Teacher: Professor Svein Sævik

Evaluation: Oral Exam

Objective: Learn the basic theory for dynamic analysis of structures by use of the finite element method, and in particular to apply the method on marine structures.

Pre-qualifications: Basic understanding of dynamics and the finite element method. The courses TMR4182 Marine Dynamics and TMR4190 Finite Element Methods in Structural Analysis are considered mandatory for students that follow the ordinary MSc programme.

Course content: d'Alemberts principle and principle of virtual work for dynamic systems. Dynamic equilibrium by the finite element method. The mass matrix. Undamped, free oscillations and the eigenvalue problem. 

Reduction of number of degrees of freedom in dynamic analysis. Calculation of dynamic response in frequency and time domain. Damping models. Selected topics relevant for marine structures.

Lecture form: Lectures (2 hours per week), exercises by use of Matlab. Selected exercises are mandatory.

Course materials: Langen og Sigbjørnsson: Dynamisk analyse av konstruksjoner, Norwegian edition and unofficial English edition, some lecture notes may also be distributed on special topics.

Learning outcome: After completing the course the student should be able to:

• understand methods for eigenvalue computation and dynamic response analysis and hence be able to make simple computer programs, and thereby develop a good basis for the use of commercial computer program
• understand the importance of reducing the number degrees of freedom in relation to the element models for static analysis, and how the reduction can be implemented without significant loss of accuracy
• define damping effects in a dynamic response model, and describe how different damping mechanisms can be formulated in a element model
• select an element model and calculation method for the analysis of practical problems so that the results are sufficiently accurate
• know how hydrodynamic effects influence the mass, damping and driving forces of slender marine structures.

Teacher: Professor Svein Sævik

Evaluation: Oral exam

Objective: Extend the basis for finite element analysis of nonlinear and dynamic response of marine structures

Pre-qualifications: TMR4167 Marine technology 2 – structures, TMR4190 Finite element methods, TMR4195 Design of offshore structures.

Course content: Basic theory and finite element formulations for plates and shells; modelling of marine structures. 
Introduction to analysis of nonlinear geometrical, contact and material behavior, overview of error sources due to discretization and numerical operations; quality control of the analysis.

Lecture form: Lectures (2 hours a week) and exercises. Selected exercises may be mandatory. Application of finite element method software in computer code development and practical analysis of marine structures.

Course materials: Moan: Finite Element Modelling and Analysis of Marine Structures. Lecture notes are available at the department, additional handout material.

Learning outcome: After completing the course the student should be able to:

• Perform deformation and stress analyses of complex structures using the finite element method, taking into account nonlinear behaviour.
• Conduct a critical assessment of the results.
• Understand the theoretical basis of the finite element method applied on non-linear and dynamic analysis.
• Explain the derivation of the stiffness relationship of elements for the analysis of stiffened plate and shell structures  based on energy principles and interpolation of the displacement pattern.
• Understand the mathematical basis for the description of the behaviour of stiffened plates (prismatic shell) and curved shell structures (equilibrium, kinematic compatibility, stress - strain - relation).
• Understand the available methods for describing contact between structural elements.
• Explain the derivation of the incremental stiffness relation for rod and beam elements taking into account the nonlinear behaviour due to large deformation and material behaviour.
• Explain the criteria that must be fulfilled by a finite element model for certain structure types in order to converge to the exact solution when the element size is reduced.
• Understand how the prismatic and curved shell structures behave and what element types and boundary conditions must be selected in order to achieve a given accuracy.
• Understand how a ship - considered as a prismatic shell - behave and how various elements models and corresponding boundary conditions should be selected to determine the deformations and stresses with a given accuracy. 
• Carry out simple element analysis of prismatic shell and frame structures using ABAQUS, or similar software.

