This paper presents the implementation of an adaptive fading multiplicative extended Kalman filter (AFMEKF), applied to the problem of attitude estimation in the context of quadrotors. The extended Kalman filter is adapted for use with quaternions and made adaptive to account for inaccurate measurement information. Simulations have been conducted in order to validate the filter performance.

This research presents Computational Fluid Dynamics (CFD) simulations in ANSYS® illustrating emissions of to the air. The CFD simulations is employed to study plume transport in urban environment, i.e., Breivika port in the city of Tromsø. The case study presents a two-phase model considering specific wind strength and direction in the city of Tromsø. Geographical coordinates, temperature, and wind ...

In renovation processes there is always a risk of underestimating environmental, cultural, and social values in favor of energy efficiency and economy. As well as while upgrading the building’s exterior and interior it is very essential to study the physical sustainability of building element in the field climate condition. Therefore it is very important to follow scientific and systematic process ...

This paper addresses the problem of trajectory tracking for underactuated quadrotors. A quaternion based guidance law is proposed which feeds into an attitude control system based on a PD+ control law. The desired attitude from the guidance law is defined such that the attitude control system tries to align the position error along the axis of the translational actuator. Simulation results are ...

Denne oppgaven er en studie om radon i eksisterende bygninger med en casestudie. I forkant av utarbeidelse og utførelse av en tiltakspakke, ble det gjort en litteraturstudie innenfor temaet om radon, situasjonen i Norge og anbefalte tiltak for å redusere radonnivåene i eksisterende boliger. Casestudien omhandler en enebolig i Beisfjord, Narvik kommune. Det har blitt utført bytte av innvendig radonbrønn ...

Transition curves are a useful tool for lateral alignment of railway segments. Their design is important to ensure safe and comfortable travel for passengers and cargo. Well designed transition curves can lead to reduced wear of tracks and vehicles, which is beneficial from a maintenance point of view. Extensive studies have been performed through decades to find transition curves that can replace ...

"This master thesis is written for Norwegian volunteer organization “Hjelpekorpset” that is a search and rescue organization. The organization performs different kinds of activities in addition to rescue missions. During wintertime, they transport materials, furniture and other cargo to local huts to raise funds for the organization. This is the basis for the thesis, where the aim was to redesign a ...

SMEs constitute the backbone of the global economy possessing a vital role in future economic prosperity. Today, with the increasing competition due to globalization of markets and mass customization, as well as the increasing focus on green shift and sustainability, the need to take advantage of new technological innovations has never been more prominent. Metal Additive Manufacturing (MAM) is one ...

In this paper the problem of real-time particle tracking is studied. Using sensor measurements, a formation of UAVs autonomously find the closest point with high particle density where they enter a holding pattern. After converging to the holding pattern, one UAV will remain, while the rest will go looking for other maxima. To avoid collisions between the UAVs during the mission, a controller is ...

The growing installation of distributed energy resources (DERs) in a distribution network (DN) poses substantial issues related to voltage regulation. Due to constrained switching operation and slower response time, traditional voltage regulation devices cannot handle current voltage-related challenges. One alternative to solve these problems is to use smart converters to control the reactive ...