Blar i NTNU Open på forfatter "Gravdahl, Jan Tommy"
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Adaptive Generalized Super-Twisting Tracking Control of an Underwater Vehicle
Haugaløkken, Bent Oddvar Arnesen; Amundsen, Herman Biørn; Fadum, Håkon Syverud; Gravdahl, Jan Tommy; Ohrem, Sveinung Johan (Chapter, 2023)Tracking control for unmanned underwater vehicles is essential, both for autonomous operations and complex tasks where the vehicle is manually controlled by a pilot. Underwater vehicles are typically subjected to perturbations ... -
Adaptive Robotic Deburring of Sand Cast Parts
Onstein, Ingrid Fjordheim (Doctoral theses at NTNU;2024:401, Doctoral thesis, 2024)This thesis presents a one-of-a-kind adaptive tool path generation for automatic deburring of sand cast parts using robots. Sand cast parts have geometric variations and excess material around the edges formed by the casting ... -
Additive Manufacturing by Robot: An Overview of the State-of-the-Art and Proof-of-Concept Results
Evjemo, Linn Danielsen; Moe, Signe; Gravdahl, Jan Tommy; Roulet-Dubonnet, Olivier; Brøtan, Vegard; Gellein, Lars Tore (Chapter, 2017)For the last decades, additive manufacturing (AM) has become an ever increasing part of the development of new technology and devices. However, it is still challenging to use this technology on a larger scale. This paper ... -
Additive manufacturing of thin-walled structures by robot manipulator : An experimental approach focusing on arc welding
Evjemo, Linn Danielsen (Doctoral theses at NTNU;2022:208, Doctoral thesis, 2022)Additive manufacturing (AM) has, over recent decades, become a quickly evolving and ever more present part of production and manufacturing. It has gone from being a simple prototyping method to building more complex ... -
Additive Manufacturing Path Generation for Robot Manipulators Based on CAD Models
Onstein, Ingrid Fjordheim; Evjemo, Linn Danielsen; Gravdahl, Jan Tommy (Peer reviewed; Journal article, 2020)Traditional extrusion based additive manufacturing (AM) is realized using a 3 degrees of freedom (DOF), translation only, 3D printer. It then follows that the printer must be larger than the printed part. One way of enabling ... -
An Additive Manufacturing Path Generation Method Based on CAD Models for Robot Manipulators
Onstein, Ingrid Fjordheim (Master thesis, 2018)Traditional extrusion based Additive Manufacturing (AM) is realized using a 3 Degrees of Freedom (DOF), translation only, 3D printer. Here, the printer must be larger than the printed part. One way of enabling AM in ... -
An Experimental Investigation of Path Following for an Underwater Snake Robot with a Caudal Fin
Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Kohl, Anna M; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2017)In this paper, we present a bioinspired underwater snake robot (USR) equipped with a passive caudal (tail) fin. In particular, a highly flexible configuration of a USR is presented, which is capable of locomotion both on ... -
Analog Robust Repetitive Control for Nanopositioning Using Bucket Brigade Devices
Eielsen, Arnfinn Aas; Gravdahl, Jan Tommy; Leang, Kam K. (Journal article; Peer reviewed, 2014)In many applications of nanopositioning, such as scanning probe microscopy, tracking fast periodic reference trajectories with high accuracy is highly desirable. Repetitive control is a simple and effective control scheme ... -
Analysis of PI-Control for Atomic Force Microscopy in Contact Mode
Messineo, Saverio; Ragazzon, Michael Remo Palmén; Busnelli, Fabio; Gravdahl, Jan Tommy (Peer reviewed; Journal article, 2021)This article investigates the properties, from a nonlinear control system standpoint, of atomic force microscope (AFM) systems, whenever operated in contact mode and controlled in the vertical direction by proportional-integral ... -
Analysis of underwater snake robot locomotion based on a control-oriented model
Kohl, Anna M.; Pettersen, Kristin Ytterstad; Kelasidi, Eleni; Gravdahl, Jan Tommy (Proceedings of the 2015 IEEE Conference on Robotics and Biomimetics;, Journal article; Peer reviewed, 2015)This paper presents an analysis of planar underwater snake robot locomotion in the presence of ocean currents. The robot is assumed to be neutrally buoyant and move fully submerged with a planar sinusoidal gait and limited ... -
Asterix: Robotic weed control in row crops
Utstumo, Trygve (Doctoral theses at NTNU;2018:250, Doctoral thesis, 2018)Vegetables and other row-crops represent a large share of the agricultural production. There is a large variation in crop species, and a limited availability in specialized herbicides. The robot presented here utilizes the ... -
Attitude Determination and Control System Testbed for Hardware and Software Testing and Verification for Small Satellites
Olsen, Jørgen Anker (Master thesis, 2021)I de siste årene har det vært en økning av antall småsatellitter som har blitt laget og sendt ut i verdensrommet. En viktig del av den nødvendige teknologien for a få disse til å virke som de skal, er kontrollsystemer som ... -
Autodock, Automated tugboat-assisted docking of large vessels
Ørke, Henning Levik (Master thesis, 2022)Fartøy som trenger slepebåtassistanse for dokking, er vanligvis massive og krever flere slepebåter i en manuelt koordinert operasjon. Mange studier har fokusert på å utvikle avanserte automatiske kontrollsystemer til å ... -
Automatic alignment of underwater snake robots operating in wakes of bluff bodies
Orucevic, Amer; Wrzos-Kaminska, Marianna; Lysø, Mads Erlend Bøe; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2024)This paper presents the development of controllers to automatically align an underwater snake robot (USR) with a wake that forms behind a bluff body, while swimming at a desired distance to the object. The low-level ... -
Automatic dynamic generation of drill sequences for tunneling
Kirkeby, Eivind Jahr (Master thesis, 2018)Tunneling is an important part of building infrastructure in most countries. It is important that tunneling production is done efficiently to reduce the cost of infrastructure projects. In tunneling, multiple holes are ... -
Automatic visual Weed Recognition - Detection and Classification of Weed in Row Cultures combining Machine Vision and Artificial Intelligence
Grændsen, Øystein (Master thesis, 2014)This thesis was motivated by the use of machine vision and artificial intelligence in agricultural robotics. More efficient agricultural production is needed as the worlds population grows. It is also important, both from ... -
Autonomous Navigation And Row Detection in Crop Fields Using Computer Vision
Dørum, Jarle (Master thesis, 2015)This thesis documents the development of an autonomous row crop guidance system for a differentially wheeled agricultural robot. Computer vision is used to identify rows and estimate their position and orientation. The ... -
Autonomous Navigation for a Greenhouse Robot
Grøttå, Lotte (Master thesis, 2022)Abstract will be available on 2025-06-06 -
Autonomous Target Detection and Tracking for Remotely operated Weapon Stations
Gundersen, Vetle Bjørngaard (Master thesis, 2018)This Master s thesis proposes a novel implementation of an autonomous tracker in Python, which combines a deep learning detection module and a point based tracking module. An accurate detection will introduce latency if ... -
Biological Cell Models and Atomic Force Microscopy - Parameter Estimation with Parallel Computing
Leer, Kristin Bræck (Master thesis, 2016)Through several decades, mathematical models have been used to describe real systems. Studying these mathematical models can give us important information about the system and its behavior. The Atomic Force Microscopy (AFM) ...