Publications

JOURNAL ARTICLES

Bertaska, I. R. and von Ellenrieder, K. D. Experimental Evaluation of Supervisory Switching Control on an Unmanned Surface Vehicle. (In Preparation).

Qu, H. and von Ellenrieder, K. D. Lyapunov-based adaptive wind feedforward control for unmanned surface vehicle station keeping. IEEE Trans. Mechatronics (submitted, under review).

Sinisterra, A. J. Dhanak, M. and von Ellenrieder, K. D. Stereovision-Based Target Tracking System for USV Operations. J. Ocean Engineering (submitted, under review).

Sarda, E. I., Qu, H., Bertaska, I. R. and von Ellenrieder, K. D. Station-keeping Position and Heading Control of an Unmanned Surface Vehicle exposed to Wind and Current Disturbances. J. Ocean Engineering (submitted, under review).

Klinger, W. Bertaska, I. R., von Ellenrieder, K. D. and Dhanak, M. R. Adaptive Control of an Unmanned Surface Vehicle with Uncertain Displacement and Drag. IEEE J. Oceanic Engineering. (In Press – DOI:10.1109/JOE.2016.2571158 – Link to Abstract)

Shah, B. C. Svec, P. Bertaska, I. R. Sinisterra, A. J.  Klinger, W. B. von Ellenrieder, K. D. Dhanak, M. and Gupta, S. K. Resolution-Adaptive Risk-Aware Trajectory Planning for Surface Vehicles Operating in Congested Civilian Traffic. J. Autonomous Robots. (In Press – SpringerLink Online First Access)

Bertaska, I. R. Shah, B. C. von Ellenrieder, K. D. Svec, P. Klinger, W. B. Sinisterra, A. J. Dhanak, M. R. and Gupta, S. K. (2015) Experimental Evaluation of Automatically-Generated Behaviors for USV Operations. J. Ocean Engineering. 106:496-514  (Link to full text at Elsevier).

Duerr, P. and von Ellenrieder, K. D. (2015) Scaling and Numerical Analysis of Nonuniform Waterjet Pump Inflows. IEEE J. Oceanic Engineering. 40(3):701-709. (Link to Abstract)

Valentine, W. and von Ellenrieder, K. D. (2015) A Scaling Procedure for Marine Hydrokinetic Systems. IEEE J. of Oceanic Engineering. 40(1): 27-36. (Link to Abstract)

Finkel, C. L. and von Ellenrieder, K. D. (2014) Synchronization and phase dynamics of oscillating foils. Journal of Fluid Mechanics. 752:5-21. (Link to Abstract)

VanZwieten, J. H. Seibert, M. G. and von Ellenrieder, K. D. (2014) Anchor Selection Study for Ocean Current Turbines. IMarEST J of Marine Engineering & Technology 13(1):59-73. (Link to Abstract)

Marquardt, J. G. Alvarez, J. and von Ellenrieder, K. D. (2014) Characterization and System Identification of an Unmanned Amphibious Tracked Vehicle. IEEE J. Oceanic Engineering. 39(4):641-661. (Link to Abstract)

von Ellenrieder, K. D. (2013) Free Running Tests of a Waterjet Propelled Unmanned Surface Vehicle. IMarEST J of Marine Engineering & Technology 12(1):1-9.

Rynne, P. F. and von Ellenrieder, K. D. (2010) Development and preliminary experimental validation of a wind & solar powered autonomous surface vehicle. IEEE J. Oceanic Engineering 35(4):971-983.  (Link to full text at IEEE Xplore)

Tall, M. H. Rynne, P. F. Lorio, J. M. and von Ellenrieder, K. D. (2010) Visual-Based Navigation of an Autonomous Tugboat, J Marine Technology Society, 44(2):37-45.

Rynne, P.F. and von Ellenrieder, K. D. (2009) Unmanned Autonomous Sailing: Current Status and Future Role in Sustained Ocean Observations,  J Marine Technology Society, 43(1): 21-30

von Ellenrieder, K. D. Parker, K and Soria, J. (2008) Fluid mechanics of flapping wings. Experimental Thermal Fluid Sciences 32(8): 1578-1589. (Link to full text at Science Direct)

von Ellenrieder, K. D. and Pothos, S. (2008) PIV measurements of the asymmetric wake of a two dimensional heaving airfoil. Expts. in Fluids 44(5): 733–745. (Link to Abstract)

Parker, K. von Ellenrieder, K. D. and Soria, J. (2007) Morphology of the forced oscillatory flow past a finite-span wing at low Reynolds number. Journal of Fluid Mechanics 571:327–357. (Link to Abstract)

Parker, K. Soria, J. and von Ellenrieder, K. D. (2007) Thrust measurements from a finite-span flapping wing. AIAA Journal 45(1):58–70. (Link to Abstract)

Parker, K. Soria, J. and von Ellenrieder, K. D. (2005) Using Stereo Multigrid DPIV (SMDPIV) measurements
to investigate the vortical skeleton behind a finite-span flapping wing. Expts. in Fluids 39(2):281-298. (Link to Abstract)

BOOK CHAPTERS

von Ellenrieder, K. D. and Dhanak, M. R. (2017) Ch. 7 Hydromechanics. In M. R. Dhanak & N. I. Xiros (Ed.), Springer Handbook of Ocean Engineering, Part A: Fundamentals. (pp. 127-175) Springer Science & Business Media. (In Press – DOI: 10.1007/978-3-319-16649-0, ISBN: 978-3-319-16648-3).

