Search for dissertations about: "robust estimation"
Showing result 21 - 25 of 274 swedish dissertations containing the words robust estimation.
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21. Towards Robust Visual Localization in Challenging Conditions
Abstract : Visual localization is a fundamental problem in computer vision, with a multitude of applications in robotics, augmented reality and structure-from-motion. The basic problem is to, based on one or more images, figure out the position and orientation of the camera which captured these images relative to some model of the environment. READ MORE
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22. Towards Aerial Robotic Workers
Abstract : The aim of this thesis is to advance the control and estimation schemes for multirotors, and more specifically the Aerial Robotic Worker, in order to progress towards the necessary control and estimation performance for robust control, cooperation and collaboration. Towards this envisioned aim, this Licentiate thesis will present the following main research contributions: a) a singularity-free attitude controller for the attitude problem has been established, that does not have the inherent drawbacks of Euler angle or Direction Cosine Matrix based approaches, b) a generalized estimation scheme for attitude, position and parameter estimation will be presented that has the merit of low computational footprint, while it is robust towards magnetic disturbances and able to identify key parameters in the model of an Aerial Robotic Worker, c) an method for estimating the induced vibration frequencies on the multirotor’s frame, and the respective amplitudes, that relies on notch filtering for attenuating the induced vibrations, and d) a theoretical establishment, as well as an experimental development and evaluation of a variable pitch propeller model to add additional degrees of freedom and increase the robustness of an Aerial Robotic Worker. READ MORE
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23. Robust Transmit Signal Design and Channel Estimation for Multiantenna Systems
Abstract : In the development of advanced signal processing techniques, dealing with both uncertainties and computational burden is essential. Taking the uncertainties into consideration is required in order to guarantee a certain level of performance, even when the system is designed based on imperfect prior knowledge. READ MORE
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24. Hardware Architectures for Wireless Communication - Symbol Detection and Channel Estimation
Abstract : In this thesis different aspects of baseband implementation of mobile communication systems is treated. The content is focused on symbol detection and channel estimation in MIMO and OFDM. The thesis deals with the complete chain from algorithm to silicon implementation within these areas. READ MORE
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25. Filtering and Wavelet Regression Methods with Application to Exercise ECG
Abstract : The analysis of the recorded electrical activity of the heart during an exercise test is a valuable method for investigating a patient's circulatory and respiratory system. But the disturbances that occurr during a test often make it difficult to interpret the signal in order to detect changes evoked by the increased workload and related to for instance coronary artery diseases. READ MORE