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Lidar-based Localization for Autonomous Ferry
(Master thesis, 2019)Denne masteroppgaven ser på egenskaper ved lokalisering av en Unmanned Surface Vehicle (USV), forklarer fordeler og ulemper ved noen metoder for lokalisering og foreslår hvor fokus bør ligge videre. Bruken av en lidar til ... -
LiDAR-based Resilient Collision-free Navigation for Aerial Robots in Closed Environments
(Master thesis, 2021)Denne oppgaven tar for seg utviklingen og evalueringen av en navigasjons- og kollisjonsunngåelseskontroller for et autonomt multirotorfartøy. For å løse dette ble det brukt et rammeverk som utnytter dyp forsterkende læring. ... -
Lidar-Based SLAM for AUtonomous Ferry
(Master thesis, 2019)Denne masteroppgaven gir en oversikt over eksisterende lidarbasert SLAM-metoder somkan passe til en autonom ferge, beskriver et datainnsamlingseksperiment ved hjelp aven halvskala prototype-ferge og presenterer ... -
LiDAR-Inertial SLAM System for Tunnel Navigation of an Autonomous Road Roller
(Master thesis, 2021)Autonom drift kan redusere menneskelig utsettelse mot farlige miljøer. Det kan også forbedre tids- og kostnadseffektiviteten ved at en menneskelig operator kan operere flere autonome kjøretøyer på en gang uten å være fysisk ... -
Life Support System of Bonsai Trees Prototyping and Assessment
(Master thesis, 2023)Denne avhandlingen går i dybden på kunsten å dyrke bonsai. Den legger særlig vekt på utfordringene som kommer med deres begrensede miljø, spesielt i forhold til deres motparter i naturen. Prosjektets hovedformål var å ... -
Light-Weight MPC
(Master thesis, 2023)Modell-prediktiv regulering har vorte eit viktig verktøy i moderne industri. Mykje på grunn av dugleiken til å optimalt styre avanserte system. Ved å ta prediksjonar og systembegrensingar i betraktning kan styringslova ... -
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 ... -
Limitations in Impedance Reshaping of Grid Forming Converters for Instability Prevention
(Chapter, 2023)Under a weak grid scenario, Grid Forming (GFM) converters have superior impedance-based small-signal stability compared to Grid Following (GFL) converters. The underlying assumption in defining a weak grid has traditionally ... -
Limitations of Topside Actuation for Rejecting Heave-induced Pressure Oscillations in Offshore Drilling
(Journal article; Peer reviewed, 2018)The heave motion of a floating rig induces pressure oscillations in the well when the heave compensators are disabled during connections. In this paper we discuss several factors affecting the achievable performance when ... -
Limitations on control performance in the Czochralski crystal growth process using bright ring measurement as a controlled variable
(Journal article; Peer reviewed, 2019)This paper develops a dynamical model for crystal diameter in the Czochralski process for production of monocrystalline silicon. The model combines simplified crystal growth dynamics with rigorous ray tracing to describe ... -
Line-of-Sight Curved Path Following for Underactuated USVs and AUVs in the Horizontal Plane under the influence of Ocean Currents
(Journal article; Peer reviewed, 2016)An essential ability of autonomous unmanned surface vessels (USVs) and autonomous underwater vehicles (AUVs) moving in a horizontal plane is to follow a general two-dimensional path in the presence of unknown ocean currents. ... -
Line-of-Sight Path Following for Dubins Paths with Adaptive Sideslip Compensation of Drift Forces
(Journal article; Peer reviewed, 2014)We present a nonlinear adaptive path-following controller that compensates for drift forces through vehicle sideslip. Vehicle sideslip arises during path following when the vehicle is subject to drift forces caused by ocean ... -
Line-of-sight path-following control utilizing an extended Kalman filter for estimation of speed and course over ground from GNSS positions
(Journal article; Peer reviewed, 2022) -
Linear and Nonlinear State Estimation in the Czochralski Process
(Journal article; Peer reviewed, 2013)The Czochralski process is the only method used commercially for production of monocrystalline silicon for semiconductor and solar cell applications. This paper explores the use of mathematical modeling as an aid in ... -
Linear Antisymmetric Recurrent Neural Networks
(Peer reviewed; Journal article, 2020)Recurrent Neural Networks (RNNs) have a form of memory where the output from a node at one timestep is fed back as input the next timestep in addition to data from the previous layer. This makes them highly suitable for ... -
Linear Model Predictive Control of a 3 DOF Helicopter
(Master thesis, 2019)Denne oppgaven presenterer implementasjonen av lineær modellprediktiv regulering (MPR) av et modellhelikopter med tre frihetsgrader, der pitch og høyden til helikopteret er brukt som pådrag for å styre systemet til ... -
Lineær MPC og Ulineær MPC realisert i Java/APIS
(Master thesis, 2007)Modellbasert regulering er en avansert regulerings metode. Den håndterer multivariable reguleringsproblemer på en naturlig måte, og tar hensyn til begrensninger i pådrag og regulerte variable. Det er utviklet en algoritme ... -
Lithology classification of whole core CT scans using convolutional neural networks
(Journal article; Peer reviewed, 2021) -
Lithology classification of whole core CT scans using convolutional neural networks
(Peer reviewed; Journal article, 2021)X-ray computerized tomography (CT) images as digital representations of whole cores can provide valuable information on the composition and internal structure of cores extracted from wells. Incorporation of millimeter-scale ... -
Load Balancing of a Modular Multilevel Grid Interface Converter for Transformer-Less Large-Scale Wireless Electric Vehicle Charging Infrastructure
(Peer reviewed; Journal article, 2020)This paper analyses the requirements for load balancing of a new transformer-less grid interface topology for large-scale electric vehicle (EV) charging infrastructures. The proposed configuration utilizes a Modular ...