Blar i NTNU Open på forfatter "Pettersen, Kristin Ytterstad"

Viser treff 21-40 av 237

    • A snake robot with a contact force measurement system for obstacle-aided locomotion 

      Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind (Journal article; Peer reviewed, 2010)
      A snake robot can traverse cluttered and irregular environments by using irregularities around its body as push-points to aid the propulsion. This is denoted obstacle-aided locomotion and requires the snake robot to have ...

    • A survey on snake robot modeling and locomotion 

      Transeth, Aksel A.; Pettersen, Kristin Ytterstad; Liljeback, Pål (Journal article; Peer reviewed, 2009)
      Snake robots have the potential to make substantial contributions in areas such as rescue missions, firefighting, and maintenance where it may either be too narrow or too dangerous for personnel to operate. During the last ...

    • A waypoint guidance strategy for underwater snake robots 

      Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2014)
      In this paper, a waypoint guidance strategy is proposed for an underwater snake robot. The robot is directed to follow a path which is derived using path planning techniques. A first version of the path is derived by ...

    • Active camera control with obstacle avoidance for remote operations with industrial manipulators: Implementation and experimental results 

      Bjerkeng, Magnus; Transeth, Aksel Andreas; Pettersen, Kristin Ytterstad; Kyrkjebø, Erik; Fjerdingen, Sigrud Aksnes (Chapter; Peer reviewed, 2011)
      Remote controlled robots on offshore oil and gas platforms can potentially reduce costs and improve environment, health and safety issues. A key to successful remote control is to provide onshore operators with a sufficient ...

    • Adaptive feed-forward hysteresis compensation for piezoelectric actuators 

      Eielsen, Arnfinn Aas; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad (Journal article; Peer reviewed, 2012)
      Piezoelectric actuators are often employed for high-resolution positioning tasks. Hysteresis and creep nonlinearities inherent in such actuators deteriorate positioning accuracy. An online adaptive nonlinear hysteresis ...

    • 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 ...

    • An Integral Line-of-Sight Guidance Law with a Speed-dependent Lookahead Distance 

      Syre Wiig, Martin; Pettersen, Kristin Ytterstad; Ruud, Else-Line Malene; Krogstad, Thomas Røbekk (Chapter, 2018)
      This paper presents an algorithm that makes an underactuated marine vehicle follow a straight line path while in the presence of a constant ocean current. When following the path, the vehicle maintains a desired surge speed ...

    • 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 ...

    • Automated berthing (parking) of autonomous ships 

      Skjåstad, Ketil Grav (Master thesis, 2018)
      Shipping operations can increase their efficiency by automating standard operations. This thesis explores the concept of automated navigation in a static harbor environment and automating the berthing procedure for a ...

    • Autonomous Landing of a Multirotor UAV on a Platform in Motion 

      Line, Vegard (Master thesis, 2018)
      Multirotor Unmanned Aerial Vehicles (UAVs) high maneuverability and their capability to hover, makes them an extensively used platform in many fields of applications. However, their limitations in flight time challenge the ...

    • Autonomous Navigation, Mapping, and Exploration for Underwater Robots 

      Engebretsen, Marcus Aleksander; Gjerden, Kjetil Skogstrand; Utbjoe, Øystein Barth; Våge, Andreas (Master thesis, 2019)
      Denne masteroppgaven legger frem, og implementerer, en arkitektur for et autonomt system som er i stand til kontektsbasert resonnering under inspeksjonsoppdrag utført med ubemannede undervannsfartøy. For å forenkle design- ...

    • Autonomous Navigation, Mapping, and Exploration for Underwater Robots 

      Engebretsen, Marcus Aleksander; Gjerden, Kjetil Skogstrand; Utbjoe, Øystein Barth; Våge, Andreas (Master thesis, 2019)
      Denne masteroppgaven legger frem, og implementerer, en arkitektur for et autonomt system som er i stand til kontektsbasert resonnering under inspeksjonsoppdrag utført med ubemannede undervannsfartøy. For å forenkle design- ...

    • Autonomous Navigation, Mapping, and Exploration for Underwater Robots 

      Engebretsen, Marcus Aleksander; Gjerden, Kjetil Skogstrand; Utbjoe, Øystein Barth; Våge, Andreas (Master thesis, 2019)
      Denne masteroppgaven legger frem, og implementerer, en arkitektur for et autonomt system som er i stand til kontektsbasert resonnering under inspeksjonsoppdrag utført med ubemannede undervannsfartøy. For å forenkle design- ...

    • Autonomous ROV inspections of aquaculture net pens using DVL 

      Amundsen, Herman Biørn; Caharija, Walter; Pettersen, Kristin Ytterstad (Peer reviewed; Journal article, 2021)
      This article presents a method for guiding a remotely operated vehicle (ROV) to autonomously traverse an aquaculture net pen. The method is based on measurements from a Doppler velocity log (DVL) and uses the measured ...

    • Banefølging for selvgående terrengkjøretøy med Model Predicitive Control 

      Dyrnes, Stian (Master thesis, 2018)
      Denne oppgaven omhandler banefølging for et selvgående terrengkjøretøy med Model Predicitve Control. Et litteratursøk ble gjennomført om metoder for banefølgere og Model Predicitve Control, og brukt som grunnlag for ...

    • Body Shape and Orientation Control for Locomotion of Biologically-Inspired Snake Robots 

      Rezapour, Ehsan; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Liljebäck, Pål (Biomedical Robotics and Biomechatronics;5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, Chapter, 2014)
      This paper considers guidance-based motion control of planar snake robots using a dynamic feedback control law. We first present the Euler-Lagrange equations of motion of the robot. Subsequently, we introduce a dynamic ...

    • Collision Avoidance for Autonomous Ships in Transit 

      Sandbakken, Johanna Elisabeth (Master thesis, 2018)
      The interest in fully autonomous marine vessels has exploded in the last years. Many companies have developed and tested systems for autonomous marine vessels with great success. This thesis is part of a project where the ...

    • Collision Avoidance for Two Autonomous USVs in Formation With Maneuvering Limitations 

      Hansen, Harald Minde (Master thesis, 2023)
      Denne oppgaven omhandler kollisjonsunngåelse med hindringer for de to ubemannede underaktuerte overflatefartøyene (USV) Frigg og Odin. USV-ene drar et minesveipsystem etter seg, som begrenser USV-ene til å kjøre i en ønsket ...

    • Collision Avoidance for Underactuated Marine Vehicles Using the Constant Avoidance Angle Algorithm 

      Syre Wiig, Martin; Pettersen, Kristin Ytterstad; Krogstad, Thomas Røbekk (Journal article; Peer reviewed, 2019)
      Avoiding collisions is a crucial ability for unmanned vehicles. In this paper, we present the constant avoidance angle algorithm, a reactive method for collision avoidance. It can be used to avoid both static and moving ...

    • Collision Avoidance for Underactuated Surface Vehicles in the Presence of Ocean Currents 

      Haraldsen, Aurora; Syre Wiig, Martin; Pettersen, Kristin Ytterstad (Journal article; Peer reviewed, 2022)
      This paper considers the problem of collision avoidance for surface vehicles moving under the influence of ocean currents. The vehicles we consider have underactuated dynamics, where the vehicle cannot directly control its ...