Institutt for teknisk kybernetikk: Recent submissions
Now showing items 1-20 of 3684
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Development and testing of a risk-based control system for autonomous ships
(Journal article; Peer reviewed, 2023)This paper presents a method for designing and verifying a control system with risk-based decision-making capabilities to improve its intelligence and enhance the safe operation of autonomous systems. The decision-making ... -
Co-rotational Reduced Order Kalman Filter Finite Element Method for the Real-time Implementation of Large-scale Structural Models
(Peer reviewed; Journal article, 2023)The real-time implementation of large-scale structural models without sacrificing their physical realism is challenging. This paper introduces a conceptual framework named the Co-rotational Reduced Order Kalman Filter ... -
Explicit Backstepping Kernel Solutions for Leak Detection in Pipe Flow Networks Containing Loops
(Peer reviewed; Journal article, 2023)A recursive procedure to obtain explicit expressions to a set of observer backstepping kernel equations for an interconnection (cascade) of N+1 systems of 2×2 linear hyperbolic PDEs, N>0 an integer, for use in leak detection ... -
Finite-Control-Set Model Predictive Control for Inductive Power Transfer Charging EV systems with Constant Voltage Load
(Chapter, 2023)This paper presents a finite-control-set model predictive control (FCS-MPC) strategy for achieving power control in inductive power transfer (IPT) -based electric vehicle (EV) charging systems. The proposed control method ... -
A decision support system for autonomous ship trajectory planning
(Peer reviewed; Journal article, 2023)This study presents an approach to enhance human–machine collaboration in autonomous ship trajectory planning. A decision support system is developed, considering crucial environmental factors such as ocean currents, wind, ... -
Electrification of Excavators: Electrical configurations, carbon footprint, and cost assessment of retrofit solutions
(Peer reviewed; Journal article, 2023)Technology for the electrification of transport is currently undergoing rapid development that is necessary for reducing greenhouse gas (GHG) emissions. On a global level, the transport sector is responsible for around 12% ... -
Polynomial Chaos Expansion for Uncertainty Quantification in Closed-Loop Reservoir Management
(Chapter, 2023)Closed-loop reservoir management (CLRM) is a model-based optimal control procedure that aims at optimizing oil and gas production strategies under both physical and operational constraints and large model uncertainties. ... -
Causality, machine learning and human insight
(Peer reviewed; Journal article, 2023)Modern instruments generate BIG DATA that require information extraction before they can be used. A hybrid modelling framework for that is presented and illustrated. Its purpose is to convert meaningless data to meaningful ... -
Combining Q-learning and Deterministic Policy Gradient for Learning-Based MPC
(Peer reviewed; Journal article, 2023)This paper considers adjusting a fully parametrized model predictive control (MPC) scheme to approximate the optimal policy for a system as accurately as possible. By adopting MPC as a function approximator in reinforcement ... -
A Novel Model for Link Dynamics in Planar Snake Robots Using Internal Constraint Force Sensing
(Chapter, 2023)We consider the problem of simplifying the typically complex task of deriving dynamical mechanical models of planar snake robots. More precisely we propose a modeling strategy that assumes the possibility of measuring the ... -
Data-Driven Spatio-Temporal Modelling and Optimal Sensor Placement for a Digital Twin Set-Up
(Journal article; Peer reviewed, 2023)A computationally efficient predictive digital twin (DT) of a small-scale greenhouse needs an accurate and faster modelling of key variables such as the temperature field and flow field within the greenhouse. This involves: ... -
Control and analysis of PV-microgrid
(Master thesis, 2024)PV drevne mikrogrids er en mulig løsning for elektrifisering av områder med gode solforhold der kobling til annen energi-infrastruktur er kostbart eller krevende. Differ Community Power (DCP) er en utvikler av slike ... -
Standalone, Descriptive, and Predictive Digital Twin of an Onshore Wind Farm in Complex Terrain
(Journal article; Peer reviewed, 2023)In this work, a digital twin with standalone, descriptive, and predictive capabilities is created for an existing onshore wind farm located in complex terrain. A standalone digital twin is implemented with a virtual-real ... -
Maritime Target Tracking with Exteroceptive Sensors and Target-Provided Information
(Doctoral theses at NTNU;2024:218, Doctoral thesis, 2024)Autonomous and unmanned operations at sea are becoming increasingly common. However, as the operational goals increase in ambition, the existing methods show their weaknesses. The maritime domain can be complex and ... -
Automated Planning for Inspection and Maintenance operations using Unmanned Ground Vehicles
(Journal article; Peer reviewed, 2023)Offshore oil and gas industry has a strong incentive to improve its traditional operations and move towards more remote controlled and automated installations. This allows for improved efficiency, reduced cost and improved ... -
Modeling Dynamical Systems with Physics Informed Neural Networks with Applications to PDE-Constrained Optimal Control Problems
(Master thesis, 2024)Å modellere dynamiske systemer eksplisitt vil føre til modeller som er like nøykatige som antagelsene som gikk inn i modelleringen. Mange fysiske lover er nyttige modelleringsverktøy for mange bruksområder, men er ikke ... -
PMBM Filtering With Fusion of Target-Provided and Exteroceptive Measurements: Applications to Maritime Point and Extended Object Tracking
(Journal article; Peer reviewed, 2024)In recent years, the Poisson multi-Bernoulli mixture (PMBM) filter has been established among the state-of-the art methods in target tracking. We present a method for including target-provided measurements in said filter, ... -
Energy optimized navigation in drones
(Master thesis, 2024)Denne avhandlingen ble skrevet med m˚al om ˚a undersøke forholdet mellom masse, kraft og energiforbruk. For ˚a f˚a innsikt i forholdet mellom dem, ble ble det inkludert informasjon med form˚al om ˚a gi forst˚aelse av ... -
Using computer vision to track progress through a CrossFit workout
(Master thesis, 2024)In this project, a tool for tracking crossfit workouts has been developed. The tool aims to produce performance-based statistics for coaching analysis, it also aims to act as a digital judge with documents verified results ... -
A phase-time-path-difference approach for online wave direction and wave number estimation from measured ship motions in zero and forward speed using a single inertial measurement unit
(Journal article; Peer reviewed, 2023)This study investigates the potential capability of a relatively new and unexplored signal-based approach for shipboard wave estimation. The approach uses the phase-time-path-differences (PTPDs) from an array of shipboard ...