Browsing Institutt for teknisk kybernetikk by Title
Now showing items 2095-2114 of 3690
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Model-based predictive control using Modelica and open source components
(Master thesis, 2010)This thesis is about Model Predictive Control (MPC) method for process control. It describes how this method could be implemented using some different open source software components, describing functionalities of each one ... -
Model-based Reinforcement Learning for Variable Impedance Control
(Doctoral theses at NTNU;2023:149, Doctoral thesis, 2023)This thesis is a collection of research work in the area of reinforcement learning and robotic manipulation. A set of new results on reinforcement learning focusing on model-based approaches and variable impedance control ... -
Model-Based Roasting Control
(Master thesis, 2021)Å tilberede biff til perfeksjon er en kunst. Det kan ta mange år med spesialisert trening for å oppnå intuisjon for når biffen er perfekt stekt. Teknikker som å klemme på biff med finger eller visuell inspeksjon blir ofte ... -
Model-based variable impedance learning control for robotic manipulation
(Journal article; Peer reviewed, 2023)The capability to adapt compliance by varying muscle stiffness is crucial for dexterous manipulation skills in humans. Incorporating compliance in robot motor control is crucial for enabling real-world force interaction ... -
Model-Free All-Source-All-Destination Learning as a Model for Biological Reactive Control
(Journal article; Peer reviewed, 2021)We present here a model-free method for learning actions that lead to an all-source-all-destination shortest path solution. We motivate our approach in the context of biological learning for reactive control. Our method ... -
Model-free Control of Partially Observable Underactuated Systems by pairing Reinforcement Learning with Delay Embeddings
(Peer reviewed; Journal article, 2022)Abstract: Partial observability is a problem in control design where the measured states are insufficient in describing the systems trajectory. Interesting real-world systems often exhibit nonlinear behavior and noisy, ... -
Model-free IMU-based DP State Estimator
(Master thesis, 2014)The main goal of this thesis has been to develop a new model-free state estimator for dynamic positioning, based on an inertial measurement unit, a gyrocompass and a position reference system. The state estimator should ... -
Modeling a Multi Locomotion Robot for Biped Walking
(Master thesis, 2012)The task is to deduce a reduced model based on biped walking for the 24-DoF Gorilla Multi locomotion robot from Fukuda Lab, Nagoya University. Further, the dynamic equations of the reduced model shall be realized, and a ... -
Modeling and Analysis of a Dynamic Positioning System for a Wave Energy Converter
(Master thesis, 2021)Waveco utvikler et nytt type bølgekraftverk bestående av to deler, en undervanns turbin festet til en bøye som flyter på havoverflaten og følger bølgenes bevegelse. Bøyens bevegelse beveger dermed turbinen som flyter dypt ... -
Modeling and analysis of grid-synchronizing stability of a Type-IV wind turbine under grid faults
(Peer reviewed; Journal article, 2020)Transient behavior and response of wind turbines have been extensively studied in the context of the low-voltage-ride-through (LVRT) for many years, in which the identified transients are mostly associated with circuit ... -
Modeling and Analysis of SOGI-PLL/FLL-based Synchronization Units: Stability Impacts of Different Frequency-feedback Paths
(Peer reviewed; Journal article, 2020)— Second-order Generalized Integrator (SOGI)-based quadrature-signal-generator (QSG) together with either a phaselocked-loop (PLL) or a frequency-locked-loop (FLL) constitute two types of typical synchronization units ... -
Modeling and Control for Managed Pressure Drilling from Floaters: Heave Compensation by Automatic Nonlinear Control
(Master thesis, 2011)Managed pressure drilling is a sophisticated pressure control method which is intended to meet increasingly high demands in drilling operations in the oil and gas industry. With this method, the well is pressurized and the ... -
Modeling and control of a calcination furnace
(Master thesis, 2017)Calcined anthracite is the primary material used in Søderberg electrode paste, prebaked carbon electrodes, aluminium cathodes, and a variety of other carbon products used in the metallurgical industries. In electrical ... -
Modeling and Control of a Four-wheel Autonomous Agricultural Robot
(Master thesis, 2021)Denne masteroppgaven utvikler et hierarkisk kontrollsystem for en 4-hjul-individuelt-styrt (4WIS) bil, som blir laget av det norske landbruksoppstartsselskapet AutoAgri. Et nytt type kontrollsystem som tillater simultan ... -
Modeling and Control of a Marine Diesel Engine driving a Synchronous machine and a Propeller
(Journal article; Peer reviewed, 2014)In some designs of power systems for marine vessels, large-size or medium-size Diesel engine(s) is(are) used to drive one synchronous machine to generate electricity, and the main propeller, simultaneously, through a gear ... -
Modeling and control of catenary mooring systems for vessels, oil rigs, and barges
(Master thesis, 2018)In this master thesis, an automatic positioning system for moored vessels has been studied. Although there exist dynamic positioning systems for vessels with integrated thrusters, this system will be considering operations ... -
Modeling and Control of Heave- Induced Pressure Oscillations in Offshore Drilling
(Doctoral theses at NTNU;2018:360, Doctoral thesis, 2018)This thesis addresses the topic of heave-induced pressure fluctuations in offshore drilling from floating platforms. Such pressure oscillations occur during drill string connections when the drill string is rigidly attached ... -
Modeling and Control of Heave-Induced Pressure Fluctuations in Managed Pressure Drilling
(Journal article; Peer reviewed, 2013)Automatic managed pressure drilling is an advanced pressure-control method which is intended to meet the increasingly high demands in drilling operations in the oil and gas industry. In this method, the circulating drilling ... -
Modeling and control of inductive power transfer systems with constant voltage load
(Doctoral theses at NTNU;2023:107, Doctoral thesis, 2023)In recent decades, wireless power transfer (WPT) systems have been used in more and more fields, such as portable electronic devices, implanted medical devices, power system monitoring devices, underwater vehicles, etc. ... -
Modeling and Control of Parametric Resonance in Ships
(Master thesis, 2009)This report considers two different approaches to control the roll motion of ships which experience parametric roll resonance. An Extremum Seeking feedback controller is designed which iteratively determines the optimal ...