Browsing NTNU Open by Author "Gravdahl, Jan Tommy"

Now showing items 1-20 of 305

    • 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 ...

    • 3D Printing with Robot Manipulator 

      Johnsgaard, Alexander Waller (Master thesis, 2022)
      I det siste tiåret har additiv produksjon (AP) blitt et stadig mer fremtredende tema innen robotikk. Mens subtraktive produksjonsmetoder er avhengige av å fjerne materiale for å forme det endelige produktet, former AP ...

    • 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 exposed to currents 

      Kohl, Anna M.; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Chapter, 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 ...

    • A Control–Oriented Model of Underwater Snake Robots 

      Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Conference Publications;ROBIO 2014, Chapter, 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 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 (Journal article; Peer reviewed, 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, Journal article; Peer reviewed, 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 ...

    • A review on modelling, implementation, and control of snake robots 

      Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2012)
      This paper provides an overview of previous literature on snake robot locomotion. In particular, the paper considers previous research efforts related to modelling of snake robots, physical development of these mechanisms, ...

    • A simplified model of planar snake robot locomotion 

      Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy (Chapter; Peer reviewed, 2010)
      This paper presents a model of the kinematics and dynamics of a planar, wheelless snake robot aimed at control design and stability analysis purposes. The proposed model is significantly less complex than existing models ...

    • A Virtual Security Net and Soft Motion Controller for a 7-DOF Redundant Cooperative Robotic Manipulator 

      Grøtte, Håkon (Master thesis, 2018)
      This thesis presents the study and implementation of a virtual security net for a cooperative robotic manipulator. The input to the security net includes a goal- position and orientation for the end-effector paired with ...

    • 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 ...

    • Accuracy of a slew maneuver for the HYPSO-1 hyperspectral imaging satellite — in-orbit results 

      Kristiansen, Bjørn Andreas; Langer, Dennis David; Garrett, Joseph Landon; Berg, Simen; Gravdahl, Jan Tommy; Johansen, Tor Arne (Peer reviewed; Journal article, 2023)
      In this paper, the accuracy of a slew maneuver performed by the HYPSO-1 satellite is analysed based on the data received during the satellite’s first months in orbit. The slew maneuver, during which the satellite turns ...

    • 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, ...