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Kybernetisk fotballassistent med forbedret brukervennlighet
(Master thesis, 2021)Denne masteroppgaven handler om utviklingen av en brukervennlig automatisert fotballskytemaskin av typen Pro Trainer Soccer. Maskinen ble anskaffet i 2013 og automatisert av tidligere mastergradsstudenter ved NTNU i ... -
Kybernetisk protesehåndledd: Systemintegrasjon
(Master thesis, 2015)Arbeidet i denne oppgaven har konsentrert seg om integreringen av et protesehåndleddssystem. Det eksisternde systemet bestod av protesens mekanikk, dedikert maskinvare i form av et sirkulært kretskort og programvare med ... -
KybOS - Et mikrokjerne- og meldingsbasert sanntidsoperativsystem
(Master thesis, 2016)I denne rapporten beskrives KybOS, et operativsystem for en Raspberry Pi 2, samt en del verktøy som har blitt brukt under utviklingen. KybOS er et mikrokjerne og meldingsbasert operativsystem med gode sanntidsegenskaper, ... -
Kybulf jr. The Walking Six-Legged Bug Robot
(Master thesis, 2017)This paper describes how to build a small, lightweight hexapod (a six-legged bug-robot), using mostly off-the-shelf electronic hardware. The paper will discuss the electronic components that are used and their role in the ... -
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 ... -
Laying The Foundation For an Intelligence-Powered Extendable Digital Twin Framework For Autonomous Sea Vessels
(Master thesis, 2022)Mennesker er hovedårsaken til at det oppstår ulykker til sjøs. Det er derfor ønskelig i noen tilfeller å ta i bruk autonome kjøretøy som er i stand til å fungere uten at mennesker må blande seg inn. Et rammeverk for ... -
Leader-follower Dynamic Synchronization of Surface Vessels
(Journal article, 2006)This paper introduces a dynamic leader-follower synchronization scheme for surface vessels that specifies the behavior of the follower vessels as they approach their desired position in a formation, or in a docking operation. ... -
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 ... -
Leak detection, size estimation and localization in branched pipe flows
(Peer reviewed; Journal article, 2022)We design a leak detection, size estimation and localization algorithm for a branched pipe system, requiring flow and pressure measurements to be taken at the inlet and outlet boundaries, only. By showing that the pipe ... -
Leak detection, size estimation and localization in water distribution networks containing loops
(Peer reviewed; Journal article, 2022)We consider the problem of leak detection, size estimation and localization of leaks in a water distribution network with ring topology, with flow and pressure measurements taken at junctions only. The pipeline system is ... -
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 ...