The Norwegian Motion-Laboratory

This paper contains an overview of the equipment currently available in the Norwegian Motion Laboratory, a description of the IT networking infrastructure in the laboratory, a GitHub link to open source code developed, description of the PyQt-based graphical user interface, presentation of robot forward and inverse kinematics, presentation of equations of motion for the suspended load motion and a description of the full system kinematics. The paper ends with a list of research experiments and publications from the laboratory to date

Real-Time Motion Compensation in Ship-to-Ship Load Handling

DoktorgradsavhandlingLike the automotive industry, the maritime industry is facing a higher demand for autonomous offshore operations. It is therefore in the author’s belief that the marine industry has to develop and implement new technology for both existing and new products to meet the increased autonomy demand. This thesis aims at presenting a unified understanding of the motions and the accompanying load handling issue in ship-to-ship operations. The ship-to-ship kinematics is modeled and a crane operator assistant is developed as a possible solution to increase the so-called weather window of ship-to-ship load transfers. The weather window is today determined by the significant wave height, and the current limitation of such operations is at 2.5m significant wave height. Proposing new methods capable of assisting the crane operator when transferring the load from one ship onto another is believed to further relax the weather window criteria, as well as increasing both the safety and efficiency of the operation itself. A novel ship-to-ship estimation algorithm using the well known Extended Kalman Filter (EKF) is developed and experimentally investigated in the Norwegian Motion Laboratory. In addition to the ship-to-ship observer, an observer for measuring the suspended load motions is developed. These estimators are used to form the novel crane operator assistant presented at the end of this thesis. The presented assistant consists of a wire-length assistant and an anti-swing assistant, which both aim at assisting the crane operator in ship-to-ship load transfers by adjusting the crane operator inputs slightly in real-time. The expected outcome is increased repeatability and efficiency, as well as reduced risk in general. The developed methods are described using a common and consistent mathematical notation for both the observers and the kinematic control systems. The appended papers at the end of this thesis have experimentally investigated and validated the proposed methods using several experiments which have been carried out in the Norwegian Motion Laborator

Simulation and Control of an Anti-Swing System for a Suspended Load attached to a moving Base Robot

Master's thesis Mechatronics MAS500 - University of Agder 2018Advanced motion compensation is an important eld of engineering in today's o shore industry. Performing advanced load handling operations at sea requires high attention to both safety and e ciency. In environments governed by wave motion and harsh weather conditions, these types of operations are complex tasks. Most of the load handling scenarios are performed by advanced o shore loader cranes, where many of these are equipped with the industry's state-of-the-art Active Heave Compensation. This technology is capable of compensating for the wave height disturbance, meaning that the load is kept at a constant height above the sea oor. A common problem arises when equipment or personnel have to be transported from a moving vessel to another vessel or o shore installation. In these scenarios compensation of the side-to-side motion is of equal importance as the relative height movement. This thesis proposes a method to reduce this side-ways motion. An anti-swing system has been developed for a simulation model of a suspended load attached to a moving base robot. The work focuses on deriving mathematical models of the related systems, where control systems are designed to the reduce the swing motion of the suspended load by actuation of the load handling robot. The developed system models are based on the available equipment of the Norwegian Motion-Laboratory. Results of the proposed system are obtained from the simulation of the motion system, which yields a system capable of tracking the robotic tool-point reference signal with acceptable accuracy and reducing the suspended load's swing-angles with satisfactory performance

