Blar i NTNU Open på forfatter "Orucevic, Amer"
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Energy harvesting and practical stabilization of underwater snake robots
Orucevic, Amer (Doctoral theses at NTNU;2023:429, Doctoral thesis, 2023)Energy efficiency is crucial for the operational time and reach of autonomous underwater vehicles (AUVs). A new class of AUVs, underwater snake robots (USRs), has an articulated body that may be utilized to enhance propulsion ... -
Optimal Positioning of Snake Robots in Vortex Wakes using Extremum-Seeking Control.
Orucevic, Amer; Lysø, Mads Erlend Bøe; Schmidt-Didlaukies, Henrik; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Peer reviewed; Journal article, 2023)In this paper we explore the optimal positioning of an underwater snake robot (USR) for energy harvesting in the wake of a bluff body. The USR and fluid are simulated jointly using a coupled vortex particle-mesh method and ... -
Underwater snake robots in vortex wakes: Energy harvesting and position control
Orucevic, Amer (Master thesis, 2020)Denne oppgaven utforsker mulighetene for bruk av bølgebevegelser til energisamling. Ved å utnytte virvlene som oppstår bak en sylinder er målet å oppnå energiautonomitet i artikulerte intervensjons-autonome undervannsfarkoster ... -
Uniform Practical Asymptotic Stability for Position Control of Underwater Snake Robots
Orucevic, Amer; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad; Chaillet, Antoine (Chapter, 2022)In this paper, Lyapunov theory for uniform practical asymptotic stability (UPAS) is presented and utilized to solve the problem of position control of a planar underwater snake robot (USR). First, a precise definition of ... -
Uniform Practical Asymptotic Stability for Position Control of Underwater Snake Robots
Orucevic, Amer; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad; Chaillet, Antoine (Journal article, 2022)In this paper, Lyapunov theory for uniform practical asymptotic stability (UPAS) is presented and utilized to solve the problem of position control of a planar underwater snake robot (USR). First, a precise definition of ... -
Uniform Practical Asymptotic Stability for Position Control of Underwater Snake Robots
Orucevic, Amer; Wrzos-Kaminska, Marianna; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad (Journal article; Peer reviewed, 2023)In this article, the Lyapunov theory for uniform practical asymptotic stability (UPAS) is presented and utilized to solve the problem of position control of a planar underwater snake robot (USR). First sufficient conditions ... -
Vector Field Path Following of Static Sinusoidal Paths for Underwater Snake Robots
Gushkov, Ivan Ivanov; Orucevic, Amer; Pettersen, Kristin Ytterstad; Yao, Weijia; Gravdahl, Jan Tommy (Chapter, 2023)In this paper, a guiding vector field (GVF) approach is applied to solve the path-following problem of a static unbounded sinusoidal path for an underwater snake robot (USR) in the presence of constant irrotational currents. ...