Browsing AURA by Author "Subedi, Dipendra"
Now showing items 1-8 of 8
-
Autonomous mooring towards autonomous maritime navigation and offshore operations
Jha, Ajit; Subedi, Dipendra; Løvsland, Per-Ove; Tyapin, Ilya; Cenkeramaddi, Linga Reddy; Beferull-Lozano, Baltasar; Hovland, Geir (Chapter, 2020)Bollard is a vital component of mooring system. It is the anchor point for mooring ropes to be fixed in order to secure the vessel or ship. An algorithm that translates the segmented mask of bollard output from masked R-CNN ... -
Camera-LiDAR Data Fusion for Autonomous Mooring Operation
Subedi, Dipendra; Jha, Ajit; Tyapin, Ilya; Hovland, Geir (Journal article; Peer reviewed, 2020)The use of camera and LiDAR sensors to sense the environment has gained increasing popularity in robotics. Individual sensors, such as cameras and LiDARs, fail to meet the growing challenges in complex autonomous systems. ... -
Control of Redundant Flexible Manipulators with Redundancy Resolution
Subedi, Dipendra; Tyapin, Ilya; Hovland, Geir (Journal article; Peer reviewed, 2022)This paper deals with the online control of a redundant flexible link manipulator to achieve minimum oscillations using the redundancy resolution technique. Different redundancy resolution techniques proposed and used for ... -
Dynamic Modeling of Planar Multi-Link Flexible Manipulators
Subedi, Dipendra; Tyapin, Ilya; Hovland, Geir (Peer reviewed; Journal article, 2021)A closed-form dynamic model of the planar multi-link flexible manipulator is presented. The assumed modes method is used with the Lagrangian formulation to obtain the dynamic equations of motion. Explicit equations of ... -
Modeling and Control of Flexible Link Manipulators
Subedi, Dipendra (Doctoral Dissertations at the University of Agder; no. 373, Doctoral thesis, 2022)Autonomous maritime navigation and offshore operations have gained wide attention with the aim of reducing operational costs and increasing reliability and safety. Offshore operations, such as wind farm inspection, sea ... -
Reshaping Field of View and Resolution with Segmented Reflectors: Bridging the Gap between Rotating and Solid-State LiDARs
Aalerud, Atle; Dybedal, Joacim; Subedi, Dipendra (Peer reviewed; Journal article, 2020) -
Review on Modeling and Control of Flexible Link Manipulators
Subedi, Dipendra; Tyapin, Ilya; Hovland, Geir (Journal article; Peer reviewed, 2020) -
Static Deflection Compensation of Multi-Link Flexible Manipulators Under Gravity
Subedi, Dipendra; Aune, Teodor N.; Tyapin, Ilya; Hovland, Geir (Peer reviewed; Journal article, 2022)The static deflection compensation method of a planar multi-link flexible manipulator is proposed using the feedback from inertial sensors mounted at the tip of each link. The proposed compensation technique is validated ...