Searched for: subject%3A%22State%255C%252Bestimation%22
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Esteves Henriques, Bernardo (author)
Search and Rescue (SaR) missions present challenges due to the complexity of the disaster scenarios. Most life losses and injuries occur in developing countries. Robotics has become indispensable for rapidly locating disaster victims. Combining flying and ground robots more effectively serves this purpose due to their complementary features. To...
master thesis 2024
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Menken, Maarten (author)
Lithium-ion batteries are the dominant electrochemical energy storage device and are a key enabler of portable electronics and electric vehicles. However, the technology is often criticized for its use of rare metals. Extending the lifetime of lithium-ion batteries can allow for more time to develop rare metal recycling efforts but this requires...
master thesis 2023
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Gaikwad, Palash (author)
Batteries play a crucial role in powering contemporary devices and systems, ranging from smartphones and electric vehicles to renewable energy storage. With the increasing demand for more efficient and reliable battery technologies, the need for accurate monitoring and assessment of battery condition and performance has also grown. Online...
master thesis 2023
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van der Laan, Niels (author)
This thesis investigates the performance of the invariant extended Kalman filter (IEKF) compared to the multiplicative extended Kalman filter (MEKF) in the context of nonlinear state estimation on matrix Lie groups. The IEKF, a relatively recent variant of the EKF, is particularly suitable for systems with group-affine process models and...
master thesis 2023
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de Boer, Wouter (author)
Autonomous robots are often successfully deployed in controlled environments. Operation in uncontrolled situations remains challenging; it is hypothesized that the detection of abstract discrete states (ADS) can improve operation in these circumstances. ADS are high-level system states that are not directly detectable and influence system...
master thesis 2023
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Elffers, Peter (author)
This paper investigates the performance of an autonomous navigation system to navigate a spacecraft in the proximity of a binary asteroid system using optical and laser ranging measurements. The knowledge about the binary asteroid is limited to its orbital parameters and ellipsoid shape models. The accelerometer bias random walk is included in...
master thesis 2023
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Rol, Remy (author)
master thesis 2023
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van Baasbank, Erik (author)
Charting hyperlocal wind using a drone is a challenge of increased attention as it unlocks potential in a variety of fields. In context of the METeo Sensors In the Sky project, this study proposes a method to estimate the magnitude and direction of wind using a quadcopter in hover and cruise without a dedicated wind sensor. Only on-board sensors...
master thesis 2023
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Datta, Sattama (author)
With the increasing environmental concerns, the world is moving towards rapid decarbonization, and to meet the growing energy demand, more renewable energy sources like solar, Wind are getting added to the existing Distribution grid. The addition of new loads like Electric vehicles (EV), Heat pumps, etc. is putting additional pressure on the...
master thesis 2022
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de Bruin, Pim (author)
To improve Active Vibration control methods like Independent Modal Space Control (IMSC), an estimate of the modal contribution of vibrational eigenmodes of compliant structures is required. In this work, three Recursive Bayesian input and state estimation algorithms previously introduced in civil engineering are evaluated for use on on high-tech...
master thesis 2022
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Habib, Benjamin (author)
Whereas in the past, Distribution Systems played a passive role in connecting customers to electricity, Distribution System Operators (DSOs) will have to take in the future a more active role in monitoring and regulating the network to deal with the new behaviors and dynamics of the system brought by the energy transition. State Estimation, a...
master thesis 2022
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van Bavel, Henri (author)
In order to improve the autonomy of construction robots, a Simultaneous Localization and Mapping (SLAM) solution is needed that localizes the robot using solely on-board sensing with sub-5 mm accuracy. As pointed out by the results of the Hilti SLAM Challenge, the state-of-the-art in SLAM currently does not offer a solution that comes close to...
master thesis 2022
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Kongurai, Krit (author)
State estimation (SE) is a crucial tool for power system state monitoring since the control center requires a process to deal with a large number of imprecise measurements. Several SE methods have been applied and developed for the electric power system in the transmission level in the past several decades. Meanwhile, SE for the distribution...
master thesis 2021
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van Beurden, Bas (author)
Abstract—Ultra-wideband (UWB) ranging is a very suitable method for indoor localisation of unmanned aerial vehicles (UAVs). Current solutions of UWB ranging however either focus on achieving a high accuracy or focus on scalability. In this research a positioning algorithm for UAVs is presented that combines high accuracy performance with a high...
master thesis 2021
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Bos, Fred (author)
The free energy principle is a recent theory that originates from the neuroscience. It provides a unified framework that combines action perception and learning in the human brain. This research aims to implement the perception aspect of the free energy principle into robotics. This is achieved via the dynamic expectation maximisation (DEM)...
master thesis 2021
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Rajendra Kumar, Shishir Chandra (author)
The TSO of a power system is mainly responsible for ensuring the stability of the grid. Through continuous monitoring and control of the power system, the TSO maintains stability through emergency actions. Until now, the conventional Static State Estimation has been the Energy Management System (EMS) tool for estimating and monitoring the grid...
master thesis 2021
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Nibhanupudi, Sai Suprabhath (author)
Transition from fossil fuels to sustainable sources of energy like wind and solar is the need of the hour. All over the globe, plans are in motion to achieve this goal. This implies addition of new elements to the grid in the form of Distributed Energy Resources (DERs). These affect the working of distribution grids and to ensure reliable as...
master thesis 2021
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Ruiterkamp, Gilian (author)
In recent years wind turbines have become increasingly large to increase energy yield and cost-effectiveness. This has led to taller turbine towers, subjected to larger loads. As a result, Lagerwey turbines experience lateral tower vibrations at different resonance frequencies. These vibrations result in rotor speed measurement disturbances due...
master thesis 2021
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de Kanter, Daan (author)
Inertial Measurement Unit (IMU)-based motion capture has gained interest over the years due to its potential to measure human movement in the clinic and on the sports field at low cost. Still, IMU-based motion reconstruction remains a challenging task as these IMU measurements are corrupted by noise and bias. There have been many filtering and...
master thesis 2021
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Benders, Dennis (author)
Recent developments in neuroscience research, mainly introduced by neuroscientist Karl J. Friston, have resulted in a concept called the Free Energy Principle (FEP). The FEP is a brain theory unifying action, perception and learning. An important observation is that autonomous robots have to perform similar tasks to the human brain. Therefore,...
master thesis 2020
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