To address the maritime industry’s need for reduced fuel consumption and greenhouse gas emissions, this study explores the integration of wind-assisted ship propulsion (WASP) into existing deck equipment. Specifically, it investigates the feasibility and performance of incorporating a Flettner rotor into a crane structure on a general cargo vessel. A concept development phase identified the rotor-integrated design as the most promising option, followed by a performance evaluation phase using four case studies. These cases examined the effects of rotor sizing, rotor positioning, wake interference from cargo, and the aerodynamic impact of the crane boom. Results show that while integrated rotors face performance constraints compared to standalone systems, mainly due to size limitations, their elevated mounting position can offer advantages. The study concludes that integrating a Flettner rotor into a crane is viable, offering space-saving benefits, though further research is needed to refine aerodynamic modeling and validate the mechanical design.

Locomotion over granular terrain poses significant challenges for autonomous robotic systems, particularly in coastal regions characterized by loose, shifting sands. These sandy surfaces exhibit unpredictable behaviour, alternating between solid-like and fluid-like states, making movement across them particularly difficult. Ensuring reliable mobility on such terrains is essential for tasks like environmental monitoring, infrastructure inspection, and search-and-rescue missions. This thesis presents a simulation-aided design approach to develop a soft, shape-adapting, wheeled locomotion system optimized for sandy terrains. A co-simulation framework combining the discrete element method (DEM) and multibody dynamics (MBD) is employed to simulate the locomotion of a wheeled robot on varying sandy soils, covering both dry and wet sandy soil conditions. DEM models individual sand particles and their contact interactions, while MBD captures the robot’s motion and mechanical behaviour. Using this approach, a shape-adapting wheel was designed with inflatable soft elements placed between rigid lugs. The inflation state changes the wheel geometry, allowing it to adapt to different terrain conditions. The wheel can transform between a lugged configuration for increased traction and a circular configurations for smoother travel. The robot prototype, built around this wheel concept, was evaluated in simulations on various sandy soils, including dry, wet, and very wet sand. Additionally, the prototype was evaluated in simulations on different terrain configurations, such as slopes and obstacles. Simulation results demonstrate improved performance of the shape-adapting wheels across a variety of sandy terrains, including slopes and obstacles. Integrating softness into the wheel improves obstacle climbing performance, while a lugged wheel configuration performs particularly well on loose, dry sandy slopes. Overall, the DEMMBD co-simulation framework offers a powerful tool for evaluating and optimizing robotic locomotion strategies in granular environments. It enables rapid iteration of design configurations without the need for extensive physical prototyping, reducing development time and cost.

The increasing global container trade has intensified demands on container handling technology. Automation has addressed many challenges, but limitations persist, particularly in spreader design. These attachments, equipped with rotating twist locks, rely on remote-controlled actuators and sensors. However, current designs exhibit frequent maintenance, multiple failure points, and limited sensing capabilities. Additionally, dependence on external power restricts mobility, limiting their use in smaller terminals and remote operations. This research employs an iterative design approach to develop a novel spreader that reduces maintenance frequency by 75 percent, minimizes failure points by 50 percent, and integrates an advanced control algorithm with built-in error detection. This reduces reliance on remote operators, enhancing safety by mitigating operator fatigue-induced errors. An internal power source enables 20 hours of continuous operation, while the independent control system reduces downtime by 1 hour, minimizing delays from operator breaks.

