Blar i Institutt for teknisk kybernetikk på dokumenttype "Chapter"
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3D Coordinated Path Following with Disturbance Rejection for Formations of Under-actuated Agents
(Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes 2015;CDC 2015, Chapter, 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 ... -
A 3D motion planning framework for snake robots
(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
(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
(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 control-oriented model of underwater snake robots exposed to currents
(Chapter, 2015)This paper presents a control-oriented model of a neutrally buoyant underwater snake robot that is exposed to a constant irrotational current. The robot is assumed to move in a horizontal, fully submerged plane with a ... -
A Data-driven Approach to Grid Impedance : Identification for Impedance-based Stability Analysis under Different Frequency Ranges
(Chapter, 2019)The instability caused by inappropriate damping design of grid-connected converters under specific grid impedance makes the grid impedance estimation a crucial issue. To guide the system controller design toward a stable ... -
A dynamic model of the drilling action of percussive tools
(Chapter, 2019)A phenomenological model is proposed to explain the existence of sweet spot in the relationship between the rate of penetration (ROP) and the weight-on-bit (WOB), i.e., the existence of an optimal WOB for which the ROP is ... -
A Formation of Unmanned Vehicles for Tracking of an Acoustic Fish-Tag
(Chapter; Peer reviewed, 2017)In this paper we present a proof-of-concept for an hydro acoustic fish-tag position estimation and tracking system. In our field-tested concept, a formation of Unmanned Surface Vehicles (USV) creates a mobile array of ... -
A Game-based Learning Framework for Controlling Brain-Actuated Wheelchairs
(Chapter, 2016)Paraplegia is a disability caused by impairment in motor or sensory functions of the lower limbs. Most paraplegic subjects use mechanical wheelchairs for their movement, however, patients with reduced upper limb functionality ... -
A Least-Squares Scheme Utilizing Fast Propagating Shock Waves for Early Kick Estimation in Drilling
(Chapter, 2019)A scheme for fast kick estimation in managed pressure drilling is presented. The reservoir pressure and production index are estimated by utilizing information in a fast traveling shock wave induced by an unexpected rise ... -
A Modified Dynamic Window Algorithm for Horizontal Collision Avoidance for AUVs
(Chapter; Peer reviewed, 2016)Much research has been done on the subject of collision avoidance (COLAV). However, few results are presented that consider vehicles with second-order nonholonomic constraints, such as autonomous underwater vehicles (AUVs). ... -
A Modular Multilevel Interface for Transformerless Grid Integration
(Chapter, 2019)This paper presents a system configuration for transformer-less grid integration of large-scale charging infrastructures for electric vehicles (EVs) with wireless inductive charging. The proposed configuration relies on a ... -
A novel Doppler based speed measurement technique for individual free-ranging fish
(Chapter, 2019)A novel Doppler based speed measurement technique for free-ranging acoustically tagged fish was developed and validated through a field experiment in a marine aquaculture farm. For emulated swimming speeds in the range ... -
A Phenomenological Model of Percussive Drilling: Review of Experimental Evidence
(Chapter, 2019)In this paper, we review and analyze published experimental findings in light of the hypothesis that the dependence of bit-rock interface (BRI) pseudo-stiffness on the weight-on-bit (WOB) is the key factor behind the ... -
A Ship Heading and Speed Control Concept Inherently Satisfying Actuator Constraints
(Chapter; Peer reviewed, 2017)Satisfying actuator constraints is often not considered in the academic literature on the design of ship heading and speed controllers. This paper considers the use of a simplified dynamic window algorithm as a way to ... -
A simplified model of planar snake robot locomotion
(Chapter; Peer reviewed, 2010)This paper presents a model of the kinematics and dynamics of a planar, wheelless snake robot aimed at control design and stability analysis purposes. The proposed model is significantly less complex than existing models ... -
A snake-like robot for internal inspection of complex pipe structures (PIKo)
(Chapter, 2009)This paper presents a mechanism for navigating complex pipe structures, both horizontally and vertically. The mechanism consists of a series of identical modules interconnected by two degree of freedom active joints. A set ... -
A strategy for robust precision control of an endbody being towed by an orbiting UAV
(Chapter, 2017)This paper presents a strategy for end-body positioning maneuvers using a towed cablebody system where a fixed wing Unmanned Aerial Vehicle (UAV) is stabilized in a circular orbit. High precision maneuvers such as object ... -
A Structure Preserving Power System Frequency Model for Dynamic Positioning Vessels
(Chapter; Peer reviewed, 2017)This paper adapts a structure preserving model to on-board power plants. The model, originally developed for land-based power systems, is expanded for the larger frequency range allowable to on-board plants. State-space ... -
A study on an iceberg drift trajectory
(Chapter, 2017)Iceberg drift forecast is a challenging process. Large uncertainties in iceberg geometry and in the driving forces — current, wind and waves — make accurate forecasts difficult. This article illustrates from a data set ...