Institutt for teknisk kybernetikk
Recent Submissions
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Probabilistic model-based predictive control of wind-focused gas-renewable energy systems
(Doctoral theses at NTNU;2025:46, Doctoral thesis, 2025)As we head towards a future with increased energy consumption, a larger penetration of green energy is required in the world’s transition to net-zero emissions. In this transition, it is believed that gas turbines (GTs) ... -
Obstacle Intention Awareness in Automatic Ship Collision Avoidance: Full-Scale Experiments in Confined Waters
(Journal article; Peer reviewed, 2024)In this article, full-scale experiments with a dynamic obstacle intention-aware Collision Avoidance System (CAS) are presented. The CAS consists of the Probabilistic Scenario-Based Model Predictive Control (PSB-MPC) for ... -
Prioritizing and Ranking Ships in Multi-encounter Scenarios for Autonomous Navigation
(Chapter, 2024)This study presents a novel method for prioritizing vessels in multi-encounter scenarios, enhancing autonomous ship collision avoidance control. The method calculates a vessel's priority, i.e. ranking index, by considering ... -
Phased Array Radio Navigation: UAV Field Tests During GNSS Jamming
(Journal article; Peer reviewed, 2024)Phased array radio systems (PARS) on the ground can determine the direction and range to uncrewed aerial vehicles (UAV) that it communicates with. By communicating the position back to the UAV, it can be used for navigation ... -
A Prediction Error Adaptive Kalman filter for online spectral measurement correction and concentration estimation
(Journal article; Peer reviewed, 2024)Spectral measurements offer real-time insights into the composition and concentration of species in process samples. However, they are sensitive to external factors such as temperature, pressure, and particle size distribution, ... -
Automatic Recovery of Fixed-Wing Unmanned Aerial Vehicle Using Bluetooth Angle-of-Arrival Navigation
(Journal article; Peer reviewed, 2024)We demonstrate that the Bluetooth 5.1 Angle-of-Arrival feature can be used as a navigation system for automatic recovery of a fixed-wing unmanned aerial vehicle (UAV), guiding the UAV into an arrest system such as a suspended ... -
Deep Learning for In-Orbit Cloud Segmentation and Classification in Hyperspectral Satellite Data
(Chapter, 2024)This article explores the latest Convolutional Neural Networks (CNNs) for cloud detection aboard hyperspectral satel-lites. The performance of the 1D CNN (1D-Justo-LiuNet) and two 2D CNNs (nnU-net and 2D-Justo-UNet-Simple) ... -
Automatic docking with extended dynamic positioning
(Journal article; Peer reviewed, 2024)This article presents an automatic docking method suitable for fully actuated surface vessels for the purposes of assisting operators of maritime vessels when docking in time-varying environmental conditions. Docking of ... -
Grounding hazard considerations in evaluation of COLREGS collision avoidance algorithms
(Journal article; Peer reviewed, 2024)Automatic evaluation of collision avoidance behavior with regards to safety and compliance with the International Regulations for Preventing Collisions at Sea (COLREGS) is a useful tool for developing safe and reliable ... -
Adaptive manoeuvring control for planar snake robots in uncertain friction environments
(Chapter, 2024)The locomotion dynamics of a snake robot are greatly influenced by the way it interacts with its surroundings, particularly in terms of friction. Given the variable frictional characteristics of the environments in which ... -
Unveiling Urban Mobility Patterns: A Data-Driven Analysis of Public Transit
(Journal article, 2024)The expansion of urban centers necessitates enhanced efficiency and sustainability in their transportation infrastructure and mobility systems. The big data obtainable from various transportation modes potentially offers ... -
Assessment of activity and heart rate as indicators for acute stress in Atlantic salmon
(Peer reviewed; Journal article, 2024)The aim of this study was to assess whether activity and heart rate sensor implants can be used to measure stress and thus estimate one important welfare indicator for fish in aquaculture pens, and if such measurements ... -
StereoYolo+DeepSORT: A Framework to Track Fish from Underwater Stereo Camera in Situ
(Journal article; Peer reviewed, 2024)This paper presents a 3D multiple object detection and tracking framework for identifying and quantifying changes in fish behaviour through tracking the 3D position, distance and speed of fish with respect to an underwater ... -
Stability analysis of linear single-track models with transient tyre dynamics
(Journal article; Peer reviewed, 2024)The present paper investigates the behaviour of linear single-track vehicle models considering transient tyre dynamics. In particular, the tyre models covered in this paper include lumped-parameter approximations, like the ... -
Exploratory Data Analysis and Compressed Modelling of Spatiotemporal Thermal Data from a Remote Operable Encapsulated Thermal Laboratory
(Master thesis, 2024)Målet med dette prosjektet er å konstruere et fjernstyrt, innkapslet termisk laboratorium (ETL) for å bruke datadrevne metoder (DDM) til å utforske og studere den termiske dynamikken på en modifisert aluminiumsplate fra ... -
Low level control design and implementation for teledrive-control of the NAPLab autonomous car prototype
(Master thesis, 2024)Masterprosjektet omhandler NTNU Autonomous Perception Laboratory (NAPLab) sin prototype forskningsbil. Bilen er en elektrisk Kia Niro EV 2020 modell. Prosjektet omhandler å optimalisere den lav-nivå laterale kontrollen for ... -
Collision Avoidance Strategies for Autonomous Vehicles with Safety Guarantees
(Doctoral theses at NTNU;2024:454, Doctoral thesis, 2024) -
Automated computer vision based individual salmon (Salmo salar) breathing rate estimation (SaBRE) for improved state observability
(Peer reviewed; Journal article, 2024)Salmon farming plays an important role in the Norwegian food industry, supplying a large portion of the world's salmon. Despite its economic importance, salmon farming faces unique biological challenges impacting the health ... -
Active Pose - Autonomous Hole-Filling Techniques for 3D Surface Reconstruction in Underwater Exploration
(Journal article; Peer reviewed, 2024)Underwater exploration and related research face significant challenges, including incomplete data collections and the high cost of operations. An underwater robot's capacity to independently identify, target, and address ... -
Modeling, Simulation and Control of Multirotor Systems
(Doctoral theses at NTNU;2025:32, Doctoral thesis, 2025)Multirotor systems have seen increasing utilization in recent years in both lift applications, such as multirotor drones for consumers, industry, military, transportation etc., and for power production purposes in the ...