News and events at NTNU AMOS in 2014

AMOS maps bombs, mines and ship wrecks in the Trondheim fjord

Tokt des. 2014Photo (Universitetsavisa): AMOS did a research cruise with NTNU AUR-lab in the Trondheim fjord in December 2014.

AMOS maps bombs, mines and ship wrecks in the Trondheim fjord

Tokt des. 2014Photo (Universitetsavisa): AMOS did a research cruise with NTNU AUR-lab in the Trondheim fjord in December 2014.

See the video and article from Universitetsavisa (in Norwegian).


MarineUAS: A new EU-funded doctoral program

MarineUAS has established a unique cooperative environment, coordinated by AMOS at NTNU.

MarineUAS: A new EU-funded doctoral program

MarineUAS has established a unique cooperative environment, coordinated by AMOS at NTNU.
MarineUAS is an EU-funded doctoral program to strategically strengthen research training on Autonomous Unmanned Aerial Systems for Marine and Coastal Monitoring. It is a comprehensive Marie Curie Innovative Training Network across a range of partners in several countries designed to have high impact on the training of individual researchers and their knowledge, skills and their future careers. 

Read more about MarineUAS. 
 

PhD candidate won the prestigious Chorafas foundation award

Chorafas/PhD awards 2014

PhD candidate won the prestigious Chorafas foundation award

Chorafas/PhD awards 2014

Erin E. Bachynski won the highly prestigious Chorafas foundation award 2014.

See the program for more information.


Trondheim: the new Silicon Valley?

The Norwegian magazine "Næring i Midt-Norge" interviewed AMOS centre director Asgeir J. Sørensen as well as AMOS affiliated scientist Morten Breivik.

Trondheim: the new Silicon Valley?

The Norwegian magazine "Næring i Midt-Norge" interviewed AMOS centre director Asgeir J. Sørensen as well as AMOS affiliated scientist Morten Breivik.

Read the article "Trondheim - det nye Silicon Valley?" with Sørensen on page 43 (in Norwegian).

Find the article "Kybernetikere - Teknologiens styrmenn" with Breivik on page 44-45 (in Norwegian).


Forsvarets Forskningsinstitutt (FFI) og NTNU har signert rammeavtale

verdens minste helikopterFoto (Prox Dynamics): Verdens minste flygende helikopter som brukes profesjonelt. (7. november 2014)

Forsvarets Forskningsinstitutt (FFI) og NTNU har signert rammeavtale

verdens minste helikopterFoto (Prox Dynamics): Verdens minste flygende helikopter som brukes profesjonelt. (7. november 2014)

Forsvarets Forskningsinstitutt (FFI) og NTNU har signert rammeavtale med fokus på faglig samarbeid og forskerutdanning. Dette vil først og fremst dreie seg om autonome og ubemannede systemer, og spesielt aktiviteter knyttet til AMOS.

NTNU og FFI sier om avtalen:

"NTNU sin interesse i forskningssamarbeidet er primært knyttet til sivile anvendelser av forskningen og de grunnleggende kompetanseområdene. Samarbeidet er knyttet til fagfelt der «dual use» av teknologi og kompetanse er vel etablert. FFI ønsker å styrke sin forskning innen autonome og  ubemannede systemer, samt å utrede og utvikle militære og sivile anvendelser basert på slik teknologi. FFI ønsker derfor et tettere faglig samarbeid med NTNU på dette området. FFI ønsker også å bidra til å utvikle den faglige og undervisningsmessige virksomheten ved NTNU og ser på NTNU som en viktig rekrutteringsarena for FFI."

Les artikkelen fra Universitetsavisa.


Professors say dynamic risk analyses should be used in the daily operation of oil rigs to avoid future accidents

burning oil rigPhoto (Norwegian Armed Forces/NTB Scanpix): Ships are trying to extinguish the fire on the oil rig Deepwater Horizon in the Mexican Gulf.

Professors say dynamic risk analyses should be used in the daily operation of oil rigs to avoid future accidents

burning oil rigPhoto (Norwegian Armed Forces/NTB Scanpix): Ships are trying to extinguish the fire on the oil rig Deepwater Horizon in the Mexican Gulf.

AMOS affiliated professor Ingrid B. Utne and AMOS affiliated scientist Ingrid Schjølberg, together with two colleagues from the Department of Marine Technology, wrote an article about how dynamic risk analyses are essential to avoid future accidents on oil rigs.