This research investigates the design and development of shape-morphing structures using smart materials, including hydrogels, Shape Memory Polymers (SMPs), and Shape Memory Alloys (SMAs), with applications in soft robotics. By leveraging the unique properties of these materials, the study aims to develop adaptive and responsive structures capable of controlled deformation, providing solutions for robotics, biomedical devices, and adaptive engineering systems. The main research question guiding this study is: ”How can smart materials be used to develop a shape-morphing structure applied to soft actuators?” To address this research question, a theoretical foundation was laid, and modelling techniques for shape-morphing structures using smart materials specifically hydrogels, SMPs, and SMAs were explored. These materials enable controlled and reversible deformations in response to external stimuli, making them ideal for applications in soft robotics, aerospace, and biomedical engineering. The role of morphology in shaping deformation behaviour was examined, highlighting how geometric configurations influence structural adaptability. Finite Element Analysis (FEA) was introduced as the primary tool for modelling and predicting material behaviour, facilitating the optimisation of shape-morphing actuators. The research further investigates how smart materials can be structured, actuated, and combined to achieve efficient morphing while ensuring stability, functionality, and durability. Special emphasis is placed on bending deformation as a key performance indicator (KPI) for evaluating actuator efficiency. Hydrogels were extensively examined for their stimuli-responsive properties, particularly their ability to swell and deform in response to external factors such as temperature changes. Various hydrogelbased structures were modelled, including ball-to-ball setups, flexible fingers, can structures, and surface grids. The results highlighted the critical role of geometric arrangements in determining deformation characteristics—symmetrical designs facilitated smooth and predictable morphing, whereas denser frameworks provided controlled folding and structural integrity. Material orientation significantly influenced deformation directionality, while overall structure length impacted computational complexity without drastically affecting morphing efficiency. A maximum expansion factor of 1.37 in diameter and 2.59 in volume at 275 K was observed, demonstrating the potential for substantial volumetric change in shape-morphing applications. For SMPs and SMAs, structural configurations were explored to enhance shape-morphing efficiency. A key development was the integration of the intelligent building block into a cylindrical geometry, designed for precise and controlled deformation. Material properties were analysed to identify factors influencing mechanical response, and constitutive equations were implemented in Abaqus to simulate thermo-mechanical behaviour under various loading and thermal conditions. Geometric parameters, including block width (Bw), block height (Bh), segment ratio (Rs), and cylinder thickness (Ct), were systematically optimised, revealing key interactions that affect morphing performance. Taller and wider blocks increased bending, while higher segment ratios and thicker cylinders exhibited reduced deformation. A Design of Experiments (DoE) methodology confirmed that geometric tuning enhances shape-morphing effectiveness. This design also showed that the maximum bending angle achievable was 60.0 degrees. Additional studies on cylinder orientations relative to the actuation direction demonstrated that minor misalignments had minimal impact on bending performance. Various geometric alternatives, including square, circular, elliptical, and hexagonal shapes, were evaluated, though the intelligent building block remained the most effective for precise, scalable deformation. Multi-cylinder configurations demonstrated multi-directional morphing, expanding the versatility of these materials for dynamic applications. The integration of SMPs, SMAs, and hydrogels into a unified shape-morphing framework underscores the potential of smart materials for advanced robotic and engineering applications. This study not only provides a strong theoretical foundation for the controlled actuation of these materials but also presents practical design principles for their implementation in soft robotic actuators, bio-inspired devices, and adaptable structures. By bridging theoretical principles with experimental validation, this research lays the groundwork for future advancements in smart material-based technologies. Future studies should focus on further optimising material properties, exploring hybrid actuation mechanisms, and incorporating torsional deformation to expand the capabilities of shape-morphing structures. Additionally, integrating these systems with external control feedback and real-world testing will be crucial for transitioning smart material actuators from simulation to real-world applications, particularly in soft robotics and adaptive mechanical systems.

The Paris Agreement of 2015 has increased the demand for renewable energy sources. The Dutch government plans to exploit the North Sea as its green power plant by implementing 3 GW of offshore solar (OS) energy in existing wind parks. The complementary nature of wind and solar results in more clean energy at a constant power rate. By pooling the power infrastructure of the offshore wind farms (OWF), only a short power export cable (PEC) from the OS system to an OWF transformer is needed to plug in the OS system.

This study aimed to address a research gap in operational conditions for OS systems by exploring how to perform a PEC pull-in on an OS farm. Power cable pull-in operations are normally performed on monopiles of OWTs and, more recently, on floating OWT foundations. However, pull-in operations at sea-surface level, directly at the ocean surface, are not common, especially on systems that act like enormous blankets on the ocean surface. The Oceans of Energy OS farm was used as a case study, representing a novel floating system that behaves like a large blanket and moves directly with the waves at sea-surface level.

The need for an integrated pull-in equipment design was addressed by applying a double diamond design cycle. According to the design methodology, the research first focused on mapping the limits of the OS system. Firstly, a large-scale OS system description was given to understand the relevant aspects of the OS system. This resulted in the hang-off floater location, at which the PEC is pulled in and terminated. Secondly, the hang-off floater was described from a more local perspective to define the requirements.

