PhD Defence on January 8, 2020

Andrej Cibicik successfully defended his PhD thesis on January 8, 2020. The title of the thesis was “Dynamics of Rigid and Flexible Manipulators Using Screw Theory”. The evaluation committee consisted of Prof. Joris de Schutter from KU Leuven, Belgium and Dr. Bjørn Skaare from Equinor. The public trial lecture was titled “Vision Systems for Robotic Welding”. The assessment of the trial lecture was: “The candidate held a very good introduction to the topic of vision systems for robotic welding. The presentation was well structured, and built up in a pedagogical way. The candidate covered the motivation, methodology, commercial applications, and technology, and discussed the strengths and weaknesses of the methods. The candidate used a broad and appropriate set of references, with a good command of the literature. The candidate has good presentation skills, and showed relevant examples. The candidate spoke excellent English, kept within the time limit, and answered the questions well.”

The thesis itself was evaluated as follows: “The main contribution of the thesis is theoretical: a novel derivation of the dynamic equations and the calculation of the constraint forces for a class of mechanical system with interesting and relevant applications. This contribution is original and the development of the theoretical framework and the presentation in the thesis is of high quality. The work has the potential to become a reference for modelling dynamics of mechanical systems. The use of the framework has been demonstrated for analyzing the constraint forces in offshore cranes.”

Sign up for the 6th Annual Conference of SFI Offshore Mechatronics


Registration for the 6th Annual SFI Offshore Mechatronics conference, November 24-25, 2020 at Campus Grimstad, can be made here:

Note that the date has been moved to November 24. The program may change.

Below is the preliminary program for the 6th Annual Conference of the centre SFI Offshore Mechatronics:

Tuesday November 24, Campus Grimstad C2-042:
09:00 – 09:45 Registration + Poster Session
09:45 – 09:55 Welcome, Introduction and Awards
09:55 – 10:55 Keynote, Dr. Karen Gadd, Oxford Creativity Ltd: TRIZ (Theory of Inventive Problem Solving)
11:00 – 11:15 WP1 Drives: Summary of Completed Projects
11:15 – 11:30 WP1.5 Søren Ketelsen, Energy Saving Potential in Knuckle Boom Cranes.
11:30 – 11:45 WP1 Panel Discussion
11:45 – 12:45 Lunch + Poster Session
12:45 – 13:00 WP2 Motion Compensation, Summary of Completed Projects
13:00 – 13:15 WP2.6 Philipp Schubert: Real-Time Teleoperation and Model-based Control of Cranes with Loads.
13:15 – 13:30 WP2.7 Hans Kristian Holen: Vision systems for supervision of offshore drilling operations.
13:30 – 13:45 WP2.8 Alexander Meyer Sjøberg: Fusion of vision, Lidar and IMU data.
13:45 – 14:00 WP2 Panel Discussion
14:00 – 14:30 Break + Poster Session
14:30 – 14:45 WP3 Robotics and Autonomy, Summary of Completed Projects
14:45 – 15:00 WP3.4 Thiago Monteiro: Implementation of Situational Awareness/Human Factors Concepts.
15:00 – 15:15 WP3.6 Dipendra Subedi: Instrumentation and real-time control of long-reach, light-weight arm.
15:15 – 15:30 WP3.7 Ronny Landsverk: Coupled dynamics between vessel and crane.
15:30 – 15:45 WP3.8 Yvonne Murray: Formal Verification of Autonomous Systems.
15:45 – 16:00 WP3 Panel Discussion
16:00 – 16:30 Break + Poster Session
16:35 – Dinner

Wednesday November 25, Campus Grimstad C2-042:
09:00 – 09:15 WP4 Modeling and Simulation, Summary of Completed Projects
09:15 – 09:30 WP4.1 Savin Viswanathan: Integrated simulation of multi-physical systems.
09:30 – 09:45 WP4.2 Njål Tengesdal: Component-based simulation systems.
09:45 – 10:00 WP4.3 Lars Ivar Hatledal: Integration of simulation models and co-simulation.
10:00 – 10:15 WP4.4 Gaute Fotland: Multi-domain modeling and simulation.
10:15 – 10:30 WP4 Panel Discussion
10:30 – 11:00 Break + Poster Session
11:00 – 11:30 Keynote Speaker, Øyvind Smogeli, DNV GL, Open Simulator
11:30 – 12:30 Lunch + Poster Session
12:30 – 13:00 Keynote Speaker, Leo Dupuis, Bosch-Rexroth, Topic: Tribological system, large hydraulic cylinder
13:00 – 13:30 Keynote Speaker, Klueber Lubrication, Topic: Specialty lubricants for offshore operations
13:30 – 13:45 WP5 Monitoring Techniques, Summary of Completed Projects
13:45 – 14:00 WP5.3 Shaun Falconer: Fiber ropes.
14:00 – 14:15 WP5.6 Vignesh Shanbhag: Acoustic emission testing of hydraulic cylinders.
14:15 – 14:30 WP5 Panel Discussion
14:30 – 15:00 Break + Poster Session
15:00 – 15:15 WP6 Data Analytics, IT Integration and Big Data, Summary of Completed Projects
15:15 – 15:30 WP6.2 Emilio Ruiz: Context-aware data reduction of multiple dependent time-series.
15:30 – 15:45 WP6.4 Luis Miguel López: Optimization of energy consumption and emission reduction.
15:45 – 16:00 WP6 Panel Discussion
16:00 – 16:15 WP7 Presentation

16:30 Common Bus Transport to Kjevik Airport

Paper Accepted at Number 1 Robotics Conference

The following paper was accepted for publication at the number 1 robotics conference in the world.

