Institutt for teknisk kybernetikk
Recent Submissions
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Calibrating range measurements of lidars using fixed landmarks in unknown positions
(Journal article; Peer reviewed, 2020)We consider the problem of calibrating range measurements of a Light Detection and Ranging (lidar) sensor that is dealing with the sensor nonlinearity and heteroskedastic, range-dependent, measurement error. We solved the ... -
Heterogeneous multi-sensor tracking for an autonomous surface vehicle in a littoral environment
(Peer reviewed; Journal article, 2022)Sensor fusion plays a key part in autonomous surface vehicles, however, the high cost of sensors makes the barrier of entry in this research field quite high. In this work, we present a complete system for sensor fusion ... -
Physics-Informed Neural Networks for Modeling and Control of Gas-Lifted Oil Wells
(Master thesis, 2022)Physics-Informed Neural Networks (PINNs) er en metode for å trene et nevral nettverk til å gjenskape oppførselen til et dynamisk system uten å ha tilgang til simulerte eller målte data, kun ved å bruke den kjente underliggende ... -
Orbital Stabilization of Nonlinear Underactuated Systems
(Doctoral theses at NTNU;2022:353, Doctoral thesis, 2022)Orbital stabilization is a particular form of set stabilization, where the control objective is to induce, via time-invariant state-feedback, an asymptotically stable orbit in the resulting closed-loop system. Here an orbit ... -
Physics-Informed Neural Networks for Dynamic Modeling of Pipeline-Riser Systems
(Master thesis, 2022)Vi introduserer fysikkinformerte nevrale nettverk på en Pipeline-Riser-modell. Fysikkinformerte nevrale nettverk er nevrale nettverk som er trent til å løse overvåket læringsoppgave mens de følger et fysisk prinsipp uttrykt ... -
Modeling for Hybrid Obstacle-Aided Locomotion (HOAL) of Snake Robots
(Peer reviewed; Journal article, 2022)Snake robots able to operate in cluttered environments will be fit for a multitude of applications pertinent for society such as search-and-rescue operations, fire fighting and traversing otherwise unavailable tight spaces. ... -
Low-complexity Risk-averse MPC for EMS
(Chapter, 2021)A data-driven stochastic MPC strategy is presented as an EMS for the Skagerak Energilab microgrid. Uncertainties, introduced due to the intermittent nature of RES and load demands, are systematically incorporated into the ... -
Adaptive Sampling of Dynamic Fields using Autonomous Underwater Vehicles
(Doctoral theses at NTNU;2022:368, Doctoral thesis, 2022) -
Sensor integration and timing in sensor fusion systems
(Master thesis, 2022)Denne masteroppgaven beskriver utviklingen av algoritmer som blir brukt til å utføre tidssynkronisering i sensorfusjonssystemer. Disse algoritmene kan bli brukt i sanntid og økningen i tidssynkronisering kan føre til en ... -
Global Asymptotic Tracking for Marine Vehicles using Adaptive Hybrid Feedback
(Peer reviewed; Journal article, 2023)This paper presents an adaptive hybrid feedback control law for global asymptotic tracking of a hybrid reference system for marine vehicles in the presence of parametric modeling errors. The reference system is constructed ... -
Frame invariant neural network closures for Kraichnan turbulence
(Peer reviewed; Journal article, 2022)Numerical simulations of geophysical and atmospheric flows have to rely on parameterizations of subgrid scale processes due to their limited spatial resolution. Despite substantial progress in developing parameterization ... -
Irregularity Detection in Net Pens Exploiting Computer Vision
(Peer reviewed; Journal article, 2022)Protecting the remaining wild salmon stock in Norway is of utmost importance and requires that farmed salmon cannot escape from aquaculture sites. As holes in net-cages are responsible for a large fraction of the escaped ... -
The Digital Wheelchair Project: Motion Tracking, Mathematical Modeling and Identification.
(Master thesis, 2022)Mange rullestolbrukere lever en fysisk inaktiv livsstil på grunn av begrensede bevegelsesmuligheter og generelle funksjonshemminger. Denne mangelen på fysisk aktivitet kan ha alvorlige implikasjoner på både deres fysiske ... -
Side-Scan Sonar Imaging and Error-State Kalman Filter Aiding Unmanned Underwater Vehicle (UUV) to Autonomy
(Master thesis, 2022)Havet er en essensiell brikke i jordens komplekse puslespill, bemerkelsesverdig uoppdaget og fullt av muligheter. Hånd i hånd med teknologisk utvikling er robotikk-feltet i ferd med å bokstavelig talt ta seg vann over ... -
Automatic dynamic tuning of Bluetooth mesh networks for optimal performance
(Master thesis, 2022)Denne rapporten introduserer de grunnleggende konseptene for Bluetooth mesh nettverksteknologien og diskuterer dens målte ytelse når det gjelder latens og pålitelighet gjennom publiserte artikler og, gjennom uavhengig ... -
Path Planning for Multi-Rotor Unmanned Aerial Vehicles (UAVs) Operating in Known Confined Space
(Master thesis, 2022)Denne masteroppgaven anser et bruksområde hvor en multi-rotor inspeksjons dronen autonomt skal inspisere et sett med punkter inne i en ballast tank på et skip. For å oppnå dette, så er et av de første stegene å implementere ... -
Residual learning based CNN for breast cancer histopathological image classification
(Peer reviewed; Journal article, 2020)Biopsy is one of the most commonly used modality to identify breast cancer in women, where tissue is removed and studied by the pathologist under the microscope to look for abnormalities in tissue. This technique can be ... -
Obstructive sleep apnea detection using discrete wavelet transform-based statistical features
(Peer reviewed; Journal article, 2021)Motivation and objective Obstructive sleep apnea (OSA) is a sleep disorder identified in nearly 10% of middle-aged people, which deteriorates the normal functioning of human organs, notably that of the heart. Furthermore, ... -
Improving design of robot for extracting dead fish roe
(Master thesis, 2022)Å kultivere fiskerogn er en essensiell del av å ale opp fisk til mat. I denne fasen er rognen sårbar for å bli angrepet av ferskvannssopp som vil etablere seg på dødt biologisk materiale for så å spre seg til frisk rogn. ... -
Navigation and Automatic Recovery of Fixed-wing Unmanned Aerial Vehicles
(Doctoral theses at NTNU;2022:339, Doctoral thesis, 2022)Today, unmanned aerial vehicles (UAVs) are seeing widespread use as a tool used by the industry, researchers, hobbyists and others around the world. Fixed-wing UAVs, although not in as widespread use a multirotor UAVs, ...
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