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Name
Norwegian Open Research Archives
Type
Publication Repository
Items
150544 Publications
Compatibility
OpenAIRE Basic (DRIVER OA)
OAI-PMH
http://nora.openaccess.no/oai

 

  • Optimal 3D Path Planning for a 9 DOF Robot Manipulator with Collision Avoidance

    This paper describes development of an optimal 3D path planner with collision avoidance for a 9 DOF robot manipulator. The application of the robot manipulator will be on an unmanned oil platform where it will be used for inspection. Most of the time the robot manipulator will follow a pre-programmed collision-free path specified by an operator. Situations where it is desirable to move the end effector from the current position to a new position without specifying the path in advance might oc...

    Internal Gettering of Iron at Extended Defects

    The role of iron in crystalline silicon solar cells has been extensively investigated, yet the interaction mechanisms with structural defects have not been fully understood. In this work we have investigated a multicrystalline silicon ingot made in a small scale (1.5 kg) vertical gradient freeze (VGF) furnace with the addition of 50 ppma Fe in the polysilicon feedstock. The minority carrier lifetime was qualitatively measured by photoluminescence (PL). Grain morphology and -orientati...

    Models and Methods for Investigation of Reverberations in Nonlinear Ultrasound Imaging

    Models and methods for investigation of reverberations in nonlinear imaging techniques are presented in this thesis. Four independent papers provide insight on nonlinear propagation effects, a theoretical description of reverberations and the effects of reverberations on conventional and second-harmonic ultrasound imaging. Two papers, Paper A and C, describe methods used to investigate nonlinear distortion and reverberations, whereas Paper B and D concentrate on acoustic phenomena and perform...

    The Influence of Automation on Human Error in Managed Pressure Drilling Well Control

    This thesis aims to explain and discuss the concept of automation in Managed Pressure Drilling systems and how this may influence the risk of well control incidents by its effect on human performance, focusing on human errors. The scope also includes examining the change of mode of automation during a well control incident, and recommend for a future mode of automation from a human factor point of view. An MPD system developed by Halliburton AS was used as a case, while the critical well cont...

    CFD modeling for direct liquefaction of biomass in hydrothermal media

    The first generation biofuels which is coming from food crops for instance grain and sugar beet are inadequate to achieve desirable oil products because of the scarcity to food supply, therefore the importance of second generation biofuels has increased. Another advantage of second generation biofuel is that the feedstock (non-food-biomass) could be farmed for energy purposes, which enables better production per unit area of the land; and we could utilize the land efficiency. The feedstock of...
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