Now showing items 1-20 of 2159

    • 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 ...
    • 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 ...
    • 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 ...
    • 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 ...
    • 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 ...
    • 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 ...
    • 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 ...
    • Modeling Run-Time Distributions in Passively Replicated Fault-Tolerant Systems 

      Tjora, Åsmund (Doktoravhandlinger ved NTNU, 1503-8181; 2007:259, Doctoral thesis, 2007)
      Many real-time applications will have strict reliability requirements in addition to the timing requirements. To fulfill these reliability requirements, it may be necessary to use a fault-tolerance strategy. An active ...
    • Control Relevant Modeling and Nonlinear State Estimation Applied to SOFC-GT Power Systems 

      Kandepu, Rambabu (Doktoravhandlinger ved NTNU, 1503-8181; 2007:172, Doctoral thesis, 2007)
      With today’s increasing concern about global warming and climate change and further increase in energy demand, there is an incentive to investigate power processes that operate efficiently, and thus reducing the amount of ...
    • Ensemble Kalman Filtering for State and Parameter Estimation on a Reservoir Model 

      Jensen, John Petter (Master thesis, 2007)
      In reservoir management it is important with reservoir models that have good predictive abilities. Since the models initially are based on measurements with high uncertainties it is important to utilize new available data. ...
    • Robust control of ROV/AUVs 

      Svendby, Eirik (Master thesis, 2007)
      In this project a robust adaptive controller has been developed for Minerva, NTNU's research ROV. The controller was tested in simulation using Matlab/Simulink with a mathematical model of the vessel. It was also tested ...
    • Averaging Level Control of a Separator using Gain Scheduling 

      Halvorsrød, Sverre Oliver (Master thesis, 2007)
      In mature production wells slugging is, or can be, a major challenge when it comes totuning of the first separator control loops. The objectives of the tuning are to minimizethe variation of the outflow, whilst at the same ...
    • Design of an Electric X-mas Tree Gate Valve Actuator 

      Winther-Larssen, Einar H. (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 ...
    • 3D AUV Collision Avoidance 

      Engelhardtsen, Øystein (Master thesis, 2007)
      An underlying requirement for any Autonomous Underwater Vehicle (AUV) is to navigate through unknown or partly unknown environments while performing certain user specified tasks. The loss of an AUV due to collision is ...