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Bootsma, B.G.N. (author)This work applies interactive imitation learning for the navigation of a mobile robot. The algorithm"Learning Interactively to Resolve Ambiguity in Sensor Policy Fusion" (LIRA-SPF) is introduced in the field of machine learning for robot navigation. This algorithm extends on existing methods by allowing the ambiguity-free fusion of existing...master thesis 2021
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van der Heijden, D.S. (author), Ledergerber, Anton (author), Gill, Rajan (author), D'Andrea, Raffaello (author)An iterative bias estimation framework is presented that mitigates position-dependent ranging errors often present in ultra-wideband localization systems. State estimation and control are integrated, such that the positioning accuracy improves over iterations. The framework is experimentally evaluated on a quadcopter platform, resulting in...journal article 2021
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Pfeiffer, S.U. (author), de Wagter, C. (author), de Croon, G.C.H.E. (author)We present a computationally efficient moving horizon estimator that allows for real-time localization using Ultra-Wideband measurements on small quadrotors. The estimator uses only a single iteration of a simple gradient descent method to optimize the state estimate based on past measurements, while using random sample consensus to reject...journal article 2021
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Mazhar, O. (author), Babuska, R. (author), Kober, J. (author)Deep neural networks designed for vision tasks are often prone to failure when they encounter environmental conditions not covered by the training data. Single-modal strategies are insufficient when the sensor fails to acquire information due to malfunction or its design limitations. Multi-sensor configurations are known to provide redundancy...journal article 2021
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Ali Nawaz, Ali (author)Though NanoSats are becoming increasingly capable of featuring active payloads, and acquiring inertial data at arcsec level precision; the payload operational duty-cycle largely remains limited by its data downlink capabilities. NanoSat laser communication terminal (LCT) promises 1 Gbps data downlink capabilities. However, LEO to ground free...master thesis 2020
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Kerkhof, Franck (author), Rodewijk, Koen (author)In this study multiple design approaches have been tried to accurately determine the respiratory rate every 30 seconds of a patient in a hospital bed using six piezoelectric pressure sensors located sandwiched between the mattress and the bed. After four design iterations using a variety of different methods, a final design using a Least Mean...bachelor thesis 2020
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van Ingen, Bart (author)Pedestrian indoor localization is a problem yet to have a solution that is as generally accepted as the Global Positioning System is for outdoor localization. An infrastructure-independent option is to leverage the data from Inertial Measurement Unit (IMU) sensors to determine position. An advantage of this approach is that these sensors are...master thesis 2020
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Klein, Keith (author)Acquiring an accurate estimate of position is a challenging problem in coherent radar processing techniques such as Synthetic Aperture Radar (SAR). Even more so, for light and agile platforms such as multi-copters. Due to their unpredictable flight path, their motion must be accurately measured during data acquisition, and compensated for during...master thesis 2020
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Moyers Barrera, Gerardo (author)Technology is transforming almost all aspects of our lives, one of them is automation. The main motivation of automation is to help humans avoid performing tedious, high risk jobs. Automated driving, also known as autonomous driving, has been at the center of industrial and academic attention since a few decades now, thanks to its potential of...master thesis 2020
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Remmerswaal, Evan (author)Problem: Due to high rejection rates regarding prostheses’ use, the assessment of the amputee’s use of the prosthesis has become more critical. Today’s prosthesis research is limited to assessing a users’ performance to perform tasks in a controlled environment. Therefore, these studies cannot wholly assess how the prosthesis is used in the...master thesis 2020
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Narasimhan, Abishek (author)The thesis aims to develop a Fault Tolerant Control (FTC) architecture, for the case of a damaged actuator for a multirotor that can be applied across multirotor platforms based on their Attainable Virtual Control Set (AVCS). The research is aimed to study the AVCS and identify the parameters that limit the controllability of multirotor UAV post...master thesis 2020
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van Bergen, Thibaut (author)Fleet Cleaner B.V. is a Dutch company which deploys a wheeled hull-fixed Remotely Operated Vehicle (ROV) to clean biofouling off the Vertical Sides (VSs) and the Flat Bottom (FB) of the hull of seagoing cargo vessels, while berthed at the harbour. To ensure maximal cleaning coverage, accurate localization to keep track of the robot trajectory on...master thesis 2020
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Palffy, A. (author), Dong, Jiaao (author), Kooij, J.F.P. (author), Gavrila, D. (author)This letter presents a novel radar based, single-frame, multi-class detection method for moving road users ( pedestrian, cyclist, car ), which utilizes low-level radar cube data. The method provides class information both on the radar target- and object-level. Radar targets are classified individually after extending the target features with a...journal article 2020
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Weygers, Ive (author), Kok, M. (author), Konings, Marco (author), Hallez, Hans (author), De Vroey, Henri (author), Claeys, Kurt (author)The use of inertial measurement units (IMUs) has gained popularity for the estimation of lower limb kinematics. However, implementations in clinical practice are still lacking. The aim of this review is twofold-to evaluate the methodological requirements for IMU-based joint kinematic estimation to be applicable in a clinical setting, and to...review 2020
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Li, H. (author), Mehul, A. (author), Kernec, J. Le (author), Gurbuz, S. Z. (author), Fioranelli, F. (author)This paper presents different information fusion approaches to classify human gait patterns and falls in a radar sensors network. The human gaits classified in this work are both individual and sequential, continuous gait collected by a FMCW radar and three UWB pulse radar placed at different spatial locations. Sequential gaits are those...journal article 2020
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Weygers, Ive (author), Kok, M. (author), De Vroey, Henri (author), Verbeerst, Tommy (author), Versteyhe, Mark (author), Hallez, Hans (author), Claeys, Kurt (author)The ability to capture joint kinematics in outside-laboratory environments is clinically relevant. In order to estimate kinematics, inertial measurement units can be attached to body segments and their absolute orientations can be estimated. However, the heading part of such orientation estimates is known to drift over time, resulting in...journal article 2020
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Seel, Thomas (author), Kok, M. (author), McGinnis, Ryan S. (author)This editorial provides a concise introduction to the methods and applications of inertial sensors. We briefly describe the main characteristics of inertial sensors and highlight the broad range of applications as well as the methodological challenges. Finally, for the reader’s guidance, we give a succinct overview of the papers included in...contribution to periodical 2020
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Girrbach, Fabian (author), Kok, M. (author), Zandbergen, Raymond (author), Hageman, Tijmen (author), Diehl, Moritz (author)Robust and accurate pose estimation of moving systems is a challenging task that is often tackled by combining information from different sensor subsystems in a multi-sensor fusion setup. To obtain robust and accurate estimates, it is crucial to respect the exact time of each measurement. Data fusion is additionally challenged when the...conference paper 2020
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van der Heijden, Bas (author)Three bias estimation frameworks are presented that mitigate position-dependent ranging errors often present in ultra-wideband localization systems. State estimation and control are integrated, such that the positioning accuracy improves over iterations. The frameworks are experimentally evaluated on a quadcopter platform. Two state augmentation...master thesis 2019
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Li, S. (author), de Wagter, C. (author), de Croon, G.C.H.E. (author)Autonomous robots heavily rely on well-tuned state estimation filters for successful control. This letter presents a novel automatic tuning strategy for learning filter parameters by minimizing the innovation, i.e., the discrepancy between expected and received signals from all sensors. The optimization process only requires the inputs and...journal article 2019