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 publications: 20
Journal publications (Open Access): 16
Journal publications (Level 2): 6
Conference publications: 24
Total publications: 44

Note: Link to full text either OA = Open Access or PP = ProjectPlace for consortium partners only

Journal Papers:
J1: Aksel Sveier and Olav Egeland, Dual Quaternion Particle Filtering for Pose Estimation, IEEE Transactions on Control Systems Technology, 2020, (Level 2). [OA], WP2

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. [OA], WP3

J3: Thiago Gabriel Monteiro, Charlotte Skourup and Houxiang Zhang, Optimizing CNN Hyperparameters for Mental Fatigue Assessment in Demanding Maritime Operations, IEEE Access, February 2020. [OA], WP3

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. [OA], WP3

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) [OA], WP3

J6: Vignesh Shanbagh, Thomas Meyer, Leo W. Caspers and Rune Schlanbusch, “Condition monitoring of hydraulic cylinder seals using acoustic emission”, The International Journal of Advanced Manufacturing Technology, 2020 (Level 2) [OA], WP5

J7: Geir Ole Tysse, Andrej Cibicik and Olav Egeland, Vision-based control of a knuckle boom crane with online cable length estimation, IEEE/ASME Transactions on Mechatronics (Level 2). [OA], WP2

J8: Shaun Falconer, Ellen Nordgård-Hansen and Geir Grasmo, Computer vision and thermal monitoring of HMPE fibre rope condition during CBOS testing, Applied Ocean Research Vol. 102, September 2020, 102248. [OA], WP5

J9: Mohamed Yousri, Georg Jacobs and Stephan Neumann, Impact of fiber versus steel ropes on the lifetime of crane winches, Modeling, Identification and Control (MIC), Vol. 41, No. 3, pp. 129-139. [OA], W5

J10: Dipendra Subedi, Ilya Tyapin and Geir Hovland, “Review on Modeling and Control of Flexible Link Manipulators”, Modeling, Identification and Control (MIC), Vol. 41, No. 3, pp. 141-163. [OA], WP3

J11: Njål Tengesdal and Christian Holden, “Identification and Optimal Control for Surge and Swab Pressure Reduction While Performing Offshore Drilling Operations”, Modeling, Identification and Control (MIC), Vol. 41, No. 3, pp. 165-184 [OA], WP4

J12: Søren Ketelsen, Torben Ole Andersen, Morten K. Ebbesen and Lasse Schmidt, “A Self-Contained Cylinder Drive with Indirectly Controlled Hydraulic Lock”, Modeling, Identification and Control (MIC), Vol. 41, No. 3, pp. 185-205 [OA], WP1

J13: Aksel Sveier, Torstein A. Myhre and Olav Egeland, “Extrinsic calibration for motion estimation using unit quaternions and particle filtering”, Modeling, Identification and Control (MIC), Vol. 41, No. 3, pp. 207-221 [OA], WP2

J14: Viktor Hristov Donkov, Torben Ole Andersen and Morten K. Ebbesen, “An analysis of Model Predictive Control with Integral Action applied to Digital Displacement Cylinders”, Modeling, Identification and Control (MIC), Vol. 41, No. 3, pp. 223-239 [OA], WP1

J15: D. Romero, S. Mollaebrahim, B. Beferull-Lozano and C. Asensio, “Fast Graph Filters for Decentralized Subspace Projection”, IEEE Transactions on Signal Processing. (Level 2 journal). [PP], WP6

J16: B. Zaman, L.M. Lopez, D. Romero and B. Beferull-Lozano, “Online Topology Identification from Vector Autoregressive Time Series”, IEEE Transactions on Signal Processing. (Level 2 journal). [PP], WP6

J17: Torbjørn Moi, Andrej Cibicik and Terje Rølvåg, Digital Twin Based Condition Monitoring of a Knuckle Boom Crane: an Experimental Study Engineering Failure Analysis, Engineering Failure Analysis, Volume 112, May 2020. [OA], WP2

J18: Martin Hemmer, Andreas Klausen, Huynh Van Khang, Kjell G. Robbersmyr and Tor I. Waag, Health Indicator for Low-Speed Axial Bearings Using Variational Autoencoders, IEEE Access, 2020. [OA], WP5

