Institutt for teknisk kybernetikk
Recent Submissions
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Toward adaptive robotic sampling of phytoplankton in the coastal ocean
(Journal article; Peer reviewed, 2019)Currents, wind, bathymetry, and freshwater runoff are some of the factors that make coastal waters heterogeneous, patchy, and scientifically interesting—where it is challenging to resolve the spatiotemporal variation within ... -
Blood glucose dynamics: Identification, smoothing and real time estimation in free-living settings
(Doctoral theses at NTNU;2019:132, Doctoral thesis, 2019)Diabetes currently affects about 9% of the world’s population, and causes loss or impairment of the body’s ability to control blood glucose (BG). Frequent BG measurements and medications, including insulin injections, are ... -
Optimizing Order to Minimize Low-Pass Filter Lag
(Journal article; Peer reviewed, 2018)This paper develops a tool kit for designing low-pass filters to exhibit the smallest possible phase drop. Based solely on the stopband requirements, it is thus possible to find the best order for a filter to be employed ... -
Impedance-based Analysis of Interconnected Power Electronics Systems: Impedance Network Modeling and Comparative Studies of Stability Criteria
(Journal article; Peer reviewed, 2019)Impedance is an intuitive and effective way for dynamical representation of power electronics devices (e.g. VSCs). One of its strengths towards others is the natural association with circuits. However, impedances of VSCs ... -
Path Following, Obstacle Detection and Obstacle Avoidance for Thrusted Underwater Snake Robots
(Journal article; Peer reviewed, 2019)The use of unmanned underwater vehicles is steadily increasing for a variety of applications such as mapping, monitoring, inspection and intervention within several research fields and industries, e.g., oceanography, marine ... -
Joint Optimization of Oil Well Placement and Controls
(Journal article; Peer reviewed, 2012)Well placement and control optimization in oil field development are commonly performed in a sequential manner. In this work, we propose a joint approach that embeds well control optimization within the search for optimum ... -
A 3D Reactive Collision Avoidance Algorithm for Underactuated Vehicles
(Journal article; Peer reviewed, 2019)This paper presents a 3D reactive collision avoidance algorithm for vehicles with underactuated dynamics. The underactuated states cannot be directly controlled, but are controlled indirectly by steering the direction of ... -
On Robotic Assembly and Optimization-Based Control of Industrial Manipulators
(Doctoral theses at NTNU;2019:112, Doctoral thesis, 2019)Robotic manipulators are essential tools of industry. They are ubiquituous in modern factories, and they are starting to become more commonplace everywhere else. The trend in robotic manipulators is to move towards allowing ... -
Real Time Phasor Estimation based on Recursive Prony with Several Channels of One PMU
(Chapter, 2018)Phasor estimation is crucial for monitoring and control of smart power systems. The classical signal processing method named Prony has been used for estimating the parameters of measured signals such as frequency, damping ... -
EMD Mode Mixing Separation of Signals with Close Spectral Proximity in Smart Grids
(Chapter, 2018)The Empirical Mode Decomposition (EMD) is a signal analysis method that separates multi-component signals into single oscillatory modes called intrinsic mode functions (IMFs). These IMFs can generally be associated to a ... -
A Lightweight Payload for Hyperspectral Remote Sensing using Small UAVS
(Journal article; Peer reviewed, 2018)In this paper we describe a lightweight hyperspectral imaging payload consisting of a push-broom imager, GPS and IMU sensors as well as data synchronization and acquisition systems. The payload is developed in a modular ... -
Economic stochastic nonlinear model predictive control of a semi-batch polymerization reaction
(Journal article; Peer reviewed, 2019)Batch processes are ubiquitous in the chemical industry and difficult to control, such that nonlinear model predictive control is one of the few promising control techniques. Many chemical process models however are affected ... -
Modifier-Adaptation Schemes Employing Gaussian Processes and Trust Regions for Real-Time Optimization
(Journal article; Peer reviewed, 2019)This paper investigates modifier-adaptation schemes based on Gaussian processes to handle plant-model mismatch in real-time optimization of uncertain processes. Building upon the recent work by Ferreira et al. [European ... -
Procedural Content Generation Techniques and Approaches
(Master thesis, 2019)Nowadays, using PCG gains more and more importance, and PCG plays an increasingly important role in various areas. Particularly in game design and development where PCG have made a qualitative leap forward, especially in ... -
Control of a Type-IV Wind Turbine with the Capability of Robust Grid-Synchronization and Inertial Response for Weak Grid Stable Operation
(Journal article; Peer reviewed, 2019)With the increasing penetration of wind power, the effective inertia of the power system reduces. Besides, a series of interactive instability issues including sub-synchronous oscillations and harmonic oscillations were ... -
Fish welfare based classification method of ocean current speeds at aquaculture sites
(Journal article; Peer reviewed, 2019)ABSTRACT: A major trend in marine aquaculture is to move production to more exposed sites with occasionally rough ocean current events. However, it is unclear whether fish will thrive in these extreme environments, since ... -
Identification and Classification of Electrical Loads in a Norwegian Household Using Energy Disaggregation Methods of Non-Intrusive Load Monitoring.
(Master thesis, 2019)Formålet med denne avhandlingen er å fastslå fordelene til forbrukerne ved innføring av smart strømmålere. Et eksperiment ble utformet for å samle inn totalt forbruksdata samt individuell apparatdata i et ikke-laboratoriemiljø ... -
The Mode Mixing Problem and its Influence in the Neural Activity Reconstruction
(Journal article; Peer reviewed, 2019)This paper presents and discusses the challenge of mode mixing when using the Empirical Mode Decomposition (EMD) to identify intrinsic modes from EEG signals used for neural activity reconstruction. The standard version ... -
Phasor Estimation based on Modified Recursive Prony
(Chapter, 2018)Synchronized Measurement Technology represented by Phasor Measurement Units (PMUs) is a sophisticated tool for power system monitoring and contributes to a more reliable and secure operation of the power systems. Phasor ... -
Consistent kinematics and dynamics calibration of lightweight redundant industrial manipulators
(Journal article; Peer reviewed, 2018)Absolute accuracy is one of industrial manipulator’s key performance characteristics, which is critical for emerging robotics applications such as laser cutting, riveting, and carbon fiber placement as well as for many ...
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