Blar i NTNU Open på forfatter "Tingelstad, Lars"
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Laser Scanning and Parametrization of Weld Grooves with Reflective Surfaces
Cibicik, Andrej; Tingelstad, Lars; Egeland, Olav (Peer reviewed; Journal article, 2021)This paper presents a novel weld groove parametrization algorithm, which is developed specifically for weld grooves in typical stub and butt joints between large tubular elements. The procedure is based on random sample ... -
Learning to grasp: A study of learning-based methods for robotic grasping
Høeg, Sigmund Hennum (Master thesis, 2022)Roboter i dag brukes først og fremst til oppgaver som er repetitive og forutsigbare. Men mange oppgaver som skaper verdi for samfunnet vårt inkluderer høy grad av tilfeldighet, for eksempel å plukke opp gjenstander. På ... -
Leveraging Model Based Definition and STEP AP242 in Task Specification for Robotic Assembly
Mohammed, Shafi Khurieshi; Arbo, Mathias Hauan; Tingelstad, Lars (Peer reviewed; Journal article, 2020)This article explores using aspects of STEP AP242 for constraint-based robot programming for assembly operations. Industry 4.0 envisions smart, connected factories where all the operations are connected by an unbroken ... -
Lyapunov-based damping controller with nonlinear MPC control of payload position for a knuckle boom crane
Tysse, Geir Ole; Cibicik, Andrej; Tingelstad, Lars; Egeland, Olav (Peer reviewed; Journal article, 2022)A crane control system is proposed where the crane payload follows a desired position trajectory with ultimately bounded pendulum motion. The proposed control system includes a Lyapunov-based damping controller, which ... -
Machine Learning using High Resolution Zivid Point Clouds on a High Performance Cluster
Aasberg, Jonas Strand (Master thesis, 2022)I dette masterprosjektet presenteres det metoder og arbeid som muligjør bruken av høyoppløste Zivid punktskyer i maskinlæringsbiblioteket Minkowski Engine skrevet av Chris Choy. I tillegg har det blitt laget et datasett ... -
Maskinsyn i flerlags robotisert sveising av store subsea konstruksjoner
Dyrkolbotn Hauglund, Trym (Master thesis, 2019)Denne masteroppgaven er en introduksjon til forskning og teori om temaer rundt laser trianguleringssensorer, robotisert sveising og datasyn. Det primære målet med oppgaven er å undersøke bruken av sensorikk som benytter ... -
Mobile Navigation and Manipulation - Configuration and Control of the KMR iiwa with ROS2
Heggem, Charlotte; Wahl, Nina Marie (Master thesis, 2020)Denne masteroppgaven omhandler å kontrollere en mobil robot, KMR iiwa, produsert av KUKA, via interaksjon med ROS2. En KMR iiwa består av en robot arm, LBR iiwa 14 R820, som er montert på en mobil platform, KMP 200 omniMove. ... -
Mobile Navigation and Manipulation - Configuration and Control of the KMR iiwa with ROS2
Heggem, Charlotte; Wahl, Nina Marie (Master thesis, 2020)Denne masteroppgaven omhandler å kontrollere en mobil robot, KMR iiwa, produsert av KUKA, via interaksjon med ROS2. En KMR iiwa består av en robot arm, LBR iiwa 14 R820, som er montert på en mobil platform, KMP 200 omniMove. ... -
Model Based Definition for Robotic Assembly
Mohammed, Shafi Khurieshi (Doctoral theses at NTNU;2023:412, Doctoral thesis, 2023)This thesis deals with the product information requirements associated with automated robot programming for assembly operations. The first contribution of this thesis is the establishment of information flow from design ... -
Motor Estimation using Heterogeneous Sets of Objects in Conformal Geometric Algebra
Tingelstad, Lars; Egeland, Olav (Journal article; Peer reviewed, 2016)In this paper we present a novel method for nonlinear rigid body motion estimation from noisy data using heterogeneous sets of objects of the conformal model in geometric algebra. The rigid body motions are represented by ... -
