subject:(Extended Kalman Filter)

University of Hawaii – Manoa

1. Gregory, Elizabeth Dimmitt. A comparison study of state estimators for a spherical pendulum.

Degree: 2016, University of Hawaii – Manoa

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M.S. University of Hawaii at Manoa 2011.

In the field of spacecraft attitude determination and control, the prevailing state estimation method is the Extended Kalman… (more)

Subjects/Keywords: Extended Kalman Filter

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APA (6^th Edition):

Gregory, E. D. (2016). A comparison study of state estimators for a spherical pendulum. (Thesis). University of Hawaii – Manoa. Retrieved from http://hdl.handle.net/10125/101704

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Gregory, Elizabeth Dimmitt. “A comparison study of state estimators for a spherical pendulum.” 2016. Thesis, University of Hawaii – Manoa. Accessed January 18, 2021. http://hdl.handle.net/10125/101704.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Gregory, Elizabeth Dimmitt. “A comparison study of state estimators for a spherical pendulum.” 2016. Web. 18 Jan 2021.

Vancouver:

Gregory ED. A comparison study of state estimators for a spherical pendulum. [Internet] [Thesis]. University of Hawaii – Manoa; 2016. [cited 2021 Jan 18]. Available from: http://hdl.handle.net/10125/101704.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Gregory ED. A comparison study of state estimators for a spherical pendulum. [Thesis]. University of Hawaii – Manoa; 2016. Available from: http://hdl.handle.net/10125/101704

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

2. Pettersson, Hanna. Estimation and Pre-Processing of Sensor Data in Heavy Duty Vehicle Platooning.

Degree: The Institute of Technology, 2012, Linköping UniversityLinköping University

URL: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-79038

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Today, a rapid development towards fuel efficient technological aids for vehicles is in progress. One step towards this is the development of platooning systems.… (more)

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Today, a rapid development towards fuel efficient technological aids for vehicles is in progress. One step towards this is the development of platooning systems. The main concept of platooning is to let several heavy duty vehicles (HDVs) drive in a convoy and share important information with each other via wireless communication. This thesis describes one out of three subsystems in a project developed to handle the process from raw sensor data to control signal. The goal of the project is to achieve a safe and smooth control with the main purpose of reduced fuel consumption. This subsystem processes the raw sensor data received from the different HDVs. The purpose is to estimate the positions and velocities of the vehicles in a platoon, taking into account that packet-loss, out of sequence measurements and irrelevant information can occur. This is achieved by filtering the information from different sensors in an Extended Kalman Filter and converting it into a local coordinate system with the origin in the ego vehicle. Moreover, the estimates are sorted and categorized into classes with respect to the status of the vehicles. The result of the thesis is useful estimates that are independent of outer effects in a local reference system with origin in the host vehicle. This information can then be used for further sensor fusion and implementation of a Model Predictive Controller (MPC) in two other subsystems. These three subsystems result in a smooth and safe control with an average reduced fuel consumption of approxi- mately 11.1% when the vehicles drive with a distance of 0.5 seconds in a simulated environment.

Dagens utveckling inom fordonsindustrin fokuserar mer och mer påutveckling av bränsleeffektiva hjälpmedel. Ett steg i denna riktning är utvecklingen av platooningsystem. Huvudkonceptet med platooning är att låta flera tunga fordon köra i följd i en konvoj och dela viktig information med varandra via trådlös kommuni- kation och en automatiserad styrstrategi. Detta examensarbete beskriver ett utav tre delsystem i ett projekt som är utvecklat för att hantera en process från rå sensordata till styrsignaler för fordonen. Målet är att uppnå en säker och mjuk reglering med huvudsyftet att reducera bränsleförbrukningen. Det här delsystemet behandlar mottagen sensordata från de olika fordonen. Målet med delsystemet är att skatta positioner och hastigheter för fordonen i konvojen med hänsyn till att förlorad, försenad eller irrelevant information från det trådlösa nätverket kan förekomma. Detta uppnås genom filtrering i ett Extended Kalman Filter och konvertering till ett lokalt referenssystem med origo i det egna fordo- net. Utöver detta sorteras informationen och kategoriseras in i olika klasser efter fordonens status. Examensarbetet resulterade i användbara skattningar oberoende av yttre om- ständigheter i ett lokalt referenssystem med origo i det egna fordonet. Denna information kan användas vidare för ytterligare sensorfusion och…

Subjects/Keywords: platooning; estimation; Extended Kalman Filter

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APA (6^th Edition):

Pettersson, H. (2012). Estimation and Pre-Processing of Sensor Data in Heavy Duty Vehicle Platooning. (Thesis). Linköping UniversityLinköping University. Retrieved from http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-79038

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Pettersson, Hanna. “Estimation and Pre-Processing of Sensor Data in Heavy Duty Vehicle Platooning.” 2012. Thesis, Linköping UniversityLinköping University. Accessed January 18, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-79038.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Pettersson, Hanna. “Estimation and Pre-Processing of Sensor Data in Heavy Duty Vehicle Platooning.” 2012. Web. 18 Jan 2021.

Vancouver:

Pettersson H. Estimation and Pre-Processing of Sensor Data in Heavy Duty Vehicle Platooning. [Internet] [Thesis]. Linköping UniversityLinköping University; 2012. [cited 2021 Jan 18]. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-79038.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Pettersson H. Estimation and Pre-Processing of Sensor Data in Heavy Duty Vehicle Platooning. [Thesis]. Linköping UniversityLinköping University; 2012. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-79038

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

3. Srinivasan K. Design and implementation of nonlinear Control schemes on the simulated model Of CSTR and PH processes;.

Degree: Design and implementation of nonlinear Control schemes on the simulated model Of CSTR and PH processes, 2014, Anna University

URL: http://shodhganga.inflibnet.ac.in/handle/10603/31076

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PID controller and linear model predictive controller are the two newlinemost popular control schemes that have been widely implemented throughout newlinethe chemical process industries for… (more)

Subjects/Keywords: Extended Kalman filter; Fuzzy Kalman filter; Neural network based Kalman filter; Unscented Kalman filter

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APA (6^th Edition):

K, S. (2014). Design and implementation of nonlinear Control schemes on the simulated model Of CSTR and PH processes;. (Thesis). Anna University. Retrieved from http://shodhganga.inflibnet.ac.in/handle/10603/31076

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

K, Srinivasan. “Design and implementation of nonlinear Control schemes on the simulated model Of CSTR and PH processes;.” 2014. Thesis, Anna University. Accessed January 18, 2021. http://shodhganga.inflibnet.ac.in/handle/10603/31076.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

K, Srinivasan. “Design and implementation of nonlinear Control schemes on the simulated model Of CSTR and PH processes;.” 2014. Web. 18 Jan 2021.

Vancouver:

K S. Design and implementation of nonlinear Control schemes on the simulated model Of CSTR and PH processes;. [Internet] [Thesis]. Anna University; 2014. [cited 2021 Jan 18]. Available from: http://shodhganga.inflibnet.ac.in/handle/10603/31076.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

K S. Design and implementation of nonlinear Control schemes on the simulated model Of CSTR and PH processes;. [Thesis]. Anna University; 2014. Available from: http://shodhganga.inflibnet.ac.in/handle/10603/31076

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of Waterloo

4. Fernandes, Keegan Aaron. Real-Time Implementation of Time-Varying Surface Prediction and Projection.

Degree: 2019, University of Waterloo

URL: http://hdl.handle.net/10012/14553

► Spatial augmented reality makes use of projectors to transform an object into a display surface. However, for time-varying, non-rigid surfaces this can prove to be… (more)

▼ Spatial augmented reality makes use of projectors to transform an object into a display surface. However, for time-varying, non-rigid surfaces this can prove to be difficult, and often leads to image distortion. In order to avoid this highly accurate measurements of the surface are required. Traditional methods of measuring surface deformations are inadequate due to noise as well as potential sources of time delay, such as projector lag. To get more accurate results, a mass spring model can be used to simulate the dynamics of the time-varying surface. This model can be put into a nonlinear state space form to get a first order differential equation. Numerical integration techniques can then be used to solve the differential equation presented. In order to reduce uncertainty in the model generated a filtering algorithm can be used. Both, the extended Kalman filter (EKF) and the cubature Kalman filter (CKF) are evaluated as potential candidates. To be able to run these filters in real time a reduced order model is developed. This enables the use of fewer mass nodes in the model, allowing for faster compute times. Additionally, to reduce visual error, an optimal node placement algorithm is used. This ensures that the surface generated by the mass spring mesh closely matches the real, curved surface of the system, minimizing error. The EKF and CKF algorithms are implemented onto a hanging cloth system perturbed by an oscillating fan. A parameter identification technique is used to create a model that accurately represents this hanging cloth system. Additionally, noise parameters of the EKF and CKF are adjusted to compensate for modeling errors and sensor noise. Finally, The mean squared error of the EKF and CKF algorithms are compared to evaluate their effectiveness. Both algorithms provide satisfactory results for use in spatial augmented reality applications. However, in all cases tested the CKF is shown to have significantly lower error values. Although the CKF algorithm is shown to be more accurate than its EKF counterpart, its computation time is much larger. However, the computation time required is still within the threshold of being able to perform real-time estimation at up to 100Hz. Furthermore, due to the nature of the construction of the CKF, it can be applied as a multi-threaded workload to significantly reduce computation time. Therefore, the implementation of a CKF algorithm can be used to accurately estimate the positions of a measured surface for use in spatial augmented reality.