The requirements were found by analysing and calculating the OS system boundaries and by consulting experts in marine operations. Calculations were done to determine the submerge limits of the hang-off floater, resulting in a limiting external force. The analysis identified the critical steps in the pull-in procedure, which were applied to a force analysis on the relevant PEC segment. This force analysis led to the limiting forces needed for the design of equipment. Together with the advice from experts, this effort resulted in a statement of requirements.

By applying the second part of the design methodology, the design of the equipment resulted in an A-frame. It proved to be a feasible design, as it is commonly used in offshore marine operations. By performing internal force calculations, multiple design choices were addressed and validated. The design proved to be ideal for integration with the OS system; therefore, future iterations towards a final design were provided.

The integration of the A-frame proved to be feasible based on the force analysis. To find out whether the operational challenges of the OS system could be tackled, the offshore operations were considered. By design, the A-frame consists of multiple 20kg pieces, which can be carried to the hang-off floater from a boat landing. In order to verify the design, the equipment installation and the PEC pull-in procedure were described.

In conclusion, this research addressed the unique challenges of power export cable (PEC) pull-in operations at sea-surface-level offshore solar (OS) systems. Unlike fixed or stable floating offshore wind turbines (FOWTs), OS systems require lightweight, modular equipment for safe deployment and retrieval in dynamic conditions. The study demonstrated that A-frames, widely used in offshore operations, can also be adapted for PEC pull-ins on large-scale OS systems in shallow waters. Clear design boundaries and requirements were established to guide future equipment development. The applied design methodology clarified operational limits and provided a starting point for refining pull-in equipment for OS systems.

For future work, it was advised to address the detailed design of the equipment integration to the floater. Also, the material choice was addressed to create weight savings for a more efficient operation. Further recommendations suggest inputs for a model that links parameters to requirements, to address future projects in environments other than the North Sea.

With the growing popularity of virtual and augmented reality, there is an increasing demand for haptic devices that can replicate naturally occurring tactile sensations. Specifically, multimodal devices capable of delivering multiple types of haptic feedback simultaneously are crucial for enhancing realism and immersion. In this paper, we introduce a novel, entirely soft, multimodal haptic ring designed to provide vibratory, pressure, and thermal stimuli. Our ring, targeted for texture rendering applications, integrates pneumatic and hydraulic circuits to accurately simulate the roughness, temperature, and compliance cues experienced when freely exploring surfaces with the fingertip. We validated the performance of our system through a psychophysical experiment, which demonstrated that participants could match virtual textures displayed by the ring with real textures with up to 90 % accuracy for several surfaces. Participant’s adjectives ratings indicated that the ring can provide distinctly different stimuli in all of the rendered perceptual dimensions, closely matching those of real textures. This study shows that by relocating tactile feedback from the fingertip, our ring offers maximum wearability, enabling free exploration of surrounding environments and full range of motion, highlighting its potential in mixed reality applications.

The analysis presented in this work confirms that optimizing the diameter ratio and wrap angle is crucial for tailoring the auxetic properties of HAYs. A higher diameter ratio enhances the auxetic effect, making the material more responsive to axial strain with sustained lateral expansion. Conversely, a lower wrap angle improves the initial auxetic response but limits the range of strain over which this response is maintained. These insights are critical for designing materials with desired mechanical properties, particularly in applications requiring specific auxetic behavior within a defined range of strain.

Model 3, introduced in this work, generally provides a reasonable approximation of the contact pressure behavior as a function of axial strain, especially at low strains. However, as strain increases, the limitations of Model 3 become apparent due to its simplified assumptions. The discrepancies observed between the theoretical models and simulation results suggest that further refinement or calibration might be needed to improve their accuracy, particularly in predicting the exact magnitude of contact pressure under different loading conditions.

Overall, this work contributes valuable insights into the design of auxetic materials, offering guidelines for optimizing HAYs' performance while minimizing adverse effects like engulfment. Future work should include experimental validation to fully bridge the gap between theory, simulation, and real-world application, ensuring that the theoretical advancements can be reliably applied in practice.

