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Showing result 1 - 5 of 14 essays matching the above criteria.

  1. 1. Extended Kalman Filter as Observer for a Hydrofoiling Watercraft : Modelling of a new hydrofoiling concept, based on the Spherical Inverted Pendulum Model

    University essay from KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Author : Adam Thålin; [2022]
    Keywords : Extended Kalman Filter; Hydrofoiling; Spherical Inverted Pendulum; Sensor Fusion; Simulink; Bärplan; Extended Kalman Filter; Farkostteknik; Inverterad Pendel; Sensorfusion; Sex frihetsgrader; Simulink;

    Abstract : Hydrofoiling in general has the potential to revolutionize watercraft in the future since it allows smoother and faster transport on water with less energy consumption than traditional planning hulls. Even if the concept of hydrofoiling has been around since the last century, development in control theory and material science together with increased computing power has led to a growing interest for the technology. READ MORE

  3. 2. Robust Reinforcement Learning in Continuous Action/State Space

    University essay from KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Author : Axel Grönland; Viktor Eriksson Möllerstedt; [2020]
    Keywords : Robust Reinforcement Learning; Neural Net-work; Dynamical Systems; TD Learning;

    Abstract : In this project we aim to apply Robust Reinforce-ment Learning algorithms, presented by Doya and Morimoto [1],[2], to control problems. Specifically, we train an agent to balancea pendulum in the unstable equilibrium, which is the invertedstate.We investigate the performance of controllers based on twodifferent function approximators. READ MORE

  4. 3. Control and balancing of a small vehicle with two wheels for autonomous driving

    University essay from KTH/Fordonsdynamik

    Author : Saro Batmanian; Pasam Naga; [2019]
    Keywords : Inverted pendulum; PID controller; Pole placement method; LQR; Hoverboard; Segways; Prototype; Arduino board; Gyroscope; Accelerometer; BLDC motor controllers; EPOS motor controllers; Embedded systems and control and bluetooth remote.;

    Abstract : Control and balancing of an inverted pendulum has gained a lot of attention over the past few decades due to its unstable properties. This has become a great challenge for control engineers to verify and test the control theory. READ MORE

  5. 4. Robust motion control strategies for hydrofoil-equipped naval vessels considering scaling effects.

    University essay from KTH/Skolan för industriell teknik och management (ITM)

    Author : HENRIK STRÖMQVIST; [2019]
    Keywords : ;

    Abstract : Hydrofoil-equipped naval vessels are not new. The technique appeared at the beginning of the 20th century and there are still new developments within the field. READ MORE

  6. 5. Measuring Shoulder Abduction in a Healthy and Young Population: A Feasibility Study

    University essay from KTH/Medicinteknik och hälsosystem

    Author : Cristina Rodríguez; [2019]
    Keywords : Shoulder; Abduction; Moment; Dynamic measurements; Healthy Patients; Axel; Abduktion; Moment; Dynamiska mätningar; Friska patienter;

    Abstract : The ability to maintain an independent living at higher age is closely linked to the physical function of an individual. The evaluation of the upper limbs, including the muscular strength of the shoulder, elbow or wrist has received little attention, yet arms are used in most daily tasks. READ MORE