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Semiglobal exponential stability of a counter-current and co-current guidance scheme
(Journal article; Peer reviewed, 2018)A control technique for counter-current and co-current guidance of underactuated marine vehicles is revisited and stronger stability properties are shown. In particular, the stronger property of uniform semiglobal exponential ... -
Semiglobally Asymptotically Stable Nonlinear Observer for Camera Aided Navigation
(Peer reviewed; Journal article, 2020)This brief presents a nonlinear observer that performs range estimation as well as gyro-bias estimation by using velocity, angular rate, and bearing angle measurements from landmarks at unknown locations. The observer is ... -
Sensor Combinations in Heterogeneous Multi-sensor Fusion for Maritime Target Tracking
(Chapter, 2019)Safe navigation for autonomous surface vehicles requires a robust and reliable tracking system that maintains and estimates position and velocity of other vessels. This paper demonstrates a measurement level sensor fusion ... -
Sensor Data Collecting System for Biathlon
(Master thesis, 2019)Formålet med dette prosjektet var å videreutvikle et innsamlingsystem for sensordata brukt i skiskyting, en olympisk sport der langrenn og presisjonsskyting kombineres. Systemet skal være trådløst, og samle data fra relevante ... -
Sensor fault tolerance in output feedback nonlinear model predictive control
(Journal article; Peer reviewed, 2016)This paper presents an active output feedback fault-tolerant model predictive control (MPC) scheme for systems with sensor faults. The proposed control scheme actively steers the system in order to prevent loss of observability ... -
Sensor Fusion for Glucose Monitoring Systems
(Peer reviewed; Journal article, 2023)A fully automated artificial pancreas (AP) requires accurate blood glucose (BG) readings. However, many factors can affect the accuracy of commercially available sensors. These factors include sensor artifacts due to the ... -
Sensor Fusion for Lactate Estimation
(Master thesis, 2017)During intense physical extertion there is a accumulation of lactate in the body, and eventually the workload has to be reduced. This thesis presents a overview of the energy systems in the body connected to the production ... -
Sensor fusion of phased array radio and inertial sensor measurements using factor-graph-based optimisation
(Master thesis, 2023)Å ta i bruk ubemannede luftfartøyer (UAV) gir en rekke fordeler for kommersielle og militære applikasjoner, med sin høye presisjon og kostnadseffektivitet. UAV-laboratoriet ved NTNU har drevet omfattende forskning på ... -
Sensor fusion of phased array radio bearing and inertial measurements using factor-graph-based optimization
(Master thesis, 2023)Globalt navigasjonssatellittsystem (GNSS) er den primære sensoren som brukes i moderne navigasjon. Imidlertid gjør noen scenarier GNSS upålitelig eller helt utilgjengelig. Fase-arrangerte radiosystemer (PARS) muliggjør en ... -
Sensor fusion of radar data with deep learning based detection and tracking of ships in camera images
(Master thesis, 2019)De metodene med høyest ytelse på objektgjenkjennelse og -sporing i bilder og videoer er nå begge basert på dyp læring og konvolusjonelle nevrale nettverk CNN [7]. Mye forskning blir investert i disse metodene, som antas å ... -
Sensor Fusion of Ultrasound and Motion Data for Gesture Recognition on Smartphones
(Master thesis, 2018)Through the advances in computing power on smartphones in recent years, the potential for running computationally heavy systems, with higher demands for fast processing has become feasible to run on these devices. The field ... -
Sensor Fusion with Out-of-Sequence Measurements - Localization in an Agricultural Robot Using Visual Odometry
(Master thesis, 2015)Timing is an important aspect when working with visual odometry (VO). The time of processing and data-transfer of image-based measurements are significantly longer than IMU, wheel encoders, and GPS measurements. This ... -
Sensor integration and timing in sensor fusion systems
(Master thesis, 2022)Denne masteroppgaven beskriver utviklingen av algoritmer som blir brukt til å utføre tidssynkronisering i sensorfusjonssystemer. Disse algoritmene kan bli brukt i sanntid og økningen i tidssynkronisering kan føre til en ... -
Sensor Integration for Nonlinear Navigation System in Underwater Vehicles
(Master thesis, 2007)This thesis deals with three methods for integrating measurements from different sensors for an underwater vehicle. The sensors that were used are inertial measurement unit (IMU), Doppler velocity log (DVL), Hydro- acoustic ... -
Sensor Simulation and Environment Mapping using UWB Radar for Industrial Drone Inspection
(Master thesis, 2018)The use of unmanned aerial drones for inspection of industrial environments have great potential in lowering both cost and risk. Development of such systems are going on at full speed, but many hurdles remain, especially ... -
Sensor Synchronization and Navigation in GNSS-Denied Environments for Unmanned Aerial Vehicles
(Doctoral theses at NTNU;2018:275, Doctoral thesis, 2018)In the last few years, the emergence of civilian unmanned aerial vehicles (UAVs) has sparked the interest of both the industry and the academic community. However, as systems become more popular and more widespread, the ... -
Sensor system for measuring water level in nature
(Master thesis, 2022)IoT-teknologi har skapt nye muligheter for å måle viktige aspekt i naturen, og blir stadig viktigere ettersom fokuset på klima øker. Vann har tidligere vist seg vanskelig å overvåke, men med ny lav-energi elektronikk kan ... -
Sensor-based Control of Industrial Manipulators
(Doktoravhandlinger ved NTNU, 1503-8181; 2013:240, Doctoral thesis, 2013)Automation is an important field in industrial research. Robots offer the possibility to automate a wide range of complex tasks. Especially with the use of sensor-based control, it is possible to automate tasks which today ... -
Sensor-based Real-timeControl of Industrial Robots
(Doktoravhandlinger ved NTNU, 1503-8181; 2013:225, Doctoral thesis, 2013)This PhD thesis presents topics related to sensor-based real-time robot control in applied automation. While in the past industrial challenges often could be solved with traditional robot programming methods, the industry ... -
Sensor-less Length Displacement Control of a Shape Memory Alloy Actuator
(Master thesis, 2016)Motivated by designing a robotic gripper actuated by a Shape Memory Alloy actuator wire, this thesis investigates the possibility of designing a sensor-less length displacement controller by utilizing the inherent self-sensing ...