Institutt for teknisk kybernetikk
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Additive manufacturing of thin-walled structures by robot manipulator : An experimental approach focusing on arc welding
(Doctoral theses at NTNU;2022:208, Doctoral thesis, 2022)Additive manufacturing (AM) has, over recent decades, become a quickly evolving and ever more present part of production and manufacturing. It has gone from being a simple prototyping method to building more complex ... -
On Nonlinear and Optimization-based Control of Fixed-Wing Unmanned Aerial Vehicles
(Doctoral theses at NTNU;2022:197, Doctoral thesis, 2022)Methods from linear control theory have a considerable share in the state-of-the-art toolbox for control systems engineers when designing autopilots for conventional passenger aircraft. Linear controllers have well-established ... -
Data augmentation using GANs in EEG-based biometric systems
(Master thesis, 2022)Hjernebølger, målt med electroencephalography(EEG) har mange applikasjoner. Historisk sett har EEG hovedsaklig blitt brukt i medisin, men ved bruk av state of the art teknologi, kan EEG brukes i biometriske systemer, noe ... -
Obstacle detection and avoidance system for USV FishOtter
(Master thesis, 2022)Denne avhandlingen har som målsetning å utvikle og implementere en algoritme for kollisjonsunngåelse for et lite ubemannet marint fartøy (USV). Fartøyet brukes i et prosjekt ved Norges Teknisk-Naturvitenskapelige Universitet ... -
Asset Administration Shell for Life Cycle Management of Safety Systems
(Master thesis, 2022)Denne oppgaven utforsker Asset Administration Shell (AAS) og foreslår fem modeller for å representerer informasjon relatert til instrumenterete sikkerhetssystem (SIS) i Asset Administration Shell. Asset Administration Shell ... -
Analysis of ship collision risk encounters and COLREG behaviours using machine learning and AIS data
(Master thesis, 2022)Autonom styring innen transportsektoren regnes for å være neste store sektor for trygg og effektiv drift av fartøy. Denne oppgaven er en analyse av AIS (Automatic Identification System) data for skipstrafikken utenfor ... -
On a hybrid approach to model learning applied to virtual flow metering
(Doctoral theses at NTNU;2022:165, Doctoral thesis, 2022)Process modeling using first-principle equations has existed for centuries as a methodology to represent and analyze real-world processes. In time with increasing computing power and sensor data availability, data-driven ... -
An Eigen-based C++ Linesearch Filter Barrier Interior-Point Algorithm
(Master thesis, 2022)Denne masteroppgaven handler om implementasjon av en interior-point optimaliseringsalgoritme basert på den originale implementasjonen av Interior Point OPTimizer. Hensikten med implementasjone er å untnytte ressurser, ... -
Closed-Loop-RRT* path planning for a vehicle-trailer system
(Master thesis, 2022)I de siste 10 årene har det blitt gjort betydelige fremskritt innenfor utvikling av autonome kjøretøy. Dette er motivert av autonome kjøretøys potensiale til å både være ressursbesparende og skape tryggere kjøretøy. Denne ... -
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. ...
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