Now showing items 1-20 of 2159

    • 150 Years of the Mass Action Law 

      Voit, Eberhard; Martens, Harald; Omholt, Stig William (Journal article; Peer reviewed, 2015)
      This year we celebrate the 150th anniversary of the law of mass action. This law is often assumed to have been “there” forever, but it has its own history, background, and a definite starting point. The law has had an ...
    • 2-D Passive Compass Biped Walker: Analysis and Robustness of Stable Gait 

      Anstensrud, Torleif (Master thesis, 2013)
      The compass-gait biped is a deceptively simple walking machine that is often used as a standard benchmark for testing new concepts and methods in legged locomotion. This study will focus on developing a procedure for finding ...
    • 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 ...
    • 3D Coordinated Path Following with Disturbance Rejection for Formations of Under-actuated Agents 

      Belleter, Dennis Johannes Wouter; Pettersen, Kristin Ytterstad (Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes 2015;CDC 2015, Conference object; Journal article; Peer reviewed, 2015)
      In this paper coordinated path following for formations of under-actuated agents in three dimensional space is considered. The agents are controlled to follow a straight-line path whilst being affected by an unknown ...
    • 3D Inspection for quality control with Robot Manipulator - Using open source software and freeware to make an automatic 3D scanning application 

      Seines, Magnus Molaug (Master thesis, 2017)
      As modern industry is automated the need for robots performing complex tasks increases. To achieve fully automated production both making the product and inspecting it for quality assurance needs to be automated. Robotic ...
    • A 3D reactive collision avoidance algorithm for underactuated underwater vehicles 

      Syre Wiig, Martin; Pettersen, Kristin Y.; Krogstad, Thomas Røbekk (Peer reviewed; Journal article, 2020)
      Avoiding collisions is an essential goal of the control system of autonomous vehicles. This paper presents a reactive algorithm for avoiding obstacles in a three‐dimensional space, and shows how the algorithm can be applied ...
    • 3D-LiDAR Localization and SLAM on a Multirotor UAV for Inspection 

      Nordmo, Rune (Master thesis, 2019)
      Selv om LiDAR-teknologi har vært brukt i stor grad innen forskning i robotikk, har 3D-LiDARer i stor grad vært for tunge og kostbare for å kunne brukes på mobile og lette roboter. Men nye utviklinger innen LiDAR-teknologi ...
    • 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 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 ...