• Observer Design for Mechanical Systems described by Semilinear Partial Differential Equations 

      Nguyen, Tu Duc (Doktoravhandlinger ved NTNU, 1503-8181; 2004:86, Doctoral thesis, 2004)
      This doctoral thesis presents new analysis tool for observer design of flexible mechanical systems described by partial differential equations (PDEs). This work focuses especially on designing of natural observers. ...
    • Obstacle Detection and Avoidance in a 3D Environment 

      Lindefjeld, Magnus Flaten (Master thesis, 2022)
      Målet med denne masteroppgaven var å utvikle en metode for deteksjon og kollisjonsunngåelse av hindringer som f.eks. lave åpninger, hull eller små gjenstander på gulvet. En robot basert på nRF52840 DK ble nylig ferdigstilt, ...
    • Obstacle detection and avoidance system for USV FishOtter 

      Dragesund, Herman Kulild (Master thesis, 2022)
      Denne avhandlingen har som målsetning å utvikle og implementere en algoritme for kollisjonsunngåelse for et lite ubemannet marint fartøy (USV). Fartøyet brukes i et prosjekt ved Norges Teknisk-Naturvitenskapelige Universitet ...
    • Ocean Surface Pickup with Multirotor Drone 

      Eskedal, Marius (Master thesis, 2020)
      Autonome droner er i økende grad brukt til å utføre oppdrag som er vanskelig for mennesker å utføre selv. Droner tilbyr høy sikkerhet og effektivitet, men nøyaktighet i landingsfasen er en vanskelig utfordring. Denne ...
    • Off-Shore Robotics: Robust and Optimal Solutions for Autonomous Operation 

      From, Pål Johan (Doktoravhandlinger ved NTNU, 1503-8181; 2010:96, Doctoral thesis, 2010)
      The vast majority of research in the field of robotics has over the last few decades shifted from industrial robots—in the sense of robots mounted in a structured environment such as a factory floor—to robots operating in ...
    • Offshore Pipelaying Dynamics 

      Jensen, Gullik Anthon (Doktoravhandlinger ved NTNU, 1503-8181; 2010:28, Doctoral thesis, 2010)
      This thesis considers three issues regarding modeling of oshore pipelaying dynamics. These are: (i) the formulation of an oshore pipeline installation operation as a control problem, (ii) the development and passivity ...
    • Ombygging av lagerrobot 

      Johansen, Thomas; Slenes, Per Olav; Mikalsen, Morten; Gossé, Sigurd; Aune, Dag (HiST AFT Rapport, Peer reviewed; Research report, 2010-01-20)
      Prosjektet gikk ut på å fornye/oppgradere én kran med ny PLS (Simatic S7) og samtidig teste ut drifts- og sikkerhetsfunksjoner. Dette gjør automatkranene mer kompatibel i dagens marked med tanke på drift og vedlikehold. ...
    • On a hybrid approach to model learning applied to virtual flow metering 

      Hotvedt, Mathilde (Doctoral theses at NTNU;2022:165, Doctoral thesis, 2022)
      Process modeling using first-principle equations has existed for centuries as a methodology to represent and analyze real-world processes. In time with increasing computing power and sensor data availability, data-driven ...
    • On closures for reduced order models— A spectrum of first-principle to machine-learned avenues 

      Ahmed, Shady E; Pawar, Suraj; San, Omer; Rasheed, Adil; Trian, Iliescu; Noack, Bernd R. (Peer reviewed; Journal article, 2021)
      For over a century, reduced order models (ROMs) have been a fundamental discipline of theoretical fluid mechanics. Early examples include Galerkin models inspired by the Orr–Sommerfeld stability equation and numerous vortex ...
    • On Collision Risk Assessment for Autonomous Ships Using Scenario-Based MPC 

      Tengesdal, Trym; Brekke, Edmund Førland; Johansen, Tor Arne (Peer reviewed; Journal article, 2020)
      Collision Avoidance (COLAV) for autonomous ships is challenging since it relies on track estimates of nearby obstacles which are inherently uncertain in both state and intent. This uncertainty must be accounted for in the ...
    • On Course Towards Model-Free Guidance: A Self-Learning Approach To Dynamic Collision Avoidance for Autonomous Surface Vehicles 