Read the article in the Norwegian newspaper Dagens Næringsliv (in Norwegian).

AMOS PhD candidates find rare British bomber in the Trondheim fjord

illustrative pictureProf. Martin Ludvigsen from the Department of Marine Technology led a team of 6 students, among them AMOS PhD candidates Mauro Candeloro, Øyvind Ødegård and Stein M. Nornes, on a field trip in the Trondheim fjord where they found a rare British bomber from World War 2.

 

 


 


 

Picture (NTNU): PhD candidates from AMOS found a British bomber from World War 2. (24 October 2014)

AMOS PhD candidates find rare British bomber in the Trondheim fjord

illustrative pictureProf. Martin Ludvigsen from the Department of Marine Technology led a team of 6 students, among them AMOS PhD candidates Mauro Candeloro, Øyvind Ødegård and Stein M. Nornes, on a field trip in the Trondheim fjord where they found a rare British bomber from World War 2.

 

 


 


 

Picture (NTNU): PhD candidates from AMOS found a British bomber from World War 2. (24 October 2014)

Main coverage of the research cruise:

NRK news video "Spektakulært funn"
NRK video and article "Krigsmateriell i fjorden kan være miljøbombe"
NRK article "Fant sjeldent bombefly fra 2. verdenskrig"
NRK article "Rare British WW2-airplane found in Norwegian fjord"
Daily Mail video and article "Have divers found watery grave of British bomber crew shot down by Nazis during raid on battleship Tirpitz during WW2?"
Get background information on the bomber from NRK.no: "Slik endte det dramatiske bombetoktet"
Radio station P4 news

Other media coverage of the research cruise:

Adresseavisen video "Studenter fant britisk bombefly på havets bunn"
Adresseavisen article "Fant bombefly på havbunnen"
Malvik-Bladet update "Bombefly vil neppe bli hevet"

Unmanned Aerial Vehicles recommended to be further developed and used in the Arctic region

Illustrative picturePicture: The Norwegian Board of Technology. (14 October 2014)

Unmanned Aerial Vehicles recommended to be further developed and used in the Arctic region

Illustrative picturePicture: The Norwegian Board of Technology. (14 October 2014)

The Norwegian Board of Technology has issued a report to the Norwegian Government ("Stortinget") with a recommendation that Unmanned Aerial Vehicles (UAVs) are an important enabling technology that should be further developed and used in the Arctic region. Important responsibilities of the UAVs include search and rescue, ice surveillance and environmental monitoring.

AMOS key person Prof. Tor Arne Johansen was one of four members of the expert group, and arctic applications of UAVs are part of AMOS' research agenda.

Read the short report of the Norwegian Board of Technology or the complete version (both in Norwegian).

The Norwegian TV station NRK covered the report as well (in Norwegian).

AMOS adviser Prof. Torgeir Moan was awarded an honorary doctorate degree at Aalto University in Finlandate

illustrative picture Photo (Tuomas Sauliala, Aalto University): Prof. Torgeir Moan received the diploma and hat from Aalto University for his honorary doctorate degree. (10 October 2014)

AMOS adviser Prof. Torgeir Moan was awarded an honorary doctorate degree at Aalto University in Finlandate

illustrative picture Photo (Tuomas Sauliala, Aalto University): Prof. Torgeir Moan received the diploma and hat from Aalto University for his honorary doctorate degree. (10 October 2014)

Prof. Torgeir Moan has been awarded an honorary doctorate degree (Dr.h.c.) at Aalto University in Finland on 10 October 2014.

Universitetsavisa reports: "Utnevnt til æresdoktor"

In addition, the ceremonial conferment was live-streamed on Aalto University's website.


The impact of robots in the future

illustrative picturePhoto (E24): E24 interviewed Morten Breivik about the impact of robots in the future. (2 October 2014)

The impact of robots in the future

illustrative picturePhoto (E24): E24 interviewed Morten Breivik about the impact of robots in the future. (2 October 2014)

E24 interviewed Morten Breivik, Head of the Department of Engineering Cybernetics, about the impact of robots in the future.

The Department of Engineering Cybernetics is heavily involved in AMOS, among others with their research group about snake robots.

Read the article on E24.

