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A Modular Software and Hardware Framework with Application to Unmanned Autonomous Systems: Interacting Modules, Error Detection and Hardware Design
(Master thesis, 2011)The Department of Engineering Cybernetics at the Norwegian University of Science andTechnology established the Unmanned Vehicle Laboratory fall 2010. The goal is to havestudents develop a fully functional autonomous aerial ... -
A Multi-Modal Approach for Hand Motion Classification Using Surface EMG and Accelerometers
(IEEE Engineering in Medicine and Biology Society. Conference Proceedings;6091054, Journal article; Peer reviewed, 2011)For decades, electromyography (EMG) has been used for diagnostics, upper-limb prosthesis control, and recently even for more general human-machine interfaces. Current commercial upper limb prostheses usually have only two ... -
A multi-sensor fusion framework for improving situational awareness in demanding maritime training
(Journal article, 2017)Real offshore operational scenarios can involve a considerable amount of risk. Sophisticated training programmes involving specially designed simulator environments constitute a promising approach for improving an individual's ... -
A Multicore-aware Deadline-driven Real-Time Scheduler for the Linux Kernel
(Master thesis, 2009)Design and implementation of a multicore scheduler for the Linux kernel. Specifically look at the pfair global algorithm, a ratebased deadline driven scheduler that is near-optimal on multicore platforms -
A multiple model adaptive architecture for the state estimation in discrete-time uncertain LPV systems
(Journal article, 2017)This paper addresses the problem of multiple model adaptive estimation (MMAE) for discrete-time linear parameter varying (LPV) systems that are affected by parametric uncertainty. The MMAE system relies on a finite number ... -
A Neural Network Approach to Control Allocation of Ships for Dynamic Positioning
(Journal article; Peer reviewed, 2018)Dynamic Positioning (DP) of ships is a control mode that seeks to maintain a specific position (stationkeeping) or perform low-speed maneuvers. In this paper, a static Neural Network (NN) is proposed for control allocation ... -
A Nonlinear Model Predictive Controller for flexible satellite attitude control
(Master thesis, 2023)Raskere manøvrering av jordobservasjonssatellitter reduserer tidsbruk og øker tiden tilgjengelig for observasjoner. Formålet med denne oppgaven er å studere hvorvidt det er mulig å benyutte ulineær modellbasert prediktiv ... -
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 Doppler based speed measurement technique for individual free-ranging fish
(Chapter, 2019)A novel Doppler based speed measurement technique for free-ranging acoustically tagged fish was developed and validated through a field experiment in a marine aquaculture farm. For emulated swimming speeds in the range ... -
A Novel Local Path Planner for a Marine Debris Cleaning ASV
(Master thesis, 2023)Plastforurensning i havet er en økende miljøkrise, og det er derfor behov for innovative løsninger for å redusere konsekvensene. En slik løsning er Clean Sea Solutions Aquadrone, en autonom farkost for opprydding av marint ... -
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 Path-Velocity Decomposition Approach to Collision Avoidance for Autonomous Passenger Ferries
(Master thesis, 2019)Under utviklingen av autonome systemer, som for eksempel autonome passasjerferger, er det to kritiske sub-systemer som må være på plass for at systemet ikke bare skal være automatisert. Det første er et situasjonsforståe ... -
A Phenomenological Model of Percussive Drilling: Review of Experimental Evidence
(Chapter, 2019)In this paper, we review and analyze published experimental findings in light of the hypothesis that the dependence of bit-rock interface (BRI) pseudo-stiffness on the weight-on-bit (WOB) is the key factor behind the ... -
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 Programming Language with Deterministic Multithreading
(Master thesis, 2015)This report presents a programming language with deterministic multithreading and its compiler. The language demonstrates that when making IO and inter-thread communication sequential, most problems with multithreaded ... -
A Protocol Bridge Between Bluetooth Low Energy and IEEE 802.15.4 Based LR-WPANs: Concept, Design and Prototype
(Master thesis, 2013)The interconnection between electronic devices is increasing and wireless technologies are replacing wires at a high pace. Smartphones are today common property and their area of application is growing rapidly. Even so, a ... -
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 ...