      Meyer, Eivind (Master thesis, 2020)
      I denne masteroppgåva vart det demonstrert at djup forsterkande læring (engelsk: Deep Reinforcement Learning / DRL) kan nyttast for å trena eit reaktivt, autonomt fartøy utstyrt med påmonterte avstandssensorar til å navigera ...
    • On decomposition and piecewise linearization in petroleumproduction optimization 

      Gunnerud, Vidar (Doktoravhandlinger ved NTNU, 1503-8181; 2011:164, Doctoral thesis, 2011)
      Maintaining good or optimal operations of large and complex petroleum assets isnot a trivial task. There are numerous decisions to be made where many of thedecisions affects each other. Relying entirely on human interpretation ...
    • On Estimating Forces and Torques in Manipulators 

      Myrvold, Marte Løkken (Master thesis, 2020)
      Denne avhandlingen skal studere ulike moderne estimeringsmetoder for å estimere kraft og dreiemoment i robotmanipulatorer, samt å diskutere hvilke plattformer som er tilgjengelig for bruk og videre eksperiment ved Institutt ...
    • On excessive transverse coordinates for orbital stabilization of periodic motions 

      Sætre, Christian Fredrik; Shiriaev, Anton (Peer reviewed; Journal article, 2020)
      This paper explores transverse coordinates for the purpose of orbitally stabilizing periodic motions of nonlinear control-affine dynamical systems. It is shown that the dynamics of any (minimal or excessive) set of transverse ...
    • On implementation of the Preisach model identification and inversion for hysteresis compensation 

      Stakvik, Jon Åge; Ragazzon, Michael Remo Palmén; Eielsen, Arnfinn Aas; Gravdahl, Jan Tommy (Peer reviewed; Journal article, 2015)
      A challenge for precise positioning in nanopositioning using smart materials is hysteresis, limiting posi-tioning accuracy. The Preisach model, based on the delayed relay operator for hysteresis modelling, isintroduced. ...
    • On Kalman filtering with linear state equality constraints 

      Andersson, Leif Erik; Imsland, Lars Struen; Brekke, Edmund Førland; Scibilia, Francesco (Journal article; Peer reviewed, 2019)
      This article is concerned with the state estimation problem for linear systems with linear state equality constraints. We re-examine constrained Kalman filter variations and propose an alternative derivation of the optimal ...
    • On Model Predictive Path Following and Trajectory Tracking for Industrial Robots 

      Arbo, Mathias Hauan; Grøtli, Esten Ingar; Gravdahl, Jan Tommy (Conference object; Journal article; Peer reviewed, 2017)
      In this article the model predictive path following controller and the model predictive trajectory tracking con-troller are compared for a robotic manipulator. We consider both the Runge-Kutta and collocation based ...
    • On Modeling of a Ship Propulsion System for Control Purposes 

      Karlsen, Andreas Torp (Master thesis, 2012)
      In this thesis a model of a ship propulsion system containing an engine, turbocharger, propeller and ship was constructed. The purpose of the model is to be used in controller design and testing. This is motivated by the ...
    • On Multi-UAS Sea Ice Monitoring 

      Olofsson, Jonatan (Doctoral theses at NTNU;2019:4, Doctoral thesis, 2019)
      Work in the polar regions of our planet is unavoidably linked with hazards such as drift ice. Increased presence, fueled by economic interests in the Arctic, has for several decades called for research in the field of ice ...
    • On Nonlinear and Optimization-based Control of Fixed-Wing Unmanned Aerial Vehicles 

      Reinhardt, Dirk Peter (Doctoral theses at NTNU;2022:197, Doctoral thesis, 2022)
      Methods from linear control theory have a considerable share in the state-of-the-art toolbox for control systems engineers when designing autopilots for conventional passenger aircraft. Linear controllers have well-established ...