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Underwater Position and Attitude Estimation Using Acoustic, Inertial, and Depth Measurements
(Peer reviewed; Journal article, 2019)This article considers the problem of constructing an observer for estimating position, velocity, attitude, underwater wave speed, rate sensor bias, and accelerometer bias that has both proven stability and close-to-optimal ... -
Underwater recording and beamforming methods applicable for suppressing surface sounds from aquaculture facilities
(Master thesis, 2020)Nylig økt fokus på produksjonseffektivitet og fiskevelferd har skapt behovet for ny teknologi for å overvåke statusen til fisk under forskjellige driftsforhold innen fiskeoppdett. Innspillinger av kjente retningsbestemte ... -
Underwater Robotics - Fluid Parameter Identification for Modelling of Underwater Snake Robots
(Master thesis, 2017)Unmanned underwater vehicles are being increasingly used for subsea maintenance, inspection and repair. Development of underwater snake robots show promising results towards extending the capabilities of traditional unmanned ... -
Underwater Robotics: control of marine manipulator-vehicle systems
(Master thesis, 2014)For using underwater vehicle-manipulator systems (UVMS) in a challenging envi-ronment, it is important to have a good mathematical description of the systemwhich accounts for disturbances such as ocean currents. The dynamics ... -
Underwater short distance sensor testing for perception and collision avoidance for vehicle moving along ship hull
(Master thesis, 2021)Abstract will be available on 2024-05-31 -
Underwater snake robots in vortex wakes: Energy harvesting and position control
(Master thesis, 2020)Denne oppgaven utforsker mulighetene for bruk av bølgebevegelser til energisamling. Ved å utnytte virvlene som oppstår bak en sylinder er målet å oppnå energiautonomitet i artikulerte intervensjons-autonome undervannsfarkoster ... -
Uniform Practical Asymptotic Stability for Position Control of Underwater Snake Robots
(Chapter, 2022)In this paper, Lyapunov theory for uniform practical asymptotic stability (UPAS) is presented and utilized to solve the problem of position control of a planar underwater snake robot (USR). First, a precise definition of ... -
Uniform Practical Asymptotic Stability for Position Control of Underwater Snake Robots
(Journal article, 2022)In this paper, Lyapunov theory for uniform practical asymptotic stability (UPAS) is presented and utilized to solve the problem of position control of a planar underwater snake robot (USR). First, a precise definition of ... -
Uniform Practical Asymptotic Stability for Position Control of Underwater Snake Robots
(Journal article; Peer reviewed, 2023)In this article, the Lyapunov theory for uniform practical asymptotic stability (UPAS) is presented and utilized to solve the problem of position control of a planar underwater snake robot (USR). First sufficient conditions ... -
Uniform semiglobal exponential stability of integral line-of-sight guidance laws
(Elsevier IFAC Publications / IFAC Proceedings series;, Journal article; Peer reviewed, 2015)This paper proves that an integral line-of-sight guidance law for path following control of underactuated marine vessels provides uniform semiglobal exponential stability. The stability result is stronger than what has ... -
A Uniform Semiglobal Exponential Stable Adaptive Line-of-Sight (ALOS) Guidance Law for 3-D Path Following
(Peer reviewed; Journal article, 2024)This paper presents a 3-D adaptive line-of-sight (ALOS) path-following algorithm for autonomous vehicles, marine craft, and aircraft. The origins of the cross- and vertical-track errors are proven to be uniform semiglobal ... -
Uniformly semiglobally exponential stability of vector field guidance law and autopilot for path-following
(Journal article, 2019)A uniform semiglobal exponential stability (USGES) proof for a time-varying vector field guidance law used for path-following control of vehicles is presented. A sliding mode control is introduced for heading autopilot ... -
Unifying Reactive Collision Avoidance and Control Allocation for Multi-Vehicle Systems
(Chapter, 2021)To enable autonomous vehicles to operate in cluttered and unpredictable environments with numerous obstacles, such vehicles need a collision avoidance system that can react to and handle sudden changes in the environment. ... -
Unleashing the Potential of AI-Driven Digital Twins: A Framework for Research using a Sensor-Enhanced Greenhouse
(Master thesis, 2023)I løpet av de siste årene har store fremskritt blitt gjort innen kunstig intelligens, datamaskiners beregningskraft og tilgjengelighet på informasjon. Utviklingen av digitale tvillinger har derfor skutt fart, men konseptet ... -
Unleashing the Potential of AI-Driven Digital Twins: A Framework for Research using a Sensor-Enhanced Greenhouse
(Master thesis, 2023)I løpet av de siste årene har store fremskritt blitt gjort innen kunstig intelligens, datamaskiners beregningskraft og tilgjengelighet på informasjon. Utviklingen av digitale tvillinger har derfor skutt fart, men konseptet ... -
Unmanned Aerial System for deployment and recovery of research equipment at sea
(Chapter, 2021)In this paper we present details of Miniature Underwater Gliders (MUG) deployment and recovery mechanism using a multirotor Unmanned Aerial Vehicle (UAV). The paper discusses details of MUG localization with computer vision, ... -
Unmanned Aerial Vehicle as Communication Relay for Autonomous Underwater Vehicle - Field Tests
(IEEE Globecom Workshop;Wireless Networking and Control for Unmanned Autonomous Vehicles, Journal article, 2014)This paper describes field experiments with an X8 Unmanned Aerial Vehicle (UAV) operating as a wireless communication relay while loitering over a REMUS 100 Autonomous Underwater Vehicle (AUV) being at the ocean surface. ... -
Unmanned Aerial Vehicle Mission Planning for Combined Iceberg Detection and Tracking Missions
(Master thesis, 2017)In this master thesis, iceberg detection and tracking by Unmanned Aerial Vehicles has been studied. Currently, most systems for ice management separate these two tasks. However, combining these tasks into a single algorithm ... -
Unmanned Aerial Vehicle(s) Trajectory Planning for Target Searching and Tracking
(Doctoral theses at NTNU;2018:225, Doctoral thesis, 2018)In this thesis, we introduce three trajectory planning algorithms for nonholonomic mobile sensors used for target tracking and the extended problem target searchings and tracking. These problems are motivated by the ... -
Unmanned Aerial Vehicles as Data Mules: An Experimental Assessment
(Journal article; Peer reviewed, 2017)Communication in remote locations, specially in high-latitude regions, such as the Arctic, is challenged by the lack of infrastructures and by the limited availability of resources. However, these regions have high scientific ...