Planetary rovers are robots that need to perform autonomous navigation, because of the long delay communication and no human assistance. Furthermore, they need to perform the optimal estimation of its position in order to have a good performance on its navigation system. The need for good performance filters for estimating the actual position of mobile robots of this kind is needed, due to the fact that sensors are noisy and that information is of vital importance for a planetary rover’s mission. Besides, good accurate sensors for the matter, are not easy to find for space application. Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF) were implemented to analyze a data set of a 4-wheel robot, and later used for comparison on accuracy in the estimation of its pose. The analysis will give the possibility to know the right combination of sensors, recognize some issues during the trajectory. Furthermore, this study has been made with aims to give the reader knowledge of state of the art in planetary rovers, their constraints and consideration while developing them. The robot used for the research has been developed for an international competition of field robot automation. The main goal is to navigate autonomously through flowerpots performing different tasks as flowerpot collection, distance traveled and robustness on localization and navigation algorithms. / <p>Validerat; 20120822 (anonymous)</p>

The research presented in this dissertation is on the development of advanced reduced rank adaptive signal processing for airborne radar space-time adaptive processing (STAP) and steering vector mismatch robustness. This is an important area of research in the field of airborne radar signal processing since practical STAP algorithms should be robust against various kinds of mismatch errors. The clutter return in an airborne radar has widely spread Doppler frequencies; therefore STAP, a two-dimensional adaptive filtering algorithm is required for effective clutter and jamming cancellation. Real-world effects in nonhomogeneous environments increase the number of adaptive degrees of freedom required to adequately suppress interference. The increasing computational complexity and the need to estimate the interference from a limited sample support make full rank STAP impractical. The research presented here shows that the reduced rank multistage Wiener filter (MWF) provides significant subspace compression better than any previous techniques in a nonhomogeneous environment. In addition, the impact of steering vector mismatch will also be examined on the MWF. In an airborne radar environment, it is well known that calibration errors and steering vector mismatch can seriously degrade adaptive array performance and result in signal cancellation. These errors can be caused by many non-ideal factors such as beam steering angle errors, multipath propagation, and phase errors due to array imperfections. Since the MWF centrally features the steering vector on its formulation, it is important to assess the impact of steering vector mismatch. In this dissertation, several novel techniques for increasing robustness are examined and applied to the MWF. These include derivative constraints, quiescent pattern control (QPC) techniques, and covariance matrix tapers (CMT). This research illustrates that a combination of CMT and QPC, denoted CMTQ, is very effective at mitigating the impact of steering vector mismatch. Use of CMTQ augmentation provides the steering vector mismatch robustness that we desire while improving the reduced-rank and reduced sample characteristics of the MWF. Results using Monte Carlo simulations and experimental Multichannel Airborne Radar Measurements (MCARM) data confirm that the use of CMTQ gives superior performance to steering vector errors at a much reduced rank and sample support as compared to conventional techniques. / Ph. D.