Norway's State Secretary from the Ministry of Foreign Affairs visits AMOS

Norway's State Secretary from the Ministry of Foreign Affairs, Morten Høglund, visited AMOS and the laboratories of the Marine Technology Centre on 16 September 2014.

Norway's State Secretary from the Ministry of Foreign Affairs visits AMOS

Norway's State Secretary from the Ministry of Foreign Affairs, Morten Høglund, visited AMOS and the laboratories of the Marine Technology Centre on 16 September 2014.

This visit was part of a one-day visit of NTNU at Gløshaugen and Tyholt.

Representatives from NTNU, AMOS, Marintek and the Department of Marine Technology (NTNU) took part.

Drones helping fisheries

illustrative picturePhoto (Fiskeribladet Fiskaren): AMOS director Asgeir J. Sørensen in the lab. (20 August 2014)

Drones helping fisheries

illustrative picturePhoto (Fiskeribladet Fiskaren): AMOS director Asgeir J. Sørensen in the lab. (20 August 2014)

Read the article in Fiskeribladet Fiskaren with AMOS director Asgeir J. Sørensen (in Norwegian).

AMOS research group participates in the IEEE CSS Video Clip Contest 2014

illustrasjonsbildeA group from the cybernetics department of NTNU, among them AMOS key person Kristin Y. Pettersen, are participating the IEEE CSS Video Clip Contest. (18 August 2014)

AMOS research group participates in the IEEE CSS Video Clip Contest 2014

illustrasjonsbildeA group from the cybernetics department of NTNU, among them AMOS key person Kristin Y. Pettersen, are participating the IEEE CSS Video Clip Contest. (18 August 2014)

Participants prepare a short video clip on any subject related to the automatic control field.
All videos are judged by a jury, and the top three videos will be awarded $1000, $500, and $250 for the 1st, 2nd, and 3rd place, respectively. In addition, the 1st place receives financial support to attend the 2014 IEEE Multi-Conference on Systems and Control (MSC 2014).

Watch the video about snake robots that our research group entered!
 

Elastic robots on the rise

slangerobotPhoto (Mathias Klingenberg): This is what one of NTNU's snake robots looks like. This model has got wheels over the whole body in order to freely rotate. (27 July 2014)

Elastic robots on the rise

slangerobotPhoto (Mathias Klingenberg): This is what one of NTNU's snake robots looks like. This model has got wheels over the whole body in order to freely rotate. (27 July 2014)

Although today's robots are often stronger and faster than humans, they still lack human and animal flexibility. That is why researchers like AMOS key person Prof. Kristin Y. Pettersen have been examining elastic robots and their application under water.

At AMOS, key person Prof. Kristin Y. Pettersen has investigated snake robots in collaboration with SINTEF ITK over several years. It is a central topic at AMOS, where an interdisciplinary team with researchers in cybernetics and hydrodynamics assess how the technology can be adapted for applications under water. Among others, Professors A.J. Sørensen, O.M. Faltinsen and Marilena Greco have joined the team.

Read the article (in Norwegian) on Norway's biggest industry website E24.

Read more and see videos about the research of snake robots at NTNU on forskning.no (dated 14 October 2014, in Norwegian).

Read the article "Sending snakes to mars" (dated 31 October 2014) with researchers from the department of engineering cybernetics.


10 post-graduates from Iran had their Norwegian residence permits cancelled

AMOS adviser and Prof. Torgeir Moan shares his experience with the issue on BBC News. Furthermore, the Norwegian newspaper Adresseavisen interviewed the professor on the topic, as well as the environmentalist social network website Care2. (27-31 July 2014)

10 post-graduates from Iran had their Norwegian residence permits cancelled

AMOS adviser and Prof. Torgeir Moan shares his experience with the issue on BBC News. Furthermore, the Norwegian newspaper Adresseavisen interviewed the professor on the topic, as well as the environmentalist social network website Care2. (27-31 July 2014)

Torgeir Moan

Photo (Svein I. Meland, Adresseavisen): Prof. Torgeir Moan worries for the recruitment of international research talents if Norway implements a tighter visa policy than other countries. (July 28, 2014)


Chinese PhD graduates establish a foundation to honour AMOS advisors

illustrative picture

Photo (Adresseavisen): Some of the Chinese PhD graduates that established a foundation to honour their supervisors Torgeir Moan and Odd M. Faltinsen. From the left: Chenyu Luan, Ling Wan, Lin Li, Hui Liang, Zhiyu Jiang, Zhen Gao and Naiquan Ye. (12 July 2014)

