Blar i Institutt for teknisk kybernetikk på tittel

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    • A 3D motion planning framework for snake robots 

      Liljebäck, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy (Chapter, 2014)
      This paper presents a motion planning framework for three-dimensional body shape control of snake robots. Whereas conventional motion planning approaches define the body shape of snake robots in terms of their individual ...

    • A 3D Reactive Collision Avoidance Algorithm for Nonholonomic Vehicles 

      Syre Wiig, Martin; Pettersen, Kristin Ytterstad; Krogstad, Thomas Røbekk (Chapter, 2018)
      This paper presents a 3D reactive collision avoidance algorithm for vehicles with nonholonomic constraints. The algorithm steers the heading and pitch angle of the vehicle in order to maintain a constant avoidance angle ...

    • A 3D Reactive Collision Avoidance Algorithm for Underactuated Vehicles 

      Syre Wiig, Martin; Pettersen, Kristin Ytterstad; Krogstad, Thomas Røbekk (Chapter, 2018)
      This paper presents a 3D reactive collision avoidance algorithm for vehicles with underactuated dynamics. The underactuated states cannot be directly controlled, but are controlled indirectly by steering the direction of ...

    • A 3D Reactive Collision Avoidance Algorithm for Underactuated Vehicles 

      Syre Wiig, Martin; Pettersen, Kristin; Krogstad, Thomas Røbekk (Journal article; Peer reviewed, 2019)
      This paper presents a 3D reactive collision avoidance algorithm for vehicles with underactuated dynamics. The underactuated states cannot be directly controlled, but are controlled indirectly by steering the direction of ...

    • A Benchmarking Framework for Control Methods of Maritime Cranes Based on the Functional Mockup Interface 

      Sanfilippo, Filippo; Hatledal, Lars Ivar; Pettersen, Kristin Ytterstad; Zhang, Houxiang (Journal article, 2017)
      A benchmark framework for advanced control methods of maritime cranes is presented based on the use of the functional mockup interface. The system integrates different manipulator models, all the corresponding hydraulic ...

    • A Camera-based Perception System for Autonomous Quadcopter Landing on a Marine Vessel 

      Sundvoll, Thomas (Master thesis, 2020)
      Små, ubemannede luftfartøyer (UAVer) har tiltrukket seg mye oppmerksomhet de siste årene, og et av de mest studerte UAVene er quadcopteret. Et quadcopter går også under kategorien VTOL-fartøy som er et begrep som brukes ...

    • A classification scheme for electrocardiogram based meal onset detection 

      Lillestrand, Christian (Master thesis, 2023)
      Den kunstige bukspyttkjertelen er et system som kombinerer en glukosemåler, en styringsalgoritme og en insulininfusjonsenhet som kan hjelpe med å optimalisere glykemisk kontroll hos pasienter med diabetes. For at et slikt ...

    • A common software framework for a CubeSat with multiple payloads 

      Moxnes, Tuva Okkenhaug (Master thesis, 2021)
      Overvåking av verdenshavene er nødvendig for å øke vår kunnskap om effekten av klimaendringene. Et tverrfaglig team jobber sammen på SmallSatLab ved Norges teknisk-naturvitenskapelige univer- sitet (NTNU). Teamet har som ...

    • A Comparative Study of Control Structures Applied in Gas Lift Systems to Prevent Casing Heading 

      Hansen, Henrik Hjelseth (Master thesis, 2012)
      Gas lift is an artificial lift technique which is intended to be used in oil and gas production systems to enhance the oil recovery rate. The technique is used in production systems which suffers from insufficient production ...

    • A Comparative Study of Different Control Structures for Flight Control with New Results 

      Oland, Espen; Kristiansen, Raymond; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2018)
      This paper presents several different control structures that facilitate flight control and does a comparison between them. Specifically, this paper considers command-filtered backstepping, nonlinear dynamic inversion ...

    • A Comparison of Observers for Estimation of the Bottomhole Pressure. 

      Opsanger, Eirik Nyland (Master thesis, 2009)
      New offshore oil recourses that are developed are more difficult to drill and increase the requirements to the technology in the offshore industry. A relatively new technology is Managed Pressure Drilling where a choke ...

    • A computational pipeline for quantification of mouse myocardial stiffness parameters 

      Nordbø, Øyvind; Lamata, P.; Land, Sander; Niederer, Steven A.; Aronsen, Jan Magnus; Louch, William Edward; Sjaastad, Ivar; Martens, Harald; Gjuvsland, Arne Bjørke; Tøndel, Kristin; Torp, Hans; Lohezic, M; Schneider, Jürgen; Remme, Espen W.; Smith, Nicolas P; Omholt, Stig W; Vik, Jon Olav (Journal article; Peer reviewed, 2014)
      The mouse is an important model for theoretical–experimental cardiac research, and biophysically based whole organ models of the mouse heart are now within reach. However, the passive material properties of mouse myocardium ...

    • A computationally efficient model predictive control scheme for space debris rendezvous 

      Larsén, Alexander; Chen, Yutao; Bruschetta, Mattia; Carli, Ruggero; Cenedese, Angelo; Varagnolo, Damiano; Felicetti, Leonard (Journal article; Peer reviewed, 2019)
      We propose a non-linear model predictive scheme for planning fuel efficient maneuvers of small spacecrafts that shall rendezvous space debris. The paper addresses the specific issues of potential limited on-board computational ...

    • A Computer Vision Approach for Autonomous Wind Turbine Inspection using a Multicopter 

      Stokkeland, Martin (Master thesis, 2014)
      This thesis studies the mission of autonomous inspection of a wind turbine using a multicopter. Emphasis was placed on recognition and tracking using image processing methods. The Hough line transform was used to extract ...

    • A Concurrency Oriented Real-Time Language 

      Hafstad, Jon Tore (Master thesis, 2010)
      Summary

    • A control framework for biologically inspired underwater swimming manipulators equipped with thrusters 

      Sverdrup-Thygeson, Jørgen; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (IFAC Proceedings series;, Journal article; Peer reviewed, 2016)
      In this paper we present a control framework for a novel biologically inspired underwater swimming manipulator (USM) equipped with thrusters. The framework consists of a kinematic part and a dynamic part. The kinematic ...

    • A control framework for snake robot locomotion based on shape control points interconnected by Bézier curves 

      Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2012)
      This paper presents a control framework for shape control of snake robots for the purpose of locomotion. An advantage of the framework is that it allows the macroscopic shape of a snake robot to be controlled explicitly ...

    • A control-oriented model of underwater snake robots exposed to currents 

      Kohl, Anna M.; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Chapter, 2015)
      This paper presents a control-oriented model of a neutrally buoyant underwater snake robot that is exposed to a constant irrotational current. The robot is assumed to move in a horizontal, fully submerged plane with a ...

    • A Control–Oriented Model of Underwater Snake Robots 

      Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Conference Publications;ROBIO 2014, Chapter, 2014)
      In this paper we consider swimming underwater snake robots that are fully immersed in water and moving in a virtual horizontal plane. The main objective of the paper is to develop a model that is well suited for control ...

    • A crisis-robust modern macroeconomic system - a Control Systems Approach 

      Dahlen, Erlend Evenstad (Master thesis, 2021)
      Det finansielle systemet er viktig for koordinering av mennesker, prosjekter og ressurser, og det har derfor en katastrofal virkning når det slutter å fungere i en finanskrise. Som en makroøkonomisk utfordring erkjennes ...