Browsing Institutt for teknisk kybernetikk by Title
Now showing items 3350-3369 of 3669
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The Design and Implementation of a Control System for an Autonomous Miniature Drilling Rig
(Master thesis, 2018)The work presented in this thesis is concerned with the control system of the autonomous miniature drilling rig NTNU has entered and competed with in the international Drillbotics competition. A brief listing of the status ... -
The Digital Wheelchair Project: Motion Tracking, Mathematical Modeling and Identification.
(Master thesis, 2022)Mange rullestolbrukere lever en fysisk inaktiv livsstil på grunn av begrensede bevegelsesmuligheter og generelle funksjonshemminger. Denne mangelen på fysisk aktivitet kan ha alvorlige implikasjoner på både deres fysiske ... -
The Effect of Continuous Circulation on Pressure Oscillations Caused by Rig Heaving
(Master thesis, 2014)Drilling operations are preformed by several countries. Some countries are forced to drill offshore, whereas others to drill onshore. Offshore drilling operations are more challenging comparing to onshore operations. The ... -
The effect of dimensionality reduction on signature-based target detection for hyperspectral imaging
(Journal article; Peer reviewed, 2019)Target detection is one of the more popular applications of hyperspectral remote sensing. To enhance the detection rate, it is common to do preprocessing to reduce the effects of noise and other forms of undesired interference ... -
The eXogenous Kalman Filter (XKF)
(Journal article; Peer reviewed, 2017)It is well known that the time-varying Kalman Filter (KF) is globally exponentially stable and optimal in the sense of minimum variance under some conditions. However, nonlinear approximations such as the extended KF ... -
The Generalized Super-Twisting Algorithm Used for Robust Control of Unmanned Subsea Vehicles Operating at Exposed Aquaculture Sites
(Master thesis, 2022)Fiskeoppdrett er en industri i stor vekst. Den norske fiskeoppdrettsindustrien ønsker å utnytte eksponerte havbrukslokasjoner for fiskeoppdrett. Dette er på grunn av forskjellige miljø og plassproblemer som industrien ... -
The impact of time-frequency estimation methods on the performance of wave energy converters under passive and reactive control
(Journal article; Peer reviewed, 2018)A number of wave energy controllers tune the power take-off (PTO) system to the frequency of incident waves. Since real ocean waves are non-stationary by nature and not defined by a single frequency component, the PTO can ... -
The Marine Vessel’s Electrical Power System: From its Birth to Present Day
(Journal article; Peer reviewed, 2015)Examines the development of marine vehicle power systems from an historical perspective. from the earliest forms of power systems to the current development of all electric ship technologies. -
The Mode Mixing Problem and its Influence in the Neural Activity Reconstruction
(Journal article; Peer reviewed, 2019)This paper presents and discusses the challenge of mode mixing when using the Empirical Mode Decomposition (EMD) to identify intrinsic modes from EEG signals used for neural activity reconstruction. The standard version ... -
The multiple hypothesis tracker derived from finite set statistics
(Chapter, 2017)The multiple hypothesis tracker (MHT) has historically been considered a gold standard for multi-target tracking. In this paper we show that the key formula for hypothesis probabilities in Reid's MHT can be derived from ... -
The Neighbor Course Distribution Method with Gaussian Mixture Models for AIS-based Vessel Trajectory Prediction
(Chapter, 2018)When operating an autonomous surface vessel (ASV) in a marine environment it is vital that the vessel is equipped with a collision avoidance (COLAV) system. This system must be able to predict the trajectories of other ... -
The nonlinear heat equation with state-dependent parameters and its connection to the Burgers’ and the potential Burgers’ equation
(Journal article; Peer reviewed, 2014)In this work the stability properties of a nonlinear partial differential equation (PDE) with state dependent parameters is investigated. Among other things, the PDE describes freezing of foodstuff, and is closely related ... -
The NTNU Cyborg 1.0 - Robottekniske aspekter
(Master thesis, 2015)The NTNU Cyborg skal etter hvert bli en ekte kyborg, altså en kybernetisk organisme, men først skal det utvikles en ren robot. The NTNU Cyborg 1.0 er en robot bestående av en mobil robotbase som skal bære en kropp med en ... -
The NTNU Cyborg 4.0 The Behaviour Module & Behaviour Trees
(Master thesis, 2020)Prosjektet NTNU Cyborg has som mål å muliggjøre kommunikasjon mellom en robot og levende nerveceller. Cyborgen vil da fungere som en maskot for NTNU og instituttene som deltar i prosjektet. Denne oppgaven bidrar med ... -
The NTNU Cyborg v2.0: The Presentable Cyborg
(Master thesis, 2017)The focus of this thesis is to make the NTNU Cyborg robot ready for presentations. I present a term, The Presentable Cyborg, which is the state in which the Cyborg is ready for presentations. I also present another state, ... -
The path to Autonomous Inspection using an Unmanned Aerial Vehicle - The Development of a Simulator Framework and Navigation tools
(Master thesis, 2017)Using unmanned aerial vehicles for autonomous inspections of industrial environments in general, and cargo holds and tanks in particular, is a goal that has become within reach the last couple of years, though a lot of ... -
The role of electrical energy storage in sub-Saharan Africa
(Journal article; Peer reviewed, 2016)In developing countries, energy is recognized to be essential for promoting equitable growth, fostering social inclusion and preserving the environment. Nevertheless, the current state of the energy sectors of developing ... -
The Ultrasound Cardiac Supercycle - for high temporal and spatial resolution
(Master thesis, 2021)Hjerteultralyd er en ikke-invasiv medisinsk avbildningsmetode som gir informasjon om hjertets struktur og funksjonsevne. Det er derav en mye brukt metode for å undersøke og oppdage hjerteog karsykdommer. Ettersom slike ... -
The Underwater Swimming Manipulator - A Bio-Inspired AUV
(Chapter, 2016)Autonomous underwater vehicles (AUVs) have been used for environmental mapping and surveys of various kinds for some time. More recently, the AUVs have entered the domain of the remotely operated vehicles (ROVs) to tackle ... -
The Underwater Swimming Manipulator — A Bioinspired Solution for Subsea Operations
(Journal article; Peer reviewed, 2018)Underwater vehicles have carried out subsea operations for many decades, and since the 1980s, remotely operated vehicles (ROVs) have been essential for the development and maintenance of subsea installations. As the ...