• Comparing generic and vectorial nonlinear manoeuvring models and parameter estimation using optimal truncated least square support vector machine 

      Xu, Haitong; Hassani, Vahid; Soares, C. Guedes (Applied Ocean Research;Volume 97, April 2020, Journal article; Peer reviewed, 2020-01-18)
      An optimal truncated least square support vector machine (LS-SVM) is proposed for the parameter estimation of nonlinear manoeuvring models based on captive manoeuvring tests. Two classical nonlinear manoeuvring models, ...
    • Design and verification of a sway-yaw control system for Surface Effect Ships using vent valves 

      Teigland, Håkon; Hassani, Vahid; Auestad, Øyvind Fidje (IFAC-PapersOnLine;Volume 52, Issue 21, 2019, Journal article; Journal article; Peer reviewed, 2019-12-26)
      For an offshore worker in the oil and gas industry, the helicopter transport is the activity associated with the highest risk. An alternative to helicopter crew transfers is to use Surface Effect Ships (SES) to transport ...
    • Experimental Results for Pitch Damping in Speed and Wave for a Surface Effect Ship with Split Air Cushion 

      Hassani, Vahid; Auestad, Øyvind; Nataletti, Marco (Control Technology and Applications (CCTA);2020 IEEE Conference on Control Technology and Applications (CCTA), Chapter; Conference object; Peer reviewed, 2020-09-28)
      This paper presents experimental results in damping the pitch motion on a Surface Effect Ship (SES) in high vessel speeds in presence of regular wave. The SES is a marine craft supported by pressurized air cushion. It ...
    • Hybrid Collision Avoidance with Moving Obstacles 

      Chai, Yi; Hassani, Vahid (IFAC-PapersOnLine;Volume 52, Issue 21, 2019, Journal article; Peer reviewed, 2019-12-26)
      This paper proposes a hybrid collision avoidance (COLAV) approach based on the integration of a global path planning algorithm and a reactive collision avoidance technique. This combination provides a robust path planning ...
    • Making an aI powered ASV 

      Kjelsaas, Magnus (ACIT;2022, Master thesis, 2022)
      This thesis presents my master thesis project on creating an Autonomous Surface Vehicle that is designed to transport humans and goods. The vessel itself is not designed to carry neither humans nor goods, but is used as ...
    • Marker free 6D pose estimation for underwater vehicles with monocular RGB cameras 

      Weydahl, Håkon (ACIT;2022, Master thesis, 2022)
      Unmanned underwater vehicles (UUV) are important for industry, science and explora- tion. A key step in increasing their autonomy and lowering costs is performing 6D pose estimation on objects it interacts with. This ...
    • Operator focused automation of ROV operations 

      Teigland, Håkon; Hassani, Vahid; Møller, Ments Tore (Symposium on Autonomous Underwater Vehicle Technology (AUV); 2020 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV), Journal article; Peer reviewed, 2020-11-30)
      Aiming to provide higher level of autonomy in operation of Remotely Operated Vehicles (ROVs) in subsea industries, this paper aims at identifying the tasks in ROV operations that would see the greatest benefits from ...
    • Surface Effect Ship with Four Air Cushions Part I: Dynamic Modeling and Simulation 

      Haukeland, Ola; Hassani, Vahid; Auestad, Øyvind Fidje (IFAC-PapersOnLine;Volume 52, Issue 21, 2019, Journal article; Peer reviewed, 2019-12-26)
      This paper deals with dynamic modelling and numerical simulations of a Surface Effect Ship (SES) with split cushion. Traditionally, a SES is a catamaran with front and aft seals equipped with lift fans that could fill ...
    • Surface Effect Ship with Four Air Cushions Part II: Roll and Pitch Damping 

      Haukland, Ola; Hassani, Vahid; Auestad, Øyvind Fidje (IFAC-PapersOnLine;Volume 52, Issue 21, 2019, Journal article; Peer reviewed, 2019-12-26)
      This paper introduce damping of roll and pitch motion on a Surface Effect Ship (SES) in low vessel speeds. The SES consist of two side-hulls, a reinforced rubber bow and stern seal skirt system and four air cushion. The ...
    • Topics in guidance, navigation & control of underwater gliders 

      Saksvik, Ivar Bjørgo (ACIT;2022, Master thesis, 2022)
      This thesis is concerned with the topics of modeling, guidance, navigation, and control of underwater gliders, related to a special class of autonomous underwater vehicles (AUVs). Gliders main source of locomotion is a ...
    • Truncated least square support vector machine for parameter estimation of a nonlinear manoeuvring model based on PMM tests 

      Xu, Haitong; Hassani, Vahid; Guedes-Soares, C. (Applied Ocean Research;Volume 97, April 2020, Journal article; Peer reviewed, 2020-01-28)
      A new version of least square support vector machine (LS-SVM), the truncated LS-SVM, is proposed to estimate the nondimensionalized hydrodynamic coefficients. Truncated LS-SVM is shown to be an efficient and robust method ...
    • Vent Valve Thrust Force for Surface Effect Ships 

      Teigland, Håkon; Hassani, Vahid; Auestad, Øyvind Fidje (IFAC-PapersOnLine;Volume 52, Issue 21, 2019, Journal article; Peer reviewed, 2019-12-26)
      The Surface Effect Ship (SES) holds promise as a viable and appealing alternative for transferring crew to offshore wind farms and oil platforms due to its superior seakeeping capability, high comfort and speed. A SES is ...
    • Verification and validation of ROV simulation using experimental data 

      Abraham, Jeen Ann (ACIT;2022, Master thesis, 2022)
      Remotely operated vehicles (ROVs) are used widely in industries such as oil and gas, offshore, and renewable industries for various applications such as inspection, maintenance, and repair of their infrastructure. There ...