Chinese PhD graduates establish a foundation to honour AMOS advisors

illustrative picture

Photo (Adresseavisen): Some of the Chinese PhD graduates that established a foundation to honour their supervisors Torgeir Moan and Odd M. Faltinsen. From the left: Chenyu Luan, Ling Wan, Lin Li, Hui Liang, Zhiyu Jiang, Zhen Gao and Naiquan Ye. (12 July 2014)

Chinese PhD graduates establish a foundation to honour their former supervisors and AMOS advisors professors Torgeir Moan and Odd M. Faltinsen on occasion of their 70th birthday.

The newspaper Adresseavisen reports (in Norwegian).

Germany's president Gauck and Norway's crown prince Haakon are visiting the Marine Technology Centre

Gauck and Haakon at the MTCPhoto (MARINTEK): The German president Joachim Gauck and his partner are enjoying their visit at the ocean basin of the Marine Technology Centre, together with Norway's crown prince Haakon, the CEO of SINTEF Unni Steinsmo, county mayor Tore O. Sandvik and rector of NTNU Gunnar Bovim. (13 June 2014)

Germany's president Gauck and Norway's crown prince Haakon are visiting the Marine Technology Centre

Gauck and Haakon at the MTCPhoto (MARINTEK): The German president Joachim Gauck and his partner are enjoying their visit at the ocean basin of the Marine Technology Centre, together with Norway's crown prince Haakon, the CEO of SINTEF Unni Steinsmo, county mayor Tore O. Sandvik and rector of NTNU Gunnar Bovim. (13 June 2014)

Germany's president Joachim Gauck, his partner Daniela Schadt and Norway's crown prince Haakon visited the Marine Technology Centre on Friday June 13, 2014.

They talked among others with Master students and employees of the Department of Marine Technology. See pictures of the visit.

Read more in NTNU's press release (in Norwegian) as well as on gemini.no (in Norwegian).

 

PERSISTS: A coordinated multi-vehicle control experiment for ocean observation

1st picture: An X8 fixed-wing UAV being launched from land to look down at floating tags in the coastal ocean. (May 2014)
2nd picture: UPorto Xplorer AUV launched from the support vessel for tracking Mola mola. (May 2014)
3rd picture: Biologists releasing a tagged Mola for tracking. (May 2014)

 

PERSISTS: A coordinated multi-vehicle control experiment for ocean observation

1st picture: An X8 fixed-wing UAV being launched from land to look down at floating tags in the coastal ocean. (May 2014)
2nd picture: UPorto Xplorer AUV launched from the support vessel for tracking Mola mola. (May 2014)
3rd picture: Biologists releasing a tagged Mola for tracking. (May 2014)

 

In May 2014, off the southern coast of Portugal, an international multi-vehicle control experiment involving aerial, surface and underwater vehicles was attempted.

Read more at http://sunfish.lsts.pt/

Involved researchers:

Javier Gilabert, UPCT, Spain
Tor Arne Johansen, NTNU, Norway
Kanna Rajan, FEUP, Portugal
Joao Sousa, FEUP, Portugal

PERSISTS' (Persistent Autonomous Aerial, Surface and Underwater Vehicles tracking Sun Fish) key objectives were threefold: to demonstrate the state of the art (and practice) in coordinated measurements using diverse assets looking at the same patch of the ocean at the same time. Two, to provide high resolution in-situ data for scientific observations to foster inter-disciplinary science and engineering. Three, to provide predictive (modeling) capability to understand the biological dynamics of Mola mola (bony Sunfish). And finally to generate interest in inter-disciplinary science in the next generation of researchers in STEM (Science, Technology, Engineering and Mathematics).

The principal science objective was to work with biologists to tag and track Mola's and provide contextual environment data. While Mola's have been tracked by this science team over the last four years, obtaining high-resolution in-situ science data with the tags in use, has been challenging. A critical need was to understand why the Mola's follow a specific trajectory in the water-column (a ‘Mola corridor') and what kinds of environmental conditions the Mola are, in turn, tracking. Our engineering objectives dove-tailed with the need to demonstrate the capability to bring together diverse autonomous assets with advanced methods in Artificial Intelligence (AI) based deliberative control for such observations, using a suite of sophisticated ground-based command and control tools being used at FEUP/UPorto.

