Browsing Institutt for teknisk kybernetikk by Title
Now showing items 2997-3016 of 3674
-
Roll damping of a surface effect ship with split air cushion
(Journal article; Peer reviewed, 2018)This paper considers linear modeling of a surface effect ship (SES) where roll motions are damped by exclusively exploiting a longitudinally split air cushion design. On a SES, the pressurized air cushions can support up ... -
A rolling horizon approach for scheduling of multiproduct batch production and maintenance using generalized disjunctive programming models
(Peer reviewed; Journal article, 2021)This paper considers joint production and maintenance scheduling of a multiproduct batch chemical manufacturing plant. A Generalized Disjunctive Programming-based formulation is proposed for the scheduling problem, integrating ... -
ROS Simulated World for ATV with SLAM
(Bachelor thesis, 2022)Denne rapporten dokumenterer utviklingen av en simulert testplattform for Lone Wolf-prosjektet. Rapporten dekker modellering, rammeverk, implementering, simulering og visualisering. Prosjektet har som mål å muliggjøre ... -
Rotating Power Electronics for Electrical Machines and Drives - Design Considerations and Examples
(Chapter, 2020)The industrial shift towards rotating power electronics (RPE) promotes brushless flexible rotor excitation, as well as battery-less rotor instrumentation and measurement devices for electrical machines. Recently, the ... -
ROVTIO: RObust Visual Thermal Inertial Odometry
(Master thesis, 2021)Denne oppgaven beskriver og evaluerer en algorithme for å estimere bevegelsen til en autonom flyvende robot ved å bruke et vanlig kamera, et varmekamera og treghetssensorer. Ved å bruke både et vanlig kamera og et varmekamera ... -
Run til run optimalisering av trekkhastighet i Czochralski-prosessen ved bruk av MPC-algoritme
(Master thesis, 2015)Denne oppgaven utforsker bruk av en MPC-algoritme til å regulere trekkhastigheten i en standard Czochralski-prosess. En introduksjon av prosessen med vekt på delene som er relatert til reguleringsteknikk er gitt. Det ... -
Run-To-Run control of the Czochralski process
(Journal article; Peer reviewed, 2017)Commercially, the Czochralski process plays a key role in production of monocrystalline silicon for semiconductor and solar cell applications. However, it is a highly complex batch process which requires careful control ... -
Rust applications for Zephyr
(Master thesis, 2019)Rust er ett nytt systemprogrammeringsspråk med egenskaper som gjør det godt egnet for utvikling av applikasjoner for innevevde datasystemer. En ting som mangler for at dette skal bli lettere er muligheten til å bruke ... -
Safe implementation of advanced process control on Edvard Grieg
(Master thesis, 2020)Master oppgaven omhandler sikker implementering av en model prediktiv kontroller på Edvard Grieg. En sikkerhetsanalyse basert på feil-tre, hendelses-tre, HAZOP og risikomatrise er brukt for å fremheve eventuelle farekilder ... -
Safe Learning for Control using Control Lyapunov Functions and Control Barrier Functions: A Review
(Peer reviewed; Journal article, 2021)Real-world autonomous systems are often controlled using conventional model-based control methods. But if accurate models of a system are not available, these methods may be unsuitable. For many safety-critical systems, ... -
Safe reinforcement learning for control-affine systems with probabilistic safety constraints
(Master thesis, 2021)Forsterkende læring holder løfte om å gjøre det mulig for autonome systemer å tilegne seg nye ferdigheter uten menneskelig innblanding, og i senere år er det gjort betydelige fremskritt innen måter å lære optimale ... -
Safe Reinforcement Learning in Marine Navigation and Control: Using a Predictive Safety Filter for Safety Verification on Autonomous Surface Vessels
(Master thesis, 2023)Antall maritime stystemer som settes til havs øker for hvert år, inkludert utviklingen av havvindsparker, undervannsrobotikk, og autonom skipstransport. Mange av disse systemene er sikkerhetskritiske, noe som gjør det ... -
Safe Reinforcement Learning in Marine Navigation and Control: Using a Predictive Safety Filter for Safety Verification on Autonomous Surface Vessels
(Master thesis, 2023)Antall maritime stystemer som settes til havs øker for hvert år, inkludert utviklingen av havvindsparker, undervannsrobotikk, og autonom skipstransport. Mange av disse systemene er sikkerhetskritiske, noe som gjør det ... -
Safe Reinforcement Learning using Model Predictive Control: An analysis of utilising anisotropic exploration with deterministic policy gradients
(Master thesis, 2020)Denne avhandlingen er en studie i Trygg Forsterkende Læring (eng: Reinforcement Learning, RL) der det blir benyttet utforskningsagenter (eng: policy) som bruker anisotropisk utforskning. Trygg RL er en ny kategori av RL ... -
Safe Reinforcement Learning Using Wasserstein Distributionally Robust MPC and Chance Constraint
(Peer reviewed; Journal article, 2022)In this paper, we address the chance-constrained safe Reinforcement Learning (RL) problem using the function approximators based on Stochastic Model Predictive Control (SMPC) and Distributionally Robust Model Predictive ... -
Safety and COLREG evaluation for marine collision avoidance algorithms
(Peer reviewed; Journal article, 2023)Verification is a necessary step in system development, so too for autonomous surface vehicles (ASVs). However, formal and analytical verification methods are not well suited for such highly complex systems. Simulation-based ... -
Safety-Critical Control of Autonomous Surface Vehicles in the Presence of Ocean Currents
(Chapter, 2020)Autonomous surface vehicles (ASVs) are safety-critical systems that must provide strict safety guarantees such as collision avoidance to enable fully autonomous operations. This paper presents a unified framework for ... -
Saliency based methods for camera orientation in aquaculture
(Master thesis, 2018)This thesis looks into the applicability of visual saliency as a basis for autonomous camera orientation. Autonomous re-orientation is expected to be a key component in future computer vision-based monitoring systems: a ... -
Salmon behavioural response to robots in an aquaculture sea cage
(Peer reviewed; Journal article, 2020)Animal–robot studies can inform us about animal behaviour and inspire advances in agriculture, environmental monitoring and animal health and welfare. Currently, experimental results on how fish are affected by the presence ... -
Samarbeidende Legoroboter
(Master thesis, 2011)Denne oppgavebesvarelsen beskriver forbedringsprosessen av en robot, samt prosessen rundt å utvide et eksisterende system for generering av kart over ukjente områder. Utvidelsen består i at systemet nå kan håndtere to ulike ...