Institutt for teknisk kybernetikk
Recent Submissions
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A 3D reactive collision avoidance algorithm for underactuated underwater vehicles
(Peer reviewed; Journal article, 2020)Avoiding collisions is an essential goal of the control system of autonomous vehicles. This paper presents a reactive algorithm for avoiding obstacles in a three‐dimensional space, and shows how the algorithm can be applied ... -
Collision Avoidance using Mixed H2/H∞ Control for an Articulated Intervention-AUV
(Chapter, 2020)In this paper we consider the problem of mixed H 2 /H ∞ control to combine optimal and robust control for a double integrator system with nonlinear performance variables, and we apply this to control an articulated ... -
Effect of non-ideal power take-off on the electric output power of a wave energy converter under suboptimal control
(Chapter, 2021)This work investigates how the physical limitations and losses of an electric power takeoff (PTO) system affect the production of power for a wave energy converter (WEC) under suboptimal control strategies. The damping of ... -
Towards a minimal EEG channel array for a biometric system using resting-state and a genetic algorithm for channel selection
(Peer reviewed; Journal article, 2020)We present a new approach for a biometric system based on electroencephalographic (EEG) signals of resting-state, that can identify a subject and reject intruders with a minimal subset of EEG channels. To select features, ... -
Intraperitoneal and subcutaneous glucagon delivery in anaesthetized pigs: effects on circulating glucagon and glucose levels
(Journal article; Peer reviewed, 2020)Glucagon is a pancreatic hormone and increases the blood glucose levels. It may be incorporated in a dual hormone artificial pancreas, a device to automatically and continuously control blood glucose levels of individuals ... -
A Fully Tunable Low-power Low-noise and High Swing EMG Amplifier with 8.26 PEF
(Chapter, 2020)In this paper, a low-noise low-power bio-potential amplifier for electromyogram (EMG) signals have designed and simulated in a commercially available 0.18 μm CMOS technology. In the first stage, a tunable band low-noise ... -
Influence of Weight-on-Bit on Percussive Drilling Performance
(Peer reviewed; Journal article, 2020)A phenomenological model for percussive drilling systems is proposed in this paper to explain the experimentally demonstrated existence of an optimal weight-on-bit (WOB), for which the rate of penetration (ROP) is maximized. ... -
A Power-Efficient Low-noise and High Swing CMOS Amplifier for Neural Recording Applications
(Chapter, 2020)In this paper, a power efficient, low-noise and high swing capacitively-coupled amplifier (CCA) for neural recording applications is proposed. The use of current splitting technique and current scaling technique in a current ... -
Towards Magnetic Field Energy Harvesting near Electrified Railway Tracks
(Chapter, 2020)This paper evaluates the feasibility of magnetic field energy harvesting (MFEH) near electrified railway tracks, for the purpose of increasing the lifetime of distributed condition monitoring systems. Since MFEH is a novel ... -
Constructing transverse coordinates for orbital stabilization of periodic trajectories
(Peer reviewed; Journal article, 2020)An approach for introduction of transverse coordinates in a vicinity of a periodic trajectory is presented. The approach allows finding by numerical integration periodic normalized mutually-orthogonal vector-functions that ... -
A Low-power and Low-noise Multi-purpose Chopper Amplifier with High CMRR and PSRR
(Chapter, 2020)In this article, by choosing and optimizing suitable structure in each stage, we have designed a multi-purpose low noise chopper amplifier. The proposed neural chopper amplifier with high CMRR and PSRR is suitable for EEG, ... -
Heart rate and swimming activity as stress indicators for Atlantic salmon (Salmo salar)
(Peer reviewed; Journal article, 2020)We investigated the relationship between telemetry measurements of heart rate and swimming activity and the physiological status in farmed Atlantic salmon (Salmo salar) to assess the potential to use telemetry measurements ... -
A Hybrid Approach to Motion Prediction for Ship Docking— Integration of a Neural Network Model into the Ship Dynamic Model
(Peer reviewed; Journal article, 2020)While automatic controllers are frequently used during transit operations and low-speed maneuvering of ships, ship operators typically perform docking maneuvers. This task is more or less challenging depending on factors ... -
Utilization of risk priority number to systems-theoretic process analysis: A practical solution to manage a large number of unsafe control actions and loss scenarios
(Peer reviewed; Journal article, 2020)System-theoretic process analysis is a hazard identification method whose main assumption is that accidents can be caused by unsafe interactions of system components, as well as component failures. System-theoretic process ... -
Optimal Maintenance Scheduling for Washing of Compressors to Increase Operational Efficiency
(Peer reviewed; Journal article, 2019)The need for simultaneously decreasing carbon emissions and increasing operational profit motivates gas turbine and gas compressor operators to understand, minimize and control performance deterioration. Fouling is one of ... -
Tracking control of an articulated intervention autonomous underwater vehicle in 6DOF using generalized super-twisting: Theory and experiments
(Peer reviewed; Journal article, 2020)The articulated intervention autonomous underwater vehicle (AIAUV) is an underwater swimming manipulator with intervention capabilities. Station-keeping and trajectory tracking are essential for the AIAUV to be able to ... -
Combined Kinematic and Dynamic Control of Vehicle-Manipulator Systems
(Peer reviewed; Journal article, 2020)A vehicle-manipulator system (VMS) is a class of mobile robots characterised by their ability to carry or be a robotic arm and therefore also manipulate objects. The VMS class includes vehicles with a robotic manipulator, ... -
Feed intake in Atlantic salmon fed with or without surface spreading of feed
(Journal article, 2020)In intensive salmon farming, it is common practice to spread the feed over a large surface area, assuming that spreading of the feed increases feed intake in the fish. However, the impact on the feed pellets during spreading ... -
The generalized super-twisting algorithm with adaptive gains
(Chapter, 2020)In this paper a novel adaptive generalized super-twisting algorithm is proposed for a class of systems whose perturbations and uncertain control coefficients are time- and state-dependent. The proposed approach uses ... -
Adaptive Observer Design for an n+1 Hyperbolic PDE with Uncertainty and Sensing on Opposite Ends
(Chapter, 2020)An adaptive observer design for a system of n+1 coupled 1-D linear hyperbolic partial differential equations with an uncertain boundary condition is presented, extending previous results by removing the need for sensing ...
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