Institutt for teknisk kybernetikk: Nye registreringer
Viser treff 41-60 av 3658
-
Hierarchical Compliance-Control-Based Docking of a UVMS
(Journal article, 2023)The viability of underwater vehicle-manipulator systems (UVMS) in underwater intervention missions is heavily reliant on safety. For safe operations, a UVMS should specifically be able to both avoid dangers and interact ... -
Predictable computing for cyber-physical systems
(Doctoral theses at NTNU;2024:49, Doctoral thesis, 2024)Cyber-physical systems encompass a vast category of systems where computers operate in feedback with physical systems. Cyber-physical systems hold the potential for enormous societal impact, comparable to that of the ... -
UAV icing: Development of an ice protection system for the propeller of a small UAV
(Journal article; Peer reviewed, 2023)Atmospheric icing, also called in-flight icing, is a common hazard for the operation of uncrewed aerial vehicles (UAVs). With the background of a growing commercial and military market of small and medium-sized drones and ... -
A Methodology for Tuning of Computational Vessel Models Utilizing Wave Measurements From X-Band Marine Radar and Wave Buoy
(Chapter, 2023)Accurate estimation of the wave field and subsequent vessel response prediction are vital for making crucial judgments on the safe and timely execution of marine operations. Decision support systems based on the Response-Based ... -
Torque-Minimizing Control Allocation for Overactuated Quadrupedal Locomotion
(Chapter, 2023)In this paper, we improve upon a method for optimal control of quadrupedal robots which utilizes a full-order model of the system. The original method utilizes offline nonlinear optimal control to synthesize a control ... -
Experiment Design Considerations for Estimating Energy Expenditure during Wheelchair Propulsion
(Chapter, 2023)We propose a methodology for estimating energy expenditure (EE) during wheelchair propulsion. The method is based on measured physiological and kinematic signals from wearable sensor devices in an experimental setup design. ... -
A Constrained Control Allocation and Tuning Scheme for Hybrid Actuators in Spacecraft Attitude Control
(Peer reviewed; Journal article, 2023)Agile rotational maneuvers of spacecraft requires careful execution since its actuators may not be able to produce the demanded torques, causing the state trajectories to deviate and a desired attitude would not be guaranteed. ... -
Autonomous Flow-Through RGB and Hyperspectral Imaging for Unmanned Surface Vehicles
(Journal article, 2023)The process of collecting samples for traditional microscopic analyses can be costly and time-consuming. We present the design of an autonomous flow-through imaging (AFTI) system tailored for small unmanned surface vehicles ... -
Contributions to optimizing control – Inspired by challenges in oil and gas production
(Doctoral theses at NTNU;2023:127, Doctoral thesis, 2023)This dissertation treats optimization and control with emphasis on oil and gas applications, and consists of an introduction followed by five main contributions. In the first contribution, we focus on allocating a limited ... -
Hardware-in-the-Loop Simulation of Vehicle-Manipulator Systems for Physical Interaction Tasks
(Chapter, 2023)Hardware-in-the-loop simulation (HILS) allows a more realistic evaluation of control approaches than what is possible with pure software simulations, but without the actual complexity of the complete system. This is important ... -
A systems approach to hazard identification for solar-powered and wave-propelled unmanned surface vehicle
(Peer reviewed; Journal article, 2024)Decarbonization is a trend in the maritime industry and may include the use of alternative energy sources on ships. At the same time, autonomous ships are under development. In the future, the two technologies may be ... -
A Bayesian Approach to Risk-Based Autonomy, with Applications to Contact-Based Drone Inspections
(Journal article; Peer reviewed, 2023)Enabling higher levels of autonomy while ensuring safety requires an increased ability to identify and handle internal faults and unforeseen changes in the environment. This article presents an approach to improve this ... -
Adaptive Generalized Super-Twisting Tracking Control of an Underwater Vehicle
(Chapter, 2023)Tracking control for unmanned underwater vehicles is essential, both for autonomous operations and complex tasks where the vehicle is manually controlled by a pilot. Underwater vehicles are typically subjected to perturbations ... -
Model-based variable impedance learning control for robotic manipulation
(Journal article; Peer reviewed, 2023)The capability to adapt compliance by varying muscle stiffness is crucial for dexterous manipulation skills in humans. Incorporating compliance in robot motor control is crucial for enabling real-world force interaction ... -
Dimensionality reduction of hyperspectral images using an ICA-based stochastic second-order optimization algorithm
(Chapter, 2023)Hyperspectral imaging is one of the advanced remote sensing techniques whose goal is to obtain the spectrum for each pixel in the image of a scene, with the purpose of finding objects, identifying materials or detecting ... -
A Uniform Semiglobal Exponential Stable Adaptive Line-of-Sight (ALOS) Guidance Law for 3-D Path Following
(Peer reviewed; Journal article, 2024)This paper presents a 3-D adaptive line-of-sight (ALOS) path-following algorithm for autonomous vehicles, marine craft, and aircraft. The origins of the cross- and vertical-track errors are proven to be uniform semiglobal ... -
Improved Pole Placement and Compaction of MIMO Vector Fitting Applied to System Identification
(Peer reviewed; Journal article, 2024)In this work we address the modeling of multi-port subsystems with unknown inner dynamics by utilizing vector fitting to identify state-space models for performing eigenvalue-based analysis. Vector fitting is used to ... -
Fault Detection, Localization and Clearance for MMC based on Indirect Finite Control Set Model Predictive Control
(Chapter, 2023)In this paper, indirect finite control set model predictive control (I-FCS-MPC) is used for detecting, localizing, and tolerating open-circuit failures in the transistors without the use of arm voltage sensors. The fault ... -
Solution Separation-Based Integrity Monitor for Integrated GNSS/IMU/Camera Navigation: Constraining the Hypothesis Space With Deep Learning
(Peer reviewed; Journal article, 2023)This article introduces a method utilizing deep learning in typical Multiple Hypothesis Solution Separation (MHSS)-based Integrity Monitors (IMs) of autonomous vehicle navigation systems, when conventional sensors, such ... -
Realizing LTI models by identifying characteristic parameters using least squares optimization
(Chapter, 2023)This paper considers the realization of discrete-time linear time-invariant dynamical systems using input-output data. Starting from a generalized state-space representation that accounts for static offsets, a state-independent ...