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Resilience in Control and Motion Planning for Autonomous robots
(Doctoral theses at NTNU;2023:320, Doctoral thesis, 2023)Recent advances in autonomy research have enabled the widespread adoption of robots in multiple applications including for subterranean exploration, construction, agriculture, parcel delivery, and forestry. However, ... -
Resilient Collision-tolerant Navigation in Confined Environments
(Chapter, 2021)This work presents the design and autonomous navigation policy of the Resilient Micro Flyer, a new type of collision-tolerant robot tailored to fly through extremely confined environments and manhole-sized tubes. The robot ... -
ResiPlan: Closing the Planning-Acting Loop for Safe Underwater Navigation
(Journal article, 2023)Autonomous operation in underwater environments is, arguably, one of the most complex domains. It requires safe operations under the presence of unpredictable surge, currents, uncertainty, and dynamic obstacles that ... -
Resistivity Estimation Using Convolutional Neural Networks
(Master thesis, 2021)Denne oppgaven undersøker egnetheten av å anvende 2D tverrsnitt av 3D kjerneprøver i form av CT-scan data sammen med konvolusjonelle nevrale nettverk(CNN) for å bygge modeller for prediksjon av resistivitet. En av de viktige ... -
Resolving the Limb Position Effect in Myoelectric Pattern Recognition
(Journal article; Peer reviewed, 2011)Reported studies on pattern recognition of electromyograms (EMG) for the control of prosthetic devices traditionally focus on classification accuracy of signals recorded in a laboratory. The difference between the constrained ... -
Resource-aware Online Parameter Adaptation for Computationally -constrained Visual-Inertial Navigation Systems
(Chapter, 2021)In this paper, a computational resources-aware parameter adaptation method for visual-inertial navigation systems is proposed with the goal of enabling the improved deployment of such algorithms on computationally constrained ... -
Response Amplitude Operator Estimation and Prediction of Heave Motions
(Master thesis, 2020)Å bore etter olje fra flytende plattformer er ofte assosiert med store utfordringer, særlig relatert til vær- og vindforhold. Under boreoperasjonen er boreplattformen hiv-kompensert ved hjelp av et system som holder ... -
Response analysis and comparison of a spar-type floating offshore wind turbine and an onshore wind turbine under blade pitch controller faults
(Journal article; Peer reviewed, 2016)This paper analyses the effects of three pitch controller faults on the responses of an onshore wind turbine and a spar-type offshore floating wind turbine. These faults include: a stuck blade pitch actuator, a fixed value ... -
Resynchronization of Islanded Virtual Synchronous Machines by Cascaded Phase and Frequency Controllers Acting on the Internal Power Reference
(Chapter, 2020)Virtual Synchronous Machines (VSMs) have the capability to operate in grid connected or in islanded mode in the same way as synchronous machines. Furthermore, VSMs can inherently support seamless transition from grid ... -
A retrospective look at cross model validation and its applicability in vibrational spectroscopy
(Peer reviewed; Journal article, 2021)In this paper, it is presented how Cross Model Validation (CMV), also known as double cross validation, efficiently can be applied for variable selection in spectroscopic applications. The chosen applications are FT-IR ... -
Review of advanced physical and data‐driven models for dynamic bioprocess simulation: Case study of algae–bacteria consortium wastewater treatment
(Peer reviewed; Journal article, 2019)Microorganism production and remediation processes are of critical importance to the next generation of sustainable industries. Undertaking mathematical treatment of dynamic biosystems operating at any spatial or temporal ... -
A review of path planning algorithms in maritime autonomous surface ships: Navigation safety perspective
(Peer reviewed; Journal article, 2022)Unmanned maritime systems are evolving in a rapidly changing environment. Although the regulation and international law processes are still in progress, there are numerous research attempts regarding autonomous maritime ... -
Review of the Effect of Meals on the Glucose-Insulin Regulatory System
(Master thesis, 2021)Diabetes mellitus er en sykdom som kjennetegnes ved mangelen på å kontrollere blodsukkernivået grunnet ingen produksjon av insulin eller redusert insulinsensitivitet. Behandling av diabetes inkluderer derfor injeksjoner ... -
Review of two-phase flow models for control and estimation
(Journal article; Peer reviewed, 2016)Most model-based control and estimation techniques put limitations on the structure and complexity of the models to which they are applied. This has motivated the development of simplified models of gas-liquid two-phase ... -
Reward Shaping and Performance Analysis of Proximal Policy Optimization for Quadrotor Navigation in Environments of Varying Complexity
(Master thesis, 2023)Utviklingen av autonome luftfartøy som kan utføre raske og smidige manøvrer i komplekse omgivelser har vært utfordrende. Tradisjonell kontroll er avhengig av flere moduler som oppfatter, kartlegger, planlegger og styrer ... -
RFI Localization in a Collaborative Navigation Environment
(Peer reviewed; Journal article, 2020)Since the received GNSS signals are inherently very weak, a simple GNSS signal jammer can easily degrade the measurement quality, or completely deny GNSS signal reception at the receiver. In the context of collaborative ... -
Rigid head-neck responses to unpredictable perturbations in patients with long standing neck pain does not change with treatment
(Peer reviewed; Journal article, 2020)In a previous study we have shown that patients with long standing non-specific neck-pain display more rigid neck movement behavior than controls in response to unpredictable perturbations. In the present study we investigated ... -
Risk Analysis for the Design of a Safe Artificial Pancreas Control System
(Journal article; Peer reviewed, 2018)Closed-loop glucose control has the potential to improve the glycemic control in patients with diabetes mellitus type 1. Such an artificial pancreas (AP) should keep the user safe despite all disturbances and faults. The ... -
A Risk Aspect of Periodic Testing on Pressure Relief Valves
(Peer reviewed; Journal article, 2022)A pressure relief valve (PSV) is a key safety barrier to prevent the catastrophic rupture of pressure equipment in a process plant. The safety function of a PSV is to open and relieve the pressure when the equipment pressure ... -
Risk awareness and control of autonomous robots
(Doctoral theses at NTNU;2023:63, Doctoral thesis, 2023)Norsk sammendrag Å gjøre autonome systemer i stand til å fungere trygt uten direkte menneskelig overvåking krever at systemene får en situasjonsbevissthet som det i dag hovedsakelig er operatøren som står for. En avgjørende ...