Optofluidic sensing utilizes the advantages of both microfluidic and optical science to achieve tunable and reconfigurable high-performance sensing purpose, which has established itself as a new and dynamic research field for exciting developments at the interface of photonics, microfluidics, and the life sciences. With the trend of developing miniaturized electronic devices and integrating multi-functional units on lab-on-a-chip instruments, more and more desires request for novel and powerful approaches to integrating optical elements and fluids on the same chip-scale system in recent years. By taking advantage of the electrowetting phenomenon, the wettability of liquid droplet on micro/nano-structured surfaces and the Leidenfrost effect, this doctoral research focuses on developing high-performance optofluidic sensing systems, including optical beam adaptive steering, whispering gallery mode (WGM) optical sensing, and surface-enhanced Raman spectroscopy (SERS) sensing. A watermill-like beam steering system is developed that can adaptively guide concentrating optical beam to targeted receivers. The system comprises a liquid droplet actuation mechanism based on electrowetting-on-dielectric, a superlattice-structured rotation hub, and an enhanced optical reflecting membrane. The specular reflector can be adaptively tuned within the lateral orientation of 360°, and the steering speed can reach ~353.5°/s. This work demonstrates the feasibility of driving a macro-size solid structure with liquid microdroplets, opening a new avenue for developing reconfigurable components such as optical switches in next-generation sensor network. Furthermore, the WGM sensing system is demonstrated to be stimulated along the meridian plane of a liquid microdroplet, instead of equatorial plane, resting on a properly designed nanostructured chip surface. The unavoidable deformation along the meridian rim of the sessile microdroplet can be controlled and regulated by tailoring the nanopillar structures and their associated hydrophobicity. The nanostructured superhydrophobic chip surface and its impact on the microdroplet morphology are modeled by Surface Evolver (SE), which is subsequently validated by the Cassie-Wenzel theory of wetting. The influence of the microdroplet morphology on the optical characteristics of WGMs is further numerically studied using the Finite-Difference Time-Domain method (FDTD) and it is found that meridian WGMs with intrinsic quality factor Q exceeding 104 can exist. Importantly, such meridian WGMs can be efficiently excited by a waveguiding structure embedded in the planar chip, which could significantly reduce the overall system complexity by eliminating conventional mechanical coupling parts. Our simulation results also demonstrate that this optofluidic resonator can achieve a sensitivity as high as 530 nm/RIU. This on-chip coupling scheme could pave the way for developing lab-on-a-chip resonators for high-resolution sensing of trace analytes in various applications ranging from chemical detections, biological reaction processes to environmental protection. Lastly, this research reports a new type of high-performance SERS substrate with nanolaminated plasmonic nanostructures patterned on a hierarchical micro/nanostructured surface, which demonstrates SERS enhancement factor as high as 1.8 x 107. Different from the current SERS substrates which heavily relies on durability-poor surface structure modifications and various chemical coatings on the platform surfaces which can deteriorate the SERS enhancement factor (EF) as the coating materials may block hot spots, the Leidenfrost effect-inspired evaporation approach is proposed to minimize the analyte deposition area and maximize the analyte concentration on the SERS sensing substrate. By intentionally regulating the temperature of the SERS substrate during evaporation process, the Rhodamine 6G (R6G) molecules inside a droplet with an initial concentration of 10-9 M is deposited within an area of 450 μm2, and can be successfully detected with a practical detection time of 0.1 s and a low excitation power of 1.3 mW. / Doctor of Philosophy / Over the past two decades, optofluidics has emerged and established itself as a new and exciting research field for novel sensing technique development at the intersection of photonics, microfluidics and the life sciences. The strong desire for developing miniaturized lab-on-a-chip devices and instruments has led to novel and powerful approaches to integrating optical elements and fluids on the same chip-scale systems. By taking advantage of the electrowetting phenomenon, the wettability of liquid droplet on micro/nano-structured surfaces and the Leidenfrost effect, this doctoral program focuses on developing high-performance optofluidic sensing systems, including optical beam adaptive steering, whispering gallery mode (WGM) optical sensing, and surface-enhanced Raman spectroscopy (SERS) sensing. During this doctoral program, a rotary electrowetting-on-dielectric (EWOD) beam steering system was first fabricated and developed with a wide lateral steering range of 360° and a fast steering speed of 353.5°/s, which can be applied in telecommunication systems or lidar systems. Next, the meridian WGM optical sensing system was optically simulated using finite difference time domain (FDTD) method and was numerically validated to achieve a high quality-factor Q exceeding 104 and a high refractive index sensitivity of 530 nm/RIU, which can be applied to the broad areas of liquid identification or single molecule detection. Lastly, a SERS sensing platform based on a hierarchical micro/nano-structured surface was accomplished to exhibit a decent SERS enhancement factor (EF) of 1.81 x 107. The contact angle of water droplet on the SERS substrate is 134° with contact angle hysteresis of ~32°. Therefore, by carefully controlling the SERS surface temperature, we employed Leidenfrost evaporation to concentrate the analytes within an extremely small region, enabling the high-resolution detection of analytes with an ultra-low concentration of ~10-9 M.

A nonholonomic tracking controller is designed and adapted to work with both differential steering and Ackermann steering based platforms whose dynamics are represented using a unicycle model. The goal of this work is to find a relatively simple approach that offers a practical alternative to bulky and expensive algorithms, but still bolsters applicability where many other lightweight algorithms are too lax. The hope is that this alternative will offer a straightforward approach for groups interested in autonomous vehicle research but who do not have the resources or personnel to implement more complex solutions. In the first phase of this work, saturation constraints based on differential drive kinematics are added to ensure that the vehicle behaves intuitively and does not exceed user defined limitations. A new strategy for mapping commands back into a viable envelope is introduced, and the restrictions are accounted for using Lyapunov stability criteria. This stage of work is validated through simulation and experimentation. Following the development of differential drive methods, similar techniques are applied to Ackermann steering kinematic constraints. An additional saturation algorithm is presented, which likewise is accounted for using Lyapunov stability criteria. As with the differential case, the Ackermann design is validated through simulation and experimentation. Overall, the results presented in this work demonstrate that the developed algorithms show significant promise and offer a lightweight, practical solution to the problem of vehicle tracking control. / Master of Science

This paper presents a multidegrees-of-freedom non-linear multibody dynamic model of a vehicle, comprising front and rear suspensions, steering system, road wheels, tyres and vehicle inertia. The model incorporates all sources of compliance, stiffness and damping, all with non-linear characteristics. The vehicle model is created in ADAMS (automatic dynamic analysis of mechanical systems) formulation. The model is used for the purpose of vehicle handling analysis. Simulation runs, in-line with vehicle manoeuvres specified under ISO and British Standards, have been undertaken and reported in the paper.

