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Full-Text Articles in Engineering
Online Learning Of The Spatial-Temporal Channel Variation In Underwater Acoustic Communication Networks, Wensheng Sun
Online Learning Of The Spatial-Temporal Channel Variation In Underwater Acoustic Communication Networks, Wensheng Sun
Dissertations, Master's Theses and Master's Reports
Influenced by environmental conditions, underwater acoustic (UWA) communication channels exhibit spatial and temporal variations, posing significant challenges for UWA networking and applications. This dissertation develops statistical signal processing approaches to model and predict variations of the channel and relevant environmental factors. Firstly, extensive field experiments are conducted in the Great Lakes region. Three types of the freshwater river/lake acoustic channels are characterized in the aspects of statistical channel variations and sound propagation loss, including stationary, mobile and under-ice acoustic channels. Statistical data analysis shows that relative to oceanic channels, freshwater river/lake channels have larger temporal coherence, higher correlation among densely …
Estimation And Prediction Of The Human Gait Dynamics For The Control Of An Ankle-Foot Prosthesis, Guilherme Aramizo Ribeiro
Estimation And Prediction Of The Human Gait Dynamics For The Control Of An Ankle-Foot Prosthesis, Guilherme Aramizo Ribeiro
Dissertations, Master's Theses and Master's Reports
With the growing population of amputees, powered prostheses can be a solution to improve the quality of life for many people. Powered ankle-foot prostheses can be made to behave similar to the lost limb via controllers that emulate the mechanical impedance of the human ankle. Therefore, the understanding of human ankle dynamics is of major significance. First, this work reports the modulation of the mechanical impedance via two mechanisms: the co-contraction of the calf muscles and a change of mean ankle torque and angle. Then, the mechanical impedance of the ankle was determined, for the first time, as a multivariable …
Effect Of Sensor Errors On Autonomous Steering Control And Application Of Sensor Fusion For Robust Navigation, Shuvodeep Bhattacharjya
Effect Of Sensor Errors On Autonomous Steering Control And Application Of Sensor Fusion For Robust Navigation, Shuvodeep Bhattacharjya
Dissertations, Master's Theses and Master's Reports
Autonomous steering control is one the most important features in autonomous vehicle navigation. The nature and tuning of the controller decides how well the vehicle follows a defined trajectory. A poorly tuned controller can cause the vehicle to oversteer or understeer at turns leading to deviation from a defined path. However, controller performance also depends on the state–feedback system. If the states used for controller input are noisy or has bias / systematic error, the navigation performance of the vehicle is affected irrespective of the control law and controller tuning. In this report, autonomous steering controller analysis is done for …