Smart materials, particularly thermoresponsive hydrogels, have gained significant attention in fields like soft robotics due to their ability to respond to external stimuli such as temperature. This study focuses on the synthesis and characterization of Poly(N-isopropylacrylamide) (PNIPAM) hydrogels, exploring how varying concentrations of monomers and crosslinkers influence their mechanical properties, swelling behaviour, and fatigue resistance. Using a combination of experimental methods, including rheometry, indentation tests, swelling-deswelling analyses, and cyclic loading-unloading (fatigue) tests, alongside Finite Element Method (FEM) simulations, this research examines the relationships between these concentrations and hydrogel properties. Results indicate that the mechanical stiffness, swelling ratios, and fatigue resistance can be modulated by adjusting the concentrations of monomer and crosslinker, making PNIPAM hydrogels a promising material for applications requiring tuneable mechanical properties and durability. This study contributes to the advancement of soft robotics by providing insights into the material properties and behaviours needed for practical applications and by suggesting avenues for future research in hydrogel-based actuation systems.

Enceladus, a moon of Saturn, is a prime candidate for extraterrestrial life due to its subsurface ocean and organic-rich water plumes, discovered by the Cassini mission. Exploring this potential involves significant challenges due to the harsh and dynamic environment of Enceladus. The moon’s cryogenic temperatures, tectonic activity and uncertain surface textures necessitate robust and reliable means of surface sample acquisition. This thesis introduces an ice sampling system designed for future lander missions to this moon, integrating digital holographic microscopy, microfluidics, and boundary layer pumping to meet these challenges.
The proposed system is controlled by a single rotary actuator, minimizing mechanical complexity and enhancing reliability for deep space operations. It samples, liquefies, and prepares ice for microscopic examination to detect potential microorganisms. The sample is acquired via a conical boundary layer pump and delivered into a microfluidic disk for analysis. The integrated system operates as a single static unit with closed-loop control, enabling precise management of fluid dynamics, and thereby the sample.
The integrated digital holographic microscope provides non-invasive, three-dimensional imaging capa- bilities without mechanical focusing, making it suitable for the extreme conditions on Enceladus. The proof-of-concept prototype demonstrates the system’s feasibility and effectiveness through experimental validation of all subsystems. Additionally, open-source software was developed for processing hologram images, including particle counting and blob analysis.
Future work will focus on adapting this technology for broader terrestrial scientific applications and achiev- ing the necessary technology readiness level for space missions. The system’s robust architecture pro- vides a versatile platform that facilitates the integration of not only microscopy but also a diverse array of other life detection instruments. Consequently, this sampling apparatus represents a viable and innovative solution for the detection of life on Enceladus and other icy worlds.

Frugal innovation, an innovation philosophy encapsulating a significant reduction of costs and focus on core functionality of products is used by companies across the globe to reach expanded markets. Nevertheless, manufacturing processes seem to have largely been excluded from frugal innovation applications. Reconfigurable manufacturing systems offer large opportunities for increasing both the efficiency and flexibility of production systems yet have not considered manufacturing sustainability or resource-constraints. The combination of frugal and reconfigurable manufacturing into frugal, reconfigurable manufacturing systems (F-RMSs) therefore inherently offers opportunities to make frugal manufacturing viable and RMSs less wasteful. F-RMSs are explored in this paper. The opportunities inherent in their combination are explored, the exact meaning of F-RMSs delineated and criteria for its success defined. A list of core characteristics and enablers is also defined to further distinguish the F-RMS as a manufacturing system. As such the F-RMS is fully conceptualized. Subsequently, a design framework for F-RMSs is defined based on this definition and criteria. In this way F-RMS design is facilitated and its eventual implementation enabled. The framework is focused on a requirements gathering and basic design step, where advanced design and implementation guidelines are defined on a case-by-case basis. The thesis is finalized with a set of case studies where the framework is carried out at different companies to (re)design an F-RMS. The functioning of the F-RMS is thereby validated, with the opportunities inherent in their combination recognized in the practical designs created.

At a dry bulk terminal, coal and iron ore are transported in the open air by conveyor belts and handled by large (mainly automated) equipment. The dry bulk material is rough and the equipment is installed in the harsh environment of the harbour. With vessels continuously being unloaded by quay cranes and outgoing vessels and trains being loaded, the conveyor belts make lots of operational hours. With more than 27 kilometers of conveyor belts running at 4.5 m/s it is important these systems are maintained well.

To reduce downtime and maintenance cost, a new maintenance strategy will be created. Therefore, different maintenance strategies and methodologies will be explained and the current situation will be investigated. A new maintenance strategy will be created by using the FMECA method (Failure Modes, Effects and Criticality Analysis), where malfunctions of the conveyor belt systems will be prioritized according to their criticality. Malfunctions happening during the period of this thesis will be investigated and used as an example to proof the new maintenance strategy works. This strategy is applicable to other equipment and other terminals as well. In the end some future remarks will be discussed to further improve the new maintenance strategy.

