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Altitude regulation is a fundamental control problem of quadrotor UAVs (unmanned aerial vehicles) to ensure required performance for hovering and autonomous navigation. In this paper, under the assumption that the attitude inter loop has been well designed, the stability features of linear P+D+DD controller for altitude control are investigated. To handle the difficulty that the altitude velocity...
This paper proposes a kernel-based functional test program generation approach for microprocessor test and verification. The fundamental idea in this approach is to select high quality test programs before the simulation from a large number of biased random test programs. Unlike a direct test program generation approach, a selection approach demands much less domain knowledge and intervention from...
This paper presents an observability analysis of the relative pose estimation process used in a planar Position-Based Visual Servoing or visual Simultaneous Localization and Mapping system. The results indicate potentially problematic situations where an estimator may be unable to track the relative pose and target object model based on monocular camera measurements alone. A complete set of unobservable...
This paper presented a wearable body sensor network (BSN) that could be potentially employed for dynamic body energy expenditure monitoring. Three compact BSN nodes were deployed at wrist, abdomen and ankle, respectively. Acceleration signals from the multiple body sites were used to calculate a whole body weighted acceleration value. Preliminary results indicated that the standard deviation of the...
Trifocal tensor encapsulates the geometric constraints between three views. It plays an important role in computer vision. However elements in measurement matrix of existing linear trifocal tensor estimation algorithms are products of several measurement data, which can amplify measurement error. The factorization algorithm of trifocal tensor estimation is presented, which can overcome this shortcoming...
An efficient early stopping method is proposed in this paper to reduce the average number of iterations for low density parity check (LDPC) decoders. The method is very efficient especially when the channel signal-to-noise ratio (SNR) is low. It is based on the estimation of the log-likelihood ratio (LLR) messages of the check nodes.
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