MSc students in progress
- Torje Nysæther (integrated PhD): Vision-based Autonomous Docking and Intervention Operations, Supervisor: Kristin Y. Pettersen, advisor: J.T. Gravdahl
- Alexander Riis Amsjø: Lidar-Based Obstacle Detection in Agricultural Fields, Advisor: Jarle Dørum, Kilter AS
- Glenn Risvold Varhaug: Swarm Intelligence in Agricultural Robotics, Advisor: Jarle Dørum, Kilter AS
- Martine Grøttum Engen: Service-robot med kraft-tilbakekobling (Force Control) for "walking assistance" av sykehjemspasienter med nedsatt balanse og fysikk, Advisor: Trygve Thommesen, PPM Robotics
- Emma Ming Lervåg: Fjernstyring av service-robot til bruk i hjemmehjelpen og på sykehjem, Advisor: Trygve Thommesen, PPM Robotics
- Lauritz Rismark Fosso: Efficient attitude-based algorithms for effective surface tracking, Advisor: Raymond Kristiansen, UiT
- Jørgen Leirvik Knoph: Game theory applied to energy optimal satellite attitude control, Advisors: Dr. Bjørn Kristiansen, NTNU; Dr. Thulasi Mylvaganam, Imperial College London
- Johannes Garborg Hanto: Mu-analysis for agile satellite attitude control maneuvers, Advisor: Dr. Bjørn Kristiansen, NTNU
- Tuva Vika Tholo: Motion planning and guidance for unmanned underwater vehicles operating in aquaculture, Advisor: Herman Bjørn Amundsen, Sintef Ocean/NTNU
- Tuva Espedal:Service-robot med hybrid-styring for fysisk-kognitiv trening av sykehjemspasienter med nedsatt balanse og fysikk, Advisor: Trygve Thommesen, PPM Robotics
- Thomas Fabian Kragerud: Robotics, Advisor: S.Sastry, UC Berkeley
- Øydis Herland: Agile imaging scheduling, Advisors: B. Kristiansen and D. Langer
- Justus Jensch: Obstacle aided locomotion of snake robots, (In cooperation with TU Ilmenau, advisors: Professor Johann Reger, Professor Øyvind Stavdahl and Ass. Professor Irja Gravdahl)
Graduated MSc students (180)
2025
- Lisa Blaser: 3D Sensor Based Autonomous Cell Exploration for Robotic Manipulators, In cooperation with Zivid, advisor: Øystein Hov Holhjem
2024
- Andreas Fanebust: Satellite Formation Flying Using Attitude-Controlled Differential Drag, Advisor: Raymond Kristiansen, UiT
- Aurora Misic: Robots That Adaptively Learn When to Ask for Help: Hallucination Reduction in Robotic Task Planning Using Large Language Models, Advisor Niek Beckers, Cognite AS
- Elias Prytz: Onboard Coverage Path Planning for Autonomous Ground Vehicles: An application in row-crop agriculture, Advisor: Jarle Dørum, Kilter AS
- Fredrik Vaagen: Skeleton Based Segmentation Algorithm for Additive Manufacturing, advisor: Mathias Arbo, Sintef Manufacturing
- Christian Outterside Valnes: Robot control using DMP
- Jesper Ekstrøm: Multi-Faceted Robustness in Reinforcement Learning: Theoretical Survey and a Multi-Agent System
- Lasse Moen Guttormsen: Autonomous Robotic Underwater Fish Grasping Using Multi-Link Manipulator, Advisor: Bent Haugaløkken, Sintef Ocean
- Karoline Skobba Grøtterud: Development of Inverse Kinematics for a Redundant Mobile Service Robot in Nursing Homes, Advisor: Trygve Thommesen, PPM Robotics
- Martijn Langeweg: Service robot for force controlled walking assistance, Advisor: Trygve Thommesen, PPM Robotics
- Atle Skjevdal: Plant Mapping and Disturbance Compensation for Single Droplet Robotic Herbicide Application, Advisor: Jarle Dørum, Kilter AS
- Endre Vee Hagestuen: Machine-learning techniques for human-robot collaboration in manufacturing, advisor: Dr. Mathias Arbo, SINTEF Manufacturing
- Lasse Tjernæs Wardenær: Global Scene Graph Generation and Mapping of Industrial Sites: Generating Neighbor Graphs for Graph Neural Networks, Advisor: Marius Udnæs, Cognite AS
- Olve Skurdal Skagen: Rapid Detumbling of Satellites, Advisors: Dr. Espen Oland, KDA, Dr. Bjørn Kristiansen, NTNU
- Ivan Gushkov (integrated PhD): Energy autonomous AIAUVs, Supervisor: Kristin Y. Pettersen, advisor: J.T. Gravdahl
2023
- Shavin Rahim: Imitation Learning for Efficient Learning of Complex Robotic Manipulation Procedures (advisors: Andreas Østvik and Akhil Anand)
- Magne Johannes Erlandsen: Learning for robot control, (advisor: PhD-student Akhil Anand)
- Bjørn Kåre Sæbø (integrated PhD): Null Space-Based Control and Simulation of Vehicle-Manipulator Systems, Supervisor: Kristin Y. Pettersen, advisor: J.T. Gravdahl
- Markus Høgevoll Iversflaten (integrated PhD): Robust Task-Priority Control of Underwater Vehicle-Manipulator Systems, Supervisor: Kristin Y. Pettersen, advisor: J.T. Gravdahl
2022
- Jan Inge Dyrhaug and Erling Tveter (integrated PhD): Hierarchical tracking control of an articulated intervention-AUV, Supervisor: Kristin Y. Pettersen, advisor: J.T. Gravdahl
- Jens Erik Kveen: Sample Efficient Deep Reinforcement Learning via Model-Ensemble-Based Exploration (advisor: PhD-student Akhil Anand) Main results of thesis published in
- A.S. Anand, J.E. Kveen, F. Abu-Dakka, E.I Grøtli and J.T. Gravdahl, Addressing Sample Efficiency and Model-bias in Model-based Reinforcement Learning. In 21st IEEE International Conference on Machine Learning and Applications (IEEE ICMLA), Bahamas, December 12-14, 2022
