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Rozprawy doktorskie na temat „Eklf”

Autor: Grafiati
Data publikacji: 4 czerwca 2021
Data aktualizacji: 20 lutego 2023

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1

Desgardin, Aurelie D. "EKLF-meidated transcription of erythroid genes." Thesis, Kingston University, 2010. http://eprints.kingston.ac.uk/20434/.

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Erythroid Kruppel-like factor (EKLF) is an erythroid specific transcription factor that binds to the proximal [beta]-globin gene promoter and is essential for high level expression. In addition, EKLF binds to the far upstream enhancer commonly referred to as the Locus Control Region (LCR). The nature of these two events, their relationship to other events at the multigene [beta]-globin locus and the precise and required interaction of these cis-acting sequences remains unclear. Equally, the mode of action ofEKLF at other erythroid-specific gene loci that are not regulated by an LCR has not yet
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Lung, Tina Kathy. "Analysis of Mouse EKLF/KLF2 E9.5 Double Knockout: Yolk Sac Morphology and Embryonic Erythroid Maturation." VCU Scholars Compass, 2007. http://hdl.handle.net/10156/1821.

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Bouilloux, Fabrice. "Rôle du facteur de transcription EKLF dans le contrôle de la fourche de différenciation érrythro-mégacaryocytaire." Lyon 1, 2008. http://n2t.net/ark:/47881/m6833q4v.

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EKLF et FLI-1 sont deux facteurs de transcription antagonistes activant respectivement la transcription des gènes spécifiques des lignées érythrocytaire et mégacaryocytaire qui dérivent d'un progéniteur bipotent commun. L'absence de EKLF favorise l'immortalisation des cellules érythrocytaires et la production dérégulée de FLI-1 est une cause récurrente de leur transformation. Afin de préciser le rôle de EKLF, son expression a été modulée dans des cellules érythroleucémiques ou dans des progéniteurs multipotents hématopoïétiques humains. Nos résultats montrent que EKLF n'a d'effet antiproliféra
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Richardson, Ben Matthew. "A proteomic approach to characterising erythropoiesis in both normal and In(Lu) phenotypes, with investigations into EKLF function." Thesis, University of Bristol, 2008. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.492444.

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Erythropoiesis is the process in which a pluripotent stem cell differentiates into a mature red blood cell (RBC). Over the last two decades understanding of factors that regulate this process has increased, which has allowed for the development of advanced in vitro culture systems that can on a small scale, generate therapeutic quantities of mature RBCs from isolated stem cell populations. Not only does this create an alternative source of RBCs for use in medical treatments, it also provides a esearch model that can be used to investigate the underlying biochemical and physiological mechanisms
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Ma, Rui. "Optimizing the production of erythroid cells from human embryonic stem cells." Thesis, University of Edinburgh, 2015. http://hdl.handle.net/1842/17979.

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Red blood cell (RBC) transfusion is the major treatment for patients suffering from trauma or severe anaemias, and life-long transfusion may be needed to alleviate symptoms and maintain body functioning. However, with a relatively low portion of people are donating, shortage in blood supply is becoming a life-threatening issue in the aging society. Among attempts to identify novel sources for transfusion medicine, human pluripotent stem cells (hPSCs), including embryonic stem cells (hESCs) and induced pluripotent stem cells (hiPSCs) are currently the most promising candidate, which is capable
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Lau, Winnie. "Studies of human EKLF mutations associated with the In(Lu) blood group phenotype and a rare variant of congenital dyserlthropoietic anaemia." Thesis, University of Bristol, 2010. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.529878.

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Jansen, Valerie Malyvanh. "Generation and characterization of a knock-in allele of EKLF probing the in vivo role of the chromatin remodeling domain in definitive hematopoietic cells /." View the abstract View the abstract Download the full-text PDF version Download the full-text PDF version, 2009. http://etd.uthsc.edu/ABSTRACTS/2009-025-Jansen-index.htm.

