Browsing NTNU Open by Author "Transeth, Aksel Andreas"
Now showing items 1-15 of 15
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A snake-like robot for internal inspection of complex pipe structures (PIKo)
Fjerdingen, Sigurd Aksnes; Liljeback, Pål; Transeth, Aksel Andreas (Chapter, 2009)This paper presents a mechanism for navigating complex pipe structures, both horizontally and vertically. The mechanism consists of a series of identical modules interconnected by two degree of freedom active joints. A set ... -
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 ... -
Autonomous subsea intervention (SEAVENTION)
Transeth, Aksel Andreas; Schjølberg, Ingrid; Lekkas, Anastasios; Risholm, Petter; Mohammed, Ahmed Kedir; Skaldebø, Martin Breivik; Haugaløkken, Bent Oddvar Arnesen; Bjerkeng, Magnus Christian; Tsiourva, Maria Efstathia; Py, Frédéric (Peer reviewed; Journal article, 2022)This paper presents the main results and latest developments in a 4-year project called autonomous subsea intervention (SEAVENTION). In the project we have developed new methods for autonomous inspection, maintenance and ... -
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 ... -
Bevegelsesplanlegging og regulering av mobile robotmanipulatorer
Myhre, Ulrich Solli (Master thesis, 2011)Mobile robot manipulators will be prevalent in addressing many future needs such as contributing to the caring for an aging population, as well as monitoring environmental pollution and removing contamination. However, a ... -
Bruk av droner i nordområdene
Bakken, Trond; Johnsen, Stig Ole; Holmstrøm, Sture; Merz, Mariann; Transeth, Aksel Andreas; Grøtli, Esten Ingar; Risholm, Petter; Storvold, Rune (Research report, 2019)Formålet med denne rapporten er å vise eksempler på bruk av fjernstyrte og autonome droner i petroleumssektoren og vise hvilke utviklingstrender innen droneteknologi som er viktige. Utfordringer og muligheter for bruk av ... -
Image Segmentation of Corrosion Damages in Industrial Inspections using State-of-the-Art Neural Networks
Fondevik, Simen Keiland (Master thesis, 2020)Denne masteroppgaven studerer avanserte bildesegmenteringsalgoritmer for automatisk korrosjonsskade-segmentering. Automatisk bildeanalyse er nødvendig for å prosessere all data som samles inn med dronebaserte industrielle ... -
Model Based on C/C++ for Simulation of a 3D Snake Robot with Experimental Validation
Rogne, Robert Harald (Master thesis, 2008)A simulator based on the Open Dynamics Engine (ODE) is presented in this report. The simulator is validated experimentally with varying results, but simulation speed and stability of the simulator is excellent. This report ... -
Modeling and Path-following for a snake robot with active wheels
Murugendran, Boathymathava; Transeth, Aksel Andreas; Fjerdingen, Sigurd Aksnes (Chapter; Peer reviewed, 2009)Snake robots with active wheels provide interesting opportunities within many areas such as inspection and maintenance and search and rescue operations. The highly-articulated body of a snake robot combined with the ... -
Modelling and Control of Snake Robots
Transeth, Aksel Andreas (Doktoravhandlinger ved NTNU, 1503-8181; 2008:2, Doctoral thesis, 2008)Snake robots have the potential of contributing vastly in areas such as rescue missions, fire-fighting and maintenance where it may either be too narrow or too dangerous for personnel to operate. This thesis reports novel ... -
Next Generation Subsea Inspection, Maintenance and Repair Operations
Schjølberg, Ingrid; Gjersvik, Tor Berge Stray; Transeth, Aksel Andreas; Utne, Ingrid Bouwer (Peer reviewed; Journal article, 2016)This paper presents the latest developments in the project Next Generation Subsea Inspection, Maintenance and Repair (IMR). Subsea IMR operations are frequently carried out in the offshore oil and gas business. Increased ... -
Path Planning for Perception-Driven Obstacle-Aided Snake Robot Locomotion
Hanssen, Christian; Transeth, Aksel Andreas; Sanfilippo, Filippo; Liljebäck, Pål; Stavdahl, Øyvind (Chapter, 2020)Development of snake robots have been motivated by the ability of snakes to move efficiently in unstructured and cluttered environments. A snake robot has the potential to utilise obstacles for generating locomotion, in ... -
Perception-Driven Obstacle-Aided Locomotion for Snake Robots: The State of the Art, Challenges and Possibilities
Sanfilippo, Filippo; Azpiazu, Jon; Marafioti, Giancarlo; Transeth, Aksel Andreas; Stavdahl, Øyvind; Liljebäck, Pål (Journal article; Peer reviewed, 2017)In nature, snakes can gracefully traverse a wide range of different and complex environments. Snake robots that can mimic this behaviour could be fitted with sensors and transport tools to hazardous or confined areas that ... -
Use of Augmented Reality in Aquaculture
Stene, Anders (Master thesis, 2019)I utvidet virkelighet(eng: Augmented reality) brukes datamaskin-genererte objekter og visualiseringer til å forbedre oppfatningen av virkeligheten, gjennom å legge til mer klarhet og data. I løpet av de siste årene har ... -
Vision-Based Control of a Robot Interacting with Moving and Flexible Objects
Myhre, Torstein Anderssen (Doctoral thesis at NTNU;2016:101, Doctoral thesis, 2016)Industrial tasks that involves manipulation of moving or flexible objects are often performed with manual labour, while the use of industrial robots have mostly been limited to manipulation of static objects and objects ...