Institutt for teknisk kybernetikk
Recent Submissions
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Hyperspectral Remote Sensing Instrument design, field campaigns and data analysis
(Doctoral theses at NTNU;2021:225, Doctoral thesis, 2021)Hyperspectral remote sensing is still a young field of research, but with a lot of interest, justified by its promising ability to detect and quantify targets. Recent developments in camera technology and single-board ... -
Low Altitude Georeferencing for Imaging Sensors in Maritime Tracking
(Peer reviewed; Journal article, 2020)This paper presents a method for georeferencing low-altitude camera sensors, both infrared and electro-optical, in a maritime context. Accurate georeferencing require very high precision for the object pixel coordinates ... -
A Co-operative Hybrid Model For Ship Motion Prediction
(Peer reviewed; Journal article, 2021)Dynamic models of ships have been widely used for model-based control and short-term prediction in the past. Identifying the parameters of such models has mainly been done through scaled model tests, full scale tests or ... -
Uniformly semiglobally exponential stability of vector field guidance law and autopilot for path-following
(Journal article, 2019)A uniform semiglobal exponential stability (USGES) proof for a time-varying vector field guidance law used for path-following control of vehicles is presented. A sliding mode control is introduced for heading autopilot ... -
An evolve-then-correct reduced order model for hidden fluid dynamics
(Journal article; Peer reviewed, 2020)n this paper, we put forth an evolve-then-correct reduced order modeling approach that combines intrusive and nonintrusive models to take hidden physical processes into account. Specifically, we split the underlying dynamics ... -
Switching sequences for non-predictive declutching control of wave energy converters
(Peer reviewed; Journal article, 2021)Aiming at improving the energy absorption from waves, a number of studies have considered declutching control - a phase-control method that consists of disengaging the power take-off (PTO) system from the oscillating body ... -
Geometric Reduced-Attitude Control of Fixed-Wing UAVs
(Peer reviewed; Journal article, 2021)This paper presents nonlinear, singularity-free autopilot designs for multivariable reduced-attitude control of fixed-wing aircraft. To control roll and pitch angles, we employ vector coordinates constrained to the unit ... -
A Timescale Analysis of Percussive Drilling
(Doctoral thesis, 2021)Percussive drilling (PD) tools are widely recognized to be more efficient for drilling hard rock formations than conventional rotary drilling equipment. Thus, PD tools have been used to drill blast holes in mining and ... -
Hysteretic Control Lyapunov Functions with Application to Global Asymptotic Tracking for Underwater Vehicles
(Chapter, 2021)This paper introduces hysteretic control Lyapunov functions (HCLFs) for hybrid feedback control of a class of continuous-time systems. A family of HCLFs consists of local control Lyapunov functions defined on open domains, ... -
Estimation in uncertain switched systems using a bank of interval observers: local vs glocal approach
(Peer reviewed; Journal article, 2021)This paper discusses some issues related with the design of a bank of interval observers for uncertain switched systems, in which several sources of uncertainty are considered: parametric uncertainties, unknown disturbances, ... -
Statistical modeling of Ship’s hydrodynamic performance indicator
(Peer reviewed; Journal article, 2021)The traditional method used to estimate the hydrodynamic performance of a ship uses either the model test results or one of the many empirical methods to estimate and observe the trend in fouling friction coefficient () ... -
Design Implications for Robotized Testing and Inspection of Fire and Gas Detectors
(Master thesis, 2020)Abstract The oil and gas industry has experienced a substantial increase in automated machinery and utilisation of process safety systems in the later years. The next frontier is the utilization of unmanned facilities, a ... -
Taming an autonomous surface vehicle for path following and collision avoidance using deep reinforcement learning
(Peer reviewed; Journal article, 2020)In this article, we explore the feasibility of applying proximal policy optimization, a state-of-the-art deep reinforcement learning algorithm for continuous control tasks, on the dual-objective problem of controlling an ... -
Kayak Tracking using a Direct Lidar Model
(Chapter, 2021)This paper proposes a direct approach for extended object tracking (EOT) using light detection and ranging (lidar) measurements. The method does not use any clustering operations, but processes the individual laser beams ... -
Geometric Change Detection in Digital Twins using 3D Machine Learning
(Peer reviewed; Journal article, 2021)Digital twins are meant to bridge the gap between real-world physical systems and virtual representations. Both stand-alone and descriptive digital twins incorporate 3D geometric models, which are the physical representations ... -
Intraperitoneal insulin administration in pigs: Effect on circulating insulin and glucose levels
(Peer reviewed; Journal article, 2021)Introduction The effect of intraperitoneal insulin infusion has limited evidence in the literature. Therefore, the aim of the study was to investigate the pharmacokinetics and pharmacodynamics of different intraperitoneal ... -
Shore Charging for Plug-In Battery-Powered Ships: Power System Architecture, infrastructure, and Control
(Peer reviewed; Journal article, 2020)This article reviews the available systems for shore-to-ship high-power charging, including recent technologies, control methods, and related challenges. The battery charging path from shore to the onboard battery involves ... -
Current flow processes at fullscale Atlantic salmon farm sites
(Doctoral theses at NTNU;2021:133, Doctoral thesis, 2021)The aquaculture industry has grown exponentially the last 30 years. In Norway the Atlantic salmon is the dominant species and the rapid growth of the industry has led to both challenges and controversy. The issues faced ... -
Modeling movement-induced errors in AC electromagnetic trackers
(Peer reviewed; Journal article, 2020)Error analysis of electromagnetic motion tracking systems is of growing interest to many researchers. Under sensor movement, it is logical to presume that the error in position and orientation measurements will increase. ... -
A comparison of hazard analysis methods capability for safety requirements generation
(Peer reviewed; Journal article, 2021)A safety-critical system comprising several interacting and software-intensive systems must be carefully analyzed to detect whether new functional requirements are needed to ensure safety. This involves an analysis of the ...
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