Blar i Institutt for teknisk kybernetikk på emneord "Kybernetikk og robotikk, Navigasjon og fartøystyring"
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Hybrid Collision Avoidance for Autonomous Surface Vessels
(Master thesis, 2017)When developing autonomous vehicles, collision avoidance (COLAV) methods are essential. COLAV methods are generally divided into two groups; reactive and deliberate methods. Reactive COLAV methods act solely on sensor data ... -
Improving Navigation and Mapping with Arduino robot
(Master thesis, 2017)During this Master Thesis work has been made on the Arduino robot to improve its general capabilities. Work has also been made to further explore the possibilities of the sensors used on all robots in the system. A ... -
An MINLP Approach Integrating Predictive Method for Optimal Load Sharing in Generating Machines
(Master thesis, 2018)Gas turbines and diesel engines have generally been used in the Oil & Gas industry. As the amount of energy required for the operation is large, the efficiency of power plant operation has been subject to many works conducted ... -
Modeling and control of catenary mooring systems for vessels, oil rigs, and barges
(Master thesis, 2018)In this master thesis, an automatic positioning system for moored vessels has been studied. Although there exist dynamic positioning systems for vessels with integrated thrusters, this system will be considering operations ... -
Multi target tracking - Using random finite sets with a hybrid state space and approximations
(Master thesis, 2018)This study provides a thorough investigation into the theoretical framework and background around the standard model used in \ab{mtt}, including \abp{pgm} with \ab{bp}, Bayesian state estimation for a hybrid state space, ... -
Outlier Rejection for GNSS-aided Inertial Navigation
(Master thesis, 2017)Motivated by the importance of accurate measurements in navigation-applications, this thesis presents the implementation of an algorithm utilizing the estimated uncertainty from a Kalman filter to determine the quality of ... -
Passive depth estimation using stereo vision, an experimental study
(Master thesis, 2017)This master s thesis is an experimental study on passive stereo techniques for retrieving 3D scene information. The stereo camera system is tested for finding the position of a platform relative to the stereo camera where ... -
Path Following Control for Underwater Swimming Manipulators Moving in 3D - Using Geometric Attitude Control
(Master thesis, 2018)The underwater swimming manipulator (USM) is a snake robot equipped with thrusters for faster propulsion or hovering. The entire articulated body of the USM can be used as a floating manipulator arm, and its slender build ... -
Planning and Control of Energy Efficient Manipulation Task for ABB 1600 robot
(Master thesis, 2016)Due to the ever increasing number of industrial robots in the world, working day and night producing and manufacturing, a need has arisen to make sure that these robots work energy efficient. This is both to make robots ... -
Robust Volumetric 3-D Reconstruction in a Dynamic Environment
(Master thesis, 2018)As a part of a research project at SINTEF Ocean AS named Neodroid aiming at developing a general purpose humanoid robot to execute a variety of complex tasks, the need for perceptive ability arises. The robot consists of ... -
Ship Motion Control Concepts Considering Actuator Constraints
(Master thesis, 2018)Numerous motion controllers and autopilots have been proposed over the years. Most control algorithms found in the literature do not explicitly consider saturation constraints for the actuators. In traditional control ... -
Ship Path Planning using Navigational Charts with Time-Dependent Weather Constraints
(Master thesis, 2018)Automatically planning safe paths for ships to follow will be an important step towards a more autonomous shipping industry. This thesis develops an algorithm that generates safe paths that avoid grounding, sailing in ...