SELECTED CONFERENCE PUBLICATIONS/PRESENTATIONS

3^rd Annual Florida Automated Vehicles Summit (December 2015) Invited Speaker “Applications for Unmanned Systems: Unmanned Surface Vehicles” Karl von Ellenrieder

3^rd Annual Florida Automated Vehicles Summit (December 2015) “An Unmanned Surface Vehicle Robotic Bridge Inspection System” Karl von Ellenrieder – 1^st Place Poster

2015 National Robotics Initiative (NRI) PI Meeting (November 2015) “Enabling Risk-Aware Decision Making in Human-Guided Unmanned Surface Vehicle Teams” S. K. Gupta and K. D. von Ellenrieder

MTS/IEEE Oceans ’15 Washington DC (September 2015). “Adaptive Wind Feedforward Control of an Unmanned Surface Vehicle for Station Keeping,” H. Qu and K. D. von Ellenrieder.

MTS/IEEE Oceans ’15 Washington DC (September 2015). “Supervisory Switching Control of an Unmanned Surface Vehicle,” I. R. Bertaska and K. D. von Ellenrieder.

MTS/IEEE Oceans ’15 Washington DC (September 2015). “Development of a USV-Based Bridge Inspection System,” K. D. von Ellenrieder.

MTS/IEEE Oceans ’15 Genova (May 2015). “Development of a USV Station-Keeping Controller,” E. I. Sarda, I. R. Bertaska, H. Qu and K. D. von Ellenrieder.

MTS/IEEE Oceans ’15 Genova (May 2015). “Wind Feed-forward Control of a USV,” H. Qu, E. I. Sarda, I. R. Bertaska and K. D. von Ellenrieder.

IEEE/OES 11^th Current, Waves and Turbulence Measurement Workshop (March 2015) “Experimental evaluation of motion compensated ADV water velocity measurements applicable to ocean current energy projects,” J. H. Van Zwieten, M. N. Egeland, K. D. von Ellenrieder, J. W. Lovenbury.

ASNE Launch & Recovery 2014 (November 2014). “Concept for a USV–based autonomous launch and recovery system,” E. Sarda, M. Dhanak, and K. D. von Ellenrieder.

2014 IEEE/OES Autonomous Underwater Vehicles (October 2014). “High-Level Fuzzy Logic Guidance System for an Unmanned Surface Vehicle (USV) tasked to perform Autonomous Launch and Recovery (ALR) of an Autonomous Underwater Vehicle (AUV)” D. Pearson, P.-C. An, P. P. Beaujean, K. D. von Ellenrieder and M. D. Dhanak.

MTS/IEEE Oceans (September 2014). “Experimental Testing of an Adaptive Controller for USVs with Uncertain Displacement and Drag,” W. B. Klinger and K. D. von Ellenrieder.

IEEE/RSJ International Conference on Intelligent Robots and Systems (September 2014).  “Trajectory planning with adaptive control primitives for autonomous surface vehicles operating in congested civilian traffic,” B. C. Shah, P. Svec, I. R. Bertaska, K. Wilhelm, A. J. Sinisterra, K. D. von Ellenrieder, M. R. Dhanak, and S. K. Gupta.

RSS 2014 Workshop on Autonomous Control, Adaptation, and Learning for Underwater Vehicles (July 2014). “Field Testing of Dynamics-Aware COLREGs-Compliant Behaviors for USVs,” Bertaska, I. R. Sinisterra, A. Shah, B. C. Švec, P. von Ellenrieder, K. D. Dhanak, M. D. and Gupta, S. K.

33^rd Intl Conference on Ocean, Offshore, and Arctic Engineering OMAE2014 (July 2014). “Experimental evaluation of motion compensated ADV measurements applicable to ocean current energy projects,” Egeland, M. N. Van Zwieten, J. H. von Ellenrieder, K. D. and Lovenbury, J. W.

ICRA 2014 Workshop on Persistent Autonomy for Marine Robotics (June 2014). “Adaptive sampling based COLREGs-compliant obstacle avoidance for autonomous surface vehicles,” Svec, P. Shah, B. C. Bertaska, I.R. Klinger, W. B. Sinisterra, A. J. von Ellenrieder, K. D. Dhanak, M. D. and Gupta, S. K.

