Advanced Signal Processing in Wearable Sensors for Health Monitoring

Smart, wearables devices on a miniature scale are becoming increasingly widely available, typically in the form of smart watches and other connected devices. Consequently, devices to assist in measurements such as electroencephalography (EEG), electrocardiogram (ECG), electromyography (EMG), blood pressure (BP), photoplethysmography (PPG), heart rhythm, respiration rate, apnoea, and motion detection are becoming more available, and play a significant role in healthcare monitoring. The industry is placing great emphasis on making these devices and technologies available on smart devices such as phones and watches. Such measurements are clinically and scientifically useful for real-time monitoring, long-term care, and diagnosis and therapeutic techniques. However, a pertaining issue is that recorded data are usually noisy, contain many artefacts, and are affected by external factors such as movements and physical conditions. In order to obtain accurate and meaningful indicators, the signal has to be processed and conditioned such that the measurements are accurate and free from noise and disturbances. In this context, many researchers have utilized recent technological advances in wearable sensors and signal processing to develop smart and accurate wearable devices for clinical applications. The processing and analysis of physiological signals is a key issue for these smart wearable devices. Consequently, ongoing work in this field of study includes research on filtration, quality checking, signal transformation and decomposition, feature extraction and, most recently, machine learning-based methods

ECG analysis and classification using CSVM, MSVM and SIMCA classifiers

Reliable ECG classification can potentially lead to better detection methods and increase accurate diagnosis of arrhythmia, thus improving quality of care. This thesis investigated the use of two novel classification algorithms: CSVM and SIMCA, and assessed their performance in classifying ECG beats. The project aimed to introduce a new way to interactively support patient care in and out of the hospital and develop new classification algorithms for arrhythmia detection and diagnosis. Wave (P-QRS-T) detection was performed using the WFDB Software Package and multiresolution wavelets. Fourier and PCs were selected as time-frequency features in the ECG signal; these provided the input to the classifiers in the form of DFT and PCA coefficients. ECG beat classification was performed using binary SVM. MSVM, CSVM, and SIMCA; these were subsequently used for simultaneously classifying either four or six types of cardiac conditions. Binary SVM classification with 100% accuracy was achieved when applied on feature-reduced ECG signals from well-established databases using PCA. The CSVM algorithm and MSVM were used to classify four ECG beat types: NORMAL, PVC, APC, and FUSION or PFUS; these were from the MIT-BIH arrhythmia database (precordial lead group and limb lead II). Different numbers of Fourier coefficients were considered in order to identify the optimal number of features to be presented to the classifier. SMO was used to compute hyper-plane parameters and threshold values for both MSVM and CSVM during the classifier training phase. The best classification accuracy was achieved using fifty Fourier coefficients. With the new CSVM classifier framework, accuracies of 99%, 100%, 98%, and 99% were obtained using datasets from one, two, three, and four precordial leads, respectively. In addition, using CSVM it was possible to successfully classify four types of ECG beat signals extracted from limb lead simultaneously with 97% accuracy, a significant improvement on the 83% accuracy achieved using the MSVM classification model. In addition, further analysis of the following four beat types was made: NORMAL, PVC, SVPB, and FUSION. These signals were obtained from the European ST-T Database. Accuracies between 86% and 94% were obtained for MSVM and CSVM classification, respectively, using 100 Fourier coefficients for reconstructing individual ECG beats. Further analysis presented an effective ECG arrhythmia classification scheme consisting of PCA as a feature reduction method and a SIMCA classifier to differentiate between either four or six different types of arrhythmia. In separate studies, six and four types of beats (including NORMAL, PVC, APC, RBBB, LBBB, and FUSION beats) with time domain features were extracted from the MIT-BIH arrhythmia database and the St Petersburg INCART 12-lead Arrhythmia Database (incartdb) respectively. Between 10 and 30 PCs, coefficients were selected for reconstructing individual ECG beats in the feature selection phase. The average classification accuracy of the proposed scheme was 98.61% and 97.78 % using the limb lead and precordial lead datasets, respectively. In addition, using MSVM and SIMCA classifiers with four ECG beat types achieved an average classification accuracy of 76.83% and 98.33% respectively. The effectiveness of the proposed algorithms was finally confirmed by successfully classifying both the six beat and four beat types of signal respectively with a high accuracy ratio

