Thesis (Ph.D.)--Massachusetts Institute of Technology, Dept. of Ocean Engineering, 1980. / MICROFICHE COPY AVAILABLE IN ARCHIVES AND ENGINEERING. / Bibliography: leaves 289-293. / by Wei-Yuan Hwang. / Ph.D.

Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 1979. / MICROFICHE COPY AVAILABLE IN ARCHIVES AND AERONAUTICS. / Bibliography: leaf 72. / by Yuji Hanawa. / M.S.

Thesis. 1977. Ocean E.--Massachusetts Institute of Technology. Dept. of Ocean Engineering. / MICROFICHE COPY AVAILABLE IN ARCHIVES AND ENGINEERING. / Includes bibliographical references. / Ocean E.

Thesis. 1977. M.S.--Massachusetts Institute of Technology. Dept. of Aeronautics and Astronautics. / MICROFICHE COPY AVAILABLE IN ARCHIVES AND AERONAUTICS. / Bibliography : leaves 127-133. / M.S.

Tsang, Chi Chiu. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2008. / Includes bibliographical references (leaves 66-69). / Abstracts in English and Chinese. / Abstract --- p.i / Acknowledgement --- p.iii / Statement of Originality --- p.v / Table of Contents --- p.vii / List of Figures --- p.x / Nomenclature --- p.xii / Chapter 1 --- Introduction --- p.1 / Chapter 1.1 --- Motivation --- p.1 / Chapter 1.2 --- Objectives --- p.3 / Chapter 1.3 --- Contributions --- p.3 / Chapter 1.4 --- Thesis Organization --- p.4 / Chapter 2 --- A Ubiquitous Digital Writing System --- p.5 / Chapter 2.1 --- Introduction --- p.5 / Chapter 2.2 --- MEMS Motion Sensing Technology --- p.6 / Chapter 2.2.1 --- Micro-Electro-Mechanical Systems (MEMS) --- p.6 / Chapter 2.2.2 --- Principle of a MEMS Accelerometer --- p.6 / Chapter 2.2.3 --- Principle of a MEMS Gyroscope --- p.7 / Chapter 2.3 --- Architecture of Ubiquitous Digital Writing System --- p.8 / Chapter 2.3.1 --- Micro Inertial Measurement Unit (μlMU) --- p.8 / Chapter 2.3.2 --- Data Transmission Module --- p.10 / Chapter 2.3.3 --- User Interface Software --- p.10 / Chapter 2.4 --- Summary --- p.12 / Chapter 3 --- Calibration of μ-Inertial Measurement Unit --- p.13 / Chapter 3.1 --- Introduction --- p.13 / Chapter 3.2 --- Sources of Error --- p.13 / Chapter 3.2.1 --- Deterministic Errors --- p.13 / Chapter 3.2.2 --- Stochastic Error --- p.14 / Chapter 3.3 --- Calibration of Accelerometers --- p.14 / Chapter 3.4 --- Coordinate Transformation with Gravity Compensation --- p.15 / Chapter 3.4.1 --- Coordinate Transformation --- p.16 / Chapter 3.4.2 --- Attitude Determination --- p.18 / Chapter 3.4.3 --- Gravity Compensation --- p.19 / Chapter 3.5 --- Summary --- p.20 / Chapter 4 --- Zero Velocity Compensation --- p.21 / Chapter 4.1 --- Introduction --- p.21 / Chapter 4.2 --- Algorithm Description --- p.21 / Chapter 4.2.1 --- Stroke Segmentation --- p.22 / Chapter 4.2.2 --- Zero Velocity Compensation (ZVC) --- p.22 / Chapter 4.3 --- Experimental Results and Discussion --- p.23 / Chapter 4.4 --- Summary --- p.24 / Chapter 5 --- Kalman Filtering --- p.28 / Chapter 5.1 --- Introduction --- p.28 / Chapter 5.2 --- Summary of Kalman filtering algorithm --- p.28 / Chapter 5.2.1 --- System Model --- p.28 / Chapter 5.2.2 --- Initialization --- p.29 / Chapter 5.2.3 --- Time Update --- p.32 / Chapter 5.2.4 --- Measurement Update --- p.33 / Chapter 5.2.5 --- Stroke Segmentation --- p.34 / Chapter 5.3 --- Summary --- p.34 / Chapter 6 --- Error Compensation from Position Feedback --- p.35 / Chapter 6.1 --- Introduction --- p.35 / Chapter 6.2 --- Global Positioning System (GPS) --- p.35 / Chapter 6.3 --- Zero z-axis Kalman Filtering --- p.36 / Chapter 6.3.1 --- Algorithm Implementation --- p.36 / Chapter 6.3.2 --- Experimental Results and Discussion --- p.40 / Chapter 6.4 --- Combined Electromagnetic Resonance (EMR) Position Detection Board and μlMU --- p.43 / Chapter 6.4.1 --- EMR Position Detection System --- p.43 / Chapter 6.4.2 --- A Combined Scheme --- p.44 / Chapter 6.4.3 --- Algorithm Implementation --- p.46 / Chapter 6.4.4 --- Synchronization --- p.50 / Chapter 6.4.5 --- Experimental Results and Discussion --- p.50 / Chapter 6.5 --- Summary --- p.54 / Chapter 7 --- Conclusion --- p.55 / Chapter 7.1 --- Future Work --- p.56 / Chapter 7.1.1 --- Improvement in the μlMU --- p.56 / Chapter 7.1.2 --- Combined Camera Optical Tracking and μlMU --- p.57 / Chapter 7.2 --- Concluding Remarks --- p.58 / Chapter A --- Derivation of Kalman Filtering Algorithm --- p.59 / Chapter A.1 --- Introduction --- p.59 / Chapter A.2 --- Derivation of a Priori State Estimation Equation --- p.60 / Chapter A.3 --- Derivation of a Posteriori State Estimation Equation --- p.60 / Chapter A.4 --- Derivation of a Priori Error Covariance Matrix --- p.61 / Chapter A.5 --- Derivation of the Optimal Kalman Gain --- p.62 / Chapter A.6 --- Derivation of a Posteriori Error Covariance Matrix --- p.63 / Chapter B --- Derivation of Process Noise Covariance Matrix --- p.64 / Bibliography --- p.66 / Publications --- p.69

