Blar i NTNU Open på forfatter "Tingelstad, Lars"
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Automatic Differentiation and Optimization of Multivectors: Estimating Motors in Conformal Geometric Algebra
Tingelstad, Lars (Doctoral theses at NTNU;2017:189, Doctoral thesis, 2017)This thesis is on the estimation of rigid body motions from observations of points, lines, and planes in conformal geometric algebra using nonlinear least-squares optimization. Distance measures based on the ratio and ... -
Automatic Multivector Differentiation and Optimization
Tingelstad, Lars; Egeland, Olav (Journal article; Peer reviewed, 2016)In this work, we present a novel approach to non-linear optimization of multivectors in the Euclidean and conformal model of geometric algebra by introducing automatic differentiation. This is used to compute gradients and ... -
Automating parts of the hardbanding process using computer vision and ROS
Hermansen, Kristoffer (Master thesis, 2019)Sammendrag Denne masteroppgaven tar ett dypdykk inn i noe av ingeniørarbeidet som trengs for å skape en ny autonom produksjonslinje for reparasjonssveis av slitte borerør hos WellConnection Mongstad. Hovedmotivasjonen for ... -
Coarse Alignment for Model Fitting of Point Clouds Using a Curvature-Based Descriptor
Kleppe, Adam Leon; Tingelstad, Lars; Egeland, Olav (Journal article; Peer reviewed, 2018)This paper presents a method for coarse alignment of point clouds by introducing a new descriptor based on the local curvature. The method is developed for model fitting a CAD model for use in robotic assembly. The method ... -
Combining laser triangulation with rotary measurements to generate a positional basis for a welding robot
Liavik, Espen (Master thesis, 2019)Bedriften WellConnection Monstad rapporterer at en tidskrevende sveise-prosess av roterende borerør forårsaker en flaskehals i produksjonslinjen deres. Etter et ønske om å fjerne denne flaskehalsen, vil bedriften undersøke ... -
Development of a test cellfor automatic assembly and tack welding of components for jet engine exhaust cases
Capellan, Alvaro; Tingelstad, Lars (Master thesis, 2011)The assembly and tack welding of jet engine turbine exhaust cases (TEC) is a complex and time consuming operation currently performed manually at Volvo Aero Norway. The assembly tolerances are very tight with a maximum ... -
From CAD-Assemblies to Constraint Based Robot Control
Lofthus, Dag (Master thesis, 2019)Denne masteroppgaven har som mål å finne ut om det er mulig å programmere en robot utelukkende med informasjon tilgjengelig i 3D-design software (CAD). Mer spesifikt, hvordan dette programmet kan bli implementert på en ... -
Maskinsyn i flerlags robotisert sveising av store subsea konstruksjoner
Dyrkolbotn Hauglund, Trym (Master thesis, 2019)Denne masteroppgaven er en introduksjon til forskning og teori om temaer rundt laser trianguleringssensorer, robotisert sveising og datasyn. Det primære målet med oppgaven er å undersøke bruken av sensorikk som benytter ... -
Motor Estimation using Heterogeneous Sets of Objects in Conformal Geometric Algebra
Tingelstad, Lars; Egeland, Olav (Journal article; Peer reviewed, 2016)In this paper we present a novel method for nonlinear rigid body motion estimation from noisy data using heterogeneous sets of objects of the conformal model in geometric algebra. The rigid body motions are represented by ... -
Motor Parameterization
Tingelstad, Lars; Egeland, Olav (Journal article; Peer reviewed, 2018)In this paper, we consider several parameterizations of rigid transformations using motors in 3-D conformal geometric algebra. In particular, we present parameterizations based on the exponential, outer exponential, and ... -
Object Detection in Point Clouds Using Conformal Geometric Algebra
Sveier, Aksel; Kleppe, Adam Leon; Tingelstad, Lars; Egeland, Olav (Journal article; Peer reviewed, 2017)This paper presents an approach for detecting primitive geometric objects in point clouds captured from 3D cameras. Primitive objects are objects that are well defined with parameters and mathematical relations, such as ...