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L1 Adaptive Control in Managed Pressure Drilling
(Master thesis, 2009)The control solution is a crucial part of Managed Pressure Drilling. Existing solutions are often based on Proportional plus Integral (PI) control and have several drawbacks, mainly poor performance for some common drilling ... -
L1 Adaptive Control of the Inner Control Loops of an F-16 Aircraft
(Master thesis, 2012)This report is written as a master s thesis given at NTNU, and in collaboration with Kongsberg Defence System. This text investigates the use of L1 adaptive control for multi-variable systems with unknown nonlinear unmatched ... -
L1 Adaptive Speed Control of a Small Wind Energy Conversion System for Maximum Power Point Tracking
(Journal article; Peer reviewed, 2014)This paper presents the design of an L1 adaptive controller for maximum power point tracking (MPPT) of a small variable speed wind energy conversion system (WECS). The proposed controller generates the optimal torque command ... -
Lab-oppsett for proteseforskning
(Master thesis, 2012)Institutt for Teknisk Kybernetikk(ITK) ved NTNU har et programvarebibliotek for styring av proteser. Dette biblioteket består av et mønstergjenkjenningssystem som kan brukes til å styre en robothånd. Mønstergjenkjenning ... -
Lap time simulation: The use of Optimal Control to find the on-limit behaviour of a Formula Student racecar
(Master thesis, 2021)Bildesign er en kompleks jobb, spesielt innen racing. Ingeniører bruker et bredt spekter av programvare for å bygge en racerbil som er så rask som mulig. Et slikt verktøy er rundetidssimulatoren. Rundetidssimulatoren gjør ... -
Large-scale Implementation and Distribution of Sensitive Code in a Commercial Setting
(Master thesis, 2009)Protecting intellectual property rights is an ongoing challenge for hardware manufacturers. After acquiring the rights to powerful capacitive sensing technology, the Atmel Corporation wanted to distribute this technology ... -
Lateral undulation of snake robots: A simplified model and fundamental properties
(Journal article; Peer reviewed, 2013)This paper considers the lateral undulation motion of snake robots. The first contribution of the paper is a model of lateral undulation dynamics developed for control design and stability analysis purposes. The second ... -
Leader-Follower Synchronisation for a Class of Underactuated Systems
(Lecture Notes in Control and Information Sciences;470, Chapter; Peer reviewed, 2017)In this work leader-follower synchronization is considered for underactuated followers in an inhomogeneous multi-agent system. The goal is to synchronise the motion of a leader and an underactuated follower. Measurements ... -
Leader-Follower Synchronization of Mechanical Systems
(Doktoravhandlinger ved NTNU, 1503-8181; 2010:58, Doctoral thesis, 2010)In this thesis a nonlinear output feedback scheme for leader-follower synchronization of rigid robot manipulators and ships is developed. The scheme is also applicable to other systems with Lagrangian dynamics in the same ... -
Leak Detection in Pipelines by the use of State and Parameter Estimation
(Master thesis, 2014)A model based estimation process is implemented in simulation of a transmissionline for the purpose of leak detection. The model has one inlet, one branch and twooutlets. The objective of this thesis is aimed at determining, ... -
Leak Detection in Two-Phase Oil and Gas Pipelines by Parameter- and State Estimation
(Master thesis, 2008)A two-fluid model is used to derive a set of boundary conditions. The conditions are produced numerically, and try to imitate the behavior of output injection by using a linearized version of the model. In order to ensure ... -
Learning an AUV docking maneuver with a convolutional neural network
(Chapter, 2017)This paper proposes and implements a convolutional neural network (CNN) that maps images from a camera to an error signal to guide and control an autonomous underwater vehicle into the entrance of a docking station. The ... -
Learning an End-to-End Steering Model for an Unmanned Surface Vehicle
(Master thesis, 2019)Hindringsunngåelse med maritime fartøy, slik som Ubemannede Overflatefartøy (UOF), har tradisjonelt sett blitt løst ved hjelp av spesialiserte moduler som er designet og optimalisert separat fra hverandre. Denne tilnærmelsen ... -
Learning and Penalty Methods for the Feasibility Pump in Mixed Integer Nonlinear Programming
(Master thesis, 2017). -
Learning by DIY - Exploring the Pedagogical Potential of the Serial Two-Tank System in a Control Theory Context
(Master thesis, 2017)With the aim of elevating the educational outcome of practical laboratory work in an engineering context, this thesis proposes a complete review of how to build, analyze, simulate and control a serial two-tank system (STTS). ... -
Learning Compliant Robotic Manipulation
(Master thesis, 2021)Medgjørlig robotmanipulering blir stadig viktigere innen robotstyring. For å utføre komplekse interaksjonsoppgaver i den virkelige verden, er det avgjørende. Automatisk ultralydundersøkelse utført av en robotarm er et ... -
Learning-Based Collision Avoidance for Micro Aerial Vehicles in Confined Environments
(Master thesis, 2021)I denne mastergradsoppgaven presenterer vi en ny måte å navigere et ubemannet flygende fartøy i trange omgivelser ved hjelp av laserbaserte avstandsmålere. Vi bryter denne navigasjonsprosessen inn i to deler, persepsjon ... -
Learning-Based Collision Avoidance for Micro Aerial Vehicles in Confined Environments
(Master thesis, 2021)I denne mastergradsoppgaven presenterer vi en ny måte å navigere et ubemannet flygende fartøy i trange omgivelser ved hjelp av laserbaserte avstandsmålere. Vi bryter denne navigasjonsprosessen inn i to deler, persepsjon ... -
Learning-Based Control Of Articulated Intervention Autonomous Underwater Vehicles
(Master thesis, 2021)Artikulerte intervensjons-autonome undervannsfarkoster (AIAUV) er redundante og overaktiverte undervannsmanipulatorer med kraftige thrustere og en slank kropp som er i stand til å utføre manipulasjonsoppgaver. Redundansen ... -
Learning-Based Navigation in Cluttered Environments Using A Deep Collision Prediction Network
(Master thesis, 2021)Trygg og pålitelig navigasjon med ubemannede luftfartøy har de siste årene fått økt oppmerksomhet, mye grunnet en betydelig prisreduksjon av ombord-sensorer, aktuatorer og innvevde datamaskiner kraftige nok til å kjøre ...