Improvements to the design process of the energy distribution system: A comparison between operational use of the energy distribution system of a naval ship and its expected use during the design phase

After a ship is delivered from a shipyard to a customer, its operational use is not yet structurally compared to its expected use. This lack of structural comparison results in limited verification and self-evaluation of the design process. The objective of this research is therefore to develop a method to analyze operational data and apply this...

Improvements to the design process of the energy distribution system - A comparison between operational use of the energy distribution system of a naval ship and its expected use during the design phase

Online swing leg trajectory optimization for a force controllable humanoid robot

Humanoid robots are well suited to function in a world designed for humans. To function autonomously, it is important that the robot be robust against disturbances. Quick and accurate positioning of the swing foot allows the robot to recover from large disturbances. This thesis presents a novel controller that provides accurate foot positioning...