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Thesis (Ph.D.)--University of Tennessee Health Science Center, 2009.<br>Title from title page screen (viewed on February 4, 2010). Research advisor: John M. Cunningham, M.D. Document formatted into pages (xiv, 115 p. : ill.). Vita. Abstract. Includes bibliographical references (p. 89-103).
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8

Hallal, Samantha. "Characterisation of the zinc fingers of Erythroid Kruppel-Like Factor." University of Sydney, 2008. http://hdl.handle.net/2123/4030.

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Doctor of Philosophy (PhD)<br>Gene expression is known to be regulated at the level of transcription. Recently, however, there has been a growing realisation of the importance of gene regulation at the post-transcriptional level, namely at the level of pre-mRNA processing (5’ capping, splicing and polyadenylation), nuclear export, mRNA localisation and translation. Erythroid krüppel-like factor (Eklf) is the founding member of the Krüppel-like factor (Klf) family of transcription factors and plays an important role in erythropoiesis. In addition to its nuclear presence, Eklf was recently found
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Canadas, Maria Belen. "Cooperative EKF localization." [S.l. : s.n.], 2004. http://www.bsz-bw.de/cgi-bin/xvms.cgi?SWB11730075.

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10

Matheson, Iggy. "Angles-Only EKF Navigation for Hyperbolic Flybys." DigitalCommons@USU, 2019. https://digitalcommons.usu.edu/etd/7608.

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Space travelers in science fiction can drop out of hyperspace and make a pinpoint landing on any strange new world without stopping to get their bearings, but real-life space navigation is an art characterized by limited information and complex mathematics that yield no easy answers. This study investigates, for the first time ever, what position and velocity estimation errors can be expected by a starship arriving at a distant star - specifically, a miniature probe like those proposed by the Breakthrough Starshot initiative arriving at Proxima Centauri. Such a probe consists of nothing but a
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Turunc, Cagri. "An Implementation Of Ekf Slam With Planar Segments." Master's thesis, METU, 2012. http://etd.lib.metu.edu.tr/upload/12614906/index.pdf.

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Localization and mapping are vital capabilities for a mobile robot. These two capabilities strongly depend on each other and simultaneously executing both of these operations is called SLAM (Simultaneous Localization and Mapping). SLAM problem requires the environment to be represented with an abstract mapping model. It is possible to construct a map from point cloud of environment via scanner sensor systems. On the other hand, extracting higher level of features from point clouds and using these extracted features as an input for mapping system is also a possible solution for SLAM. In this wo
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12

Tønne, Karianne Knutsen. "Stability Analysis of EKF - based Attitude Determination and Control." Thesis, Norwegian University of Science and Technology, Department of Engineering Cybernetics, 2007. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-8720.

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<p>This thesis is a part of the SSETI (Student Space Exploration Technology Initiative) project, where students from several universities around Europe work together with the European Space Agency (ESA) with designing, building, testing and launching an Earth-Moon satellite orbiter (European Student Moon Orbiter (ESMO). A satellite model with reaction wheels placed in tetrahedron was deduced in a preliminary study together with an extended Kalman filter to estimate the attitude from star measurements. The stability and convergence properties of this system are studied in this thesis. Previou
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13

LUNDGREN, DOUGLAS. "A study of EKF-SLAM for vehicle state estimation." Thesis, KTH, Skolan för industriell teknik och management (ITM), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-263289.

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Self driving vehicles consists of advanced Commercial-Off-The-Shelf components which are developed separately by different manufacturers and can introduce uncertainties to the system. To guarantee that the system meets the safety requirements is a complex task and it is important to test the performance of components beforehand. This paper examines a state estimation technique called EKF-SLAM and the aim of the research is to test the algorithm against erroneous sources and discuss its robustness. It is tested in a simulated environment called preScan against noise from sensors, timing delays
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Tüysüz, Mustafa. "Fikir ve sanat eserleri kanunu çerçevesinde fikri haklar üzerindeki sözleşmeler : (ilgili mevzuat ekli) /." Ankara : Yetkin, 2007. http://swbplus.bsz-bw.de/bsz273054511inh.htm.

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15

Mustefa, Dinsefa, and Ermias Mebreku. "OFDM Systems Offset Estimation and Cancellation Using UKF and EKF." Thesis, Linnéuniversitetet, Institutionen för datavetenskap, fysik och matematik, DFM, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:lnu:diva-15524.

