Blar i Institutt for teknisk kybernetikk på tittel

Viser treff 2953-2972 av 3691

    • Risk-based supervisory control for autonomous ship navigation 

      Blindheim, Simon André Johnsen; Johansen, Tor Arne; Utne, Ingrid Bouwer (Peer reviewed; Journal article, 2023)
      This paper proposes a novel method to transform the results of qualitative risk analysis into a numeric optimal control problem for autonomous ship navigation. Today, making autonomous high-level decisions replacing a crew ...

    • Risk-based Traffic Rules Compliant Collision Avoidance for Autonomous Ships 

      Tengesdal, Trym (Doctoral theses at NTNU;2022:259, Doctoral thesis, 2022)
      Summary As the maritime traffic sector is expected to increase over the next years, effort should be invested into protocols and technology for ensuring safe and efficient voyage over the seas. Autonomous ships can here ...

    • Risk-Informed Artificial Intelligence for Autonomous Inspection on Subsea Pipelines 

      Spahic, Rialda (Doctoral theses at NTNU;2023:245, Doctoral thesis, 2023)
      The research in this thesis centers on the image data interpretation capabilities of autonomous underwater systems in the offshore oil and gas industry responsible for visual inspection and monitoring of underwater pipelines ...

    • RMF-Owl: A Collision-Tolerant Flying Robot for Autonomous Subterranean Exploration 

      De Petris, Paolo; Nguyen, Dinh Huan; Dharmadhikari, Mihir; Kulkarni, Mihir; Khedekar, Nikhil Vijay; Mascarich, Frank; Alexis, Konstantinos (Chapter, 2022)
      This work presents the design, hardware realization, autonomous exploration and object detection capabilities of RMF-Owl, a new collision-tolerant aerial robot tailored for resilient autonomous subterranean exploration. ...

    • Robot Based Inspection of Valves in Industrial Facilities 

      Rosland, Åshild Berg (Master thesis, 2023)
      Formålet med denne masteroppgaven er å utvikle en algoritme for å beregne optimale inspeksjonsposisjoner for ventiler i industrianlegg, basert på funn fra fordypningsprosjektet. For å oppnå dette er det utarbeidet flere ...

    • Robot Dynamics with URDF & CasADi 

      Johannessen, Lill Maria; Arbo, Mathias Hauan; Gravdahl, Jan Tommy (Chapter, 2019)
      Fast, accurate evaluation of the dynamics parameters is a key ingredient for accurate control, estimation, and simulation of robots. As these are time-consuming to compute by hand, a software library for generating the ...

    • Robot Dynamics with URDF & CasADi 

      Johannessen, Lill Maria Gjerde (Master thesis, 2019)
      Effektiv og nøyaktig evaluering av dynamiske parametere er en nøkkelingrediens for kontroll, estimering, og simulering av roboter. De kan være tidkrevende å kalkulere for hånd, og forskere innenfor robotikk kan derfor ha ...

    • Robot for automatisk utsetting og høsting av tare 

      Eggesvik, Andreas Torgrimsen (Master thesis, 2019)
      Det globale markedet for sukkertare er raskt voksende. For å møte markedets behov og samtidig holde produksjonskostnader nede, er det nødvendig å utvikle teknologi som automatiserer prosessen med å så og høste denne taren. ...

    • Robot for kvalitetsortering av øyerogn av laksefisk 

      Solem, Edda (Master thesis, 2020)
      Sopp på rogn er et problem hos oppdrettsanlegg av laksefisk. Soppen er avhengig av døde rognkorn for å kunne spre seg og ta livet av levende rogn. Det er derfor viktig å fjerne døde rognkorn for å redusere spredning av ...

    • Robot learning with visual processing in arbitrarily sized, high resolution volumes 

      Dyrstad, Jonatan Sjølund (Doctoral theses at NTNU;2023:266, Doctoral thesis, 2023)
      Flexible robots, capable of manipulating objects in unstructured environments under changing conditions, will lead to a paradigm shift in automation. Such robotic solutions can potentially transform entire industries ...

    • Robotic Bin-Picking under Geometric End-Effector Constraints: Bin Placement and Grasp Selection 

      Gravdahl, Irja; Seel, Katrine; Grøtli, Esten Ingar (Chapter, 2019)
      In this paper we demonstrate how path reachability can be taken into account when selecting among predetermined grasps in a bin-picking application, where grasps are supplied independently of the robot at hand. We do this ...

    • Robotic in-row weed control in vegetables 

      Utstumo, Trygve; Urdal, Frode; Brevik, Anders; Dørum, Jarle; Netland, Jan; Overskeid, Øyvind; Berge, Therese W.; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2018)
      Vegetables and other row-crops represent a large share of the agricultural production. There is a large variation in crop species, and a limited availability in specialized herbicides. The robot presented here utilizes ...

    • Robotic Lever Manipulation using Hindsight Experience Replay and Shapley Additive Explanations 

      Remman, Sindre Benjamin; Lekkas, Anastasios M. (Peer reviewed; Journal article, 2021)
      This paper deals with robotic lever control using Explainable Deep Reinforcement Learning. First, we train a policy by using the Deep Deterministic Policy Gradient algorithm and the Hindsight Experience Replay technique, ...

    • Robotic Maintenance and ROS - Appearance Based SLAM and Navigation With a Mobile Robot Prototype 

      Lindrup, Vegard Stjerna (Master thesis, 2016)
      Robotic maintenance has been a topic in several master's theses and specialization projects at the Department of Engineering Cybernetics (ITK) at NTNU over many years. This thesis continues on the same topic, with special ...

    • Robotic manipulation using Deep Reinforcement Learning 

      Remman, Sindre Benjamin (Master thesis, 2020)
      Det å forbedre roboters autonomi har lenge vært et mål for forskere. Ulike verktøy har blitt brukt for å gjøre dette, og dagens roboter er mer autonome enn noen gang før. Det er imidlertid fortsatt noe som mangler. For at ...

    • 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. ...

    • Robotised Wire Arc Additive Manufacturing Using Set-based Control: Experimental Results 

      Evjemo, Linn Danielsen; Moe, Signe; Gravdahl, Jan Tommy (Peer reviewed; Journal article, 2020)
      Additive manufacturing (AM) is a term that covers a variety of techniques for building custom-made, three dimensional structures. Such methods have moved from initially being used for creating simpli_ed models to enable ...

    • Robotisert tankrensesystem for fiskeyngeloppdrett 

      Braa, Håvard Lein (Master thesis, 2011)
      Denne prosjektoppgaven beskriver utvikling og konstruksjon av en prototype av en autonom tankrenserobot for marin yngelproduksjon. Gjennom oppgaven har det blitt utviklet et nytt konsept og en prototype som viser mulighetene ...

    • Robotisert Vedlikehold 

      Dagestad, Magnus (Master thesis, 2008)
      Prosjektet har fire hovedelement: nettverksoverføring av video, implementering av forskjellige styringsenheter for industrirobot, evaluering av visningsenheter for robotstyring og bruksområder for et system bestående av ...

    • Robotisert vedlikehold 

      Aspunvik, Petter (Master thesis, 2013)
      Robotmanipulatoren har en vogn som kan kjøre den rundt slik at den når flere plasser enn hvis den hadde vært fastmontert. Dette var hovedmålet med oppgaven og det anses som oppfylt. Programmet som styrer vognen er fullstendig ...