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On closures for reduced order models— A spectrum of first-principle to machine-learned avenues
(Peer reviewed; Journal article, 2021)For over a century, reduced order models (ROMs) have been a fundamental discipline of theoretical fluid mechanics. Early examples include Galerkin models inspired by the Orr–Sommerfeld stability equation and numerous vortex ... -
On Collision Risk Assessment for Autonomous Ships Using Scenario-Based MPC
(Peer reviewed; Journal article, 2020)Collision Avoidance (COLAV) for autonomous ships is challenging since it relies on track estimates of nearby obstacles which are inherently uncertain in both state and intent. This uncertainty must be accounted for in the ... -
On compensation for wave-induced roll in dynamic positioning control
(Peer reviewed; Journal article, 2022)Dynamic positioning (DP) for station-keeping control keeps the position and heading of the vessel constant regardless of environmental disturbances from wind, waves and currents. If the point of interest on the vessel has ... -
On Course Towards Model-Free Guidance: A Self-Learning Approach To Dynamic Collision Avoidance for Autonomous Surface Vehicles
(Master thesis, 2020)I denne masteroppgåva vart det demonstrert at djup forsterkande læring (engelsk: Deep Reinforcement Learning / DRL) kan nyttast for å trena eit reaktivt, autonomt fartøy utstyrt med påmonterte avstandssensorar til å navigera ... -
On decomposition and piecewise linearization in petroleumproduction optimization
(Doktoravhandlinger ved NTNU, 1503-8181; 2011:164, Doctoral thesis, 2011)Maintaining good or optimal operations of large and complex petroleum assets isnot a trivial task. There are numerous decisions to be made where many of thedecisions affects each other. Relying entirely on human interpretation ... -
On Estimating Forces and Torques in Manipulators
(Master thesis, 2020)Denne avhandlingen skal studere ulike moderne estimeringsmetoder for å estimere kraft og dreiemoment i robotmanipulatorer, samt å diskutere hvilke plattformer som er tilgjengelig for bruk og videre eksperiment ved Institutt ... -
On excessive transverse coordinates for orbital stabilization of periodic motions
(Peer reviewed; Journal article, 2020)This paper explores transverse coordinates for the purpose of orbitally stabilizing periodic motions of nonlinear control-affine dynamical systems. It is shown that the dynamics of any (minimal or excessive) set of transverse ... -
On gray-box modeling for virtual flow metering
(Journal article; Peer reviewed, 2021)A virtual flow meter (VFM) enables continuous prediction of flow rates in petroleum production systems. The predicted flow rates may aid the daily control and optimization of a petroleum asset. Gray-box modeling is an ... -
On implementation of the Preisach model identification and inversion for hysteresis compensation
(Peer reviewed; Journal article, 2015)A challenge for precise positioning in nanopositioning using smart materials is hysteresis, limiting posi-tioning accuracy. The Preisach model, based on the delayed relay operator for hysteresis modelling, isintroduced. ... -
On Kalman filtering with linear state equality constraints
(Journal article; Peer reviewed, 2019)This article is concerned with the state estimation problem for linear systems with linear state equality constraints. We re-examine constrained Kalman filter variations and propose an alternative derivation of the optimal ... -
On Model Predictive Path Following and Trajectory Tracking for Industrial Robots
(Journal article; Peer reviewed, 2017)In this article the model predictive path following controller and the model predictive trajectory tracking con-troller are compared for a robotic manipulator. We consider both the Runge-Kutta and collocation based ... -
On Modeling of a Ship Propulsion System for Control Purposes
(Master thesis, 2012)In this thesis a model of a ship propulsion system containing an engine, turbocharger, propeller and ship was constructed. The purpose of the model is to be used in controller design and testing. This is motivated by the ... -
On Multi-UAS Sea Ice Monitoring
(Doctoral theses at NTNU;2019:4, Doctoral thesis, 2019)Work in the polar regions of our planet is unavoidably linked with hazards such as drift ice. Increased presence, fueled by economic interests in the Arctic, has for several decades called for research in the field of ice ... -
On Nonlinear and Optimization-based Control of Fixed-Wing Unmanned Aerial Vehicles
(Doctoral theses at NTNU;2022:197, Doctoral thesis, 2022)Methods from linear control theory have a considerable share in the state-of-the-art toolbox for control systems engineers when designing autopilots for conventional passenger aircraft. Linear controllers have well-established ... -
On optimal ensemble learning using the concept of diversity and negative correlation
(Master thesis, 2019)Under et studie av et sett vinnende Kaggle-løsninger, ble det fastslått at det er et problem at de vinnende løsningene består av veldig store ansamlinger av klassifikatorer. Med dette som motivasjon ble det utført et studie ... -
On Orbital Stabilization as an alternative to Reference Tracking Control
(Chapter, 2020)With the purpose of highlighting the concept of orbital stabilization as an alternative to the reference tracking control methodology, this paper considers simple, informative examples in relation to motion control of an ... -
On Orbital Stabilization for Industrial Manipulators: Case Study in Evaluating Performances of Modified PD+ and Inverse Dynamics Controllers
(Journal article; Peer reviewed, 2017)Orbital stabilization is one of the available alternatives to the classical asymptotic stabilization, known as the reference tracking control, which is typically considered and implemented for controlling motions of ... -
On Robotic Assembly and Optimization-Based Control of Industrial Manipulators
(Doctoral theses at NTNU;2019:112, Doctoral thesis, 2019)Robotic manipulators are essential tools of industry. They are ubiquituous in modern factories, and they are starting to become more commonplace everywhere else. The trend in robotic manipulators is to move towards allowing ... -
On selection of controlled variables for robust reservoir management
(Journal article; Peer reviewed, 2016) -
On Shut-In Based Production Optimization of Shale-Gas Systems
(Doktoravhandlinger ved NTNU, 1503-8181; 2014:285, Doctoral thesis, 2014)The use of shale gas as an energy resource has increased extensively over the last decade, with emerging new technologies causing shale gas to become the largest source of growth in the US natural-gas supply. Ecient ...