Browsing Publikasjoner fra CRIStin - NTNU by Title

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    • Robot Dynamics with URDF & CasADi 

      Johannessen, Lill Maria; Arbo, Mathias Hauan; Gravdahl, Jan Tommy (Chapter, 2019)
      Fast, accurate evaluation of the dynamics parameters is a key ingredient for accurate control, estimation, and simulation of robots. As these are time-consuming to compute by hand, a software library for generating the ...

    • Robot picker solution in order picking systems: an ergo-zoning approach 

      Sgarbossa, Fabio; Romsdal, Anita; Johannson, Finn Hartvig; Krogen, Torbjørn (Peer reviewed; Journal article, 2020)
      Manual order picking is the most labour-intensive activity in warehouses. As an alternative, robot pickers that can work alongside manual order pickers have emerged. This paper presents such a robot picker and develops a ...

    • Robot-assisted magnetic capsule endoscopy; navigating colorectal inclinations 

      Mahmood, Salman; Schostek, Sebastian; Schurr, Marc O.; Bergsland, Jacob; Balasingham, Ilangko; Fosse, Erik (Peer reviewed; Journal article, 2022)
      Purpose: To investigate the interaction of a robot assisted magnetically driven wireless capsule endoscope (WCE) with colonic tissue, as it traverses the colorectal bends in the dorsal and ventral directions, relying only ...

    • Robot-supervised Learning of Crop Row Segmentation 

      Bakken, Marianne; Moore, Richard J.D.; From, Pål Johan; Omholt Gjevestad, Jon Glenn; Ponnambalam, Vignesh Raja (Chapter, 2021)
      We propose an approach for robot-supervised learning that automates label generation for semantic segmentation with Convolutional Neural Networks (CNNs) for crop row detection in a field. Using a training robot equipped ...

    • Robotic Autoscanning of Highly Skewed Ship Propeller Blades 

      Njåstad, Eirik Bjørndal; Munthe-Kaas, Njål; Egeland, Olav (Journal article; Peer reviewed, 2018)
      This paper presents an approach for a complete scanning of ship propeller blades. Inline quality control for advanced manufacturing or inspection of operational propeller blades requires automated and highly accurate 3D ...

    • Robotic Bin-Picking under Geometric End-Effector Constraints: Bin Placement and Grasp Selection 

      Gravdahl, Irja; Seel, Katrine; Grøtli, Esten Ingar (Chapter, 2019)
      In this paper we demonstrate how path reachability can be taken into account when selecting among predetermined grasps in a bin-picking application, where grasps are supplied independently of the robot at hand. We do this ...

    • Robotic Harvesting of Fruiting Vegetables: A Simulation Approach in V-REP, ROS and MATLAB 

      Shamshiri, Redmond Ramin; Hameed, Ibrahim A.; Karkee, Manoj; Weltzien, Cornelia (Chapter, 2018)
      In modern agriculture, there is a high demand to move from tedious manual harvesting to a continuously automated operation. This chapter reports on designing a simulation and control platform in V-REP, ROS, and MATLAB for ...

    • Robotic in-row weed control in vegetables 

      Utstumo, Trygve; Urdal, Frode; Brevik, Anders; Dørum, Jarle; Netland, Jan; Overskeid, Øyvind; Berge, Therese W.; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2018)
      Vegetables and other row-crops represent a large share of the agricultural production. There is a large variation in crop species, and a limited availability in specialized herbicides. The robot presented here utilizes ...

    • Robotic Lever Manipulation using Hindsight Experience Replay and Shapley Additive Explanations 

      Remman, Sindre Benjamin; Lekkas, Anastasios M. (Peer reviewed; Journal article, 2021)
      This paper deals with robotic lever control using Explainable Deep Reinforcement Learning. First, we train a policy by using the Deep Deterministic Policy Gradient algorithm and the Hindsight Experience Replay technique, ...

    • Robotic weld groove scanning for large tubular T-joints using a line laser sensor 

      Cibicik, Andrej; Njaastad, Eirik B; Tingelstad, Lars; Egeland, Olav (Peer reviewed; Journal article, 2022)
      This paper presents a novel procedure for robotic scanning of weld grooves in large tubular T-joints. The procedure is designed to record the discrete weld groove scans using a commercially available line laser scanner ...