Teacher: Professor Erin Bachynski

Evaluation: Group project and oral exam (with exam questions related to lectures and project report)

Objective: The purpose of this subject is to provide the theoretical basis and application of the methodology for integrated dynamic analysis of offshore wind turbines in operational and survival conditions. Relevant loads from waves and wind as well as relevant internal wind turbine faults in the mechanical or electrical system are taken into account. Structural models are based on the finite element method. State-of-the-art models of aerodynamics and hydrodynamics will be presented and their coupled effect on dynamic responses of both bottom-fixed and floating wind turbines will be emphasized. Both steady-state and transient loads and load effects will be discussed. The focus in this subject is to give the theoretical basis for key software, such as SIMA, FAST, or HAWC2, in this area and to apply these concepts through project work. Additional topics in wind turbine analysis, such as operations and maintenance, drivetrain mechanics, and experimental testing will also be discussed.

Pre-qualifications: TMR4190 Finite Element Methods in Structural Analysis, TMR4182 Marine Dynamics and TMR4215 Sea Loads or equivalent background.

Course content: Overview of bottom-fixed and floating wind turbines as well as installation procedures. Brief overview of design standards and limit state criteria. Modeling of joint environmental conditions of wind and waves. Simulation of random waves and wind fields. Modelling of aerodynamic and hydrodynamic loads, finite element and multi-body modelling of structures. Modelling of aerodynamic, hydrodynamic, soil and structural damping. Time-domain dynamic analysis. Steady-state and transient load and response analyses. Effect of automatic control. Determination of extreme responses and fatigue load effects. Introduction and use of existing software such as SIMA.

Lecture form: Lectures. Project work in groups.

Course material: The required reading consists of parts of the following textbooks: Twidell, J. and Gaudiosi, G. Offshore Wind Power, Multiscience Publishing, Brentwood, UK, 2009. Moan, T. Finite Element Modelling and Analysis of Marine Structures, September 2003, Dept. of Marine Technology, NTNU. Hansen, M.O.L. Aerodynamics of Wind Turbines, Earthscan, London, 2008. Faltinsen, O.M. Sea Loads on Ships and Offshore Structures, Cambridge Univ. Press, 1990. Næss, A and Moan, T. Stochastic Dynamics of Marine Structures, Cambridge Univ. Press, 2013. 
Lecture notes and presentations.

Learning Objectives: After completing the course, students should: 

• Understand the basic BEM theory, airfoil theory, and relevant engineering corrections for aerodynamic load calculation.
• Understand important wave loads for different types of substructures and how these are estimated numerically.
• Understand the objectives and basic concepts of wind turbine control.
• Be able to set up the equation of motion and explain how it is solved numerically.
• Be able to explain the different loading sources and their coupled effects on dynamic responses of bottom-fixed and floating wind turbines, including interpretation of response spectra.
• Understand transient load effects from fault situations and their consequences.
• Be able to explain concepts of high-speed, medium-speed, and low-speed gearboxes, and which loads are important for these components.
• Understand the challenges and numerical modelling of marine operations for wind turbine installation.
• Be able to explain the challenges in scaling experimental models and some possible approaches.
• Understand the concepts of theoretical upscaling and their limitations.
• Be able to carry out numerical simulations of wind turbines in SIMA and interpret the results.

Teacher: Adjunct Professor Chittiappa Muthanna

Evaluation: Lab reports

Objective: Give knowledge and practical experience with the most common types of experiments in marine hydrodynamics. Provide a better understanding of important hydrodynamic phenomena like cavitation and seakeeping through laboratory work. Teach basic principles of experimental methods. Give knowledge of typical instrumentation and measurement methods. 

Pre-qualifications: Basic knowledge of marine hydrodynamics, similar to TMR4247 Marine Technology 3 – Hydrodynamics is a requirement. Students will get more benefit from the course if they have a deeper background in hydrodynamics, including courses such as TMR4217 Sea Loads, TMR4235 Stochastic Theory of Sealoads, and TMR4220 Naval Hydrodynamics.