The exponential growth in maritime trade during the 21st century has posed notable challenges for container terminals, resulting in congestion and operational inefficiencies. This study delves into the efficacy of Amphibious Automated Guided Vehicles (AGVs) as an innovative remedy to tackle these issues and facilitate the shift towards autonomous operations at container terminals. Motivated by the need to optimize spatial utilization and reduce reliance on conventional material handling equipment in port areas, this study employs an agent-based modeling approach. Subse- quently, the formulated model is applied in a case study focusing on major Ports of the World. This study undertakes a critical examination of the potential of Amphibious AGVs in alleviating congestion and operational challenges faced by container terminals in the context of an increasingly interconnected global trade setting. By conducting a thorough examination of existing literature and creating a generalised simulation model, this study aims to offer valuable insights that can influence the evolution of container terminal operations.

Cyanobacteria are photosynthetic microorganisms found in a variety of environments, including marine water bodies. Some species are able to perform biomineralization, producing minerals such as calcium carbonate (CaCO3) that may act as biocement. The biomineralization capability of cyanobacteria has already been explored in the development of Living Building Materials (LBMs), composed of an inert scaffold of sand and hydrogel, that contributes to CO2 capture.

The offshore industry is a significant user of concrete, contributing to 11% of the global CO2 emissions. Therefore, the application of cyanobacteria biomineralized materials is envisioned as a way to reduce CO2 emissions in this sector.

The cyanobacteria biomineralized material has been studied in the fields of construction and is applied in 3D printing, but its potential for offshore applications still needs to be explored.

This study aims to explores the proprieties of cyanobacteria biomineralized materials to catter some requirements of offshore applications, thereby contributing to a more sustainable practice. This was done by first recreating the material from other studies, assessing its mechanical proprieties and testing it in underwater conditions. This was followed by a tinkering process where material qualities (e.g., cyanobacteria optical density (OD), biomineralization/curing time, type of hydrogel, aditional coating) were adjusted to fullfill its purposes.

The impact of these changes were measured through submerging the material in seawater and assessing its mechanical proprieties.

The use of cyanobacteria at an OD of 2.4, resulted in the strongest material. Using agar as an hydrogel binder, countered the dissolvability of the material with a gelatine binder. On the other hand mechanical tests showed that the agar bonded material was significantly weaker than the gelatine bonded material. Adding a silicone rubber coating to the gelatine bonded material did not make the material resistant to seawater. A prolonged biomineralization time improved the strength of the material significantly but more exploration is required to determine if the biomineralization time is the result of this strength or the adjusted sand/medium ratio.

Overall, this study demonstrated that cyanobacteria biomineralized materials can be applied in offshore applications since the right cyanobacteria OD, binder, coating and biomineralization time are employed.

This thesis presents the design and experimental evaluation of an in-line, active ultrasound, condition monitoring setup for the detection of contamination in offshore bearing grease. This process is divided into three distinct research steps. First of all, the influences that affect ultrasound propagation through a bearing grease sample have been investigated through various laboratory experiments. Next, a practical, real-world experiment using a linear bearing has been designed and conducted with the aim of determining the applicability of such an in-line condition monitoring setup. Lastly, the performance of the in-line active ultrasound setup has been evaluated, improvements have been proposed and an overall condition monitoring strategy has been devised.

During the laboratory experiments, various influences on ultrasound wave propagation have been investigated. First of all, design-specific parameters, such as the distance between the sensors, the test-setup material, and the scalability of the measured output voltage have been investigated. Next, the effects of temperature fluctuations, air bubble fluctuations, water contamination and iron particle contamination on the attenuation and velocity of waves for active ultrasound spectroscopy were investigated. It has been shown that air bubble concentration and temperature fluctuations influence the attenuation of the ultrasound in the grease sample. Therefore, the temperature should be kept constant throughout the other experiments. Additionally, the air bubble concentration should be managed through a constant resting time throughout the other experiments. Moreover, it has been shown that a condition monitoring setup employing active ultrasound spectroscopy is able to determine water contamination and iron particle contamination. The highest sensitivity of this contamination detection is located in the first percentage of contamination concentration, showing an amplitude drop of about 0.5dB/mm to 1dB/mm and a change in speed of sound of about 5\% to 15\%. It is however, difficult to differentiate between the different types of contamination using only the attenuation and velocity spectroscopy methods.

