Les maladies cardiovasculaires sont l'une des principales causes de mortalité chez l'homme. Une façon de diagnostiquer des maladies cardiaques et des anomalies est le traitement de signaux cardiaques tels que le ECG. Dans beaucoup de ces traitements, des caractéristiques inter-battements et intra-battements de signaux ECG doivent être extraites. Ces caractéristiques comprennent les points de repère des ondes de l’ECG (leur début, leur fin et leur point de pic), les intervalles significatifs et les segments qui peuvent être définis pour le signal ECG. L'extraction des points de référence de l'ECG consiste à identifier l'emplacement du pic, de début et de la fin de l'onde P, du complexe QRS et de l'onde T. Ces points véhiculent des informations cliniquement utiles, mais la segmentation precise de chaque battement de l'ECG est une tâche difficile, même pour les cardiologues expérimentés.Dans cette thèse, nous utilisons un cadre bayésien basé sur le modèle dynamique d'ECG proposé par McSharry. Depuis ce modèle s'appuyant sur la morphologie des ECG, il peut être utile pour la segmentation et l'analyse d'intervalles d'ECG. Afin de tenir compte de la séquentialité des ondes P, QRS et T, nous utiliserons également l'approche de Markov et des modèles de Markov cachés (MMC). En bref dans cette thèse, nous utilisons un modèle dynamique (filtre de Kalman), un modèle séquentiel (MMC) et leur combinaison (commutation de filtres de Kalman (SKF)). Nous proposons trois méthodes à base de filtres de Kalman, une méthode basée sur les MMC et un procédé à base de SKF. Nous utilisons les méthodes proposées pour l'extraction de points de référence et l'analyse d'intervalles des ECG. Le méthodes basées sur le filtrage de Kalman sont également utilisés pour le débruitage d'ECG, la détection de l'alternation de l'onde T, et la détection du pic R de l'ECG du foetus.Pour évaluer les performances des méthodes proposées pour l'extraction des points de référence de l'ECG, nous utilisons la base de données "Physionet QT", et une base de données "Swine" qui comprennent ECG annotations de signaux par les médecins. Pour le débruitage d'ECG, nous utilisons les bases de données "MIT-BIH Normal Sinus Rhythm", "MIT-BIH Arrhythmia" et "MIT-BIH noise stress test". La base de données "TWA Challenge 2008 database" est utilisée pour la détection de l'alternation de l'onde T. Enfin, la base de données "Physionet Computing in Cardiology Challenge 2013 database" est utilisée pour la détection du pic R de l'ECG du feotus. Pour l'extraction de points de reference, la performance des méthodes proposées sont évaluées en termes de moyenne, écart-type et l'erreur quadratique moyenne (EQM). Nous calculons aussi la sensibilité des méthodes. Pour le débruitage d'ECG, nous comparons les méthodes en terme d'amélioration du rapport signal à bruit. / Cardiovascular diseases are one of the major causes of mortality in humans. One way to diagnose heart diseases and abnormalities is processing of cardiac signals such as ECG. In many of these processes, inter-beat and intra-beat features of ECG signal must be extracted. These features include peak, onset and offset of ECG waves, meaningful intervals and segments that can be defined for ECG signal. ECG fiducial point (FP) extraction refers to identifying the location of the peak as well as the onset and offset of the P-wave, QRS complex and T-wave which convey clinically useful information. However, the precise segmentation of each ECG beat is a difficult task, even for experienced cardiologists.In this thesis, we use a Bayesian framework based on the McSharry ECG dynamical model for ECG FP extraction. Since this framework is based on the morphology of ECG waves, it can be useful for ECG segmentation and interval analysis. In order to consider the time sequential property of ECG signal, we also use the Markovian approach and hidden Markov models (HMM). In brief in this thesis, we use dynamic model (Kalman filter), sequential model (HMM) and their combination (switching Kalman filter (SKF)). We propose three Kalman-based methods, an HMM-based method and a SKF-based method. We use the proposed methods for ECG FP extraction and ECG interval analysis. Kalman-based methods are also used for ECG denoising, T-wave alternans (TWA) detection and fetal ECG R-peak detection.To evaluate the performance of proposed methods for ECG FP extraction, we use the "Physionet QT database", and a "Swine ECG database" that include ECG signal annotations by physicians. For ECG denoising, we use the "MIT-BIH Normal Sinus Rhythm", "MIT-BIH Arrhythmia" and "MIT-BIH noise stress test" databases. "TWA Challenge 2008 database" is used for TWA detection and finally, "Physionet Computing in Cardiology Challenge 2013 database" is used for R-peak detection of fetal ECG. In ECG FP extraction, the performance of the proposed methods are evaluated in terms of mean, standard deviation and root mean square of error. We also calculate the Sensitivity for methods. For ECG denoising, we compare methods in their obtained SNR improvement.

