Blar i Institutt for teknisk kybernetikk på dokumenttype "Peer reviewed"
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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 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 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 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 Dynamic Window Algorithm for Horizontal Collision Avoidance for AUVs
(Chapter; Peer reviewed, 2016)Much research has been done on the subject of collision avoidance (COLAV). However, few results are presented that consider vehicles with second-order nonholonomic constraints, such as autonomous underwater vehicles (AUVs). ... -
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 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 ... -
A note on establishing convergence in adaptive systems
(Journal article; Peer reviewed, 2018)We present a new formulation of a convergence result for Lyapunov function candidates satisfying a differential inequality with integrable coefficients that often appears in adaptive control problems. Usually, Barbalat’s ... -
A novel model-based scheme for kick and loss mitigation during drilling
(Journal article; Peer reviewed, 2013)A model-based in-/out-flux detection scheme for managed pressure drilling is presented. We apply a globally exponentially stable adaptive observer which estimates the unknown states and parameters of the hydraulic system ... -
A novel role for pigment genes in the stress response in rainbow trout (Oncorhynchus mykiss)
(Journal article; Peer reviewed, 2016)In many vertebrate species visible melanin-based pigmentation patterns correlate with high stress- and disease-resistance, but proximate mechanisms for this trait association remain enigmatic. Here we show that a missense ... -
A Parallel FPGA Implementation of the CCSDS-123 Compression Algorithm
(Journal article; Peer reviewed, 2019)Satellite onboard processing for hyperspectral imaging applications is characterized by large data sets, limited processing resources and limited bandwidth of communication links. The CCSDS-123 algorithm is a specialized ... -
A Primal decomposition algorithm for distributed multistage scenario model predictive control
(Journal article; Peer reviewed, 2019)This paper proposes a primal decomposition algorithm for efficient computation of multistage scenario model predictive control, where the future evolution of uncertainty is represented by a scenario tree. This often results ... -
A Reactive Collision Avoidance Algorithm for Nonholonomic Vehicles
(Journal article; Peer reviewed, 2017)This paper presents a reactive collision avoidance algorithm for vehicles with unicycle-type nonholonomic constraints. Static and dynamic obstacles are avoided by keeping a constant avoidance angle to the obstacle. The ...