Exploiting Structural Signal Information in Passive Emitter Localization

The operational use of systems for passive geolocation of radio frequency emitters poses various challenges to single sensor systems or sensor networks depending on the measurement methods. Position estimation by means of direction finding systems often requires complex receiver and antenna technique. Time (Difference) of Arrival methods (TDOA, TOA) are based on measurements regarding the signal propagation duration and generally require broadband communication links to transmit raw signal data between spatially separated receivers of a sensor network. Such bandwidth requirements are particularly challenging for applications with moving sensor nodes. This issue is addressed in this thesis and techniques that use signal structure information of the considered signals are presented which allow a drastic reduction of the communication requirements. The advantages of using knowledge of the signal structure for TDOA based emitter localization are shown using two exemplary applications. The first case example deals with the passive surveillance of the civil airspace (Air Traffic Management, ATM) using a stationary sensor network. State of the art airspace surveillance is mainly based on active radar systems (Primary Surveillance Radar, PSR), cooperative secondary radar systems (Secondary Surveillance Radar, SSR) and automatic position reports from the aircraft itself (Automatic Dependent Surveillance-Broadcast, ADS-B). SSR as well as ADS-B relies on aircrafts sending transponder signals at a center frequency of 1090 MHz. The reliability and accuracy of the position reports sent by aircrafts using ADS-B are limited and not sufficient to ensure safe airspace separation for example of two aircrafts landing on parallel runways. In the worst case, the data may even be altered with malicious intent. Using passive emitter localization and tracking based on multilateration (TDOA/hyperbolic localization), a precise situational awareness can be given which is independent of the content of the emitted transponder signals. The high concentration of sending targets and the high number of signals require special signal processing and information fusion techniques to overcome the huge amount of data. It will be shown that a multilateration network that employs those techniques can be used to improve airspace security at reasonable costs. For the second case, a concept is introduced which allows TDOA based emitter localization with only one moving observer platform. Conventional TDOA measurements are obtained using spatially distributed sensor nodes which capture an emitted signal at the same time. From those signals, the time difference of arrival is estimated. Under certain conditions, the exploitation of signal structure information allows to transfer the otherwise only spatial into a spatial and temporal measurement problem. This way, it is possible to obtain TDOA estimates over multiple measurement time steps using a single moving observer and to thus localize the emitter of the signals. The concept of direct position determination is applied to the single sensor signal structure TDOA scheme and techniques for direct single sensor TDOA are introduced. The validity and performance of the presented methods is shown in theoretical analysis in terms of Cramér-Rao Lower Bounds, Monte-Carlo simulations and by evaluation of real data gained during field experiments

Physical approaches for the performance optimization and investigation of organic batteries

The increasing awareness of the negative impacts humanity has on the global ecosystem resulted in an ever growing demand for a more sustainable energy and material consumption over the past decades. Environmentally benign electricity generation and energy storage represent two of the key technological approaches to address this issue. In this context, organic radical batteries (ORB) and redox flow batteries (RFB) possess significant advantages as energy storage technologies due to the sustainable material basis they rely on and the performance characteristics they offer. However, while material development is continuously advancing in this research field, methods for the proper characterization and performance optimization of ORBs and RFBs still need to keep pace with this development to exploit the full potential of these technologies. This thesis, therefore, aims to contribute with a physical perspective to the investigation and optimization of these novel energy storage systems. In particular, porous electrode morphologies in ORBs and special methods to produce them are investigated. Furthermore, non-conventional cell designs for the electrochemical reactors of RFBs are investigated and their impact on the performance parameters of the RFB are explored. Finally, two methods for the reliable and accurate measurement of the electrolytes' state-of-charge as one of the most important key parameters were developed and characterized