Subjects/Keywords: Controls; Projection; Cubature Kalman Filter; Extended Kalman Filter; Deformable Surfaces

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APA (6^th Edition):

Fernandes, K. A. (2019). Real-Time Implementation of Time-Varying Surface Prediction and Projection. (Thesis). University of Waterloo. Retrieved from http://hdl.handle.net/10012/14553

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Fernandes, Keegan Aaron. “Real-Time Implementation of Time-Varying Surface Prediction and Projection.” 2019. Thesis, University of Waterloo. Accessed January 18, 2021. http://hdl.handle.net/10012/14553.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Fernandes, Keegan Aaron. “Real-Time Implementation of Time-Varying Surface Prediction and Projection.” 2019. Web. 18 Jan 2021.

Vancouver:

Fernandes KA. Real-Time Implementation of Time-Varying Surface Prediction and Projection. [Internet] [Thesis]. University of Waterloo; 2019. [cited 2021 Jan 18]. Available from: http://hdl.handle.net/10012/14553.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Fernandes KA. Real-Time Implementation of Time-Varying Surface Prediction and Projection. [Thesis]. University of Waterloo; 2019. Available from: http://hdl.handle.net/10012/14553

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Virginia Tech

5. Jones, Philip Andrew. Techniques in Kalman Filtering for Autonomous Vehicle Navigation.

Degree: MS, Mechanical Engineering, 2015, Virginia Tech

URL: http://hdl.handle.net/10919/78128

► This thesis examines the design and implementation of the navigation solution for an autonomous ground vehicle suited with global position system (GPS) receivers, an inertial… (more)

Subjects/Keywords: Kalman Filter; Extended Kalman Filter; Navigation; IMU; GPS

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APA (6^th Edition):

Jones, P. A. (2015). Techniques in Kalman Filtering for Autonomous Vehicle Navigation. (Masters Thesis). Virginia Tech. Retrieved from http://hdl.handle.net/10919/78128

Chicago Manual of Style (16^th Edition):

Jones, Philip Andrew. “Techniques in Kalman Filtering for Autonomous Vehicle Navigation.” 2015. Masters Thesis, Virginia Tech. Accessed January 18, 2021. http://hdl.handle.net/10919/78128.

MLA Handbook (7^th Edition):

Jones, Philip Andrew. “Techniques in Kalman Filtering for Autonomous Vehicle Navigation.” 2015. Web. 18 Jan 2021.

Vancouver:

Jones PA. Techniques in Kalman Filtering for Autonomous Vehicle Navigation. [Internet] [Masters thesis]. Virginia Tech; 2015. [cited 2021 Jan 18]. Available from: http://hdl.handle.net/10919/78128.

Council of Science Editors:

Jones PA. Techniques in Kalman Filtering for Autonomous Vehicle Navigation. [Masters Thesis]. Virginia Tech; 2015. Available from: http://hdl.handle.net/10919/78128

University of Alberta

6. Sekhavat, Masih. Real-Time Updating of a Dynamic Fundamental Model for Froth Flotation Process.

Degree: MS, Department of Chemical and Materials Engineering, 2014, University of Alberta

URL: https://era.library.ualberta.ca/files/79407x444

► Froth flotation is one of the most common methods in the mineral industry for selective extraction of a small fraction of desired mineral from a… (more)

Subjects/Keywords: Dynamic Modelling; Extended Kalman Filter; Froth Flotation

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APA (6^th Edition):

Sekhavat, M. (2014). Real-Time Updating of a Dynamic Fundamental Model for Froth Flotation Process. (Masters Thesis). University of Alberta. Retrieved from https://era.library.ualberta.ca/files/79407x444

Chicago Manual of Style (16^th Edition):

Sekhavat, Masih. “Real-Time Updating of a Dynamic Fundamental Model for Froth Flotation Process.” 2014. Masters Thesis, University of Alberta. Accessed January 18, 2021. https://era.library.ualberta.ca/files/79407x444.

MLA Handbook (7^th Edition):

Sekhavat, Masih. “Real-Time Updating of a Dynamic Fundamental Model for Froth Flotation Process.” 2014. Web. 18 Jan 2021.

Vancouver:

Sekhavat M. Real-Time Updating of a Dynamic Fundamental Model for Froth Flotation Process. [Internet] [Masters thesis]. University of Alberta; 2014. [cited 2021 Jan 18]. Available from: https://era.library.ualberta.ca/files/79407x444.

Council of Science Editors:

Sekhavat M. Real-Time Updating of a Dynamic Fundamental Model for Froth Flotation Process. [Masters Thesis]. University of Alberta; 2014. Available from: https://era.library.ualberta.ca/files/79407x444

Northeastern University

7. Hasan, Md Maruf Ibne. Indoor and outdoor localization of a mobile robot fusing sensor data.

Degree: MS, Department of Electrical and Computer Engineering, 2017, Northeastern University

URL: http://hdl.handle.net/2047/D20253814

► One of the major challenges of mobile robot navigation is to know the robot's position and orientation with respect to an environment. This is known… (more)

Subjects/Keywords: extended kalman filter; localization; mobile robot

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APA (6^th Edition):

Hasan, M. M. I. (2017). Indoor and outdoor localization of a mobile robot fusing sensor data. (Masters Thesis). Northeastern University. Retrieved from http://hdl.handle.net/2047/D20253814

Chicago Manual of Style (16^th Edition):

Hasan, Md Maruf Ibne. “Indoor and outdoor localization of a mobile robot fusing sensor data.” 2017. Masters Thesis, Northeastern University. Accessed January 18, 2021. http://hdl.handle.net/2047/D20253814.

MLA Handbook (7^th Edition):

Hasan, Md Maruf Ibne. “Indoor and outdoor localization of a mobile robot fusing sensor data.” 2017. Web. 18 Jan 2021.

Vancouver:

Hasan MMI. Indoor and outdoor localization of a mobile robot fusing sensor data. [Internet] [Masters thesis]. Northeastern University; 2017. [cited 2021 Jan 18]. Available from: http://hdl.handle.net/2047/D20253814.

Council of Science Editors:

Hasan MMI. Indoor and outdoor localization of a mobile robot fusing sensor data. [Masters Thesis]. Northeastern University; 2017. Available from: http://hdl.handle.net/2047/D20253814

Uppsala University

8. Melin, Jon. Modeling, control and state-estimation for an autonomous sailboat.

Degree: Division of Systems and Control, 2015, Uppsala University

URL: http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-261553

► During long time missions with autonomous sailboats electrical power is a limited resource. When making evaluations of power saving strategies it is important to… (more)

Subjects/Keywords: sailboat; autonomous sailing; extended kalman filter

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APA (6^th Edition):

Melin, J. (2015). Modeling, control and state-estimation for an autonomous sailboat. (Thesis). Uppsala University. Retrieved from http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-261553

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Melin, Jon. “Modeling, control and state-estimation for an autonomous sailboat.” 2015. Thesis, Uppsala University. Accessed January 18, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-261553.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Melin, Jon. “Modeling, control and state-estimation for an autonomous sailboat.” 2015. Web. 18 Jan 2021.

