Results
repositories = "NORA (Norwegian Open Research Archives)"
Convergence Aspects of Some Robust Estimators Based Upon Prefiltering of the Input-Output Data
Description :
By prefiltering the input/output data and employing certain decentralized estimation techniques, it is possible to improve the robustness of some estimators significantly. Earlier papers on these techniques have been focused on local convergence properties of certain bootstrap estimators based upon ...
Repository :
NORA (Norwegian Open Research Archives)
Language(s) :
English
Estimation of Regurgitant Volume and Orifice in Aortic Regurgitation Combining CW Doppler and Parameter Estimation in a Windkessel Like Model
Author(s) :
Angelsen, Bjørn A.J.
,
Slørdahl, S.A.
,
Solbakken, J.E.
,
Samstad, S.O.
,
Linker, D.T.
,
Torp, H.
,
Piene, H.
Description :
A method for noninvasive estimation of regurgitant orifice and volume in aortic regurgitation is proposed and tested in anaesthesized open chested pigs. The method can be used with noninvasive measurement of regurgitant jet velocity with continuous wave ultrasound Doppler measurements together with ...
Repository :
NORA (Norwegian Open Research Archives)
Language(s) :
English
Using Momentum Conservation to Control Kinematically Redundant Manipulators
Description :
A control scheme for the coordination of motion in a macro-micro manipulator system is presented. The motion of the end-effector is decoupled from the rest of the system using resolved acceleration control, while a slow, gross positioning is used for the macro part. To avoid saturated inputs and exc...
Repository :
NORA (Norwegian Open Research Archives)
Language(s) :
English
Transient Simulations of Gas-Oil-Water Separation Plants
Description :
A set of mathematical models for the dynamic simulation of offshore processing plants is developed. Each process unit is modeled separately, and the various models are integrated into a system for the simulation of an entire plant. The purpose of the simulation system is to study the effects of vari...
Repository :
NORA (Norwegian Open Research Archives)
Language(s) :
English
A Recursive Algorithm for the Reduction of Block Diagrams
Author(s) :
Andresen, Trond
Description :
A recursive algorithm to compute input-output relationships in a network of rational transfer functions (a block diagram) is derived. Initially all transfer functions are disconnected. For each step in the algorithm, a new transfer function in the network is connected to the system. One application ...
Repository :
NORA (Norwegian Open Research Archives)
Language(s) :
English
The Norwegian research programme on advanced robotic systems
Author(s) :
Egeland, Olav
Description :
The Norwegian research programme on advanced robot systems has been focused on sensory control of robots for industrial applications and telerobotics for underwater operations. This paper gives an overview of experimental work and ongoing research. An exciting area in sensory control is visual servo...
Repository :
NORA (Norwegian Open Research Archives)
Language(s) :
English
Sensor Integration Using State Estimators
Description :
Means for including very different types of sensors using one single unit are described. Accumulated data are represented using an updatable dynamic model, a Kalman filter. The scheme handles common phenomena such as skewed sampling, finite resolution measurements and information delays. Included is...
Repository :
NORA (Norwegian Open Research Archives)
Language(s) :
English
Nonlinear Decoupling in Process Control
Author(s) :
Balchen, Jens G.
Description :
The principle of nonlinear decoupling as a general approach to the control of nonlinear processes is reviewed. A novel technique is introduced for resolving the inverse problem in case the nonlinear process function does not have a closed-form inverse. The paper also indicates the relationships betw...
Repository :
NORA (Norwegian Open Research Archives)
Language(s) :
English
Adaptive control of nonlinear underwater robotic systems
Description :
The problem of controlling underwater mobile robots in 6 degrees of freedom (DOF) is addressed. Uncertainties in the input matrix due to partly known nonlinear thruster characteristics are modeled as multiplicative input uncertainty. This paper proposes two methods to compensate for the model uncert...
Repository :
NORA (Norwegian Open Research Archives)
Language(s) :
English
A simplified algorithm of weighted generalized predictive adaptive control
Description :
In this paper a weighted generalized predictive controller and a simplified adaptive control algorithm using a multi-step cost-function with polynomial weighting are presented. A simulation example and a comparison of computational loads are also given in order to show the performance of the control...
Repository :
NORA (Norwegian Open Research Archives)
Language(s) :
English