Foto:
Ronny Danielsen
Professor
Kristin Ytterstad Pettersen
Department of Engineering Cybernetics
Norwegian University of Science and Technology
Key Scientist CoE Autonomous Marine
Operations and Systems (NTNU AMOS)
Professor II Norwegian Defence Research Establishment (FFI)
Co-founder and Board Member Eelume AS
Google scholar profile
Research
Publications
Research
interests
- Nonlinear
control theory
- Motion control of mechanical
systems, in particular ships, AUVs, robot manipulators and snake robots
- Autonomous vehicles
- Robotics
- Cooperative and coordinated
control of mechanical systems
- Underactuated
and nonholonomic systems
PhD
candidates
- Casper J. Potter [LI] (co-advised)
- Simon A. Hoff [LI]
- Josef Matouš
- Amer Orucevic [LI] (co-advised)
- Irja Gravdahl [LI] (co-advised)
- Aurora Haraldsen [LI]
- Carina Norvik [LI] (co-advised)
- Katrine Seel [LI] (co-advised)
- Erlend A. Basso [LI]
- Marius Thoresen [LI]
- Marianna Wrzos-Kaminska
- Henrik Schmidt-Didlaukies (co-advised)
- Jørgen Sverdrup Thygeson [LI]
Graduated
PhD candidates
- Ida-Louise Borlaug [LI], PhD thesis: Robust Control of Articulated Intervention-AUVs using Sliding Mode Control, NTNU thesis 2020:345.
- Martin Syre Wiig [LI], PhD thesis: Collision Avoidance and Path Following for Underactuated Marine Vehicles, NTNU thesis 2019:103.
- Albert Sans Muntadas [LI], PhD thesis: Path-Planning, Guidance and Navigation Tools for Docking Underactuated AUVs, NTNU thesis 2018:185.
- Michael Remo Palmén Ragazzon [LI] (co-advised), PhD thesis: Parameter Estimation in Atomic Force Microscopy, NTNU thesis 2018:146.
- Anna Kohl [LI] PhD thesis: Guidance and Control of Underwater Snake Robots Using Planar Sinusoidal Gaits, NTNU thesis 2017:292.
- Claudio Paliotta [LI] PhD thesis: Control of Under-actuated Marine Vehicles, NTNU thesis 2017:240.
- Dennis J.W. Belleter [LI] PhD thesis: Control of Underactuated Marine Vehicles in the Presence of Environmental Disturbances, NTNU thesis 2016:337.
- Signe Moe [LI]
- Eleni Kelasidi [LI]
- Filippo Sanfilippo [LI],
- Daniel de Almeida Fernandes [LI],
- Ehsan Rezapour [LI],
- Walter Caharija [LI],
-
- Johannes Schrimpf
(co-advised)
- Arnfinn Aas Eielsen [LI]
(co-advised), PhD thesis: Topics in Control of Nanopositioning Devices, NTNU
thesis 2013:315.
- Mernout Burger [LI], PhD
thesis: Disturbance Rejecton using Conditional Integrators, NTNU thesis
2011:4.
- Pål Liljebäck [LI], PhD
thesis: Modelling, Development, and Control of
Snake Robots, NTNU thesis 2011:70.
Awarded the 2011
ExxonMobil prize for best doctoral dissertation at NTNU.
- Pål From
[LI] (co-advised), PhD thesis: Off-Shore Robotics - Robust and Optimal
Solutions for Autonomous Operations, NTNU thesis 2010:96.
- Anne Karin Bondhus [LI], PhD thesis:
Leader-Follower Synchronization of Mechanical Systems, NTNU thesis 2010:58.
- David Moreno Salinas
(visiting), Dpto. Informática
y Automática, ETSI Informática,
UNED, Ciudad Universitaria, Madrid, Spain. Fall 2009.
- Even Børhaug
[LI], PhD thesis: Nonlinear Control and Synchronization of Mechanical
Systems, NTNU thesis 2008:298.
- Aksel Andreas Transeth [LI] PhD
thesis: Modeling and Control of Snake Robots, NTNU thesis 2008:2.
- Jon E. Refsnes
[LI] (co-advised) PhD thesis: Nonlinear Model-Based Control of Slender
Body AUVs, NTNU thesis 2008:60.
- Erik Kyrkjebø [LI] PhD
thesis: Motion Coordination of Mechanical Systems: Leader-Follower
Synchronization of Euler-Lagrange Systems using Output Feedback Control, NTNU thesis 2007:60
- Lars Alminde
[LI] (visiting) Automation and Control, Aalborg University, Aalborg,
Denmark. Fall 2006.
- Reza Ghabcheloo
[LI] (visiting) Instituto de Sistemas e Robótica (ISR), Instituto Superior Técnico
(IST), Lisbon, Portugal. Spring
2006.
Post
Docs
- Anna Kohl [LI] 2017-2018.
- Eleni Kelasidi [LI] 2016-2018.
- Konstantin Amelin [LI] 2015-2016.
- Pål Liljebäck [LI] 2011-2015.
- Christian
Holden [LI] 2011-2013.
- Erik Kyrkjebø [LI] 2007-2008.
- Alexey Pavlov [LI]
2005-2007.
Teaching
Courses
Student Projects
- Fall 2019 MSc student projects (Prosjektoppgaver)
- Spring 2019 MSc student projects (Masteroppgaver)
Dissemination
- 2020 IEEE CSS Bode Lecture: Snake robots, the 59th IEEE Conference on Decision and Control, December 17, 2020.
- KYP TeachTech YouTube channel on Nonlinear Control Systems.
- Snake robots exploring the oceans, NRK TV, June 19, 2019.
- Slangeroboter utforsker havet, By Thomas Høstad, NTNU Big Challenge Science Festival, Trondheim, Norway, June 16 – 19, 2019.
- A giant subsea snake robot, By Steinar Brandslet, Gemini, Starmus Special Edition, June 2017.
- 水中で魚の健康診断や石油企業のお手伝い、泳ぐヘビ型ロボット／ノルウェー, By Asaki Abumi, Yahoo!JAPAN, 2017-06-27.
- Hun har utviklet slangeroboter og jobber med å lukeparkere skip, By Joachim Seehusen, Teknisk Ukeblad, 2017-03-12.
- NTNU-professor første norske kvinne til prestisjefylt utnevnelse, Gemini, 2016-11-24.
- This terrifying robot snake could repair machines at the bottom of the ocean, Mashable, 2016-11-18.
- See Snake, By Russel McCulley, Upstream Technology, No. 3, 2016, pp. 20-22.
- Subsea Upcoming Company of the year, By Gunnar Buvik, GCE Subsea, 2016-06-15.
- Slangerobot på havbunnen, By Morten Andersen, NRK Dagsrevyen 21, 2016-04-18.
- Denne slangeroboten skal bli Statoils “vaktmester” på havbunnen, By Marius Lorentzen, E24, 2016-04-18.
- Slangeroboter skal revolusjonere vedlikeholdet subsea. By Ina Andersen, Teknisk Ukeblad, 2016-04-19.
- Slangeroboter forbedrer subsea inspeksjon og vedlikehold. By Kristin Y. Pettersen and Pål Liljebäck. DYP Magasinet, No. 2, 2016, pp. 18-19.
- Our swimming snake robots - media mentions.
- Our land-based snake robots - media mentions.
- Fremtiden
er her. Bilag om teknisk kybernetikk i Dagens Næringsliv 6. mars 2013.
- AMOS skal gjøre verden smartere, By
Svein Inge Meland, Adresseavisen 2013-02-26.