Date of Award


Document Type


Degree Name

Master of Science (MS)

Legacy Department

Electrical Engineering


Dawson, Darren


This thesis is a collection of two projects in which the author was involved during his master's degree program. The first project involves the estimation of 3D Euclidean coordinates of features from 2D images. A 3D Euclidean position estimation strategy is developed for a static object using a single moving camera whose motion is known. This Euclidean depth estimator has a very simple mathematical structure and is easy to implement. Numerical simulations and experimental results using a mobile robot in an indoor environment are presented to illustrate the performance of the algorithm. The second section describes the design of a test system for the Argon Environment Electrical Study (AEES) conducted by the Department of Energy (DOE). The initial research proposal, safety review, and literature review are presented. Additionally, the test plan and system design are highlighted. (60335 kB)