Visual Techniques for Geological Fieldwork Using Mobile Devices

Visual techniques in general and 3D visualisation in particular have seen considerable adoption within the last 30 years in the geosciences and geology. Techniques such as volume visualisation, for analysing subsurface processes, and photo-coloured LiDAR point-based rendering, to digitally explore rock exposures at the earth’s surface, were applied within geology as one of the first adopting branches of science. A large amount of digital, geological surface- and volume data is nowadays available to desktop-based workflows for geological applications such as hydrocarbon reservoir exploration, groundwater modelling, CO2 sequestration and, in the future, geothermal energy planning. On the other hand, the analysis and data collection during fieldwork has yet to embrace this ”digital revolution”: sedimentary logs, geological maps and stratigraphic sketches are still captured in each geologist’s individual fieldbook, and physical rocks samples are still transported to the lab for subsequent analysis. Is this still necessary, or are there extended digital means of data collection and exploration in the field ? Are modern digital interpretation techniques accurate and intuitive enough to relevantly support fieldwork in geology and other geoscience disciplines ? This dissertation aims to address these questions and, by doing so, close the technological gap between geological fieldwork and office workflows in geology. The emergence of mobile devices and their vast array of physical sensors, combined with touch-based user interfaces, high-resolution screens and digital cameras provide a possible digital platform that can be used by field geologists. Their ubiquitous availability increases the chances to adopt digital workflows in the field without additional, expensive equipment. The use of 3D data on mobile devices in the field is furthered by the availability of 3D digital outcrop models and the increasing ease of their acquisition. This dissertation assesses the prospects of adopting 3D visual techniques and mobile devices within field geology. The research of this dissertation uses previously acquired and processed digital outcrop models in the form of textured surfaces from optical remote sensing and photogrammetry. The scientific papers in this thesis present visual techniques and algorithms to map outcrop photographs in the field directly onto the surface models. Automatic mapping allows the projection of photo interpretations of stratigraphy and sedimentary facies on the 3D textured surface while providing the domain expert with simple-touse, intuitive tools for the photo interpretation itself. The developed visual approach, combining insight from all across the computer sciences dealing with visual information, merits into the mobile device Geological Registration and Interpretation Toolset (GRIT) app, which is assessed on an outcrop analogue study of the Saltwick Formation exposed at Whitby, North Yorkshire, UK. Although being applicable to a diversity of study scenarios within petroleum geology and the geosciences, the particular target application of the visual techniques is to easily provide field-based outcrop interpretations for subsequent construction of training images for multiple point statistics reservoir modelling, as envisaged within the VOM2MPS project. Despite the success and applicability of the visual approach, numerous drawbacks and probable future extensions are discussed in the thesis based on the conducted studies. Apart from elaborating on more obvious limitations originating from the use of mobile devices and their limited computing capabilities and sensor accuracies, a major contribution of this thesis is the careful analysis of conceptual drawbacks of established procedures in modelling, representing, constructing and disseminating the available surface geometry. A more mathematically-accurate geometric description of the underlying algebraic surfaces yields improvements and future applications unaddressed within the literature of geology and the computational geosciences to this date. Also, future extensions to the visual techniques proposed in this thesis allow for expanded analysis, 3D exploration and improved geological subsurface modelling in general.publishedVersio

The Fifteenth Marcel Grossmann Meeting

The three volumes of the proceedings of MG15 give a broad view of all aspects of gravitational physics and astrophysics, from mathematical issues to recent observations and experiments. The scientific program of the meeting included 40 morning plenary talks over 6 days, 5 evening popular talks and nearly 100 parallel sessions on 71 topics spread over 4 afternoons. These proceedings are a representative sample of the very many oral and poster presentations made at the meeting.Part A contains plenary and review articles and the contributions from some parallel sessions, while Parts B and C consist of those from the remaining parallel sessions. The contents range from the mathematical foundations of classical and quantum gravitational theories including recent developments in string theory, to precision tests of general relativity including progress towards the detection of gravitational waves, and from supernova cosmology to relativistic astrophysics, including topics such as gamma ray bursts, black hole physics both in our galaxy and in active galactic nuclei in other galaxies, and neutron star, pulsar and white dwarf astrophysics. Parallel sessions touch on dark matter, neutrinos, X-ray sources, astrophysical black holes, neutron stars, white dwarfs, binary systems, radiative transfer, accretion disks, quasars, gamma ray bursts, supernovas, alternative gravitational theories, perturbations of collapsed objects, analog models, black hole thermodynamics, numerical relativity, gravitational lensing, large scale structure, observational cosmology, early universe models and cosmic microwave background anisotropies, inhomogeneous cosmology, inflation, global structure, singularities, chaos, Einstein-Maxwell systems, wormholes, exact solutions of Einstein's equations, gravitational waves, gravitational wave detectors and data analysis, precision gravitational measurements, quantum gravity and loop quantum gravity, quantum cosmology, strings and branes, self-gravitating systems, gamma ray astronomy, cosmic rays and the history of general relativity