Vancouver:

Melin J. Modeling, control and state-estimation for an autonomous sailboat. [Internet] [Thesis]. Uppsala University; 2015. [cited 2021 Jan 18]. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-261553.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Melin J. Modeling, control and state-estimation for an autonomous sailboat. [Thesis]. Uppsala University; 2015. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-261553

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

9. Nilsson, Sanna. Sensor Fusion for Heavy Duty Vehicle Platooning.

Degree: The Institute of Technology, 2012, Linköping UniversityLinköping University

URL: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-78970

► The aim of platooning is to enable several Heavy Duty Vehicles (HDVs) to drive in a convoy and act as one unit to decrease the… (more)

Subjects/Keywords: Extended Kalman Filter; EKF; platooning; sensor fusion

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APA (6^th Edition):

Nilsson, S. (2012). Sensor Fusion for Heavy Duty Vehicle Platooning. (Thesis). Linköping UniversityLinköping University. Retrieved from http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-78970

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Nilsson, Sanna. “Sensor Fusion for Heavy Duty Vehicle Platooning.” 2012. Thesis, Linköping UniversityLinköping University. Accessed January 18, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-78970.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Nilsson, Sanna. “Sensor Fusion for Heavy Duty Vehicle Platooning.” 2012. Web. 18 Jan 2021.

Vancouver:

Nilsson S. Sensor Fusion for Heavy Duty Vehicle Platooning. [Internet] [Thesis]. Linköping UniversityLinköping University; 2012. [cited 2021 Jan 18]. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-78970.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Nilsson S. Sensor Fusion for Heavy Duty Vehicle Platooning. [Thesis]. Linköping UniversityLinköping University; 2012. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-78970

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Lehigh University

10. Liang, Wenjing. Attitude Estimation of Quadcopter through Extended Kalman Filter.

Degree: MS, Mechanical Engineering, 2017, Lehigh University

URL: https://preserve.lehigh.edu/etd/2685

► The aim of this paper is to estimate the attitude of the quadcopter using the sensors: 3-axesaccelerometer, 3-axes gyroscope, 2-axes compass.At first I introduce some… (more)

Subjects/Keywords: Extended Kalman Filter; Quadcopter; Engineering; Mechanical Engineering

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APA (6^th Edition):

Liang, W. (2017). Attitude Estimation of Quadcopter through Extended Kalman Filter. (Thesis). Lehigh University. Retrieved from https://preserve.lehigh.edu/etd/2685

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Liang, Wenjing. “Attitude Estimation of Quadcopter through Extended Kalman Filter.” 2017. Thesis, Lehigh University. Accessed January 18, 2021. https://preserve.lehigh.edu/etd/2685.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Liang, Wenjing. “Attitude Estimation of Quadcopter through Extended Kalman Filter.” 2017. Web. 18 Jan 2021.

Vancouver:

Liang W. Attitude Estimation of Quadcopter through Extended Kalman Filter. [Internet] [Thesis]. Lehigh University; 2017. [cited 2021 Jan 18]. Available from: https://preserve.lehigh.edu/etd/2685.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Liang W. Attitude Estimation of Quadcopter through Extended Kalman Filter. [Thesis]. Lehigh University; 2017. Available from: https://preserve.lehigh.edu/etd/2685

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

George Mason University

11. Ravichandran, Suraj. Comparison of Di erent Kalman Filters for Application to Mobile Robotics .

Degree: 2014, George Mason University

URL: http://hdl.handle.net/1920/8997

► The problem of state estimation of the mobile robot's trajectory being a nonlinear one, the intent of this thesis is to go beyond the realm… (more)

Subjects/Keywords: Kalman Filtering; Nonlinear Kalman Filters; Unscented Kalman Filters; mobile robotics; Iterated Extend Kalman Filter; Extended Kalman Filter

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APA (6^th Edition):

Ravichandran, S. (2014). Comparison of Di erent Kalman Filters for Application to Mobile Robotics . (Thesis). George Mason University. Retrieved from http://hdl.handle.net/1920/8997

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Ravichandran, Suraj. “Comparison of Di erent Kalman Filters for Application to Mobile Robotics .” 2014. Thesis, George Mason University. Accessed January 18, 2021. http://hdl.handle.net/1920/8997.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Ravichandran, Suraj. “Comparison of Di erent Kalman Filters for Application to Mobile Robotics .” 2014. Web. 18 Jan 2021.

Vancouver:

Ravichandran S. Comparison of Di erent Kalman Filters for Application to Mobile Robotics . [Internet] [Thesis]. George Mason University; 2014. [cited 2021 Jan 18]. Available from: http://hdl.handle.net/1920/8997.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Ravichandran S. Comparison of Di erent Kalman Filters for Application to Mobile Robotics . [Thesis]. George Mason University; 2014. Available from: http://hdl.handle.net/1920/8997

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of Illinois – Urbana-Champaign

12. Medarametla, Krishna Kalyan. Comparison of two nonlinear filtering techniques - the extended Kalman filter and the feedback particle filter.

Degree: MS, 0133, 2014, University of Illinois – Urbana-Champaign

URL: http://hdl.handle.net/2142/50584

► In a recent work it has been shown that importance sampling can be avoided in particle filter through an innovation structure inspired by traditional nonlinear… (more)

Subjects/Keywords: Extended Kalman filter; Feedback particle filter; Comparison; Nonlinear filtering

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APA (6^th Edition):

Medarametla, K. K. (2014). Comparison of two nonlinear filtering techniques - the extended Kalman filter and the feedback particle filter. (Thesis). University of Illinois – Urbana-Champaign. Retrieved from http://hdl.handle.net/2142/50584

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Medarametla, Krishna Kalyan. “Comparison of two nonlinear filtering techniques - the extended Kalman filter and the feedback particle filter.” 2014. Thesis, University of Illinois – Urbana-Champaign. Accessed January 18, 2021. http://hdl.handle.net/2142/50584.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Medarametla, Krishna Kalyan. “Comparison of two nonlinear filtering techniques - the extended Kalman filter and the feedback particle filter.” 2014. Web. 18 Jan 2021.

Vancouver:

Medarametla KK. Comparison of two nonlinear filtering techniques - the extended Kalman filter and the feedback particle filter. [Internet] [Thesis]. University of Illinois – Urbana-Champaign; 2014. [cited 2021 Jan 18]. Available from: http://hdl.handle.net/2142/50584.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Medarametla KK. Comparison of two nonlinear filtering techniques - the extended Kalman filter and the feedback particle filter. [Thesis]. University of Illinois – Urbana-Champaign; 2014. Available from: http://hdl.handle.net/2142/50584

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

13. Tapiero Bernal, Juan Esteban. Bayesian Estimation For Tracking Of Spiraling Reentry Vehicles.

Degree: 2013, Marquette University

URL: https://epublications.marquette.edu/theses_open/203

► This thesis presents a development of a physics-based dynamics model of a spiraling atmospheric reentry vehicle. An analysis of the trajectory characteristics, using elements from… (more)

Subjects/Keywords: Estimation; Extended Kalman filter; Modeling; Particle filter; Reentry; Tracking

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APA (6^th Edition):

Tapiero Bernal, J. E. (2013). Bayesian Estimation For Tracking Of Spiraling Reentry Vehicles. (Thesis). Marquette University. Retrieved from https://epublications.marquette.edu/theses_open/203

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Tapiero Bernal, Juan Esteban. “Bayesian Estimation For Tracking Of Spiraling Reentry Vehicles.” 2013. Thesis, Marquette University. Accessed January 18, 2021. https://epublications.marquette.edu/theses_open/203.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Tapiero Bernal, Juan Esteban. “Bayesian Estimation For Tracking Of Spiraling Reentry Vehicles.” 2013. Web. 18 Jan 2021.