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Orthogonal Frequency Division Multiplexing (OFDM) is an efficient multi- carrier modulation scheme, which has been adopted for several wireless stan- dards. Systems employing this scheme at the physical layer are sensitive to frequency offsets and that causes Inter Carrier Interference (ICI) and degra- dation in overall system performance of OFDM systems. In this thesis work, an investigation on impairments of OFDM systems will be carried out. Anal- ysis of previous schemes for cancellation of the ICI will be done and a scheme for estimating and compensating the frequency offset based on Unsce
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16

Huo, Jin. "Build and evaluate state estimation Models using EKF and UKF." Thesis, KTH, Fordonsdynamik, 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-140947.

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In vehicle control practice, there are some variables, such as lateral tire force, body slip angle and yaw rate, that cannot or is hard to be measured directly and accurately. Vehicle model, like the bicycle model, offers an alternative way to get them indirectly, however due to the widely existent simplification and inaccuracy of vehicle models, there are always biases and errors in prediction from them. When developing advanced vehicle control functions, it is necessary and significant to know these variables in relatively high precision. Kalman filter offers a choice to estimate these varia
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17

Sanchez-Rey, Roberto. "EKF-based parameter estimation for MPC applied to lateral vehicle dynamics." Thesis, KTH, Reglerteknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-217296.

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Research about model-based techniques (MPC) applications for automotive drivingis nowadays experiencing an increasing interest thanks to improvements on hardwarecapabilities. Those allow for computationally heavy techniques as non-linear MPC is.MPC-based techniques rely on models of the controlled plant for predicting future state-space vectors. Such models are either not accurate enough for the purpose or affected byuncertainties, hence potentially causing a lack of robustness. By updating the predictionsmodel in run-time, learning-based MPC techniques are theoretically suitable to increasemo
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18

Henrik, Fåhraeus. "Fusion of IMU and Monocular-SLAM in a Loosely Coupled EKF." Thesis, Linköpings universitet, Reglerteknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-136910.

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Camera based navigation is getting more and more popular and is the often the cornerstone in Augmented and Virtual Reality. However, navigation systems using camera are less accurate during fast movements and the systems are often resource intensive in terms of CPU and battery consumption. Also, the image processing algorithms introduce latencies in the systems, causing the information of the current position to be delayed. This thesis investigates if a camera and an IMU can be fused in a loosely coupled Extended Kalman Filter to reduce these problems. An IMU introduces unnoticeable latencies
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19

HUGMARK, JOAKIM. "Inertial-aided EKF-based Structure from Motionfor Robust Real-time Augmented Reality." Thesis, KTH, Skolan för datavetenskap och kommunikation (CSC), 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-142344.

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The aim of this project was to develop a system that enables the overlay of computer graphics in a video sequence recorded by a moving camera. To do this, the camera’s position relative different landmarks in the picture needs to be estimated, a problem commonly referred to as “Structure from Motion” within the Computer Vision community, or “Monocular SLAM” within the robotics community. The system should be robust in the sense that it can handle partial occlusions and dynamic environments, as well as large open spaces without much texture in the image. To enable this, an IMU-unit is used to c
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20

Wahlqvist, Kristian. "A Comparison of Motion Priors for EKF-SLAM in Autonomous Race Cars." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-262673.

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Simultaneous Localization and Mapping (SLAM) is one of the fundamental problems to solve for any autonomous vehicle or robot. The SLAM problem is for an agent to incrementally build a map of its surroundings while keeping track of its location within the map, using various sensors. The goal of this thesis is to demonstrate the differences and limitations of different odometry methods when used as the prior motion estimate for the common SLAM algorithm EKF-SLAM. Inspired by autonomous racing, the algorithms were evaluated for especially difficult driving scenarios such as high velocities and wh
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21

Júnior, Celso Olivete. "Estimativa da idade óssea através da análise carpal baseada na simplificação do método de Eklof & Ringertz." Universidade de São Paulo, 2005. http://www.teses.usp.br/teses/disponiveis/18/18133/tde-15012010-113524/.

