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Robust GNSS-Aided V-SLAM for an Unmanned Ground Vehicle
(Master thesis, 2019)Forsvarets forskningsinstitutt (FFI) utvikler for tiden et ubemannet bakkekjøretøy, kalt Olav, som skal fungere som en del av fremtidens baseforsvar . Olav skal være i stand til å utføre oppklaringsoppdrag autonomt, som ... -
Robust Hierarchical Tracking Control of Vehicle-Manipulator Systems
(Journal article; Peer reviewed, 2023)For vehicle-manipulator systems (VMSs) to perform precise operations, a robust tracking control framework is required. Moreover, to exploit the platform's redundancy, it is desirable that the framework allows several tasks ... -
Robust Landmark Detection of the Left Ventricle Based on 2D Ultrasound Image Data
(Master thesis, 2017)Echocardiography, or cardiac ultrasound, is a convenient imaging modality for bedside examination of the heart in real-time. However, acquiring ultrasound images of good quality is challenging, and currently ultrasound ... -
Robust Navigation of UAV using Inertial Sensors Aided by UWB and RTK GPS
(Chapter, 2017)Tight integration of ultra wideband (UWB) range measurements with real-time kinematic (RTK) aiding of inertial navigation for increased robustness to GNSS dropouts, is achieved using a double-differenced nonlinear observer. ... -
Robust Nonlinear ROV Motion Control for Autonomous Inspections of Aquaculture Net Pens
(Master thesis, 2020)Denne oppgaven presenterer en metode for a kontrollere en fjernstyrt undervannsbåt (ROV) til å autonomt traversere og inspisere en not for bruk i fiskeoppdrett. Metoden er basert på Doppler velocity log- (DVL) målinger, ... -
Robust orbital stabilization: A Floquet theory–based approach
(Journal article; Peer reviewed, 2021)The design of robust orbitally stabilizing feedback is considered. From a known orbitally stabilizing controller for a nominal, disturbance-free system, a robustifying feedback extension is designed utilizing the sliding-mode ... -
Robust Phased Array Navigation in Reflective Prone Areas
(Chapter, 2023)Navigation with a Phased Array Radio System (PARS) is prone to performance degradation due to radio wave reflections of the directed communication beam on reflective surfaces. This work presents a navigation algorithm, ... -
Robust pipeline localization for an autonomous underwater vehicle using stereo vision and echo sounder data
(Journal article; Peer reviewed, 2010)Submarine oil and gas pipeline inspection is a highly time and cost consuming task. Using an autonomous underwater vehicle (AUV) for such applications represents a great saving potential. However, the AUV navigation system ... -
Robust Potential Field-Based Communication & Control Architecture for Robotic Swarms - Using the nRF52 System-on-Chip and a mesh network topology
(Master thesis, 2018)Which technologies and algorithmic design are suitable for both the control strategy and the communication protocol to ensure robustness within a robotic swarm? The aim of this study is to answer this question. The study ... -
Robust Reasoning for Autonomous Cyber-Physical Systems in Dynamic Environments
(Peer reviewed; Journal article, 2021)Autonomous cyber-physical systems, CPS, in dynamic environments must work impeccably. The cyber-physical systems must handle tasks consistently and trustworthily, i.e., with a robust behavior. Robust systems, in general, ... -
Robust stability and control of spacecraft formations
(Doktoravhandlinger ved NTNU, 1503-8181; 2010:1, Doctoral thesis, 2010)The work of this thesis is focused on the robustness of control laws for space-craft formation. Robustness in this case refers to the ability of the system to withstand persistent perturbations, and to keep some of the ... -
Robust state estimation for fouling evolution in batch processes using the EM algorithm
(Journal article; Peer reviewed, 2019)Degradation such as fouling has significant negative impact on the efficiency of process manufacturing. Creating transparency about degradation is essential in the operations of the plants. This paper focuses on the state ... -
Robust Task-Priority Control of Underwater Vehicle-Manipulator Systems
(Master thesis, 2023)Autonome undervassfarkostar blir stadig meir komplekse. For å kunne utføre ei større mengd oppgåver under vatn er dei utstyrte med fleire propellar og tidomtil manipulatorar. Dette gjer dei såkalla undervassfarkost-manip ... -
Robust Task-Priority Impedance Control for Vehicle-Manipulator Systems
(Chapter, 2022)Enabling vehicle-manipulator systems to perform complex and precise intervention operations requires a robust control framework capable of handling redundancy and interaction forces. In addition, it is desirable that the ... -
Robust Volumetric 3-D Reconstruction in a Dynamic Environment
(Master thesis, 2018)As a part of a research project at SINTEF Ocean AS named Neodroid aiming at developing a general purpose humanoid robot to execute a variety of complex tasks, the need for perceptive ability arises. The robot consists of ... -
Robust, Coordinated and Proportional Myoelectric Control of Upper-Limb Prostheses
(Doktoravhandlinger ved NTNU, 1503-8181; 2013:98, Doctoral thesis, 2013)From a prosthesis user's viewpoint there is a wide range of challenges in prosthesis research, despite the recent progression in development and manufacturing of multifunction prostheses. A small part of these challenges ... -
Robustness Analysis of a Nonlinear Model Predictive Controller for Fixed-Wing UAVs
(Master thesis, 2020)En av de viktigste bekymringene for en NMPC er evalueringen av kontrollerens ytelse i varierende miljøer, nærmere bestemt kontrollerens robusthet. Robusthet kan defineres som et biprodukt av kontrollstabilitet og muligheten ... -
Robustness and Stability of Long Short-Term Memory Recurrent Neural Networks
(Master thesis, 2021)Denne masteroppgaven har som mål å studere robusthet og stabilitet i lys av den populære rekurrente nevrale nettverkstypen 'lang kortidsminne' (long short-term memory) i møte med perturbert inngangsdata and pertubasjoner ... -
Robustness of ISS systems to inputs with limited moving average: Application to spacecraft formations
(Journal article; Peer reviewed, 2016)We provide a theoretical framework that fits realistic challenges related to spacecraft formation with disturbances. We show that the input-to-state stability of such systems guarantees some robustness with respect to a ... -
Robustness Tests and Analysis of Control Strategies on an Electro-pneumatic Actuator
(Master thesis, 2007)In this thesis a Sliding Mode Controller (SMC) is designed for an electro-pneumatic clutch actuator controlled by two on/off valves with PWM. The areas of application of the clutch actuator is in Automated Manual Transmission ...