- Susanne Dorethea Ackre: Reinforcement learning and robot control for automation of ultrasound exams (advisors: Andreas Østvik and Akhil Anand)
- Siri Holde Hegsvold: Usikkerhet i nevrale nettverk (In cooperation with SINTEF Digital, advisors E.I Grøtli, M. Haring)
- Tim Nicolai: Analysis and Comparison of Recent Approaches and the Presentation of a New Method for Subspace Identification (In cooperation with SINTEF Digital and TU Ilmenau, advisors: Professor Johann Reger, Dr. E.I Grøtli and Dr. M. Haring), Main results of thesis published in
- T. Nicolai, M. Haring, E.I. Grøtli, J.T. Gravdahl, J. Reger, Realizing LTI models by identifying characteristic parameters using least squares optimization, European Control Conference (ECC), Bucharest, Romania, June 13-16, 2023
- Lotte Grøttå: Autonomous Navigation for a Greenhouse Robot(In cooperation with Adigo, Advisor: Frode Urdal)
- Alexander Johnsgaard: 3D printing with robot manipulator, advisor: Dr. Mathias Arbo
- Håkon Fadum: The Generalized Super-Twisting Algorithm Used for Robust Control of Unmanned Subsea Vehicles Operating at Exposed Aquaculture Sites, (In cooperation with SINTEF Ocean, advisors S.J. Ohrem and B.O.A. Haugaløkken) Main results of thesis published in
- B.O.A. Haugaløkken, H.B. Amundsen, H.S. Fadum, J.T. Gravdahl and S.J. Ohrem, Adaptive Generalized Super-Twisting Tracking Control of an Underwater Vehicle, Proc. 7th IEEE Conference on Control Technology and Applications, Bridgetown, Barbados, August 16-18, 2023
- Henning Levik Ørke: Autodock, Automated tugboat-assisted docking of large vessels (In cooperation with UiTø, advisor R. Kristiansen).
Main results of thesis published in
- R. Kristiansen, H.L. Ørke and J.T. Gravdahl, Modelling and simulation of interaction forces in tugboat-assisted docking of large marine vessels, Simulation Modelling Practice and Theory, Volume 130,2024, 10.1016/j.simpat.2023.102866
- Nadia Wangberg: Semantic SLAM for Dynamic Environments, (In cooperation with Cognite, advisor T.Utstumo)
- Lars Lied: Cobblestone effect on rigid-hull surface effect ship, (In cooperation with SES-X, advisor J. Hosen)
2021
- Frieda Franke: Modeling and Control of Spacecraft Attitude - Control Allocation for a Variable Pointing and Maneuvering Satellite (In cooperation with TU Ilmenau, advisosr: Professor Johann Reger and PhD-student Mariusz Grøtte)
- Martin Hagen Myrestrand: Learning Compliant Robotic Manipulation: A Model-Based Approach Using Gaussian Processes (In cooperation with SINTEF Digital, advisor A. Anand) Main results of thesis published in
- A.S. Anand, M.H. Myrestrand, J.T. Gravdahl, Evaluation of Variable Impedance- and Hybrid Force/Motion-Controllers for Learning Force Tracking Skills, 2022 IEEE/SICE International Symposium on System Integration (SII), Narvik, Norway (digital)
- Kristoffer Brungot: Moisture Estimation using Discrete ElementMethod Simulations of Granular materials (In cooperation with Elkem and SINTEF Digital, advisor Signe Moe)
- Kolbjørn Austreng: Development of a Robust Autopilot Platform for use in Autonomous Vehicles
- Abdulrahim Habboush: Modeling and Control of Robotic cutting, advisor: Dr. Mathias Arbo
- Ingeborg Kristine Eilertsen: Uncertainty estimation in autoregressive exogenous networks and nonlinear autoregressive exogenous neural networks (In cooperation with SINTEF Digital, advisors E.I Grøtli, S. Moe, M. Haring and K. Seel)
- Sondre Olsen: Safe reinforcement learning for control-affine systems with probabilistic safety constraints (In cooperation with SINTEF Digital, advisors: E.I. Grøtli and A. Anand)
- Sigrid Kjønnø Schanning: Maximum hands-off control for attitude control of a spacecraft, advisor: PhD-student Bjørn A. Kristiansen Main results of thesis published in
- S.K. Schaanning, B.A. Kristiansen and J.T. Gravdahl, Maximum hands off attitude control, 2022 American Control Conference (ACC), June 8-11, Atlanta, GA
- Matias Hagen Myrestrand: Recognition and Motion Tracking of 3D Objects (In cooperation with SINTEF Digital, advisors M. Vagia and K. Ening)
- Herman Kolstad Jakobsen: Reinforcement learning for robotic soft-body interaction (In cooperation with SINTEF Digital, advisors: A. Østvik and A. Anand)
- Kenny Hoang Nguyen: Control of Autonomous Subsea Vehicles Operating at Exposed Fish Farms in Presence of Time Varying Environmental Disturbances (In cooperation with SINTEF Ocean, advisors W. Caharija and S.J. Ohrem) Main results of thesis published in
- K.H. Nguyen, W. Caharija, S.J. Ohrem and J.T. Gravdahl, Robust Control of Autonomous ROV at Exposed Aquaculture Sites
- Edmond Peci: Robustness and Stability of Long Short-Term Memory Recurrent Neural Networks (In cooperation with SINTEF Digital, advisors E.I Grøtli, S. Moe, M. Haring and K. Seel)
- Martin Løvig Svabø: Navigation and Slip Detection for an Autonomous Robot in Crop Fields (In cooperation with Kilter, advisor Vegard Line)