The practical, real-world experiment using an operational Huisman linear bearing has illustrated the applicability of using an in-line grease condition monitoring setup in such an environment, by evaluating obstacles such as spatial constraints, location constraints, flowability of the grease and surrounding noise. It has been shown that these obstacles pose minimal challenges for the successful implementation of an in-line grease monitoring setup for effective condition monitoring of offshore bearing grease.

The evaluation of the improved in-line active ultrasound condition monitoring setup has highlighted the strengths and weaknesses of implementing such a setup for offshore applications. A possible combination of the proposed grease condition monitoring method with Acoustic Emission monitoring offers

With the current transition towards renewable and high-tech solutions, the world is becoming increasingly complex. Consequently, the challenges faced by firefighters also intensify. For that reason, firefighting robots are rising in popularity despite being far from perfect. An important area of improvement is the perception capabilities of those robots, given the fact that firefighting robots suffer from occluded camera views in environments filled with smoke. To overcome this challenge a LiDAR sensor may be used but experiments in this work show that even those point clouds are adversely affected by smoke. Consequently, this work presents a method for real-time reconstruction of ground surfaces in occluded environments filled with smoke. The developed method functions in ROS Noetic and merges segmented ground points, when available, with ground surfaces which are reconstructed based on information from segmented wall points. In this way, the method works even without the presence of ground points. To achieve this, a combination of established techniques from scientific literature, along with newly developed techniques were implemented. Doing so gives the robot’s operator an improved representation of the ground surface within environments filled with smoke. Ultimately the developed method may allow for autonomous navigation based on LiDAR data within environments filled with smoke. This research shows that a method consisting of techniques which tackle the independent sub-challenges arising from the use of LiDAR in indoor environments filled with smoke can effectively reconstruct the ground surfaces within those environments. Furthermore, the developed method has the potential to do so in a real-time manner.

This research investigated the feasibility of designing an on-board system for the installation of fully assembled Tension Leg Platform Floating Offshore Wind Turbines (TLP FOWTs). The study aimed to identify a potential design that would enhance the overall feasibility of such installations, which required a combination of a literature review, a design methodology, and a concept evaluation.

The main research questions guided the study, focusing on the essential design elements and systems needed for the installation process. Key insights from the literature review helped form a basis for answering the first four sub-questions, while the subsequent sub-questions were addressed through concept development and analysis. The most crucial design decisions revolved around the connection between the installation deck and the ship and the selection of the actuating system.

Multiple concepts were developed, all incorporating a three-beam parallelogram configuration. A load analysis established an installation method and indicated three critical scenarios during the whole procedure. Force analysis, based on the load analysis, revealed two designs as the most feasible. This analysis provided crucial information on the direction and magnitude of forces within the system, guiding further refinement. Further specification of these designs addressed critical parameters, including the dimensions and structure of the beams, the size of the actuating system, and the integration of water ballast.

The study identified two potential solutions. One concept featured an additional framework within the three-beam configuration, optimising force distribution and introducing compressive forces in the actuating system, making a hydraulic cylinder the best choice. The other concept consisted of a simpler three-beam configuration, where the actuating system faced only tensile forces, making a winch system the most suitable solution.

The design methodology structured the development of these concepts, with analyses providing critical insights for further refinement. This iterative process highlighted the advantages and challenges of each concept.

In conclusion, this thesis contributed significantly to the current understanding of TLP FOWT installation by proposing potential solutions for the on-board installation system and identifying future research directions. Through its systematic approach and iterative design process, this research laid the groundwork for further advancements in the installation of TLP FOWTs.

This thesis presents a thorough study into the development and implementation of a control method for autonomous unmooring, trajectory tracking and mooring on an autonomous model-scale vessel.
Mooring and unmooring are vital processes in the operation of ships, as it is the system that secures and releases a ship to a terminal or multiple terminals. The process has remained relatively identical over the years, whereas autonomous shipping has been researched over time. This study addresses the lack of focus given to autonomous mooring and unmooring by offering a control strategy that leverages the vessel’s thrusters to perform these tasks, along with trajectory tracking. The study begins by reviewing existing research on trajectory tracking and maritime vessel mooring/unmooring, revealing the gaps in the integration of both procedures within autonomous operations.

