The SFI Offshore Mechatronics Annual Report 2019 (PDF, 4.8Mb) is available at: https://sfi.mechatronics.no/wp-content/uploads/2020/04/SFI-OM-2019.pdf
Kevin Roy is a new researcher in WP6.3 Design of soft-sensors based on novel context-aware data fusion techniques.
His background is
• B.Sc. in Physics from Kannur University (India) between 2013 to 2016 with Computer science and Mathematics as subsidiary subjects.
• M.Sc. in Physics was studied at Indian Institute of Technology, Hyderabad (India) between 2016 to 2018. M.Sc. thesis was based on Computational Physics which involves the investigation of Thermoelectric properties of specific compounds within the Semiconductor range.
• Research Student at the University of Tokyo (Japan) between 2018 to 2019 with Japan International Corporation Agency Fellowship. The main tasks were based on Simulation and Data Acquisition System for the Nuclear Physics Experiments.
Dr. Vignesh Shanbhag received his M.Tech in Manufacturing Engineering from Vellore Institute of Technology (VIT) in 2015, and a joint PhD degree in Manufacturing Engineering from Deakin University (Australia) and Indian Institute of Technology, Madras (India) in 2019. He currently holds Postdoc position at NORCE. His research interest include condition monitoring of machine parts, quantification of machine tool defects using optical profilometer, and nano surface finishing of nonferrous alloys.
Mohamed Yusuf is a new researcher in WP5.4 Condition-based lifetime prediction as result of calculated component loads.
His background is:
M.Sc thesis was aimed at creating a FEM-based Multiphysics model of a spiral groove bearing used by Sandvik in their cone crushers, in order to gain a deep understanding of how it operates and to suggest design improvements based on the model.
Starting from October 2019, Mohamed has been employed as a research assistant in the Off-Highway branch of the MSE institute at RWTH Aachen University and is co-supervised by the head of the Off-Highway branch, Stephan Neumann.
Registration for the workshop can be made here: https://sfi.mechatronics.no/signup2
9:30 Registration and coffee
10:00 Introduction to Julia programming language, applications in control systems, robotics and machine learning (Mattias Fält, Lund University)
11:30 Introduction to Docker, Git and Python (Christian Auby, University of Agder)
12:45 Interactive workshop (Christian Auby)
• Installing and setting up Docker, Git and Python (bring-your-own device!)
14:00 Coffee break
14:15 User manual presentations
• Production of user manuals using screen recording (Asle Pedersen)
• Lens.org Patent and Scholarly Search and Analysis (Asle Pedersen)
• Overleaf+Mendeley (Atle Aalerud, tbc)
• Cloud based GPU accelerated brute force optimization (Joacim Dybedal, tbc)
15:30 Introduction of Norwegian Society of Mechatronics (NSM)
15:45 Program finished
17:00 Social program start
• Grimstad boat trip
• Dinner (place tbd)
SFI WP7 Workshop for ‘Innovation Management’
March 25, 2020, 09:00 – 12:00
Place: GCE Node, Tordenskjoldsgate 9, Kristiansand
09:00-10:00 Tor Helge Aas, UiA HH: Innovation management in industry
10:00-10:30 UiA Nyskapning: Spin Off activity at UiA
10:45-11:15 Technical, TBD
J1: Aksel Sveier and Olav Egeland, Dual Quaternion Particle Filtering for Pose Estimation, IEEE Transactions on Control Systems Technology, 2020, (Level 2).
C1: Ajit Jha, Ilya Tyapin and Geir Hovland, “Camera-Lidar Data Fusion for Autonomous Mooring Operation”, IEEE ICIEA, Kristiansand, June 21-25, 2020.
C2: Joacim Dybedal and Geir Hovland, “GPU-Based Optimization of 3D Sensor Placement Considering Redundancy, Range and Field of View”, IEEE ICIEA, Kristiansand, June 21-25, 2020.
C3: Ajit Jha, Dipendra Subedi, Per-Ove Løvsland, Ilya Tyapin, Linga Reddy Cenkeramaddi, Baltasar Beferull-Lozano and Geir Hovland, “Autonomous mooring towards autonomous maritime navigation and offshore operations”, IEEE ICIEA, Kristiansand, June 21-25, 2020.
C4: Knut Berg Kaldestad and Geir Hovland, “Laser Triangulation 3D Point Cloud Sensor with Long Range and Large Field of View”, IEEE ICIEA, Kristiansand, June 21-25, 2020.
C5: Ronny Landsverk, Jing Zhou and Geir Hovland, “Modeling of Offshore Crane and Marine Craft in Wave Motion”, IEEE ICIEA, Kristiansand, June 21-25, 2020.
C6: Atle Aalerud and Geir Hovland, “Dynamic Augmented Kalman Filtering for Human Motion Tracking under Occlusion Using Multiple 3D Sensors”, IEEE ICIEA, Kristiansand, June 21-25, 2020.
C7: Joacim Dybedal and Geir Hovland, “GPU-Based Occlusion Minimisation for Optimal 3D Camera Placement Considering the Viewing Frustum and Pose”, IEEE ICIEA, Kristiansand, June 21-25, 2020.
C8: Atle Aalerud and Geir Hovland, “Benchmarking Perception Latencies in a Human-Robot Collaborative Environment”, Proc. of IEEE Intl. Conference on Robotics and Automation (ICRA), Paris, France, June 2020.
C9: Dipendra Subedi, Ilya Tyapin and Geir Hovland, “Modeling and Analysis of Flexible Bodies Using Lumped Parameter Method”, 2020 IEEE 11th International Conference on Mechanical and Intelligent Manufacturing Technologies (ICMIMT 2020), January 20-22, 2020, Cape Town, South Africa.