- Martin Albertsen Brandt: Trajectory Tracking for Fixed-Base and Floating-Base Robot Manipulators: A Gaussian Process-Based Model Predictive Control Approach (In cooperation with SINTEF Digital, advisors: Esten Grøtli and Philip Maree)
- Jørgen Anker Olsen: Attitude determination and control system testbed for hardware and software testing and verification for small satellites, advisor PhD-student Mariusz Grøtte. Main results of thesis published in
- J.A. Olsen, M.E. Grøtte and J.T. Gravdahl, Attitude determination and control system testbed for hardware and software testing and validation for HYPSO small satellites, 72nd International Astronautical Congress, Dubai, United Arab Emirates, 25 – 29 October 2021
2020
- Henrik Bergel: Simultaneous Localization and Mapping Applied to an Unmanned Ground Vehicle: Design and Realization (In cooperation with Kongsberg)
- Frida Viset: Sensor fusion of inertia and magnetic field measurements in foot-mounted sensor, (In cooperation with TU Delft, advisor: Prof. Manon Kok) Main results of thesis published in
- F. Viset, J.T. Gravdahl and M. Kok, Magnetic field norm SLAM using Gaussian process maps in foot-mounted sensor, European Control Conference (ECC), Rotterdam, NL (Virtual), June 29 - July 2, 2021
- Marte Løkken Myrvold: Learning the force - Estimating End-Effector force in Robots, advisor: Dr. Mathias Arbo
- Amer Orucevic: Underwater snake robots in vortex wakes: Energy harvesting and position control, advisor: Professor Kristin Y. Pettersen
- Carl Martin Krokeide: Propulsion-based Attitude Control of Nanosatellites, dvisors PhD-students Mariusz Grøtte and Bjørn Kristiansen
- Nicholas Braaten: Simplified modelling of processes in a wood-burning stove for automatic control (In cooperation with Adigo, Advisor: Frode Urdal)
- Synne Fossøy: Motor-Based Control of Robots in Conformal Geoemtric Algebra, advisor: Dr. Mathias Arbo
- Henrik Vasbotten: Deep Learning for Autonomous Navigation in Crop Fields (In cooperation with Adigo, Advisor: Jarle Dørum)
2019
- Helene Boge: Robotic additive manufacturing: testing and evaluation of curved layer generation (advisor: PhD-student Linn Danielsen Evjemo)
- Camilla Sterud:Feedback linearizing neural network controllers, (In cooperation with SINTEF Digital, advisor: Signe Moe) Main results of thesis published in
- C. Sterud, S. Moe and J.T. Gravdahl, Stable and robust neural network controllers, European Control Conference (ECC), Rotterdam, NL (Virtual), June 29 - July 2, 2021
- Shahrukh Khan: Control of a 2 DOF Dynamic Vibration Absorber for Tremor Suppression (Advisor: PhD-student Mathias Arbo)
- Bjørn Andreas Kristiansen: Nonlinear Attitude Control of a Pointing and Slewing Spacecraft (advisor: PhD-student Mariusz Grøtte)
Main results of thesis published in
- B.A. Kristiansen, M.E. Grøtte and J.T. Gravdahl, Quaternion-Based Generalized Super-Twisting Algorithm for Spacecraft Attitude Control, 21st IFAC World Congress, Berlin, Germany, July 12-17, 2020
- Håvard Storvold: SES Hybrid Control (In cooperation with Umoe, advisor: Øyvind Auestad)
- Åse Victoria Neverlien: Feedback control and AI in closed loop: Stability and robustness (In cooperation with SINTEF Digital, Advisor Dr. Signe Moe) Main results of thesis published in
- Albert Danielsen and Ruben Winsjansen: Dexterous Gripper: modular platform for robotic manipulations (In cooperation with Sintef Ocean, Advisors: Alexander Lilienskiold)
- Morten Andre Astad: Vive for Robotics: Rapid Robot Cell Calibration (In cooperation with SINTEF Digital, Advisors Dr. Esten Grøtli and Dr. Mathias Arbo) Main results of thesis published in
- M.A. Astad, M.H. Arbo. E.I. Grøtli and J.T. Gravdahl, Vive for Robotics: Rapid Robot Cell Calibration, The 7th International Conference on Control, Mechatronics and Automation,TU Delft, Netherlands, November 6-8, 2019
- Lill Maria Johannesen: Robot Dynamics with URDF and CasADi (Advisor: Dr. Mathias Arbo) Main results of thesis published in
- L.M.G. Johannessen, M.H.Arbo and J.T. Gravdahl, Robot Dynamics with URDF and CasADi, The 7th International Conference on Control, Mechatronics and Automation,TU Delft, Netherlands, November 6-8, 2019
- Martin Mostad:Hardware in the Loop Testing of Explicit Model Predictive Control of The CubeSat Selfie-Sat (In cooperation with Orbit, advisor: Amund Gjersvik)
- Andreas Moltumyr: Control in Atomic Force Microscopy: A
Fractional Order Approach, Advisor Dr. Michael Ragazzon. Main results of thesis published in
- A.H. Moltumyr, M.R.P. Ragazzon and J.T. Gravdahl, Fractional-order Control: Nyquist Constrained Optimization, 21st IFAC World Congress, Berlin, Germany, July 12-17, 2020
- Christian Aschehoug: Segmentation and pose estimation of objects in RGB-D data using deep learning (In cooperation with Zivid. Advisor: Øystein Skotheim)
- Erblin Ujkani: Point Pair Feature based Object Detection and Localization with 3D Camera (In cooperation with Zivid. Advisor: Øystein Skotheim
- Leif Andreas Hirsti: Wax and hydrate deposition in cooling systems (in cooperation with Empig, Advisor: Fredrik Lund)
2018