Submitted by Bruna Rodrigues (bruna92rodrigues@yahoo.com.br) on 2016-10-04T14:03:27Z No. of bitstreams: 1 DissDPL.pdf: 3012901 bytes, checksum: 29c2df84e5e59e8e598fae154f0983d2 (MD5) / Approved for entry into archive by Marina Freitas (marinapf@ufscar.br) on 2016-10-14T14:18:34Z (GMT) No. of bitstreams: 1 DissDPL.pdf: 3012901 bytes, checksum: 29c2df84e5e59e8e598fae154f0983d2 (MD5) / Approved for entry into archive by Marina Freitas (marinapf@ufscar.br) on 2016-10-14T14:18:43Z (GMT) No. of bitstreams: 1 DissDPL.pdf: 3012901 bytes, checksum: 29c2df84e5e59e8e598fae154f0983d2 (MD5) / Made available in DSpace on 2016-10-14T14:18:52Z (GMT). No. of bitstreams: 1 DissDPL.pdf: 3012901 bytes, checksum: 29c2df84e5e59e8e598fae154f0983d2 (MD5) Previous issue date: 2016-03-04 / Não recebi financiamento / Kalman filters are rooted in the technical literature, as a way of predicting new states in nonlinear systems providing a recursive solution to the problem of linear optimal filtering. Therefore, 56 years after its discovery, many modifications have been proposed in order to obtain better accuracy and speed. Some of these changes are used in this work; these being the Extended Kalman Filter (EKF), Unscented Kalman Filter (UKF) and Kalman Filter Cubature (CKF). This work , divided into three distinct parts: Implementation / Comparative analysis of prediction of Kalman filters in complex systems (Series), qualitative analysis of the possible uses of the Kalman filter variants for neural network training and position and velocity determination a displaced object on a simulated plane with some trajectories Having these analyzes key role in fostering the studies cited in the scientific literature , proving the possibility of such algorithms and methods are used for positioning in unstructured environments / Filtros de Kalman estão consagrados na literatura técnica, como uma das formas de prever novos estados em sistemas não-lineares, fornecendo uma solução recursiva para o problema da filtragem ideal linear. Após 56 anos de sua descoberta, muitas modificações e melhorias foram propostas, procurando obter uma maior precisão e velocidade na predição de novos estados. Algumas dessas mudanças são utilizadas neste trabalho; sendo elas o Filtro de Kalman Estendido (EKF), Unscented Kalman Filter (UKF) e Filtro de Kalman de Cubagem Esférica Radial (CKF).O objetivo deste trabalho, divido em três partes distintas, porém complementares: Implementação/Análise comparativa da predição dos Filtros de Kalman em sistemas complexos (Series), Análise qualitativa das possíveis utilizações das variantes do Filtro de Kalman para treinamento de Redes Neurais e Determinação de posição e velocidade de um objeto deslocado sobre um plano simulado. Possuindo essas análises papel fundamental na fomentação dos estudos citados na literatura científica durante o trabalho, e comprovando a possibilidade desses algoritmos/ métodos serem utilizados em tarefas de posicionamento em ambientes não estruturados.