Course content: Basic instrumentation and measurement principles, measurement using strain gauges, equipment and methods for data acquisition. Introduction to advanced measurement techniques like Particle Image Velocimetry. Calibration of measurement sensors. Techniques for construction of models. Typical model tests and techniques, including ship resistance, propulsion, propeller open water test, cavitation tests, seakeeping, experiments with slender structures. Uncertainty analysis. Error sources in experiments and calculations. Special considerations about full scale measurements.

Lecture form: Lectures and mandatory laboratory exercises performed in groups

Course materials: Lecture Note: Steen “Experimental Methods in Marine Hydrodynamics”, IMT 2014

Teacher: Associate Professor Babak Ommani

Evaluation: Reports based on numerical simulation projects

Objective: Get knowledge and experience on modelling aspects and numerical issues relevant for simulation of potential and viscous flow. Support to TMR 4520 Marine Hydrodynamics. Specialization Project for those students who choose CFD-related topics.

Pre-qualifications: All compulsory courses from the Hydrodynamic specialization study, or equivalent.

Course content: Computational Fluid Dynamics (CFD) software for potential flow (panel methods) and viscous flow (Navier-Stokes solvers) used in marine hydrodynamics. Grid generation methods and visualisation. Analysis of viscous flow around marine structures. Turbulence.

Lecture form: Lectures and exercises.

Course material: Lecture notes. Relevant articles.

Learning outcome: 

• To know panel methods (potential flow) and their applications.
• To experience the numerically related challenges using panel methods.
• To get to know limitations of panel methods.
• To get to know where CFD can be used in the marine industry.
• To get experience with grid generation, boundary conditions and how choice of parameters for the computational domain and time step influence the results.
• To be able to visualize simulation results and evaluate them against knowledge of marine hydrodynamics.
• Validation of EFD and CFD.
• To write laboratory reports.

Teacher: Adjunct Professor Øyvind Smogeli and Professor Asgeir J. Sørensen 

Evaluation: Written report in the format of a scientific paper (50%) and oral exam (50%)

Objective: To give insight and knowledge on autonomous marine control systems including analysis, control system design, testing and assurance. The student shall apply the theory on a selected marine application in a project assignment and document the work in a written paper.

Pre-qualifications:  TTK4105 Control systems or similar is a prerequisite. In addition, the students shall have completed one of the following courses TMR4240 Marine control systems; TMR4275 Modeling, simulation, and analysis of dynamical systems; TMR4290 Marine Electric power and propulsion systems; TTK4190 Guidance and control of vehicles.

Course content: Introduction to autonomous systems and their relationship to automatic systems, including motivation for use of autonomy. An overview of control architectures and methods applied on autonomous ships and marine robotics (surface and underwater vehicles) will be given.

Methods for design and analysis of high-level autonomy using formal methods such as temporal logics and task-based formulations will be studied. This includes methods for incorporation of operational risk and system constraints as input to mission control. Machine learning methods based on Gaussian processes for planning and re-planning will be introduced.

Finally, assurance of autonomous systems will be addressed using various methods including informal testing and verification methods based on simulator technology. 

Lecture form: Lectures and project.

Course material: Lecture slides, international textbooks and scientific articles.

Learning outcome: After completing the course, students should:

• Be able to explain the terminology, taxonomy and main drivers for autonomous marine systems including autonomous ships and marine robotics (surface and underwater vehicles).
• Be able to formulate risk types and classification of risk levels for autonomous marine systems.
• Be able to design control architectures and formulate control objectives and methods for supervisory-risk control of autonomous marine systems.
• Have a basic understanding of key Machine Learning (ML) methods: supervised learning, unsupervised learning and reinforcement learning, with relevance for marine applications.
• Have a more comprehensive understanding of one ML method, either supervised learning, unsupervised learning or reinforcement learning, and apply this on a project case.
• Understand the principles of assurance of autonomous marine systems, including formal methods (linear temporal logics - LTL, signal temporal logics - STL) and informal methods (simulators) for design, testing and verification.
• Be able to apply ML or supervisory risk control to an autonomous marine system.
• Be able to document the project work in the format of a scientific paper.