- Arthika Sivarajah: Model and Control of Satellite Formation Flying (Advisor: PhD student Mariusz Grøtte)
- Nora Leiva Garcia: Path Correction for 3D Printing by Robotic Manipulator (Advisor: PhD student Linn Danielsen Evjemo)
- Øystein Aase:Modeling and control of catenary mooring systems for vessels, oil rigs and barges (In cooperation with Scantrol AS)
- Ingrid Fjordheim Onstein: An Additive Manufacturing Path Generation Method Based on CAD Models for Robot Manipulators (Advisor: PhD student Linn Danielsen Evjemo)Main results of thesis published in
- I.F. Onstein, L.D. Evjemo and J.T. Gravdahl, Additive Manufacturing Path Generation for Robot Manipulators Based on CAD Models, 21st IFAC World Congress, Berlin, Germany, July 12-17, 2020
- Jørgen Jackwitz: Visual Feedback for Large Scale Additive Manufacturing Process (Advisor: PhD student Linn Danielsen Evjemo)
- Henrik Malvik Halvorsen: Robust Potential Field-Based Communication & Control Architecture for Robotic Swarms Using the nRF52 System-on-Chip and a mesh network topology (In cooperation with Nordic Semiconductor, advisor: Ketil Erichsen)
- Eivind Jahr Kirkeby: Automatic dynamic generation of drill sequences for tunneling (In cooperation with Bever Control AS)
- Håkon Grøtte: A Virtual Security Net and Soft Motion Controller for a 7-DOF Redundant Cooperative Robotic Manipulator (In cooperation with Sintef Ocean, advisor: John Reidar Mathiassen)
- Vetle Bjørngaard Gundersen:Autonomous Target Detection and Tracking for RWS (In cooperation with Kongsberg Defence & Aerospace)
- Kari Engen Guttulsrud: A CNN-based classifier for probe to skin contact in a robotic
ultrasound system (In cooperation with SINTEF Digital)
2017
- Ivar Eriksen: Setup and Interfacing of a KUKA Robotics Lab (Advisor: PhD student Mathias Hauan Arbo)
Main results of thesis published in
- M. Arbo, I. Eriksen, F. Sanfilippo, J.T. Gravdahl, Comparison of KVP and RSI for Controlling KUKA Robots Over ROS, 21st IFAC World Congress, Berlin, Germany, July 12-17, 2020
- Didrik Henriksen: Dynamic Model of Mobile Inspection Robot for Industrial Robot (In cooperation with PPM)
- Kathrine Bruvik: Modeling and economic optimization of an upstream oil & gas processing plant (In Cooperation with ABB Corporate Research, Switzerland)
- Erlend Coates: Hover control of thrust vectoring VTOL flying wing (In cooperation with Sevendof)
- Hedda Sandvik: Modeling and control of temperature in a compartment jet fire. (In cooperation with SP Fire Research, Advisors: Christian Sesseng and Reidar Stølen)
- Andrzej Jerzak: Simplified adaptive control of centrifugal compressors
- Jonas Tønnesen and Håkon Engebrektsen Bryn: Nonlinear modeling, controller and observer design for roll damping on a surface effect ship with split air cushion (In cooperation with Umoe Mandal)
Main results of thesis published in
- J. Tønnesen, H.E. Bryn, J.T. Gravdahl, V. Hassani, Ø.F. Auestad, Roll damping of a surface effect ship with split air cushion, 2017 IFAC CAMS
- Magnus Seines: 3D inspection for quality control with robot manipulator: Using open source software and freeware to make an automatic 3D scanning application, (In cooperation with Sintef Digital and SFI Manufacturing)
- Ida-Louise Garman Borlaug: Higher order sliding mode control: Stability analysis and application to underwater snake robots. Main results of thesis published in
- I.-L. G. Borlaug, J.T. Gravdahl, J. Sverdrup-Thygeson and K.Y. Pettersen, Trajectory tracking for underwater swimming manipulators using a super twisting algorithm, Proc. 2nd International Symposium on Swarm Behavior and Bio-Inspired Robotics (SWARM 2017),Kyoto, Japan, Oct, 2017
2016
2015
- Kine Iversen: Biological Cell Models and Atomic Force Microscopy: A Literature Rewiev (Advisor: PhD-student Michael Ragazzon)
- Mathias Arbo: Localization in Agricultural Robotics with visual odometry (In cooperation with Adigo Mekatronikk, Advisor: PhD-student Trygve Utstumo) Main results of thesis published in
- M.H. Arbo, T. Utstumo, E. Brekke and J.T. Gravdahl, Unscented Multi-point Smoother for Fusion of Delayed Displacement Measurements: Application to an Agricultural Robot, Modeling, Identification and Control (MIC), 2017, Vol 38, No 1, pp.199-214
- Marius F. Westgaard: Software design and controller evaluation for the ADCS on the NTNU test satellite
- Jarle Dørum: Autonomous Navigation And Row Detection in Crop Fields Using Computer Vision (In cooperation with Adigo Mekatronikk, Advisor: PhD-student Trygve Utstumo)
Main results of thesis published in
- J. Dørum, T. Utstumo, J.T. Gravdahl, Experimental comparison of adaptive controllers for trajectory tracking in agricultural robotics, Proc. 19th International Conference on System Theory, Control and Computing, Cheile Gradistei - Fundata Resort, Romania, October 14-16, 2015
- Antoine F.X. Pignede: Prediction Algorithms for the NUTS Attitude Estimator and Robust Spacecraft Attitude Stabilization using Magnetorquers (In cooperation with Technische Universität Darmstadt, Germany.
