Browsing Institutt for teknisk kybernetikk by Subject "Kybernetikk og robotikk, Navigasjon og fartøystyring"
Now showing items 1-20 of 32
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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 ... -
Adaptive Stabilization and Set-Point Regulation of Linear 2 x 2 Hyperbolic Systems - With Application to Automatic Attenuation of Kick and Loss in Managed Pressure Drilling
(Master thesis, 2017)Linear 2 x 2 hyperbolic partial differential equations can be used to describe many real-world problems and have attracted considerable research interest in later years. This thesis considers adaptive set-point regulation ... -
Adaptive Tuning of Acoustic Positioning Sensor
(Master thesis, 2017)This thesis compare methods of noise covariance estimation with the aim to improve the percision of Extended Kalman Filter (EKF) estimates of acoustic distance measurements. Because computational load is a priority, only ... -
AIS Aided Multi Hypothesis Tracker - Multi-Frame Multi-Target Tracking Using Radar and the Automatic Identification System
(Master thesis, 2017)To enable autonomous sea vessel's safe voyage, a real time situational awareness system is required. A tracking system incorporating both radar and Automatic Identifcation System (AIS) sensor data is preferred in maritime ... -
AIS-based Vessel Trajectory Prediction for ASV Collision Avoidance
(Master thesis, 2017)The automotive industry has already taken a big step towards fully autonomous vehicles. This trend is now spreading to the maritime industry with development of autonomous surface vessels (ASVs). A reliable collision ... -
Alternate representation of butterfly robot
(Master thesis, 2018)This paper focus on the challenging tasks of controlling underactuated systems. A well known example is the butterfly robot, where the task is to have continuous rotation of the plates without losing contact between ball ... -
ANN based classification of humans and animals using UWB radar
(Master thesis, 2018)and Conclusion Micro-Doppler signatures take advantage of Doppler information in radar data to create time VS. frequency information. Such signatures are interpretable by the human eye with visible features such as ... -
Anti-Collision System for Multi-Rotor Drones Operating Close to Obstacles using Radar Data
(Master thesis, 2017)This thesis concerns the development of a radar-based collision avoidance system for multirotor vehicles. The first chapter is a small introduction to radar systems, to aid in understanding the rest of this thesis. Further ... -
Automated berthing (parking) of autonomous ships
(Master thesis, 2018)Shipping operations can increase their efficiency by automating standard operations. This thesis explores the concept of automated navigation in a static harbor environment and automating the berthing procedure for a ... -
Automatic model identification of high-speed autonomous surface vehicles
(Master thesis, 2018)This thesis investigates a method for identication of a non-first principle control-oriented model for autonomous surface vehicles (ASVs) suggested in [7]. The goal is to develop an automatic substitute for the identification ... -
Automatic testing of maritime collision avoidance algorithms
(Master thesis, 2017)For Autonomous Surface Vessels (ASVs) to be put into commercial operation and gain public acceptance, they will have to be as safe, or safer then similar vessels operated by humans. Today, maritime control systems are ... -
Autonomous Wind Blade Inspection
(Master thesis, 2017)This report addresses autonomous inspection of wind blades using a UAV by proposing to use computer vision combined with structured light to accurately segment and detect the wind blade edges. It will be proven that this ... -
Collision Avoidance for Multirotor Inspection
(Master thesis, 2018)During the last couple of years, the goal of using unmanned aerial vehicles (UAV) for inspection purposes has become within reach. This thesis considers the different algorithms for implementing a high level controller for ... -
Control of a Permanent Magnet Synchronous Motor (PMSM) with constraints
(Master thesis, 2017)The aim of the thesis is to design and implement a controller that controls the PMSM without violating the given constraints. This is especially with respect to the battery current. Two approaches has been implemented in ... -
Design and Implementation of a Monitoring System for Decision Support in a Micro-business Based on a Solar Energy Microgrid in Rural Colombia
(Master thesis, 2018)Many regions of the world still do not have access to reliable energy sources. In recent years, there has been a push towards solving this energy problem with renewable clean energy. Introducing new energy solutions into ... -
Dokking av AUV ved bruk av feiltilstands-kalmanfilter
(Master thesis, 2017)Det er et økende behov for algoritmer for dokking av AUVer. Det som finnes i litteraturen i dag er løsninger på konkrete problemer, noe som gjør dem mer komplisert enn dokkingproblemet i seg selv. Denne oppgaven gjør et ... -
End-to-end learning and sensor fusion with deep convolutional networks for steering an off-road unmanned ground vehicle
(Master thesis, 2018)Current autonomous driving policies based on deep learning are mostly learned from images of roads within rural and city areas. In this master thesis more unconventional settings are considered, such as off-road and forest ... -
Estimation of UAV Position, Velocity and Attitude Using Tightly Coupled Integration of IMU and a Dual GNSS Receiver Setup
(Master thesis, 2018)Increasing use of UAVs in high-precision applications, such as georeferencing and photogrammetry, increases the requirements on the accuracy of the estimated position, velocity and attitude of the vehicle. Commercial systems ... -
Fusion of Inertial Navigation and Visual Odometry by Multi-State Constraint Kalman Filter
(Master thesis, 2017)The Multi-State Constraint Kalman Filter for visual-inertial odometry with online estimation of extrinsic and intrinsic camera parameters using the fisheye camera model is presented, and its performance in terms of accuracy ... -
Gate controlling MPCs as Part of a cascaded MPC Structure, used for harmonic Mitigation in a Ship Power System
(Master thesis, 2018)This thesis studies the effect of controlling gate switches in an APF using FCS-MPC. This gave a cascaded MPC structure. Where internal states and a calculated reference from the first MPC is used by a second MPC. The ...