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Publications
General information
Here you'll find several publications from the HUGIN work
- some of them as attached documents.
Other FFI-publications can be found in FFI's report database
P E Hagen, N J Størkersen, K Vestgård (2005):
HUGIN AUV's in Marine Research - Today and Tomorrow
Proceedings from International Workshop on Underwater Robotics (IWUR) 2005, Genoa, Italy - November 2005
P E Hagen, N J Størkersen, K Vestgård (2003):
The HUGIN AUVs - multirole capability for challenging underwater survey operations
EEZ International, 2003.
K Vestgård, R Hansen, B Jalving, O A Pedersen (2001):
The HUGIN 3000 Survey AUV
Proceedings from ISOPE 2001, Stavanger, Norway.
P E Hagen, N J Størkersen, K Vestgård (1999):
HUGIN - Use of UUV Technology in Marine Applications
Proceedings from Oceans '99. Seattle, WA, USA, September 1999. Copyright © 1999 IEEE.
N Størkersen, J Kristensen, A Indreeide, J Seim, T Glancy (1998):
Hugin - UUV for seabed surveying.
Sea Technology 39 (2), 99-104.
N Størkersen, A Indreeide (1997):
HUGIN - An Untethered Underwater Vehicle System for Cost Effective Seabed Surveying in Deep Waters.
Proceedings from Underwater Technology International 97, Aberdeen, UK, April 1997.
N Størkersen, H Henriksen, R A Klepaker (1996):
Acoustically Controlled Untethered Underwater Vehicle Systems for Deep Water Seabed Mapping.
Proceedings from ISOPE 1996, Los Angeles, CA, USA, May 1996.
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Battery Technology
Ø Hasvold, T C Johannessen, S Forseth, T Lian (2006):
Exposure of lithium batteries to external hydrostatic pressure
Proc. 42nd Power Sources Conference, Philadelphia, PA, USA, June 2006.
N Størkersen, Ø Hasvold, (2004):
Power Sources for AUVs
Proc. Science and Defence Conference, Brest, France, Oct 2004.
Ø Hasvold, K H Johansen, K Vestgård (2002):
The Alkaline Aluminium Hydrogen Peroxide Semi-Fuel Cell for the Hugin 3000 Autonomous Underwater Vehicle
Proceedings from AUV 2002, San Antonio, TX, USA, June 2002. Copyright © 2002 IEEE.
Ø Hasvold. N Størkersen (2001):
Electrochemical Power Sources for Unmanned Underwater Vehicles Used in Deep Sea Survey Operations.
Journal of Power Sources 96 (1): 252-258.
Ø Hasvold, K H Johansen et al. (1999):
The Alkaline Aluminium/Hydrogen Peroxide Power Source in the Hugin II Unmanned Underwater Vehicle.
Journal of Power Sources 80 (1-2): 254-260.
Ø Hasvold (1993):
A Magnesium - Seawater Power Source for Autonomous Underwater Vehicles.
Power Sources 14 (1993), Ed.: A Attewell and T Keily, pp.243-255.
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Military applications - systems
P E Hagen, N Størkersen (2006):
The HUGIN AUV for Force Protection in the Littorals
Proc. Nato RTO SCI-180 Symposium on Force Protection in the Littorals, Ottawa, Canada, Sept. 2006
P E Hagen, N Størkersen, K Vestgård (2004):
The HUGIN 1000 military AUV system
Proc. UDT Europe 2004, Nice, France, June 2004.
P E Hagen, N Størkersen, K Vestgård, P Kartvedt (2003):
The HUGIN 1000 Autonomous Underwater Vehicle for Military Applications
Proceedings from Oceans 2003 MTS/IEEE, San Diego, CA, USA, September 2003. Copyright © 2003 MTS.
P E Hagen, N Størkersen, K Vestgård (2001):
The HUGIN Autonomous Underwater Vehicle for Forward Mine Hunting Operations
Proceedings from UDT Europe 2001, Hamburg, Germany, June 2001.
Ø Midtgaard, P E Hagen, B Jalving, N J Størkersen (2000):
Autonomous Underwater Vehicle for Mine Reconnaissance.
Proceedings of the 5th IFAC Conference on Manoeuvring and Control of Marine Craft (MCMC 2000), Aalborg, Denmark, August 2000. Redistribution not permitted.
P E Hagen (2000):
Dual Use Development: The HUGIN Untethered Underwater Vehicle
Documentation from SMi conference Naval Mines, London, UK, November 2000.