Robot localization is one of the most important subjects in the Robotics science. It is an interesting and complicated topic. There are many algorithms to solve the problem of localization. Each localization system has its own set of features, and based on them, a solution will be chosen. In my thesis, I want to present a solution to find the best estimate for a robot position in certain space for which a map is available. The thesis started with an elementary introduction to the probability and the Gaussian theories. Simple and advanced practical examples are presented to illustrate each concept related to localization. Extended Kalman Filter is chosen to be the main algorithm to find the best estimate of the robot position. It was presented through two chapters with many examples. All these examples were simulated in Matlab in this thesis in order to give the readers and future students a clear and complete introduction to Kalman Filter. Fortunately, I applied this algorithm on a robot that I have built its base from scratch. MCECS-Bot was a project started in Winter 2012 and it was assigned to me from my adviser, Dr. Marek Perkowski. This robot consists of the base with four Mecanum wheels, the waist based on four linear actuators, an arm, neck and head. The base is equipped with many sensors, which are bumper switches, encoders, sonars, LRF and Kinect. Additional devices can provide extra information as backup sensors, which are a tablet and a camera. The ultimate goal of this thesis is to have the MCECS-Bot as an open source system accessed by many future classes, capstone projects and graduate thesis students for education purposes. A well-known MRPT software system was used to present the results of the Extended Kalman Filter (EKF). These results are simply the robot positions estimated by EKF. They are demonstrated on the base floor of the FAB building of PSU. In parallel, simulated results to all different solutions derived in this thesis are presented using Matlab. A future students will have a ready platform and a good start to continue developing this system.