Analyse des ondes P et T des signaux ECG à l'aide de méthodes Bayésienne

Cette thèse a pour objet l étude de méthodes Bayésiennes pour l analyse des ondes P et T des signaux ECG. Différents modèles statistiques et des méthodes Bayésiennes associées sont proposés afin de réaliser la détection des ondes P et T et leur caractérisation (détermination du sommet et des limites des ondes ainsi que l estimation des formes d onde). Ces modèles prennent en compte des lois a priori pour les paramètres inconnus (les positions des ondes, les amplitudes et les coefficients de ces formes d'onde) associés aux signaux ECG. Ces lois a priori sont ensuite combinées avec la vraisemblance des données observées pour fournir les lois a posteriori des paramètres inconnus. En raison de la complexité des lois a posteriori obtenues, des méthodes de Monte Carlo par Chaînes de Markov sont proposées pour générer des échantillons distribués asymptotiquement suivant les lois d intérêt. Ces échantillons sont ensuite utilisés pour approcher les estimateurs Bayésiens classiques (MAP ou MMSE). D'autre part, pour profiter de la nature séquentielle du signal ECG, un modèle dynamique est proposé. Une méthode d'inférence Bayésienne similaire à celle développée précédemment et des méthodes de Monte Carlo séquentielles (SMC) sont ensuite étudiées pour ce modèle dynamique. Dans la dernière partie de ce travail, deux modèles Bayésiens introduits dans cette thèse sont adaptés pour répondre à un sujet de recherche clinique spécifique appelé détection de l'alternance des ondes T. Une des approches proposées a servi comme outil d'analyse dans un projet en collaboration avec St. Jude Medical, Inc et l'hôpital de Rangueil à Toulouse, qui vise à évaluer prospectivement la faisabilité de la détection des alternances des ondes T dans les signaux intracardiaques.This thesis studies Bayesian estimation/detection algorithms for P and T wave analysis in ECG signals. In this work, different statistical models and associated Bayesian methods are proposed to solve simultaneously the P and T wave delineation task (determination of the positions of the peaks and boundaries of the individual waves) and the waveform-estimation problem. These models take into account appropriate prior distributions for the unknown parameters (wave locations and amplitudes, and waveform coefficients). These prior distributions are combined with the likelihood of the observed data to provide the posterior distribution of the unknown parameters. Due to the complexity of the resulting posterior distributions, Markov chain Monte Carlo algorithms are proposed for (sample-based) detection/estimation. On the other hand, to take full advantage of the sequential nature of the ECG, a dynamic model is proposed under a similar Bayesian framework. Sequential Monte Carlo methods (SMC) are also considered for delineation and waveform estimation. In the last part of the thesis, two Bayesian models introduced in this thesis are adapted to address a specific clinical research problem referred to as T wave alternans (TWA) detection. One of the proposed approaches has served as an efficient analysis tool in the Endocardial T wave Alternans Study (ETWAS) project in collaboration with St. Jude Medical, Inc and Toulouse Rangueil Hospital. This project was devoted to prospectively assess the feasibility of TWA detection in repolarisation on EGM stored in ICD memories.TOULOUSE-INP (315552154) / SudocSudocFranceF