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Military applications - operational experience
P E Hagen, N J Størkersen (2006)
Military Operations with HUGIN AUVs
Proc. World Maritime Technology Conference (WMTC) 2006, Advances in Technology for Underwater Vehicles (ATUV), London, UK, March 2006
P E Hagen, N J Størkersen, B-E Marthinsen, G Sten, K Vestgård (2005)
Lessons learned: Military Ops with HUGIN AUVs
Marine Technology Reporter, November 2005, pp.38-41
P E Hagen, N J Størkersen, K Vestgård (2005)
Network Centric Warfare With Autonomous Underwater Vehicles - Results from Experimentation with HUGIN 1000
Proc. Oceans 2005 MTS/IEEE, Washington DC, USA, September 2005. Copyright © 2005 MTS.
P Lågstad, P E Hagen, N Størkersen, B-E Marthinsen (2005):
Recent results from military operations with the HUGIN 1000 AUV
Proc. UDT Europe 2005, Amsterdam, The Netherlands, June 2005.
P E Hagen, N Størkersen, B-E Marthinsen, G Sten, K Vestgård (2005):
Military operations with HUGIN AUVs Lessions learned and the Way ahead.
Proc. IEEE Oceans 05 Europe, Brest, France, June 2005. Copyright © 2005 IEEE.
P Lågstad, P E Hagen, P Kartvedt (2004):
The HUGIN AUV in international military operations
Proc. UDT Europe 2004, Nice, France, June 2004.
P E Hagen, N Størkersen, P Kartvedt, K Vestgård (2004):
The HUGIN MRS in the Royal Norwegian Navy
Proc. UDT Hawaii 2004, Honolulu, HI, USA, October 2004.
P E Hagen, N Størkersen, K Vestgård, P Kartvedt, G Sten (2003):
Operational Military Use of the HUGIN AUV in Norway
Proceedings from UDT Europe 2003, Malmø, Sweden, June 2003.
P E Hagen, N Størkersen, K Vestgård, P Kartvedt, G Sten (2002):
AUV Based Mine Hunting Demonstrated from MCMV
Proceedings from UDT Europe 2002, La Spezia, Italy, June 2002.
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Navigation, Guidance and Control
O K Hagen (2006):
TerrLab - a generic simulation and post-processing tool for terrain referenced navigation
Proc. Oceans 2006 MTS/IEEE, Boston, MA, USA, Sept. 2006
B Jalving, M Mandt, O K Hagen, F Pøhner (2004):
Terrain Referenced Navigation of AUVs and Submarines Using Multibeam Echo Sounders.
Proc. UDT Europe 2004, Nice, France, June 2004.
K Gade (2004):
NAVLAB, a Generic Simulation and Post-processing Tool for Navigation
European Journal of Navigation volume 2, Number 4, 51-59.
B Jalving, K Gade, O K Hagen, K Vestgård (2003):
A Toolbox of Aiding Techniques for the HUGIN AUV Integrated Inertial Navigation System
Proceedings from Oceans 2003 MTS/IEEE, San Diego, CA, USA, September 2003. Copyright © 2003 MTS.
M Mandt, K
Gade, B Jalving (2001):
Integrating DGPS-USBL position measurements with inertial navigation in the HUGIN 3000 AUV
Proceedings from the 8th Saint Petersburg International Conference on Integrated Navigation Systems, Saint Petersburg, Russia, May 2001.
K Gade, B Jalving (1999):
An Aided Navigation Post Processing Filter for Detailed Seabed Mapping
Modeling, Identification and Control 20 (3): 165-176.
B Jalving (1999):
Depth Accuracy in Seabed Mapping with Underwater Vehicles
Proceedings from Oceans '99, Seattle, WA, USA, September 1999. Copyright © 1999 IEEE.
B Jalving, K Gade (1998):
Positioning Accuracy for the HUGIN Detailed Seabed Mapping UUV
Proceedings from Oceans '98, Nice, France, September-October 1998.
B Jalving (1994)
The NDRE-AUV flight control system
IEEE Journal of Oceanic Engineering, 19 (4):497-501
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Software
P E Hagen, J Kristensen (2002):
The HUGIN AUV "Plug and Play" Payload System
Proceedings from Oceans 2002 MTS/IEEE, Biloxi, MS, USA, October 2002. Copyright © 2002 IEEE.
P E Hagen (2001):
AUV/UUV Mission Planning and Real Time Control with the HUGIN Operator System
Proceedings from Oceans 2001, Honolulu, HI, USA, November 2001. Copyright © 2001 IEEE.
B Jalving, J Kristensen, N Størkersen (1998):
Program philosophy and software architecture for the Hugin seabed surveying UUV.
Proceedings from CAMS 98, Japan, November 1998.
