Browsing NTNU Open by Author "Gravdahl, Jan Tommy"

Now showing items 81-100 of 308

    • Design of Attitude Estimation and Control System for a Cube Satellite 

      Holberg, Fredrik Sola (Master thesis, 2012)
      Abstract The NUTS (NTNU Test Satellite) is a satellite being built in a student CubeSat project at the Norwegian University of Science and Technology. The project was started in September 2010 as a part of the Norwegian ...

    • Developing an ADCS Prototype for NTNU Test Satellite 

      Rein, Øyvind (Master thesis, 2014)
      NUTS is a student satellite program at NTNU with a goal of launching a cube satellite into space. Students contribute through projects, master theses or voluntary work. The satellite will shoot pictures of earth with a ...

    • Developing an ADCS Prototype for NTNU Test Satellite 

      Rein, Øyvind (Master thesis, 2014)
      NUTS is a student satellite program at NTNU with a goal of launching a cube satellite into space. Students contribute through projects, master theses or voluntary work. The satellite will shoot pictures of earth with a ...

    • Development of a Robust Autopilot Platform for use in Autonomous Vehicles 

      Austreng, Kolbjørn (Master thesis, 2021)
      Masteroppgaven beskriver utvikling- og etterprøvingsarbeidet av en redundant og modulær autopilotplattform for bruk i autonome fartøyer. Arbeidet dekker hele prosessen fra en gitt kravspesifikasjon, til en komplett integrert ...

    • Development, Implementation and Testing of Two Attitude Estimation Methods for Cube Satellites 

      Jenssen, Kristian Lindgård; Yabar, Kaan Huseby (Master thesis, 2011)
      As a part of the CUBESAT project at the Norwegian University ofScience and Technology (NTNU), this paper studies development andcomparison of attitude estimation methods for small cube satellites usinglow-cost sensors. The ...

    • Differential Geometric Modelling and Robust Path Following Control of Snake Robots Using Sliding Mode Techniques 

      Rezapour, Ehsan; Pettersen, Kristin Ytterstad; Liljebäck, Pål; Gravdahl, Jan Tommy (Journal article, 2014)
      This paper considers straight line path following control of wheel-less planar snake robots using sliding mode techniques. We first derive the Poincaré representation of the equations of motion of the robot using the ...

    • Discrete-Time Repetitive Control With Model-Less FIR Filter Inversion for High Performance Nanopositioning 

      Teo, Yik R.; Eielsen, Arnfinn Aas; Gravdahl, Jan Tommy; Fleming, Andrew J. (Journal article, 2014)
      Repetitive control (RC) is used to track and reject periodic exogenous signals. RC achieves tracking by incorporating a model of a periodic signal in the feedback path, which provides infinite loop-gain at the harmonic ...

    • Dynamic model of a tendon-actuated snake robot using the Newton-Euler formulation 

      D'Antuono, Gianluca; Pettersen, Kristin Ytterstad; Buonocore, Luca Rosario; Gravdahl, Jan Tommy; Di Castro, Mario (Chapter, 2023)
      Dynamic models are necessary when dealing with robotic applications where requirements of dexterity, manipulability, payload and compliance have to be satisfied at the same time. This work considers a particular design of ...

    • Dynamic Model of Mobile Inspection Robot for Industrial Robot Applications 

      Henriksen, Didrik Graham (Master thesis, 2017)
      The continued development of technology has seen a rapid increase in the use of industrial robots for manufacturing and processing tasks all over the industry. To be able to compete in todays industry efficiency is key. ...

    • Dynamic Modeling and Simulation of Robot Manipulators: The Newton-Euler Formulation 

      Høifødt, Herman (Master thesis, 2011)
      Dynamic modeling means deriving equations that explicitly describes the relationship between force and motion in a system. To be able to control a robot manipulator as required by its operation, it is important to consider ...

    • Energy and time optimal spacecraft attitude control and operations 

      Kristiansen, Bjørn Andreas (Doctoral theses at NTNU;2023:439, Doctoral thesis, 2023)
      In this thesis, we present a cost function based on net power as a way to make attitude control maneuvers energy optimal for solar-powered spacecraft. Previous work has defined energy optimality in terms of input norms or, ...

    • Energy efficiency of underwater robots 

      Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Journal article, 2015)
      Increasing efficiency by improving locomotion methods is a key issue for underwater robots. In this paper, we investigate the power consumption of different underwater robotic systems and compare the energy efficiency of ...

    • Energy efficiency of underwater snake robot locomotion 

      Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2015)
      Energy efficiency is one of the main challenges for long-term autonomy of underwater robotic systems. In this paper, we present results regarding the power consumption of underwater snake robots. In particular, we investigate ...

    • Energy harvesting and practical stabilization of underwater snake robots 

      Orucevic, Amer (Doctoral theses at NTNU;2023:429, Doctoral thesis, 2023)
      Energy efficiency is crucial for the operational time and reach of autonomous underwater vehicles (AUVs). A new class of AUVs, underwater snake robots (USRs), has an articulated body that may be utilized to enhance propulsion ...

    • Energy Optimal Attitude Control and Task Execution for a Solar-Powered Spacecraft 

      Kristiansen, Bjørn Andreas; Gravdahl, Jan Tommy; Gros, Sebastien Nicolas; Johansen, Tor Arne (Peer reviewed; Journal article, 2024)
      In this article, we aim to maximize the net energy a solar-powered spacecraft gains when performing a sequence of tasks leading to attitude maneuvers over the spacecraft’s orbit, including an eclipse. The net energy can ...

    • Estimation of inner-domain temperatures for a freezing process 

      Backi, Christoph Josef; Bendtsen, Jan Dimon; Leth, John; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2014)
      In this paper a state observer for a distributed parameter system (DPS) with nonconstant parameter functions is presented. The DPS describes the freezing of foodstuff in vertical plate freezers and is a nonlinear heat ...

    • Estimation of wax and hydrate deposition in a Cold Flow cooling system 

      Hirsti, Leif Andreas (Master thesis, 2019)
      Voks- og hyrdratavleiring har vært et problem i petroleumsbransjen en stund. EMPIG AS har utviklet et Cold flow kjøling system. Det er et 300 m langt rørsystem plassert inne i en container for å ha et kontrollert område ...

    • Evaluation of Variable Impedance-and Hybrid Force/MotionControllers for Learning Force Tracking Skills 

      Sadanandan Anand, Akhil; Myrestrand, Martin Hagen; Gravdahl, Jan Tommy (Chapter, 2022)
      For robots to perform real-world force interaction tasks with human level dexterity, it is crucial to develop adaptable and compliant force controllers. Learning techniques, especially reinforcement learning, provide a ...

    • Experimental investigation of efficient locomotion of underwater snake robots for lateral undulation and eel-like motion patterns 

      Kelasidi, Eleni; Liljebäck, Pål; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Journal article, 2015)
      Underwater snake robots offer many interesting capabilities for underwater operations. The long and slender structure of such robots provide superior capabilities for access through narrow openings and within confined ...

    • Experimental investigation of fundamental properties of snake robot locomotion 

      Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy (Proceedings / 11th International Conference on Control, Automation, Robotics and Vision (ICARCV 2010).;, Chapter; Peer reviewed, 2010)
      This paper derives and experimentally investigates fundamental properties of the velocity of a snake robot conducting lateral undulation. In particular, the derived properties state that the average forward velocity of the ...