Teacher: Associate Professor David Emberson

Evaluation: Oral examination and written report

Objective: To provide the students with knowledge, insight and understanding about the interactions of fuels, combustion and exhaust emissions in internal combustion engines through extensive laboratory testing. The main emphasis is on a marine engine and the instrumentation required to conduct such a test.

Pre-qualifications: TMR4280 Internal combustion engines, or equivalent.

Course content: Detailed testing of a reciprocating engines, understanding of the instrumentation and its use to provide the results. Processing of the results to provide analysis and make conclusions on engine and fuel performance.

Testing of conventional and alternative fuels for ICEs. Ignition and combustion process analysis with special emphasis on formation and detection methods of harmful exhaust emissions. Laboratory experience of gaseous and particulate emission measurements.

Lecture form:  Lab sessions to familiarise the students with the equipment. Lab sessions to break down individual instrumentation required. Lab session to collect data. Seminar session to process data.

Course material: John B. Heywood: Internal Combustion Engine Fundamentals. Hua Zhao and Nicos Ladommatos: Engine Combustion Instrumentation and Diagnostics. Loge Research Manuals.

Learning Objectives: After completing the course, students should:

• Describe the working principles and fundamental of a compression ignition (diesel) engine
• Describe in detail the components and purpose of the various parts of a fully instrumented engine. 
• Describe in detail the experimental campaign required, using the instrumented engine, to gather data for performance evaluation
• Describe how and why combustion pressure is collected and complete analyses using ROHRR
• Describe the formation and measurement of engine emission, NOx, CO, CO2, and PM (soot)
• Focus on soot, describe optical techniques used to examine soot in flame and understand why these techniques are used.
• Understand the basic difference between common fuels and alternatives.
• Describe the operation of an engine stochastic reactor model.
• Conduct independent research in the current academic literature and develop a hypothesis or interesting idea that could be investigated in the lab using available equipment and fuels.
• Create a short- mini article in academic form.

Teacher: Adjunct Professor Luca Savio

Evaluation: Oral Exam

Objective: The objective of the course is to give a deeper knowledge to the students of the topics of propeller cavitation and its detrimental effects. The course shall give both theoretical and practical insights. Among the detrimental effects, generation of Underwater Radiates Noise (URN) will be given prominence because of its impact on the various animals that live in the oceans, rivers, and lakes. 

Pre-qualifications: Basic knowledge of marine hydrodynamics, similar to TMR4247 Marine Technology 3 – Hydrodynamics is a requirement. An extended knowledge, as for example given by TMR4220 Naval Hydrodynamics is not a requirement, but it would benefit the students.

Course content: The course focuses mainly on propeller cavitation and its detrimental effects. Single bubble cavitation physics. Cavitation on foils, phenomenology, modelling, experimental verification and design. Cavitation on propellers, phenomenology, modelling, experimental verification, and design.

Physics of underwater noise and effects on marine life. Measuring and reporting noise. Underwater radiated noise by propellers. 

Lecture form:   Lectures and one mandatory laboratory exercise performed in groups.

Course material: Lecture notes; parts of the books: Aeroacoustics of Low Mach Number Flows Glegg and Deveport (2017); Cavitation and Bubble Dynamics Brennen (1994); Mechanics of Flow-Induced Sound and Vibration parts 1-2 Blake (2017)

Teacher: Adjunct professor Kjetil Fagerholt

Evaluation: Oral examination

Objective: Be able to formulate mathematically some important routing and scheduling problems in maritime transportation, understand their complexity, and to learn some solution methods for solving these problems.

Pre-qualifications: Basic knowledge in Operations Research.

