• 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 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 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 ...
    • 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 ...
    • Accuracy of Sea Ice Floe Size Observation from an Aerial Camera at Slant Angles 

      Rodin, Christopher D; Johansen, Tor Arne (Chapter; Peer reviewed, 2017)
      The importance of measuring the size of ice floes in e.g. marine navigation and environmental sciences has made it a frequently performed procedure. When real-time data is required, images from a camera on-board an aerial ...
    • Accurate Drop of a GPS Beacon Using the X8 Fixed-Wing UAV 

      Grindheim, Vegard (Master thesis, 2015)
      Improved possibilities for transport, as a consequence of diminishing ice mass in the Arctic, leads to more activity in these areas. Some of the greatest dangers of heightened presence in the Arctic is associated with sea ...
    • Accurate position estimation methods based on electrical impedance tomography measurements 

      Vergara, Samuel; Sbarbaro, Daniel; Johansen, Tor Arne (Journal article; Peer reviewed, 2017)
      Electrical impedance tomography (EIT) is a technology that estimates the electrical properties of a body or a cross section. Its main advantages are its non-invasiveness, low cost and operation free of radiation. The ...
    • 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 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 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 ...
    • A control framework for snake robot locomotion based on shape control points interconnected by Bézier curves 

      Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2012)
      This paper presents a control framework for shape control of snake robots for the purpose of locomotion. An advantage of the framework is that it allows the macroscopic shape of a snake robot to be controlled explicitly ...
    • A Control–Oriented Model of Underwater Snake Robots 

      Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Conference Publications;ROBIO 2014, Conference object; Journal article; Peer reviewed, 2014)
      In this paper we consider swimming underwater snake robots that are fully immersed in water and moving in a virtual horizontal plane. The main objective of the paper is to develop a model that is well suited for control ...
    • A control-oriented model of underwater snake robots exposed to currents 

      Kohl, Anna M.; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Conference object; Journal article; Peer reviewed, 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 ...
    • Active camera control with obstacle avoidance for remote operations with industrial manipulators: Implementation and experimental results 

      Bjerkeng, Magnus; Transeth, Aksel Andreas; Pettersen, Kristin Ytterstad; Kyrkjebø, Erik; Fjerdingen, Sigrud Aksnes (Conference object, 2011)
      Remote controlled robots on offshore oil and gas platforms can potentially reduce costs and improve environment, health and safety issues. A key to successful remote control is to provide onshore operators with a sufficient ...