The intent was to conduct a two week experiment off the coast of Olhao in the Algarve. This region was chosen because of the presence of a commercial Tuna pen, where the Mola's are often trapped providing biologists with the opportunity to tag and release these fish in open waters. New inexpensive tags, designed at FEUP, were built and derived from of two different technologies. Our experiment design called for a UAV to be launched from a research vessel, once an indication of a Mola on the surface was received. The UAV would be sent to the vicinity of the tag location, visual identification was to follow over an IP-video feed, leading to the deployment of an AUV with CTD sensors as well as the retargeting of a WaveGlider autonomous surface platform. Both the UAV and the AUV are controlled by the Teleo-Reactive EXecutive (T-REX) an AI-based controller onboard the AUV and on the ground for UAV control.

Weather conditions coupled with issues related to ship capabilities did not allow for launch and recovery operations as planned; however separate deployments of UAVs from shore and AUV and WaveGlider deployments from ship to survey the ‘Mola corridor' to make coordinated measurements between an AUV and the WaveGlider, detection of a thermal gradient in the water column near a shelf leading to frontal zone entrapping biota such as salp and the testing of the integrated tool chain distributed between onboard and off board robotic components in open waters were the key outcomes. Finally, the outreach effort with 8th graders in a school in the Porto region resulted in substantial interest in kids intrigued by the science and technology behind the experiment, which in turn lead to a Mola capture and dissection in class, a first for the school.


Smashed "iceberg" for the Discovery Channel

The Discovery Channel interviewing Martin Storheim

Photo (Kristoffer Furberg): The Discovery Channel interviewed PhD candidate Martin Storheim who works with testing the interaction between ice and structure. (4 June 2014)

Smashed "iceberg" for the Discovery Channel

The Discovery Channel interviewing Martin Storheim

Photo (Kristoffer Furberg): The Discovery Channel interviewed PhD candidate Martin Storheim who works with testing the interaction between ice and structure. (4 June 2014)

Read the article about the visit on gemini.no (in English) and in Universitetsavisa (in Norwegian).

Sunfish tracking with AUV, ASV and UAV

During the month of May 2014 a team from the Underwater Systems and Technology Laboratory of the Faculty of Engineering, University of Porto will be leading an innovative and ambitious experiment that brings researchers from Portugal, AMOS/NTNU, MBARI and the Polytechnic University of Cartagena in a joint inter-disciplinary science and engineering effort, targeting marine science. The experiment will be conducted off a research vessel belonging to the Portuguese government off the coast of the Algarve near Olhão.

Sunfish tracking with AUV, ASV and UAV

During the month of May 2014 a team from the Underwater Systems and Technology Laboratory of the Faculty of Engineering, University of Porto will be leading an innovative and ambitious experiment that brings researchers from Portugal, AMOS/NTNU, MBARI and the Polytechnic University of Cartagena in a joint inter-disciplinary science and engineering effort, targeting marine science. The experiment will be conducted off a research vessel belonging to the Portuguese government off the coast of the Algarve near Olhão.

Autonomous aerial, surface and underwater vehicles will track tagged Ocean Sunfish the largest bony fish in our oceans, with the objective of obtaining data from the robots to provide new insights on the grazing habits of these fish. In doing so researchers hope to understand the environmental context in which the fish operate and gain a better insight about their behavior in space and time. Robots will provide coordinated measurements of the water mass around individually tagged fish and discretely track them as they move within the upper water column. This is the first use of these distinct forms of robotic vehicles and coordinated in such a manner anywhere in the world.

