Blar i Institutt for teknisk kybernetikk på emneord "Kybernetikk og robotikk, Autonome systemer"
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Optimal Avalanche Search using Drones - Prototype Development
(Master thesis, 2018)This thesis documents the development of a system for estimating the position of avalanche victims using unmanned aerial vehicles (UAV). The system can only be used if the buried individual is wearing a transmitting avalanche ... -
Optimization of Coordinated Path Planning for Autonomous Vehicles in Ice Management
(Master thesis, 2017)An important part of offshore operations in arctic climates is the management of drifting sea ice due to the dangers posed on ships and offshore structures. This thesis investigates the utilization of multiple unmanned ... -
Path Following in Simulated Environments using the A3C Reinforcement Learning Method
(Master thesis, 2018)Using reinforcement learning as a part of a Guidance, Navigation and Control (GNC) system is a relatively unexplored field. This thesis explores the use of deep reinforcement learning in a path following control algorithm ... -
Perception-Driven Obstacle-Aided Locomotion for snake robots, linking virtual to real prototypes
(Master thesis, 2017)Snake robots have the potential to be used for many tasks where maneuvering through narrow and uneven terrain is necessary. Examples of such tasks include search-and-rescue missions, firefighting and pipe inspection. Real ... -
Predictive modeling with applications in decision support systems for oil and gas production
(Master thesis, 2017)In the past decade, artifical neural networks (ANN) has given us self-driving cars, practical speech recognition and more effective web search. It is in interest of petroleum industry to research the applicability of ANNs ... -
Prototype of HIL Test Platform for Autonomous USV - Simulation and Visualization of Vessel Surroundings
(Master thesis, 2017)This thesis considers the simulation and visualization of the maritime surroundings of unmanned surface vehicles (USVs) in a Hardware-In-the-Loop (HIL) simulator. The development of the simulator was conducted as two ... -
Real Time Impedance identification of Li-Polymer Battery with Kalman Filter
(Master thesis, 2017)In a study of a new and an aged lithium-polymer battery cell, a joint Unscented Kalman Filter coupled with a non-linear equivalent circuit battery model formed the basis for on-line identification of the battery impedance ... -
Real-Time System Implementation on Autonomous Lego-Robot
(Master thesis, 2017)A new hardware abstraction layer was created for the EV3. This includes drivers for UART, timers, interrupt controller, SPI and I2C peripherals. This was documented using Doxygen; an in-code documenting tool. Doxygen was ... -
Sensor Simulation and Environment Mapping using UWB Radar for Industrial Drone Inspection
(Master thesis, 2018)The use of unmanned aerial drones for inspection of industrial environments have great potential in lowering both cost and risk. Development of such systems are going on at full speed, but many hurdles remain, especially ... -
Simple Shapes for Localization and Mapping
(Master thesis, 2017)Inspired by a procedural scene modelling technique in computer graphics, we investigate the use of continuous signed distance functions to model objects as geometric primitives, transformed and combined with set operations ... -
Solving Adaptive Optimal Control Problems with Dynamic Programming
(Master thesis, 2017)In optimal control of uncertain systems, lack of crucial information about the system can lead to unacceptable performance like the violation of constraints. In these, or similar situations where it is important to reduce ... -
Stereo Visual Odometry for Indoor Positioning
(Master thesis, 2018)The LEGO-robot project already consists of several autonomous ground robots with onboard IR-sensors able to take measurements of the walls in an indoor maze while communicating with a server running a Java application, ... -
Tracking height of snowkiting jumps based on MEMS barometer-IMU sensors
(Master thesis, 2017)Motivated by the lack of support for snowkiting in modern sports trackers, this thesis investigates height estimation of snowkiting jumps. Since a jump with a kite does not involve free-fall due to the pull of the kite, ... -
UAV net landing system for marine operations
(Master thesis, 2017)This thesis presents an automatic landing system designed for a fixed-wing unmanned aerial vehicle (UAV) to land in a net placed on ta ship. The UAV used is a Skywalker X8, a cheap and durable airframe, with a Pixhawk as ... -
UAV Path Planning for Maximum-Information Sensing in Spatiotemporal Data Acquisition
(Master thesis, 2017)Fixed-wing Unmanned Aerial Vehicles are extensively used for ground observation, as they allow for effective and precise methods of collecting information. They do however, have a downside as the quality of the information ... -
Unsupervised Object Detection in Images from Maritime Environments
(Master thesis, 2018)Autonomous surface vehicles (ASVs) are likely to revolutionize the maritime industry in the near future. To obtain situation awareness and avoid collisions, information from various types of sensors is needed. Visual cameras ...