Institutt for teknisk kybernetikk: Nye registreringer
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Improved Pose Control of SLAM Robots
(Master thesis, 2024)Dette prosjektet hadde som form ̊al ̊a bidra til en forbedret kjøreevne av SLAM-robotene gjen- nom ̊a ta en nærmere kikk p ̊a posisjonsestimatoren samt posisjonskontrolleren i programvaren installert p ̊a Nordic Semiconductor ... -
Semantically-enhanced Deep Collision Prediction for Autonomous Navigation using Aerial Robots
(Peer reviewed; Journal article, 2023)This paper contributes a novel and modularized learning-based method for aerial robots navigating cluttered environments containing hard-to-perceive thin obstacles without assuming access to a map or the full pose estimation ... -
Polynomial Fitting of Operating Point Dependency in Small-Signal State-Space Models for Power Electronic Converters
(Chapter, 2023)This paper presents an approach for representing nonlinear operating point dependencies in small-signal state-space modelling of power electronic converters. The intended application is for unifying a set of small-signal ... -
Terrain Recognition and Contact Force Estimation through a Sensorized Paw for Legged Robots
(Chapter, 2023)This paper introduces the Terrain Recognition And Contact Force Estimation Paw, a compact and sensorized shoe designed for legged robots. The paw end-effector is made of silicon that deforms upon the application of contact ... -
Applying Vector Fitting for Measurement-based Multiple-Input Multiple-Output Model Identification of a Grid-Forming Converter
(Chapter, 2023)This paper presents an approach for applying Vector Fitting (VF) to identify a small-signal state-space model of a power electronic converter represented as a multiple-input multiple-output (MIMO) system. A workflow for ... -
Phased Array Radio Navigation System on UAVs: Real-Time Implementation of In-flight Calibration
(Peer reviewed; Journal article, 2023)Unmanned aerial vehicles (UAV) require an alternative positioning system to the global navigation satellite systems (GNSS) for safety-critical operations since GNSS is prone to unintentional or malicious electromagnetic ... -
Recursive Multi-Channel Prony for PMU
(Journal article; Peer reviewed, 2023)The phasor estimation process is important in monitoring, controlling and protecting power networks. Prony's method can be used as an estimator by which electrical power system parameters are approximated. The Prony algorithm ... -
Sparse neural networks with skip-connections for nonlinear system identification
(Peer reviewed; Journal article, 2023) -
DNN-based anomaly prediction for the uncertainty in visual SLAM
(Chapter, 2023)The method described in this paper proposes a supervised Deep Neural Network (DNN) approach for the prediction of anomalies in camera-based navigation. The method is inspired by the unsolved issues of Integrity Monitors ... -
Limitations in Impedance Reshaping of Grid Forming Converters for Instability Prevention
(Chapter, 2023)Under a weak grid scenario, Grid Forming (GFM) converters have superior impedance-based small-signal stability compared to Grid Following (GFL) converters. The underlying assumption in defining a weak grid has traditionally ... -
Experimental assessment of a JANUS-based consensus protocol
(Journal article; Peer reviewed, 2024)This paper proposes a distributed, JANUS-based protocol that enables an underwater acoustic network to reach consensus on arbitrary local opinions as numeric state variables. An envisioned scenario where nodes shall agree ... -
Uniform Practical Asymptotic Stability for Position Control of Underwater Snake Robots
(Journal article; Peer reviewed, 2023)In this article, the Lyapunov theory for uniform practical asymptotic stability (UPAS) is presented and utilized to solve the problem of position control of a planar underwater snake robot (USR). First sufficient conditions ... -
Spatial Resolution Enhancement of Hyperspectral Images from Miniaturized Sensors
(Peer reviewed; Journal article, 2023)Here we describe and mitigate issues of optical aberrations related to wavelength-dependent blur caused by miniaturization in hyperspectral pushbroom image sensors, which degrade spatial resolution and limit their usefulness. ... -
Weather optimal dynamic positioning of underactuated AUVs using output feedback control
(Journal article, 2006)In this paper we present an output feedback control system for dynamic positioning of underactuated AUVs. The control objective is to maintain a desired distance to the target while orienting the vehicle towards the target ... -
Observer design for underwater vehicles with position and angle measurement
(Journal article, 2006)In this paper we propose a new observer system for underwater vehicles. The main design objective behind this strategy is to reduce the destabilizing effect of the Coriolis and centripetal forces and moments in the observer. ... -
LOS Path Following for Underactuated Underwater Vehicle
(Journal article, 2006)In this paper, we propose a control scheme for path following of underactuated underwater vehicles. In particular, we propose a guidance law based on the the well-known principle of Line of Sight (LOS) guidance that is ... -
Mobile Software Development Kit for Real Time Multivariate Blood Glucose Prediction
(Journal article; Peer reviewed, 2024)In the field of blood glucose prediction, the literature is abounded with algorithms that demonstrate potential in glucose management. However, these propositions face an issue common to many machine learning algorithms: ... -
Model Predictive Control of Induced Draft Cooling Towers in a Large Scale Cooling Plant
(Peer reviewed; Journal article, 2022)We study the problem of designing a model predictive control strategy for multiple induced draft cooling towers. The common objective of the cooling towers is to regulate the outlet water temperature of the common collection ... -
Maximum Hands-Off Attitude Control of a Spacecraft Actuated by Thrusters
(Journal article; Peer reviewed, 2023)In this paper we investigate the use of maximum hands-of control for spacecraft attitude control of a spacecraft equipped with thrusters. Other than a more natural choice of actuators than in our previous paper, the ... -
Onboard Hyperspectral Classification Enables Georeferencing
(Journal article; Peer reviewed, 2023)The Norwegian University of Science and Technology (NTNU) has been building a system composed of multiple remote sensing agents for ocean observations. NTNU launched the first HYPerspectral Smallsat for Ocean observation ...