Engineering Commons^™

A Wearable Mechatronic Device For Hand Tremor Monitoring And Suppression: Development And Evaluation, Yue Zhou

Electronic Thesis and Dissertation Repository

Tremor, one of the most disabling symptoms of Parkinson's disease (PD), significantly affects the quality of life of the individuals who suffer from it. These people live with difficulties with fine motor tasks, such as eating and writing, and suffer from social embarrassment. Traditional medicines are often ineffective, and surgery is highly invasive and risky. The emergence of wearable technology facilitates an externally worn mechatronic tremor suppression device as a potential alternative approach for tremor management. However, no device has been developed for the suppression of finger tremor that has been validated on a human.

It has been reported in …

Nonlinear Attitude And Pose Filters With Superior Convergence Properties, Hashim Abdellah Hashim Mohamed

Electronic Thesis and Dissertation Repository

In this thesis, several deterministic and stochastic attitude filtering solutions on the special orthogonal group SO(3) are proposed. Firstly, the attitude estimation problem is approached on the basis of nonlinear deterministic filters on SO(3) with guaranteed transient and steady-state measures. The second solution to the attitude estimation problem considers nonlinear stochastic filters on SO(3) with superior convergence properties with two filters being developed in the sense of Ito, and one in the sense of Stratonovich.

This thesis also presents several deterministic and stochastic pose filtering solutions developed on the special Euclidean group SE(3). The first solution includes two nonlinear deterministic …

Analysis, Design And Demonstration Of Control Systems Against Insider Attacks In Cyber-Physical Systems, Xirong Ning

Electronic Thesis and Dissertation Repository

This dissertation aims to address the security issues of insider cyber-physical attacks and provide a defense-in-depth attack-resilient control system approach for cyber-physical systems.

Firstly, security analysis for cyber-physical systems is investigated to identify potential risks and potential security enhancements. Vulnerabilities of the system and existing security solutions, including attack prevention, attack detection and attack mitigation strategies are analyzed.

Subsequently, a methodology to analyze and mathematically characterize insider attacks is developed. An attack pattern is introduced to represent key features in an insider cyber-physical attack, which includes attack goals, resources, constraints, modes, as well as probable attack paths. Patterns for such …