- Marius Hjertaker: Robust and attitude and heading estimation of submerged steering device, in cooperation with Kongsberg Seatex AS
- Erik Guttormsen: Robust classification Approaches to Industrial Sorting of Herring Fracions (In cooperation with Sintef fisheries and aquaculture, Advisors: John Reidar Mathiassen, Ekrem Misimi)
Main results of thesis published in
- E. Guttormsen, B. Toldnes, M. Bondø, A. Eilertsen, J.T. Gravdahl and J.R. Mathiassen, A Machine Vision System for Robust Sorting of Herring Fractions, Food and Bioprocess Technology, pp. 1893-1900, 9(11), 2016, DOI 10.1007/s11947-016-1774-2
2014
- Michael Soukup: Brain-Computer Interface In Control Systems (Advisor: PhD-student Serge Gale)
- Øyvind Rein:Developing an ADCS Prototype for NTNU Test Satellite (Advisor: Roger Birkeland, NTNU IET)
- Jon Åge Stakvik: Identification, Inversion and Implementaion of the Preisach Hysteresis Model in Nanopositioning (Advisors: PhD-student Michael Ragazzon and post.doc. Arnfinn Aas Eielsen)
Main results of thesis published in
- Øystein W. Grændsen: Automatic visual weed detection: Detection and Classification of Weed in Row Cultures combining Machine Vision and Artificial Intelligence (In cooperation with Adigo Mekatronikk, Advisor: PhD-student Trygve Utstumo)
- Frode Urdal: Design of a Precision Spray Matrix : Valve Matrix Control for Microspraying in Precision Agriculture (In cooperation with Adigo Mekatronikk, Advisor: PhD-student Trygve Utstumo) Main results of thesis published in
- F. Urdal, T. Utstumo, S.Å. Ellingsen and J.T. Gravdahl, Design and control of precision drop on demand herbicide application in agricultural robotics, 13th International Conference on Control, Automation, Robotics and Vision, ICARCV 2014, Singapore, December 10-12, 2014
- Katharina Kufieta: Force Estimation in Robotic Manipulators: Modeling, Simulation and Experiments, The UR5 Manipulator as a Case Study, (In cooperation with Universität Stuttgart)
- Martin Nygren: Solar Simulation for the NTNU Test Satellite Solar Cells (Advisor: Roger Birkeland, NTNU IET)
2013
- Saber Derouiche: Pathfinding with Obstacle Avoidance using a Genetic Algorithm (Advisor: PhD-student Serge Gale)
- Torgrim Aalvik Lien: Mobile Robotics in Precision Agriculture: A CAN bus interface implementation of differential drive and exploration of localization, pose estimation and autonomous navigation. (In cooperation with Adigo Mekatronikk)
- Gaute Bråten: Design of attitude control system of a double CubeSat (Advisor: Roger Birkeland, NTNU IET)
- Thomas Øvervåg:Centrifugal Compressor Load Sharing with the use of MPC (Advisor: PhD-student Nur Uddin)
- Angel De La Guarda Perez Garcia: Brain control of a robot manipulator (Advisors: Dr. I. Schjølberg, SINTEF and PhD-student Serge Gale) Main results of thesis published in
- I. Schjølberg, A.P. Garcia, S. Gale, EEG control of an industrial robot manipulator, 4th IEEE Int. Conference on Cognitive Infocommunication, Budapest, December, 2013
- Michael Remo Palmén Ragazzon: Nanopositioning in Atomic Force
Microscopes: Robust Control Design, Order Reduction and
Numerical Implementability (Advisor: Dr.
Arnfinn Eielesen). Main results of thesis published in
- M.R.P. Ragazzon, A.A. Eielsen, J.T. Gravdahl, H_inf Reduced Order Control for Nanopositioning: Numerical Implementability, 19th World Congress of the International Federation of Automatic Control, IFAC, Cape Town, South Africa, August 24-29, 2014
2012
- Øyvind Auestad: Heave Control System For A Surface Effect Ship: Disturbance Damping of Wave Induced Motion at Zero Vessel Speed (In cooperation with Umoe Mandal, Advisors: Professor Asgeir Sørensen, Minkang Wu and Trygve Halvorsen)
- Fredrik Sola Holberg: Design of Attitude Estimation and Control System for a Cube Satellite
(Advisor: Roger Birkeland, NTNU IET). Results of thesis presented in
- Siri Vestheim: Pruning of RBF Networks in Robot Manipulator Learning Control, (Advisor PhD-student Serge Gale). Results of thesis presented in
- S. Gale, S. Vestheim, J.T. Gravdahl, S.A. Fjerdingen and I. Schjølberg, RBF Network Pruning Techniques for Adaptive Learning Controllers, in proceedings of the 9th International Workshop on Robot Motion and Control, Wasowo Palace, Wasowo, Poland, July 3-5, 2013
2011
- Trygve Utstumo: Attitude determination for agricultural robotics. (In cooperation with Adigo Mekatronikk). Results of thesis presented in
- T. Utstumo and J.T. Gravdahl, Implementation and comparison of attitude estimation methods for agricultural robotics, 4th IFAC Conference on Modelling and Control in Agriculture, Horticulture and Post Harvest Industry (AgriControl 2013), August 28–30, 2013 Aalto University School of Electrical Engineering, Espoo, Finland
- Herman Høifødt: Dynamic modeling and simulation of robot manipulators: The Newton-Euler formulation Files from the thesis can be dowloaded here
- Kristian Jensen and Kaan Husby Yabar: Development, Implementation and Testing of Two Attitude Estimation Methods for Cube Satellites. Results of Thesis published in
- K. Jensen, K.H. Yabar and J.T. Gravdahl, A comparison of attitude determination methods: theory and experiments, In proceedings of the 62nd International Astronautical Congress, Cape Town, South Africa, 3 - 7 October, 2011
- Zdenko Tudor: Design and Implementation of Attitude Control for 3-axes Magnetic Coil Stabilization of a Spacecraft
2010
2009
- Lukas Vogl:
Nanopositioning: improving resolution in closed-loop
position control (In cooperation with TU Graz, Austria. Advisor: PhD-student
Arnfinn Eielesen). Results of Thesis published in
- A.A.Eielsen, J.T. Gravdahl, K.Y.Pettersen, L.Vogl, Tracking Control for a Piezoelectric Nanopositioner using Estimated States and Feedforward Compensation of Hysteresis, in proceedings of the 5th IFAC Symposium on Mechatronic Systems, September 13-15, 2010, Cambridge, Massachusetts
- Øyvind
Widerøe Kylling: Optimizing
separator presure in a multistage crude oil production plant (In cooperation
with Siemens)
- Even Vinge:
Nanopositioning: Contruction and analysis of
a piezoelectric tube actuator.
