Blar i Institutt for teknisk kybernetikk på dokumenttype "Journal article"
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A fully differential capacitively-coupled high CMRR low-power chopper amplifier for EEG dry electrodes
(Journal article; Peer reviewed, 2020)The use of dry electrodes is increasing rapidly. Since their impedance is high, there is a high impedance node at the connecting node between the electrode and amplifier. This leads to absorb powerline signal and high CMRR ... -
A Geometric Approach to the Design of Serial and Parallel Manipulators with Passive Joints
(Journal article; Peer reviewed, 2014)The use of robotic manipulators in remote and sensitive areas calls for more robust solutions when handling joint failure, and the industry demands mathematically robust approaches to handle even the worst case scenarios. ... -
A Gray-Box Method for Stability and Controller Parameter Estimation in HVDC-Connected Wind Farms Based on Nonparametric Impedance
(Journal article; Peer reviewed, 2019)Estimation of critical control parameters is a desirable tool feature for stability analysis and impedance shaping of high voltage dc (HVdc) connected wind farms. Accurate estimation of such parameters would be enabled by ... -
A heat equation for freezing processes with phase change: stability analysis and applications
(Journal article, 2016)In this work, the stability properties as well as possible applications of a partial differential equation (PDE) with state-dependent parameters are investigated. Among other things, the PDE describes freezing of foodstuff, ... -
A homotopy-based moving horizon estimation
(Journal article; Peer reviewed, 2019)Moving horizon estimation (MHE) solves a constrained dynamic optimisation problem. Including nonlinear dynamics into an optimal estimation problem generally comes at the cost of tackling a non-convex optimisation problem. ... -
A homotopy-based moving horizon estimation
(Journal article; Peer reviewed, 2017)Moving horizon estimation (MHE) solves a constrained dynamic optimisation problem. Including nonlinear dynamics into an optimal estimation problem generally comes at the cost of tackling a non-convex optimisation problem. ... -
A hybrid approach to underwater docking of AUVs with cross-current
(Journal article, 2016)This paper proposes a docking maneuver for an underactuated autonomous underwater vehicle (AUV) to dock into a funnel shaped docking station. The novelty of the proposed approach is enabling an underactuated AUV that is ... -
A hybrid model of obstacle-aided snake robot locomotion
(Journal article; Peer reviewed, 2010)A snake can traverse cluttered and irregular environments by using irregularities around its body as push-points to aid the propulsion. This characteristic feature of biological snake locomotion, denoted obstacle-aided ... -
A Kalman-filtering derivation of simultaneous input and state estimation
(Journal article; Peer reviewed, 2019)Simultaneous input and state estimation algorithms are studied as particular limits of Kalman filtering problems. This admits interpretation of the algorithm properties and critical analysis of their claims to being partly ... -
A Lightweight Payload for Hyperspectral Remote Sensing using Small UAVS
(Journal article; Peer reviewed, 2018)In this paper we describe a lightweight hyperspectral imaging payload consisting of a push-broom imager, GPS and IMU sensors as well as data synchronization and acquisition systems. The payload is developed in a modular ... -
A Machine Learning Approach for Estimating Air Data Parameters
(Journal article; Peer reviewed, 2019)This paper presents a method for estimating the air data parameters for a small fixed-wing, unmanned aerial vehicle (UAV) using an arrangement of low-cost MEMS-based pressure sensors embedded in the surface of the UAV. The ... -
A Machine Vision System for Robust Sorting of Herring Fractions
(Journal article, 2016)Among the rest raw material in herring (Clupea harengus) fractions, produced during the filleting process of herring, there are high-value products such as roe and milt. As of today, there has been little or no major effort ... -
A meta-parameterized approach for the evaluation of semiconductor technologies - A comparison between SiC-MOSFET and Si-IGBT technologies
(Journal article; Peer reviewed, 2018)This paper presents a meta-parameterized approach for the evaluation of Power Switch Modules (PSMs) in power converters. General models and parameters for the evaluation of power losses and volume of a PSM are presented. ... -
A Model-Based Speed and Course Controller for High-Speed ASVs
(Journal article; Peer reviewed, 2018)Well-performing low-level vessel controllers are a necessity for marine motion control applications such as path following, trajectory tracking and collision avoidance for autonomous surface vehicles (ASVs). Designing such ... -
A Modified Sequence-Domain Impedance Definition and Its Equivalence to the dq-Domain Impedance Definition for the Stability Analysis of AC Power Electronic Systems
(Peer reviewed; Journal article, 2016)Representation of ac power systems by frequency-dependent impedance equivalents is an emerging technique in the dynamic analysis of power systems including power electronic converters. The technique has been applied for ... -
A modular and waterproof snake robot joint mechanism with a novel force/torque sensor
(IEEE International Conference on Intelligent Robots and Systems. Proceedings;2012, Journal article; Peer reviewed, 2012)This paper presents the design of a waterproof and mechanically robust joint module for the snake robot Mamba. The main contribution of the module is a custom-designed force/torque sensor based on strain gauges, which ... -
A Multi-Modal Approach for Hand Motion Classification Using Surface EMG and Accelerometers
(IEEE Engineering in Medicine and Biology Society. Conference Proceedings;6091054, Journal article; Peer reviewed, 2011)For decades, electromyography (EMG) has been used for diagnostics, upper-limb prosthesis control, and recently even for more general human-machine interfaces. Current commercial upper limb prostheses usually have only two ... -
A multi-sensor fusion framework for improving situational awareness in demanding maritime training
(Journal article, 2017)Real offshore operational scenarios can involve a considerable amount of risk. Sophisticated training programmes involving specially designed simulator environments constitute a promising approach for improving an individual's ... -
A multiple model adaptive architecture for the state estimation in discrete-time uncertain LPV systems
(Journal article, 2017)This paper addresses the problem of multiple model adaptive estimation (MMAE) for discrete-time linear parameter varying (LPV) systems that are affected by parametric uncertainty. The MMAE system relies on a finite number ... -
A Neural Network Approach to Control Allocation of Ships for Dynamic Positioning
(Journal article; Peer reviewed, 2018)Dynamic Positioning (DP) of ships is a control mode that seeks to maintain a specific position (stationkeeping) or perform low-speed maneuvers. In this paper, a static Neural Network (NN) is proposed for control allocation ...