C10: Daniel Hagen, Damiano Padovani and Martin Choux, “Guidelines to Select Between Self-Contained Electro-Hydraulic and Electro-Mechanical Cylinders”, Proceedings 15th IEEE Conference on Industrial Electronics and Applications (ICIEA) – Kristiansand, Norway, June 21-25, 2020.
C11: B. Zaman, L. M. Lopez, B. Beferull-Lozano, “Dynamic Regret Analysis for Online Tracking of Time-varying Structural Equation Model Topologies, IEEE International Conference on Industrial Electronics and Applications (ICIEA), 2020.
Alexander Meyer Sjøberg and Olav Egeland, “Lie algebraic unscented Kalman filter for pose estimation”, submitted to Automatica.
Andrej Cibicik and Olav Egeland, “Linearized kinematics and dynamics of flexible robot manipulators using dual screws”, submitted to IEEE Transactions on Robotics.
Njål Tengesdal, Christian Holden and Eilif Pedersen, “Component Modeling and Simulation of Nonlinear Drillstring Dynamics”, submitted to Journal of offshore mechanics and arctic engineering.
Torbjørn Moi, Andrej Cibicik and Terje Rølvåg, “Digital Twin Based Condition Monitoring of a Knuckle Boom Crane: an Experimental Study”, Preprint submitted to Engineering Failure Analysis.
Nadia Saad Noori, Tor Inge Waag and Filippo Bianchi, “Condition Monitoring System for Internal Blowout Prevention (IBOP) in Top Drive Assembly System using Discrete Event Systems and Deep Learning Approaches”, extended Abstract submitted to PHME20 Special session on Hybrid modeling and learning methods for PHM.
Vignesh Shanbhag, Thomas Meyer and Rune Schlanbusch, “Condition monitoring of hydraulic cylinder seals using acoustic emissions”, submitted to IAI2020.
Njål Kjærnes Tengesdal and Christian Holden, “Identification and Optimal Control for Surge and Swab Pressure Reduction While Performing Offshore Drilling Operations”, submitted to MIC.
Luis M. Lopez-Ramos and Baltasar Beferull-Lozano, Online Hyperparameter Search Interleaved with Proximal Parameter Updates, submitted to the IEEE EUSIPCO 2020 conference.
Aksel Sveier defended his PhD thesis on February 18, 2020. The title of the thesis was “Quaternions and Dual Quaternions for State and Parameter Estimation”. The opponents were Research Director Isabelle Fantoni from Laboratoire des Sciences du Númerique de Nantes, France, and prof. Pål Johan From, Norwegian University of Life Sciences.
The title of the public trial lecture was: Formation flying for UAVs. The evaluation of the trial lecture said: “The candidate structured the presentation well and showed a good grasp of the basics of the topic. The candidate presented and spoke clearly and disposed time wisely. He was able to answer the audience’s questions satisfactorily. The presentation was well-balanced between theory and examples, and the examples were chosen illustrative and well presented.”
The evaluation of the PhD thesis itself stated: “The thesis presents novel application areas of quaternions and dual quaternions within the topics of state and parameter estimation. The contributions of the thesis are substantial with a thorough foundation and are also well documented experimentally.”
Alexander Meyer Sjøberg defended his thesis on January 30, 2020. The title of the thesis was “Estimation and Control on Lie Groups based on Formulations on the Lie Algebra”. The opponents were prof. Lorenzo Marconi from University of Bologna, Italy and prof. Alex Alcocer from Oslo Metropolitan University. The title of the public trial lecture was “Simultaneous localization and mapping (SLAM) for autonomous driving”. The evaluation of the trial lecture said: “The candidate gave a very good and clear presentation on the given trial lecture topic, made good use of the time frame given, and had good command of the English language. The candidate made good use of slides and multimedia in the form of videos and pictures. The presentation was catchy and definitely inspiring for students willing to have an overview of the topic. The candidate succeeded in calibrating the presentation without overwhelming the audience with heavy mathematics, but still provided good insight about the mathematical problems that characterize the research field. The presentation was also interesting for persons not in the field. The candidate structured the presentations in three blocks: (1) clustering the research field of SLAM with an historical perspective, starting from the ICRA conference in 1986 up to recent developments. He gave a very nice overview of the classic and the algorithmic age of SLAM. (2) An overview of the mathematical approaches to both sparse and dense SLAM. In case of sparse SLAM, the candidate presented the mathematics of the EKF SLAM methods, showing the pros and cons of the method in terms of computation efficiency and scalability issues. As for the dense SLAM methods, the candidate sketched the graph-based solutions, focusing on the computation issues in the presence of detailed maps. (3) SLAM for autonomous driving with a research perspective. In this case, the candidate presented two main projects that have dominated the field in the last years: The DARPA grand challenge and the Google Waymo project.”
The evaluation of the PhD thesis stated: “The thesis deals with many aspects pertaining estimation and control of dynamical systems whose states live on manifold. A specific attention is given to states given by rotation matrices and quaternions able to represent attitudes in a singularity-free way and homogeneous transformations able to describe attitude and position of rigid bodies in a combined way. The main contribution of the thesis is to show how generic attitude and position control and observation problems for rigid bodies can be systematically solved using group theory. One of the key ideas is to systematically map the matrix group equation into the associated Lie Algebra on which many computations are easier and computationally more efficient. The advantages of the proposed solution is that the framework is singularity-free.”