Now showing items 1-20 of 177

    • 3D Inspection for quality control with Robot Manipulator - Using open source software and freeware to make an automatic 3D scanning application 

      Seines, Magnus Molaug (Master thesis, 2017)
      As modern industry is automated the need for robots performing complex tasks increases. To achieve fully automated production both making the product and inspecting it for quality assurance needs to be automated. Robotic ...
    • A 3D motion planning framework for snake robots 

      Liljebäck, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy (Chapter, 2014)
      This paper presents a motion planning framework for three-dimensional body shape control of snake robots. Whereas conventional motion planning approaches define the body shape of snake robots in terms of their individual ...
    • A Comparative Study of Different Control Structures for Flight Control with New Results 

      Oland, Espen; Kristiansen, Raymond; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2018)
      This paper presents several different control structures that facilitate flight control and does a comparison between them. Specifically, this paper considers command-filtered backstepping, nonlinear dynamic inversion ...
    • A control framework for biologically inspired underwater swimming manipulators equipped with thrusters 

      Sverdrup-Thygeson, Jørgen; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (IFAC Proceedings series;, Journal article; Peer reviewed, 2016)
      In this paper we present a control framework for a novel biologically inspired underwater swimming manipulator (USM) equipped with thrusters. The framework consists of a kinematic part and a dynamic part. The kinematic ...
    • A control framework for snake robot locomotion based on shape control points interconnected by Bézier curves 

      Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2012)
      This paper presents a control framework for shape control of snake robots for the purpose of locomotion. An advantage of the framework is that it allows the macroscopic shape of a snake robot to be controlled explicitly ...
    • A Control–Oriented Model of Underwater Snake Robots 

      Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Conference Publications;ROBIO 2014, Conference object; Journal article; Peer reviewed, 2014)
      In this paper we consider swimming underwater snake robots that are fully immersed in water and moving in a virtual horizontal plane. The main objective of the paper is to develop a model that is well suited for control ...
    • A control-oriented model of underwater snake robots exposed to currents 

      Kohl, Anna M.; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Conference object; Journal article; Peer reviewed, 2015)
      This paper presents a control-oriented model of a neutrally buoyant underwater snake robot that is exposed to a constant irrotational current. The robot is assumed to move in a horizontal, fully submerged plane with a ...
    • Active Compressor Surge Control System Using Piston Actuation Theory, Design, and Experiments 

      Uddin, Nur (Doctoral thesis at NTNU;2016:80, Doctoral thesis, 2016)
      This thesis presents a novel active compressor surge control system using piston actuation, and this system is called the piston-actuated active surge control system (PAASCS). This work addresses the development of PAASCS ...
    • Adaptive Control of a Nanopositioning Device 

      Eielsen, Arnfinn Aas; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2012)
      High-bandwidth tracking control is desirable in many nanopositioning applications, including scanning probe microscopy. Typical nanopositioner designs have several sources of uncertainty which can degrade control performance, ...
    • 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 ...
    • 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 ...
    • A Geometric Approach to the Design of Serial and Parallel Manipulators with Passive Joints 

      Pham, Cong Dung; From, Pål Johan; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2014)
      The use of robotic manipulators in remote and sensitive areas calls for more robust solutions when handling joint failure, and the industry demands mathematically robust approaches to handle even the worst case scenarios. ...
    • A heat equation for freezing processes with phase change: stability analysis and applications 

      Backi, Christoph Josef; Bendtsen, Jan Dimon; Leth, John; Gravdahl, Jan Tommy (Journal article, 2016)
      In this work, the stability properties as well as possible applications of a partial differential equation (PDE) with state-dependent parameters are investigated. Among other things, the PDE describes freezing of foodstuff, ...
    • A hybrid model of obstacle-aided snake robot locomotion 

      Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy (Conference object, 2010)
      A snake can traverse cluttered and irregular environments by using irregularities around its body as push-points to aid the propulsion. This characteristic feature of biological snake locomotion, denoted obstacle-aided ...
    • A Machine Vision System for Robust Sorting of Herring Fractions 

      Guttormsen, Erik; Toldnes, Bendik; Bondø, Morten Steen; Eilertsen, Aleksander; Gravdahl, Jan Tommy; Mathiassen, John Reidar Bartle (Journal article, 2016)
      Among the rest raw material in herring (Clupea harengus) fractions, produced during the filleting process of herring, there are high-value products such as roe and milt. As of today, there has been little or no major effort ...
    • A modular and waterproof snake robot joint mechanism with a novel force/torque sensor 

      Liljebäck, Pål; Stavdahl, Øyvind; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (IEEE International Conference on Intelligent Robots and Systems. Proceedings;2012, Conference object, 2012)
      This paper presents the design of a waterproof and mechanically robust joint module for the snake robot Mamba. The main contribution of the module is a custom-designed force/torque sensor based on strain gauges, which ...
    • 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 ...
    • 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 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; Conference object; 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 ...
    • 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 ...