Browsing Institutt for teknisk kybernetikk by Title
Now showing items 1314-1333 of 3699
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Expectation constrained stochastic nonlinear model predictive control of a batch bioreactor
(Chapter, 2017)Nonlinear model predictive control is a popular control approach for highly nonlinear and unsteady state processes, which however can fail due to unaccounted uncertainties. This paper proposes to apply a sample-average ... -
Experiment Design Considerations for Estimating Energy Expenditure during Wheelchair Propulsion
(Chapter, 2023)We propose a methodology for estimating energy expenditure (EE) during wheelchair propulsion. The method is based on measured physiological and kinematic signals from wearable sensor devices in an experimental setup design. ... -
Experimental and numerical icing penalties of an S826 airfoil at low Reynolds numbers
(Peer reviewed; Journal article, 2020)Most icing research focuses on the high Reynolds number regime and manned aviation. Information on icing at low Reynolds numbers, as it is encountered by wind turbines and unmanned aerial vehicles, is less available, and ... -
Experimental assessment of a JANUS-based consensus protocol
(Journal article; Peer reviewed, 2024)This paper proposes a distributed, JANUS-based protocol that enables an underwater acoustic network to reach consensus on arbitrary local opinions as numeric state variables. An envisioned scenario where nodes shall agree ... -
Experimental investigation of a path following controller for planar snake robots
(Proceedings / 11th International Conference on Control, Automation, Robotics and Vision (ICARCV 2010);, Chapter; Peer reviewed, 2010)This paper considers path following control of snake robots along straight paths. A controller is proposed which, under the assumption that the forward velocity of the snake robot is nonzero and positive, guarantees ... -
Experimental investigation of efficient locomotion of underwater snake robots for lateral undulation and eel-like motion patterns
(Journal article, 2015)Underwater snake robots offer many interesting capabilities for underwater operations. The long and slender structure of such robots provide superior capabilities for access through narrow openings and within confined ... -
Experimental investigation of fundamental properties of snake robot locomotion
(Proceedings / 11th International Conference on Control, Automation, Robotics and Vision (ICARCV 2010).;, Chapter; Peer reviewed, 2010)This paper derives and experimentally investigates fundamental properties of the velocity of a snake robot conducting lateral undulation. In particular, the derived properties state that the average forward velocity of the ... -
Experimental investigation of locomotion efficiency and path-following for underwater snake robots with and without a caudal fin
(Journal article; Peer reviewed, 2018)Over the last few decades, the robotics community has shown increasing interest in developing bioinspired swimming robots, driven by the need for more economical, more efficient, autonomous, highly flexible and maneuverable ... -
Experimental Investigation of Obstacle-Aided Locomotion With a Snake Robot
(Journal article; Peer reviewed, 2011)In a recent paper, the authors have proposed a control strategy for a snake robot during obstacle-aided locomotion. In this paper, experimental results are presented where the controller is shown to successfully maintain ... -
Experimental Investigations of an Icing Protection System for UAVs
(Journal article; Peer reviewed, 2019)UAV icing is a severe challenge that has only recently shifted into the focus of research. Today, there are no mature icing mitigation technologies for UAVs, except for the largest fixed-wing drones. We are working on the ... -
Experimental Investigations of an Icing Protection System for UAVs
(Journal article; Peer reviewed, 2019) -
Experimental Monitoring of Sea Ice Using Unmanned Aerial Systems
(Master thesis, 2015)The exploration of arctic seas for offshore oil- and gas resources has received increasing interest the past few years. Despite the recent dramatic fall in oil prices, estimates indicate that as much as 22% of the worlds ... -
Experimental Results for Set-based Control within theSingularity-robust Multiple Task-priority Inverse KinematicsFramework
(Journal article; Peer reviewed, 2015)Inverse kinematics algorithms are commonly used in robotic systems to achieve desired behavior, and several methods exist to ensure the achievement of numerous tasks simultaneously. The multiple task priority inverse ... -
Experimental set-up of a thermal vacuum chamber for thermal model in-house correlation and characterization of the HYPSO hyperspectral imager
(Peer reviewed; Journal article, 2023)Space environment with changing temperatures and vacuum can affect the performance of optics instruments onboard satellites. Thermal models and tests are typically done to understand the optics performance within large ... -
Experimental study of installation procedure and volume estimation of tarpaulin for chemical treatment of fish in floating cages
(Journal article; Peer reviewed, 2017)In the salmon industry chemical delousing is done by enclosing the cage in a tarpaulin, and then mixing the chemical agent in the enclosed water volume. Correct dosage is important to obtain the wanted effect, and in order ... -
Experimental Testing of HeaveLock
(Master thesis, 2016)When drilling from a floating rig the ocean waves induces a vertical motion on the rig. This movement is called heave motion. During a connection, when the drill string is extended, the drill string is attached to the rig ... -
Experimental validation of attitude and rate-sensor bias filter using range-difference measurements
(Peer reviewed; Journal article, 2018)This paper considers the problem of constructing a filter for estimating attitude and rate-sensor bias, that has both proven stability and close-to-optimal performance with respect to noise. The filter is based on measuring ... -
Experimental validation of camera-based maritime collision avoidance for autonomous urban passenger ferries
(Peer reviewed; Journal article, 2023)Maritime collision avoidance systems rely on accurate state estimates of other objects in the environment from a tracking system. Traditionally, this understanding is generated using one or more active sensors such as ... -
Experimental validation of camera-based maritime collision avoidance for autonomous urban passenger ferries
(Peer reviewed; Journal article, 2023)Abstract: Maritime collision avoidance systems rely on accurate state estimates of other objects in the environment from a tracking system. Traditionally, this understanding is generated using one or more active sensors ...