft. Seen from the point of view of the Centre of Excellence and Fossen has made ground-breaking contributions to the the University, we have a special responsibility to respond field of marine control systems in several areas, including to both long- and short-term challenges and turn them into modelling, estimation and control. He is probably most opportunities and changes. One important role is to develop famous for the development and formulation of the so-called relevant knowledge and competence and to ensure that the Fossen control and simulation models, which characterized best practices are transferred between the sectors in the the manoe uvring and station keeping of marine craft. In blue economy. One aspect of this is to maintain and even addition, he has developed a wide range of control methods strengthen the efforts that will create cost-effective innova- for ships and underwater and aerial vehicles. tions in the oil and gas industry. The challenges related to an increasing cost level have to be met by new technology and I will take this opportunity to thank all colleges, researchers, methods that are more efficient. Game-changing disruptive PhDs and MSc students, partners and collaborators for their innovations are needed. NTNU AMOS is addressing this efforts in creating competence, knowledge and innovations for heavily by combining enabling technology, such as ICT, a better world. material technology, and biotechnology,