P and T wave analysis in ECG signals using Bayesian methods

Cette thèse a pour objet l’étude de méthodes Bayésiennes pour l’analyse des ondes P et T des signaux ECG. Différents modèles statistiques et des méthodes Bayésiennes associées sont proposés afin de réaliser la détection des ondes P et T et leur caractérisation (détermination du sommet et des limites des ondes ainsi que l’estimation des formes d’onde). Ces modèles prennent en compte des lois a priori pour les paramètres inconnus (les positions des ondes, les amplitudes et les coefficients de ces formes d'onde) associés aux signaux ECG. Ces lois a priori sont ensuite combinées avec la vraisemblance des données observées pour fournir les lois a posteriori des paramètres inconnus. En raison de la complexité des lois a posteriori obtenues, des méthodes de Monte Carlo par Chaînes de Markov sont proposées pour générer des échantillons distribués asymptotiquement suivant les lois d’intérêt. Ces échantillons sont ensuite utilisés pour approcher les estimateurs Bayésiens classiques (MAP ou MMSE). D'autre part, pour profiter de la nature séquentielle du signal ECG, un modèle dynamique est proposé. Une méthode d'inférence Bayésienne similaire à celle développée précédemment et des méthodes de Monte Carlo séquentielles (SMC) sont ensuite étudiées pour ce modèle dynamique. Dans la dernière partie de ce travail, deux modèles Bayésiens introduits dans cette thèse sont adaptés pour répondre à un sujet de recherche clinique spécifique appelé détection de l'alternance des ondes T. Une des approches proposées a servi comme outil d'analyse dans un projet en collaboration avec St. Jude Medical, Inc et l'hôpital de Rangueil à Toulouse, qui vise à évaluer prospectivement la faisabilité de la détection des alternances des ondes T dans les signaux intracardiaques. ABSTRACT : This thesis studies Bayesian estimation/detection algorithms for P and T wave analysis in ECG signals. In this work, different statistical models and associated Bayesian methods are proposed to solve simultaneously the P and T wave delineation task (determination of the positions of the peaks and boundaries of the individual waves) and the waveform-estimation problem. These models take into account appropriate prior distributions for the unknown parameters (wave locations and amplitudes, and waveform coefficients). These prior distributions are combined with the likelihood of the observed data to provide the posterior distribution of the unknown parameters. Due to the complexity of the resulting posterior distributions, Markov chain Monte Carlo algorithms are proposed for (sample-based) detection/estimation. On the other hand, to take full advantage of the sequential nature of the ECG, a dynamic model is proposed under a similar Bayesian framework. Sequential Monte Carlo methods (SMC) are also considered for delineation and waveform estimation. In the last part of the thesis, two Bayesian models introduced in this thesis are adapted to address a specific clinical research problem referred to as T wave alternans (TWA) detection. One of the proposed approaches has served as an efficient analysis tool in the Endocardial T wave Alternans Study (ETWAS) project in collaboration with St. Jude Medical, Inc and Toulouse Rangueil Hospital. This project was devoted to prospectively assess the feasibility of TWA detection in repolarisation on EGM stored in ICD memories

Bayesian image restoration and bacteria detection in optical endomicroscopy

Optical microscopy systems can be used to obtain high-resolution microscopic images of tissue cultures and ex vivo tissue samples. This imaging technique can be translated for in vivo, in situ applications by using optical fibres and miniature optics. Fibred optical endomicroscopy (OEM) can enable optical biopsy in organs inaccessible by any other imaging systems, and hence can provide rapid and accurate diagnosis in a short time. The raw data the system produce is difficult to interpret as it is modulated by a fibre bundle pattern, producing what is called the “honeycomb effect”. Moreover, the data is further degraded due to the fibre core cross coupling problem. On the other hand, there is an unmet clinical need for automatic tools that can help the clinicians to detect fluorescently labelled bacteria in distal lung images. The aim of this thesis is to develop advanced image processing algorithms that can address the above mentioned problems. First, we provide a statistical model for the fibre core cross coupling problem and the sparse sampling by imaging fibre bundles (honeycomb artefact), which are formulated here as a restoration problem for the first time in the literature. We then introduce a non-linear interpolation method, based on Gaussian processes regression, in order to recover an interpretable scene from the deconvolved data. Second, we develop two bacteria detection algorithms, each of which provides different characteristics. The first approach considers joint formulation to the sparse coding and anomaly detection problems. The anomalies here are considered as candidate bacteria, which are annotated with the help of a trained clinician. Although this approach provides good detection performance and outperforms existing methods in the literature, the user has to carefully tune some crucial model parameters. Hence, we propose a more adaptive approach, for which a Bayesian framework is adopted. This approach not only outperforms the proposed supervised approach and existing methods in the literature but also provides computation time that competes with optimization-based methods

