Now showing items 1-20 of 3653

    • Direct training of robots using a positional deviation sensor 

      Dessen, Fredrik (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 

      Fossen, Thor Inge (Dr. ingeniøravhandling, 0809-103X; 1999:39, Doctoral thesis, 1991)
    • Modelling and control of submerged-arc ferrosilicon furnaces 

      Valderhaug, Aasgeir Mikael (Doktoravhandlinger ved NTNU, 1503-8181; 1992:83, Doctoral thesis, 1992)
    • Modelling and control of fluid flows and marine structures 

      Aamo, Ole Morten (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 ...
    • Optimal wrist prosthesis kinematics : three-dimensional rotation statistics and parameter estimation 

      Stavdahl, Øyvind (Doktoravhandlinger ved NTNU, 1503-8181; 133, Doctoral thesis, 2002)
      This thesis presents new theoretical results related to the statistical analysis of three-dimensional rotational data, as well as experimental results on the rotational kinematics of exoskeletal prosthetic wrist joints. The ...
    • Wheel Slip Control in ABS Brakes using Gain Scheduled Optimal Control with Constraints 

      Petersen, Idar (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 

      Lindegaard, Karl-Petter (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 ...
    • Constrained optimal control via multiparametric quadraticprogramming 

      Tøndel, Petter (Doktoravhandlinger ved NTNU, 1503-8181; 2003:57, Doctoral thesis, 2003)
      The standard way of solving a mathematical program, is to feed the program into some numerical solver, which usually is custom-made for a class of problems. When several optimization problems, which only differ by the value ...
    • Observer Design for Mechanical Systems described by Semilinear Partial Differential Equations 

      Nguyen, Tu Duc (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 

      Rapp, Knut (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 

      Jalving, Bjørn; Gade, Kenneth; Svartveit, Kristian; Willumsen, Are Baardsgaard; Sørhagen, Robert (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 

      Türkyilmaz, Yilmaz (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 

      Liljebäck, Pål; Stavdahl, Øyvind; Pettersen, Kristin Ytterstad (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 

      Ottermo, Maria Vatshaug (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 

      Mawire, Margrate (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 ...
    • Formation Control of Underactuated Marine Vehicles with Communication Constraints 

      Børhaug, Even; Ghabcheloo, Reza; Pavlov, Alexey; Pettersen, Kristin Ytterstad; Pascoal, Antonio; Silvestre, Carlos (Journal article, 2006)
      In this paper, we propose a nonlinear coordination control scheme for formation control of a group of underactuated marine vehicles with communication topology constraints. In particular, we propose decentralized control ...
    • Observer design for underwater vehicles with position and angle measurement 

      Refsnes, Jon E Gorset; Pettersen, Kristin Ytterstad; Sørensen, Asgeir Johan (Journal article, 2006)
      In this paper we propose a new observer system for underwater vehicles. The main design objective behind this strategy is to reduce the destabilizing effect of the Coriolis and centripetal forces and moments in the observer. ...
    • Weather optimal dynamic positioning of underactuated AUVs using output feedback control 

      Refsnes, Jon E Gorset; Sørensen, Asgeir Johan; Pettersen, Kristin Ytterstad (Journal article, 2006)
      In this paper we present an output feedback control system for dynamic positioning of underactuated AUVs. The control objective is to maintain a desired distance to the target while orienting the vehicle towards the target ...
    • LOS Path Following for Underactuated Underwater Vehicle 

      Børhaug, Even; Pettersen, Kristin Ytterstad (Journal article, 2006)
      In this paper, we propose a control scheme for path following of underactuated underwater vehicles. In particular, we propose a guidance law based on the the well-known principle of Line of Sight (LOS) guidance that is ...
    • Bølgekompensering under boring med RamRig: Modellering og regulering 

      Aurlien, Yngvild (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 ...