IEEE/RSJ International Conference on Intelligent Robots and Systems (November 2013).  “Dynamics-Aware Target Following for an Autonomous Surface Vehicle Operating under COLREGS in Civilian Traffic,” P. Svec, B. C. Shah, I. R. Bertaska, J. Alvarez, A. J. Sinisterra, K. D. von Ellenrieder, M. R. Dhanak, and S. K. Gupta.

ASME Dynamic Systems and Control Conference (October 2013). “Experimental Evaluation of Approach Behavior for Autonomous Surface Vehicles,” I. R. Bertaska, J. Alvarez, A. J. Sinisterra, K. D. von Ellenrieder, M. R. Dhanak, B. C. Shah, P. Svec, and S. K. Gupta.

ASME Dynamic Systems and Control Conference (October 2013). “Nonlinear control of an unmanned amphibious vehicle,” J. Alvarez, I. R. Bertaska, and K. D. von Ellenrieder.

MTS/IEEE Oceans (September 2013). “Modeling and Simulation of an AUV-towfish System,” K. D. von Ellenrieder and L. Miller.

MTS/IEEE Oceans (September 2013). “Investigation of Non-uniform Waterjet Pump Inflow for a Range of Ship Speeds,” P. S. Duerr and K. D. von Ellenrieder.

MTS/IEEE Oceans (September 2013). “Controller Design and Simulation of a Waterjet Propelled Unmanned Surface Vehicle with Uncertain Drag and Mass Properties,” W. B. Klinger and K. D. von Ellenrieder.

ASME Offshore Mechanics and Arctic Engineering (July 2013). “Seakeeping characteristics of a Wave-Adaptive Modular Unmanned Surface Vehicle,” M. D. Dhanak, P. Ananthakrishnan, and K. D. von Ellenrieder.

5^th & 6^th MARINELIVE Workshop on Ship Power Management Systems (June 2013) “A planing-hull propulsion model with induction motor, speed control, direct shaft drive and surface piercing propeller.” P. R. Medranda, N. I. Xiros and K. D. von Ellenrieder.

MTS/IEEE Oceans (October 2012). “Design and Analysis of an Ocean Current Turbine Performance Assessment System,” M. T., Young, J. H. Van Zwieten, and K. D. von Ellenrieder.

MTS/IEEE Oceans (October 2012). “Characterizing Magnetic Sensors and Magnetic Noise of AUVs,” D. Tilley, M. D. Dhanak, E. An, and K. D. von Ellenrieder.

1^st International MARINELIVE Conference on the All Electric Ship (June 2012) “A modular dynamical simulation model for all-electric ship powertrain with surface piercing propeller,” N. I. Xiros, Z. S. Zisman, and K. D. von Ellenrieder.

ASNE Day 2012: Naval Warfare – Critical Engineering Challenges (February 2012) “UV Sentry: A Collaborative Approach to Creating a Collaborative System.” C. Sarles, et al.

Ocean Renewable Energy Symposium at the 2011 OMAE Conference (June 2011) “Wave height measurements behind submerged lens-shaped structures” A. Bloxom, M. Anderson, R. Mieras, S. Weidle, and K. D. von Ellenrieder

29^th American Towing Tank Conference (August 2010) “Open Water Tow Tank Testing of a Surface Piercing Propeller” K. D von Ellenrieder, J. M. Lorio and L. M. Altamirano

MTS/IEEE Oceans (October 2009).  “A Wind-Propelled Small Waterplane Area Spar” Rynne, P. F. and von Ellenrieder, K. D.

MTS/IEEE Oceans (October 2009).  “Design, Construction, and Initial Testing of an Autonomous Surface Vehicle for Riverine and Coastal Reconnaissance” J. E. Dusek, T. C. Furfaro, and K. D. von Ellenrieder

MTS/IEEE Oceans (October 2009).  “Visual-Based Navigation of an Autonomous Tugboat” M. H. Tall, P. F Rynne, J. M. Lorio and K. D von Ellenrieder

MTS/IEEE Oceans (October 2009).  “Design and Functional Testing of a Next Generation Surface Piercing Propeller Test Stand” J. M. Lorio, L. M. Altamirano and K. D. von Ellenrieder

MTS/IEEE Oceans (September 2008).  “A Wind and Solar-Powered Autonomous Surface Vehicle for Sea Surface Measurements” Rynne, P. F. and von Ellenrieder, K. D.

Australian Fluids Mechanics Workshop (December 2006).  “Dynamical systems analysis of flapping wing propulsion” von Ellenrieder, K. D.

MTS/IEEE Oceans (September 2006).  “Force/flow measurements on a low-speed, vector-thruster propelled UUV” von Ellenrieder, K. D. and Ackermann, L. E. J.