Blar i NTNU Open på forfatter "Gravdahl, Jan Tommy"

Viser treff 41-60 av 305

    • Boarding Control System - for Improved Accessibility to Offshore Wind Turbines 

      Auestad, Øyvind Fidje; Perez, Tristan; Gravdahl, Jan Tommy; Sørensen, Asgeir Johan; Espeland, Trygve H. (Journal article; Peer reviewed, 2015)
      This paper considers the dynamic modelling and motion control of a Surface Effect Ship (SES) for safer transfer of personnel and equipment from vessel to-and-from an offshore wind-turbine. Such a vessel is a key enabling ...

    • Boarding control system for improved accessibility to offshore wind turbines: Full-scale testing 

      Auestad, Øyvind Fidje; Gravdahl, Jan Tommy; Perez, Tristan; Sørensen, Asgeir Johan; Espeland, Trygve H. (Journal article; Peer reviewed, 2015)
      This paper considers the dynamic modelling and motion control of a Surface Effect Ship (SES) for safer transfer of personnel and equipment from vessel to-and-from an offshore wind-turbine. The control system designed is ...

    • 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 ...

    • Bond graph modeling of centrifugal compression systems 

      Uddin, Nur; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2015-11-04)
      A novel approach to model unsteady fluid dynamics in a compressor network by using a bond graph is presented. The model is intended in particular for compressor control system development. First, we develop a bond graph ...

    • Brain Control of a Robot Manipulator 

      Perez Garcia, Angel De La Guarda (Master thesis, 2013)
      The work will consist of literature study, development and experiments of a BCI system for the control of robot manipulators. The control algorithms will be based on the use of a head set device. A control software ...

    • Brain-Computer Interface In Control Systems 

      Soukup, Michael (Master thesis, 2014)
      A Brain-Computer Interface (BCI) is a system that allows for direct communication between the brain and an external device. Originally, the motivation for developing BCIs has been to provide severely disabled individuals ...

    • Centrifugal Compressor Load Sharing with the use of MPC 

      Øvervåg, Thomas Ferstad (Master thesis, 2013)
      The work presented in this thesis examines the possibilities of having compressors running in an optimal manner which can result in energy savings. This research looks at how a compressor operates and the problems which ...

    • Centrifugal Compressor Load Sharing with the use of MPC 

      Overvåg, Thomas Ferstad (Master thesis, 2013)
      The work presented in this thesis examines the possibilities of having compressors running in an optimal manner which can result in energy savings. This research looks at how a compressor operates and the problems which ...

    • A CNN-based classifier for probe to skin contact in a robotic ultrasound system 

      Guttulsrud, Kari Engen (Master thesis, 2018)
      Abstract: In an ultrasound examination the sonographer must be precise and apply the right amount of pressure to get good quality images. An examination takes valuable time which could be reduced by introducing a robotic ...

    • Cobblestone effect on rigid-hull surface effect ship 

      Lied, Lars (Master thesis, 2022)
      Abstract will be available on 2025-06-06

    • Collision Avoidance using Mixed H2/H∞ Control for an Articulated Intervention-AUV 

      Wrzos-Kaminska, Marianna; Mylvaganam, Thulasi; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Chapter, 2020)
      In this paper we consider the problem of mixed H 2 /H ∞ control to combine optimal and robust control for a double integrator system with nonlinear performance variables, and we apply this to control an articulated ...

    • Combined kinematic and dynamic control of an underwater swimming manipulator 

      Borlaug, Ida-Louise Garmann; Sverdrup-Thygeson, Jørgen; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2019)
      An underwater swimming manipulator (USM) is a long and slender underwater vehicle composed of multiple links that are connected by motorized joints and equipped with thrusters. The USM belongs to the class of underwater ...

    • Combined Kinematic and Dynamic Control of Vehicle-Manipulator Systems 

      Borlaug, Ida-Louise Garmann; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Peer reviewed; Journal article, 2020)
      A vehicle-manipulator system (VMS) is a class of mobile robots characterised by their ability to carry or be a robotic arm and therefore also manipulate objects. The VMS class includes vehicles with a robotic manipulator, ...

    • Combined state and parameter estimation for not fully observable dynamic systems 

      Backi, Christoph Josef; Gravdahl, Jan Tommy; Skogestad, Sigurd (Journal article, 2020)
      In this paper, a simple, yet novel method for state estimation and parameter identification for dynamic systems is presented. Apart from providing estimates of non-measurable state variables, the algorithm is also capable ...

    • A Comparative Study of Sparsity Promoting Techniques in Neural Network for Modeling Non-Linear Dynamics 

      Haugstvedt, Emil Johannesen; Mino Calero, Alberto; Lundby, Erlend Torje Berg; Rasheed, Adil; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2023)
      Sparsity-promoting techniques show promising results in improving the generalization of neural networks. However, the literature contains limited information on how different sparsity techniques affect generalization when ...

    • Comparison of Adaptive Controllers for a Servomechanism 

      Eielsen, Arnfinn Aas (Master thesis, 2007)
      Electric motors with metal graphite brushes experience a change in contact resistance depending on current load. This varying resistance leads to varying gain in the motor, since the proportion of power dissipated due to ...

    • Comparison of KVP and RSI for Controlling KUKA Robots Over ROS 

      Arbo, Mathias Hauan; Eriksen, Ivar; Sanfilippo, Filippo; Gravdahl, Jan Tommy (Peer reviewed; Journal article, 2020)
      In this work, an open-source ROS interface based on KUKAVARPROXY for control of KUKA robots is compared to the commercial closed-source Robot Sensor Interface available from KUKA. This comparison looks at the difference ...

    • Comparison of two second-order sliding mode control algorithms for an articulated intervention-AUV: Theory and experimental results 

      Borlaug, Ida-Louise Garmann; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Peer reviewed; Journal article, 2021)
      An articulated intervention autonomous underwater vehicle (AIAUV) is a slender, multi-articulated underwater robot. Accurate trajectory tracking is essential for AIAUV operations. Furthermore, due to hydrodynamic and ...

    • Compliant Control of the Body Shape of Snake Robots 

      Liljebäck, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2014)
      This paper presents a general motion planning framework for body shape control of snake robots. We demonstrate the applicability of the framework for straight line path following control, and for implementing body shape ...

    • Compressor Surge Control Design Using Linear Matrix Inequality Approach 

      Uddin, Nur; Gravdahl, Jan Tommy (Chapter, 2017)
      A novel design for active compressor surge control system (ASCS) using linear matrix inequality (LMI) approach is presented and including a case study on piston-actuated active compressor surge control system (PAASCS). The ...