Open Science Research Excellence

S Lang

Publications

2

Publications

2
1304
Evolutionary Design of Polynomial Controller
Abstract:
In the control theory one attempts to find a controller that provides the best possible performance with respect to some given measures of performance. There are many sorts of controllers e.g. a typical PID controller, LQR controller, Fuzzy controller etc. In the paper will be introduced polynomial controller with novel tuning method which is based on the special pole placement encoding scheme and optimization by Genetic Algorithms (GA). The examples will show the performance of the novel designed polynomial controller with comparison to common PID controller.
Keywords:
Evolutionary design, Genetic algorithms, PID controller, Pole placement, Polynomial controller
1
4620
Novel Mobile Climbing Robot Agent for Offshore Platforms
Abstract:
To improve HSE standards, oil and gas industries are interested in using remotely controlled and autonomous robots instead of human workers on offshore platforms. In addition to earlier reason this strategy would increase potential revenue, efficient usage of work experts and even would allow operations in more remote areas. This article is the presentation of a custom climbing robot, called Walloid, designed for offshore platform topside automation. This 4 arms climbing robot with grippers is an ongoing project at University of Oslo.
Keywords:
Climbing Robots, Mobile Robots, Offshore Robotics, Offshore Platforms, Automation, Inspection, Monitoring.