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Synthetic aperture sonar
- overview
P E Hagen, R E Hansen, B Langli (2006)
Interferometric Synthetic Aperture Sonar for the HUGIN 1000-MR AUV
UDT Pacific 2006 Conference Proceedings, San Diego, CA, USA, Dec. 2006
R E Hansen, H J Callow, T O Sæbø, P E Hagen, B Langli (2006)
Signal Processing for the SENSOTEK Interferometric SAS:
Lessons Learned for HUGIN AUV Trials
Proc. International Conference on SAS and SAR, Lerici, Italy, September 2006
R E Hansen, T O Sæbø, H J Callow, B Langli (2006)
The SENSOTEK Interferometric Synthetic Aperture Sonar:
Results from HUGIN AUV Trials
Proc. 8th European Conference on Underwater Acoustics (ECUA 2006), Carvoeiro, Portugal, June 2006
R E Hansen, T O Sæbø, H J Callow, P E Hagen, E Hammerstad (2005):
Synthetic Aperture sonar Processing for the HUGIN AUV
Proc. IEEE Oceans 2005 05 Europe, Brest, France, June 2005. Copyright © 2005 IEEE.
R E Hansen, T O Sæbø, P E Hagen (2004):
Development of Synthetic Aperture Sonar for the HUGIN AUV
Proc. of the Seventh European Conference on Underwater Acoustics (ECUA 2004), Delft, The Netherlands, July 2004.
R E Hansen, T O Sæbø, K Gade, S Chapman (2003):
Signal Processing for AUV Based Interferometric Synthetic Aperture Sonar
Proceedings from Oceans 2003 MTS/IEEE, San Diego, CA, USA, September 2003. Copyright © 2003 MTS.
P E Hagen, R E Hansen, K Gade, E Hammerstad (2001):
Interferometric Synthetic Aperture Sonar for AUV Based Mine Hunting: The SENSOTEK prosjekt
Proceedings from Unmanned Systems 2001, Baltimore, MD, USA, July-August 2001.
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Synthetic aperture sonar
- interferometry
T O Sæbo, R E Hansen, H J Callow, B Kjellesvig (2007)
Using the Cross-Ambiguity Function for Improving Sidelooking Sonar Height Estimation
Proc. Underwater Acoustics Measurements 2007, Crete, Greece, June 2007
T O Sæbø, H J Callow, R E Hansen (2006)
Synthetic Aperture Sonar Interferometry: Experimental Results from SENSOTEK
Proc. 8th European Conference on Underwater Acoustics (ECUA 2006), Carvoeiro, Portugal, June 2006
T O Sæbø, R E Hansen, H J Callow (2005)
Height Estimation on Wideband Synthetic Aperture Sonar:
Experimental Results from InSAS-2000
Proc. Oceans 2005 MTS/IEEE, Washington DC, USA, September 2005. Copyright © 2005 MTS
T O Sæbø, R E Hansen (2004):
Bathymetric Imaging using Synthetic Aperture Sonar
Proc. of the Seventh European Conference on Underwater Acoustics (ECUA 2004), Delft, The Netherlands, July 2004.
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Synthetic aperture sonar
- other topics
R E Hansen, H J Callow, T O Sæbø (2007):
The Effect of Sound Velocity Variations on Synthetic Aperture Sonar
Proc. Underwater Acoustics Measurements 2007, Crete, Greece, June 2007
P E Hagen, R E Hansen, Ø Midtgaard (2007):
SAS and Side Scan Sonar Systems Compared: Experimental Results from HUGIN AUVs
Proc. Underwater Acoustics Measurements 2007, Crete, Greece, June 2007.
P E Hagen, R E Hansen (2007):
Area Coverage Rate of Synthetic Aperture Sonars
Proc. IEEE Oceans 07 Europe, Aberdeen, UK, June 2007. Copyright © 2007 IEEE.
P E Hagen, R E Hansen, K D Knutsen, B Langli (2006):
Post-Mission Analysis with the HUGIN AUV and High-Resolution Interferometric SAS
Proc. Oceans 2006 MTS/IEEE, Boston, MA, USA, September 2006.
H J Callow, R E Hansen, T O Sæbø (2006):
Effect of Approximations in Fast Factorized Backprojection of Synthetic Aperture Imaging of Spot Regions
Proc. Oceans 2006 MTS/IEEE, Boston, MA, USA, September 2006. Copyright © 2005 IEEE
H J Callow, R E Hansen (2006):
Fast Factorised Back Projection for Synthetic Aperture Imaging and Wide-Beam Motion Compensation
Proc. International Conference on SAS and SAR, Lerici, Italy, September 2006
H J Callow, T O Sæbø, R E Hansen (2005):
Towards Robust Quality Assessment of SAS Imagery using the DPCA algorithm
Proc. IEEE Oceans 2005 05 Europe, Brest, France, June 2005. Copyright © 2005 IEEE.
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