Blar i Institutt for teknisk kybernetikk på emneord "Reguleringsteknikk"
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Bevegelsesstyring av robotarm og kamera med kollisjonsunngåelse
(Master thesis, 2010)Denne rapporten beskriver videreutvikling av et system hvor en robotarmfjernstyres over nettverk, og som overfører stereoskopisk video i sanntid tiloperatøren. Gjennom en hodemontert fremvisningsenhet opplever operatørenderfor ... -
Boundary Control of the Gas Coning Problem
(Master thesis, 2010)This thesis was set to tackle the gas coning problem in oil-rim reservoirs with horizontal wells. The focus was short term production planning in the sub-critical phase only. Different controllers were developed and assessed ... -
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 ... -
CO2-rensing av eksosgass fra kullkraftverket i Longyearbyen
(Master thesis, 2008)I denne rapporten undersøkes mulighetene for CO2-rensing av eksosgassen fra det eksisterende kullkraftverket i Longyearbyen. Dette er gjort som en uavhengig studie motivert av prosjektet CO2-fritt Svalbard. Omfanget av ... -
Collision Avoidance Algorithms for Unmanned Surface Vehicle-Based Formation Control Applications
(Master thesis, 2010)This thesis is the result of work focusing on collision avoidance in connection with formation control for unmanned surface vehicles (USVs) using coordinated target tracking. Especially utilization of such vessels in marine ... -
Collision Avoidance for Unmanned Surface Vehicles
(Master thesis, 2008)Considerable progress has been achieved in recent years with respect to autonomous vehicles. A good example is the DARPA Grand Challenge, a competition for autonomous ground vehicles. None of the competing vehicles managed ... -
Collision-Free Path Planning for Unmanned Surface Vehicles
(Master thesis, 2010)At the basis of autonomous behavior of moving vehicles lies the path planning system. How should the vehicle move to get from its initial position to its destination, and do so without harming itself and its surroundings ... -
Comparison of Adaptive Controllers for a Servomechanism
(Master thesis, 2007)Electric motors with metal graphite brushes experience a change in contact resistance depending on current load. This varying resistance leads to varying gain in the motor, since the proportion of power dissipated due to ... -
Compensation of Wave-Induced Motion for Marine Crane Operations
(Master thesis, 2008)Most of the systems considering wave synchronization in the literature are concerned with moon pool operations. The objective of this thesis is to transition the existing knowledge from some of that work into marine cranes ... -
Condition Monitoring: Based on "black-box"- and First Principal Models
(Master thesis, 2011)Summary and conclusionsThis master thesis investigates Principal Component Analysis (PCA) methods used in the field of Early Fault and Disturbance Detection (EFDD). Statoil and ABB have in collaboration developed an ... -
Control and Stability Analysis of Snake Robot Locomotion
(Master thesis, 2010)Snake robots are inspired by biological snakes in both shape and dynamical behavior. A snake robot is constructed by a chain of links, interconnected by revolute joints. By imitating gaits of biological snakes, the snake ... -
Control of an Underwater Robot System Connected to a Ship by a Slender Marine Structure
(Master thesis, 2008)This report addresses the stabilization problem of a marine structure (i.e. cable/riser), connected to a surface vessel at one end and to a thruster unit at the other. Here, only motion in the lateral direction has been ... -
Control of Underactuated AUVs for Survey and Pipe-Inspection Purposes: Path-following and Target Tracking for Underactuated AUVs
(Master thesis, 2010)1. Look at different control schemes for underactuated AUVs used for surveying and in particular pipe-inspection.2. Verify the results by simulation.3. If performance is poor as a result of environmental disturbances look ... -
Control system for rotifer production
(Master thesis, 2007)Rotifers are used extensively as start feed for many cultured marine fish species and commercial size hatcheries require stable daily supply of high quality rotifers of substantial volumes. This is often done relying on ... -
Controller design for an unmanned surface vessel: Design of a heading autopilot and way-point navigation system for an underactuated USV.
(Master thesis, 2007)Design of a heading autopilot and way-point navigation system an underactuated USV. -
Controller design for the Kongsberg Protector remote weapon station
(Master thesis, 2009)This thesis is about controller design for the Kongsberg Protector remote weapon station. The Kongsberg Protector RWS is a vehicle-mounted weapon station designed for carrying machine guns and automatic grenade launchers. ... -
Coordinated Control with Obstacle Avoidance for Robot Manipulators
(Master thesis, 2010)This thesis addresses the problem of robot synchronization with obstacle avoidance. While these two fields have been studied extensively on their own, they have not yet been considered together as one problem. This thesis ... -
Decentralized Decision Making in Multi-Agent Systems
(Master thesis, 2011)The literature in the feld of multi-agent manufacturing control predom-inantly presents qualitative arguments to motivate its usage. This workpresents quantitative meaning to some of these arguments. The work alsodiscusses ... -
Design and Implementation of Attitude Control for 3-axes Magnetic Coil Stabilization of a Spacecraft
(Master thesis, 2011)Spacecrafts, especially satellites, play an ever greater rolein our daily lives as we increasingly depend on the services they provide,which in turn, more often than not, critically depend on maintainingcorrect payload ... -
Design of a New Joint Mechanism and a Simulator for a Climbing Robot
(Master thesis, 2007)This report covers the development of a new joint mechanism and a robotic simulator. These are intended to be used in the further development of a climbing robot that has been previously worked on. The climbing robot is ...