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Experimental validation of camera-based maritime collision avoidance for autonomous urban passenger ferries
(Peer reviewed; Journal article, 2023)Maritime collision avoidance systems rely on accurate state estimates of other objects in the environment from a tracking system. Traditionally, this understanding is generated using one or more active sensors such as ... -
Experimental validation of camera-based maritime collision avoidance for autonomous urban passenger ferries
(Peer reviewed; Journal article, 2023)Abstract: Maritime collision avoidance systems rely on accurate state estimates of other objects in the environment from a tracking system. Traditionally, this understanding is generated using one or more active sensors ... -
Experimental validation of dynamic stationkeeping capability analysis: The next level DP capability analysis
(Master thesis, 2012)This thesis considers two main issues: the theoretical aspects of stationkeeping capability analysis in general, and dynamic capability (DynCap) analysis in particular; further there has been conducted capability analyses ... -
Experimental Verification of a Coordinated Path-Following Strategy for Underactuated Marine Vehicles
(Journal article; Peer reviewed, 2019)This work presents the results of an experimental verification of a coordinated path following strategy for underactuated marine vehicles. The coordinated path following strategy is presented, and is then experimentally ... -
Experiments and modelling of near-horizontal bubbly flow
(Peer reviewed; Journal article, 2023)This work aims to establish a fast and robust mechanistic model framework for predicting phase fraction profiles in bubbly flows. The main motivation is that the associated closure laws can in the future be used as a basis ... -
Experiments on the Mask RCNN Architecture with Synthetic Maritime Datasets
(Master thesis, 2020)Denne oppgaven utvider funksjonaliteten til instans-segmenterings arkitekturen "Mask RCNN" ved å inkludere en modul for retningsestimering. Senere blir modifiserte versioner av "Integrated Gradients" og LIME brukt til å ... -
Explainable AI for path following with Model Trees
(Master thesis, 2020)Den økende mengden applikasjoner som involverer maskinlæringsmetoder, utgjør en utfordring når eksperter prøver å forstå deres indre virkemåte. Deep Reinforcement Learning (DRL) er en maskinlæringsmetode som bruker kunstig ... -
Explainable AI methods for Cyber-Physical systems
(Master thesis, 2021)Fremskrittene i kunstig intelligens (AI) det siste tiåret har banet vei for et innovativt og mer digitalisert samfunn. Til dags dato er AI-løsninger til stede i mange situasjoner vi møter hver dag. Basert på denne evolusjonen ... -
Explainable AI methods on a deep reinforcement learning agent for automatic docking
(Peer reviewed; Journal article, 2021)Artifical neural networks (ANNs) have made their way into marine robotics in the last years, where they are used in control and perception systems, to name a few examples. At the same time, the black-box nature of ANNs is ... -
Explainable Artificial Intelligence for the docking of a marine vessel using SHAP and LIME
(Master thesis, 2023)Autonom dokking av skip har vært et forskningsområde i flere tiår, og det første automatiske dokkingssystemet ble utviklet på 1960-tallet. Fremskritt innen teknologi har ført til stadig mer sofistikerte systemer, som kan ... -
Explaining a Deep Reinforcement Learning Agent Using Regression Trees
(Master thesis, 2021)Bruken av "svart-boks"-modeller innen maskinlæring skaper problemer for systemer med fokus på sikkerhet. Systemer som nyttegjør seg av dyp forsterkende læring (engelsk: deep reinforcement learning / DRL) designes ofte med ... -
Explaining a deep reinforcement learning docking agent using linear model trees with user adapted visualization
(Peer reviewed; Journal article, 2021)Deep neural networks (DNNs) can be useful within the marine robotics field, but their utility value is restricted by their black-box nature. Explainable artificial intelligence methods attempt to understand how such ... -
Explicit Backstepping Kernel Solutions for Leak Detection in Branched Pipe Flows
(Peer reviewed; Journal article, 2023) -
Explicit Model Predictive Control for Higher Order Systems
(Doctoral theses at NTNU;2019:37, Doctoral thesis, 2019)The idea of viewing an optimal control problem as a parametric program has introduced new areas of use for control schemes such as Model Predictive Control (MPC). Some classes of multi-parametric programs have the desirable ... -
Explicit Model Predictive Control:Solutions Via Computational Geometry
(Doktoravhandlinger ved NTNU, 1503-8181; 2010:201, Doctoral thesis, 2010)The thesis is mainly focused on issues involved with explicit model predictive control approaches. Conventional model predictive control (MPC) implementation requires at each sampling time the solution of an open-loop ... -
Explicit robustness and fragility margins for linear discrete systems with piecewise affine control law
(Journal article; Peer reviewed, 2016)In this paper, we focus on the robustness and fragility problem for piecewise affine (PWA) control laws for discrete-time linear system dynamics in the presence of parametric uncertainty of the state space model. A generic ... -
Explicit robustness margin for contractive piecewise affine control laws
(Chapter, 2016)This paper deals with the class of discrete-time linear dynamics affected by polytopic uncertainty in closed loop with contractive piecewise affine (PWA) control law. Starting from the hypothesis that the synthesis ensures ... -
Exploiting Lidar Imaging for Robot Perception and Place Recognition
(Master thesis, 2022)I de senere årene har lidarteknologi gjort store fremskritt, som har resultert i stadig høyere punktskyoppløsning. I tillegg til å kunne måle avstanden til objekter, så kan mange høykvalitetslidarer også måle intensiteten ... -
Exploiting wired-pipe technology in an adaptive observer for drilling incident detection and estimation
(Peer reviewed; Journal article, 2021)We deploy an adaptive observer recently developed for general hyperbolic partial differential equation (PDE) systems to detect and diagnose various drilling incidents. The well is modeled by a distributed PDE which, contrary ... -
Exploration of Nonlinearities in a Lithium Ion Battery Cell Model and their impact on Particle Filters and Nonlinear Kalman Filters for State of Charge Estimation
(Master thesis, 2018)Lithium-ion batteries are currently being used for a wide variety of applications across different industries due to their many advantages. However, lithium batteries are also sensitive to their operating conditions, and ...