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Este trabalho apresenta uma metodologia semi-automática e simplificada para estimação da idade óssea baseada no método de Eklof & Ringertz. Fundamenta-se no processamento e extração de informações de imagens radiográficas da mão, mostrando a real influência do efeito Heel nesse tipo de imagem. Apresenta resultados obtidos com a aplicação de algoritmos de thresholding, com e sem a correção do efeito Heel,e propõe uma metodologia para isolar os ossos do tecido da mão para obtenção de dimensões dos mesmos. Essas dimensões foram usadas como informações para a estimação da idade óssea de seres huma
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22

Iessa, Hassan. "Concentrating food materials using electrokinetically enhanced filtration (EKEF) : impact on filtration efficiency, quality compounds and power consumption." Thesis, University of Newcastle upon Tyne, 2016. http://hdl.handle.net/10443/3483.

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Countries around the world are suffering from many problems caused by the misuse of their resources either by using non-renewable ones or destroying the valuable features of the resources that are available. Some of the most important challenges facing humanity are related to food and energy security. Food security includes many aspects besides providing people with an adequate amount of safe and healthy food; it also includes improving food processing to produce acceptable, high quality food products with reduced losses of nutrients, carbon footprint and using fewer resources in the productio
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Tamagnini, Filippo. "EKF based State Estimation in a CFI Copolymerization Reactor including Polymer Quality Information." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2020. http://amslaurea.unibo.it/20235/.

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State estimation is an integral part of modern control techniques, as it allows to characterize the state information of complex plants based on a limited number of measurements and the knowledge of the process model. The benefit is twofold: on one hand it has the potential to rationalize the number of measurements required to monitor the plant, thus reducing costs, on the other hand it enables to extract information about variables that have an effect on the system but would otherwise be inaccessible to direct measurement. The scope of this thesis is to design a state estimator for a tubu
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Dey, Rohit. "MonoDepth-vSLAM: A Visual EKF-SLAM using Optical Flow and Monocular Depth Estimation." University of Cincinnati / OhioLINK, 2021. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1627666226301079.

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Tonel, Giovani. "Avaliação dos estimadores EKF, CEKF e MHE para aplicações em linha em processos." reponame:Biblioteca Digital de Teses e Dissertações da UFRGS, 2008. http://hdl.handle.net/10183/13469.

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Devido aos constantes avanços computacionais, bem como o desenvolvimento de eficientes métodos para a solução de problemas de otimização não-lineares, tem-se tornado interessante a realização de otimização em tempo real e como conseqüência o uso de estimadores on-line em processos químicos não lineares. Neste sentido, a atualização automática de modelos de processos torna-se interessante permitindo a realização de estimativas em tempo real de variáveis infreqüentemente medidas e/ou imensuráveis e de variáveis estados e parâmetros desconhecidos que são variantes no tempo. Usualmente, a atualiza
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Pereira, Savio Joseph. "On the utilization of Simultaneous Localization and Mapping(SLAM) along with vehicle dynamics in Mobile Road Mapping Systems." Diss., Virginia Tech, 2019. http://hdl.handle.net/10919/94425.

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Mobile Road Mapping Systems (MRMS) are the current solution to the growing demand for high definition road surface maps in wide ranging applications from pavement management to autonomous vehicle testing. The focus of this research work is to improve the accuracy of MRMS by using the principles of Simultaneous Localization and Mapping (SLAM). First a framework for describing the sensor measurement models in MRMS is developed. Next the problem of estimating the road surface from the set of sensor measurements is formulated as a SLAM problem and two approaches are proposed to solve the formulate
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Shytermeja, Enik. "Design and performance of a GNSS single-frequency multi-constellation vector tracking architecture for urban environments." Phd thesis, Toulouse, INPT, 2017. http://oatao.univ-toulouse.fr/19756/1/SHYTERMEJA_Enik.pdf.