Motor Parameterization
Tingelstad, Lars; Egeland, Olav (Journal article; Peer reviewed, 2018)In this paper, we consider several parameterizations of rigid transformations using motors in 3-D conformal geometric algebra. In particular, we present parameterizations based on the exponential, outer exponential, and ... -
Multi-Robot Control with MotoROS2
Løe, Johan Olaf (Master thesis, 2023)Denne oppgaven tar for seg utfordringene knyttet til intelligent robotprogrammering, spesielt i sammenheng med Manulab-robotsystemet ved NTNU. Den eksisterende kontrollmetoden for systemet var utilstrekkelig for effektiv ... -
Object Detection in Point Clouds Using Conformal Geometric Algebra
Sveier, Aksel; Kleppe, Adam Leon; Tingelstad, Lars; Egeland, Olav (Journal article; Peer reviewed, 2017)This paper presents an approach for detecting primitive geometric objects in point clouds captured from 3D cameras. Primitive objects are objects that are well defined with parameters and mathematical relations, such as ... -
On Analysis of Puzzle-Based Warehouse Systems Using Modular Petri Nets
Weerasinghe, Kasuni Vimasha; Lobov, Andrei; Sgarbossa, Fabio; Tingelstad, Lars (Chapter, 2023)Puzzle-based storage (PBS) systems are intended to increase storage density using optimally available storage space. Having dynamic puzzle-based storage systems requires finding and validating tools to support the optimal ... -
Performance Testing Real-Time Robot Communication for a Constraint-Based Robotic Welding System
Bjørhovde, Vebjørn Bergsholm (Master thesis, 2021)I denne masteroppgaven gjennomføres det en sanntid-ytelsestest for moto biblioteket. Dette er et Python bibliotek lagd for å styre Motoman roboter fra YASKAWA ved bruk av både banepunk og sanntidsstyring. Ytelsestestingen ... -
Polarization image sensor-based laser scanner for reflective metals: architecture and implementation
Marco Rider, Jaime; Tingelstad, Lars; Egeland, Olav (Peer reviewed; Journal article, 2021)Laser scanners are essential for many industrial applications such as inspection, metrology, assembly, and welding. Laser scanners are especially interesting in robotic welding to determine the shape and position of the ... -
Reducing the Sim-To-Real Gap in Reinforcement Learning for Robotic Grasping with Depth Observations
Kasbo, Ludvik (Master thesis, 2022)Griping med roboter er en barriere for mange robotmanipulasjonsoppgaver. Generalisert autonom griping er fortsatt et uløst problem, men bruk av forsterkende læring har vist lovende resultater. Det er flere utfordringer ... -
Robotic weld groove scanning for large tubular T-joints using a line laser sensor
Cibicik, Andrej; Njaastad, Eirik B; Tingelstad, Lars; Egeland, Olav (Peer reviewed; Journal article, 2022)This paper presents a novel procedure for robotic scanning of weld grooves in large tubular T-joints. The procedure is designed to record the discrete weld groove scans using a commercially available line laser scanner ... -
Robotic weld groove scanning for large tubular T-joints using a line laser sensor
Cibicik, Andrej; Njaastad, Eirik B; Tingelstad, Lars; Egeland, Olav (Peer reviewed; Journal article, 2022)This paper presents a novel procedure for robotic scanning of weld grooves in large tubular T-joints. The procedure is designed to record the discrete weld groove scans using a commercially available line laser scanner ... -
ROS 2 Integration of the ABB YuMi Dual-Arm Robot and the Zivid One 3D Camera for Autonomous Manipulation of Small Components
Bjønnes, Markus; Nilsen, Marius (Master thesis, 2020)Hovedmålet for denne avhandling er utviklingen av et robotsystem for ekstern styring av en toarmet ABB YuMi industrirobot. Robotsystemet skal utføre oppgaver som autonom håndtering av små komponenter i montasjeoperasjoner. ...