Blar i Institutt for teknisk kybernetikk på forfatter "Zhang, Houxiang"
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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 Neural Network Approach to Control Allocation of Ships for Dynamic Positioning
Skulstad, Robert; Li, Guoyuan; Zhang, Houxiang; Fossen, Thor I. (Journal article; Peer reviewed, 2018)Dynamic Positioning (DP) of ships is a control mode that seeks to maintain a specific position (stationkeeping) or perform low-speed maneuvers. In this paper, a static Neural Network (NN) is proposed for control allocation ... -
A Co-operative Hybrid Model For Ship Motion Prediction
Skulstad, Robert; Li, Guoyuan; Fossen, Thor I.; Wang, Tongtong; Zhang, Houxiang (Peer reviewed; Journal article, 2021)Dynamic models of ships have been widely used for model-based control and short-term prediction in the past. Identifying the parameters of such models has mainly been done through scaled model tests, full scale tests or ... -
Controlling Kuka Industrial Robots : Flexible Communication Interface JOpenShowVar.
Sanfilippo, Filippo; Hatledal, Lars Ivar; Zhang, Houxiang; Fago, Massimiliano; Pettersen, Kristin Ytterstad (Journal article, 2015)JOpenShowVar is a Java open-source cross-platform communication interface to Kuka industrial robots. This novel interface allows for read-write use of the controlled manipulator variables and data structures. JOpenShowVar, ... -
Dead Reckoning of Dynamically Positioned Ships: Using an Efficient Recurrent Neural Network
Skulstad, Robert; Li, Guoyuan; Fossen, Thor I.; Vik, Bjørnar; Zhang, Houxiang (Journal article; Peer reviewed, 2019)When a ship experiences a loss of position reference systems, its navigation system typically enters a mode known as dead reckoning (DR) to maintain an estimate of its position. Commercial systems perform this task using ... -
A Hybrid Approach to Motion Prediction for Ship Docking— Integration of a Neural Network Model into the Ship Dynamic Model
Skulstad, Robert; Li, Guoyuan; Fossen, Thor I.; Vik, Bjørnar; Zhang, Houxiang (Peer reviewed; Journal article, 2020)While automatic controllers are frequently used during transit operations and low-speed maneuvering of ships, ship operators typically perform docking maneuvers. This task is more or less challenging depending on factors ...