Vancouver:

Tapiero Bernal JE. Bayesian Estimation For Tracking Of Spiraling Reentry Vehicles. [Internet] [Thesis]. Marquette University; 2013. [cited 2021 Jan 18]. Available from: https://epublications.marquette.edu/theses_open/203.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Tapiero Bernal JE. Bayesian Estimation For Tracking Of Spiraling Reentry Vehicles. [Thesis]. Marquette University; 2013. Available from: https://epublications.marquette.edu/theses_open/203

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

14. Lyster, Linn. Position, Velocity and Orientation Estimation of Minesto’s Crossflow Underwater Kite .

Degree: Chalmers tekniska högskola / Institutionen för mekanik och maritima vetenskaper, 2020, Chalmers University of Technology

URL: http://hdl.handle.net/20.500.12380/301258

► Crossflow underwater kites have shown promising potential to generate green energy, with Minesto’s Deep Green on the front line. The power output is optimized when… (more)

Subjects/Keywords: pose estimation; cross-flow underwater kite; sensor fusion; Kalman Filter; extended Kalman Filter

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APA (6^th Edition):

Lyster, L. (2020). Position, Velocity and Orientation Estimation of Minesto’s Crossflow Underwater Kite . (Thesis). Chalmers University of Technology. Retrieved from http://hdl.handle.net/20.500.12380/301258

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Lyster, Linn. “Position, Velocity and Orientation Estimation of Minesto’s Crossflow Underwater Kite .” 2020. Thesis, Chalmers University of Technology. Accessed January 18, 2021. http://hdl.handle.net/20.500.12380/301258.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Lyster, Linn. “Position, Velocity and Orientation Estimation of Minesto’s Crossflow Underwater Kite .” 2020. Web. 18 Jan 2021.

Vancouver:

Lyster L. Position, Velocity and Orientation Estimation of Minesto’s Crossflow Underwater Kite . [Internet] [Thesis]. Chalmers University of Technology; 2020. [cited 2021 Jan 18]. Available from: http://hdl.handle.net/20.500.12380/301258.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Lyster L. Position, Velocity and Orientation Estimation of Minesto’s Crossflow Underwater Kite . [Thesis]. Chalmers University of Technology; 2020. Available from: http://hdl.handle.net/20.500.12380/301258

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Universidade do Rio Grande do Sul

15. Tocchetto, Marco Antonio Dalcin. Estimador de estados para robô diferencial.

Degree: 2017, Universidade do Rio Grande do Sul

URL: http://hdl.handle.net/10183/163910

►

Nesta dissertação é apresentada a comparação do desempenho de três estimadores - o Filtro de Kalman Estendido, o Filtro de Kalman Unscented e o Filtro… (more)

▼

Nesta dissertação é apresentada a comparação do desempenho de três estimadores - o Filtro de Kalman Estendido, o Filtro de Kalman Unscented e o Filtro de Partículas - aplicados para estimar a postura de um robô diferencial. Uma câmera foi fixa no teto para cobrir todo o campo operacional do robô durante os experimentos, a fim de extrair o mapa e gerar o ground truth. Isso permitiu realizar uma análise do erro de forma precisa a cada instante de tempo. O desempenho de cada um dos estimadores foi avaliado sistematicamente e numericamente para duas trajetórias. Os resultados desse primeiro experimento demonstram que os filtros proporcionam grandes melhorias em relação à odometria e que o modelo dos sensores é crítico para obter esse desempenho. O Filtro de Partículas mostrou um desempenho melhor em relação aos demais nos dois percursos. No entanto, seu elevado custo computacional dificulta sua implementação em uma aplicação de tempo real. O Filtro de Kalman Unscented, por sua vez, mostrou um desempenho semelhante ao Filtro de Kalman Estendido durante a primeira trajetória. Porém, na segunda trajetória, a qual possui uma quantidade maior de curvas, o Filtro de Kalman Unscented mostrou uma melhora significativa em relação ao Filtro de Kalman Estendido. Foi realizado um segundo experimento, em que o robô planeja e executa duas trajetórias. Os resultados obtidos mostraram que o robô consegue chegar a um determinado local com uma precisão da mesma ordem de grandeza do que a obtida durante a estimação de estados do robô.

In this dissertation, the performance of three nonlinear-model based estimators - the Extended Kalman Filter, the Unscented Kalman Filter and the Particle Filter - applied to pose estimation of a differential drive robot is compared. A camera was placed above the operating field of the robot to record the experiments in order to extract the map and generate the ground truth so the evaluation of the error can be done at each time step with high accuracy. The performance of each estimator is assessed systematically and numerically for two robot trajectories. The first experimental results showed that all estimators provide large improvements with respect to odometry and that the sensor modeling is critical for their performance. The particle filter showed a better performance than the others on both experiments, however, its high computational cost makes it difficult to implement in a real-time application. The Unscented Kalman Filter showed a similar performance to the Extended Kalman Filter during the first trajectory. However, during the second one (a curvier path) the Unscented Kalman Filter showed a significant improvement over the Extended Kalman Filter. A second experiment was carried out where the robot plans and executes a trajectory. The results showed the robot can reach a predefined location with an accuracy of the same order of magnitude as the obtained during the robot pose estimation.

Advisors/Committee Members: Bazanella, Alexandre Sanfelice.

Subjects/Keywords: State estimation; Filtro; Extended kalman filter; Robótica; Processamento de imagens; Unscented kalman filter; Particle filter; Differential drive robot

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APA (6^th Edition):

Tocchetto, M. A. D. (2017). Estimador de estados para robô diferencial. (Thesis). Universidade do Rio Grande do Sul. Retrieved from http://hdl.handle.net/10183/163910

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Tocchetto, Marco Antonio Dalcin. “Estimador de estados para robô diferencial.” 2017. Thesis, Universidade do Rio Grande do Sul. Accessed January 18, 2021. http://hdl.handle.net/10183/163910.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Tocchetto, Marco Antonio Dalcin. “Estimador de estados para robô diferencial.” 2017. Web. 18 Jan 2021.

Vancouver:

Tocchetto MAD. Estimador de estados para robô diferencial. [Internet] [Thesis]. Universidade do Rio Grande do Sul; 2017. [cited 2021 Jan 18]. Available from: http://hdl.handle.net/10183/163910.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Tocchetto MAD. Estimador de estados para robô diferencial. [Thesis]. Universidade do Rio Grande do Sul; 2017. Available from: http://hdl.handle.net/10183/163910

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Delft University of Technology

16. Rijnsdorp, J. (author). Performance of a Flush Airdata Sensor in a Particle Filter-Based Re-entry Navigation System.

Degree: 2017, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:993ccea0-0839-4bf3-8662-76ebb37e6c61

►

Re-entry is a term that is applied when one would like to transport some (human) payload from an orbit around a certain body towards the… (more)

▼

Re-entry is a term that is applied when one would like to transport some (human) payload from an orbit around a certain body towards the surface of that body. With an entry velocity of multiple kilometers per second, having the vehicle carrying this payload not smashed into pieces at the end of flight is one of the key points of re-entry. Using a guidance, navigation, and control system (GNC), one is capable of defining a path through the atmosphere towards a predefined target, and following that trajectory so that a safe landing can be assured. This thesis focuses on the navigation module of the GNC system, where the application of a Flush Airdata Sensor (FADS) and the comparison between the Extended Kalman Filter (EKF), the Unscented Kalman Filter (UKF), and the Particle Filter (PF) is considered. The approach that is taken to evaluate the performance of the three filters and the FADS is based on the design of a re-entry simulator, which provides a 6 degree-of-freedom simulated motion through the atmosphere. The guidance system consists of a set of commanded attitude angles and for the control system, a Linear Quadratic Regulator (LQR) is designed that is able to control the vehicle throughout the hypersonic descent of the atmospheric re-entry flight. Then, the EKF, UKF, and PF are designed and evaluated individually, using measurements from an Inertial Measurement Unit (IMU), a Global Positioning System (GPS) receiver and the FADS. From the individual assessment of the filters, it is found that the PF outperforms the two Kalman filters. Concluding this, the PF-based navigation module is integrated into the simulator, thereby completing the GNC-system. The FADS shows improvement of the position estimation results, as the final error for a navigation module without the FADS is 0.93 m for the altitude, whereas the integration of the FADS in that module results in a final estimation error of 0.62 m. In terms of velocity, errors in the magnitude of ~0.02 m/s are found, and, for the attitude angles, errors of ~0.02 degrees are estimated.

Aerospace Engineering

Space Engineering

Astrodynamics & Space Missions

Advisors/Committee Members: Mooij, E. (mentor).

Subjects/Keywords: Re-entry; Space; Navigation; Particle Filter; Flush Airdata Sensor; GNC-system; GNC-system; Unscented Kalman Filter; UKF; Extended Kalman Filter; EKF

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Rijnsdorp, J. (. (2017). Performance of a Flush Airdata Sensor in a Particle Filter-Based Re-entry Navigation System. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:993ccea0-0839-4bf3-8662-76ebb37e6c61

Chicago Manual of Style (16^th Edition):

Rijnsdorp, J (author). “Performance of a Flush Airdata Sensor in a Particle Filter-Based Re-entry Navigation System.” 2017. Masters Thesis, Delft University of Technology. Accessed January 18, 2021. http://resolver.tudelft.nl/uuid:993ccea0-0839-4bf3-8662-76ebb37e6c61.