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In the last decade, Global Navigation Satellites Systems (GNSS) have gained a significant position in the development of urban navigation applications and associated services. The urban environment presents several challenges to GNSS signal reception, such as multipath and GNSS Line-of-Sight (LOS) blockage, which are translated in the positioning domain in a decreased navigation solution accuracy up to the lack of an available position. For this matter, Vector Tracking (VT) constitutes a promising approach able to cope with the urban environment-induced effects including multipath, NLOS recept
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Leven, William Franklin. "Approximate Cramer-Rao Bounds for Multiple Target Tracking." Diss., Georgia Institute of Technology, 2006. http://hdl.handle.net/1853/10507.

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The main objective of this dissertation is to develop mean-squared error performance predictions for multiple target tracking. Envisioned as an approximate Cramer-Rao lower bound, these performance predictions allow a tracking system designer to quickly and efficiently predict the general performance trends of a tracking system. The symmetric measurement equation (SME) approach to multiple target tracking (MTT) lies at the heart of our method. The SME approach, developed by Kamen et al., offers a unique solution to the data association problem. Rather than deal directly with this problem, the
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Papakis, Ioannis. "A Bayesian Framework for Multi-Stage Robot, Map and Target Localization." Thesis, Virginia Tech, 2019. http://hdl.handle.net/10919/93024.

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This thesis presents a generalized Bayesian framework for a mobile robot to localize itself and a target, while building a map of the environment. The proposed technique builds upon the Bayesian Simultaneous Robot Localization and Mapping (SLAM) method, to allow the robot to localize itself and the environment using map features or landmarks in close proximity. The target feature is distinguished from the rest of features since the robot has to navigate to its location and thus needs to be observed from a long distance. The contribution of the proposed approach is on enabling the robot to trac
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30

Ehrman, Lisa M. "An Algorithm for Automatic Target Recognition Using Passive Radar and an EKF for Estimating Aircraft Orientation." Diss., Georgia Institute of Technology, 2005. http://hdl.handle.net/1853/7510.

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Rather than emitting pulses, passive radar systems rely on illuminators of opportunity, such as TV and FM radio, to illuminate potential targets. These systems are attractive since they allow receivers to operate without emitting energy, rendering them covert. Until recently, most of the research regarding passive radar has focused on detecting and tracking targets. This dissertation focuses on extending the capabilities of passive radar systems to include automatic target recognition. The target recognition algorithm described in this dissertation uses the radar cross section (RCS) of pote
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31

Benemann, Eleonora Soares. "Comparação entre métodos de estimativa da idade óssea: Greulich & Pyle, Eklöf & Ringertz e atlas digital de Gilsanz & Ratib." Pontifícia Universidade Católica do Rio Grande do Sul, 2009. http://hdl.handle.net/10923/410.

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Made available in DSpace on 2011-12-27T14:14:10Z (GMT). No. of bitstreams: 2 000424759-0.pdf: 1962613 bytes, checksum: 44a9a90e024c2bc4e46bf189957704f4 (MD5) license.txt: 581 bytes, checksum: 44ea52f0b7567232681c6e3d72285adc (MD5)<br>The current research aimed at evaluating the skeletal age, by means of hand and wrist radiographies, using the methods Greulich & Pyle (G&P) (1959), Eklöf & Ringertz (E&R) (1967) and the Gilsanz & Ratib digital atlas (G&R) (2005). The ages obtained from the three methods were compared, and the degree of concordance among them was determined. In order to accomplish
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Andersson, Tobias. "Increased Autonomy for Construction Equipment using Laser." Thesis, Linköping University, Automatic Control, 2010. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-59910.

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<p>At working sites all around monotonic tasks are performed. If one were able</p><p>to automatize these kinds of tasks there would be a large economical profit to</p><p>collect. Volvo CE are in the process of developing an autonomous wheel loader,</p><p>to perform these types of monotonic, uniform tasks. The project is intended to</p><p>be performed mainly be thesis workers. This report is the eighth thesis in this</p><p>project. Earlier work has made the loader able to see a pile using a laser scanner.</p><p>The machine can also see and fill a hauler. The usage of the laser scanner can</p><p>o
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Thornblad, Johan. "Drivetrain Modelling and Clutch Temperature Estimation in Heavy Duty Trucks." Thesis, Linköpings universitet, Fordonssystem, 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-108117.

