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Nonlinear Observer Design for Aided Inertial Navigation of Ships
(Doctoral theses at NTNU;2017:85, Doctoral thesis, 2017)This thesis focuses on strapdowninertial navigation systems for marine vessels, exploiting low-cost micro-electro-mechanical-systems (MEMS) inertial sensors and nonlinear observers for sensor fusion. The motivation behind ... -
Nonlinear Observer Design for GNSS and IMU Integration
(Master thesis, 2011)In order to efficiently control an unmanned vehicle, knowledge about the position, velocity and attitude (orientation) is needed. This thesis address this problem, and designs a navigation system for local navigation using ... -
Nonlinear observer design for GNSS-aided inertial navigation systems with time-delayed GNSS measurements
(Journal article; Peer reviewed, 2017)Global navigation satellite system (GNSS) receivers suffer from an internal time-delay of up to several hundred milliseconds leading to a degeneration of position accuracy in high-dynamic systems. With the increasing ... -
Nonlinear Observer for Tightly Coupled Integrated Inertial Navigation Aided by RTK-GNSS Measurements
(Journal article; Peer reviewed, 2018)A modular nonlinear observer is considered for tightly coupled integration of inertial measurements with global satellite measurements. A real-time-kinematic (RTK) approach is utilized where the rover and base station ... -
Nonlinear Observer for Tightly Integrated Inertial Navigation Aided by Pseudo-Range Measurements
(Journal article; Peer reviewed, 2017)A modular nonlinear observer for inertial navigation aided by pseudo-range measurements is designed and analyzed. The attitude observer is based on a recent nonlinear complementary filter that uses magnetometer and ... -
Nonlinear Observer with Time-Varying Gains for Inertial Navigation Aided by Satellite Reference Systems in Dynamic Positioning
(Journal article, 2014)The measurement quality of Global Navigation Satellites Systems (GNSS) during marine operations will vary over time. Inherently, GNSS quality changes should be handled when GNSS is utilized as aid in inertial navigation ... -
Nonlinear Observers for Inertial Systems aided by Real-Time Kinematic Global Navigation Satellite Systems
(Doctoral theses at NTNU;2017:61, Doctoral thesis, 2017)This thesis is motivated by recent interest in nonlinear observers for navigation. The field of navigation is dominated by the Kalman filter and its variants. However, nonlinear observers offer some advantages, compared ... -
Nonlinear Observers for Integrated INS/GNSS Navigation – Implementation Aspects
(Journal article, 2017)Navigation is a term with broad usage in everyday life and can mean the act of moving, moving through an unknown environment, ascertaining a craft's position, or even browsing on the Internet. Originally, the term meant ... -
Nonlinear Observers for Parametric Roll
(Master thesis, 2012)Parametric roll resonance is a dangerous resonance phenomenon affecting several kinds of ships, such as cruise ships, fishing vessels and container ships. In a worst case scenario parametric roll resonance may lead to roll ... -
Nonlinear optimization for Hyperparameter computation in Gaussian Processes machine learning
(Master thesis, 2019)Målene til denne masteroppgaven er: 1. Litteraturstudie på Gaussiske Prosesser (GP), Optimeringsteori og metoden av ulineære konjugerte gradienter (NCG). 2. Ny implementasjon av en GP-algoritme i programvare. 3. Analyse ... -
Nonlinear Output Constraints Handling for Production Optimization for Oil Reservoirs
(Journal article; Peer reviewed, 2012) -
Nonlinear proper orthogonal decomposition for convection-dominated flows
(Peer reviewed; Journal article, 2021)Autoencoder techniques find increasingly common use in reduced order modeling as a means to create a latent space. This reduced order representation offers a modular data-driven modeling approach for nonlinear dynamical ... -
Nonlinear State and Parameter Estimation using Discrete-Time Double Kalman Filter
(Journal article; Peer reviewed, 2017)Dealing with nonlinear dynamics in conventional estimation methods like the extended Kalman filter (EKF) is challenging, since they are not guaranteed to have global convergence, and their instability can arise by selecting ... -
A Nonlinear State Observer for the Bi-Hormonal Intraperitoneal Artificial Pancreas
(Chapter, 2022)Currently, continuous glucose monitoring sensors are used in the artificial pancreas to monitor blood glucose levels. However, insulin and glucagon concentrations in different parts of the body cannot be measured in ... -
A novel hybrid analysis and modeling approach applied to aluminum electrolysis process
(Peer reviewed; Journal article, 2021)Aluminum electrolysis cells are characterized by harsh environments where several measurements have to be done manually. Due to the operational costs related to manual sampling, the sampling rates of these measurements are ... -
A Novel Model for Link Dynamics in Planar Snake Robots Using Internal Constraint Force Sensing
(Chapter, 2023)We consider the problem of simplifying the typically complex task of deriving dynamical mechanical models of planar snake robots. More precisely we propose a modeling strategy that assumes the possibility of measuring the ... -
Novel tag-based method for measuring tailbeat frequency and variations in amplitude in fish
(Peer reviewed; Journal article, 2023)The tailbeat frequency (TBF) together with tailbeat amplitude (TBA) of fish are tightly correlated with swimming speed. In addition, these parameters can be used as indicators of metabolic rate and general activity level, ... -
Novel VR Exergaming for Wheelchair Users: Cybersickness and User Experience
(Master thesis, 2023)Individuals using wheelchairs tend to live a more sedentary lifestyle than the average population, leading to a higher susceptibility of obesity, diabetes, and cardiovascular diseases. To address this, this thesis explores ... -
nRF52 med OpenThread
(Master thesis, 2020)Formålet med oppgaven var å fortsette med jobben Grindvik hadde gjort når det kommer til å skrive om Java applikasjonen til C++. Denne oppgaven inkluderte også jobben med å bruke en NRF robot for å kommunisere med den nye ... -
nRF52 robot with OpenThread
(Master thesis, 2020)Denne oppgaven beskriver endringer gjort på roboten i detalj, hvordan de ble implementert og hvilke vurderinger som ble gjort underveis. Fra tidligere rapporter var problemer med høyre motor kjent i starten av oppgaven. ...