Browsing Institutt for teknisk kybernetikk by Title
Now showing items 3559-3578 of 3703
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Underwater snake robots in vortex wakes: Energy harvesting and position control
(Master thesis, 2020)Denne oppgaven utforsker mulighetene for bruk av bølgebevegelser til energisamling. Ved å utnytte virvlene som oppstår bak en sylinder er målet å oppnå energiautonomitet i artikulerte intervensjons-autonome undervannsfarkoster ... -
Uniform Practical Asymptotic Stability for Position Control of Underwater Snake Robots
(Chapter, 2022)In this paper, Lyapunov theory for uniform practical asymptotic stability (UPAS) is presented and utilized to solve the problem of position control of a planar underwater snake robot (USR). First, a precise definition of ... -
Uniform Practical Asymptotic Stability for Position Control of Underwater Snake Robots
(Journal article, 2022)In this paper, Lyapunov theory for uniform practical asymptotic stability (UPAS) is presented and utilized to solve the problem of position control of a planar underwater snake robot (USR). First, a precise definition of ... -
Uniform Practical Asymptotic Stability for Position Control of Underwater Snake Robots
(Journal article; Peer reviewed, 2023)In this article, the Lyapunov theory for uniform practical asymptotic stability (UPAS) is presented and utilized to solve the problem of position control of a planar underwater snake robot (USR). First sufficient conditions ... -
Uniform semiglobal exponential stability of integral line-of-sight guidance laws
(Elsevier IFAC Publications / IFAC Proceedings series;, Journal article; Peer reviewed, 2015)This paper proves that an integral line-of-sight guidance law for path following control of underactuated marine vessels provides uniform semiglobal exponential stability. The stability result is stronger than what has ... -
A Uniform Semiglobal Exponential Stable Adaptive Line-of-Sight (ALOS) Guidance Law for 3-D Path Following
(Peer reviewed; Journal article, 2024)This paper presents a 3-D adaptive line-of-sight (ALOS) path-following algorithm for autonomous vehicles, marine craft, and aircraft. The origins of the cross- and vertical-track errors are proven to be uniform semiglobal ... -
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 ... -
Unifying Reactive Collision Avoidance and Control Allocation for Multi-Vehicle Systems
(Chapter, 2021)To enable autonomous vehicles to operate in cluttered and unpredictable environments with numerous obstacles, such vehicles need a collision avoidance system that can react to and handle sudden changes in the environment. ... -
Unleashing the Potential of AI-Driven Digital Twins: A Framework for Research using a Sensor-Enhanced Greenhouse
(Master thesis, 2023)I løpet av de siste årene har store fremskritt blitt gjort innen kunstig intelligens, datamaskiners beregningskraft og tilgjengelighet på informasjon. Utviklingen av digitale tvillinger har derfor skutt fart, men konseptet ... -
Unleashing the Potential of AI-Driven Digital Twins: A Framework for Research using a Sensor-Enhanced Greenhouse
(Master thesis, 2023)I løpet av de siste årene har store fremskritt blitt gjort innen kunstig intelligens, datamaskiners beregningskraft og tilgjengelighet på informasjon. Utviklingen av digitale tvillinger har derfor skutt fart, men konseptet ... -
Unmanned Aerial System for deployment and recovery of research equipment at sea
(Chapter, 2021)In this paper we present details of Miniature Underwater Gliders (MUG) deployment and recovery mechanism using a multirotor Unmanned Aerial Vehicle (UAV). The paper discusses details of MUG localization with computer vision, ... -
Unmanned Aerial Vehicle as Communication Relay for Autonomous Underwater Vehicle - Field Tests
(IEEE Globecom Workshop;Wireless Networking and Control for Unmanned Autonomous Vehicles, Journal article, 2014)This paper describes field experiments with an X8 Unmanned Aerial Vehicle (UAV) operating as a wireless communication relay while loitering over a REMUS 100 Autonomous Underwater Vehicle (AUV) being at the ocean surface. ... -
Unmanned Aerial Vehicle Mission Planning for Combined Iceberg Detection and Tracking Missions
(Master thesis, 2017)In this master thesis, iceberg detection and tracking by Unmanned Aerial Vehicles has been studied. Currently, most systems for ice management separate these two tasks. However, combining these tasks into a single algorithm ... -
Unmanned Aerial Vehicle(s) Trajectory Planning for Target Searching and Tracking
(Doctoral theses at NTNU;2018:225, Doctoral thesis, 2018)In this thesis, we introduce three trajectory planning algorithms for nonholonomic mobile sensors used for target tracking and the extended problem target searchings and tracking. These problems are motivated by the ... -
Unmanned Aerial Vehicles as Data Mules: An Experimental Assessment
(Journal article; Peer reviewed, 2017)Communication in remote locations, specially in high-latitude regions, such as the Arctic, is challenged by the lack of infrastructures and by the limited availability of resources. However, these regions have high scientific ... -
Unmanned Aircraft Flight Control Aided by Phased-Array Radio Navigation
(Peer reviewed; Journal article, 2020)Navigation systems of safety‐critical unmanned aircraft need an alternative position aiding source to global navigation satellite system. One promising alternative, is position measurements from phased‐array radio systems. ... -
Unmanned vehicle and hyperspectral imager for a more rapid microplastics sampling and analysis.
(Journal article, 2023)In this paper, we present a proof-of-concept study aiming to improve the sampling and analysis of microplastics (MPs) by implementing a novel methodology combining an autonomous surface vehicle and a near-infrared hyperspectral ... -
Unmanned Water Craft Identification and Adaptive Control in Low-Speed and Reversing Regions
(Journal article; Peer reviewed, 2013)This paper treats L1 adaptive hovering control of an unmanned surface vehicle in a station-keeping mode where a region of zero control authority and under-actuation are main challenges. Low-speed and reversing dynamics are ... -
Unscented Kalman Filter Based State and Parameter Estimation in Percussive Drilling Systems
(Chapter, 2020)Down-The-Hole (DTH) percussion tool is recognized for its high average rate of penetration (ROP), when drilling medium hard to very hard rock formations. This ROP which depends on the bit-rock contact conditions at the ... -
Unscented Multi-Point Smoother for Fusion of Delayed Displacement Measurements: Application to Agricultural Robots
(Journal article; Peer reviewed, 2017)Visual Odometry (VO) is increasingly a useful tool for robotic navigation in a variety of applications, including weed removal for agricultural robotics. The methods of evaluating VO are often computationally expensive and ...