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An existing drivetrain model with clutch temperature dynamics has been used to simulate the behaviour of a heavy duty truck. During the implementation of the model in MATLAB/Simulink modularity and simplicity was greatly emphasized. This was done in order to facilitate the use of the model in various applications as well as making it easy to understand. The main contributions of the thesis is however the adaptation of a clutch temperature and wear observer for use in an on-line application in the gearbox management system (GMS). The process of taking the observer from an off-line simulation en
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Brown, Andrew P., and Ronald A. Iltis. "DISTRIBUTED TERRESTRIAL RADIOLOCATION USING THE RLS ALGORITHM." International Foundation for Telemetering, 2002. http://hdl.handle.net/10150/605572.

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International Telemetering Conference Proceedings / October 21, 2002 / Town & Country Hotel and Conference Center, San Diego, California<br>This paper presents the development of two distributed terrestrial radiolocation algorithms that use range estimates derived from DS-CDMA waveforms. The first algorithm, which is RLS-based, is derived as the solution of an approximate least-squares positioning problem. This algorithm has the advantage of reduced computational complexity, compared with the EKF-based algorithm that is presented. It is shown via simulations that both positioning algorithm
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Berggren, Henrik, and Martin Melin. "UKF and EKF with time dependent measurement and model uncertainties for state estimation in heavy duty diesel engines." Thesis, Linköpings universitet, Fordonssystem, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-69229.

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The continuous challenge to decrease emissions, sensor costs and fuel consumption in diesel engines is battled in this thesis. To reach higher goals in engine efficiency and environmental sustainability the prediction of engine states is essential due to their importance in engine control and diagnosis. Model output will be improved with help from sensors, advanced mathematics and non linear Kalman filtering. The task consist of constructing non linear Kalman Filters and to adaptively weight measurements against model output to increase estimation accuracy. This thesis shows an approach of how
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36

Roussillon, Cyril. "Une solution opérationnelle de localisation pour des véhicules autonomes basée sur le SLAM." Thesis, Toulouse, INSA, 2013. http://www.theses.fr/2013ISAT0050/document.

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Les applications de la robotique mobile autonome en environnements extérieurs sont nombreuses : surveillance de site à la recherche d’anomalies, campagne d’acquisition de données,exploration, recherche de victimes sur des lieux de catastrophes, etc, et l’intérêt de la robotique pour ces applications est d’autant plus grand que les environnements peuvent être dangereux ou risqués pour l’homme. La localisation des robots est une fonction clé dans ces contextes car elle est indispensable à de nombreuses autres fonctions, particulièrement la construction de modèles d’environnement, l’exécution des
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Nilsson, Sanna. "Sensor Fusion for Heavy Duty Vehicle Platooning." Thesis, Linköpings universitet, Reglerteknik, 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-78970.

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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 fuel consumption. By introducing wireless communication and tight control, the distance between the HDVs can be decreased significantly. This implies a reduction of the air drag and consequently the fuel consumption for all the HDVs in the platoon. The challenge in platooning is to keep the HDVs as close as possible to each other without endangering safety. Therefore, sensor fusion is necessary to get an accurate estimate of the relative distance and velocity, which is
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Enberg, David. "Performance Evaluation of Short Time Dead Reckoning for Navigation of an Autonomous Vehicle." Thesis, Linköpings universitet, Reglerteknik, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-115881.

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Utilizing a Global Navigation Satellite System (GNSS) together with an Inertial Navigation System (INS) is today a common integration method to obtain a positioning solution for autonomous systems. Both GNSS and INS have benefits and weaknesses where the best parts from both systems can be combined with a Kalman filter. Because of this complementary nature, it is of interest to look at the robustness of the positioning solution when the Global Navigation Satellite System is temporarily not available. The aim of the thesis has been to investigate different vehicle models and to evaluate their s
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Pettersson, Martin. "Extended Kalman Filter for Robust UAV Attitude Estimation." Thesis, Linköpings universitet, Reglerteknik, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-119097.

