Browsing Institutt for teknisk kybernetikk by Subject "VDP::Technical cybernetics: 553"
Now showing items 1-9 of 9
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DNN-based anomaly prediction for the uncertainty in visual SLAM
(Chapter, 2023)The method described in this paper proposes a supervised Deep Neural Network (DNN) approach for the prediction of anomalies in camera-based navigation. The method is inspired by the unsolved issues of Integrity Monitors ... -
Feasibility of the UR5 Industrial Robot for Robotic Rehabilitation of the Upper Limbs After Stroke
(Journal article; Peer reviewed, 2018)Robot-assisted therapy is an emerging form of rehabilitation treatment for motor recovery of the upper limbs after neurological injuries such as stroke or spinal cord injury. Robotic rehabilitation devices have the potential ... -
Form Closure For Fully Actuated and Robust Obstacle-Aided locomotion in Snake Robots
(Peer reviewed; Journal article, 2023)In this letter we adapt the theory of form closure to define the form closed region: The subset of a snake robot's configuration space for which the constraints imposed by the obstacles in its environment render the system ... -
Hellinger Metrics for Validating High Fidelity Simulators Using Target Tracking
(Journal article; Peer reviewed, 2023)To achieve autonomy at sea, it is believed simulations will be essential in testing, analysing and verifying autonomous systems due to the scarcity and high cost of obtaining real data for all relevant scenarios. This ... -
Line-of-sight path-following control utilizing an extended Kalman filter for estimation of speed and course over ground from GNSS positions
(Journal article; Peer reviewed, 2022) -
Online parameter identification of synchronous machines using Kalman filter and recursive least squares
(Chapter, 2019)This paper investigates and implements a procedure for parameter identification of salient pole synchronous machines that is based on previous knowledge about the equipment and can be used for condition monitoring, online ... -
Optimal Model-Based Trajectory Planning With Static Polygonal Constraints
(Peer reviewed; Journal article, 2021)The main contribution of this article is a novel method for planning globally optimal trajectories for dynamical systems subject to polygonal constraints. The proposed method is a hybrid trajectory planning approach, which ... -
The Autosea project: Developing closed-loop target tracking and collision avoidance systems
(Journal article; Peer reviewed, 2019)Autonomous surface vehicles and maritime autonomous surface ships must rely on sense-and-avoid systems for navigating safely among other ships. The main objective of this paper is to present examples of such systems, and ...