Institutt for teknisk kybernetikk
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Observer design for underwater vehicles with position and angle measurement
(Journal article, 2006)In this paper we propose a new observer system for underwater vehicles. The main design objective behind this strategy is to reduce the destabilizing effect of the Coriolis and centripetal forces and moments in the observer. ... -
Model Predictive Control of Induced Draft Cooling Towers in a Large Scale Cooling Plant
(Peer reviewed; Journal article, 2022)We study the problem of designing a model predictive control strategy for multiple induced draft cooling towers. The common objective of the cooling towers is to regulate the outlet water temperature of the common collection ... -
Maximum Hands-Off Attitude Control of a Spacecraft Actuated by Thrusters
(Journal article; Peer reviewed, 2023)In this paper we investigate the use of maximum hands-of control for spacecraft attitude control of a spacecraft equipped with thrusters. Other than a more natural choice of actuators than in our previous paper, the ... -
Onboard Hyperspectral Classification Enables Georeferencing
(Journal article; Peer reviewed, 2023)The Norwegian University of Science and Technology (NTNU) has been building a system composed of multiple remote sensing agents for ocean observations. NTNU launched the first HYPerspectral Smallsat for Ocean observation ... -
Mobile Software Development Kit for Real Time Multivariate Blood Glucose Prediction
(Journal article; Peer reviewed, 2024)In the field of blood glucose prediction, the literature is abounded with algorithms that demonstrate potential in glucose management. However, these propositions face an issue common to many machine learning algorithms: ... -
LOS Path Following for Underactuated Underwater Vehicle
(Journal article, 2006)In this paper, we propose a control scheme for path following of underactuated underwater vehicles. In particular, we propose a guidance law based on the the well-known principle of Line of Sight (LOS) guidance that is ... -
Enhancing elasticity models with deep learning: A novel corrective source term approach for accurate predictions
(Peer reviewed; Journal article, 2024)With the recent wave of digitalization, specifically in the context of safety–critical applications, there has been a growing need for computationally efficient, accurate, generalizable, and trustworthy models. Physics-based ... -
Formation Control of Underactuated Marine Vehicles with Communication Constraints
(Journal article, 2006)In this paper, we propose a nonlinear coordination control scheme for formation control of a group of underactuated marine vehicles with communication topology constraints. In particular, we propose decentralized control ... -
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 ... -
Probabilistic Economic Assessment of an Offshore Energy Hub Supplying Electrical Power to a Floating Production Storage and Offloading Unit
(Chapter, 2023)This paper analyzes the viability of an offshore energy hub consisting of wind turbines, batteries, fuel cells and electrolyzers connected to, and powering, an oil producing floating production storage and offloading unit. ... -
Lightweight UAV payload for image spectroscopy and atmospheric irradiance measurements
(Peer reviewed; Journal article, 2023)This paper presents a low-cost lightweight UAV payload for remote sensing purposes using a small imaging spectrometer made from COTS components. The novel design with an additional upward-facing spectrometer allows for ... -
A retrospective look at cross model validation and its applicability in vibrational spectroscopy
(Peer reviewed; Journal article, 2021)In this paper, it is presented how Cross Model Validation (CMV), also known as double cross validation, efficiently can be applied for variable selection in spectroscopic applications. The chosen applications are FT-IR ... -
Psychological stress detection with optimally selected EEG channel using Machine Learning techniques
(Peer reviewed; Journal article, 2023)Psychological stress buildup can lead to mental disorders, early mortality, stroke and sudden cardiac arrest and therefore, timely stress detection is important for reducing human suffering. This study aims to present a ... -
EEG source imaging of hand movement-related areas: An evaluation of the reconstruction accuracy with optimized channels
(Journal article; Peer reviewed, 2023)The hand motor activity can be identified and converted into commands for controlling machines through a brain-computer-interface (BCI) system. Electroencephalography (EEG) based BCI systems employ electrodes to measure ... -
A Comparative Study of Sparsity Promoting Techniques in Neural Network for Modeling Non-Linear Dynamics
(Journal article; Peer reviewed, 2023)Sparsity-promoting techniques show promising results in improving the generalization of neural networks. However, the literature contains limited information on how different sparsity techniques affect generalization when ... -
Primary color decoding using deep learning on source reconstructed EEG signal responses
(Peer reviewed; Journal article, 2023)The brain’s response to visual stimuli of different colors might be used in a brain-computer interface (BCI) paradigm, for letting a user control their surroundings by looking at specific colors. Allowing the user to control ... -
Advancing Data Quality of Marine Archaeological Documentation Using Underwater Robotics: From Simulation Environments to Real-World Scenarios
(Peer reviewed; Journal article, 2024)This paper presents a novel method for the visual-based 3D mapping of underwater cultural heritage sites through marine robotic operations. The proposed methodology addresses the three main stages of an underwater robotic ... -
Signal-based sea state estimation: A phase-time-path-difference approach: A new shipboard wave estimation approach
(Doctoral theses at NTNU;2024:79, Doctoral thesis, 2024)The safety and efficiency of marine operations at sea rely on accurate information about the sea state, which includes the dominant wave height, wave direction, and wave period. Unfortunately, many areas at sea lack this ... -
Hierarchical Compliance-Control-Based Docking of a UVMS
(Journal article, 2023)The viability of underwater vehicle-manipulator systems (UVMS) in underwater intervention missions is heavily reliant on safety. For safe operations, a UVMS should specifically be able to both avoid dangers and interact ... -
Predictable computing for cyber-physical systems
(Doctoral theses at NTNU;2024:49, Doctoral thesis, 2024)Cyber-physical systems encompass a vast category of systems where computers operate in feedback with physical systems. Cyber-physical systems hold the potential for enormous societal impact, comparable to that of the ...