Browsing Institutt for teknisk kybernetikk by Issue Date
Now showing items 1-20 of 2833
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Direct training of robots using a positional deviation sensor
(Doktor ingeniøravhandling;1988:33, Doctoral thesis, 1988)A device and system for physically guiding a manipulator through its task is described. The device consists of inductive, contact-free positional deviation sensors, enabling the rcbot to track a motion marker. Factors ... -
Nonlinear modelling and control of underwater vehicles
(Dr. ingeniøravhandling, 0809-103X; 1999:39, Doctoral thesis, 1991) -
Modelling and control of submerged-arc ferrosilicon furnaces
(Doktoravhandlinger ved NTNU, 1503-8181; 1992:83, Doctoral thesis, 1992) -
Modelling and control of fluid flows and marine structures
(Dr. ingeniøravhandling, 0809-103X; 2002:45, Doctoral thesis, 2002)The contributions of this thesis fall naturally into two main categories: Part I: Feedback control of fluid flows, and; Part II: Modelling and control of marine structures. Main Con tributions of Part I Part I presents ... -
Wheel Slip Control in ABS Brakes using Gain Scheduled Optimal Control with Constraints
(Dr. ingeniøravhandling, 0809-103X; 2003:43, Doctoral thesis, 2003)In a conventional antilock brake system (ABS), the wheel slip will oscillate around a "critical slip" within some given thresholds. This oscillation will have as side effects a noticeable vibration for the driver and ... -
Acceleration Feedback in Dynamic Positioning
(Dr. ingeniøravhandling, 0809-103X; 2003:74, Doctoral thesis, 2003)This dissertation contains new results on the design of dynamic positioning (DP) systems for marine surface vessels. A positioned ship is continuously exposed to environmental disturbances, and the objective of the DP ... -
Observer Design for Mechanical Systems described by Semilinear Partial Differential Equations
(Doktoravhandlinger ved NTNU, 1503-8181; 2004:86, Doctoral thesis, 2004)This doctoral thesis presents new analysis tool for observer design of flexible mechanical systems described by partial differential equations (PDEs). This work focuses especially on designing of natural observers. ... -
Nonlinear estimation and control in the iron ore pelletizing process: An application and analysis of the Extended Kalman Filter
(Doktoravhandlinger ved NTNU, 1503-8181; 2004:94, Doctoral thesis, 2004)This thesis deals with estimation and control of the balling drums used in the iron ore pelletizing process. First a conceptually new control scheme for balling drums is proposed. In this control scheme a cluster of drums ... -
DVL Velocity Aiding in the HUGIN 1000 Integrated Inertial Navigation System
(Journal article; Peer reviewed, 2004)The RDI WHN-600 Doppler Velocity Log (DVL) is a key navigation sensor for the HUG1N 1000 Autonomous Underwater Vehicle (AUV). HUGIN 1000 is designed for autonomous submerged operation for long periods of time. This is ... -
Modeling and Control of Towed Seismic Cables
(Doktoravhandlinger ved NTNU, 1503-8181; 2004:23, Doctoral thesis, 2004)This doctoral thesis presents new results on modeling and control of towed seismic cables. Nonlinear distributed-parameter mathematical models of the towed cables for large and small deflections are proposed. The equivalent ... -
Modular Pneumatic Snakerobot: 3D Modelling, Implementation and Control
(Journal article; Peer reviewed, 2005)This paper gives a treatment of various aspects related to snake locomotion. A mathematical model and a physical implementation of a modular snake robot are presented. A control strategy is also developed, yielding a ... -
Virtual Palpation Gripper
(Doktoravhandlinger ved NTNU, 1503-8181; 2006:95, Doctoral thesis, 2006)This thesis presents the design and performance of the Virtual Palpation Gripper, an early prototype of a remote palpation instrument intended for laparoscopic surgery. Psychophysical experiments related to this prototype ... -
Design and simulation of a power gateway controller for connecting small scale electricity production units to the distribution network
(Doktoravhandlinger ved NTNU, 1503-8181; 2006:101, Doctoral thesis, 2006)Electricity markets have been opening up for more local production units, due to large transportation costs and large daily and seasonal load fluctuations. Even small scale producers are gradually getting permission to ... -
Bølgekompensering under boring med RamRig: Modellering og regulering
(Master thesis, 2007)Sammendrag: Hivkompensering kan deles inn i passiv, aktiv og semiaktiv kompensering utifra i hvilken grad det benyttes et aktivt pådrag for å kompensere for hivet. Hivkompenserig kan gjøres på forskjellige måter. Toppmontert ... -
Developing Embedded Control System Platform using Atmel AVR32 Processor: Using Rapid Prototyping with Matlab Real-Time Workshop
(Master thesis, 2007)AVR32 is a new processor architecture made by Atmel Norway, and in this thesis it has been used to make a control system platform. The hardware used in this platform is the STK1000, an AVR32 development board and an I/O-card. ... -
Modeling and Simulation of Anti-slug Control in Hydro Experimental Multiphase Flow Loop
(Master thesis, 2007)Handling slug flow is a matter of necessity in the oil and gas industry. Large slugs cause problems at the production platform by overfilling the first stage separator leading to poor separation and pressure increase, which ... -
Design of an Electric X-mas Tree Gate Valve Actuator
(Master thesis, 2007)The increasing need for more energy in the world is making the oil companies search for hydrocarbons in deeper water and with longer distances between the well and platform(step-out) never experienced before. Current systems ... -
Predictive Control of Residue on Evaporation: Control Structure Design
(Master thesis, 2007)Summary -
Sensor Integration for Nonlinear Navigation System in Underwater Vehicles
(Master thesis, 2007)This thesis deals with three methods for integrating measurements from different sensors for an underwater vehicle. The sensors that were used are inertial measurement unit (IMU), Doppler velocity log (DVL), Hydro- acoustic ... -
Modelling Simulation and Control of Fixed-wing UAV: CyberSwan
(Master thesis, 2007)This report treats modelling, simulation and control of a fixed-wing aircraft, including implementation of a Aircraft Flight Control System (AFCS). The design and construction of a suitable airframe (design og konstruksjon ...