MLA Handbook (7^th Edition):

Rijnsdorp, J (author). “Performance of a Flush Airdata Sensor in a Particle Filter-Based Re-entry Navigation System.” 2017. Web. 18 Jan 2021.

Vancouver:

Rijnsdorp J(. Performance of a Flush Airdata Sensor in a Particle Filter-Based Re-entry Navigation System. [Internet] [Masters thesis]. Delft University of Technology; 2017. [cited 2021 Jan 18]. Available from: http://resolver.tudelft.nl/uuid:993ccea0-0839-4bf3-8662-76ebb37e6c61.

Council of Science Editors:

Rijnsdorp J(. Performance of a Flush Airdata Sensor in a Particle Filter-Based Re-entry Navigation System. [Masters Thesis]. Delft University of Technology; 2017. Available from: http://resolver.tudelft.nl/uuid:993ccea0-0839-4bf3-8662-76ebb37e6c61

17. So, Ratanak. Extended Kalman Filter Simulink Model for Nonlinear System Modeling.

Degree: MS, Electrical and Computer Engineering, 2015, Oregon State University

URL: http://hdl.handle.net/1957/56248

► The objective of the work presented herein is the development of the extended Kalman filter for nonlinear system modeling. A standard Kalman filter is a… (more)

Subjects/Keywords: Extended Kalman Filter; Kalman filtering

…5 4.1 Simulink model of the extended Kalman filter. The Input represents the voltages ua… …measured states (Ia +vak , Ib +vbk ) available to the extended Kalman filter. Finally… …function on Gaussians, and discussion of an extended Kalman filter. 2 Chapter 2: The Standard… …modelers because it separates those who understand why and when to use the extended Kalman filter… …The Extended Kalman Filter 4.1 Taylor Series Expansion The key to nonlinear Kalman filtering…

3 more images…

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

So, R. (2015). Extended Kalman Filter Simulink Model for Nonlinear System Modeling. (Masters Thesis). Oregon State University. Retrieved from http://hdl.handle.net/1957/56248

Chicago Manual of Style (16^th Edition):

So, Ratanak. “Extended Kalman Filter Simulink Model for Nonlinear System Modeling.” 2015. Masters Thesis, Oregon State University. Accessed January 18, 2021. http://hdl.handle.net/1957/56248.

MLA Handbook (7^th Edition):

So, Ratanak. “Extended Kalman Filter Simulink Model for Nonlinear System Modeling.” 2015. Web. 18 Jan 2021.

Vancouver:

So R. Extended Kalman Filter Simulink Model for Nonlinear System Modeling. [Internet] [Masters thesis]. Oregon State University; 2015. [cited 2021 Jan 18]. Available from: http://hdl.handle.net/1957/56248.

Council of Science Editors:

So R. Extended Kalman Filter Simulink Model for Nonlinear System Modeling. [Masters Thesis]. Oregon State University; 2015. Available from: http://hdl.handle.net/1957/56248

NSYSU

18. Huang, Yu-hsin. Localization and Target Tracking with Improved GDOP using Mobile Sensor Nodes.

Degree: Master, Electrical Engineering, 2010, NSYSU

URL: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0811110-165752

► In wireless positioning system, in addition to channel error, the geometric re- lationship between sensor nodes and the target may also affect the positioning accuracy.… (more)

▼ In wireless positioning system, in addition to channel error, the geometric re- lationship between sensor nodes and the target may also affect the positioning accuracy. The effect is called geometric dilution of precision (GDOP). GDOP is determined as ratio factor between location error and measurement error. A higher GDOP value indicates a larger location error in location estimation. Accordingly, the location performance will be poor. The GDOP can therefore be used as an in- dex of the positioning performance. In this thesis, approaches of tracking a moving target with extended Kalman filter (EKF) in a time-difference-of-arrival (TDOA) wireless positioning system are discussed. While the target changes its position with time, the geometric layout between sensor nodes and the target will become differ- ent. To maintain the good layout, the positioning system with mobile sensor nodes is considered. Therefore, the geometric layout can be possibly improved and GDOP effect can be reduced by the mobility of mobile sensor nodes. In order to find the positions that mobile sensor nodes should move to, a time-varying function based on the GDOP distribution is defined for finding the best solutions. Since the simu- lated annealing is capable of escaping local minima and finding the global minimum in an objective function, the simulated annealing algorithm is used in finding the best solutions in the defined function. Thus the best solutions can be determined as the destinations of mobile sensor nodes. When relocating mobile sensor nodes from their current positions to the destinations, they may pass through or stay in high GDOP regions before arriving at the destinations. To avoid the problem, we establish an objective function for path planning of mobile sensor nodes in order to minimize the overall positioning accuracy. Simulation results show that the mobile sensor nodes will accordingly change their positions while the target is moving. All the sensor nodes will maintain a surrounding region to localize the target and the GDOP effect can be effectively reduced. Advisors/Committee Members: Jiann-Der Lee (chair), Chin-Der Wann (committee member), Kuan-Chih Wang (chair), Miin-Jong Hao (chair), Miin-Jong Hao (chair).

Subjects/Keywords: path planning; GDOP; Simulated annealing; extended Kalman filter; mobile sensor node

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APA (6^th Edition):

Huang, Y. (2010). Localization and Target Tracking with Improved GDOP using Mobile Sensor Nodes. (Thesis). NSYSU. Retrieved from http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0811110-165752

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Huang, Yu-hsin. “Localization and Target Tracking with Improved GDOP using Mobile Sensor Nodes.” 2010. Thesis, NSYSU. Accessed January 18, 2021. http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0811110-165752.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Huang, Yu-hsin. “Localization and Target Tracking with Improved GDOP using Mobile Sensor Nodes.” 2010. Web. 18 Jan 2021.

Vancouver:

Huang Y. Localization and Target Tracking with Improved GDOP using Mobile Sensor Nodes. [Internet] [Thesis]. NSYSU; 2010. [cited 2021 Jan 18]. Available from: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0811110-165752.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Huang Y. Localization and Target Tracking with Improved GDOP using Mobile Sensor Nodes. [Thesis]. NSYSU; 2010. Available from: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0811110-165752

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

NSYSU

19. Wang, Zuo-syuan. Implementation of Odometry with EKF for Localization of Hector SLAM Method.

Degree: Master, Electrical Engineering, 2016, NSYSU

URL: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0026116-151712

► In recent years, autonomous robot navigation in indoor environment has successfully been used on unmanned ground vehicles (UGV), unmanned surface vehicles (USV) and unmanned aerial… (more)

Subjects/Keywords: corridor; SLAM; autonomous robot; Extended Kalman Filter; path planning; regression

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APA (6^th Edition):

Wang, Z. (2016). Implementation of Odometry with EKF for Localization of Hector SLAM Method. (Thesis). NSYSU. Retrieved from http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0026116-151712

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Wang, Zuo-syuan. “Implementation of Odometry with EKF for Localization of Hector SLAM Method.” 2016. Thesis, NSYSU. Accessed January 18, 2021. http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0026116-151712.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Wang, Zuo-syuan. “Implementation of Odometry with EKF for Localization of Hector SLAM Method.” 2016. Web. 18 Jan 2021.

Vancouver:

Wang Z. Implementation of Odometry with EKF for Localization of Hector SLAM Method. [Internet] [Thesis]. NSYSU; 2016. [cited 2021 Jan 18]. Available from: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0026116-151712.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Wang Z. Implementation of Odometry with EKF for Localization of Hector SLAM Method. [Thesis]. NSYSU; 2016. Available from: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0026116-151712

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

North Carolina State University

20. Aitken, Matthew Lawrence. Lidar-Aided Inertial Navigation with Extended Kalman Filtering for Pinpoint Landing.

Degree: MS, Aerospace Engineering, 2009, North Carolina State University

URL: http://www.lib.ncsu.edu/resolver/1840.16/1129

► In support of NASAÃ¢â‚¬â„¢s Autonomous Landing and Hazard Avoidance Technology project, an extended Kalman filter (EKF) routine has been developed for estimating the position, velocity,… (more)

Subjects/Keywords: planetary landing; extended Kalman filter; inertial navigation; lidar

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APA (6^th Edition):

Aitken, M. L. (2009). Lidar-Aided Inertial Navigation with Extended Kalman Filtering for Pinpoint Landing. (Thesis). North Carolina State University. Retrieved from http://www.lib.ncsu.edu/resolver/1840.16/1129

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Aitken, Matthew Lawrence. “Lidar-Aided Inertial Navigation with Extended Kalman Filtering for Pinpoint Landing.” 2009. Thesis, North Carolina State University. Accessed January 18, 2021. http://www.lib.ncsu.edu/resolver/1840.16/1129.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Aitken, Matthew Lawrence. “Lidar-Aided Inertial Navigation with Extended Kalman Filtering for Pinpoint Landing.” 2009. Web. 18 Jan 2021.

