Engineering Commons^™

Improving Autonomous Vehicles Operational Performance Using Resilience Engineering, Johan Fanas Rojas

Dissertations

Autonomous vehicles are expected to revolutionize the transportation industry by providing a safer and more efficient means of transportation. However, as autonomous vehicles are deployed on public roads, they are exposed to significant risks, both in terms of safety and system performance. Recent studies have highlighted a range of errors and accidents associated with autonomous vehicles, underscoring the need for a systematic approach to improve their operational resilience. Resilience engineering, a discipline focused on designing and analyzing complex systems to better cope with unexpected events and disruptions, offers a promising framework for addressing these challenges. Despite the potential benefits of …

Improved Accuracy In Real-Time Rfid Localization Systems Using Kalman Filtering, Benjamin J. Sanda

Masters Theses

The use of Radio Frequency Identification (RFID) has become widespread in industry as a means to quickly and wirelessly identify and track packages and equipment. Now there is a commercial interest in using RFID to provide real-time localization. Efforts to use RFID technology for this purpose experience localization errors due to noise and multipath effects inherent to these environments. This paper presents the use of both linear Kalman filters and non-linear Unscented Kalman filters to reduce error effects inherent to real-time RFID localization systems and provide more accurate localization results in indoor environments. A commercial RFID localization system designed for …

Localization And System Identification Of A Quadcopter Uav, Kenneth Befus

Masters Theses

The research conducted explores the comparison of several trilateration algorithms as they apply to the localization of a quadcopter micro air vehicle (MAV). A localization system is developed employing a network of combined ultrasonic/radio frequency sensors used to wirelessly provide range (distance) measurements defining the location of the quadcopter in 3-dimensional space. A Monte Carlo simulation is conducted using the extrinsic parameters of the localization system to evaluate the adequacy of each trilateration method as it applies to this specific quadcopter application. The optimal position calculation method is determined.

Furthermore, flight testing is performed in which real range measurement data …