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Particle Filter for Fault Diagnosis and Ropbust Navigation of Underwater Robot
(Journal article; Peer reviewed, 2014)A particle filter (PF)-based robust navigation with fault diagnosis (FD) is designed for an underwater robot, where 10 failure modes of sensors and thrusters are considered. The nominal underwater robot and its anomaly are ... -
Particle Swarm Optimization for Dynamic Risk-Aware Path Following for Autonomous Ships
(Peer reviewed; Journal article, 2022)This work presents the use of particle swarm optimization (PSO) for dynamic risk-aware path following, or waypoint re-planning during autonomous surface navigation in a maritime environment with polygonal grounding obstacles. ... -
Passasjerhåndteringssystem for den autonome urbane passasjerfergen milliAmpere2
(Bachelor thesis, 2023)Denne bacheloroppgaven dokumenterer utviklingen og tankegangen for et passasjerhåndteringssystem for milliAmpere2 i Autoferry-prosjektet til Norges teknisk-naturvitenskapelige universitet (NTNU). Dette omfatter design, ... -
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 ... -
Passive learning to address nonstationarity in virtual flow metering applications
(Peer reviewed; Journal article, 2022)Steady-state process models are common in virtual flow meter applications due to low computational complexity, and low model development and maintenance cost. Nevertheless, the prediction performance of steady-state models ... -
Passivity-based Formation Control for UAVs with a Suspended Load
(Journal article, 2017)This paper presents a passivity based formation control strategy for multiple unmanned aerial vehicles (UAVs) cooperatively carrying a suspended load. The control strategy we propose consists of an internal feedback control ... -
Past, Present and Future Challenges of the Marine Vessel's Electrical Power System
(Journal article, 2016)The evolution of the use of electricity in marine vessels is presented and discussed in this article in an historical perspective. The historical account starts with its first commercial use in the form of light bulbs on ... -
Path and Motion Planning for Unmanned Surface Vehicles subject to the International Regulations for Preventing Collisions at Sea
(Master thesis, 2022)I denne masteroppgaven utforskes en metode for å muliggjøre ruteplanlegging og kollisjonsunngåelse for overflatefartøy i storskala kystområder uten menneskelig innblanding. Guidingsystemet som er designet og implementert ... -
Path Correction for 3D Printing by Robotic Manipulator
(Master thesis, 2018)Technology is an essential part of industry nowadays, thanks to which there are advances in quality of the product, efficiency of energy or safety of human capital (among others). Today, we are part of the fourth industrial ... -
Path Following and Collision Avoidance for Quadcopters using Deep Reinforcement Learning
(Master thesis, 2022)Klassiske kontrollmetoder avhenger av nøyaktige modeller. Slike modeller eksisterer ikke alltid for komplekse systemer, og kontroll er begrenset til enkle oppgaver på lavt nivå. Modellfrie Reinforcement Learning (RL) ... -
Path Following and Collision Avoidance for an Underwater Swimming Manipulator
(Master thesis, 2018)The Underwater Swimming Manipulator (USM) is a new type of autonomous unmanned underwater vehicle that combines the highly maneuverable design of the biologically inspired underwater snake robot (USR) with thruster actuators ... -
Path Following and Collision Avoidance for Marine Vessels with Deep Reinforcement Learning
(Master thesis, 2019)Interessen for fullt autonome kjøretøy har økt raskt i løpet av de siste årene, motivert av løfter om økt effektivitet samt reduserte kostnader og miljøpåvirkning. Innenfor fartøystyring er kollisjonsunngåelse en viktig ... -
Path following control for articulated intervention-AUVs using geometric control of reduced attitude
(Journal article; Peer reviewed, 2019)An articulated intervention autonomous underwater vehicle (AIAUV) consists of the jointed body of a snake robot equipped with thrusters for hovering and faster propulsion. The slender, articulated body can be used as a ... -
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 ... -
Path Following Control of a Planar Snake Robot with an Exponentially Stabilizing Joint Control Law
(IFAC Proceedings series;8th IFAC Symposium on Intelligent Autonomous Vehicles, Journal article, 2013)This paper considers the problem of path following control of a planar snake robot without sideslip constraints. We use Lagrangian mechanics to derive the dynamical equations of motion of the system. The possibility of ... -
Path following control of planar snake robots using a cascaded approach
(Journal article; Peer reviewed, 2012)This paper considers path following control of snake robots along straight paths. Under the assumption that the forward velocity of the snake robot is nonzero and positive, we prove that the proposed path following controller ... -
Path following control of planar snake robots using a cascaded approach
(Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes;, Journal article; Peer reviewed, 2010)This paper considers path following control of snake robots along straight paths. The proposed controller propels the snake robot forward according to the motion pattern lateral undulation while simultaneously adjusting ... -
Path Following Control of Planar Snake Robots Using Virtual Holonomic Constraints
(Chapter, 2013)This paper considers path following control of planar snake robots using virtual holonomic constraints. We first derive the Euler-Lagrange equations of motion of the snake robot. Moreover, we integrate the effects of ... -
Path following control of planar snake robots using virtual holonomic constraints: theory and experiments
(Journal article; Peer reviewed, 2014-08-28)This paper considers path following control of planar snake robots using virtual holonomic constraints. In order to present a model-based path following control design for the snake robot, we first derive the Euler-Lagrange ... -
Path following control of planar snake robots using virtual holonomic constraints: theory and experiments
(Journal article; Peer reviewed, 2014)This paper considers path following control of planar snake robots using virtual holonomic constraints. In order to present a model-based path following control design for the snake robot, we first derive the Euler-Lagrange ...