Blar i Institutt for teknisk kybernetikk på utgivelsesdato
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Direct training of robots using a positional deviation sensor
(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
(Dr. ingeniøravhandling, 0809-103X; 1999:39, Doctoral thesis, 1991) -
Modelling and control of submerged-arc ferrosilicon furnaces
(Doktoravhandlinger ved NTNU, 1503-8181; 1992:83, Doctoral thesis, 1992) -
Modelling and control of fluid flows and marine structures
(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
(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
(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
(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
(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
(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
(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
(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
(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
(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
(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
(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
(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
(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
(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
(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 ... -
Leader-follower Dynamic Synchronization of Surface Vessels
(Journal article, 2006)This paper introduces a dynamic leader-follower synchronization scheme for surface vessels that specifies the behavior of the follower vessels as they approach their desired position in a formation, or in a docking operation. ...