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Attitude estimation of unmanned aerial vehicles is of great importance as it enables propercontrol of the vehicles. Attitude estimation is typically done by an attitude-heading refer-ence system (ahrs) which utilises different kind of sensors. In this thesis these include agyroscope providing angular rates measurements which can be integrated to describe the at-titude as well as an accelerometer and a magnetometer, both of which can be compared withknown reference vectors to determine the attitude. The sensor measurements are fused usinga gps augmented 7-state Extended Kalman filter (ekf) with
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Stenström, Jonathan. "Simultaneous Trajectory Optimization and Target Estimation Using RSS Measurements to Land a UAV." Thesis, Linköpings universitet, Reglerteknik, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-131117.

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The use of autonomous UAV’s is a progressively expanding industry. This thesisfocuses on the landing procedure with the main goal to be independent of visualaids. That means that the landing site can be hidden from the air, the landingcan be done in bad weather conditions and in the dark. In this thesis the use ofradio signals is investigated as an alternative to the visual sensor based systems.A localization system is needed to perform the landing without knowing wherethe landing site is. In this thesis an Extended Kalman Filter (EKF) is derived andused for the localization, based on the rece
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Kroeger, Kenneth Edward. "Design and Evaluation of a Fixed-Pitch Multirotor UAV with a Nonlinear Control Strategy." Thesis, Virginia Tech, 2013. http://hdl.handle.net/10919/23109.

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The use and practical applications of small UAV systems has continually grown in the past several years in both the public and private sectors. These UAV systems are used for not only defensive purposes, but for commercial applications such as exterior bridge and home inspections, wildlife/wildfire management and observation, conservation exercises, law-enforcement, radio-repeating operations, and a wide variety of other uses that may not warrant the use, expense, space constraints, or risk of a manned aircraft. This thesis focuses on the design of a fixed pitch multirotor UAV system for use i
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Johansson, Jenny, and Mikaela Waller. "Control Oriented Modeling of the Dynamics in a Catalytic Converter." Thesis, Linköping University, Department of Electrical Engineering, 2005. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-4154.

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<p>Avgasmängden som bensindrivna fordon tillåts släppa ut minskas hela tiden. Ett sätt att möta framtida krav, är att förbättra katalysatorns effektivitet. För att göra detta kan luft-bränsle-förhållandet regleras med avseende på syrelagringen i katalysatorn, istället för som idag, reglera mot stökiometriskt blandningsförhållande. Eftersom syrelagringen inte går att mäta med en givare behövs en modell som beskriver katalysatorns dynamiska egenskaper. Tre sådana modeller har undersökts, utvärderats och jämförts.</p><p>Två av modellerna har implementerats i Matlab/Simulink och anpassats till mät
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Larsson, Jesper. "The Effect of Simulink Block Kalman Filters in a CubeSat ADCS." Thesis, KTH, Rymdteknik, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-285762.

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The purpose of this paper was to implement Kalman filtering in the form of pre-existing Simulink blocks into a CubeSat attitude determination and control system simulation and to evaluate their performance. In recent versions of Simulink, the block library has been expanded, providing a new level of abstraction for simulation engineers. The capabilities of such library filter blocks have previously not been explored for space applications and could offer a faster and more simplified filter integration process. Three types of filter implementations have been realized, being classic Kalman filte
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Shareef, Haider. "Gyrobiasskattning för små autonoma flygplan." Thesis, Linköping University, Department of Electrical Engineering, 2007. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-8387.

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<p>En patenterad metod [11] ligger till grund för utförandet av det här examensarbetet där målet var att beskriva metoden i reglertekniska termer. En lösning för att kompensera för gyrodrifter var också önskvärd. En olinjär modell som beskriver flygplanets dynamik har tagits fram och simulerats. Modellen har linjäriserats kring en trajektoria och diskretiserats för att undersöka observerbarheten för systemet. Huruvida ett system är observerbart eller inte avgör om det är möjligt eller inte att applicera ett extended kalmanfilter (EKF) på för att skatta systemets tillstånd. Kalmanfiltret använd
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Lowe, Matthew. "Extended and Unscented Kalman Smoothing for Re-linearization of Nonlinear Problems with Applications." Digital WPI, 2015. https://digitalcommons.wpi.edu/etd-dissertations/457.