The market for unmanned aerial vehicles (UAVs) is growing rapidly. In order to meet the demand for marine applications CybAero AB has recently started a project named Mobile Automatic Launch and Landing Station (MALLS). MALLS enables the uav to land on moving targets such as ships. This thesis studies a system that estimates the pose of a helicopter in order to land on a moving target. The main focus has been on developing a pose estimation system using computer vision. Two different methods for estimating the pose have been studied, one using homography and one using an Extended Kalman Filter (ekf). Both methods have been tested on real flight data from a camera mounted on a RC-helicopter. The accuracy of the pose estimation system has been verified with data from a test with the camera mounted on an industrial robot. The test results show that the ekf-based system is less sensitive to noise than the homography-based system. The ekf-based system however requires initial values which the homography-based system does not. The accuracy of both systems is found to be good enough for the purpose. A novel control system with control rules for performing an autonomous landing on a moving target has been developed. The control system has not been tested during flight. / Marknaden for obemannade autonoma luftburna farkoster (UAV:er) växer snabbt. För att möta behovet av marina tillämpningar har CybAero AB nyligen startat ett projekt som kallas Mobil Automatisk Start- och Landningsstation (MALLS). Syftet med malls är att möjliggöra autonom start och landning på objekt i rörelse, som till exempel ett fartyg. I det här examensarbetet studeras ett system för att bestämma position och attityd för en helikopter relativt en helikopterplatta, för att möjliggöra landning på ett ojekt i rörelse. Fokus har främst legat på att utveckla ett positionerings- och attitydbestämningssystem. Ett datorseende positionerings- och attitydbestämningssystem har utvecklats. Två olika metoder har undersökts, ett system som bygger på homografi och ett annat som bygger på Extended Kalman Filter (EKF). Båda metoderna har testats med verklig data från en kamera monterad på en RC helikopter. Noggrannheten i positionsbestämmelsen har undersökts med hjälp av data från en industrirobot. Testresultaten visar att det EKF-baserade systemet är mindre bruskänsligt än det homografibaserade systemet. En nackdel med det ekf-baserade systemet är däremot att det kräver initialvillkor vilket det homografibaserade systemet inte gör. Noggrannheten på båda systemen finner vi tillfredsställande för syftet. Ett enkelt styrsystem med styrlagar för att genomföra landningar på ett rörligtobjekt har utvecklats. Styrsystemet har dock inte testats under verklig flygning.

Cada vez mais robôs móveis autônomos estão sendo utilizados em diversas tarefas e em ambientes com elevado risco para atividades humanas que a paralisação de suas atividades podem gerar outros riscos, perdas e elevados custos. Assim, o estado de carga (SOC) de sistemas de baterias em robôs móveis autônomos é um parâmetro importante na prevenção de uma falha primária nessa aplicação, a ausência de energia. Este trabalho apresenta os métodos existentes na literatura para a determinação do estado de carga de baterias e as tecnologias de baterias disponíveis utilizadas em robôs móveis autônomos ou veículos autônomos guiados. A partir desses estudos foi desenvolvido um modelo de medida, baseado no modelo combinado e foram realizados testes de bancadas para levantamento dos parâmetros e características de três modelos de células de baterias: Lítio Polímero (Li-PO), Níquel-Cádmio (NiCd) e Lítio-Ferro-Polímero (LiFePO4). Com esses parâmetros, aplicou-se o método de estimativa de carga baseado na técnica do Filtro de Kalman Estendido (EKF). Através dos testes, analisou-se comparativamente a resposta do método proposto e a resposta do método OCV e a capacidade de carga real. / Autonomous mobile robots have being increasingly used in various tasks, environments and activities of high risk to human that the stoppage of its activities may generate other risks, losses and high costs. Thus the state of charge (SOC) of battery systems in autonomous mobile robots, is an important parameter to prevent a primary failure in this application, the lack of energy. The paper presents the existing methods in the literature to determine the battery state of charge and battery commercial technologies available used in an autonomous mobile robot or autonomous guided vehicle, from these studies a measurement model based on combined model was developed and testing benches for three cells models on Lithium Polymer Battery (Li-PO), Nickel Cadmium (NiCd) and lithium-iron-Polymer (LiFePO4) batteries were performed for lifting the parameters and apply the battery state of charge method based on the Extended Kalman Filter (EKF) technique. The tests were analyzed in order to observe the comparatively response of the proposed method, the OCV method and Real charge capacity.