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.

One of the reviewers wrote: Overall, I believe this paper is significant for the field in that the authors are taking steps to better capture the performance of camera-based systems for safety applications.

ICRA received over 3,512 submissions, a new record, from 64 countries. Overall, 3,446 papers were reviewed: 2,456 for ICRA 2020 and 990 for the IEEE Robotics and Automation Letters (RA-L). The 10 most popular keywords, in descending order, were: Deep Learning in Robotics and Automation, Motion and Path Planning, Localization, Learning and Adaptive Systems, Autonomous Vehicle Navigation, Multi-Robot Systems, SLAM, Object Detection, Segmentation and Categorization, and Visual-Based Navigation. From the very large number of high-quality papers we selected 1,483 for presentation which represents an acceptance rate of 42%.

Best Presentation Award at IEEE Conference

The PhD candidate Dipendra Subedi (WP3.6) received the Best Presentation Award in Session 2: System Control and Management Engineering at the 2020 IEEE 11th International Conference on Mechanical and Intelligent Manufacturing Technologies,

The presentation was based on the following paper: 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.

In addition to funding from SFI Offshore Mechatronics, the work was also funded by the spin-off project titled “Lifting and Assembly Manipulator for Improved Efficiency of Construction Processes” which was funded by the Research Council of Norway, project number 261647/O20, under the BIA Program and led by the industry partner MacGregor Norway AS. The project started in Q3-2016 and was completed in Q4-2019.

GCE NODE Publishes a Series of Articles about SFI Offshore Mechatronics

SFI Offshore Mechatronics, here represented by the Chairman of the Board, Leif Haukom.

GCE NODE has published a series of articles about SFI Offshore Mechatronics. Below are the links to these articles:

SFI Offshore Mechatronics – A Driver for Innovation:

SFI Product on Autonomous Vessel:

Companies Attitude to Research Has Changed:

New Research Project Funded

In the project DEEPCOBOTS, researchers from several professional backgrounds at UiA will work together to develop collaborative robots for use in industry in southern Norway. Top left: Professor Geir Grasmo, Head of Department of Engineering Sciences; Associate Professor Ilya Tyapin, Department of Engineering Sciences, Associate Professor Linga Reddy Cenkeramaddi from the Department of ICT; Professor Jing Zhou, project manager from the Department of Engineering Sciences; Professor Baltasar Beferull-Lozano from the Department of ICT (by courtesy, member of the Department of Engineering Sciences).

Title: Collective Efficient Deep Learning and Networked Control for Multiple Collaborative Robot Systems (DEEPCOBOT)
Research programme: Ubiquitous Data and Services-Researcher Project, Research Council of Norway
Financing from research council: 16 MNOK
Own financing from UiA: 3.5 MNOK
In Total: 19.5 MNOK

PhD Thesis Submitted WP1.2

Sondre Nordås, WP1.2, submitted his PhD thesis on December 15, 2019. The title of the thesis is: Using Digital Hydraulics in Secondary Control of Motor Drive. This is the first PhD thesis completed in work-package 1.

New Innovation Projects Funded

On December 16 the Research Council of Norway announced the new projects funded through the “Innovation Projects in Industry” (IPN) program, see:

In total 352 applications where received from companies all over Norway before the September 25 application deadline. In total 1,25 billion NOK will be handed out to the highest ranked projects.

Two partner companies in SFI Offshore Mechatronics were successful in this round. The the topics in both projects are directly linked to topics being worked on in the centre. The projects are:

MacGregor Norway AS, Project Number 309895. Increasing Operational Efficiency by Retrofitting Sensor-Based Anti-Swing Technology on Offshore Cranes. Funding received 2,625 MNOK. Researchers in SFI Offshore Mechatronics WP3 Robotics and Autonomy will participate in this project.

National Oilwell Varco Norway AS, Project Number 310050. Next generation fiber rope system product for real-time fiber rope condition monitoring. Funding received 9,0 MNOK.

The IPN scheme requires the companies to contribute 50% of the funding themselves, so the total budgets of these two projects are 23,25 MNOK.

As the centre is now in the second half of it’s funding period, the centre administration of SFI Offshore Mechatronics plans to increase it’s effort towards new spin-off projects and activities. The next funding deadlines in Norway are in May and September 2020.

New Researcher WP3.7

Ronny Landsverk started working on WP3.7 in Q1-2019. The title of his work package is: “Coupled Dynamics between Vessel and Crane”. He has an MSc from UiA within Mechatronics. The main supervisor of this project is Professor Jing Zhou. This work-package was created with additional funding from UiA.

New Researcher WP2.7

Hans Kristian Holen started working on WP2.7 as an integrated PhD in February 2019 and as a full time PhD from June 2019. He has a MSc degree in Mechanical Engineering from NTNU, 2019, a BSc in Mechanical Engineering from UiS, 2016 and a year of economic studies at NHH in 2017. The title of his project is: Vision systems for supervision of offshore drilling operations.