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A Fault Tolerant Control Scheme Using the Feasible Constrained Control Allocation Strategy
(Journal article; Peer reviewed, 2019)This paper investigates the necessity of feasibility considerations in a fault tolerant control system using the constrained control allocation methodology where both static and dynamic actuator constraints are considered. ... -
A Flashcard Based Web Application for Collective Learning and Peer Review Based Evaluation of Students
(Master thesis, 2021)Denne oppgaven beskriver implementeringen av en flashcard-basert pedagogisk applikasjon utviklet for emnet TTK4145 - Sanntidsprogrammering ved NTNU. Systemet ble utviklet med formål om å tilby en ny, unik type øving for ... -
A Formation of Unmanned Vehicles for Tracking of an Acoustic Fish-Tag
(Chapter; Peer reviewed, 2017)In this paper we present a proof-of-concept for an hydro acoustic fish-tag position estimation and tracking system. In our field-tested concept, a formation of Unmanned Surface Vehicles (USV) creates a mobile array of ... -
A Framework for Diagnosis of Critical Faults in Unmanned Aerial Vehicles
(Journal article; Peer reviewed, 2014)Unmanned Aerial Vehicles (UAVs) need a large degree of tolerance towards faults. If not diagnosed and handled in time, many types of faults can have catastrophic consequences if they occur during flight. Prognosis of faults ... -
A Framework for Fault Diagnosis in Managed Pressure Drilling Applied to Flow-Loop Data
(Journal article; Peer reviewed, 2013)Data from a medium-scale horizontal flow loop test facility is used to test fault diagnosis in managed pressure drilling. The faults are downhole incidents such as formation influx, fluid loss, drillstring washout, pack-off, ... -
A fully differential capacitively-coupled high CMRR low-power chopper amplifier for EEG dry electrodes
(Journal article; Peer reviewed, 2020)The use of dry electrodes is increasing rapidly. Since their impedance is high, there is a high impedance node at the connecting node between the electrode and amplifier. This leads to absorb powerline signal and high CMRR ... -
A Game-based Learning Framework for Controlling Brain-Actuated Wheelchairs
(Chapter, 2016)Paraplegia is a disability caused by impairment in motor or sensory functions of the lower limbs. Most paraplegic subjects use mechanical wheelchairs for their movement, however, patients with reduced upper limb functionality ... -
A Geometric Approach to the Design of Serial and Parallel Manipulators with Passive Joints
(Journal article; Peer reviewed, 2014)The use of robotic manipulators in remote and sensitive areas calls for more robust solutions when handling joint failure, and the industry demands mathematically robust approaches to handle even the worst case scenarios. ... -
A graph-theoretical approach to fusing teachers' opinions about learning outcomes in higher education programmes
(Master thesis, 2021)Et høyere utdanningsprogram kan bli modellert som en graf hvor noder kan representere fag, emner, teamer eller sub-temaer innen et program, og hvor kantene representerer potensielle relasjoner mellom dem. Slike grafer kan ... -
A Gray-Box Method for Stability and Controller Parameter Estimation in HVDC-Connected Wind Farms Based on Nonparametric Impedance
(Journal article; Peer reviewed, 2019)Estimation of critical control parameters is a desirable tool feature for stability analysis and impedance shaping of high voltage dc (HVdc) connected wind farms. Accurate estimation of such parameters would be enabled by ... -
A heat equation for freezing processes with phase change: stability analysis and applications
(Journal article, 2016)In this work, the stability properties as well as possible applications of a partial differential equation (PDE) with state-dependent parameters are investigated. Among other things, the PDE describes freezing of foodstuff, ... -
A high fidelity digital twin framework for testing exteroceptive perception of autonomous vessels
(Master thesis, 2021)I fremtiden antas det at verifisering av autonome skip må gjøres ved simuleringsbasert verifisering på grunn av de enorme kostnadene som er involvert med ekte testing. I motsetning til bilindustrien, hvor det finnes åpent ... -
A homotopy-based moving horizon estimation
(Journal article; Peer reviewed, 2019)Moving horizon estimation (MHE) solves a constrained dynamic optimisation problem. Including nonlinear dynamics into an optimal estimation problem generally comes at the cost of tackling a non-convex optimisation problem. ... -
A homotopy-based moving horizon estimation
(Journal article; Peer reviewed, 2017)Moving horizon estimation (MHE) solves a constrained dynamic optimisation problem. Including nonlinear dynamics into an optimal estimation problem generally comes at the cost of tackling a non-convex optimisation problem. ... -
A hybrid approach to underwater docking of AUVs with cross-current
(Journal article, 2016)This paper proposes a docking maneuver for an underactuated autonomous underwater vehicle (AUV) to dock into a funnel shaped docking station. The novelty of the proposed approach is enabling an underactuated AUV that is ... -
A hybrid model of obstacle-aided snake robot locomotion
(Journal article; Peer reviewed, 2010)A snake can traverse cluttered and irregular environments by using irregularities around its body as push-points to aid the propulsion. This characteristic feature of biological snake locomotion, denoted obstacle-aided ... -
A K-Space Filtering Technique for Vibration Sonoelastography
(Master thesis, 2016)The aim of this project was to investigate the feasibility of a k-space filtration technique to produce elasticity maps with stationary vibration fields. The method was implemented in a MATLAB routine and tested against ... -
A Kalman-filtering derivation of simultaneous input and state estimation
(Journal article; Peer reviewed, 2019)Simultaneous input and state estimation algorithms are studied as particular limits of Kalman filtering problems. This admits interpretation of the algorithm properties and critical analysis of their claims to being partly ... -
A Least-Squares Scheme Utilizing Fast Propagating Shock Waves for Early Kick Estimation in Drilling
(Chapter, 2019)A scheme for fast kick estimation in managed pressure drilling is presented. The reservoir pressure and production index are estimated by utilizing information in a fast traveling shock wave induced by an unexpected rise ... -
A Light-Weight Operating System for Internet of Things Devices
(Master thesis, 2016)Nowadays, all around of us has been surrounded by wireless devices. More than a decade, engineers have been using these wireless devices in industry to measure environmental data. Large networks, which are formed by hundreds ...