To overcome these challenges, the study selects an applicable mathematical model for the vessel which will be controlled. This model covers kinematic and kinetic elements, as well as actuation and thruster allocation. This sets the groundwork for the development of a control strategy capable of precisely predicting and tracking the vessel’s position during unmooring, and trajectory tracking and mooring. Model Predictive Control (MPC) was chosen as an ideal control approach due to its ability to predict future states and effectively handle the complexities of marine operations. MPC makes it ideal for the difficulties of mooring and unmooring, where precise control is necessary to ensure safety and efficiency.

The control strategy was then developed and implemented in MATLAB/Simulink, with the approach modified to meet the model-scale vessel’s specific dynamics and operational requirements.
In addition, Key Performance Indicators (KPIs) to assess the effectiveness of the strategy were introduced. The strategy’s performance was assessed in three operational phases: unmooring, trajectory tracking, and mooring. The results show that the MPC controls the vessel’s trajectory well, with errors staying well below acceptable bounds. The largest deviation of the final trajectory during the mooring test was 9.8% of the length of the ship. A 1.0% deviation for the benchmark trajectories could also be observed. These results, in addition to others, validate the suggested strategy’s accuracy and dependability in practical situations.

In summary, this thesis provides a comprehensive control approach for autonomous unmooring, trajectory tracking and mooring for an autonomous model-scale vessel, bridging the gap between theoretical study and implementation in simulation. While the research identifies several limitations that present the potential for additional study, it also lays a solid foundation for future developments in autonomous maritime technology.

In many countries, Vacuum-Assisted Delivery (VAD) is the most common technique for instrumental vaginal delivery. Current VAD devices require the formation of a typical chignon on the infant’s scalp to achieve the necessary traction forces. This chignon, a swelling on the infant’s scalp, can lead to complications and, in severe cases, even death. This study addresses the question of how a new design for a VAD suction cup can reduce chignon formation while maintaining excellent adhesive performance. Three 3D-printed flexible suction cup designs with varying flexible lattice structures were designed to minimize chignon formation, and a bellow-shaped sealing lip was used to enhance the sealing performance. The performance of the novel designs are tested on an infant head surrogate and compared to a replica of the current commonly used Kiwi OmniCup®. Results indicated a significant reduction in scalp deformation, with the chignon volume ranging from 6.2% to 15.5% of that observed with the Kiwi replica. While the proposed suction cup designs show promise in reducing neonatal injuries by reducing the chignon formation, future work should focus on achieving a larger maximum traction force.

Low visibility in hard-to-reach environments, such as natural caves and tunnels, poses challenges for exploration due to the limited effectiveness of traditional sensors, such as cameras and distance sensors. Nature offers a solution to this problem embedded in the body of nocturnal animals in the form of vibrissal sensors, whiskers. In this study, we take inspiration from this principle and develop artificial biomimetic whiskers to aid quadrotors' navigation. Specifically, we design and control a whiskered drone for ceiling contour-following tasks, enabling tactile tracing of rugged ceilings while mitigating aerodynamic disturbances like the "ceiling effect". The proposed whiskered drone design allows for multiple whiskers in various orientations, providing real-time tactile feedback to guide the ceiling-following controller. Flight experiments validate the system's effectiveness in navigating both smooth and rugged ceilings, demonstrating the potential for whisker-based tactile navigation and future autonomy.

This thesis investigates the enhancement of energy absorption in traditional PVC air-filled boat fenders through the incorporation of twisted honeycomb lattice structures. The research addresses critical deficiencies in existing fender designs, primarily focusing on improving energy dissipation consistency and reliability. By leveraging advanced metamaterial design principles, this study explores the impact of various twist angles applied to honeycomb configurations within the fender. Results indicate that a 20◦ twist maximizes energy absorption due to optimal stress distribution and synergy between compression and shear forces. Conversely, higher angles such as 30◦, while initially improving energy absorption, introduce substantial stiffness, compromising the efficiency of energy distribution across the structure. This phenomenon underscores the importance of selecting appropriate twist angles to balance structural flexibility and energy management. The study employs ANSYS Workbench for explicit dynamic simulations to evaluate the performance of various configurations, confirming a structural activation threshold at 10◦ . This research advances the development of innovative fender designs, providing significant implications for their practical application in the marine industry.