Institutt for teknisk kybernetikk
Recent Submissions
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Performance evaluation of different Kalman filters for state estimation of lithium-ion batteries
(Master thesis, 2022)Litium-ion-batterier representerer en enorm industri og har vist seg å være en sentral teknologi for å redusere klimagasser. Ettersom elektrifiseringen av transportsektoren fortsetter å øke, vil de potensielle gevinstene ... -
Spot, a mobile four-legged visual asset tracking robot
(Master thesis, 2022)Motivasjonen bak dette arbeidet er å foreslå et nytt visuelt sporingssystem av ressurser med målet om å lokalisere, identifisere og telle antallet konteinere i et utendørs industrielt miljø. Dette oppnås ved å bruke den ... -
Obstacle Detection and Avoidance in a 3D Environment
(Master thesis, 2022)Målet med denne masteroppgaven var å utvikle en metode for deteksjon og kollisjonsunngåelse av hindringer som f.eks. lave åpninger, hull eller små gjenstander på gulvet. En robot basert på nRF52840 DK ble nylig ferdigstilt, ... -
Comparing Combinations of Linear and Nonlinear Feedback Terms for Ship Motion Control
(Peer reviewed; Journal article, 2020)In this article, combinations of linear and nonlinear feedback terms are investigated for 3 degrees-of-freedom pose and velocity control of ships. Nonlinear control algorithms that are found in the literature often have ... -
Unmanned Aerial System for deployment and recovery of research equipment at sea
(Chapter, 2021)In this paper we present details of Miniature Underwater Gliders (MUG) deployment and recovery mechanism using a multirotor Unmanned Aerial Vehicle (UAV). The paper discusses details of MUG localization with computer vision, ... -
Upgrading the Smartness of Retrofitting Packages Towards Energy-Efficient Residential Buildings in Cold Climate Countries: Two Case Studies
(Peer reviewed; Journal article, 2020)Improving the energy efficiency of existing buildings by implementing building automation control strategies (BACS) besides building envelope and energy system retrofitting has been recommended by the Energy Performance ... -
Real-time optimization of wind farms using modifier adaptation and machine learning
(Peer reviewed; Journal article, 2020)Coordinated wind farm control takes the interaction between turbines into account and improves the performance of the overall wind farm. Accurate surrogate models are the key to model-based wind farm control. In this article ... -
Analysis of Harmonic Resonance for Locomotive and Traction Network Interacted System Considering the Frequency-Domain Passivity Properties of the Digitally Controlled Converter
(Peer reviewed; Journal article, 2020)Harmonic resonance is a kind of oscillatory instability phenomenon occurring in the electric railway. To investigate this problem, the frequency-domain model of the single-phase voltage source converter for locomotives is ... -
Hijacking of unmanned surface vehicles: A demonstration of attacks and countermeasures in the field
(Peer reviewed; Journal article, 2022)Driven by advances in information and communication technologies, an increasing number of industries embrace unmanned and autonomous vehicles for services, such as public transportation, shipping, mapping, and remote ... -
Factorized Kalman filter implementation for aided inertial navigation systems
(Master thesis, 2022)For å undersøke om NTNU UAVlabs navigasjonssystemsprogramvare for simulering av treghetsnavigasjon kunne forbedres i tilfeller der målevektoren er stor, så utførte vi et eksperiment der vi sammenlignet tre variasjoner av ... -
PSO and Kalman Filter-Based Node Motion Prediction for Data Collection from Ocean Wireless Sensors Network with UAV
(Peer reviewed; Journal article, 2021)In this paper, we consider a wireless sensor network of nodes at the sea surface drifting due to wind and sea currents. In our scenario an Unmanned Aerial Vehicle (UAV) will be used to gather data from the sensor nodes. ... -
Magnetic Field Energy Harvesting in Railway
(Peer reviewed; Journal article, 2022)Magnetic field energy harvesting (MFEH) is a method by which a system can harness an ambient, alternating magnetic field in order to scavenge energy. Presented in this article is a novel application of the concept aimed ... -
Applying Object Detection to Marine Data and Exploring Explainability of a Fully Convolutional Neural Network Using Principal Component Analysis
(Peer reviewed; Journal article, 2021)With the rise of focus on man made changes to our planet and wildlife therein, more and more emphasis is put on sustainable and responsible gathering of resources. In an effort to preserve maritime wildlife the Norwegian ... -
Model fusion with physics-guided machine learning: Projection-based reduced-order modeling
(Journal article; Peer reviewed, 2021)The unprecedented amount of data generated from experiments, field observations, and large-scale numerical simulations at a wide range of spatiotemporal scales has enabled the rapid advancement of data-driven and especially ... -
The VAROS Synthetic Underwater Data Set: Towards realistic multi-sensor underwater data with ground truth
(Peer reviewed; Journal article, 2021)Underwater visual perception requires being able to deal with bad and rapidly varying illumination and with reduced visibility due to water turbidity. The verification of such algorithms is crucial for safe and efficient ... -
Analysis of PI-Control for Atomic Force Microscopy in Contact Mode
(Peer reviewed; Journal article, 2021)This article investigates the properties, from a nonlinear control system standpoint, of atomic force microscope (AFM) systems, whenever operated in contact mode and controlled in the vertical direction by proportional-integral ... -
Hybrid analysis and modeling for next generation of digital twins
(Peer reviewed; Journal article, 2021)The physics-based modeling has been the workhorse for many decades in many scientific and engineering applications ranging from wind power, weather forecasting, and aircraft design. Recently, data-driven models are ... -
Implementation of mesh communication between a server and small autonomous mobile robots
(Master thesis, 2021)Denne oppgaven har fortsatt arbeidet utført av Halvorsen 2021 på en robot basert på Arduino Mega som omhandlet å kartlegge et ukjent område. Oppgaven har også fortsatt arbeidet gjort av Blom 2020 og Grønvold 2021 som ... -
Serial and Thread/CoAP message implementation for the Slam Robot
(Master thesis, 2021)Spørsmålet som startet og veiledet arbeidet på denne master oppgaven er det samme spørsmålet som skal konkludere oppgaven. Vil en thread/CoAP implementasjon være fordelaktig for dette prosjektet? Igjennom arbeidet på ... -
A Virtual Synchronous Machine-based Control for Eliminating DC-side Power Oscillations of Three-Phase VSCs under Unbalanced Grid Voltages
(Chapter, 2021)This paper presents a Virtual Synchronous Machine (VSM)-based control method for avoiding dc-side power oscillations in grid connected voltage source converters (VSCs) when operating under under unbalanced conditions. The ...
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