Tutorial for Week 8
Exercise 8.1 Consider the following model of using an ohmmeter to meausre the resistor
y
=
Mx +
(8.1)
where y is the measurement of ohmeter, M = 1 and x is the resistance and is meausrement error.
Assume that the variable x is Gaussia

Tutorial for Week 10
Exercise 10.1
Assume a Gaussian random variable (GRV) x has the mean 0 and the variance 2 = 9. Using the unscented
Kalman filter, compute the mean and the variance of the following GRVs:
a)y
= x3 + 2x2 + 1;
b)y
=
cos(x)
by choosing th

Tutorial for Week 7
Exercise 7.1 * A man has five coins in his pocket. Two are double-headed, one is double-tailed and two are
normal. They cannot be distinguished unless one looks at them carefully.
1. The man shuts his eyes, chooses a coin at random, an

MCEN90032 Sensor Systems
Tutorial Sheet 2
Q1 (Bolton, Ch 1 3rd Ed).
What is the principal difference between the ersults that can be obtained from an
incremental and an absolute shaft encoder to mesaure angular displacement?
Q2 (Bolton, Ch 1 3rd Ed).
A ro

MCEN90032 Sensor Systems
Tutorial Sheet 3
Q1
a) Show that in a balanced Wheastone bridge circuit, i.e. where all resistances are equal
to Ro, the input output voltage relationship may be approximately given by
if not approximated see tut4
Vo
R
Vex
=
4Ro
b