Vancouver:

Aitken ML. Lidar-Aided Inertial Navigation with Extended Kalman Filtering for Pinpoint Landing. [Internet] [Thesis]. North Carolina State University; 2009. [cited 2021 Jan 18]. Available from: http://www.lib.ncsu.edu/resolver/1840.16/1129.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Aitken ML. Lidar-Aided Inertial Navigation with Extended Kalman Filtering for Pinpoint Landing. [Thesis]. North Carolina State University; 2009. Available from: http://www.lib.ncsu.edu/resolver/1840.16/1129

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Addis Ababa University

21. Hamdihun, Abdie. Observer based Speed Control of PMSM using TMS320F2812 DSP .

Degree: 2013, Addis Ababa University

URL: http://etd.aau.edu.et/dspace/handle/123456789/4704

► Problems due to mechanical position sensor of Permanent Magnet Synchronous Motor during speed control are alleviated by an observer for estimating instantaneous speed and position… (more)

Subjects/Keywords: PMSM; Extended Kalman Filter; Vector control; TMS320F2812 DSP; State Observer

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APA (6^th Edition):

Hamdihun, A. (2013). Observer based Speed Control of PMSM using TMS320F2812 DSP . (Thesis). Addis Ababa University. Retrieved from http://etd.aau.edu.et/dspace/handle/123456789/4704

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Hamdihun, Abdie. “Observer based Speed Control of PMSM using TMS320F2812 DSP .” 2013. Thesis, Addis Ababa University. Accessed January 18, 2021. http://etd.aau.edu.et/dspace/handle/123456789/4704.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Hamdihun, Abdie. “Observer based Speed Control of PMSM using TMS320F2812 DSP .” 2013. Web. 18 Jan 2021.

Vancouver:

Hamdihun A. Observer based Speed Control of PMSM using TMS320F2812 DSP . [Internet] [Thesis]. Addis Ababa University; 2013. [cited 2021 Jan 18]. Available from: http://etd.aau.edu.et/dspace/handle/123456789/4704.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Hamdihun A. Observer based Speed Control of PMSM using TMS320F2812 DSP . [Thesis]. Addis Ababa University; 2013. Available from: http://etd.aau.edu.et/dspace/handle/123456789/4704

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of Guelph

22. Wei, Zhuo. Fuzzy Logic and Neural Network-aided Extended Kalman Filter for Mobile Robot Localization.

Degree: Master of Applied Science, School of Engineering, 2011, University of Guelph

URL: https://atrium.lib.uoguelph.ca/xmlui/handle/10214/3014

► In this thesis, an algorithm that improves the performance of the extended Kalman filter (EKF) on the mobile robot localization issue is proposed, which is… (more)

Subjects/Keywords: Extended Kalman Filter; Fuzzy Logic; Neural Network; Mobile Robot; Localization

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APA (6^th Edition):

Wei, Z. (2011). Fuzzy Logic and Neural Network-aided Extended Kalman Filter for Mobile Robot Localization. (Masters Thesis). University of Guelph. Retrieved from https://atrium.lib.uoguelph.ca/xmlui/handle/10214/3014

Chicago Manual of Style (16^th Edition):

Wei, Zhuo. “Fuzzy Logic and Neural Network-aided Extended Kalman Filter for Mobile Robot Localization.” 2011. Masters Thesis, University of Guelph. Accessed January 18, 2021. https://atrium.lib.uoguelph.ca/xmlui/handle/10214/3014.

MLA Handbook (7^th Edition):

Wei, Zhuo. “Fuzzy Logic and Neural Network-aided Extended Kalman Filter for Mobile Robot Localization.” 2011. Web. 18 Jan 2021.

Vancouver:

Wei Z. Fuzzy Logic and Neural Network-aided Extended Kalman Filter for Mobile Robot Localization. [Internet] [Masters thesis]. University of Guelph; 2011. [cited 2021 Jan 18]. Available from: https://atrium.lib.uoguelph.ca/xmlui/handle/10214/3014.

Council of Science Editors:

Wei Z. Fuzzy Logic and Neural Network-aided Extended Kalman Filter for Mobile Robot Localization. [Masters Thesis]. University of Guelph; 2011. Available from: https://atrium.lib.uoguelph.ca/xmlui/handle/10214/3014

University of Connecticut

23. Narayan, Rahul. Programmable Safety Zones; Smart (location-safe) Devices and Sensor Networks.

Degree: MS, Computer Science and Engineering, 2014, University of Connecticut

URL: https://opencommons.uconn.edu/gs_theses/582

► Since 2006, there have been more than 200 mass killings in the United States. Tragic images from Newtown, Fort Hood and Virginia Tech capture… (more)

▼ Since 2006, there have been more than 200 mass killings in the United States. Tragic images from Newtown, Fort Hood and Virginia Tech capture the nation’s attention, but similar bloody scenes happen with alarming frequency. Access to weapons seems to be very easy. Accidents could happen in unexpected places and surroundings. Severe regulations might help but may not be politically feasible. Given this state of affairs, in this thesis we provide a novel solution to avoid disasters in public areas that could happen with the unauthorized use of weapons. In particular, we propose novel techniques to designate and assign safety zones which are weapon-free. These zones can be campuses, hospitals, churches or any public building. The first stage involves the creation of a software prototype which can be programmed onto any microcontroller on a weapon/device which renders them inactive in safe zones. The location coordinates of the safe zones are fed into the program and the area is designated as safe in the map. Selection of the sensors to be used on weapons was made after careful consideration. A filtering technique (modified EKF) for the combination of sensors to be used on location-safe devices is also explained. A novel algorithm for handling situations that arise for location-safe weapons in various scenarios like presence of multiple weapons, presence of security officials is proposed. The second stage involves creation of safety zones in schools, hospitals, and other public buildings using wireless sensor networks. Ways to build a cheap sensor network around campuses, which communicates with the weapon and locks it down when it enters the premises, is explained. Efficiency of existing algorithms for optimal sensor placement in the sensor networks and to find a 'leader in the network’ is evaluated. The environment is simulated and the results are validated Advisors/Committee Members: Dr. Reda Ammar, Dr. Ashwin Dani, Dr. Jinbo Bi, Dr. Sanguthevar Rajasekaran.

Subjects/Keywords: GPS; Safety Zones; Sensor Network; Location-safe Devices; Extended Kalman Filter

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APA (6^th Edition):

Narayan, R. (2014). Programmable Safety Zones; Smart (location-safe) Devices and Sensor Networks. (Masters Thesis). University of Connecticut. Retrieved from https://opencommons.uconn.edu/gs_theses/582

Chicago Manual of Style (16^th Edition):

Narayan, Rahul. “Programmable Safety Zones; Smart (location-safe) Devices and Sensor Networks.” 2014. Masters Thesis, University of Connecticut. Accessed January 18, 2021. https://opencommons.uconn.edu/gs_theses/582.

MLA Handbook (7^th Edition):

Narayan, Rahul. “Programmable Safety Zones; Smart (location-safe) Devices and Sensor Networks.” 2014. Web. 18 Jan 2021.

Vancouver:

Narayan R. Programmable Safety Zones; Smart (location-safe) Devices and Sensor Networks. [Internet] [Masters thesis]. University of Connecticut; 2014. [cited 2021 Jan 18]. Available from: https://opencommons.uconn.edu/gs_theses/582.

