Børge Rokseth

Norwegian University of Science and Technology | NTNU · Department of Engineering Cybernetics

The technological development ongoing in the maritime industry is making the ground for remotely and even autonomously operated vessels in the future. This is a result of increased data collection, processing and inter-connectivity capabilities. The industry is working towards increased safety, improved efficiency of the ship’s operation, improved...

Ensuring the safety of advanced maritime vessels is a challenging task. While technological developments provide new options for their design and operation, the criteria for certification, such as class rules intended to ensure safety, may not be flexible enough to accommodate rapid changes. Innovation may enable more efficient, greener, and smarte...

Autonomous systems, including airborne, land-based, marine, and underwater vehicles, are increasingly present in the world. One important aspect of autonomy is the capability to process information and to make independent decisions for achieving a mission goal. Information on the level of risk related to the operation may improve the decision-makin...

Autonomous marine systems may switch between various operational modes with different levels of autonomy (LoA), due to a rapidly changing environment and the complex nature of tasks. The dynamic autonomy brings an additional layer of complexity to ensuring safe marine operations, but this functionality is not sufficiently considered in current risk...

The objective of this paper is to outline a framework for online risk modelling for autonomous ships. There is a clear trend towards increased autonomy and intelligence in ships because it enables new functionality, as well as safer and more cost-efficient operations. Nevertheless, emerging risks are involved, related to lack of knowledge and opera...

The purpose of this article is to present a structured review of publications utilizing machine learning methods to aid in engineering risk assessment. A keyword search is performed to retrieve relevant articles from the databases of Scopus and Engineering Village. The search results are filtered according to seven selection criteria. The filtering...

Autonomous and unmanned ships are approaching reality. One of several unsolved challenges related to these systems is how to perform safety verification. Although this challenge represents a many-faceted problem, which must be addressed at several levels, it seems likely that simulator-based testing of high-level computer control systems will be an...

The area of autonomous and remotely operated ships is developing fast but is still an immature field where new ideas and novel technology solutions are being introduced. As part of these efforts, the Norwegian Forum for Autonomous Ships (NFAS) has defined six autonomy types for autonomous ships: two for continuously manned bridge, and four for full...

The design and function allocation of control in complex technological systems have mainly been technology-driven, resulting in increased automation. A human or user perspective is rarely taken in the technological development. The pertaining attitude seems to be that increased automation will reduce the occurrence of human error and thereby ensure...

All elements (agents) in the STPA control structure (control algorithm, actuator, sensor system, process model) consist of a set of functions. These can be visualised and analysed using the Functional Analysis System Technique (FAST). The control action is executed by the control algorithm agent. By using FAST we can analyse the sub-functions of th...

The process applied for verification of maritime systems lacks the ability to properly examine complex networks of interconnections. Verification is mainly focused on single failures of components, not properly accounting for the complexity emerging through interactions between human operators, computer systems and electro-mechanical components. Th...

Both marine surface vehicles and underwater vehicles are often equipped with cranes, robotic manipulators or similar equipment. Much attention is given to modeling of both the dynamics of marine vehicles and the dynamics of manipulators, cranes and other equipment. However, less attention is given to the interconnected behaviour of the vehicle and...

The accidental statistics from 2003 to 2013 revealed that the frequency of floating production storage and offloadingshuttle tanker (FPSO-ST) collision risk was significantly above the cutoff limit. There is a need for further risk reduction, especially related to incidents with dynamic positioning (DP) system. The objectives of the paper are to id...

Technological innovations and new areas of application introduce new challenges related to safety and control of risk in the maritime industry. Dynamically positioned systems are increasingly used, contributing to a higher level of autonomy and complexity aboard maritime vessels. Currently, risk assessment and verification of dynamically positioned...

Challenges related to risk assessment of dynamic systems have become more numerous in the past decades due to rapid advances in technology. With these advances follows an increased use of automatic control systems which complicates and makes causality in systems less obvious and risk more difficult to assess. An example of a system, in which dynami...

In this paper, we present a system simulator of a marine vessel and power plant which contains the mechanical system with diesel engines, propellers, steering gear, and thrusters; the electrical system with generators, switchboards, breakers, and motors; and the plant level controllers with dynamic positioning controller, thrust control, and power...

A compact bond graph approach for modelling of robotic manipulators with revolute joints is presented. The approach leads to a basic manipulator model which can be used as a frame work for further model development, utilizing the modularity virtue of the bond graph method. In order to derive this dynamic model, the direct and differential kinematic...

A compact bond graph approach tor modelling of robotic manipulators with revolute joints is presented. The approach leads to a basic manipulator model which can be used as a frame work for further model development, utilizing the modularity virtue of the bond graph method. In order to derive this dynamic model, the direct and differential kinematic...