Precise velocity and acceleration information is required for many real time applications. A standalone GPS receiver can be used to derive such information; however, there are many unsolved problems in this regard. This thesis establishes the theoretical basis for precise velocity and acceleration determination using a standalone GPS receiver in real time. An intensive investigation has been conducted into the Doppler effect in GPS. A highly accurate Doppler shift one-way observation equation is developed based on a comprehensive error analysis of each contributing factor including relativistic effects. Various error mitigation/elimination methods have been developed to improve the measurement accuracy of both the Doppler and Doppler-rate. Algorithms and formulae are presented to obtain real-time satellite velocity and acceleration in the ECEF system from the broadcast ephemeris. Low order IIR differentiators are designed to derive Doppler and Doppler-rate measurements from the raw GPS data for real-time applications. Abnormalities and their corresponding treatments in real-time operations are also discussed. In addition to the velocity and acceleration determination, this thesis offers a good tool for GPS measurement modelling and for design of interpolators, differentiators, as well as Kalman filters. The relativistic terms presented by this thesis suggest that it is possible to measure the geopotential directly using Doppler shift measurements. This may lead to a foundation for the development of a next generation satellite system for geodesy in the future.

<p>This master thesis is a study on how a rategyro triad, an accelerometer triad, and a magnetometer triad can be integrated into a navigation system, estimating a vehicle’s attitude, i.e. its roll, tipp, and heading angles. When only a rategyro triad is used to estimate a vehicle’s attitude, a drift in the attitude occurs due to sensor errors. </p><p>When an accelerometer triad and a magnetometer triad are used, an error in the vehicle’s heading, appearing as a sine curve, depending on the heading, occurs. By integrating these sensor triads, the sensor errors have been estimated with a filter to improve the estimated attitude’s accuracy. </p><p>To investigate and evaluate the navigation system, a simulation model has been developed in Simulink/Matlab. The implementation has been made using a Kalman filter where the sensor fusion takes place. Simulations for different scenarios have been made and the results from these simulations show that the drift in the vehicle’s attitude is avoided.</p>

<p>Automotive positioning systems relying exclusively on the input from a GPS receiver, which is a line of sight sensor, tend to be sensitive to situations with limited sky visibility. Such situations include: urban environments with tall buildings; inside parking structures; underneath trees; in tunnels and under bridges. In these situations, the system has to rely on integration of relative motion sensors to estimate vehicle position. However, these sensor measurements are generally affected by errors such as offsets and scale factors, that will cause the resulting position accuracy to deteriorate rapidly once GPS input is lost. </p><p>The approach in this thesis is to use a GPS receiver in combination with low cost sensor equipment to produce a robust positioning module. The module should be capable of handling situations where GPS input is corrupted or unavailable. The working principle is to calibrate the relative motion sensors when GPS is available to improve the accuracy during GPS intermission. To fuse the GPS information with the sensor outputs, different models have been proposed and evaluated on real data sets. These models tend to be nonlinear, and have therefore been processed in an Extended Kalman Filter structure. </p><p>Experiments show that the proposed solutions can compensate for most of the errors associated with the relative motion sensors, and that the resulting positioning accuracy is improved accordingly.</p>

<p>A face tracker is exactly what it sounds like. It tracks a face in a video sequence. Depending on the complexity of the tracker, it could track the face as a rigid object or as a complete deformable face model with face expressions.</p><p>This report is based on the work of a real time feature based face tracker. Feature based means that you track certain features in the face, like points with special characteristics. It might be a mouth or eye corner, but theoretically it could be any point. For this tracker, the latter is of interest. Its task is to extract global parameters, i.e. rotation and translation, as well as dynamic facial parameters (expressions) for each frame. It tracks feature points using motion between frames and a textured face model (Candide). It then uses an extended Kalman filter to estimate the parameters from the tracked feature points.</p>