Course content: The course introduces basic routing and scheduling problems, such as the Traveling Salesman Problem and the Vehicle Routing Problem, and shows various applications for planning of transport and supply chains, as well as for design of transport systems. The course focuses on mathematically formulating such problems as well as some simple (heuristic) methods for solving these. Practical applications in maritime transportation, as well as being able to consider shipping as an integrated part of a supply chain, are emphasized.

Lecture form: Lectures

Course material: The course material consists of a compendium, book chapters and scientific papers that will be announced at the start of the course.

Learning outcome: After completing the course the student should be able to:

• Present a taxonomy over different problem categories and specific problem types in maritime transport with operations research-based formulation and solution approaches.
• Formulate mathematically a set of important routing and scheduling problems in maritime transportation.
• Understand the complexity of the problems as a basis for selecting exact or heuristic solution methods.
• Describe the modelling and solution procedure of the solution methods.
• Solve the problems by use of a set of solution methods.
• Describe the use of the methods in enabling improved design for and use of maritime transport in multi-modal transport chains.

Teacher: Associate Professor Ekatarina Kim

Evaluation: Oral exam based on a short public presentation of the term project

Objective: The student shall develop both theoretical insight and a practical understanding of data analysis techniques applied towards the design and operation of large, complex ocean engineering systems, with a special emphasis on seaborne transportation systems.

Pre-qualifications: Basic marine system design, basic competence in programming and statistics

Course content: During the course each student, either individually or as part of a group, will propose and execute analyses of a real-world (or realistic) dataset that is meaningful for sustainable industrial development and (or) is relevant for own Master project with a particular focus on design and operational decision support for ships and other ocean systems.

Prerequisites and tools: Good programming skills, mostly Python.

Lecture form: Lectures, flipped classrooms, coding sessions, games, seminars, and term project.

Course material: Course material will be announced at the start of the course.

Learning outcome: After completing the course the student should be able to:

After completing the course the student should be able to:

• Understand and be able to implement fundamental steps of the data analysis pipeline.
• Be able to explain the terminology of key elements in real-world machine learning applications.
• Collect data from public web sources.
• Visualize and discuss data (AIS, weather data, etc.), using different plot types and infographics.
• Diagnose and fix data problems (missing data, duplicates, outliers, inconsistent data formatting) and visualize uncertainty.
• Meaningfully analyze and interpret data using selected supervised and unsupervised machine learning techniques (clustering, decision trees, ensembles). 

Teacher: Professor Amir Nejad

Evaluation: Oral examination

Objective: The objective is to provide a basis for developing digital twin based health monitoring systems in marine applications. The course will start with the fundamental of digital twin, tools and methods used with industrial examples and applications. Students will learn how to build a digital twin through a project over the course and in the lab. 

Pre-qualification: Basic introduction to engineering dynamics, data analysis. 

Course content: Overview of steps used in developing digital twin and physics-based, data driven and hybrid approaches. Overview of physics-based methods for dynamic response analysis and degradation models for RUL estimation. Overview of data-driven models for load estimation. Examples of applications in offshore wind turbines and marine propulsion systems.  

Lecture form: Lectures, modelling exercises through short project work.

Course material: Will be given during the course.

Learning outcome: After completing the course the student should be able to:

• Understand the steps need to develop a digital twin 
• Build models needed for a digital twin i.e. via multi-body dynamic models or data driven
• Model degradation and estimate RUL for mechanical or structural element
• Understand the challenges for digital twin development and its application in health monitoring
• Build a case study digital twin in lab

Teacher: Professor Mehdi Zadeh

Evaluation: Project and oral exam 

Objective: To provide the knowledge and practical insight about the hybrid power systems, electric propulsion and relevant control systems which are of importance for the design and development of sustainable marine power systems with the main application area in low- and zero-emission and autonomous marine transport. 

The course covers the concepts related to the design, operation and applications of marine hybrid systems including different system configurations, power system architecture, control layers, dynamic modelling and simulation, energy storage systems such as batteries, hydrogen propulsion and emission reduction. Advanced topics will also be considered such as the economic viability of hybrid power systems, electrification and digitalization, and the application of modern power systems for zero-emission and autonomous shipping.