Advanced computational tools are applied to simulate a nuclear power plant (NPP) control rod assembly ejection (CRE) accident. The impact of these reactivity-initiated accidents (RIAs) on core reactivity behavior, 3D power distribution and stochastic reactivity estimation are evaluated. The three tools used are: the thermal-hydraulic (TH) RELAP5 (R5) code, the neutronic (NK) PARCS (P3D) code, and the coupled version P3D/R5, with specially developed linkage using the environment code MATLAB. This study considers three different-size cores: NPP1 (2772 MWt); NPP2 (530 MWt); and NPP3 (1061 MWt). The three cores have the same general design and control rod assembly (CRA) positions, and the ejected CRA has similar worth and at the same rod ejection pace. The CRE is assessed under both hot zero power (HZP) and hot full power (HFP) conditions. The analyses indicate that RIA modeling and simulation should be carried out through a systematic coding and configuration approaches, otherwise the results will not capture the true transient behavior of the core under analysis. The simulation of one code depends on the appropriate configuration of parameters generated by the other code and on the correct determination of the TH/NK mapping weight factors for the various mesh regions in each of the models. From the design point of view, the standalone codes predict milder magnitude of power and reactivity increase compared to the coupled P3D/R5 simulation. The magnitudes of reduced peak power and reactivity become larger as the core size shrinks. The HFP simulation shows that the three NPPs have the same transient peak value, but the post-transient steady power is lower for a smaller core. The HZP analysis indicates that the transient peak is lower for the smaller core, but the post-transient power occurs at the same level. The three-dimensional (3D) power distributions are different among the HFP and HZP cases, but do not depend on the size of the core. The results indicate: i) HFP: core power increases in the area surrounding the ejected rod/bank assembly, and this increase becomes lower as the NPPs shrinks however, the power is well-distributed after the transient; and ii) HZP: the area surrounding the CRA stays hotter, but the 3D peak assembly factor becomes lower, during and after the transients, as the NPPs shrinks. These features confirm that the smaller cores yield a safer response to a given inserted reactivity compared to larger cores. A stochastic extended Kalman filter (EKF) algorithm is implemented to estimate the reactivity based on the reactor power profile, after the addition of random noise. The inverse point kinetics (IPK) deterministic method is also implemented and the results of the application of EKF and IPK are compared to the P3D/R5 simulation. The following sophisticated strategies made the EKF algorithm robust and accurate: the system is modeled by a set of continuous time nonlinear stochastic differential equations; the code uses a time step directly based on the power measured and applies that to the model for online discretization and linearization; filter tuning goes automatically up from the first time step; and the state noise covariance matrix is updated online at each time step. It was found that the IPK reactivity has higher noise content compared to the EKF reactivity for all cases. Thus, the EKF presents superior and more accurate results. Furthermore, under a small reactivity insertion, the IPK reactivity varies widely from positive to negative values: this variation is not observed within the EKF. A sensitivity analysis for three distinct standard deviation (SD) noise measurements suggests that EKF is superior to IPK method, independent of the noise load magnitude. As the noise content increases, the error between the IPK and P3D/R5 reactivity also increases. A sensitivity analysis for five distinct carry-over effects of different random noise loads indicates that the random addition of different noise loads to the reactor power does not change the overall performance of both algorithms. / Este trabalho aplica métodos computacionais avançados para simular a ejeção de barras de controle (CRE) em uma planta térmica nuclear (NPP). São avaliados o impacto da ocorrência de acidentes iniciados por reatividade (RIAs) na reatividade total, na distribuição da potência em três dimensões (3D) e na determinação da reatividade. As ferramentas utilizadas são: o código termo-hidráulico (TH) RELAP5 (R5), o código neutrônico (NK) PARCS (P3D), a versão acoplada P3D/R5, e o ambiente computacional MATLAB. Este estudo considera três reatores nucleares de diferentes tamanhos: NPP1 (2772 MWT); NPP2 (530 MWt); e NPP3 (1061 MWt). Os três núcleos possuem projeto similar e idêntica posição dos grupos das barras de controle (CRA), além do mesmo valor de reatividade diferencial das CRA ejetadas e idêntica velocidade de ejeção. A ocorrência da CRE é avaliada sob condições de hot zero power (HZP) e de hot full power (HFP). As análises indicam que a modelagem e a simulação de RIAs devem ser realizadas sistematicamente, caso contrário os resultados não irão refletir o comportamento em regime transitório do núcleo. A simulação de um modelo em um código depende da apropriada configuração de parâmetros gerados pelo outro código e da determinação adequada do mapeamento TH/NK para as várias malhas dos modelos. Do ponto de vista de projeto, a utilização de códigos independentes resulta em cálculos de potência e reatividade conservadores em comparação com os resultados utilizando-se P3D/R5. Os picos de potência e de reatividade são menores à medida que o núcleo encolhe. A simulação em condições de HFP resulta em valores de pico de potência similares durante transitório para as três NPPs, mas a potência de pós-transitórios é menor para o menor núcleo. A análise em condições de HZP também indica que o valor máximo durante o transitório é menor para o menor núcleo, mas o pós-transitórios ocorre aos mesmos níveis de potência das demais NPPS. A distribuição de potência em 3D também apresenta resultados distintos para condições de HFP e HZP, mas tais resultados são independentes do tamanho do núcleo: i) HFP: há um aumento da potência do núcleo em torno da CRE, mas tal comportamento diminui para núcleos menores - no entanto, a potência é bem distribuída após o transitório; e ii) HZP: há aumento de potência na área do CRE, mas o pico de potência em 3D é menor durante e depois dos transitórios para núcleos menores. Tais características indicam que os núcleos menores respondem de forma mais segura quando da inserção de reatividade em comparação a reatores de maiores dimensões. O método estocástico de filtragem de Kalman estendido (EKF) foi codificado para estimar a reatividade com base no perfil de potência da NPP, após a adição de ruído aleatório. O método determinístico da cinética pontual inversa (IPK) também foi implementado e os resultados da aplicação dos algoritmos do EKF e IPK foram comparados com os resultados da simulação do P3D/R5. As seguintes estratégias, implementadas neste trabalho, possibilitaram a aplicação robusta e precisa do EKF: o sistema foi modelado por um conjunto de equações diferenciais não-lineares estocásticas de tempo contínuo; o algoritmo obtém o passo de tempo diretamente da potência medida e aplica-o ao modelo para a discretização e linearização online; o ajuste do filtro ocorre automaticamente a partir do primeiro passo de tempo; e a matriz de covariância do ruído no estado é atualizada online. Verificou-se que a reatividade calculada pelo método IPK possui maior nível de ruído quando comparada ao EKF para todos os casos estudados. Portanto, o EKF apresenta resultados superiores e mais precisos. Além disso, sob uma pequena inserção de reatividade, a reatividade calculada pelo método IPK varia consideravelmente de valores positivos para negativos: esta variação não é observada com o EKF. Uma análise de sensibilidade para três desvios padrão (SD) sugere que o algoritmo EKF é superior ao método IPK, independente da magnitude do ruído. Com o aumento da magnitude do ruído, o erro entre as reatividades calculadas pelo IPK e pelo P3D/R5 aumenta. A análise de sensibilidade para cinco ruídos aleatórios indica que a adição de ruído na potência do reator não altera o desempenho global de ambos os algoritmos.

