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The MUSIC(MUltiple SIgnal Classification) method with high resolution is typically used to estimate far-field source bearing. When the source is located in the near-field, it can be applied by compensating the time-delay difference and the magnitude attenuation using spherical wave rules. However, it has a problem with complex calculations, such as eigen-decomposition of a matrix. In this paper, we...
Since a flexible-joint robot (FJR) consists of two subsystems centered around joint-torque (J-T) sensors, there are two independent resultant torques, i.e., an actuating motor torque and an external link torque, applied to the system. In this paper, an external torque sensing alogorithm for the FJR is proposed to estimate both torques simultaneously by using the disturbance observing property of the...
The O2 lance manipulator is used in the electric arc furnace (EAF) process to supply oxygen in order to remove impurities in molten metal. However, since it is controlled by the human operator who can get only visual information about the EAF, the collision between the lance and the EAF can happen which must be avoided in the process. The bilateral teleoperation can be a solution for this problem,...
Mobile sensor networks have received significant attention recently. Mobile sensors are deployed to achieve network load balancing, prolonging network lifetime, and improving network coverage, by monitoring critical areas where manual sensor deployment cannot be performed. To achieve these goals, energy estimation is one of the main constraints and concerns to consider, while deploying mobile sensors...
This paper proposes a simple threshold estimation algorithm for a 1-bit ADC in a 1-bit IR-UWB receiver which uses binary output of the 1-bit ADC instead of measuring energy level of received signals. Theoretical model and computer simulation show that the performance of the proposed algorithm is similar to that of theoretically optimum one.
An observer for estimating the vector of Coulomb friction force coefficients in a multimass system is presented. The vector is assumed to be a linear combination of sgn(??) functions of relative velocities of the contacting masses. Two different nonlinear observers are proposed to estimate the friction coefficients when the velocities of the masses can be measured. When only the positions of the masses...
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