Blar i NTNU Open på forfatter "Dukan, Fredrik"

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    • Integration Filter for APS, DVL, IMU and Pressure Gauge for Underwater Vehicles 

      Dukan, Fredrik; Sørensen, Asgeir Johan (Journal article, 2013)
      High-accuracy underwater navigation is important in order to automate motion control of remotely operated vehicles (ROVs). An observer that estimates the vehicle states (position, velocity, attitude and turn rates) is ...

    • Particle Filter for Fault Diagnosis and Ropbust Navigation of Underwater Robot 

      Zhao, Bo; Skjetne, Roger; Blanke, Mogens; Dukan, Fredrik (Journal article; Peer reviewed, 2014)
      A particle filter (PF)-based robust navigation with fault diagnosis (FD) is designed for an underwater robot, where 10 failure modes of sensors and thrusters are considered. The nominal underwater robot and its anomaly are ...

    • ROV Motion Control Systems 

      Dukan, Fredrik (Doktoravhandlinger ved NTNU, 1503-8181; 2014:295, Doctoral thesis, 2014)
      This thesis is about automatic motion control systems for remotely operated vehicles (ROV). The work has focused on topics within guidance and navigation. In addition, a motion control system has been developed, implemented, ...

    • Sea floor geometry approximation and altitude Control of ROVs 

      Dukan, Fredrik; Sørensen, Asgeir Johan (Journal article; Peer reviewed, 2014)
      This paper presents a method for sea floor geometry approximation in a local region beneath a remotely operated vehicle (ROV) for use in altitude control. The method is based on Doppler velocity log (DVL) altitude measurements ...