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Creagh, Conor (author)In recent years, researchers have proposed a variety of approaches to tackle the problem of orbital debris. Debris targets are diverse, and prior knowledge may be limited, with unknown uncooperative debris targets being the most challenging category. A crucial portion of any debris capture scenario is the observation phase during the approach....master thesis 2024
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Bekkers, Sam (author)The generation of a 3D map of an unseen environment, obtained through solving the SLAM problem, is a popular topic currently in the robotics domain. The Lunar Rover Mini (LRM) at the German Aerospace Center solves this problem using a RGB-D camera system, which is favourable in space applications due to its lightweight characteristics and energy...master thesis 2024
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CHEN, XI (author)In autonomous driving, environmental perception, crucial for navigation and decision-making, depends on integrating data from multiple sensors like cameras and LiDAR. Camera-LiDAR fusion combines detailed imagery with precise depth, improving environmental awareness. Effective data fusion requires accurate extrinsic calibration to align camera...master thesis 2024
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Xu, Yingfu (author), Shidqi, Kevin (author), van Schaik, Gert-Jan (author), Bilgic, Refik (author), Dobrita, Alexandra (author), Wang, Shenqi (author), Gebregiorgis, A.B. (author), Hamdioui, S. (author), Yousefzadeh, Amirreza (author)Neuromorphic processors promise low-latency and energy-efficient processing by adopting novel brain-inspired design methodologies. Yet, current neuromorphic solutions still struggle to rival conventional deep learning accelerators' performance and area efficiency in practical applications. Event-driven data-flow processing and near/in-memory...journal article 2024
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Li, Yiting (author)Localization is one of the most fundamental competencies required by an autonomous robot, providing crucial information about its position for decision-making in indoor environments. In the current literature, an indoor localization system utilizes exteroceptive sensors such as GNSS(Global Navigation Satellite System), a camera, or an ultrasonic...master thesis 2023
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Li, Z. (author), Rajan, R.T. (author)Affine formation control of multiagent systems has recently received increasing attention in various applications. The distributed control of these agents, under single integrator dynamics, relies on the observations of relative positions of the neighboring agents, which when unavailable is detrimental to the mission. In this paper, we...conference paper 2023
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Ha, Xuan Thao (author), Wu, D. (author), Ourak, Mouloud (author), Borghesan, Gianni (author), Menciassi, Arianna (author), Poorten, Emmanuel Vander (author)Optical fiber-based shape sensing is gaining popularity in cardiac catheterization lately. Typically, these procedures are taking place under the guidance of fluoroscopy. However, fluoroscopy has several disadvantages. Thanks to fiber optic shape sensing and Electromagnetic Tracking (EMT), the 3D catheter shape can now be tracked in real-time...journal article 2023
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Ampudia Hernandez, Ricardo (author), Xu, M. (author), Huang, Yanqiu (author), Zuniga, Marco (author)In this paper, we propose a new approach where drones attain accurate localization by fusing information from artificial lighting and their embedded inertial and barometer sensors. Our system is able to provide accurate drone localization without the use of radios, GPS or cameras. We evaluate our framework, dubbed Firefly, with a testbed...conference paper 2023
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Ha, Xuan Thao (author), Wu, D. (author), Trauzettel, F. (author), Ourak, Mouloud (author), Borghesan, Gianni (author), Menciassi, Arianna (author), Poorten, Emmanuel Vander (author)Minimally invasive catheter-based interventions normally take place under the guidance of fluoroscopy. However, fluoroscopy is harmful to both patients and clinicians. Moreover, it only offers 2-D shape visualization of flexible devices. To solve the problem of harmful radiation and offer 3-D pose and shape information, recent studies propose...journal article 2023
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Yanovsky, Felix J. (author), Pitertsev, Aleksander A. (author), Unal, C.M.H. (author), Russchenberg, H.W.J. (author)This paper is devoted to discussing peculiarities of W-band cloud radar calibration. After a brief overview of meteorological radar calibration methods for quantitative information retrieval, we focus on problems and their possible solutions with respect to mm-wave radar calibration. The experimental part of the research is based on multi...conference paper 2023
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de Alvear Cardenas, Jose Ignacio (author)Despite the camera being ubiquitous to unmanned aerial vehicles (UAVs), it has not been used for fault detection and diagnosis (FDD) due to the nonexistence of UAV multi-sensor datasets that include actuator failure scenarios. This thesis proposes a knowledge-based FDD framework based on a lightweight Long-Short Term Memory network that fuses...master thesis 2022
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YANG, Xuzhou (author)As unmanned aerial systems (UAS) turn into a full-fledged industry, the sky will be much more crowded in the future. Large-scale UAV applications make reliable UAV navigation a pressing need. Traditionally, global navigation satellite system (GNSS) is extensively used as the primary positioning, navigation, and timing (PNT) service. However,...master thesis 2022
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van Oorschot, Marijn (author)Spacecraft navigation and control is difficult in deep space operations. Especially around asteroids, the irregular gravity field increases the difficulty of estimating the spacecraft trajectory. Autonomous navigation can increase the safety and accuracy for orbit proximity operations. Furthermore, it eliminates the need for continuous...master thesis 2022
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Baratam, Srimannarayana (author)Multi-class road user detection using the next- generation, 3+1D (range, azimuth, elevation, and Doppler) radars has been shown feasible, thanks to the increased density of their point clouds and the inclusion of elevation information. However, object detection networks using LiDAR (64-layer) point clouds still dominate the performance metrics....master thesis 2022
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Boelens, Jelle (author)The study of human motion consists of the analysis of kinematics, dealing with joint angles, velocities and accelerations, and kinetics, which deals with joint torques and interaction forces. Traditionally, kinematics and kinetics are estimated from optical marker data and sometimes measured interaction forces. Inertial measurement units (IMUs)...master thesis 2022
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Vonk, Arjan (author)Mapping an environment with a Light Detection and Ranging (LiDAR) sensor through the use of a LiDAR Simultaneous Localization And Mapping (SLAM) algorithm is a powerful technology that allows for the creation of detailed 3D models. Recently various LiDAR sensors have been developed based on Micro-Electro-Mechanical System (MEMS) technology....master thesis 2022
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YANG, X. (author), Sun, Junzi (author), Rajan, R.T. (author)Automatic Dependent Surveillance - Broadcast (ADS-B) is a surveillance technology that is used extensively in Air Traffic Control (ATC) applications. Aircraft equipped with ADS-B transponders actively broadcast navigation information such as position, altitude, and velocity, and thus ATC is able to track aircraft continuously, even in regions...conference paper 2022
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Manjunath, Tanmay (author)Advanced automotive vehicles are based on the real-time fusion of an increasing number of automotive sensors. For precise fusion of different sensors, measurements need to be synchronized both temporally and spatially. This thesis aims to design a hardware temporal synchronization block as part of the PRISTINE systolic array accelerator project...master thesis 2021
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ZHANG, Bichi (author)In recent decades, the field of autonomous driving has witnessed rapid development, benefiting from the development of artificial intelligence-related technologies such as machine learning. Autonomous perception in driving is a key challenge, in which multi-sensor fusion is a common feature. Due to the high resolution and rich information, the...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