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This paper considers the use of two position receivers and an inertial measurement unit (IMU) to estimate the position, velocity, and attitude of a rigid body, collectively called extended pose. The measurement model consisting of the…
Battery thermal management systems (BTMSs) are critical for efficient and safe operation of lithium-ion batteries (LIBs), especially for fast charging/discharging applications that generate significant heating within the cell. Forced…
We derive symmetry preserving invariant extended Kalman filters (IEKF) on matrix Lie groups. These Kalman filters have an advantage over conventional extended Kalman filters as the error dynamics for such filters are independent of the…
A calorimeter was built to measure the heat from a porous capacitive working electrode connected in a three-electrode configuration. This makes it possible to detect differences between cathodic and anodic heat production. The…
Two-color (2C) pyrometry has long been used for flame temperature and soot concentration studies and is now becoming more widely used to measure surface temperatures of burning materials. With the obvious advantage of being a contact-free…
A strain-insensitive temperature sensor based on multimode interference using standard multimode fibers (MMFs) is proposed according to the comprehensive study of the characteristics of the MMFs. The temperature and strain dependences on…
Legged robots require knowledge of pose and velocity in order to maintain stability and execute walking paths. Current solutions either rely on vision data, which is susceptible to environmental and lighting conditions, or fusion of…
Recent advances in X-ray free-electron laser diagnostics have enabled direct probing of the electronic structure under extreme pressures and temperatures, such as those encountered in stellar interiors and inertial confinement fusion…
We report on a non-interacting technique for thermal characterization of fluids based on surface plasmon resonance interrogation. Using liquid volumes less than 20 micro liters we have determined the materials' thermo-optic coefficients…
This paper presents a novel method for fast and robust detection of actuator failures on quadrotors. The proposed algorithm has very little model dependency. A Kalman filter estimator estimates a stochastic effectiveness factor for every…
This paper addresses the issues of unmanned aerial vehicle (UAV) indoor navigation, specifically in areas where GPS and magnetometer sensor measurements are unavailable or unreliable. The proposed solution is to use an error state extended…
We present the Koopman-Inspired Learned Observations Extended Kalman Filter (KILO-EKF), which combines a standard EKF prediction step with a correction step based on a Koopman-inspired measurement model learned from data. By lifting…
This research paper delves into the Linear Kalman Filter (LKF), highlighting its importance in merging data from multiple sensors. The Kalman Filter is known for its recursive solution to the linear filtering problem in discrete data,…
Many robotic sensor estimation problems can characterized in terms of nonlinear measurement systems. These systems are contaminated with noise and may be underdetermined from a single observation. In order to get reliable estimation…
Accurate tracking of the internal electrochemical states of lithium-ion battery during cycling enables advanced battery management systems to operate the battery safely and maintain high performance while minimizing battery degradation. To…
We present a technique for measuring ion temperature using cavity-based electromagnetically induced transparency (EIT) applicable for cavity QED systems. This method enables efficient extraction of the ion's phonon occupation number…
Understanding battery degradation in electric vehicles (EVs) under real-world conditions remains a critical yet under-explored area of research. Central to this investigation is the challenge of estimating the specific degradation modes in…
In this dissertation, we investigate the issue of robust localization in swarms of heterogeneous mobile agents with multiple and time-varying sensing modalities. Our focus is the development of filter-based and decoupled estimators under…
This work presents a centralized multi-IMU filter framework with online intrinsic and extrinsic calibration for unsynchronized inertial measurement units that is robust against changes in calibration parameters. The novel EKF-based method…
Road roughness significantly affects vehicle vibrations and ride quality. We introduce a Kalman filter (KF)-based method for estimating road roughness in terms of the international roughness index (IRI) by fusing inertial and speed…