The Fifteenth Marcel Grossmann Meeting

The three volumes of the proceedings of MG15 give a broad view of all aspects of gravitational physics and astrophysics, from mathematical issues to recent observations and experiments. The scientific program of the meeting included 40 morning plenary talks over 6 days, 5 evening popular talks and nearly 100 parallel sessions on 71 topics spread over 4 afternoons. These proceedings are a representative sample of the very many oral and poster presentations made at the meeting.Part A contains plenary and review articles and the contributions from some parallel sessions, while Parts B and C consist of those from the remaining parallel sessions. The contents range from the mathematical foundations of classical and quantum gravitational theories including recent developments in string theory, to precision tests of general relativity including progress towards the detection of gravitational waves, and from supernova cosmology to relativistic astrophysics, including topics such as gamma ray bursts, black hole physics both in our galaxy and in active galactic nuclei in other galaxies, and neutron star, pulsar and white dwarf astrophysics. Parallel sessions touch on dark matter, neutrinos, X-ray sources, astrophysical black holes, neutron stars, white dwarfs, binary systems, radiative transfer, accretion disks, quasars, gamma ray bursts, supernovas, alternative gravitational theories, perturbations of collapsed objects, analog models, black hole thermodynamics, numerical relativity, gravitational lensing, large scale structure, observational cosmology, early universe models and cosmic microwave background anisotropies, inhomogeneous cosmology, inflation, global structure, singularities, chaos, Einstein-Maxwell systems, wormholes, exact solutions of Einstein's equations, gravitational waves, gravitational wave detectors and data analysis, precision gravitational measurements, quantum gravity and loop quantum gravity, quantum cosmology, strings and branes, self-gravitating systems, gamma ray astronomy, cosmic rays and the history of general relativity

International Conference on Continuous Optimization (ICCOPT) 2019 Conference Book

The Sixth International Conference on Continuous Optimization took place on the campus of the Technical University of Berlin, August 3-8, 2019. The ICCOPT is a flagship conference of the Mathematical Optimization Society (MOS), organized every three years. ICCOPT 2019 was hosted by the Weierstrass Institute for Applied Analysis and Stochastics (WIAS) Berlin. It included a Summer School and a Conference with a series of plenary and semi-plenary talks, organized and contributed sessions, and poster sessions. This book comprises the full conference program. It contains, in particular, the scientific program in survey style as well as with all details, and information on the social program, the venue, special meetings, and more

