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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 ... -
Exploratory analysis of hyperspectral FTIR data obtained from environmental microplastics samples
(Peer reviewed; Journal article, 2020)Hyperspectral imaging of environmental samples with infrared microscopes is one of the preferred methods to find and characterize microplastics. Particles can be quantified in terms of number, size and size distribution. ... -
Exploring Frequency, Variability and Propulsion Patterns in Manual Wheelchair Propulsion
(Master thesis, 2023)Teknologiske fremskritt i de siste årene har gjort det mulig å ta i bruk ulike sensorer for aktivitets- og treningsmåling. De fleste av disse enhetene er hovedsakelig beregnet for personer uten funksjonsnedsettelser, og ... -
Exploring the Attributes of Particle Filter vs Nonlinear Kalman Filter for Battery State of Charge Estimation
(Chapter, 2018)Accurately knowing the State of Charge (SoC) of a Lithium Ion Battery is critical for many applications, and various methods for determining it have been proposed. This paper examines the differences between the Central ... -
Exploring the potential for improved performance of flow metering using hybrid modeling
(Master thesis, 2022)Denne masteroppgaven utforsker anvendelsen av hybrid flytmodellering i olje- og gass-flytmåling. Ettersom beregningskraft og teknologisk forståelse har økt de siste årene, er virtuelle flytmålere (VFM) et voksende felt ... -
Exponential Convergence Bounds in Least Squares Estimation: Identification of Viscoelastic Properties in Atomic Force Microscopy
(Journal article; Peer reviewed, 2017)Using atomic force microscopy (AFM) for studying soft, biological material has become increasingly popular in recent years. New approaches allow the use of recursive least squares estimation to identify the viscoelastic ... -
Exponentially Stable Dynamic Walking in a Sprawling Quadruped
(Master thesis, 2022)Roboter med ben har vært et forskningsområde av økende akademisk og offentlig interesse de siste 50 årene. Roboter som evner å bevege seg robust og autonomt gjennom områder som byr på utfordringer for konvensjonelle kjøretøy ... -
Extended Kalman Filter Design and Motion Prediction of Ships using Live Automatic Identification System (AIS) Data
(Chapter, 2018)This paper addresses the problem of ship motion estimation using live data from Automatic Identification Systems (AIS) and extended Kalman filter (EKF) design. AIS data are transmitted from ships globally and a very-high ... -
Extended target PMBM tracker with a Gaussian Process target model on LiDAR data
(Chapter, 2023)In Multiple Extended Object Tracking, the PMBM (Poisson Multi-Bernoulli Mixture) tracker is considered state-of-the-art. Originally, it was presented with the GGIW (Gamma Gaussian Inverse Wishart) target model, which is a ... -
Extending a derivative-free model-based trust-region optimization algorithm to account for constraints and partial gradient information - Application to oil field development
(Master thesis, 2018)This master's thesis is motivated by the oil field development challenge. This is a very big and complicated task and only one part of it will be in focus, namely, the well placement challenge. When planning a new oil field ...