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We demonstrate trajectory control of the tip of an inverted pendulum atop a small unmanned aerial vehicle. In this paper we discuss how exploiting the differential flatness of combined systems provides a realization of adequate control. A differential flatness controller is derived for trajectory control of a pendulum tip. Simulation results are presented for tip trajectory tracking with and without...
This paper proposes a novel approach to generate trajectories that generalize given demonstrations according to optimality criteria. By formulating the problem as a quadratic program we can efficiently incorporate constraints to adapt to new desired motion requirements while achieving the main goal of matching the acceleration profile of the demonstration. This makes our method particularly suited...
The effect of terminal ship-to-air missile intercepting maneuvering target at high speed is studied through the method of three-dimensional trajectory simulation based on vector operation. The three-dimensional vector equation of command acceleration is elicited according to TPN at first considering the seeker's noises and the rudder's overload limit. An algorithm of calculating miss distance caused...
As has been frequently observed, single-joint movements are characterized by single-peaked, bell-shaped speed profiles. This findings and the tendency of natural movements to be characteristically smooth and graceful led to suggest that motor coordination can be mathematically modeled by postulating that voluntary movements are made, at least in the absence of any other overriding concerns, to be...
While rhythmically bouncing a ball with a racket appears to be a simple task, it requires precise perceptually-guided coordination between racket and ball to be successful. In this task, subjects manipulate a real table tennis racket to rhythmically bounce a virtual ball to a target height in a 2D virtual environment. Stability analyses of the mathematical model of a bouncing ball showed that dynamic...
According to the nonlinear maneuvering characteristics of flying targets, unscented Kalman filter is used to achieve a two-dimensional trajectory tracking and predicting in the coordinates of camera view field. By calculating the target centroid position in the imaging focal plane, the third-order constant acceleration motion model of two-dimensional is established. Because of the nonlinear characteristics...
Employing mobile sensor data to recognize user behavioral activities has been well studied in recent years. However, exploiting mobile motion data as a novel biometric modality remains a new area. In this paper, we propose two novel methods, a Statistic Method to intuitively apply classifier on the statistic features of the data; and a Trajectory Reconstruction Method to reconstruct the Mobile Device...
Because of the complementary nature of inertial measurement unit based pedestrian dead reckoning (PDR) and Wi-Fi positioning, the combination of both systems yields a synergetic effect resulting in higher navigation performance. Barometric sensors can provide height information for 2D/3D indoor navigation applications in multi-floor environments. In this paper, we explore the multi-sensor assisted...
A common problem in the evaluation of Pedestrian Dead Reckoning (PDR) algorithms is the determination of a good ground truth. Some authors propose the use of external motion capture systems, however, their setup, complexity, synchronization and limited coverage are important limitations. We propose the generation of a simulated IMU signal for pedestrians, that is obtained from a given 3D trajectory...
Gravity surveys provide crucial data about the sub-seafloor structure, and this information is used to both localize and characterize geophysical phenomena. Obtaining this gravity data from submersibles provides superior measurements, both in terms of signal strength and spatial resolution, than conventional survey platforms such as surface vessels and satellites. However, performing gravimetry an...
The use of wireless devices with accelerometers and gyroscopes to measure the movements of humans and objects is a growing area of interest. Applications range from simple activity detection to detailed full-body motion capture using networks of sensors worn on the body. A variety of algorithms have been proposed for these applications, but opportunities for accurate evaluation and comparison have...
For natural and intuitive interaction, research on acceleration-based interfaces to recognize handwriting is becoming popular. When recognizing handwriting, a problem exists in distinguishing between naturally similar letters and numbers. This problem severely affects the total recognition rate. To solve this problem, Cho et al. used a two-stage recognizer, which separated confusing pairs from entire...
In this study, the performance of eleven different filters are compared against a simulated maneuvering target. To provide applicability to a wide range of problems, a diverse set of metrics are considered. To ensure rigorous testing, a combination of randomly generated and fixed extreme trajectories are used. The effects of maneuvers are extracted by processing the results conditionally on maneuver...
The estimation of the ten inertial parameters of rigid loads, which are attached to manipulators, may benefit several robotics applications, e.g.: force control, object recognition, and pose estimation. These applications require sufficiently accurate, robust, and fast estimation of the inertial parameters. Existing approaches, however, do not allow for robust on-line estimation, since they use standard...
This paper studies the effects of local coordinate translations on the performance of the bearings-only total least squares (TLS) target tracking algorithm. The TLS estimator has been proposed to alleviate the severe bias problems associated with the traditional pseudolinear estimator. In the passive localization context the bias of the TLS estimator was shown to be sensitive to shifts of the origin...
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