Council of Science Editors:

Narayan R. Programmable Safety Zones; Smart (location-safe) Devices and Sensor Networks. [Masters Thesis]. University of Connecticut; 2014. Available from: https://opencommons.uconn.edu/gs_theses/582

University of Ottawa

24. Masinjila, Ruslan. Multirobot Localization Using Heuristically Tuned Extended Kalman Filter .

Degree: 2016, University of Ottawa

URL: http://hdl.handle.net/10393/35489

► A mobile robot needs to know its pose (position and orientation) in order to navigate and perform useful tasks. The problem of determining this pose… (more)

Subjects/Keywords: Extended Kalman Filter; Sensor fusion; Heuristics; consistency; Robot Operating System

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Masinjila, R. (2016). Multirobot Localization Using Heuristically Tuned Extended Kalman Filter . (Thesis). University of Ottawa. Retrieved from http://hdl.handle.net/10393/35489

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Masinjila, Ruslan. “Multirobot Localization Using Heuristically Tuned Extended Kalman Filter .” 2016. Thesis, University of Ottawa. Accessed January 18, 2021. http://hdl.handle.net/10393/35489.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Masinjila, Ruslan. “Multirobot Localization Using Heuristically Tuned Extended Kalman Filter .” 2016. Web. 18 Jan 2021.

Vancouver:

Masinjila R. Multirobot Localization Using Heuristically Tuned Extended Kalman Filter . [Internet] [Thesis]. University of Ottawa; 2016. [cited 2021 Jan 18]. Available from: http://hdl.handle.net/10393/35489.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Masinjila R. Multirobot Localization Using Heuristically Tuned Extended Kalman Filter . [Thesis]. University of Ottawa; 2016. Available from: http://hdl.handle.net/10393/35489

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

North-West University

25. Lubbe, Estelle. State estimation of a hexapod robot using a proprioceptive sensory system / Estelle Lubbe .

Degree: 2014, North-West University

URL: http://hdl.handle.net/10394/15374

► The Defence, Peace, Safety and Security (DPSS) competency area within the Council for Scientific and Industrial Research (CSIR) has identified the need for the development… (more)

▼ The Defence, Peace, Safety and Security (DPSS) competency area within the Council for Scientific and Industrial Research (CSIR) has identified the need for the development of a robot that can operate in almost any land-based environment. Legged robots, especially hexapod (six-legged) robots present a wide variety of advantages that can be utilised in this environment and is identified as a feasible solution. The biggest advantage and main reason for the development of legged robots over mobile (wheeled) robots, is their ability to navigate in uneven, unstructured terrain. However, due to the complicated control algorithms needed by a legged robot, most literature only focus on navigation in even or relatively even terrains. This is seen as the main limitation with regards to the development of legged robot applications. For navigation in unstructured terrain, postural controllers of legged robots need fast and precise knowledge about the state of the robot they are regulating. The speed and accuracy of the state estimation of a legged robot is therefore very important. Even though state estimation for mobile robots has been studied thoroughly, limited research is available on state estimation with regards to legged robots. Compared to mobile robots, locomotion of legged robots make use of intermitted ground contacts. Therefore, stability is a main concern when navigating in unstructured terrain. In order to control the stability of a legged robot, six degrees of freedom information is needed about the base of the robot platform. This information needs to be estimated using measurements from the robot’s sensory system. A sensory system of a robot usually consist of multiple sensory devices on board of the robot. However, legged robots have limited payload capacities and therefore the amount of sensory devices on a legged robot platform should be kept to a minimum. Furthermore, exteroceptive sensory devices commonly used in state estimation, such as a GPS or cameras, are not suitable when navigating in unstructured and unknown terrain. The control and localisation of a legged robot should therefore only depend on proprioceptive sensors. The need for the development of a reliable state estimation framework (that only relies on proprioceptive information) for a low-cost, commonly available hexapod robot is identified. This will accelerate the process for control algorithm development. In this study this need is addressed. Common proprioceptive sensors are integrated on a commercial low-cost hexapod robot to develop the robot platform used in this study. A state estimation framework for legged robots is used to develop a state estimation methodology for the hexapod platform. A kinematic model is also derived and verified for the platform, and measurement models are derived to address possible errors and noise in sensor measurements. The state estimation methodology makes use of an Extended Kalman filter to fuse the robots kinematics with measurements from an IMU. The needed state estimation…

Subjects/Keywords: State estimation; Extended Kalman filter; Hexapod Robot; Legged Robot

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APA (6^th Edition):

Lubbe, E. (2014). State estimation of a hexapod robot using a proprioceptive sensory system / Estelle Lubbe . (Thesis). North-West University. Retrieved from http://hdl.handle.net/10394/15374

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Lubbe, Estelle. “State estimation of a hexapod robot using a proprioceptive sensory system / Estelle Lubbe .” 2014. Thesis, North-West University. Accessed January 18, 2021. http://hdl.handle.net/10394/15374.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Lubbe, Estelle. “State estimation of a hexapod robot using a proprioceptive sensory system / Estelle Lubbe .” 2014. Web. 18 Jan 2021.

Vancouver:

Lubbe E. State estimation of a hexapod robot using a proprioceptive sensory system / Estelle Lubbe . [Internet] [Thesis]. North-West University; 2014. [cited 2021 Jan 18]. Available from: http://hdl.handle.net/10394/15374.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Lubbe E. State estimation of a hexapod robot using a proprioceptive sensory system / Estelle Lubbe . [Thesis]. North-West University; 2014. Available from: http://hdl.handle.net/10394/15374

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Linköping University

26. Liljestrand, Jonatan. State estimation of RC cars for the purpose of drift control.

Degree: Automatic Control, 2011, Linköping University

URL: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-72182

► High precision state estimation is crucial when executing drift control and high speed control close to the stability limit, on electric RC scale cars.… (more)

Subjects/Keywords: Vehicle Dynamics; Sensor Fusion; Extended Kalman Filter; Control Theory; Kyosho dNano

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Liljestrand, J. (2011). State estimation of RC cars for the purpose of drift control. (Thesis). Linköping University. Retrieved from http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-72182

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Liljestrand, Jonatan. “State estimation of RC cars for the purpose of drift control.” 2011. Thesis, Linköping University. Accessed January 18, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-72182.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Liljestrand, Jonatan. “State estimation of RC cars for the purpose of drift control.” 2011. Web. 18 Jan 2021.

Vancouver:

Liljestrand J. State estimation of RC cars for the purpose of drift control. [Internet] [Thesis]. Linköping University; 2011. [cited 2021 Jan 18]. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-72182.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Liljestrand J. State estimation of RC cars for the purpose of drift control. [Thesis]. Linköping University; 2011. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-72182

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

27. Parsi, Shravan Kumar. SNR Estimation for Preamble-based Wireless OFDM Systems using Extended Kalman Filter.

Degree: 2011, , School of Engineering

URL: http://urn.kb.se/resolve?urn=urn:nbn:se:bth-3657

►

In Orthogonal Frequency Division Multiplexing (OFDM) systems, robustness in frequency selective channels is achieved using adaptable transmission parameters. To reckon these parameters, knowledge of… (more)

Subjects/Keywords: Extended Kalman Filter; Fading channels; Least squares; OFDM; SNR

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APA (6^th Edition):

Parsi, S. K. (2011). SNR Estimation for Preamble-based Wireless OFDM Systems using Extended Kalman Filter. (Thesis). , School of Engineering. Retrieved from http://urn.kb.se/resolve?urn=urn:nbn:se:bth-3657

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Parsi, Shravan Kumar. “SNR Estimation for Preamble-based Wireless OFDM Systems using Extended Kalman Filter.” 2011. Thesis, , School of Engineering. Accessed January 18, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:bth-3657.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Parsi, Shravan Kumar. “SNR Estimation for Preamble-based Wireless OFDM Systems using Extended Kalman Filter.” 2011. Web. 18 Jan 2021.

Vancouver:

Parsi SK. SNR Estimation for Preamble-based Wireless OFDM Systems using Extended Kalman Filter. [Internet] [Thesis]. , School of Engineering; 2011. [cited 2021 Jan 18]. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:bth-3657.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Parsi SK. SNR Estimation for Preamble-based Wireless OFDM Systems using Extended Kalman Filter. [Thesis]. , School of Engineering; 2011. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:bth-3657

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Delft University of Technology

28. Vos, Jacco (author). Reducing conflicting forces with co-adaptive haptic shared control using online time-varying operator identification.

