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Hybrid Force Motion Synchronization Control of Robot Manipulators
(Master thesis, 2010)The main objective of this thesis was to combine the theory on synchronization of robot manipulators with the concept of hybrid force/motion control; resulting in a controller capable of following both the trajectory of ... -
A hybrid kinematic controller for resilient obstacle avoidance of autonomous ships
(Peer reviewed; Journal article, 2020)Resilience is an important feature of autonomous systems. To be resilient, a control system must be stable, robust, and safe. This paper explores the use of hybrid feedback controllers to ensure robustness towards uncertainties ... -
Hybrid Modelling and Control of Obstacle-Aided Snake Robot Locomotion
(Journal article; Peer reviewed, 2010)A snake can traverse cluttered and irregular environments by using irregularities around its body as push points to aid the propulsion. This characteristic feature of biological snake locomotion, which is denoted as ... -
Hybrid Obstacle Aided Locomotion (HOAL) in Snake Robots
(Master thesis, 2020)Slangeroboter er seriekoblede roboter som evner å traversere en mengde forskjellige terreng. Obstacle Aided Locomotion (OAL) eller hindringsbasert fremdrift er en metode for traversering av terreng preget av mye steiner ... -
Hydroacoustically Aided Inertial Navigation for Joint Position and Attitude Estimation in Absence of Magnetic Field Measurements
(Journal article; Peer reviewed, 2017)When an underwater intervention vehicle is close to large metallic structures, e.g. subsea oil and gas facilities, magnetic disturbances might render magnetic field measurements biased or useless. This loss of information ... -
Hydrogen Sulfide Detection through Salmon Juvenile Monitoring with Stereo Vision and Machine Learning
(Master thesis, 2023)Bakgrunn: Utvidelsen av landbaserte produksjonsfaser i lakseoppdrett er en voksende trend innen akvakulturindustrien. Reduksjon av tid tilbrakt på sjøen kan gi mange fordeler, men utviklingen av landbaserte fasiliteter ... -
Hypergame-based Adaptive Behavior Path Planning for Combined Exploration and Visual Search
(Chapter, 2021)In this work, we present an adaptive behavior path planning method for autonomous exploration and visual search of unknown environments. As volumetric exploration and visual coverage of unknown environments, with possibly ... -
Hyperparameter Optimization for Neural Network-based Virtual Flow Metering
(Master thesis, 2022)Hyperparametere er parameterne som kontrollerer hvordan en maskinlæringsalgoritme lærer, og hyperparameteroptimalisering er prosessen med å optimalisere disse parameterne. Riktig valg av hyperparameter verdier er avgjørende ... -
Hyperspectral data analysis for chlorophyll estimation and operation of HYPSO-1 satellite
(Master thesis, 2022)HYPSO skjøt opp satellitten HYPSO-1 i bane 13. Januar 2022. Satellitten fanger havfarger med hyperspektral fjernmåling ved å separere lys i det synlige til nær-infrarøde spekteret i mange separate spektralbånd. Dermed øker ... -
Hyperspectral Imager Calibration and Image Correction
(Master thesis, 2019)Hyperspektrale kameraer, ombord blant annet droner og småsatellitter, skal detektere algeoppblomstring og andre havfenomener langs norskekysten. Dette er en del av prosjektet HYPSO, som står for "hyperspektral småsatellitt ... -
Hyperspectral Remote Sensing Instrument design, field campaigns and data analysis
(Doctoral theses at NTNU;2021:225, Doctoral thesis, 2021)Hyperspectral remote sensing is still a young field of research, but with a lot of interest, justified by its promising ability to detect and quantify targets. Recent developments in camera technology and single-board ... -
Hyperspectral Video Analysis by Motion and Intensity Preprocessing and Subspace Autoencoding
(Peer reviewed; Journal article, 2022)Hyperspectral imaging has recently gained increasing attention from academic and industrial world due to its capability of providing both spatial and physico-chemical information about the investigated objects. While this ... -
HYPSO-1 CubeSat: First Images and In-Orbit Characterization
(Peer reviewed; Journal article, 2023)The HYPSO-1 satellite, a 6U CubeSat carrying a hyperspectral imager, was launched on 13 January 2022, with the Goal of imaging ocean color in support of marine research. This article describes the development and current ... -
HYPSO-1 Lunar Observations: Automated Hyperspectral Imaging: A Study on Lunar Observations and Sensor Calibration
(Master thesis, 2023)Betydningen av nøyaktig hyperspektral bildebehandling i fjernmåling har ført til behovet for forbedrede kalibreringsteknikker. Denne avhandlingen undersøker automatisering av måneobservasjoner som en metode for kalibrering ... -
Hysteretic Control Lyapunov Functions with Application to Global Asymptotic Tracking for Underwater Vehicles
(Chapter, 2021)This paper introduces hysteretic control Lyapunov functions (HCLFs) for hybrid feedback control of a class of continuous-time systems. A family of HCLFs consists of local control Lyapunov functions defined on open domains, ... -
iBeacon Technology in Welfare: A study of Bluetooth Low Energy for Indoor Positioning
(Master thesis, 2014)Nowadays people live longer and the general population is aging. This phenomenon affects health care services that are experiencing increased costs and pressure. As a result new technological solutions for assisting and ... -
Ice Accretion: Image Post-Processing Measurement Techniques for 2D Ice Shapes
(Peer reviewed; Journal article, 2023)Ice accretion poses substantial safety hazards for the manned and unmanned aviation industries. Its study is essential for icing events risk assessment and for the development of efficient ice protection systems. The ... -
Icing Alert for Drone Pilots with an Airborne IoT Sensor Cluster
(Master thesis, 2022)Atmosfærisk ising er et velkjent fenomen in nordiske land. Ising av fly er en vedvarende trussel for luftfartøy, og har vært forsket på siden andre verdenskrig. Ettersom at etterspørselen for bruk av droner på vinterstid ... -
Icing Detection and Identification for Unmanned Aerial Vehicles using Adaptive Nested Multiple Models
(Journal article; Peer reviewed, 2017)A multiple-model approach for icing diagnosis and identification in small unmanned aerial vehicles is proposed. The accretion of ice layers on wings and control surfaces modifies the shape of the aircraft and, consequently, ... -
Icing Detection for Small Fixed Wing UAVs using Inflight Aerodynamic Coefficient Estimation
(Peer reviewed; Journal article, 2019)In cold and humid environments, airfoil icing is a major hindrance to UAV operations. Airfoil icing increases the aerodynamic drag coefficient, while reducing the maximum lift coefficient and the stall angle. This results ...