    • Robotic weld groove scanning for large tubular T-joints using a line laser sensor 

      Cibicik, Andrej; Njaastad, Eirik B; Tingelstad, Lars; Egeland, Olav (Peer reviewed; Journal article, 2022)
      This paper presents a novel procedure for robotic scanning of weld grooves in large tubular T-joints. The procedure is designed to record the discrete weld groove scans using a commercially available line laser scanner ...

    • Robotised Wire Arc Additive Manufacturing Using Set-based Control: Experimental Results 

      Evjemo, Linn Danielsen; Moe, Signe; Gravdahl, Jan Tommy (Peer reviewed; Journal article, 2020)
      Additive manufacturing (AM) is a term that covers a variety of techniques for building custom-made, three dimensional structures. Such methods have moved from initially being used for creating simpli_ed models to enable ...

    • Robust 3D Face Reconstruction Using One/Two Facial Images 

      Lium, Ola; Kwon, Yong Bin; Danelakis, Antonios; Theoharis, Theoharis (Peer reviewed; Journal article, 2021)
      Being able to robustly reconstruct 3D faces from 2D images is a topic of pivotal importance for a variety of computer vision branches, such as face analysis and face recognition, whose applications are steadily growing. ...

    • Robust adaptive backstepping DP control of ROVs 

      Ohrem, Sveinung Johan; Amundsen, Herman Biørn; Caharija, Walter; Holden, Christian (Peer reviewed; Journal article, 2022)
      Dynamic positioning is an important control feature for an underwater remotely operated vehicle. This paper presents a nonlinear dynamic positioning controller suited for application to vehicles with model uncertainties, ...

    • A robust algorithm for rate-independent crystal plasticity 

      Manik, Tomas; Moradi Asadkandi, Hassan; Holmedal, Bjørn (Peer reviewed; Journal article, 2022)
      A new stable return-mapping algorithm enables crystal-plasticity solutions by using a regularized yield surface with very large exponents, for which the rate-independent limit of the Schmid assumption in practice is reached. ...

    • Robust analysis of fluxes in genome-scale metabolic pathways 

      MacGillivray, M; Ko, A; Gruber, E; Sawyer, M; Almaas, Eivind; Holder, Allen (Journal article; Peer reviewed, 2017)
      Constraint-based optimization, such as flux balance analysis (FBA), has become a standard systems-biology computational method to study cellular metabolisms that are assumed to be in a steady state of optimal growth. The ...

    • Robust and Gain Scheduled Flight Control of Fixed-Wing UAVs in Wind and Icing Conditions 

      Kleiven, Ruben; Gryte, Kristoffer; Johansen, Tor Arne (Journal article; Peer reviewed, 2022)

    • Robust and Reconfigurable On-Board Processing for a Hyperspectral Imaging Small Satellite 

      Langer, Dennis David; Orlandic, Milica; Bakken, Sivert; Birkeland, Roger; Garrett, Joseph Landon; Johansen, Tor Arne; Sørensen, Asgeir Johan (Peer reviewed; Journal article, 2023)
      Hyperspectral imaging is a powerful remote sensing technology, but its use in space is limited by the large volume of data it produces, which leads to a downlink bottleneck. Therefore, most payloads to date have been ...

    • A Robust and Scalable Stacked Ensemble for Day-Ahead Forecasting of Distribution Network Losses 

      Grotmol, Gunnar Grung; Furdal, Eivind Hovdegård; Dalal, Nisha; Ottesen, Are Løkken; Rørvik, Ella-Lovise Hammervold; Mølnå, Martin; Sizov, Gleb Valerjevich; Gundersen, Odd Erik (Chapter, 2023)
      Accurate day-ahead nominations of grid losses in electrical distribution networks are important to reduce the societal cost of these losses. We present a modification of the CatBoost ensemble-based system for day-ahead ...

    • Robust and secure UAV navigation using GNSS, phased-array radio system and inertial sensor fusion 

      Albrektsen, Sigurd Mørkved; Bryne, Torleiv Håland; Johansen, Tor Arne (Journal article; Peer reviewed, 2018)
      Positioning using global navigation satellite systems (GNSS) has for several years been the de facto method for long-range navigation of ground, marine and aerial vehicles. With global coverage, high accuracy, and lightweight ...