Advisor: PhD-student Arnfinn Eielesen)
- Øystein
Bordvik:
Controller design for the Kongsberg Protector remote weapon station (In cooperation
with Kongsberg D&A)
- Jørgen Sirum:
Modeling and Simulation for Control of Lean-Burn Gas Engines (In cooperation
with Rolls Royce Marine)
- Finn Eivind Slungård:
Modellering, regulering og simulering av dobbel Cubesat.
2007
- Tobias
Paul: Reconfiguation
in formations of Unmanned Aerial Vehicles. In cooperation with Technische Universität Darmstadt,
Germany. Advisor: PhD-student Thomas Krogstad. Main results
of Thesis published in
- Paul T., T. R. Krogstad and
J. T. Gravdahl, UAV Formation Flight using 3D Potential Field, in proceedings
of the 16th Mediterranean Conference on Control and Automation, Corsica,
France, 2008
- Paul T., T. R. Krogstad and
J. T.Gravdahl, Modeling of UAV Formation Flight using 3D Potential Field,
Simulation Modelling Practice and Theory, 2008
- Mads Martinussen:
Numerical Modelling and Model Reduction of Heat Flow in Robotic Welding (In cooperation with Aker Kværner Verdal)
- Karianne Tønne:
Stability Analysis of EKF - based Attitude Determination and Control.
- Ivar Waarum: Stability Analysis of Nonlinear Attitude Determination and Control Systems
- Jørgen Sverdrup-Thygeson:
Hydraulic Heave Compensation (In cooperation with Marine Cybernetics, Supervisor
O. Egeland, Advisor J.T. Gravdahl)
- Kjell Rhode:
Attitude control of a pico satellite
- Thor-Arne Voldsund:
Plogoperasjon for overflatefartøy, modellering og simulering (In cooperation
with Rolls-Royce Marine AS. Advisors: Morten Breivik, ITK og Dr. Jann Peter
Strand, Rolls-Royce Marine AS)
- Tove Helene Hovd: Modeling, state observation and control of compressor system, (Advisor: PhD-student Bjørnar
Bøhagen)
- Arnfinn Aas Eielsen:
Comparison of Adaptive Controllers for a Servomechanism (In cooperation
with NeoGuide Systems, Inc, Advisor B. Woodley)
- Ingolf Salen:
Modeling and control of Master-Slave system in 2x6 DOF with force feedback
(In cooperation with Odim AS. Advisor PhD-student Pål J. From, Institutt
for teknisk kybernetikk and Øyvind Bunes, Odim AS )
- Rune T. Aune: Robotics
for unmanned platforms, (in cooperation with ABB, supervisor: Professor Kristin
Y. Pettersen, Advisors: Professor T. Gravdahl, Post.doc Alexey Pavlov and
PhD-student Pål J. From)
2006
- Øyvind Skutlaberg:
Parameter identification in a compression system
- Thomas Moldbrekke:
Modelling and parameter identification in a compression system
- Marius Klausen:
Hybrid predictive control for robotic multipass welding of tubular joints
(In cooperation with Erik Stiklestad, Aker Kværner Verdal and Dr.Ing.
