Identification & State Estimation for Lithium-ion Batteries: Hysteresis & Online OCV Estimation for NMC/Si-C Cells

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...

Estimating wind fields using drones in a network: Estimating hyperlocal wind fields with on-board sensors on quadcopters

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...

Bayesian estimation in a bidimensional Ornstein-Uhlenbeck process

The goal of this thesis is to estimate parameters in a bidimensional Ornstein-Uhlenbeck process, namely a diffusion model which can be found in Favetto and Samson (2010), which considers plasma and interstitium concentrations. We first look at a general linear stochastic differential equation and some properties. Then we simulate possible paths...

Wingman-based Estimation and Guidance for a Sensorless PN-Guided Pursuer

A novel wingman-based estimation and guidance concept is proposed for a sensorless pursuer. The pursuer is guided towards a maneuvering aerial target using proportional navigation (PN) guidance law. The wingman is assumed to acquire bearings-only measurements of the target and to accurately track the wingman-pursuer relative position. The...

A comparison of dynamic and kinematic observers: regarding roll and pitch of a vehicle

The automotive industry is continuously improving the safety and comfort of the vehicles. To improve the safety and comfort of the vehicle more focus is put on improving driver assistance systems and also on making the vehicles more autonomous. In order for the safety systems to work properly and also to drive autonomously, it becomes essential...

Distributed State Estimation for Medium-Fidelity Wind Farm Models in pursuit of Model-Based Closed-Loop Control

In research, the overall power production in a wind farm is typically increased by employing model-based wind farm control. A controller, in an open-loop setting, operates based on the velocity of the wind flow, predicted by a wind farm model. For a controller to achieve the desired level of power production, a wind farm model has to be accurate...

Aircraft Mass and Thrust Estimation Using Recursive Bayesian Method

This paper focuses on estimating aircraft mass and thrust setting using a recursive Bayesian method called particle filtering. The method is based on a nonlinear state-space system derived from aircraft point-mass performance models. Using solely ADS-B and Mode-S data, flight states such as position, velocity, and wind speed are collected and...

Framework for state and unknown input estimation of linear time-varying systems

The design of unknown-input decoupled observers and lters requires the assumption of an existence condition in the literature.This paper addresses an unknown input ltering problem where the existence condition is not satised. Instead of designing a traditional unknown input decoupled lter, a Double-Model Adaptive Estimation approach is extended...

Observing the state of balance with a single upper-body sensor

The occurrence of falls is an urgent challenge in our aging society. For wearable devices that actively prevent falls or mitigate their consequences, a critical prerequisite is knowledge on the user’s current state of balance. To keep such wearable systems practical and to achieve high acceptance, only very limited sensor instrumentation is...

Central Differential Control of an Active Four Wheel Drive Vehicle

Four Wheel Drive (4WD) vehicles are almost as old as the automobile itself, however for more than half a century the main use case of a 4WD system was to improve traction on off-road terrains. The advancement in technology over the recent decades resulted in more advanced and light weight solutions shifting the focus more towards sports cars and...

Nonlinear State Estimation for a Bipedal Robot

Humanoid robots could perform a large variety of tasks, ranging from helping the elderly and entertainment to carrying out repairs in hazardous environments such as nuclear power plants. Therefore, they are an important topic of research. However, controlling the balance of two-legged robots still proves to be a challenge, especially during more...

Some aerospace applications of estimation theory

In this report, the application of estimation theory to three problems from aerospace research is described. The applications considered deal with spacecraft attitude estimation, software reliability modelling and estimation, and with a satellite-based navigation algorithm. Maximum likelihood estimation is used in the software reliability case...

Bayesian estimation for decision-directed stochastic control

Stochastic processes with a decision-directed control are considered as controlled Markov processes, the state space of which is hybrid; i.e. a product of a discrete set and a Euclidean space. This approach yields a mathematical model for many problems of decision-directed stochastic control. In general, the observations made from the "past" and...

Processing of Meteosat attitude measurement flight data and evaluation of the performance of an adaptive filtering technique

The attitude measurement data of the ESA geosynchronous spacecraft METEOSAT have been analyzed using an adaptive recursive filtering technique developed at NLR. The mathematical models of spacecraft dynamics and sensors have been kept very simple. Modelling errors are such that, without adaptive feed-back, strong divergence of the filtering...

Accurate spacecraft attitude estimation with the ESA starmapper

The ESA starmapper is an optical-electronic instrument with an array of photo-sensitive slits, to "be strapped down to spinning spacecraft. Recorded times of passage of known stars over these slits, together with mathematical models for spacecraft dynamics and starmapper instrument, provide the basis for recursive estimation of the spacecraft...