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Sparse wearable inertial measurement units (IMUs) have gained popularity for estimating 3D human motion. However, challenges such as pose ambiguity, data drift, and limited adaptability to diverse bodies persist. To address these issues, we…
Ultra-low-power (ULP) Internet of Things (IoT) applications demand communication architectures with minimal energy consumption. Noise Modulation (NoiseMod) addresses this by encoding data through the statistical variance of a noise-like…
Indoor tracking and pose estimation, i.e., determining the position and orientation of a moving target, are increasingly important due to their numerous applications. While Inertial Navigation Systems (INS) provide high update rates, their…
We present a multisensor fusion framework for the onboard real-time navigation of a quadrotor in an indoor environment. The framework integrates sensor readings from an Inertial Measurement Unit (IMU), a camera-based object detection…
This paper introduces a novel state estimation framework for robots using differentiable ensemble Kalman filters (DEnKF). DEnKF is a reformulation of the traditional ensemble Kalman filter that employs stochastic neural networks to model…
In this study, we address the challenges associated with accurately determining gaze location on a screen, which is often compromised by noise from factors such as eye tracker limitations, calibration drift, ambient lighting changes, and…
Recent advances in the Internet of Things (IoT) technologies have enabled the use of wearables for remote patient monitoring. Wearable sensors capture the patient's vital signs, and provide alerts or diagnosis based on the collected data.…
Most works on joint state and unknown input (UI) estimation require the assumption that the UIs are linear; this is potentially restrictive as it does not hold in many intelligent autonomous systems. To overcome this restriction and…
The input-parameter-state estimation capabilities of a novel unscented Kalman filter is examined herein on both linear and nonlinear systems. The unknown input is estimated in two stages within each time step. Firstly, the predicted dynamic…
In this paper we present a method for updating robotic state belief through contact with uncertain surfaces and apply this update to a Kalman filter for more accurate state estimation. Examining how guard surface uncertainty affects the…
This paper proposes a novel vehicle sideslip angle estimator, which uses the physical knowledge from an Unscented Kalman Filter (UKF) based on a non-linear single-track vehicle model to enhance the estimation accuracy of a Convolutional…
In this paper, we focus on sensor placement in linear dynamic estimation, where the objective is to place a small number of sensors in a system of interdependent states so to design an estimator with a desired estimation performance. In…
Accurate modeling is crucial in many engineering and scientific applications, yet obtaining a reliable process model for complex systems is often challenging. To address this challenge, we propose a novel framework, reservoir computing with…
This paper presents the design and implementation of the Scintillation Filter by Kalman-colored algorithm (SciFi), which is used to remove tropospheric scintillation from Q/V bands total attenuation data series. In contrast to the classical…
Kalman filters are widely used for object tracking, where process and measurement noise are usually considered accurately known and constant. However, the exact known and constant assumptions do not always hold in practice. For example,…
Hybrid acoustic-RF systems offer excellent ranging accuracy, yet they typically come at a power consumption that is too high to meet the energy constraints of mobile IoT nodes. We combine pulse compression and synchronized wake-ups to…
A hierarchy of statistics of increasing sophistication and accuracy is proposed, to exploit an interesting and fundamental arithmetic structure in the photon bunching noise of incoherent light of large photon occupation number, with the…
Many filters have been proposed in recent decades for the nonlinear state estimation problem. The linearization-based extended Kalman filter (EKF) is widely applied to nonlinear industrial systems. As EKF is limited in accuracy and…
Accurate vehicle positioning requires effective IMU-GPS fusion, yet prior methods-EKF, UKF, ML, GA, and DE-suffer from nonlinearity, instability, or high computational cost. This study introduces a PSO-based adaptive tuning framework for…
This study develops and analyzes linear and nonlinear state space models for estimating the elemental composition of scrap steel used in steelmaking, with applications to Electric Arc Furnace (EAF) and Basic Oxygen Furnace (BOF) processes.…