Radio frequency spectrum is a scarce natural resource that is utilized for many services including surveillance, navigation, communication, and broadcasting. Recent years have seen tremendous growth in use of spectrum especially by commercial cellular operators. As a result, cellular operators are experiencing a shortage of radio spectrum to meet bandwidth demands of users. Spectrum sharing is a promising approach to solve the problem of spectrum congestion as it allows cellular operators access to more spectrum in order to satisfy the ever growing bandwidth demands of commercial users. The US spectrum regulatory bodies are working on an initiative to share 150 MHz of spectrum, held by federal agencies, in the 3.5 GHz band with commercial wireless operators. This band is primarily used by radar systems that are critical to national defense. Field tests have shown that spectrum sharing between radars and communication systems require large separation distance in order to protect them from harmful interference. Thus, novel methods are required to ensure spectrum sharing between the two systems without the need of large protection distances. In order to efficiently share spectrum between radars and communication systems at the same time and in the same geographical area, a novel method is proposed that transforms radar signal in such a way that it does not interfere with communication systems. This is accomplished by projecting the radar signal onto null space of the wireless channel between radar and communication system. In order to understand the effects of the proposed sharing mechanism -- in urban, sub-urban, and littoral areas -- new channel models, specifically, two- and three-dimensional channel models are designed that capture azimuth and elevation angles of communication systems and helps in placing accurate nulls. In addition, interference coming from communication systems into radar receivers is analyzed and radar performance is accessed. Using this information, resource allocation schemes are designed for communication systems that take advantage of the carrier aggregation feature of the LTE-Advanced systems. This further helps in dynamic sharing of spectrum between radars and communication systems. The proposed signal projection approach not only meets radar objectives but also meets spectrum sharing objectives. However, there is a trade-off as signal projection results in some performance degradation for radars. Performance metrics such as probability of target detection, Cramer Rao bound and maximum likelihood estimate of target's angle of arrival, and beampattern of radar are studied for performance degradation. The results show minimal degradation in radar performance and reduction in exclusion zones, thus, showing the efficacy of the proposed approach. / Ph. D.

Yes / This article presents transient handling analysis with a full-vehicle non-linear multi-body dynamic model, having 102 degrees of freedom. A transient cornering manoeuvre, with a constant steer angle and velocity has been undertaken. The effects of aerodynamic lift and drag forces have been included in the simulation tests. The vehicle handling characteristics with and without aerodynamic forces have been compared and various observations made. The aerodynamic forces have been predicted by a k¿1 model solution of the Navier¿Stokes equations for turbulent flow. The numerical predictions for the evaluation of aerodynamic lift coefficient agrees well with the scaled-down air tunnel experimental work, using hot-wire anemometry

Yes / In this paper, a simple switching process is employed to steer the beam of a vertically polarised circular antenna array. This is a simple method, in which the difference resulting from the induced currents when the radiating/loaded element is connected/disconnected from the ground plane. A time modulated switching process is applied through particle swarm optimisation. / Electronics and Telecommunications

Yes / In this manuscript, a high-performance beam-steerable phased array antenna is introduced for fifth-generation (5G) mobile handsets. The configuration of the design is arranged by employing eight dielectric-insensitive L-ring/slot-loop radiators in a linear form on the top edge of the handset mainboard. The beam-steerable array design exhibits high radiation performances even though it is implemented on a lossy FR-4 material. The proposed design exhibits an impedance bandwidth of 18-20 GHz with the center frequency of 19 GHz. It provides satisfactory characteristics such as wide beam-steering, high gain and efficiency characteristics indicating its promising potential for beam-steerable 5G smartphones. The characteristics of the antenna array are insensitive for different types of dielectrics. Furthermore, the designed antenna array offers quite good radiation behavior in the presence of hand phantom.

Yes / This study aims to introduce a new phased array design with improved radiation properties for future cellular networks. The procedure of the array design is simple and has been accomplished on a low-cost substrate material while offering several interesting features with high performance. Its schematic involves eight air-filled slot-loop metal-ring elements with a 1 × 8 linear arrangement at the top edge of the 5G smartphone mainboard. Considering the entire board area, the proposed antenna elements occupy an extremely small area. The antenna elements cover the range of 21–23.5 GHz sub-mm-wave 5G bands. Due to the air-filled function in the configurations of the elements, low-loss and high-performance radiation properties are observed. In addition, the fundamental characteristics of the introduced array are insensitive to various types of substrates. Moreover, its radiation properties have been compared with conventional arrays and better results have been observed. The proposed array appears with a simple design, a low complexity profile, and its attractive broad impedance bandwidth, end-fire radiation mode, wide beam steering, high radiation coverage, and stable characteristics meet the needs of 5G applications in future cellular communications. Additionally, the smartphone array design offers sufficient efficiency when it comes to the appearance and integration of the user’s components. Thus, it could be used in 5G hand-portable devices.