Um novo modelo de conceito para implantes ortopédicos instrumentados ativos

Doutoramento em Engenharia MecânicaTotal hip replacement (THR) is one of the most performed surgical procedures around the world. Millions of THR are carried out worldwide each year. Currently, THR revision rates can be higher than 10%. A significant increase of the number of primary and revision THRs, mainly among patients less than 65 years old (including those under 45 years old) has been predicted for the forthcoming years. A worldwide increase in the use of uncemented fixation has also been reported, incidence caused mainly by the significant increase of more active and/or younger patients. Besides the significant breakthroughs for uncemented fixations, they have not been able to ensure long-term implant survival. Up to date, current implant models have shown evidences of their inability to avoid revision procedures. The performance of implants will be optimized if they are designed to perform an effective control over the osseointegration process. To pursue this goal, improved surgical techniques and rehabilitation protocols, innovative bioactive coatings (including those for controlled delivery of drugs and/or other bio-agents in the bone-implant interface), the concepts of Passive Instrumented Implant and Active Instrumented Implant have been proposed. However, there are no conclusive demonstrations of the effectiveness of such methodologies. The main goal of this thesis is to propose a new concept model for instrumented implants to optimize the bone-implant integration: the self-powered instrumented active implant with ability to deliver controlled and personalized biophysical stimuli to target tissue areas. The need of such a new model is demonstrated by optimality analyses conducted to study the performance of instrumented and non-instrumented orthopaedic implants. Promising results on the potential of a therapeutic actuation driven by cosurface-based capacitive stimulation were achieved, as well as for self-powering instrumented active implants by magnetic levitation-based electromagnetic energy harvesting.A artroplastia total da anca (THR) é um dos procedimentos cirúrgicos mais realizados à escala global. Milhões de THRs são realizadas todos os anos em todo o mundo. Atualmente, as taxas de revisão destas artroplastias podem ser superiores a 10%. O número de THRs primárias e de revisão têm aumentado e estima-se que cresçam acentuadamente nos próximos anos, principalmente em pacientes com idades inferiores a 65 anos (incluindo aqueles com menos de 45 anos). Também se tem verificado uma tendência generalizada para o uso de fixações não cimentadas, incidência principalmente causada pelo aumento significativo de pacientes mais jovens e/ou activos. Embora se tenham realizado avanços científicos no projeto de implantes não cimentados, têm-se verificado o seu insucesso a longo-prazo. Encontram-se evidências da ineficácia dos modelos de implantes que têm sido desenvolvidos para evitar procedimentos de revisão. O desempenho dos implantes será otimizado se estes foram projetados para controlarem eficazmente o processo de osseointegração. Para se alcançar este objetivo, têm sido propostas a melhoria das técnicas cirúrgicas e dos protocolos de reabilitação, a inovação dos revestimentos (onde se incluem os revestimentos ativos projetados para a libertação controlada de fármacos e/ou outros bio-agentes) e os conceitos de Implante Instrumentado Passivo e Implante Instrumentado Ativo. Contudo, não existem demonstrações conclusivas da eficácia de tais metodologias. O principal objetivo desta tese é propor um novo modelo de conceito para implantes instrumentados para se otimizar a integração osso-implante: o implante instrumentado ativo, energeticamente auto-suficiente, com capacidade de aplicar estímulos biofísicos em tecidos-alvo de forma controlada e personalizada. A necessidade de um novo modelo é demonstrada através da realização de análises de otimalidade ao desempenho dos implantes instrumentados e não-instrumentados. Foram encontrados resultados promissores para o controlo otimizado da osseointegração usando este novo modelo, através da atuação terapêutica baseada na estimulação capacitiva com arquitetura em co-superfície, assim como para fornecer energia elétrica de forma autónoma por mecanismos de transdução baseados em indução eletromagnética usando configurações baseadas na levitação magnética

Earth Resources: A continuing bibliography with indexes, issue 19

This bibliography lists 337 reports, articles, and other documents introduced into the NASA Scientific and Technical Information System between July 1 and September 30, 1978. Emphasis is placed on the use of remote sensing and geophysical instrumentation in spacecraft and aircraft to survey and inventory natural resources and urban areas. Subject matter is grouped according to agriculture and forestry, environmental changes and cultural resources, geodesy and cartography, geology and mineral resources, hydrology and water management, data processing and distribution systems, instrumentation and sensors, and economic analysis

Capacitive power transfer for maritime electrical charging applications

Wireless power transfer can provide the convenience of automatic charging while the ships or maritime vehicles are docking, mooring, or in a sailing maneuver. It can address the challenges facing conventional wired charging technologies, including long charging and queuing time, wear and tear of the physical contacts, handling cables and wires, and electric shock hazards. Capacitive power transfer (CPT) is one of the wireless charging technologies that has received attention in on-road electric vehicle charging applications. By the main of electric fields, CPT offers an inexpensive and light charging solution with good misalignment performance. Thus, this study investigates the CPT system in which air and water are the separation medium for the electrical wireless charging of small ships and unmanned maritime vehicles. Unlike on-road charging applications, air or water can be utilized as charging mediums to charge small ships and unmanned maritime vehicles. Because of the low permittivity of the air, the air-gapped capacitive coupling in the Pico Farad range requires a mega-hertz operating frequency to transfer power over a few hundred millimeters. This study examines an air-gapped CPT system to transfer about 135 W at a separation distance of 50 mm, a total efficiency of approximately 83.9%, and a 1 MHz operating efficiency. At 13.56 MHz, the study tested a shielded air-gapped CPT system that transfers about 100 W at a separation distance of 30 mm and a total efficiency of about 87%. The study also examines the underwater CPT system by submerging the couplers in water to increase the capacitive coupling. The system can transfer about 129 W at a separation distance of 300 mm, a total efficiency of aboutapproximately%, and a 1.1 MHz operating efficiency. These CPT systems can upscale to provide a few kW for small ships and unmanned maritime vehicles. But they are still facing several challenges that need further investigations