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This paper deals with optimal recursive filtering for time-variant singular systems. The novelty of this paper is the functional developed to deduce this filter in which least squares and penalty functions approaches are combined in a unified way. The advantage of this new procedure will be emphasized in the paper. The nominal singular Kalman filter will be deduced in its most general formulation...
In this paper a nonlinear optimal controller has been designed for aerodynamic control during the reentry phase of the reusable launch vehicle (RLV). The controller has been designed based on a recently developed technique optimal dynamic inversion (ODI). For full state feedback the controller has required full information about the system states. In this work an extended Kalman filter (EKF) is developed...
This paper introduces an indirect variable-structure adaptive fuzzy controller as a power system stabilizer (IDVSFPSS) used to damp inter-area modes of oscillation following disturbances in power systems. In contrast to IEEE standard multi-band power system stabilizer (MB-PSS) , indirect adaptive fuzzy-based stabilizer are more efficient because they cope with oscillations at different operating points...
A simple direct method able to generate time-optimal trajectories for a micro quadrotor helicopter is presented. It is based on modeling the quadrotor trajectory as a composition of a parametric function P(lambda) defining the quadrotor path, and a monotonically increasing function lambda(t), specifying the motion on this path. The optimal evolutions of P(lambda) and lambda(t), which are approximated...
Two typical indoor settings are considered, one based on laser range finder readings and the other one on the distances gathered by the robot from a set of artificial landmarks (e.g. RFID tags). It is shown, by comparing the performance of the Extended and of the Unscented Kalman filters, that only the first setting could require the definition of more specific non linear filtering algorithms, not...
This paper shows the application of a new 2D minimum variance filter to noisy RGB color images. The filter is derived from an image model that can be obtained without any onerous identification procedure of the signal generation process. Moreover the basic modeling assumptions are such that, when applied to RGB color images, they allow the implementation of the algorithm as three independent single-channel...
In recent years there has been a great effort to convert the existing air traffic control system into a novel system known as Free Flight. Free Flight is based on the concept that increasing international airspace capacity will grant more freedom to individual pilots during the enroute flight phase, thereby giving them the opportunity to alter flight paths in real time. Under the current system pilots...
The purpose of this paper is to achieve a quantum leap in teleoperation experiments with real devices in laboratory environments. It intends to replace current simulations of networks with time delays - which are usually represented as black boxes (Kamrani, 2005) in software applications such as Matlab or Scilab - with a simple and universal element capable of reflecting, in real time, the state of...
Modern drilling technology in the oil industry relies on the effective control and understanding of nonlinear phenomena. In this paper, the dynamical model of the drilling well components, i.e., such as drilling rig, drill pipe, drill collars, and drilling bit will be presented. These components can be used to estimate borehole parameters of a drilling station to predict or detect unwanted phenomena...
The maximum-area coverage problem over a free time interval with a team of cooperating robots is considered in this article. This area resides in a cellular rectangular environment in which there are obstacles. The robots detect the obstacles during their motion which is constrained in a finite set of maneuvers (left, right, forward, and backward). The uncovered but detected (by the sensors) area...
This article relates to the dynamic vehicle routing problem with time windows (DVRPTW) and variable travel times. More precisely, the objective is to take into account the variability of travel times on account of traffic congestion during a day. To reach this objective, we developed an online genetic algorithm to be able to integrate the incidents appearing during the day in the planning of the routes...
The domain of wireless sensor networks (WSNs) is one of the most rapidly growing scientific fields. This is because not only the technological advances have enabled the development of advanced sensor nodes with extremely low cost but the potential applications of such structures are ever growing too. WSNs differ from traditional wireless communication networks in several of their characteristics....
The human vestibular system, consisting of the otolith and semicircular canals, provides valuable information about body motion and orientation in terms of angular velocity and translational acceleration. This article discusses the dynamic characteristics of these organs and the generated signals and proposes approaches to combine these signals to infer for the body angular velocity. This is the first...
This paper presents a diagnosis system for detecting tramway rollers defects. First, the continuous wavelet transform is applied on vibration signals measured by specific accelerometers. Then, the Singular Values Decomposition (SVD) is applied on the time-scale representations to extract a set of singular values as classification features. The resulting multi-class classification problem is decomposed...
This paper outlines a formation control strategy for maneuvering a team of nonholonomic robots within a mapped environment. The major contribution of this work is an exploration of when formation changes should occur. We approach this problem using a two step process. First, a hybrid controller is designed which can follow a set of waypoints while switching between a group of formations based on the...
This paper presents a nonlinear airspeed controller for an unmanned aerial vehicle (UAV). It is designed using the technique of nonlinear dynamic inversion. The thrust force of the UAV is generated by a propeller. The nonlinear dynamics of the airspeed are appropriately expressed as a function of the thrust force, which is a nonlinear function of the engine speed. The latter variable is the only physical...
This paper presents an efficient extended Kalman filter implementation of a single-camera visual simulataneous localization and mapping (vSLAM) algorithm, vSLAM is a novel algorithm for simultaneous localization and mapping problem widely studied in mobile robotics field. The algorithm is vision and odometry-based. The problem with the implementation of all SLAM algorithms is the state vector size...
We propose a family of nonlinear state feedback global stabilizers for all planar linear systems which are globally stabilizable by bounded inputs (namely, all non exponentially unstable linear systems). This family is parametrized by a nonlinear function whose selection has great impact on the closed-loop performance. Special selections correspond to linear global stabilizers, which are well known...
Nonlinear propagation in acoustic pipes is responsible for the brightness of the brass sounds at fortissimo nuances. Using the formalism of Volterra series, an acoustic model of this phenomenon is solved as an input-output system. An identification of the Volterra kernels leads to a structure composed of linear filters, sums, and instantaneous products of signals. A digital simulation which guarantees...
Our purpose is to compare the performance of the IEEE standard multi-band power system stabilizer to that of a proposed self-tuned fuzzy stabilizer. The comparison is based on a bench mark system that consists of a 4-machine two-area power system. The objective is to damp local- and inter-area modes of oscillations that appear following large disturbances. The proposed stabilizer is hierarchical....
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