Institutt for teknisk kybernetikk: Recent submissions
Now showing items 21-40 of 2833
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A 3DOF Path-Following Controller for a Non-Directionally Stable Vessel with Slow Thruster Dynamics
(Peer reviewed; Journal article, 2021)In this paper, a 3DOF path-following controller for an electric double-ended passenger ferry prototype is presented. The controller is formulated through a 3-step backstepping approach, taking into consideration several ... -
Eigenvalue-based analysis of small-signal dynamics and stability in DC grids
(Chapter, 2021)In this chapter, we discuss a modular approach for state-space modeling and eigenvalue-based analysis of small-signal dynamics in DC grids. We first introduce the requirements for state-space representation and linearization ... -
Multivariate Modeling and Adaptive Control of Autonomous Ferries
(Peer reviewed; Journal article, 2021)This paper deals with the design and evaluation of a multivariate-based adaptive controller for marine surface vessels. The goal is to make a system that periodically updates the vessel model, used by a dynamic positioning ... -
Conditions for maximum energy transfer in inductive road-powered electric vehicle applications taking system limitations into account
(Chapter, 2021)This paper deals with the problem of maximizing the energy transfer between infrastructure for inductive power transfer embedded in the road and a moving electric vehicle. The analysis is assuming a series-series compensated ... -
Evaluation of a modular system topology for large-scale wireless EV charging in a commercial parking facility
(Chapter, 2021)This paper evaluates the operation of a modular transformer-less grid interface topology for large-scale wireless charging of electric vehicles (EVs) under a loading scenario for a commercial parking facility. The studied ... -
Model Predictive Control of a Variable Speed Diesel Generator Interfaced to an AC Ship Power System as a Virtual Synchronous Machine
(Chapter, 2021)This paper presents an adaptive implementation of model predictive control (MPC) for a variable speed diesel generator operated as a back-up energy source in an ac ship power system. The variable-speed operation is based ... -
Nonlinear proper orthogonal decomposition for convection-dominated flows
(Peer reviewed; Journal article, 2021)Autoencoder techniques find increasingly common use in reduced order modeling as a means to create a latent space. This reduced order representation offers a modular data-driven modeling approach for nonlinear dynamical ... -
Placement of virtual inertia from HVDC terminals based on a frequency deviation index
(Chapter, 2021)This paper presents an approach for assessing the most suitable locations to provide virtual inertia by HVDC converters. A frequency deviation index quantifying the maximum distance in Hz from each bus in the power system ... -
Modeling of Articulated Underwater Robots for Simulation and Control
(Chapter, 2018)This paper presents a methodology for modeling articulated underwater robots possessing a kinematic tree structure and arbitrary thruster placement. Efficient algorithms for the forward dynamics and the thruster configuration ... -
On closures for reduced order models— A spectrum of first-principle to machine-learned avenues
(Peer reviewed; Journal article, 2021)For over a century, reduced order models (ROMs) have been a fundamental discipline of theoretical fluid mechanics. Early examples include Galerkin models inspired by the Orr–Sommerfeld stability equation and numerous vortex ... -
A nested multi-scale model for assessing urban wind conditions : Comparison of Large Eddy Simulation versus RANS turbulence models when operating at the finest scale of the nesting
(Journal article; Peer reviewed, 2021)Good understanding of micro-scale urban-wind phenomena is needed for optimizing power generation capabilities of building-integrated wind turbines and for safety of futuristic urban transport involving drones. The current ... -
Robotic Lever Manipulation using Hindsight Experience Replay and Shapley Additive Explanations
(Peer reviewed; Journal article, 2021)This paper deals with robotic lever control using Explainable Deep Reinforcement Learning. First, we train a policy by using the Deep Deterministic Policy Gradient algorithm and the Hindsight Experience Replay technique, ... -
Autonomous Cave Exploration using Aerial Robots
(Chapter, 2021)In this paper we present the complete system design for an aerial robot capable of autonomous exploration inside natural cave environments. Cave networks involve diverse and complicated topologies, complex geometries and ... -
Resilient Collision-tolerant Navigation in Confined Environments
(Chapter, 2021)This work presents the design and autonomous navigation policy of the Resilient Micro Flyer, a new type of collision-tolerant robot tailored to fly through extremely confined environments and manhole-sized tubes. The robot ... -
Model Predictive Control for Micro Aerial Vehicles: A Survey
(Chapter, 2021)This paper presents a review of the design and application of model predictive control strategies for Micro Aerial Vehicles and specifically multirotor configurations such as quadrotors. The diverse set of works in the ... -
Calibrating range measurements of lidars using fixed landmarks in unknown positions
(Peer reviewed; Journal article, 2021)We consider the problem of calibrating range measurements of a Light Detection and Ranging (lidar) sensor that is dealing with the sensor nonlinearity and heteroskedastic, range-dependent, measurement error. We solved the ... -
Resource-aware Online Parameter Adaptation for Computationally -constrained Visual-Inertial Navigation Systems
(Chapter, 2021)In this paper, a computational resources-aware parameter adaptation method for visual-inertial navigation systems is proposed with the goal of enabling the improved deployment of such algorithms on computationally constrained ... -
Stable and robust neural network controllers
(Chapter, 2021)Neural networks are expressive function approimators that can be employed for state estimation in control problems. However, control systems with machine learning in the loop often lack stability proofs and performance ... -
Output Maneuvering for Cartesian 3D Printer
(Chapter, 2021)3D printing, also known as additive manufacturing, is a production technique that can create highly customized parts and is therefore ideal for product prototyping and customized orders. An important aspect of 3D printer ... -
Model-Free All-Source-All-Destination Learning as a Model for Biological Reactive Control
(Journal article; Peer reviewed, 2021)We present here a model-free method for learning actions that lead to an all-source-all-destination shortest path solution. We motivate our approach in the context of biological learning for reactive control. Our method ...