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Two new design concepts for snake robot locomotion in unstructured environments
(Journal article; Peer reviewed, 2011)This communication presents and justifies ideas related to motion control of snake robots that are currently the subject of ongoing investigations by the authors. In particular, we highlight requirements for intelligent ... -
Two pilot experiments on the feasibility of telerobotic inspection of offshore wind turbines
(Journal article; Peer reviewed, 2013)With cyber-physical systems, it is not necessary to be physically present at a location to perform work there. Inspection of offshore wind farms is a task that would be beneficial to do remotely, due to the time and high ... -
Two Space-Time Obstacle Representations Based on Ellipsoids and Polytopes
(Journal article; Peer reviewed, 2021)When operating autonomous surface vessels in uncertain environments with dynamic obstacles, planning safe trajectories and evaluating collision risk is key to navigating safely. In order to perform these tasks, it is ... -
Two-Axis Reaction Wheel Inverted Pendulum
(Master thesis, 2017)This report presents the results from development and design of a two-axis reaction wheel inverted pendulum. It shows the mathematical modeling of the system using Euler-Lagrange's equations of motion, as well as MATLAB ... -
Two-dimensional CNN-based distinction of human emotions from EEG channels selected by Multi-Objective evolutionary algorithm
(Peer reviewed; Journal article, 2022)In this study we explore how different levels of emotional intensity (Arousal) and pleasantness (Valence) are reflected in electroencephalographic (EEG) signals. We performed the experiments on EEG data of 32 subjects from ... -
Two-Sided Boundary control and State Estimation of 2x2 Semilinear Hyperbolic Systems
(Chapter, 2017)We solve the problem of controlling a class of one-dimensional semilinear 2 × 2 hyperbolic systems to the origin in minimum time using actuation at both boundaries of the domain. The control method can also be used to solve ... -
A Two-stage Area-efficient High Input Impedance CMOS Amplifier for Neural Signals
(Chapter, 2021)In this article, a two-stage area-efficient high input impedance neural amplifier is proposed. It has been shown that two single-stage amplifiers with low gain will consume less area in comparison with a single-stage high ... -
Two-Stage Optimized Trajectory Planning for ASVs Under Polygonal Obstacle Constraints: Theory and Experiments
(Peer reviewed; Journal article, 2020)We propose a method for energy-optimized trajectory planning for autonomous surface vehicles (ASVs), which can handle arbitrary polygonal maps as obstacle constraints. The method comprises two stages: The first is a hybrid ... -
Two-way Actuator for Arm Mounted Exoskeleton
(Master thesis, 2015)Human exoskeleton designs have in recent years started adopting the use of flexible and pneumatic powered actuators, because of their ease of use and inherent properties. A disadvantage however is that they have to be set ... -
UAV anti-icing system based on conductive coating
(Master thesis, 2014)Icing on leading edge surfaces such as wings and propeller blades presents a major risk for UAVs operating in a cold and humid environment. Reducing or loss of manoeuvrability, loss of lift, increase in drag, reducing ... -
UAV Fault-Tolerant Control by Combined L1 Adaptive Backstepping and Fault-dependent Control Allocation
(Chapter, 2015)This paper presents an approach to obtain fault tolerance in the nonlinear longitudinal motion control of an aircraft. The approach uses an L1 adaptive backstepping controller and fault-dependent control allocation to ... -
UAV Icing: A Performance Model for a UAV Propeller in Icing Conditions
(Chapter, 2022)In-flight icing on unmanned aerial vehicles is a severe hazard and imposes limits on the operational envelope. Icing has been shown to lead to substantial aerodynamic performance losses on lifting surfaces and propellers. ... -
UAV Icing: A Unified Icing Severity Index Derived from Performance Degradation
(Chapter, 2022)A problem that unmanned aerial vehicles (UAV) operators face when dealing with in-flight icing conditions is a reliable way to assess icing severity risk. This paper aims to develop an icing severity index that looks at ... -
UAV icing: Development of an ice protection system for the propeller of a small UAV
(Journal article; Peer reviewed, 2023)Atmospheric icing, also called in-flight icing, is a common hazard for the operation of uncrewed aerial vehicles (UAVs). With the background of a growing commercial and military market of small and medium-sized drones and ... -
UAV Icing: Ice Accretion Experiments and Validation
(Journal article; Peer reviewed, 2019)Atmospheric icing is a key challenge to the operational envelope of medium-sized fixed-wing UAVs. Today, several numeric icing codes exist, that all have been developed for general aviation applications. UAVs with wingspans ... -
UAV Icing: Ice Shedding Detection Methods for an Electrothermal De-Icing System
(Chapter, 2022)Among the identified problems with unmanned aerial vehicles (UAVs), especially with the medium-sized fixed-wing UAVs, is a lack of mature ice protection systems (IPSs). One of the emerging UAV ice protection technologies ... -
UAV Icing: Icing Cases for Validation of Path Planning Method
(Peer reviewed; Journal article, 2023)As part of the complete solution to deal with atmospheric in-flight icing on unmanned aerial vehicles (UAV), a path planner is a valuable tool for finding an optimal path for accomplishing UAV missions. When considering ... -
UAV Icing: Intercycle Ice Effects on Aerodynamic Performance
(Peer reviewed; Journal article, 2023)Atmospheric in-flight icing poses a challenge to all aircraft including unmanned aerial vehicles (UAVs). Aircraft should avoid icing conditions unless they have ways of mitigating the negative effects of icing, e.g., if ... -
UAV net landing system for marine operations
(Master thesis, 2017)This thesis presents an automatic landing system designed for a fixed-wing unmanned aerial vehicle (UAV) to land in a net placed on ta ship. The UAV used is a Skywalker X8, a cheap and durable airframe, with a Pixhawk as ... -
UAV Path Planning for Ice Intelligence Purposes using NLP
(Master thesis, 2012)As the oil and shipping industry are interested in operating in arctic waters, the need for ice intelligence gathering is rising.The thesis describes the implentation and results of a path planning framework for an UAV ...