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Object Tracking for Fine-Tuning of Robot Positions
(Master thesis, 2009)In many complex applications an accurate model of the plant is not known. Consequently, complementary methods are needed to automatically achieve accurate dynamical positioning of a robot in relation to its surroundings. ... -
Observer and IMU-based Detection of Faults in Position Reference Systems and Gyrocompasses with Dual Redundancy in Dynamic Positioning
(Journal article; Peer reviewed, 2014)Faults in position reference systems and vessel sensors pose a serious hazard during dynamic positioning, and vessel drive-offs because of erroneous data may have dire consequences. The classification society standards ... -
Observer Backstepping Control for Variable Speed Wind Turbine
(Chapter; Peer reviewed, 2013)This paper presents an observer backstepping controller as feasible solution to variable speed control of wind turbines to maximize wind power capture when operating between cut-in and rated wind speeds. The wind turbine ... -
Observer based path following for underactuated marine vessels in the presence of ocean currents: A global approach
(Journal article; Peer reviewed, 2019)In this paper a solution to the problem of following a curved path in the presence of a constant unknown ocean current disturbance is presented. We introduce a path variable that represents the curvilinear abscissa on the ... -
Observer Based Path Following for Underactuated Marine Vessels in the Presence of Ocean Currents: A Local Approach
(Journal article; Peer reviewed, 2017)In this article a solution to the problem of following a curved path in the presence of a constant unknown ocean current disturbance is presented. The path is parametrised by a path variable that is used to propagate a ... -
Observer Based Sliding Mode Attitude Control: Theoretical and Experimental Results
(Journal article; Peer reviewed, 2011)In this paper we present the design of a sliding mode controller for attitude control of spacecraft actuated by three orthogonal reaction wheels. The equilibrium of the closed loop system is proved to be asymptotically ... -
Observer Design for a Class of Semilinear Hyperbolic PDEs with Distributed Sensing and Parametric Uncertainties
(Peer reviewed; Journal article, 2022)We study a class of heterodirectional semilinear hyperbolic partial differential equations, where the distributed state vector is partially measured. An observer estimating the unmeasured part of the state vector is designed. ... -
Observer Design For Fault-Tolerant Dynamic Positioning Using MEMS Inertial Sensors
(Doctoral theses at NTNU;2017:86, Doctoral thesis, 2017)The contribution of this disseration is threefold. First, it provides insight into the use of a certain type of nonlinear observers (NLO) for platform independent position, velocity and attitude estimation, exemplified by ... -
Observer Design for Mechanical Systems described by Semilinear Partial Differential Equations
(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. ... -
Observer design for underwater vehicles with position and angle measurement
(Journal article, 2006)In this paper we propose a new observer system for underwater vehicles. The main design objective behind this strategy is to reduce the destabilizing effect of the Coriolis and centripetal forces and moments in the observer. ... -
Obstacle Detection and Avoidance in a 3D Environment
(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
(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 ... -
Obstructive sleep apnea detection using discrete wavelet transform-based statistical features
(Peer reviewed; Journal article, 2021)Motivation and objective Obstructive sleep apnea (OSA) is a sleep disorder identified in nearly 10% of middle-aged people, which deteriorates the normal functioning of human organs, notably that of the heart. Furthermore, ... -
Ocean Surface Pickup with Multirotor Drone
(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
(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
(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
(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
(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 Adversarial Regularization of Tabular Wasserstein Generative Adversarial Networks
(Master thesis, 2022)I løpet av det siste tiåret har maskinlæring og spesielt dyp læring utviklet seg til å bli et stadig mer brukt verktøy i de digitale tjenestene vi benytter oss av, som dermed gjør at de gjennomsyrer samfunnene og livene ... -
On closures for reduced order models— A spectrum of first-principle to machine-learned avenues
(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 ...