In addition, the students will be introduced to research work in a multi-disciplinary field where different subject areas are involved from Marine Technology to Electrical Power Technology and Control.

Pre-qualifications: Basic knowledge of marine power systems, and similar to TMR4335 or TMR4290-Marine Electric and Hybrid Power and Propulsion Systems would be preferred.  

Course content: Principle of hybrid power systems and electric propulsion; overview of control systems and power and energy management: typical topologies and functions; practical control optimization; overview of marine batteries and fuel cells; analytical modelling and simulation; application of digital twin in ship power and propulsion; emission reduction and green shipping; basic design and feasibility study of hybrid systems.

Lecture form: Lectures, project work and seminars.  

Course material: The reading material includes parts of the following textbooks: M.R. Patel, Shipboard Propulsion, Power Electronics, and Ocean Energy, CRC Press, 2012; M.R. Patel, Shipboard electrical power systems, CRC Press, 2011; Lecture notes; relevant articles will be given during the lectures.

Learning outcome: As the learning outcome, the students should be able to:

• Understand the principle, typical structure, main elements, and different topologies of hybrid electric power systems for ship propulsion and their application areas. 
• Understand low-level and high-level controllers, automatic functioning of power management system (PMS/EMS) for the hybrid power systems and batteries.
• Explain the main functions of energy storage systems and how to make a basic design based on the ship load profile.
• Compare different topologies, such as AC- and DC-grid, their applications for marine vessels, and suggest relevant controllers.
• Know how to use computer-based methods for modelling and simulation of hybrid power systems and controllers. 
• Understand analytical approaches for the design and of battery and hybrid power systems for ships.
• Write a clear and structured project report with literature review, methodology, presentation of results, analysis and conclusions.  

Teacher: Professor Thomas Sauder

Evaluation: Oral exam.

Objective: The purpose of this course is to provide an understanding of cyber-physical testing, also known as "hybrid testing". Fundamental aspects will be reviewed, and selected applications in marine hydrodynamics will be presented in detail: 

• Testing of floating wind turbines.
• Testing of sail-assisted ships.
• Estimation of nonlinear wave loads.
• Perspectives beyond marine technology: bridge design, timber buildings, fire engineering, etc…

Pre-qualifications: Multidisciplinary course welcoming students with background in Marine Hydrodynamics/Structures, and interest for Marine Cybernetics; and vice-versa. The module is complementary with TMR04 – Experimental Methods in Marine Hydrodynamics, students are welcome to follow both modules. 

Course content: The course will alternate sessions on 1) methods used in cyber-physical testing, and 2) applications of cyber-physical testing as listed above. Method points include:

• General concepts and terminology of cyber-physical testing.  
• Hardware components, such as instrumentation, cable-driven parallel robots (CDPR).  
• Software components such as observers, predictors, numerical integrators, numerical substructures (incl. neural networks), allocation and control methods for CDPR.
• Basic stability and fidelity analyses. 

A dedicated experimental setup will be used to illustrate the concepts. 

Lecture form: Lectures and guest lectures by SINTEF Ocean personnel, and international researchers. 

Course material:  Lecture notes and presentations. Scientific publications are provided as additional resources for those interested in deepening the subject.

Learning objectives:  After completing the course, students should be able to: 

• Understand limitations of theoretical and classical empirical methods for selected applications in marine technology, and explain how cyber-physical testing alleviates some of these limitations, 
• Explain the main concepts in cyber-physical testing, and instantiate them for various applications in marine technology.
• Have a good understanding of the various software and hardware components used in cyber-physical hydrodynamic model testing.
• Describe the functioning of cable-driven parallel robots, including allocation, control and optimal actuator placement.
• Understand the concept of artefacts in cyber-physical tests, tability analysis, and fidelity analysis.