Degree: 2018, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:29b0e1fd-f395-4f9d-80af-8555406ddc7d

► Haptic shared control (HSC) is a method to combine the abilities of humans and machines, in which human and automation jointly exert forces on an… (more)

▼ Haptic shared control (HSC) is a method to combine the abilities of humans and machines, in which human and automation jointly exert forces on an input device. According to human-centered design, the underlying controller for HSC should closely resemble human behavior. This paper aims to continuously adapt HSC based on an online identified operator model. This approach is named coadaptive HSC. Co-adaptive HSC is hypothesized to decrease conflicts when the human adjusts his control behavior to changing requirements of the task. In a compensatory tracking experiment with eleven participants, co-adaptive HSC is compared to time-invariant HSC. During the experiments, the participants control a time-varying controlled element, which changes from a single integrator to a double integrator and back unannounced. Time-invariant HSC was designed for controlling a single integrator, whereas co-adaptive HSC adapted to the human by continuously estimating the time-varying parameters of the operator using an Extended Kalman Filter (EKF). This online identified model of the operator was directly used in the shared controller, therefore, the co-adaptive HSC imitates human behavior. A 36% decrease in conflict rate (the percentage of time in which the human force and the controller force have opposite directions) was found for co-adaptive HSC compared to time-invariant HSC when the controlled element was a double integrator. However, for some participants incorrect EKF-estimation of the neuromuscular damping resulted in undesired oscillations in control force during co-adaptive HSC. This indicates that the performance of co-adaptive HSC can be further improved. Overall, this study proves that co-adaptive HSC is a promising method to reduce conflicts, and is able to adapt to operator behavior in unforeseen situations. Advisors/Committee Members: Abbink, David (mentor), Petermeijer, Bastiaan (mentor), Pool, Daan (mentor), Delft University of Technology (degree granting institution).

Subjects/Keywords: co-adaptation; haptic shared control; extended kalman filter

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Vos, J. (. (2018). Reducing conflicting forces with co-adaptive haptic shared control using online time-varying operator identification. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:29b0e1fd-f395-4f9d-80af-8555406ddc7d

Chicago Manual of Style (16^th Edition):

Vos, Jacco (author). “Reducing conflicting forces with co-adaptive haptic shared control using online time-varying operator identification.” 2018. Masters Thesis, Delft University of Technology. Accessed January 18, 2021. http://resolver.tudelft.nl/uuid:29b0e1fd-f395-4f9d-80af-8555406ddc7d.

MLA Handbook (7^th Edition):

Vos, Jacco (author). “Reducing conflicting forces with co-adaptive haptic shared control using online time-varying operator identification.” 2018. Web. 18 Jan 2021.

Vancouver:

Vos J(. Reducing conflicting forces with co-adaptive haptic shared control using online time-varying operator identification. [Internet] [Masters thesis]. Delft University of Technology; 2018. [cited 2021 Jan 18]. Available from: http://resolver.tudelft.nl/uuid:29b0e1fd-f395-4f9d-80af-8555406ddc7d.

Council of Science Editors:

Vos J(. Reducing conflicting forces with co-adaptive haptic shared control using online time-varying operator identification. [Masters Thesis]. Delft University of Technology; 2018. Available from: http://resolver.tudelft.nl/uuid:29b0e1fd-f395-4f9d-80af-8555406ddc7d

Delft University of Technology

29. Van Erp, P.B.C. (author). Incorporating the information and uncertainties of loop-detector and floating car data in freeway traffic state estimation.

Degree: 2015, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:8709945c-6102-4cc9-a791-8cc42464c7e7

►

Traffic state estimation is an important element in traffic management systems. In this research a freeway traffic state estimation methodology is proposed which allows to… (more)

Subjects/Keywords: Traffic state estimation; Floating car data; Extended Kalman Filter

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APA (6^th Edition):

Van Erp, P. B. C. (. (2015). Incorporating the information and uncertainties of loop-detector and floating car data in freeway traffic state estimation. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:8709945c-6102-4cc9-a791-8cc42464c7e7

Chicago Manual of Style (16^th Edition):

Van Erp, P B C (author). “Incorporating the information and uncertainties of loop-detector and floating car data in freeway traffic state estimation.” 2015. Masters Thesis, Delft University of Technology. Accessed January 18, 2021. http://resolver.tudelft.nl/uuid:8709945c-6102-4cc9-a791-8cc42464c7e7.

MLA Handbook (7^th Edition):

Van Erp, P B C (author). “Incorporating the information and uncertainties of loop-detector and floating car data in freeway traffic state estimation.” 2015. Web. 18 Jan 2021.

Vancouver:

Van Erp PBC(. Incorporating the information and uncertainties of loop-detector and floating car data in freeway traffic state estimation. [Internet] [Masters thesis]. Delft University of Technology; 2015. [cited 2021 Jan 18]. Available from: http://resolver.tudelft.nl/uuid:8709945c-6102-4cc9-a791-8cc42464c7e7.

Council of Science Editors:

Van Erp PBC(. Incorporating the information and uncertainties of loop-detector and floating car data in freeway traffic state estimation. [Masters Thesis]. Delft University of Technology; 2015. Available from: http://resolver.tudelft.nl/uuid:8709945c-6102-4cc9-a791-8cc42464c7e7

University of Ontario Institute of Technology

30. Mirfakhraie, Tina. A wireless communication based active safety system for articulated heavy vehicles.

Degree: 2020, University of Ontario Institute of Technology

URL: http://hdl.handle.net/10155/1173

► To date, various active safety systems, have been developed to improve the safety of road vehicles. This dissertation presents a novel active trailer steering (ATS)… (more)

▼ To date, various active safety systems, have been developed to improve the safety of road vehicles. This dissertation presents a novel active trailer steering (ATS) system using wireless communication to exchange data among controllers and sensors allocated on the leading and trailing units of an articulated heavy vehicle (AHV). Conventionally, integrating the sensors, actuators, and controllers located on the leading and trailing units of the vehicle needs wired connections. The physical connection at the articulation joint increases the risk of disconnections and damages. Adopting a wireless communication system displays pronounced advantages, including flexibility, cost-effectiveness and ease of maintenance. For AHV's lateral stability control using wireless communication based ATS, addressing the problem of data delay and loss is the main challenge of this study. Innovative solutions have been proposed to tackle the challenges and numerical simulations have been conducted to evaluate the applicability and effectiveness of the proposed techniques for wireless communication based ATS. To this end, a realistic co-simulation platform is designed: the wireless communication based ATS system is constructed in MATLAB/Simulink; the virtual AHV is built in TruckSim; by means of integrating the ATS system and the virtual AHV, the co-simulation can be performed. As a preliminary design, a gain scheduler is introduced to compensate for the effect of data delay and stabilize the AHV. Later, in order to ensure the performance of the ATS control, a Kalman filter-based estimator is introduced. The estimator uses the available dynamic data to estimate the current states of the AHV in case some sensor data is not available. Several design parameters of the communication system based on dedicated short range communication (DSRC) standard such as modulation, quantization, channel estimation algorithm and transmit diversity have been studied. The effect of each parameter on AHV lateral stability is reviewed to propose proper configuration of the DSRC standard. Finally, an adaptive extended Kalman filter is introduced to mitigate the effects of asynchronous time delay on the AHV lateral stability. This thesis initiates the concept of wireless communication based ATS systems for AHVs and provides valuable guidance for such design and development. Advisors/Committee Members: Liscano, Ramiro, He, Yuping.

Subjects/Keywords: Adaptive Extended Kalman filter; DSRC; Data time-delay; Lateral Stability; AHV

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Mirfakhraie, T. (2020). A wireless communication based active safety system for articulated heavy vehicles. (Thesis). University of Ontario Institute of Technology. Retrieved from http://hdl.handle.net/10155/1173

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Mirfakhraie, Tina. “A wireless communication based active safety system for articulated heavy vehicles.” 2020. Thesis, University of Ontario Institute of Technology. Accessed January 18, 2021. http://hdl.handle.net/10155/1173.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Mirfakhraie, Tina. “A wireless communication based active safety system for articulated heavy vehicles.” 2020. Web. 18 Jan 2021.

Vancouver:

Mirfakhraie T. A wireless communication based active safety system for articulated heavy vehicles. [Internet] [Thesis]. University of Ontario Institute of Technology; 2020. [cited 2021 Jan 18]. Available from: http://hdl.handle.net/10155/1173.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Mirfakhraie T. A wireless communication based active safety system for articulated heavy vehicles. [Thesis]. University of Ontario Institute of Technology; 2020. Available from: http://hdl.handle.net/10155/1173

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

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Open Access Theses and Dissertations