Doctor of Philosophy

dissertationClosed-loop control of wireless capsule endoscopes is an active area of research because it would drastically improve screening of the gastrointestinal tract. Traditional endoscopic procedures are unable to view the entire gastrointestinal tract and current commercial wireless capsule endoscopes are limited in their effectiveness due to their passive nature. This dissertation advances the field of active capsule endoscopy by developing methods to localize the full six-degree-of-freedom (6-DOF) pose of a screw-type magnetic capsule while it is being propelled through a lumen (such as the small intestines) using an external rotating magnetic dipole. The same external magnetic dipole is utilized for both propulsion and localization. Hardware was designed and constructed to enable testing of the magnetic localization and propulsion methods, including a robotic end-effector used as the external actuator magnet, and a prototype capsule embedded with Hall-effect sensors. Due to the use of a rotating magnetic field for propulsion, at any given time, the capsule can be in one of three regimes: synchronously rotating with the applied field, in "step-out" where it is free to move but the external field is rotating too quickly for the capsule to remain synchronously rotating, or completely stationary. We show that it is only necessary to distinguish whether or not the capsule is synchronously rotating (i.e., a single localization method can be used for a capsule in either the step-out or stationary regimes). Two magnetic localization methods are developed. The first uses nonlinear least squares to estimate the capsule's pose when it has no (or approximately no) net motion (e.g., to find the initial capsule pose or when it is stuck in an intestinal fold). The second method estimates the 6-DOF capsule pose as it synchronously rotates with the applied magnetic field using a square-root variant of the Unscented Kalman filter. A simple process model is adopted that restricts the capsule's movement to translation along and rotation about its principle axis. The capsule is actively propelled forward or backward, but it is not actively steered, rather, steering is provided by the lumen. The propulsion parameters that transform magnetic force and torque to the capsule's spatial velocity and angular velocity are estimated with an additional square-root Unscented Kalman filter to enable the capsule to navigate heterogeneous environments such as the small intestines. An optimized localization-propulsion system is described using the two localization algorithms and prior work in screw-type magnetic capsule propulsion with a single rotating dipole field. The capsule's regime is determined and the corresponding localization method is employed. Based on the capsule's estimated pose and the current estimates of its propulsion parameters, the actuator magnet's pose relative to the capsule is optimized to maximize the capsule's forward propulsion. Using this system, our prototype magnetic capsule successfully completed U-shaped and S-shaped trajectories in fresh bovine intestines with an average forward velocity of 5.5mm/s and 3.5 mm/s, respectively. At this rate it would take approximately 18-30 minutes to traverse the 6 meters of a typical human small intestine

Development and applications of in-vitro and in-silico models of the cardiovascular system to study the effects of mechanical circulatory support.

Cardiovascular diseases (CVDs) are the leading cause of mortality globally. With ongoing interest in CVDs treatment, preclinical models for drug/therapeutic development that allow for fast iterative research are needed. Owing to the inherent complexity of the cardiovascular system, current in-vitro models of the cardiovascular system fail to replicate many of the physiological aspects of the cardiovascular system. In this dissertation, the main concern is with heart failure (HF). In advanced HF, patients may receive Left Ventricular Assist Devices (LVADs) as a bridge to transplant or destination therapy. However, LVADs have many limitations, including inability to adapt to varying tissue demand conditions, risk of ventricular suction, and diminished arterial pulsatility. To address these issues, this dissertation aims to use and develop computer, cellular, and tissue models of the cardiovascular system. 1) Use an in-silico model of the cardiovascular system to develop a novel control algorithm for LVADs. The control system was rigorously tested and showed adequate perfusion during rest and exercise, protect against ventricular suction under reduced heart preload, and augment arterial pulsatility through pulse modulation without requiring sensor implantation or model-based estimations. 2) While pulsatility augmentation was feasible through the developed control algorithm, the pulse waveform that could normalize the vascular phenotype is unknown. To address this, an endothelial cell-smooth muscle cell microfluidic coculture model was developed to recreate the physiological mechanical stimulants in the vascular wall. The results demonstrated different effects of pulsatile shear stress and stretch on endothelial cells and may indicate that a pulse pressure of at least 30 mmHg is needed to maintain normal endothelial morphology. 3) In order to study the effects of mechanical unloading on the native ventricle, a novel cardiac tissue culture model (CTCM) was developed. CTCM provided physiological electromechanical and humoral stimulation with 25% preload stretch and thyroid and glucocorticoid treatment maintained the cardiac phenotype for 12 days. The device was thoroughly characterized and tested. Results demonstrated improved viability, energy utilization, fibrotic remodeling, and structural integrity compared to available culture systems. The system was also used to reproduce ventricular volume-overload and the results demonstrated hypertrophic and fibrotic remodeling, typical of volume-overload pathology

Remote Sensing

This dual conception of remote sensing brought us to the idea of preparing two different books; in addition to the first book which displays recent advances in remote sensing applications, this book is devoted to new techniques for data processing, sensors and platforms. We do not intend this book to cover all aspects of remote sensing techniques and platforms, since it would be an impossible task for a single volume. Instead, we have collected a number of high-quality, original and representative contributions in those areas