FMCW Signals for Radar Imaging and Channel Sounding

A linear / stepped frequency modulated continuous wave (FMCW) signal has for a long time been used in radar and channel sounding. A novel FMCW waveform known as “Gated FMCW” signal is proposed in this thesis for the suppression of strong undesired signals in microwave radar applications, such as: through-the-wall, ground penetrating, and medical imaging radar. In these applications the crosstalk signal between antennas and the reflections form the early interface (wall, ground surface, or skin respectively) are much stronger in magnitude compared to the backscattered signal from the target. Consequently, if not suppressed they overshadow the target’s return making detection a difficult task. Moreover, these strong unwanted reflections limit the radar’s dynamic range and might saturate or block the receiver causing the reflection from actual targets (especially targets with low radar cross section) to appear as noise. The effectiveness of the proposed waveform as a suppression technique was investigated in various radar scenarios, through numerical simulations and experiments. Comparisons of the radar images obtained for the radar system operating with the standard linear FMCW signal and with the proposed Gated FMCW waveform are also made. In addition to the radar work the application of FMCW signals to radio propagation measurements and channel characterisation in the 60 GHz and 2-6 GHz frequency bands in indoor and outdoor environments is described. The data are used to predict the bit error rate performance of the in-house built measurement based channel simulator and the results are compared with the theoretical multipath channel simulator available in Matlab

