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A Reactive Collision Avoidance Algorithm for Vehicles with Underactuated Dynamics
(Journal article; Peer reviewed, 2017)This paper presents a reactive collision avoidance algorithm, which avoids both static and moving obstacles by keeping a constant avoidance angle between the vehicle velocity vector and the obstacle. In particular, we ... -
A real-time DVL and pressure sensor AINS comparison study between EKF, ESKF and NLO for Manta-2020
(Master thesis, 2020)Denne rapporten presenter en sanntids doppler velocity logger og trykksensor hjulpet treghets navigasjons system. Den sammenligner en feil-tilstand Kalman tilstandestimator basert på Joan Solà versjon [2] med gyro og ... -
A Reciprocal Collision Avoidance Algorithm for Nonholonomic Vehicles with Constant Forward Speed
(Master thesis, 2018)There have been an increased interest in autonomous vehicles in recent years following advancements in technology. Such advanced systems requires robust and reliable Collision Avoidance (CA) systems. Reactive Collision ... -
A Recurrent Neural Network-Based Model Predictive Controller
(Master thesis, 2023)Effektiv og nøyaktig prosessregulering ved utvinning av gass og olje er avgjørende for riggmannskapets sikkerhet, for å minimere klima- og miljøkonsekvenser av utvinningen og for å maksimere profitt av drift. Tradisjonelle ... -
A reduced random sampling strategy for fast robust well placement optimization
(Journal article; Peer reviewed, 2019)Model-based decision-making in oilfield development often involves hundreds of computationally demanding reservoir simulation runs. In particular, well placement optimization under uncertainty in the geologic representation ... -
A review of demodulation techniques for amplitude-modulation atomic force microscopy
(Journal article; Peer reviewed, 2017)In this review paper, traditional and novel demodulation methods applicable to amplitude-modulation atomic force microscopy are implemented on a widely used digital processing system. As a crucial bandwidth-limiting component ... -
A Review of the Current Challenges Associated with the Development of an Artificial Pancreas by a Double Subcutaneous Approach
(Journal article; Peer reviewed, 2017)Introduction Patients with diabetes type 1 (DM1) struggle daily to achieve good glucose control. The last decade has seen a rush of research groups working towards an artificial pancreas (AP) through the application of a ... -
A review on modelling, implementation, and control of snake robots
(Journal article; Peer reviewed, 2012)This paper provides an overview of previous literature on snake robot locomotion. In particular, the paper considers previous research efforts related to modelling of snake robots, physical development of these mechanisms, ... -
A robust Multi-Loop tuning Procedure based at Succsessive Semidefinite Programming, that achieves optimal Performance and Failure Tolerance
(Master thesis, 2008)The desired properties of a multi-loop PID tuning procedure is to find some parameters that makes the plant robust, meet some desired performance requirements and guarantee failure tolerance. A detailed literature survey ... -
A Search for Walking Gaits, Stability Analysis and Parameter Estimation of a Three Link Biped
(Master thesis, 2016)Finne realiserbare gåbevegelser, utforske matematiske modeller for stabilitetsanalyse og kontrolldesign, og finne fysiske parametere for en tobent robot -
A semiautomatic spindle detection platform with minimal expert intervention based on interaction between two software
(Master thesis, 2022)Denne studien tar sikte på å finne en mer praktisk måte å utnytte to forskjellige offentlige programvaredetektorer som en plattform for å minimere arbeidsbelastningen utført av søvneksperter for å annotere søvnspindler ... -
A Sensor Calibration and Sensor Fusion Approach with Focus on Tactile Force Estimation for Perception-Driven Obstacle-Aided Snake Robot Locomotion
(Master thesis, 2018)Snake robots have been a research topic of interest since Shigeo Hirose developed the first snake robot in 1972. As with many other types of robots, snake robots are interesting because they could be used to perform tasks ... -
A Sensor Fusion Approach with Focus on Visual Sensing for Perception-Driven Obstacle-Aided Snake Robot Locomotion
(Master thesis, 2018)Developing snake-like robots can be advantageous for numerous reasons. Biological snakes are capable of traversing all types of terrain in a very energy efficient and effective way. They achieve this variety of locomotion ... -
A Sensor Module for the WiVind Project: Optimizing energy consumption in wireless sensors through conditional data-transmission
(Master thesis, 2014)This report examines the energy consumption in a wireless sensor module, a module which is part of the WiVind research project. The sensor module is to be surface-mounted on wind-turbine blades and alert a host system if ... -
A Ship Heading and Speed Control Concept Inherently Satisfying Actuator Constraints
(Chapter; Peer reviewed, 2017)Satisfying actuator constraints is often not considered in the academic literature on the design of ship heading and speed controllers. This paper considers the use of a simplified dynamic window algorithm as a way to ... -
A side-scan sonar based simultaneous localization and mapping pipeline for underwater vehicles
(Master thesis, 2023)Det enorme og uutforskede havet inneholder betydelige potensielle ressurser. Imidlertid krever bærekraftig og miljøvennlig utnyttelse av disse en dypere forståelse av havets økosystem. Fremskritt innen roboters autonome ... -
A simplified model of planar snake robot locomotion
(Chapter; Peer reviewed, 2010)This paper presents a model of the kinematics and dynamics of a planar, wheelless snake robot aimed at control design and stability analysis purposes. The proposed model is significantly less complex than existing models ... -
A simplified two-phase flow model using a quasi-equilibrium momentum balance
(Journal article; Peer reviewed, 2016)We propose a simple model of two-phase gas–liquid flow by imposing a quasi-equilibrium on the mixture momentum balance of the classical transient drift-flux model. This reduces the model to a single hyperbolic PDE, describing ... -
A Simulator for the Development of Autonomous Robots
(Master thesis, 2017)A simulator for the development of vision-based navigation, guidance and control algorithms of an autonomous flying robot is implemented. The simulator is a drop-in replacement for all system input/output and interfaces ... -
A snake robot joint mechanism with a contact force measurement system
(Journal article; Peer reviewed, 2009)A snake robot can traverse cluttered and irregular environments by using irregularities around its body as pushpoints to aid the propulsion. This is denoted obstacle-aided locomotion and requires the snake robot to have ...