0000000001198841
AUTHOR
Sondre Sanden Tørdal
showing 14 related works from this author
Real-Time Motion Compensation in Ship-to-Ship Load Handling
2019
Doktorgradsavhandling Like 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 …
Inverse kinematic control of an industrial robot used in Vessel-to-Vessel Motion Compensation
2017
An increased level of complex offshore load handling operations is expected due to an increased amount of floating wind turbines, remote fish farms, and autonomous shipping, and in general more advanced operations to be carried out at sea. A common problem for these applications is that both equipment and personnel have to be transported between two floating vessels at sea. An investigation of the Vessel-to-Vessel Motion Compensation (VVMC) problem may increase the efficiency and safety of such operations in the future. In this paper, a control algorithm has been developed and experimentally tested in the Norwegian Motion Laboratory featuring two Stewart platforms (SPs), an industrial robot…
Firefly optimization used to identify hysteresis parameter on rotational MR-damper
2014
In his paper the physical properties and mathematical models of a semi-active magnetorheological (MR) damper is studied. The considered models are the Dahl model and Bouc-Wen model. The parameters for these models are found by using a firefly optimization algorithm that minimizes the difference between experimental and simulated data. The objective of his paper is to compare different mathematical MR-damper models with the experimental data. The simulation results illustrate he effectiveness of he proposed optimization algorithm.
Testing of wireless sensor performance in Vessel-to-Vessel Motion Compensation
2016
Relative Vessel-to-Vessel Motion Compensation (VVMC) between two floating vessels can be considered an extension of existing Active Heave Compensation (AHC), which is current state-of-the-art in the offshore industry. In this paper, the experimental results from a small-scale experimental setup of a VVMC scenario are presented. The work focuses on the kinematics related to VVMC, sensor accuracy of Motion Reference Units (MRUs), and the communication delay related to wireless transmission of MRU data between two floating vessels. The accuracies of the MRU sensors are good and verified to be less than 5% of the heave amplitude. The wireless communication link had a typical time-delay of 8ms. …
Case study: Employing Agile Tools in Teaching Product Development to Mechatronics Students
2021
Agile tools such as Git are widely used in the industry for source control, collaboration and documentation. Such tools have been implemented in a mechatronic product development course to allow for easier collaboration between students. The course content is mainly provided using a GitLab Pages webpage which hosts software documentation and scripts. This course was first changed in 2019 to include the development of an autonomous strawberry picker. However, the use of standard learning management system and lecture slides provided a cumbersome experience for the students. Therefore, these agile tools were presented in 2020 version to improve the course. In this paper, the course content is…
Calibration of the Norwegian motion laboratory using conformal geometric algebra
2017
This paper applies Conformal Geometric Algebra (CGA) as a tool for calibrating the robotic equipment found in the Norwegian Motion Laboratory. By using the inner product of CGA to measure the distance between a point and the surface of a plane/sphere, the least-squares method can be used to solve for the unknown parameters describing the plane/sphere in an efficient and intuitive way given n measured points. Positional data samples were acquired from using a high precision Laser tracker (FARO Xi), and the overall calibration error was found to be no more than 4.90mm, and the maximum standard deviation 3.25mm. In addition, the applied least-squares algorithm using CGA was twice as fast, when…
Product development and project-based learning in Mechatronics, in the context of digitization and sustainability
2021
Engineering projects affect many of the UN’s sustainability goals. The development and design of new products and systems using a circular economy perspective is an important challenge towards a more sustainable society. Product development projects have common process characteristics, but methodologies, tools and methods differ for developing hardware (mechanical and electrical) or developing software. In Mechatronics such methods need to be combined, and product development and project-based learning is well suited for teaching and learning within Mechatronics, in addition to technical specialization subjects within both mechanical, electrical and software engineering. It is also suited f…
On Detection of Yaw and Roll Angle Information for Vehicle Oblique Crash using Hough Transform
2014
When performing vehicle crash tests, it is common to capture high frame rate video (HFR) to observe the vehicle motion during the impact. Such videos contain a lot of information, especially when it comes to geometric data. The yaw and roll angles from the HFR video is detected by using the Hough Transform and Matlab's Image processing Toolbox. The measured Yaw angle from the HFR video are compared with real life test data captured with a gyroscopic device inside the vehicle during the oblique vehicle impact.
Relative Vessel Motion Tracking using Sensor Fusion, Aruco Markers, and MRU Sensors
2017
This paper presents a novel approach for estimating the relative motion between two moving offshore vessels. The method is based on a sensor fusion algorithm including a vision system and two motion reference units (MRUs). The vision system makes use of the open-source computer vision library OpenCV and a cube with Aruco markers placed onto each of the cube sides. The Extended Quaternion Kalman Filter (EQKF) is used for bad pose rejection for the vision system. The presented sensor fusion algorithm is based on the Indirect Feedforward Kalman Filter for error estimation. The system is self-calibrating in the sense that the Aruco cube can be placed in an arbitrary location on the secondary ve…
Mathematical Modeling and Optimization of a Vehicle Crash Test based on a Single-Mass
2014
In this paper mathematical modelling of a vehicle crash test based on a single mass is studied. The models under consideration consist of a single mass, a spring and/or a damper. They are constructed according to the measured vehicle speed before the collision and measured vehicle accelerations in three directions at the centre of gravity. A new model of nonlinear spring-mass-damper is also proposed to describe the crash. Simulation results are provided to show the effectiveness and applicability of the proposed methods.
The Norwegian Motion-Laboratory
2018
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 6-DOF Vessel-to-Vessel Motion Compensation using laser tracker
2017
The industry state-of-the-art offshore motion compensation is today carried out by offshore cranes equipped with Active Heave Compensation (AHC) systems, meaning that a hanging load is positioned at a certain height above the seafloor, even though the floating vessel carrying both the crane and the load is moving due to wave disturbances. Lately, there has been an increased interest among the industry also to compensate for the movement of a secondary vessel, which indicates that a more detailed investigation of the Vessel-to-Vessel Motion Compensation (VVMC) problem is required. The primary motivation for such compensation technique is influenced by the demand for load transfer between shi…
Experimental System Identification and Black Box Modeling of Hydraulic Directional Control Valve
2015
Directional control valves play a large role in most hydraulic systems. When modeling the hydraulic systems, it is important that both the steady state and dynamic characteristics of the valves are modeled correctly to reproduce the dynamic characteristics of the entire system. In this paper, a proportional valve (Brevini HPV 41) is investigated to identify its dynamic and steady state characteristics. The steady state characteristics are identified by experimental flow curves. The dynamics are determined through frequency response analysis and identified using several transfer functions. The paper also presents a simulation model of the valve describing both steady state and dynamic charac…
System Identification of a Variable Piston Pump and Design of a Hydraulic Load Circuit
2015
Masteroppgave i mekatronikk - Universitetet i Agder, 2015 This master thesis is divided into two main parts. The first part focuses on the identification and modeling of a Bosch Rexroth variable piston pump in both frequency and time domain. The second part presents a hydraulic load circuit which is mounted inside a test container. The load circuit is used to test the pump in a suitable load situation which represents a small scale Active Heave Compensation (AHC) scenario. The considered pump is named A4VSG, and the internal swash plate angle is controlled with a hydraulically driven control system delivered by Bosch Rexroth. Several frequency response tests have been carried out to identif…