Non-invasive identification of atrial fibrillation drivers

Atrial fibrillation (AF) is one of the most common cardiac arrhythmias. Nowadays the fibrillatory process is known to be provoked by the high-frequency reentrant activity of certain atrial regions that propagates the fibrillatory activity to the rest of the atrial tissue, and the electrical isolation of these key regions has demonstrated its effectiveness in terminating the fibrillatory process. The location of the dominant regions represents a major challenge in the diagnosis and treatment of this arrhythmia. With the aim to detect and locate the fibrillatory sources prior to surgical procedure, non-invasive methods have been developed such as body surface electrical mapping (BSPM) which allows to record with high spatial resolution the electrical activity on the torso surface or the electrocardiographic imaging (ECGI) which allows to non-invasively reconstruct the electrical activity in the atrial surface. Given the novelty of these systems, both technologies suffer from a lack of scientific knowledge about the physical and technical mechanisms that support their operation. Therefore, the aim of this thesis is to increase that knowledge, as well as studying the effectiveness of these technologies for the localization of dominant regions in patients with AF. First, it has been shown that BSPM systems are able to noninvasively identify atrial rotors by recognizing surface rotors after band-pass filtering. Furthermore, the position of such surface rotors is related to the atrial rotor location, allowing the distinction between left or right atrial rotors. Moreover, it has been found that the surface electrical maps in AF suffer a spatial smoothing effect by the torso conductor volume, so the surface electrical activity can be studied with a relatively small number of electrodes. Specifically, it has been seen that 12 uniformly distributed electrodes are sufficient for the correct identification of atrial dominant frequencies, while at least 32 leads are needed for non-invasive identification of atrial rotors. Secondly, the effect of narrowband filtering on the effectiveness of the location of reentrant patterns was studied. It has been found that this procedure allows isolating the reentrant electrical activity caused by the rotor, increasing the detection rate for both invasive and surface maps. However, the spatial smoothing caused by the regularization of the ECGI added to the temporal filtering causes a large increase in the spurious reentrant activity, making it difficult to detect real reentrant patterns. However, it has been found that maps provided by the ECGI without temporal filtering allow the correct detection of reentrant activity, so narrowband filtering should be applied for intracavitary or surface signal only. Finally, we studied the stability of the markers used to detect dominant regions in ECGI, such as frequency maps or the rotor presence. It has been found that in the presence of alterations in the conditions of the inverse problem, such as electrical or geometrical noise, these markers are significantly more stable than the ECGI signal morphology from which they are extracted. In addition, a new methodology for error reduction in the atrial spatial location based on the curvature of the curve L has been proposed. The results presented in this thesis showed that BSPM and ECGI systems allows to non-invasively locate the presence of high-frequency rotors, responsible for the maintenance of AF. This detection has been proven to be unambiguous and robust, and the physical and technical mechanisms that support this behavior have been studied. These results indicate that both non-invasive systems provide information of great clinical value in the treatment of AF, so their use can be helpful for selecting and planning atrial ablation procedures.La fibrilación auricular (FA) es una de las arritmias cardiacas más frecuentes. Hoy en día se sabe que el proceso fibrilatorio está provocado por la actividad reentrante a alta frecuencia de ciertas regiones auriculares que propagan la actividad fibrilatoria en el resto del tejido auricular, y se ha demostrado que el aislamiento eléctrico de estas regiones dominantes permite detener el proceso fibrilatorio. La localización de las regiones dominantes supone un gran reto en el diagnóstico y tratamiento de la FA. Con el objetivo de poder localizar las fuentes fibrilatorias con anterioridad al procedimiento quirúrgico, se han desarrollado métodos no invasivos como la cartografía eléctrica de superficie (CES) que registra con gran resolución espacial la actividad eléctrica en la superficie del torso o la electrocardiografía por imagen (ECGI) que permite reconstruir la actividad eléctrica en la superficie auricular. Dada la novedad de estos sistemas, existe una falta de conocimiento científico sobre los mecanismos físicos y técnicos que sustentan su funcionamiento. Por lo tanto, el objetivo de esta tesis es aumentar dicho conocimiento, así como estudiar la eficacia de ambas tecnologías para la localización de regiones dominantes en pacientes con FA. En primer lugar, ha visto que los sistemas CES permiten identificar rotores auriculares mediante el reconocimiento de rotores superficiales tras el filtrado en banda estrecha. Además, la posición de los rotores superficiales está relacionada con la localización de dichos rotores, permitiendo la distinción entre rotores de aurícula derecha o izquierda. Por otra parte, se ha visto que los mapas eléctricos superficiales durante FA sufren una gran suavizado espacial por el efecto del volumen conductor del torso, lo que permite que la actividad eléctrica superficial pueda ser estudiada con un número relativamente reducido de electrodos. Concretamente, se ha visto que 12 electrodos uniformemente distribuidos son suficientes para una correcta identificación de frecuencias dominantes, mientras que son necesarios