Browsing NTNU Open by Author "Ueland, Einar Skiftestad"
Now showing items 1-8 of 8
-
Effect of Time Delays and Sampling in Force Actuated Real-Time Hybrid Testing; A Case Study
Ueland, Einar Skiftestad; Skjetne, Roger (Chapter, 2017)This paper presents a study where real-time hybrid testing is applied on a double mass-damper-spring system. Simulations show how delays and sampling terms affect the system both when it is subjected to excitations forces ... -
Force actuated real-tme hybrid model testing of a moored vessel: A case study investigating force errors
Ueland, Einar Skiftestad; Skjetne, Roger; Vilsen, Stefan Arenfeldt (Journal article; Peer reviewed, 2018)This paper presents a study where real-time hybrid testing is used to emulate a moored barge. The barge is modelled physically while the mooring forces are simulated numerically and actuated onto the physical substructure. ... -
Force Tracking Using Actuated Winches with Position-Controlled Motors for Use in Hydrodynamical Model Testing
Ueland, Einar Skiftestad; Sauder, Thomas Michel; Skjetne, Roger (Peer reviewed; Journal article, 2021)In this paper, we consider the problem of accurate force control using actuated winches, intended for use in real-time hybrid hydrodynamic model testing. The paper is also relevant to other cable-driven parallel robot ... -
Load Control for Real-time Hybrid Model Testing using Cable-Driven Parallel Robots
Ueland, Einar Skiftestad (Doctoral theses at NTNU;2021:284, Doctoral thesis, 2021)Real-time hybrid model testing (ReaTHM testing) is a method for emulating ocean structures that combines numerical methods with traditional hydrodynamic model testing. This is done by partitioning the ocean structure under ... -
Marine Autonomous Exploration using a Lidar
Ueland, Einar Skiftestad (Master thesis, 2016)This thesis reviews the complete design of a control system on a marine surface vessel, capable of autonomous exploration in small-scale marine environments. This involves the development of strategies for map exploration, ... -
Marine Autonomous Exploration Using a Lidar and SLAM
Ueland, Einar Skiftestad; Skjetne, Roger; Dahl, Andreas Reason (Chapter; Peer reviewed, 2017)This paper presents the implementation of a 2D-lidar to a model-scale surface vessel, and the design of a control system that makes the vessel able to perform autonomous exploration of a small-scale marine environment by ... -
Optimal Actuator Placement for Real-Time Hybrid Model Testing Using Cable-Driven Parallel Robots
Ueland, Einar Skiftestad; Sauder, Thomas Michel; Skjetne, Roger (Peer reviewed; Journal article, 2021)In real-time hybrid model testing, complex ocean structures are emulated by fusing numerical modelling with traditional hydrodynamic model testing. This is done by partitioning the ocean structure under consideration into ... -
Optimal Force Allocation for Overconstrained Cable-Driven Parallel Robots: Continuously Differentiable Solutions With Assessment of Computational Efficiency
Ueland, Einar Skiftestad; Sauder, Thomas Michel; Skjetne, Roger (Peer reviewed; Journal article, 2020)In this article, we present a novel method for force allocation for overconstrained cable-driven parallel robot setups that guarantees continuously differentiable cable forces and allows for small penalized errors in the ...