J19: Zbigniew Mikulski and Tom Lassen, Crack growth in fillet welded steel joints subjected to membrane and bending loading modes, Engineering Fracture Mechanics, Volume 235, August 2020, 107190 [PP], WP5

J20: Viktor Hristov Donkov, Torben Ole Andersen, Matti Linjama and Morten Kjeld Ebbesen, “Digital Hydraulic Technology for Linear Actuation: A State of the Art Review”, International Journal of Fluid Power, Vol 21, No. 2, ISSN 1439-9776 [PP], WP1

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. [PP], WP3

C2: Joacim Dybedal and Geir Hovland, “GPU-Based Occlusion Minimisation for Optimal Placement of Multiple 3D Cameras”, IEEE ICIEA, Kristiansand, June 21-25, 2020. [PP], WP3

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. [PP], WP3

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. [PP], WP3

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. [PP], WP3

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. [PP], WP3

C7: Joacim Dybedal and Geir Hovland, “GPU-Based Optimisation of 3D Sensor Placement Considering Redundancy, Range and Field of View”, IEEE ICIEA, Kristiansand, June 21-25, 2020. [PP], WP3

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. [PP], WP3

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. [OA], WP3

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. [OA], WP1

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. [OA], WP6

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,, WP4

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. [PP], WP4

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. [OA], WP3

C15: Lars Ivar Hatledal, Houxiang Zhang and Frederic Collonval, Enabling Python Driven Co-Simulation Models With PythonFMU, ECMS 2020 Proceedings. [OA], WP4

C16: Luis M. Lopez-Ramos and Baltasar Beferull-Lozano, Online Hyperparameter Search Interleaved with Proximal Parameter Updates, Proc. IEEE EUSIPCO 2020 conference. [PP], WP6

C17: Vignesh Vishnudas Shanbhag, Thomas. J. J. Meyer, Leo. W. Caspers and Rune Schlanbusch, Diagnostics of seal and rod degradation in hydraulic cylinders using acoustic emissions, Vol. 5 No. 1 (2020): Proceedings of the European Conference of the PHM Society. [OA], WP5

C18: Søren Ketelsen, Damiano Padovani, Morten Kjeld Ebbesen, Torben Ole Andersen and Lasse Schmidt, A Gasless Reservoir Solution for Electro-Hydraulic Compact Drives with two Prime Movers, ASME/Bath Symposium on Fluid Power and Motion Control, FPMC 2020, 9th-11th September 2020. [PP], WP1

C19: Savin Viswanathan and Christian Holden, Modelica Component Models for Non-diffracting Floating Objects and Quasi-static Catenary Moorings. Proceedings of the American Modelica Conference 2020, Boulder, Colorado, USA, March 23-25, 2020. [OA], WP4

C20: Savin Viswanathan and Christian Holden, Modelica Component Models for Oceanic Surface Waves and Depth Varying Current. Proceedings of the American Modelica Conference 2020, Boulder, Colorado, USA, March 23-25, 2020. [OA], WP4

C21: Vignesh Vishnudas Shanbhag, Thomas Meyer, Leo, Caspers and Rune Schlanbusch, “Acoustic emission based condition monitoring study of piston rod seals by varying speed and pressure parameters”, Proceedings of the Annual Conference of the Prognostics and Health Management Society, PHM. [OA], WP5

C22: Søren Ketelsen, Giacomo Kolks, Torben Ole Andersen, Lasse Schmidt and Jürgen Weber, “Bootstrap Reservoir Concepts for Electro-Hydraulic Compact Cylinder Drives”, 12th International Fluid Power Conference, Dresden, Germany, October 12-14 2020. [OA], WP1

C23: Daniel Hagen and Damiano Padovani, “A Method for Smoothly Disengaging the Load-Holding Valves of Energy-Efficient Electro-Hydraulic Systems”, 1st International Electronic Conference on Actuator Technology: Materials, Devices and Applications session Actuators for hydraulic systems, MDPI, Online conference, November 23-27, 2020, ISSN 2504-3900. [OA], WP1

C24: Yvonne Murray, David A. Anisi, Martin Sirevåg, Pedro Ribeiro and Rabah Saleh Hagag, “Safety Assurance of a High Voltage Controller for an Industrial Robotic System”, Brazilian Symposium on Formal Methods, SBMF 2020: Formal Methods: Foundations and Applications pp 45-63. [OA], WP3

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.”