Institutt for teknisk kybernetikk
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Development of Inverse Kinematics for a Redundant Mobile Service Robot in Nursing Homes
(Master thesis, 2024)Innføring av serviceroboter i eldreomsorgen er et tiltak som kan bidra til at helsevesenet kan håndtere den kommende "eldrebølgen" bedre. Lio er et eksempel på en slik servicerobot, designet for å lette arbeidsbyrden for ... -
Development of Small-Scale Hyperspectral Imaging for Ocean Science on small satellites and robotic agents
(Doctoral theses at NTNU;2024:279, Doctoral thesis, 2024)The world’s oceans are dynamic systems with complex geophysical, chemical, and biological interactions ranging in scale from microscopic phytoplankton to oceanic gyres. Not a single instrument can be tuned to observe all ... -
L1 Adaptive Control of UUVs
(Master thesis, 2024)Havet dekker omtrent 70 prosent av jordens overflate, men kun 5 prosent er utforsket på grunn av det harde og utilgjengelige undervannsmiljøet. Ubemannede undervannsfarkoster (UUV-er) har blitt stadig mer brukt for å ... -
New version of Hyper-Fractal Analysis application for estimating the fuzzy fractal dimension of hyperspectral satellite ocean color images
(Peer reviewed; Journal article, 2024) -
Exploration of Deep Learning for Cloud Segmentation in Multispectral and Hyperspectral Satellite Imagery
(Journal article; Peer reviewed, 2023)Because clouds often block much or all of the light reflected off the surface and obscure the features remote sensing seeks to reveal, typically covering 2/3 of the surface at any given time, they are one of the most ... -
From Listings to Valuations: Integrating LLM-Based Feature Extraction into Automated Valuation Models
(Master thesis, 2024)Bruken av automatiserte verdsettingsmodeller for prisestimering er et viktig verktøy i eiendomsbransjen, men nøyaktige estimeringer har vist seg å være en utfordrende oppgave. Tradisjonelt har verdsettingsmodeller benyttet ... -
ANN-Based Surrogate PI and MPC Controllers for Grid-Connected VSC System: Small-Signal Analysis and Comparative Evaluation
(Peer reviewed; Journal article, 2023)The vector proportional-integral (PI)-controller is a widely-used control method for grid-connected voltage source converter (VSC); however, it has limitations that can negatively impact dynamic performance in a power ... -
Input-to-State Stable Integral Line-of-Sight Guidance for Curved Paths With Anti-Windup Guarantees
(Peer reviewed; Journal article, 2024)This letter considers integral line-of-sight (LOS) guidance for curved path following for underactuated marine vehicles. The proposed guidance scheme renders the resulting closed-loop system input-to-state stable (ISS) ... -
UAM Icing: Ice Accretion Experiments and CFD Icing Simulations on Rotors for eVTOL Unmanned Aircraft
(Peer reviewed; Journal article, 2023) -
Ensuring Soft Switching During Transient Operations of Wireless Power Transfer Systems with Frequency Control
(Chapter, 2022)The high switching frequency of wireless power transfer systems makes soft switching important due to switching losses. In the current literature, numerous solutions have been proposed for maintaining soft switching within ... -
Frequency-Adaptive Energy Control for Grid-Forming MMCs Under Unbalanced Conditions
(Peer reviewed; Journal article, 2023)This paper presents a frequency-adaptive energy control strategy for a Modular Multilevel Converter (MMC) which is suitable for grid-forming operation under unbalanced conditions. The average components of the energy sum ... -
UAV Icing: Experimental validation data for predicting ice shapes at low Reynolds numbers
(Peer reviewed; Journal article, 2023) -
Input-to-State Stable Integral Line-of-Sight Guidance for Curved Paths with Anti-Windup Guarantees
(Peer reviewed; Journal article, 2024)This letter considers integral line-of-sight (LOS) guidance for curved path following for underactuated marine vehicles. The proposed guidance scheme renders the resulting closed-loop system input-to-state stable (ISS) ... -
A Hysteresis ON-OFF Control Method of Inductive Power Transfer Systems with Low Output Ripples and Fast Transient Responses
(Chapter, 2022)This paper proposes a hysteresis ON-OFF control method for inductive power transfer (IPT) systems with low output ripples and fast transient responses. System power is regulated by skipping pulses, thus achieving zero ... -
Negative Sequence Control for Virtual Synchronous Machines Under Unbalanced Conditions
(Peer reviewed; Journal article, 2022)In this paper, five strategies for controlling the negative sequence currents of a Virtual Synchronous Machine (VSM) under unbalanced conditions are comparatively assessed, considering both grid-connected and islanded ... -
Continuous Control Set Model Predictive Control for Inductive Power Transfer System with Constant Voltage Load
(Chapter, 2023)This paper presents a continuous control set model predictive control (CCS-MPC) method for reducing oscillations in an inductive power transfer (IPT) charging system with constant voltage load (CVL). The proposed power ... -
Conditional Pulse Density Modulation for Inductive Power Transfer Systems
(Peer reviewed; Journal article, 2023)This letter proposes a conditional pulse density modulation (PDM) method for Inductive Power Transfer (IPT) systems, which can automatically adapt the generated output patterns to effectively suppress current/power ripples. ... -
Design of Automatic Factory Acceptance Test with Simulated Network Failure for TTK4145
(Master thesis, 2024)Etterhvert som kompleksiteten til programvare øker, øker også behovet for automatisert testing. Denne rapporten har som mål å designe et program for å kjøre en Factory Acceptance Test automatisk, for emnet TTK4145, samt å ... -
Innledende utvikling av kameramodul for satellitten HYPSO-3
(Bachelor thesis, 2024)Hyperspektral avbildning på småsatellitter krever et kamera med høy bilderate for god romlig oppløsning. Denne rapporten presenterer bildesensoren XRB-1350 fra SIONYX som et alternativ for bruk i det hyperspektrale kameraet ... -
Collision-Avoiding Model Predictive Rendezvous Strategy to Tumbling Launcher Stages
(Journal article, 2023)