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Path-searching for Rolling Motion of the Two-Link Acrobot With Curved Links
(Master thesis, 2012)Mathematical models are designed for the Acrobot with Curved Links. From these models, the reduced system dynamics are derived, and used for a numerical search routine which aims to find a closed trajectory of a rolling ... -
A Path-Velocity Decomposition Approach to Collision Avoidance for Autonomous Passenger Ferries in Confined Waters
(Peer reviewed; Journal article, 2020)A deliberate collision avoidance approach for autonomous surface vehicles operating in confined waters with high traffic is presented. The approach focuses on dynamic obstacles, by assuming a predefined set of paths that ... -
Pathfinding through conformal mapping
(Master thesis, 2019)I denne oppgaven er konforme avbildninger er brukt for å løse stifinningsproblemer. Ved å konformt transformere 2D planet til en enklere representasjon, blir kostnaden av å gjennomføre stifinning redusert. Hovedfordelen ... -
Pathfinding with Obstacle Avoidance using a Genetic Algorithm
(Master thesis, 2013)In this paper a trajectory planner for a 3D obstacle avoidance problem was researched and implemented. The resulting choice was based on results gathered from implementing a Genetic algorithm on a simplified 2D problem in ... -
Pattern recognition reveals characteristic postprandial glucose changes: Non-individualized meal detection in diabetes mellitus type 1
(Journal article; Peer reviewed, 2019)Accurate continuous glucose monitoring (CGM) is essential for fully automated glucose control in diabetes mellitus type 1. State-of-the-art glucose control systems automatically regulate the basal insulin infusion. Users ... -
Pålitelighet av mennesket i sikkerhetskritiske operasjoner
(Master thesis, 2009)Menneskelige feil under sikkerhetskritiske operasjoner kan få fatale følger og fantastiske økonomiske konsekvenser. Mennesket står for over 80-90% av alle ulykker, og bedrifter over hele verden har måttet kaste inn håndkle ... -
Penalty Function Approaches for Proactive Fault-Tolerant Model Predictive Control
(Master thesis, 2015)In the event of actuator faults in systems, standard control algorithms might not be sufficient for stabilizing the system and keeping the performance at an accept- able level. Because of this, fault-tolerant control methods ... -
Perception and High-Level Control for Autonomous Drone Missions
(Master thesis, 2021)Denne oppgaven presenterer et autonomt drone-system som muliggjør for en drone å gjennomføre autonome oppdrag som starter og slutter på en bestemt landingsplattform. En tilstandsestimeringsalgorimte er laget for å estimere ... -
Perception for obstacle-aided locomotion of snake robots
(Master thesis, 2017)The goal of this project was to provide an obstacle-aided snake robot with improved perceptual capability. This implies ensuring that objects located in the snakes' close proximity get a high resolution digital representation. ... -
Perception-Driven Obstacle-Aided Locomotion for snake robots, linking virtual to real prototypes
(Master thesis, 2017)Snake robots have the potential to be used for many tasks where maneuvering through narrow and uneven terrain is necessary. Examples of such tasks include search-and-rescue missions, firefighting and pipe inspection. Real ... -
Perception-Driven Obstacle-Aided Locomotion for Snake Robots: The State of the Art, Challenges and Possibilities
(Journal article; Peer reviewed, 2017)In nature, snakes can gracefully traverse a wide range of different and complex environments. Snake robots that can mimic this behaviour could be fitted with sensors and transport tools to hazardous or confined areas that ... -
Performance Analysis of Nonlinearly Controlled Motion Systems
(Master thesis, 2009)In this thesis, we investige the applicability of the certain numerical methods for the solution of certain systems of partial differential equations. Numerical methods for this purpose are studied, in particular the finite ... -
Performance analysis of safety barriers against cascading failures in a battery pack
(Peer reviewed; Journal article, 2022)Lithium-ion batteries have been widely employed as the principal power source in electric vehicles and other storage systems. However, some critical issues in a battery pack still exist, such as thermal failures on initial ... -
Performance analysis of safety instrumented systems against cascading failure during prolonged demand
(Peer reviewed; Journal article, 2021)Cascading failures may occur in many technical systems where the failure of one component triggers successive events. Safety barriers like safety instrumented systems are installed in many industries to prevent failures ... -
Performance assessment of K-out-of-N safety instrumented systems subject to cascading failures
(Peer reviewed; Journal article, 2021)Safety instrumented systems often employ redundancy to enhance the ability to detect and respond to hazardous events. The use of redundancy increases the fault tolerance to single failure but remains vulnerable in case of ... -
Performance Bounds for Tracking Multiple Objects using a Single UAV
(Chapter, 2017)In this paper we calculate probabilistic estimates for the size of an area a single unmanned aerial vehicle (UAV) can expect to monitor when tracking multiple objects. The objects are assumed to move according to a linear ... -
Performance Comparison of Backstepping-Based Adaptive Controllers for Marine Surface Vessels
(Chapter, 2016)This paper deals with the design and evaluation of three controllers based on backstepping and different adaptive control schemes, which are applied to the motion control of a nonlinear 3 degrees-of-freedom model of a ... -
Performance Comparison of Controllers with Fault-Dependent Control Allocation for UAVs
(Journal article; Peer reviewed, 2017)This paper combines fault-dependent control allocation with three different control schemes to obtain fault tolerance in the longitudinal control of unmanned aerial vehicles. The paper shows that fault-dependent control ... -
Performance evaluation of different Kalman filters for state estimation of lithium-ion batteries
(Master thesis, 2022)Litium-ion-batterier representerer en enorm industri og har vist seg å være en sentral teknologi for å redusere klimagasser. Ettersom elektrifiseringen av transportsektoren fortsetter å øke, vil de potensielle gevinstene ... -
Performing Dynamic Manipulation of a Rolling Object on the Butterfly Robot with Perturbation in System Parameters
(Master thesis, 2021)En av de vanskeligste aspektene ved ˚a reprodusere menneskelig atferd i robotikk er ˚a utføre ikke-prehensile (ikke-gripende) objektmanipulering. Dersom roboter skal kunne integreres i en menneskeskapt verden, m˚a de være ...