Blar i Institutt for teknisk kybernetikk på tittel
Viser treff 1934-1953 av 3789
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Learning-based Robust Model Predictive Control for Sector-bounded Lur'e Systems
(Peer reviewed; Journal article, 2021)For dynamical systems with uncertainty, robust controllers can be designed by assuming that the uncertainty is bounded. The less we know about the uncertainty in the system, the more conservative the bound must be, which ... -
Learning-based State Estimation and Control using MHE and MPC Schemes with Imperfect Models
(Peer reviewed; Journal article, 2023)This paper presents a reinforcement learning-based observer/controller using Moving Horizon Estimation (MHE) and Model Predictive Control (MPC) schemes where the models used in the MHE-MPC cannot accurately capture the ... -
Leg Design and Control for Jumping Quadrupeds
(Master thesis, 2022)Utviklingen av roboter med bein har opp gjennom årene fått stadig mer fokus. Dette som et resultat av den raskt økende interessen fra robotutviklere. En drivkraft for denne utviklingen, har vært kravet om trygge, anvendelige ... -
Lessons learned from the trial operation of an autonomous urban passenger ferry
(Peer reviewed; Journal article, 2024)Cities worldwide consider autonomous passenger ferries a sustainable way of transporting passengers across and along waterways. Since 2016, a university-led effort to develop autonomous urban passenger ferry prototypes has ... -
Level Measurement using ultrasound
(Master thesis, 2014)This thesis describes the development and performance of a level measurement system based on estimating the round-trip-time of an ultrasonic signal. A new prototype is designed and constructed, built on the foundations of ... -
A Levenberg-Marquardt Algorithm for Sparse Identification of Dynamical Systems
(Peer reviewed; Journal article, 2022)Low complexity of a system model is essential for its use in real-time applications. However, sparse identification methods commonly have stringent requirements that exclude them from being applied in an industrial setting. ... -
Leveraging Model Based Definition and STEP AP242 in Task Specification for Robotic Assembly
(Peer reviewed; Journal article, 2020)This article explores using aspects of STEP AP242 for constraint-based robot programming for assembly operations. Industry 4.0 envisions smart, connected factories where all the operations are connected by an unbroken ... -
Lidar based object detection for an autonomous race car
(Master thesis, 2020)Med utviklingen innen autonom teknologi de siste årene har autonomi nå entret racingscenen. Som en del av konkurransen Formula Student, konkurrerer lag mot hverandre med førerløse racerbiler. Racerbilene kjører helt autonomt ... -
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 ...