PhD Smart Tools Workshop, November 23

Note: The workshop has been moved to November 23! The final program may change.

Registration for the workshop can be made here:

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)
12:00 Lunch
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)
• 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
• Dinner (place tbd)

Workshop on Innovation Management, March 25

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
11:15-12:00 Lunch

Accepted Scientific Publications 2020

Journal Papers:
J1: Aksel Sveier and Olav Egeland, Dual Quaternion Particle Filtering for Pose Estimation, IEEE Transactions on Control Systems Technology, 2020, (Level 2).

J2: Thiago Gabriel Monteiro, Guoyuan Li, Charlotte Skourup and Houxiang Zhang, “Investigating an Integrated Sensor Fusion System for Mental Fatigue Assessment for Demanding Maritime Operations”, MDPI Sensors, 2020, 20(9), 2588.

J3: Thiago Gabriel Monteiro, Charlotte Skourup and Houxiang Zhang, Optimizing CNN Hyperparameters for Mental Fatigue Assessment in Demanding Maritime Operations, IEEE Access, February 2020.

J4: Atle Aalerud, Joacim Dybedal and Dipendra Subedi, “Reshaping Field of View and Resolution with Segmented Reflectors: Bridging the Gap Between Rotating and Solid-State LiDARs”, Sensors 2020, 20(12), 3388.

J5: Thilina N.Weerasinghe, Indika A.M.Balapuwaduge and Frank Y.Li, “Priority-based Initial Access for URLLC Traffic in Massive IoT Networks: Schemes and Performance Analysis”, Computer Networks, Vol 178, 4 Sept. 2020, 107360, (Level 2)

J6: Vignesh Shanbagh, Thomas Meyer and Rune Schlanbusch, “Condition monitoring of hydraulic cylinder seals using acoustic emission”, The International Journal of Advanced Manufacturing Technology, 2020 (Level 2)

Conference Papers:
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.

C12: Savin Viswanathan and Christian Holden, “Simulating the dynamics of a chain suspended sub-sea load using modified components from the Modelica MultiBody library”, Asian Modelica Conference 2020, Tokyo, Japan,

C13: Savin Viswanathan and Christian Holden, “Dynamic simulation of a mooring catenary based on the lumped mass approach – OpenModelica and Python implementations”, The ASME 39th International conference on Ocean, Offshore, and Arctic engineering, OMAE2020, June 28-July 3, Fort Lauderdale, FL, USA.

C14: Thiago G. Monteiro, Henrique M. Gaspar, Houxiang Zhang, Charlotte Skourup, “A Model for Forecasting Mental Fatigue in Maritime Operations”, 34th Intl. ECMS Conference on Modelling and Simulation, Wildau, Germany, June 9-12, 2020.

C15: Lars Ivar Hatledal, Houxiang Zhang and Frederic Collonval, Enabling Python Driven Co-Simulation Models With PythonFMU, ECMS 2020 Proceedings.

C16: Luis M. Lopez-Ramos and Baltasar Beferull-Lozano, Online Hyperparameter Search Interleaved with Proximal Parameter Updates, Proc. IEEE EUSIPCO 2020 conference.

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.

Njål Kjærnes Tengesdal and Christian Holden, “Identification and Optimal Control for Surge and Swab Pressure Reduction While Performing Offshore Drilling Operations”, submitted to MIC.

Yvonne Murray, David A. Anisi, Geir Hovland, Rabah Saleh Hagag, and Martin Sirevåg, “Safety Assurance of a High Voltage Controller for an Industrial Robotic System”, Submitted to Formal Methods for Industrial Critical Systems, Wien, Austria.

PhD Thesis Defended on February 18, 2020

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.”

PhD Defence on January 30, 2020

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.”

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