L'industrie aéronautique évolue dans un contexte concurrentiel qui encourage les motoristes et avionneurs à réduire les coûts de production et à améliorer leurs services aux compagnies aériennes tels que la réduction des coûts d'exploitation et de maintenances des avions. Afin de relever ce défi économique, nous proposons dans cette thèse de remplacer l'architecture de régulation actuelle de certains équipements du turboréacteur, par une architecture simplifiée plus économe en capteurs et harnais en remplaçant la redondance matérielle des capteurs par une redondance analytique. Ainsi, en cas de fonctionnement anormal, les capteurs virtuels proposés pourront être utilisés pour consolider la prise de décision sur l'état du capteur par des tests de cohérence et de validation croisée et le cas échéant se substituer aux mesures.Dans ce travail de thèse, on s'est intéressé à la surveillance des systèmes de régulation de géométries variables (régulation du flux d'air en entrée et la quantité de carburant) avec comme contrainte forte la non-modification des paramètres des lois de commande existantes et le maintien de l'opérabilité du turboréacteur avec une dégradation des performances acceptables selon les spécifications du cahier des charges.Pour répondre à ces contraintes opérationnelles, une approche FTC (Fault Tolerant Control) passive est proposée. Cette approche nommée, AVG-FTC (Aircraft Variables Geometries-Fault-Tolerant Control) s'articule autour de plusieurs sous-systèmes mis en cascades. Elle tient compte du caractère instationnaire des systèmes étudiés, des différents couplages entre géométries variables et des incertitudes de modélisation. Ainsi, l'approche utilise un modèle neuronal du capteur couplé à un observateur de type Takagi-Sugeno-LPV (Linéaire à Paramètres Variant) et à un estimateur non linéaire robuste de type NEKF (Filtre de Kalman Étendu Neuronal) qui permet de produire une estimation temps réel des grandeurs surveillées. En utilisant la plateforme de prototypage et de tests du motoriste, nous avons pu évaluer l'approche AVG-FTC en simulant plusieurs scénarios de vol en présence de défaillances. Ceci a permis de montrer les performances de l'approche en termes de robustesse, de garantie de stabilité des boucles de régulations et d'opérabilité du turboréacteur. To improve the availability, a solution that aircraft manufacturers and suppliers adopt was the fault tolerance. / Over the years, market pressure has ensured that engine manufacturers invest in technology to provide clean, quiet, affordable, reliable, and efficient power. One of the last improvements is the introduction of virtual sensors that make use of non-like signals (analytical redundancy). This, is expected to improve weight, flight safety and availability. However, this new approach has not been widely investigated yet and needs further attention to remove its limitations for certificated applications.The concept of virtual sensors goes along with fault tolerance control strategies that help in limiting disruptions and maintenance costs. Indeed, a fault-tolerant control (FTC) scheme, allows for a leaner hardware structure without decreasing the safety of the system.We propose in this thesis work, to monitor through a passive FTC architecture, the Variables Geometries subsystems' of the engine: the VSV (Variable Stator Vane) and FMV (Fuel Metering Valve). A strong constrains, is not to change the parameters of the existing controllers. The approach named AVG-FTC (Variable Geometries Aircraft-Fault-Tolerant Control) is based on several cascaded sub-systems that allow to deal with the Linear Parameter Varying (LPV) model of the systems and modelling errors. The proposed FTC scheme uses a neural model of the sensor associated with a Takagi-Sugeno observer and a Neuronal Extended Kalman Filter Neural (NEKF) to account for those dynamics that cannot be explained with the LPV model to produce a real-time estimate of the monitored outputs. In case of sensor abnormality, the proposed virtual sensors can then be used as an arbitrator for sensor monitoring or as a healthy sensor used by the controller. To evaluate the approach, serval closed-loop simulations, on SNECMA jet-engine simulator have been performed. The results for distinct flight scenarios with different sensors faults have shown the capabilities of the approach in terms of stability and robustness.