Trygve Thomessen, PPM AS)
- Tord Håvard Aune:
Coordinated hybrid control of satellite formations
- Ida Cornelia Wilhelmsen
Wessel: Formation
control of spacecraft
- Pål Johan From:
Modelling and optimal trajectory planner for industrial spray paint robots
(In cooperation with ABB Robotics, Bryne)
Main results
of Thesis published in
- From P.J. and J.T. Gravdahl, An Inverse Geometric Approach to Functional and Kinematic Redundancy for Robotic Manipulators, proc. of the 46th IEEE CDC, New Orleans, 2007
- Torbjørn Houge:
Mobile, remote surveillance of underground cryogenic equipment (In cooperation
with Dr. Luigi Serio, CERN)
2005
- Thomas Krogstad:
Attitude Control of Satellites in Clusters
(In cooperation with Dr. Åge Skullestad, Kongsberg Defence & Aerospace)
Advisor: Raymond Kristiansen, HiN, Main
results of Thesis published in
- Krogstad T.R., J.T. Gravdahl
and P. Tøndel, Explicit model predictive control of a satellite
with magnetic torquers, Proceedings of the 13th Mediterranean Conference
on Control and Automation, Limassol, Cyprus, June 27-29, 2005
- Krogstad T.R., J.T. Gravdahl
and P. Tøndel, Attitude control and stability analysis of satellites
in earth and moon orbit, Space Technology Education Conference, STEC2005,
Aalborg, Denmark, 6-8 April 2005
- Krogstad T.R, J.T. Gravdahl
and P. Tøndel Attitude control and stability analysis of satellites
in earth and moon orbit, proceedings of the 56th International Astronautical
Congress, Fukoka, Japan, October 17-21, 2005
- Krogstad T.R., J.T. Gravdahl
and R. Kristiansen, Coordinated control of satellites: the attitude case,
proceedings of the 56th International Astronautical Congress, Fukoka,
Japan, October 17-21, 2005
- Esten Ingar
Grøtli: Modeling and Control of Formation
Flying Satellites in 6 DOF, (In cooperation with Dr. Åge Skullestad,
Kongsberg Defence & Aerospace) Advisor: Raymond Kristiansen, HiN, Main
results of Thesis published in
- Grøtli E.I.
and J.T. Gravdahl, Coordinated control of satellites: the relative position
case, Space Technology Education Conference, STEC2005, Aalborg, Denmark,
6-8 April 2005
- R. Kristiansen, E.I. Grøtli,
P. J. Nicklasson and J.T. Gravdahl, A model of relative position and attitude
in a leader-follower spacecraft formation, SIMS2005, October, Trondheim
- R.Kristiansen, E.I. Grøtli,
P.J. Nicklasson and J.T. Gravdahl, “A model of relative position
and attitude in a leader-follower spacecraft formation”, Modeling
Identification and Control, no. 3, 2006
- Bernt Ove Sunde:
Sensor modelling and attitude determination for
micro-satellite (In cooperation with Dr. Åge Skullestad, Kongsberg
Defence & Aerospace) Main
results of Thesis published in
- Sunde B.O. and J.T. Gravdahl,
Attitude Determination for the student satellite nCubeII: Kalman Filter,
proceedings of the 56th International Astronautical Congress, Fukoka,
Japan, October 17-21, 2005
- Trond Dagfinn
Krøvel PWPF-modulation of thrusters for the micro satellite SSETI/ESMO,
Main results of Thesis published in
- Krøvel, T.D. and J.T.
Gravdahl, Pulse Width-Pulse Frequency Modulation of Thrusters for the
Micro-Satellite SSETI/ESMO, Space Technology Education Conference, STEC2005,
Aalborg, Denmark, 6-8 April 2005
- Kristin Johansson
Orbital Mechanics and Feedback Control,
- Svein
Tohami El Moussaoui Brembo: Sensor
modeling, attitude determination and control for micro-satellite(In
cooperation with Dr. Åge Skullestad, Kongsberg Defence & Aerospace)
- Stian Hoel:
Instrumentation of crash testing for automobiles
(Industrial partner: Hydro Automotive Structures, Advisor: Tore Tryland)
- Simen Eldevik,
Modelling
of formations of satellites,
Supervisor: Professor Berit Kjeldstad, Department of Physics, NTNU, Advisor:
Jan Tommy Gravdahl. (In cooperation with Dr. Åge
Skullestad, Kongsberg Defence & Aerospace)
- Karsten Hjelseth,
Compressor control using explicit MPC, Supervisor: Professor Tor Arne Johansen,
NTNU, Advisors: Dr. John-Morten Godhavn, Statoil; Dr. Petter Tøndel,
NTNU; Jan Tommy Gravdahl, NTNU
- Fredrik Rygg
Solution Methods for Distributed Parameter Systems.
- Ketil Brun
Nonlinear attitude control of spacecraft in earth and moon orbit.
2004
- Morten Topland:
Attitude Control for the micro satellite SSETI/ESEO.
Cooperation with European Space Agency (ESA). Main results of Thesis published
in
- Topland, M. and J.T.
Gravdahl, Nonlinear attitude control for ESMO/SSETI, in proceedings of
the 55th International Astronautical Congress, Vancouver, Canada, 2004
- Øyvind Hegrenæs:
Attitude Control by means of explicit model
predictive control, via multi-parametric qudratic programming. Cooperation
with European Space Agency (ESA). Main results of Thesis published in
- Hegrenæs, Ø.,
J.T. Gravdahl and P. Tøndel, Attitude Control by means of Explicit
Model Predictive Control, via Multi-parametric Quadratic Programming,
in proceedings of the 2005 American Control Conference,
Portland, Oregon, June 8-10, 2005
- Hegrenæs, Ø.,
J.T. Gravdahl and P. Tøndel, Spacecraft
Attitude Control using Explicit Model Predictive Control, Automatica,
41(12), pp. 2107-2114, 2005
- Eli Jerpseth Øverby:
Attitude control for the Norwegian student satellite
nCube. Cooperation with the Norwegain Space Centre. Main
results of Thesis published in
- Øverby,
E.J., J.T. Gravdahl, S.S. Ose and K.M. Fauske, nCube - Norwegian Student
satellite: Attitude Determination and Control System, poster at the Space
Technology Education Conference, STEC2004, EPF Lausanne, Switzerland,
14-16 April 2004
- Stian Søndersrød
Ose: Attitude determination for the Norwegian
student satellite nCube. Advisor: Dr. Bjørnar
Vik. Cooperation with the Norwegain Space Centre. Main
results of Thesis published in
- Øverby,
E.J., J.T. Gravdahl, S.S. Ose and K.M. Fauske, nCube - Norwegian Student
satellite: Attitude Determination and Control System, poster at the Space
Technology Education Conference, STEC2004, EPF Lausanne, Switzerland,
14-16 April 2004
- Jean
Nicolai Johannesson: Observer
design, contraction analysis and active control of surge in centrifugal compressors.