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The Extended Kalman Filter (EKF), Unscented Kalman Filter (UKF) and Ensemble Kalman Filter (EnKF) are commonly implemented practical solutions for solving nonlinear state space estimation problems; all based on the linear state space estimator, the Kalman Filter. Often, the UKF and EnKF are cited as a superior methods to the EKF with respect to error-based performance criteria. The UKF in turn has the advantage over the EnKF of smaller computational complexity. In practice however the UKF often fails to live up to this expectation, with performance which does not surpass the EKF and estimates
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Nylén, Rebecka, and Katherine Rajala. "Development of an ICP-based Global Localization System." Thesis, Linköpings universitet, Reglerteknik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-178858.

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The most common way to track the position of a vehicle is by using the Global Navigation Satellite System (GNSS). Unfortunately, there are many scenarios where GNSS is inaccessible or provides low precision, and it can therefore be vulnerable to only rely on GNSS. This master's thesis is done in collaboration with the Swedish Defence Research Agency (FOI), who is looking for a solution to this problem. Therefore, this master's thesis develops a system that globally localizes a vehicle in a map, without GNSS. The approach is to combine odometry and the scan registration algorithm iterative clos
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Salhi, Imane. "Intelligent embadded camera for robust object tracking on mobile platform." Thesis, Paris Est, 2021. http://www.theses.fr/2021PESC2001.

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Les systèmes de navigation visuelle-inertielle (VINS) est une thématique d'actualité, difficile à traiter, notamment lorsqu’il s’agit de respecter les contraintes des systèmes embarqués. Les questions relatives à la miniaturisation, la portabilité et la communication (en ce qui concerne, par exemple, l’IoT) des systèmes électroniques s’inscrivent dans des problématiques actuelles en matière d'avancée technologique. Pour répondre de manière efficace à ces problématiques, il est nécessaire d’envisager des traitements complexes et des implémentations sur des supports contraignants en termes d’int
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Rosén, Jakob. "A Framework for Nonlinear Filtering in MATLAB." Thesis, Linköping University, Department of Electrical Engineering, 2005. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-5190.

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<p>The object of this thesis is to provide a MATLAB framework for nonlinear filtering in general, and particle filtering in particular. This is done by using the object-oriented programming paradigm, resulting in truly expandable code. Three types of discrete and nonlinear state-space models are supported by default, as well as three filter algorithms: the Extended Kalman Filter and the SIS and SIR particle filters. Symbolic expressions are differentiated automatically, which allows for comfortable EKF filtering. A graphical user interface is also provided to make the process of filtering even
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Villeneuve, Hubert. "Height Estimation of a Blimp Unmanned Aerial Vehicle Using Inertial Measurement Unit and Infrared Camera." Thesis, Université d'Ottawa / University of Ottawa, 2017. http://hdl.handle.net/10393/36635.

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Increasing demands in areas such as security, surveillance, search and rescue, and communication, has promoted the research and development of unmanned aerial vehicles (UAVs) as such technologies can replace manned flights in dangerous or unfavorable conditions. Lighter-than-air UAVs such as blimps can carry higher payloads and can stay longer in the air compared to typical heavier-than-air UAVs such as aeroplanes or quadrotors. One purpose of this thesis is to develop a sensor suite basis for estimating the position and orientation of a blimp UAV in development with respect to a reference poi
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Sinivaara, Kristian. "Simultaneous Localisation and Mapping using Autonomous Target Detection and Recognition." Thesis, Linköpings universitet, Reglerteknik, 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-110410.

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Simultaneous localisation and mapping (SLAM) is an often used positioning approach in GPS denied indoor environments. This thesis presents a novel method of combining SLAM with autonomous/aided target detection and recognition (ATD/R), which is beneficial for both methods. The method uses physical objects that are recognisable by ATR as unambiguous features in SLAM, while SLAM provides the ATR with better position estimates. The intended application is to improve the positioning of a first responder moving through an indoor environment, where the map offers localisation and simultaneously help
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