La maintenance aéronautique est fortement régulée, notamment à travers l’établissement d’un planning de maintenance obligatoire, permettant de garantir la sureté structurale. La fréquence des arrêts en maintenance est déterminée de manière très conservative en vue d’assurer les exigences de fiabilité. Développer des stratégies de maintenance moins conservatives et plus efficaces peut alors représenter une voie pour une nouvelle croissance des compagnies aériennes. Les systèmes de monitoring embarqué de structures, sont progressivement introduits dans l’industrie aéronautique. Ces développements pourraient alors permettre de nouvelles stratégies de maintenance structurale basées sur la prévision de l’état de santé de chaque élément structural, plutôt que basée sur une maintenance programmée, tel qu’implémentée actuellement. Dans ce cadre général, ce travail se concentre sur le suivi par un système embarqué de la propagation de fissures de fatigue dans les panneaux de fuselage. Une nouvelle méthode de prévision des fissures basée sur des modèles de propagation est développée, qui permet de filtrer le bruit des mesures du système embarqué, identifier la taille actuelle de la fissure et prédire son évolution future et par conséquent la fiabilité des panneaux. Cette approche prédictive est intégrée dans le processus de maintenance structurale aéronautique et deux types de maintenances prédictives sont proposés. L’étude numérique montre que ces stratégies de maintenance prédictive peuvent réduire de manière significative les coûts de maintenance en réduisant le nombre d’arrêts en maintenance et le nombre de réparations inutiles. / Aircraft maintenance represents a major economic cost for the aviation industry. Traditionally, the aircraft maintenance is highly regulated based on fixed schedules (thus called scheduled maintenance) in order to ensure safety. The frequency of scheduled maintenance is designed to be very conservative to maintain a desirable level of reliability. Developing efficient maintenance can be an important way for airlines to allow a new profit growth. With the development of sensor technology, structural health monitoring (SHM) system, which employ a sensor network sealing inside aircraft structures to monitor the damage state, are gradually being introduced in the aviation industry. Once it is possible to monitor the structure damage state automatically and continuously by SHM systems, it enables to plan the maintenance activities according to the actual or predicted health state of the aircraft rather than a fixed schedule. This work focus on the fatigue crack propagation in the fuselage panels. The SHM system is assumed to be employed. A model-based prognostics method is developed, which enables to filter the noise of SHM data to estimate the crack size, and to predict the future health state of the panels. This predictive information is integrated into the maintenance decision-making and two types of predictive maintenance are developed. The numerical study shows that the predictive maintenance significantly reduces the maintenance cost by reducing the number of maintenance stop and the repaired panels.

This thesis deals with the filter algorithm design, implementing mathematical model to improve algorithm performance. Designed algorithms are implemented in a control unit of the experimental vehicle (filters signal used in the closed-loop controller). The improvement of the position estimation using Kalman Filter is demonstrated on the experimental vehicle. In the next part the design process of algorithm developing for dsPIC microcontroller using Matlab is described.