Advisor: PhD-student Bjørnar Bøhagen.
- Rolf Vikøren
Strøm: Modeling and control of excavators using methods from robotics.
- Christian
Torvestad: Analyse, design, implementasjon og testing av regulatoralgoritme
for lagerrobot. Industrial partner: Hatteland Computer, Advisor: Ingvar Hognaland.
2003
- Olav Stene: Design
of mass flow observers for use in active control of surge in centrifugal compressors.
Main results of Thesis published in
- Bøhagen, B., O. Stene
and J.T. Gravdahl, A GES mass flow observer for compression systems: Design
and experiments, Proceedings of the American Control Conference, Boston,
June, 2004
- Bjørn Even Busterud:
Attitude control of micro sattellites
(In cooperation with Dr. Åge Skullestad, Kongsberg Defence & Aerospace)
- Geir Ytrehus: Control
of a micro satellite with reaction wheels in a tetraedron (In cooperation
with Dr. Åge Skullestad, Kongsberg Defence & Aerospace)
- Fredrik Mietle Indergaard:
Design and implementation of a gravity boom
for the Norwegian nano satellite NCUBE. Main results of Thesis published
in
- Gravdahl, J.T, E. Eide, A.Skavhaug,
K. Svartveit, K. M. Fauske and F. M. Indergaard, Three axis Attitude Determination
and Control System for a picosatellite: Design and implementation, Proceedings
of the 54th International Astronautical Congress, Bremen, Germany, 2003
- Riise, Å.-R., Samuelsen,
B., Sokolova, N., Cederblad, H., Fasseland, J., Nordin, C., Otterstad,
J., Fauske, K., Eriksen, O., Indergaard, F., Svartveit, K., Furebotten,
P., Sæther, E., and Eide, E., “Ncube: The First Norwegian Student
Satellite,” In Proceedings of The 17th AIAA/USU Conference on Small
Satellites, Logan, Utah, August, 2003.
- Kristian Svartveit: Attitude
determination for the Norwegian nano satellite NCUBE. Main results of
Thesis published in
- Gravdahl, J.T, E. Eide, A.Skavhaug,
K. Svartveit, K. M. Fauske and F. M. Indergaard, Three axis Attitude Determination
and Control System for a picosatellite: Design and implementation, Proceedings
of the 54th International Astronautical Congress, Bremen, Germany, 2003
- Riise, Å.-R., Samuelsen,
B., Sokolova, N., Cederblad, H., Fasseland, J., Nordin, C., Otterstad,
J., Fauske, K., Eriksen, O., Indergaard, F., Svartveit, K., Furebotten,
P., Sæther, E., and Eide, E., “Ncube: The First Norwegian Student
Satellite,” In Proceedings of The 17th AIAA/USU Conference on Small
Satellites, Logan, Utah, August, 2003.
- Kjell Magne Fauske: Attitude
stabilization of an underactuated rigid spacecraft. (Supervisor: Professor
Kristin Pettersen, Advisor: Jan Tommy Gravdahl)
2002
- Bjørnar Bøhagen:
Active surge control of centrifugal compressors:
An output feedback approach. Main results of Thesis published in
- Bøhagen, B. and J.T.
Gravdahl, On active surge control of compressors using a mass flow observer,
Proceedings of the 41st IEEE Conference on Decition and Control, Las Vegas,
December, 2002
- Per Morten Hellervik:
Tuning of pressure, level and rate control
for separator trains. (In cooperation with Dr. Olav Slupphaug, ABB Industri
AS) Supervisor: Professor II Ole Jacob Sørdalen, Advisor: Jan Tommy
Gravdahl.
- Ola Jacob Mjøen Iversen:
Friction in robotic manipulators: Modeling,
compensation and simulation (In cooperation with Dr. Dag Kristiansen,
ABB Corporate Research)
- Kjetil Jubskås Olsen:
Control of a satellite and optimal use of sensors (In cooperation with Dr.
Åge Skullestad, Kongsberg Defence & Aerospace)
- Bernt Inge Øhrn:
Modelling and motion planning of a tubular handling system: a robotics approach
(In cooperation with Tom Fidjeland Hydralift ASA)
1999
- Gjermund Blom-Hagen: Surge
control of centrifugal compressors. (In cooperation with Svein Vatland, ABB
Corporate Research) Supervisor: Professor II Ole Jacob Sørdalen, Advisor:
Jan Tommy Gravdahl
1997
- Felix Mayer: Control of
a turbocharged compression ignition engine. Supervisor: Professor Olav Egeland,
Advisor: Jan Tommy Gravdahl
1996
- Johan Petter Tøndel:
Control of gas turbine under transients. Supervisor: Professor Olav
Egeland, Advisor: Jan Tommy Gravdahl
- Stefan Wagner: Surge control
and rotating stall avoidance for a turbojet engine. Supervisor: Professor
Olav Egeland, Advisor: Jan Tommy Gravdahl
1994
- Shahriar Mahmoud Ali Nejad,
Analyse og implementering av parallell kraft/posisjonsstyring for industrirobot.
Supervisor: Professor Olav Egeland, Advisor: Jan Tommy Gravdahl
Editor: Tommy Gravdahl, Contact address: Tommy.Gravdahl@
itk.ntnu.no , Updated:
January 14, 2025