Blar i Institutt for teknisk kybernetikk på dokumenttype "Journal article"
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A note on establishing convergence in adaptive systems
(Journal article; Peer reviewed, 2018)We present a new formulation of a convergence result for Lyapunov function candidates satisfying a differential inequality with integrable coefficients that often appears in adaptive control problems. Usually, Barbalat’s ... -
A novel model-based scheme for kick and loss mitigation during drilling
(Journal article; Peer reviewed, 2013)A model-based in-/out-flux detection scheme for managed pressure drilling is presented. We apply a globally exponentially stable adaptive observer which estimates the unknown states and parameters of the hydraulic system ... -
A novel role for pigment genes in the stress response in rainbow trout (Oncorhynchus mykiss)
(Journal article; Peer reviewed, 2016)In many vertebrate species visible melanin-based pigmentation patterns correlate with high stress- and disease-resistance, but proximate mechanisms for this trait association remain enigmatic. Here we show that a missense ... -
A Parallel FPGA Implementation of the CCSDS-123 Compression Algorithm
(Journal article; Peer reviewed, 2019)Satellite onboard processing for hyperspectral imaging applications is characterized by large data sets, limited processing resources and limited bandwidth of communication links. The CCSDS-123 algorithm is a specialized ... -
A Primal decomposition algorithm for distributed multistage scenario model predictive control
(Journal article; Peer reviewed, 2019)This paper proposes a primal decomposition algorithm for efficient computation of multistage scenario model predictive control, where the future evolution of uncertainty is represented by a scenario tree. This often results ... -
A Reactive Collision Avoidance Algorithm for Nonholonomic Vehicles
(Journal article; Peer reviewed, 2017)This paper presents a reactive collision avoidance algorithm for vehicles with unicycle-type nonholonomic constraints. Static and dynamic obstacles are avoided by keeping a constant avoidance angle to the obstacle. The ... -
A Reactive Collision Avoidance Algorithm for Vehicles with Underactuated Dynamics
(Journal article; Peer reviewed, 2017)This paper presents a reactive collision avoidance algorithm, which avoids both static and moving obstacles by keeping a constant avoidance angle between the vehicle velocity vector and the obstacle. In particular, we ... -
A reduced random sampling strategy for fast robust well placement optimization
(Journal article; Peer reviewed, 2019)Model-based decision-making in oilfield development often involves hundreds of computationally demanding reservoir simulation runs. In particular, well placement optimization under uncertainty in the geologic representation ... -
A review of demodulation techniques for amplitude-modulation atomic force microscopy
(Journal article; Peer reviewed, 2017)In this review paper, traditional and novel demodulation methods applicable to amplitude-modulation atomic force microscopy are implemented on a widely used digital processing system. As a crucial bandwidth-limiting component ... -
A Review of the Current Challenges Associated with the Development of an Artificial Pancreas by a Double Subcutaneous Approach
(Journal article; Peer reviewed, 2017)Introduction Patients with diabetes type 1 (DM1) struggle daily to achieve good glucose control. The last decade has seen a rush of research groups working towards an artificial pancreas (AP) through the application of a ... -
A review on modelling, implementation, and control of snake robots
(Journal article; Peer reviewed, 2012)This paper provides an overview of previous literature on snake robot locomotion. In particular, the paper considers previous research efforts related to modelling of snake robots, physical development of these mechanisms, ... -
A simplified two-phase flow model using a quasi-equilibrium momentum balance
(Journal article; Peer reviewed, 2016)We propose a simple model of two-phase gas–liquid flow by imposing a quasi-equilibrium on the mixture momentum balance of the classical transient drift-flux model. This reduces the model to a single hyperbolic PDE, describing ... -
A snake robot joint mechanism with a contact force measurement system
(Journal article; Peer reviewed, 2009)A snake robot can traverse cluttered and irregular environments by using irregularities around its body as pushpoints to aid the propulsion. This is denoted obstacle-aided locomotion and requires the snake robot to have ... -
A snake robot with a contact force measurement system for obstacle-aided locomotion
(Journal article; Peer reviewed, 2010)A snake robot can traverse cluttered and irregular environments by using irregularities around its body as push-points to aid the propulsion. This is denoted obstacle-aided locomotion and requires the snake robot to have ... -
A Survey of Design Considerations of Optical Imaging Stabilization Systems for Small Unmanned Aerial Systems
(Journal article; Peer reviewed, 2019)Optical imaging systems are one of the most common sensors used for collecting data with small Unmanned Aerial Systems (sUAS). Plenty of research exists which present custom-made optical imaging systems for specific missions. ... -
A survey on snake robot modeling and locomotion
(Journal article; Peer reviewed, 2009)Snake robots have the potential to make substantial contributions in areas such as rescue missions, firefighting, and maintenance where it may either be too narrow or too dangerous for personnel to operate. During the last ... -
A System Architecture for Constraint-Based Robotic Assembly with CAD Information
(Journal article, 2018)A system architecture is presented to generate sensor-controlled robot tasks from knowledge encoded in a CAD model. This architecture consists of an application layer where the user annotates assembly tasks in the CAD ... -
A two-layer structure for stabilization and optimization of an oil gathering network
(Journal article; Peer reviewed, 2016)In this work, we present the control and optimization of a network consisting of two gas-lifted oil wells, a common pipeline-riser system and a separator. The gas-lifted oil wells may be open-loop unstable. The regulatory ... -
A Uniformly Semiglobally Exponentially Stable Nonlinear Observer for GNSS- and Camera-Aided Inertial Navigation
(Journal article, 2014)In this paper a nonlinear observer for estimation of position, velocity, acceleration, attitude and gyro bias of an Unmanned Aerial Vehicle (UAV) is proposed. The sensor suite consists of an Inertial Measurement Unit (IMU), ... -
A virtual vertical reference concept for aided inertial navigation at the sea surface
(Journal article; Peer reviewed, 2017)When trying to capture the heaving motion of a marine vessel in waves, conventional position references such as global navigation satellite systems fall short in many cases. Because of design and satellite geometry, the ...