Institutt for teknisk kybernetikk: Nye registreringer
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Lightweight UAV payload for image spectroscopy and atmospheric irradiance measurements
(Peer reviewed; Journal article, 2023)This paper presents a low-cost lightweight UAV payload for remote sensing purposes using a small imaging spectrometer made from COTS components. The novel design with an additional upward-facing spectrometer allows for ... -
A retrospective look at cross model validation and its applicability in vibrational spectroscopy
(Peer reviewed; Journal article, 2021)In this paper, it is presented how Cross Model Validation (CMV), also known as double cross validation, efficiently can be applied for variable selection in spectroscopic applications. The chosen applications are FT-IR ... -
Psychological stress detection with optimally selected EEG channel using Machine Learning techniques
(Peer reviewed; Journal article, 2023)Psychological stress buildup can lead to mental disorders, early mortality, stroke and sudden cardiac arrest and therefore, timely stress detection is important for reducing human suffering. This study aims to present a ... -
EEG source imaging of hand movement-related areas: An evaluation of the reconstruction accuracy with optimized channels
(Journal article; Peer reviewed, 2023)The hand motor activity can be identified and converted into commands for controlling machines through a brain-computer-interface (BCI) system. Electroencephalography (EEG) based BCI systems employ electrodes to measure ... -
A Comparative Study of Sparsity Promoting Techniques in Neural Network for Modeling Non-Linear Dynamics
(Journal article; Peer reviewed, 2023)Sparsity-promoting techniques show promising results in improving the generalization of neural networks. However, the literature contains limited information on how different sparsity techniques affect generalization when ... -
Primary color decoding using deep learning on source reconstructed EEG signal responses
(Peer reviewed; Journal article, 2023)The brain’s response to visual stimuli of different colors might be used in a brain-computer interface (BCI) paradigm, for letting a user control their surroundings by looking at specific colors. Allowing the user to control ... -
Advancing Data Quality of Marine Archaeological Documentation Using Underwater Robotics: From Simulation Environments to Real-World Scenarios
(Peer reviewed; Journal article, 2024)This paper presents a novel method for the visual-based 3D mapping of underwater cultural heritage sites through marine robotic operations. The proposed methodology addresses the three main stages of an underwater robotic ... -
Signal-based sea state estimation: A phase-time-path-difference approach: A new shipboard wave estimation approach
(Doctoral theses at NTNU;2024:79, Doctoral thesis, 2024)The safety and efficiency of marine operations at sea rely on accurate information about the sea state, which includes the dominant wave height, wave direction, and wave period. Unfortunately, many areas at sea lack this ... -
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 ...