Physical Sciences and Mathematics Commons^™

An Alternative Sensor Fusion Method For Object Orientation Using Low-Cost Mems Inertial Sensors, Joshua Lee Bouffard

Graduate College Dissertations and Theses

This thesis develops an alternative sensor fusion approach for object orientation using low-cost MEMS inertial sensors. The alternative approach focuses on the unique challenges of small UAVs. Such challenges include the vibrational induced noise onto the accelerometer and bias offset errors of the rate gyroscope. To overcome these challenges, a sensor fusion algorithm combines the measured data from the accelerometer and rate gyroscope to achieve a single output free from vibrational noise and bias offset errors.

One of the most prevalent sensor fusion algorithms used for orientation estimation is the Extended Kalman filter (EKF). The EKF filter performs the fusion …

A Genetic Programming Approach To Cost-Sensitive Control In Wireless Sensor Networks, Afsoon Yousefi Zowj

Graduate College Dissertations and Theses

In some wireless sensor network applications, multiple sensors can be used to measure the same variable, while differing in their sampling cost, for example in their power requirements. This raises the problem of automatically controlling heterogeneous sensor suites in wireless sensor network applications, in a manner that balances cost and accuracy of sensors. Genetic programming (GP) is applied to this problem, considering two basic approaches. First, a hierarchy of models is constructed, where increasing levels in the hierarchy use sensors of increasing cost. If a model that polls low cost sensors exhibits too much prediction uncertainty, the burden of prediction …