This work is to investigate the performance of two Kalman Filter Algorithms, namely Linear Kalman Filter and Extended Kalman Filter on control-based human motion prediction in a real-time teleoperation. The Kalman Filter Algorithm has been widely used in research areas of motion tracking and GPS-navigation. However, the potential of human motion prediction by utilizing this algorithm is rarely being mentioned. Combine with the known issue - the delay issue in today’s teleoperation services, the author decided to build a prototype of simple teleoperation model based on the Kalman Filter Algorithm with the aim of eliminated the unsynchronization between the user’s inputs and the visual frames, where all the data were transferred over the network. In the first part of the thesis, two types of Kalman Filter Algorithm are applied on the prototype to predict the movement of the robotic arm based on the user’s motion applied on a Haptic Device. The comparisons in performance among the Kalman Filters have also been focused. In the second part, the thesis focuses on optimizing the motion prediction which based on the results of Kalman filtering by using the smoothing algorithm. The last part of the thesis examines the limitation of the prototype, such as how much the delays are accepted and how fast the movement speed of the Phantom Haptic can be, to still be able to obtain reasonable predations with acceptable error rate.   The results show that the Extended Kalman Filter has achieved more advantages in motion prediction than the Linear Kalman Filter during the experiments. The unsynchronization issue has been effectively improved by applying the Kalman Filter Algorithm on both state and measurement models when the latency is set to below 200 milliseconds. The additional smoothing algorithm further increases the accuracy. More important, it also solves shaking issue on the visual frames on robotic arm which is caused by the wavy property of the Kalman Filter Algorithm. Furthermore, the optimization method effectively synchronizes the timing when robotic arm touches the interactable object in the prediction.   The method which is utilized in this research can be a good reference for the future researches in control-based human motion tracking and prediction. / Detta arbete fokuserar på att undersöka prestandan hos två Kalman Filter Algoritmer, nämligen Linear Kalman Filter och Extended Kalman Filter som används i realtids uppskattningar av kontrollbaserad mänsklig rörelse i teleoperationen. Dessa Kalman Filter Algoritmer har används i stor utsträckning forskningsområden i rörelsespårning och GPS-navigering. Emellertid är potentialen i uppskattning av mänsklig rörelse genom att utnyttja denna algoritm sällan nämnas. Genom att kombinera med det kända problemet – fördröjningsproblem i dagens teleoperation tjänster beslutar författaren att bygga en prototyp av en enkel teleoperation modell vilket är baserad på Kalman Filter algoritmen i syftet att eliminera icke-synkronisering mellan användarens inmatningssignaler och visuella information, där alla data överfördes via nätverket. I den första delen av avhandlingen appliceras både Kalman Filter Algoritmer på prototypen för att uppskatta rörelsen av robotarmen baserat på användarens rörelse som anbringas på en haptik enhet. Jämförelserna i prestandan bland de Kalman Filter Algoritmerna har också fokuserats. I den andra delen fokuserar avhandlingen på att optimera uppskattningar av rörelsen som baserat på resultaten av Kalman-filtrering med hjälp av en utjämningsalgoritm. Den sista delen av avhandlingen undersökes begräsning av prototypen, som till exempel hur mycket fördröjningar accepteras och hur snabbt den haptik enheten kan vara, för att kunna erhålla skäliga uppskattningar med acceptabel felfrekvens.   Resultaten visar att den Extended Kalman Filter har bättre prestandan i rörelse uppskattningarna än den Linear Kalman Filter under experimenten. Det icke-synkroniseringsproblemet har förbättrats genom att tillämpa de Kalman Filter Algoritmerna på både statliga och värderingsmodeller när latensen är inställd på under 200 millisekunder. Den extra utjämningsalgoritmen ökar ytterligare noggrannheten. Denna algoritm löser också det skakande problem hos de visuella bilder på robotarmen som orsakas av den vågiga egenskapen hos Kalman Filter Algoritmen. Dessutom effektivt synkroniserar den optimeringsmetoden tidpunkten när robotarmen berör objekten i uppskattningarna.   Den metod som används i denna forskning kan vara en god referens för framtida undersökningar i kontrollbaserad rörelse- spåning och uppskattning.

In underwater tracking and surveillance, the active towed array sonar presents a way of discovering and tracking adversarial submerged targets that try to stay hidden. The configuration consist of listening and emitting hydrophones towed behind a ship. Moreover, it has inherent limitations, and the characteristics of sound in the ocean are complex. By varying the pulse form emitted and the trajectory of the ship the measurement accuracy may be improved. This type of optimization constitutes a sensor management problem. In this thesis, a model of the tracking scenario has been constructed derived from Cramér-Rao bound analyses. A model predictive control approach together with information measures have been used to optimize a filter's estimated state of the target. For the simulations, the MATLAB environment has been used. Different combinations of decision horizons, information measures and variations of the Kalman filter have been studied. It has been found that the accuracy of the Extended Kalman filter is too low to give consistent results given the studied information measures. However, the Unscented Kalman filter is sufficient for this purpose.