Blar i NTNU Open på forfatter "Tysse, Geir Ole"
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Crane load position control using Lyapunov-based pendulum damping and nonlinear MPC position control
Tysse, Geir Ole; Egeland, Olav (Chapter, 2019)A crane control system is presented where the crane load can track a position trajectory with ultimately bounded pendulum motions of the load. This is done with an inner loop using a Lyapunov-based damping controller which ... -
Crane Payload Stabilization using Lagrangian Kinematics and Euler Angles
Elset, Didrik Fjeld (Master thesis, 2019)Denne oppgaven har som formål å teste en kontrollers evne til å stabilisere en nyttlast samtidig som kranen skal bevege seg i en forhåndsinnstilt bane for en rekke ulike situasjoner. Den presenterer bevegelsesligningene ... -
Determination of reaction forces of a deck crane in wave motion using screw theory
Cibicik, Andrej; Tysse, Geir Ole; Egeland, Olav (Journal article; Peer reviewed, 2019)In this paper, we present a method for calculating reaction forces for a crane mounted on a ship moving in waves. The method is used to calculate the reaction forces between the crane base and the vessel deck. This includes ... -
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 ... -
Modeling and Control of Shipmounted Cranes
Tysse, Geir Ole (Doctoral theses at NTNU;2020:225, Doctoral thesis, 2020)This thesis presents methods and theory for the mathematical modeling of crane-ship systems and controllers for ship-mounted cranes and crane loads. The thesis contains a collection of four journal papers and one conference ... -
Residual vibration control for robotic 3D scanning with application to inspection of marine propellers
Njåstad, Eirik Bjørndal; Tysse, Geir Ole; Egeland, Olav (Peer reviewed; Journal article, 2021)Abstract: This paper presents a system for 3D scanning of a large marine propeller blade with a 3D camera mounted on an industrial robot. An industrial 3D camera with structured light is used where the accuracy is in the ... -
Robotic Assembly Using a 3D Camera
Tysse, Geir Ole; Morland, Martin (Master thesis, 2015)In this thesis we explain how two parts from the automotive industry can be assembled using an RGB-D camera providing colour (RGB) and depth (D) as a combined RGB-D image, and two KUKA Agilus manipulators with six revolute ... -
Vision-based control of a knuckle boom crane with online cable length estimation
Tysse, Geir Ole; Cibicik, Andrej; Egeland, Olav (Peer reviewed; Journal article, 2020)A vision-based controller for a knuckle boom crane is presented. The controller is used to control the motion of the crane tip, and at the same time, compensate for payload oscillations. The oscillations of the payload are ...