al menos 32 para una correcta identificación de rotores auriculares. Por otra parte, también se ha estudiado el efecto del filtrado en banda estrecha sobre la eficacia de la localización de patrones reentrantes. Así, se ha visto que este procedimiento permite aislar la actividad eléctrica reentrante provocada por el rotor, aumentando la tasa de detección tanto para señal obtenida de manera invasiva como para los mapas superficiales. No obstante, este filtrado temporal sobre la señal de ECGI provoca un gran aumento de la actividad reentrante espúrea que dificulta la detección de patrones reentrantes reales. Sin embargo, los mapas ECGI sin filtrado temporal permiten la detección correcta de la actividad reentrante, por lo el filtrado debería ser aplicado únicamente para señal intracavitaria o superficial. Por último, se ha estudiado la estabilidad de los marcadores utilizados en ECGI para detectar regiones dominantes, como son los mapas de frecuencia o la presencia de rotores. Se ha visto que en presencia de alteraciones en las condiciones del problema inverso, como ruido eléctrico o geométrico, estos marcadores son significativamente más estables que la morfología de la propia señal ECGI. Además, se ha propuesto una nueva metodología para la reducción del error en la localización espacial de la aurícula basado en la curvatura de la curva L. Los resultados presentados en esta tesis revelan que los sistemas de CES y ECGI permiten localizar de manera no invasiva la presencia de rotores de alta frecuencia. Esta detección es univoca y robusta, y se han estudiado los mecanismos físicos y técnicos que sustentan dicho comportamiento. Estos resultados indican que ambos sistemas no invasivos proporcionan información de gran valor clínico en el tratamiento de la FA, por lo que su uso puede ser de gran ayuda para la selección y planificaciLa fibril·lació auricular (FA) és una de les arítmies cardíaques més freqüents. Hui en dia es sabut que el procés fibrilatori està provocat per l'activitat reentrant de certes regions auriculars que propaguen l'activitat fibril·latoria a la resta del teixit auricular, i s'ha demostrat que l'aïllament elèctric d'aquestes regions dominants permet aturar el procés fibrilatori. La localització de les regions dominants suposa un gran repte en el diagnòstic i tractament d'aquesta arítmia. Amb l'objectiu de poder localitzar fonts fibril·latories amb anterioritat al procediment quirúrgic s'han desenvolupat mètodes no invasius com la cartografia elèctrica de superfície (CES) que registra amb gran resolució espacial l'activitat elèctrica en la superfície del tors o l'electrocardiografia per imatge (ECGI) que permet obtenir de manera no invasiva l'activitat elèctrica en la superfície auricular. Donada la relativa novetat d'aquests sistemes, existeix una manca de coneixement científic sobre els mecanismes físics i tècnics que sustenten el seu funcionament. Per tant, l'objectiu d'aquesta tesi és augmentar aquest coneixement, així com estudiar l'eficàcia d'aquestes tecnologies per a la localització de regions dominants en pacients amb FA. En primer lloc, s'ha vist que els sistemes CES permeten identificar rotors auriculars mitjançant el reconeixement de rotors superficials després del filtrat en banda estreta. A més, la posició dels rotors superficials està relacionada amb la localització d'aquests rotors, permetent la distinció entre rotors de aurícula dreta o esquerra. També s'ha vist que els mapes elèctrics superficials durant FA pateixen un gran suavitzat espacial per l'efecte del volum conductor del tors, el que permet que l'activitat elèctrica superficial pugui ser estudiada amb un nombre relativament reduït d'elèctrodes. Concretament, s'ha vist que 12 elèctrodes uniformement distribuïts són suficients per a una correcta identificació de freqüències dominants auriculars, mentre que són necessaris almenys 32 per a una correcta identificació de rotors auriculars. D'altra banda, també s'ha estudiat l'efecte del filtrat en banda estreta sobre l'eficàcia de la localització de patrons reentrants. Així, s'ha vist que aquest procediment permet aïllar l'activitat elèctrica reentrant provocada pel rotor, augmentant la taxa de detecció tant pel senyal obtingut de manera invasiva com per als mapes superficials. No obstant això, aquest filtrat temporal sobre el senyal de ECGI provoca un gran augment de l'activitat reentrant espúria que dificulta la detecció de patrons reentrants reals. A més, els mapes proporcionats per la ECGI sense filtrat temporal permeten la detecció correcta de l'activitat reentrant, per la qual cosa el filtrat hauria de ser aplicat únicament per a senyal intracavitària o superficial. Per últim, s'ha estudiat l'estabilitat dels marcadors utilitzats en ECGI per a detectar regions auriculars dominants, com són els mapes de freqüència o la presència de rotors. S'ha vist que en presència d'alteracions en les condicions del problema invers, com soroll elèctric o geomètric, aquests marcadors són significativament més estables que la morfologia del mateix senyal ECGI. A més, s'ha proposat una nova metodologia per a la reducció de l'error en la localització espacial de l'aurícula basat en la curvatura de la corba L. Els resultats presentats en aquesta tesi revelen que els sistemes de CES i ECGI permeten localitzar de manera no invasiva la presència de rotors d'alta freqüència. Aquesta detecció és unívoca i robusta, i s'han estudiat els mecanismes físics i tècnics que sustenten aquest comportament. Aquests resultats indiquen que els dos sistemes no invasius proporcionen informació de gran valor clínic en el tractament de la FA, pel que el seu ús pot ser de gran ajuda per a la selecció i planificació de procediments d'ablació auricular.Rodrigo Bort, M. (2016). Non-invasive identification of atrial fibrillation drivers [Tesis doctoral]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/75346TESISPremios Extraordinarios de tesis doctorale