The participants from AMOS/NTNU are Artur Zolich and Frederik Leira. AMOS/NTNU are grateful for the support provided by the sponsors, in particular Marine Technologies LLC for providing excellent satellite communication and ONR (Office Naval Research) Global for funding. Further information can be found at http://sunfish.lsts.pt/en or tor.arne.johansen@itk.ntnu.no
 


70 Years Anniversary Seminar and Celebration for Prof. Faltinsen and Moan- a success!

illustrasjonsbilde

Photo: Speakers and participants listen to the presentations at the 70 Years Anniversary Seminar at the Marine Technology Centre. Front row from the left: Unni Steinsmo (CEO of SINTEF Group), Tore Ulstein (deputy CEO of Ulstein Group), Torbjørn Digernes (former NTNU-rector), Professors Moan and Faltinsen, and Henrik Madsen (CEO of DNV GL). (19-20 May 2014)

70 Years Anniversary Seminar and Celebration for Prof. Faltinsen and Moan- a success!

illustrasjonsbilde

Photo: Speakers and participants listen to the presentations at the 70 Years Anniversary Seminar at the Marine Technology Centre. Front row from the left: Unni Steinsmo (CEO of SINTEF Group), Tore Ulstein (deputy CEO of Ulstein Group), Torbjørn Digernes (former NTNU-rector), Professors Moan and Faltinsen, and Henrik Madsen (CEO of DNV GL). (19-20 May 2014)

The 70 Years Anniversary Seminar and Celebration for Professors Faltinsen and Moan on May 19-20, 2014, in Trondheim has been finished successfully.

The Marine Technology Centre was packed with 300 national and international guests and prestigious speakers. Additionally, the seminar was video-streamed; there were 787 views in total.

Have a look at the programme, the presentations given at the conference as well as the pictures taken at the seminar and celebratory dinner.

Teknisk Ukeblad interviewed the two professors for the occasion (in Norwegian).


AMOS received approval for RPAS operations from the civil aviation authorities of Norway

Photo: A Remotely Piloted Aircraft System (RPAS). (6 March 2014)

AMOS received approval for RPAS operations from the civil aviation authorities of Norway

Photo: A Remotely Piloted Aircraft System (RPAS). (6 March 2014)

The civil aviation authorities of Norway has given the UAV-Lab team at the Department of Engineering Cybernetics approval for operating Remotely Piloted Aircraft Systems (RPAS). (6 March 2014)


AMOS researchers investigate mysteries in the sea during the polar night

Asgeir Sørensen ved kaiaPhoto (Geir Johnsen): Prof. Asgeir J. Sørensen and other AMOS researchers investigate mysteries in the sea during the polar night. (8 February 2014)

De tre hodene på trollet er Professorene Jørgen Berge (UiT Norges Arktiske Universitet og Universitetssenteret på Svalbard), Geir Johnsen (NTNU og UNIS) og Asgeir Sørensen (NTNU), - See more at: http://gemini.no/2014/02/avslorer-mysterier-i-polarnatta/#sthash.2z9hfU86.dpuf

AMOS researchers investigate mysteries in the sea during the polar night

Asgeir Sørensen ved kaiaPhoto (Geir Johnsen): Prof. Asgeir J. Sørensen and other AMOS researchers investigate mysteries in the sea during the polar night. (8 February 2014)

De tre hodene på trollet er Professorene Jørgen Berge (UiT Norges Arktiske Universitet og Universitetssenteret på Svalbard), Geir Johnsen (NTNU og UNIS) og Asgeir Sørensen (NTNU), - See more at: http://gemini.no/2014/02/avslorer-mysterier-i-polarnatta/#sthash.2z9hfU86.dpuf

AMOS director and Professor Asgeir J. Sørensen, together with Prof. Jørgen Berge (Arctic University of Norway and University Centre in Svalbard) and Geir Johnsen (NTNU and University Centre in Svalbard), led a team of marine technologists and marine biologists to find out what happens under sealevel during the polar night. (8 February 2014)

Read the article on gemini.no (in Norwegian).

Best paper awards at OMAE'13, Nantes, France

Two papers co-authored by Professor Claudio Lugni have been selected in 2014 as best papers at the OMAE'13, which was arranged in Nantes in 2013.

Best paper awards at OMAE'13, Nantes, France

Two papers co-authored by Professor Claudio Lugni have been selected in 2014 as best papers at the OMAE'13, which was arranged in Nantes in 2013.

Bouscasse B., Antuono M., Colagrossi A., Lugni C. A classification of shallow water resonant sloshing in a rectangular tank, 32nd Int. Conference on Offshore Mechanics and Arctic Engineering (OMAE'13), Nantes, 2013.

Marino E., Nguyen H., Lugni C., Manuel L., .Borri C. Irregular nonlinear wave simulation and associated loads on offshore wind turbines, 32nd Int. Conference on Offshore Mechanics and Arctic Engineering (OMAE'13), Nantes, 2013.