Blar i NTNU Open på forfatter "Kyrkjebø, Erik"
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Active camera control with obstacle avoidance for remote operations with industrial manipulators: Implementation and experimental results
Bjerkeng, Magnus; Transeth, Aksel Andreas; Pettersen, Kristin Ytterstad; Kyrkjebø, Erik; Fjerdingen, Sigrud Aksnes (Chapter; Peer reviewed, 2011)Remote controlled robots on offshore oil and gas platforms can potentially reduce costs and improve environment, health and safety issues. A key to successful remote control is to provide onshore operators with a sufficient ... -
AUV Pipeline Following using Reinforcement Learning
Fjerdingen, Sigurd Aksnes; Kyrkjebø, Erik; Transeth, Aksel Andreas (Chapter, 2010)This paper analyzes the application of several reinforcement learning techniques for continuous state and action spaces to pipeline following for an autonomous underwater vehicle (AUV). Continuous space SARSA is compared ... -
Control of Underactuated AUVs for Survey and Pipe-Inspection Purposes: Path-following and Target Tracking for Underactuated AUVs
Murugendran, Boathymathavan (Master thesis, 2010)1. Look at different control schemes for underactuated AUVs used for surveying and in particular pipe-inspection.2. Verify the results by simulation.3. If performance is poor as a result of environmental disturbances look ... -
Feasibility of the UR5 Industrial Robot for Robotic Rehabilitation of the Upper Limbs After Stroke
Kyrkjebø, Erik; Laastad, Mads Johan; Stavdahl, Øyvind (Journal article; Peer reviewed, 2018)Robot-assisted therapy is an emerging form of rehabilitation treatment for motor recovery of the upper limbs after neurological injuries such as stroke or spinal cord injury. Robotic rehabilitation devices have the potential ... -
Hybrid Force Motion Synchronization Control of Robot Manipulators
Fikkan, Kristoffer (Master thesis, 2010)The main objective of this thesis was to combine the theory on synchronization of robot manipulators with the concept of hybrid force/motion control; resulting in a controller capable of following both the trajectory of ... -
Leader-follower Dynamic Synchronization of Surface Vessels
Kyrkjebø, Erik; Pettersen, Kristin Ytterstad (Journal article, 2006)This paper introduces a dynamic leader-follower synchronization scheme for surface vessels that specifies the behavior of the follower vessels as they approach their desired position in a formation, or in a docking operation. ... -
Motion Coordination of Mechanical Systems: Leader-Follower Synchronization of Euler-Lagrange Systems using Output Feedback Control
Kyrkjebø, Erik (Doktoravhandlinger ved NTNU, 1503-8181; 2007:60, Doctoral thesis, 2007)his thesis proposes two motion synchronization approaches to coordinate the motion of a follower to a leader within the Euler-Lagrange system framework. The information requirements from the leader are that of position and ... -
Robotic rehabilitation of upper-limb after stroke - Implementation of rehabilitation control strategy on robotic manipulator
Laastad, Mads Johan (Master thesis, 2017)Globally, stroke is one of the main causes of permanent neurological damage \cite{WHO}. Partial or total paralysis of the extremities is the most common complication, with paralysis in upper-limbs being the most prevalent. ... -
Sensor Integration for Nonlinear Navigation System in Underwater Vehicles
Foss, Henrik Taule; Meland, Einar Tøsdal (Master thesis, 2007)This thesis deals with three methods for integrating measurements from different sensors for an underwater vehicle. The sensors that were used are inertial measurement unit (IMU), Doppler velocity log (DVL), Hydro- acoustic ... -
Stereographic projection for industrial manipulator tasks: Theory and experiments
Bjerkeng, Magnus; Pettersen, Kristin Ytterstad; Kyrkjebø, Erik (Chapter, 2011)In this paper, we present a solution and experimental results for real-time control of manipulation tasks considering the alignment of a robots end effector relative to some reference. The developed controller is applicable ...