Advanced methods for mapping the radiofrequency magnetic fields in MRI

As MRI systems have increased in static magnetic field strength, the radiofrequency (RF) fields that are used for magnetisation excitation and signal reception have become significantly less uniform. This can lead to image artifacts and errors when performing quantitative MRI. A further complication arises if the RF fields vary substantially in time. In the first part of this investigation temporal variations caused by respiration were explored on a 3T scanner. It was found that fractional changes in transmit field amplitude between inhalation and expiration ranged from 1% to 14% in the region of the liver in a small group of normal subjects. This observation motivated the development of a pulse sequence and reconstruction method to allow dynamic observation of the transmit field throughout the respiratory cycle. However, the proposed method was unsuccessful due to the inherently time-consuming nature of transmit field mapping sequences. This prompted the development of a novel data reconstruction method to allow the acceleration of transmit field mapping sequences. The proposed technique posed the RF field reconstruction as a nonlinear least-squares optimisation problem, exploiting the fact that the fields vary smoothly. It was shown that this approach was superior to standard reconstruction approaches. The final component of this thesis presents a unified approach to RF field calibration. The proposed method uses all measured data to estimate both transmit and receive sensitivities, whilst simultaneously insisting that they are smooth functions of space. The resulting maps are robust to both noise and imperfections in regions of low signal

Identification and Optimal Linear Tracking Control of ODU Autonomous Surface Vehicle

Autonomous surface vehicles (ASVs) are being used for diverse applications of civilian and military importance such as: military reconnaissance, sea patrol, bathymetry, environmental monitoring, and oceanographic research. Currently, these unmanned tasks can accurately be accomplished by ASVs due to recent advancements in computing, sensing, and actuating systems. For this reason, researchers around the world have been taking interest in ASVs for the last decade. Due to the ever-changing surface of water and stochastic disturbances such as wind and tidal currents that greatly affect the path-following ability of ASVs, identification of an accurate model of inherently nonlinear and stochastic ASV system and then designing a viable control using that model for its planar motion is a challenging task. For planar motion control of ASV, the work done by researchers is mainly based on the theoretical modeling in which the nonlinear hydrodynamic terms are determined, while some work suggested the nonlinear control techniques and adhered to simulation results. Also, the majority of work is related to the mono- or twin-hull ASVs with a single rudder. The ODU-ASV used in present research is a twin-hull design having two DC trolling motors for path-following motion. A novel approach of time-domain open-loop observer Kalman filter identifications (OKID) and state-feedback optimal linear tracking control of ODU-ASV is presented, in which a linear state-space model of ODU-ASV is obtained from the measured input and output data. The accuracy of the identified model for ODU-ASV is confirmed by validation results of model output data reconstruction and benchmark residual analysis. Then, the OKID-identified model of the ODU-ASV is utilized to design the proposed controller for its planar motion such that a predefined cost function is minimized using state and control weighting matrices, which are determined by a multi-objective optimization genetic algorithm technique. The validation results of proposed controller using step inputs as well as sinusoidal and arc-like trajectories are presented to confirm the controller performance. Moreover, real-time water-trials were performed and their results confirm the validity of proposed controller in path-following motion of ODU-ASV