Ronny Landsverk

• Zhu, Mingda; Eidsvik, Johannes Arnesen; Landsverk, Ronny; Hagen, Daniel & Zhou, Jing (2025). Rapid Model-Based Design and Real-Time Digital Twin Integration: An Offshore Robot Case Study. Proceedings of the IEEE International Symposium on Industrial Electronics. p. 1–6. doi: 10.1109/isie62713.2025.11124748. Full text in Research Archive Show summary

  The rapid advancement of digitalization has led to the widespread adoption of digital twins across various industries. While digital twins have demonstrated significant potential in many applications, challenges remain in their implementation, particularly in real-time control. Therefore, this paper addresses the challenges by proposing a DT-based method for fast prototyping of real-time control in medium-scale industrial robots, leveraging rapid model-based design. With Speedgoat and the User Datagram Protocol communication protocol, the proposed approach enables real-time data exchange and control execution. The effectiveness of the method is demonstrated through four case studies by utilizing the Comau robot at the Norwegian Motion Laboratory.

• Zhu, Mingda; Han, Peihua; Landsverk, Ronny; Strandene, Jan Christian Bjerke; Hagen, Daniel & Zhou, Jing (2025). A Data-driven Approach to Payload Heave Motion Prediction under Irregular Waves, IEEE Industrial Electronics Society Annual On-Line Conference (ONCON). IEEE (Institute of Electrical and Electronics Engineers). ISSN 9798350357981. doi: 10.1109/ONCON62778.2024.10931669. Full text in Research Archive Show summary

  Effective handling of the payload with an offshore crane is critical for ensuring safety and efficiency in the offshore operation. Accurate modelling of payload heave motion is essential for safeguarding transportation and improving feedback control for active heave compensation. Traditional kinematic modelling fails to account for the nonlinear dynamics of waveinduced motion. This paper proposes a data-driven method,leveraging real motion data from the Norwegian Motion Lab, to predict payload heave positions based on ship heave positions. Extensive experiments are carried out using a diverse dataset under various sea states, and the proposed method is evaluated against three methods from different disciplines. The results demonstrate that the data-driven approach outperforms the compared methods, showing a better overall performance across multiple wave scenarios.

• Landsverk, Ronny; Zhou, Jing & Hagen, Daniel (2024). Antiswing Control and Trajectory Planning for Offshore Cranes: Design and Experiments. MIC Journal: Modeling, Identification and Control. ISSN 0332-7353. 45(4), p. 115–126. doi: 10.4173/mic.2024.4.1. Full text in Research Archive
• Landsverk, Ronny; Zhou, Jing & Hagen, Daniel (2023). Antiswing Control and Trajectory Planning for Offshore Cranes. Proceedings of the Annual Conference of the IEEE Industrial Electronics Society (IECON). ISSN 1553-572X. doi: 10.1109/IECON51785.2023.10312101. Full text in Research Archive Show summary

  Safe handling of heavy payloads in an offshore environment requires careful crane maneuvering to avoid collision with obstacles and other equipment. The residual swing from a hanging payload can ultimately lead to danger and high cost failures if not properly dealt with. This paper investigates an openloop control method for eliminating the payload swing for hanging loads on offshore knuckle-boom cranes. A trajectory tracking method is designed for payload swing suppression for open-loop control and based on the iterative learning algorithm. It is shown that the proposed anti-swing control method guarantees asymptotic convergence of the swing, the angular velocity, and the angular acceleration of the payload using Lyapunov techniques. The simulation results show the superior performance of the proposed anti-swing control method.

• Landsverk, Ronny; Zhou, Jing; Hovland, Geir & Zhang, Houxiang (2020). Modeling of Offshore Crane and Marine Craft in Wave Motion. IEEE Conference on Industrial Electronics and Applications. p. 1463–1470. doi: 10.1109/ICIEA48937.2020.9248110. Full text in Research Archive Show summary

  Safe handling of heavy payloads in an offshore environment requires careful planning and depends on the interaction between a crane and a vessel. This paper investigates the coupled dynamics between a multipurpose crane with payload, and an offshore carrying vessel. A classical multi-body model is derived using holonomic constraints and Newton-Euler kinetics. The resulting index-3 system of differential-algebraic equation (DAE) is transformed into an index-1 system and solved using commonly used numerical ode solvers. Numerical simulations are carried out to show that the proposed models behave in a physically realistic manner.

• Landsverk, Ronny & Zhou, Jing (2018). Modeling and simulation of an offshore crane, 2018 13th IEEE Conference on Industrial Electronics and Applications. IEEE (Institute of Electrical and Electronics Engineers). ISSN 9781538637586. p. 713–718. doi: 10.1109/ICIEA.2018.8397806. Full text in Research Archive

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