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We propose a push-recovery strategy to stabilize the robot under unmodelled, large external forces. The strategy integrates Center-Of-Gravity (COG) angular momentum regulator, COG state estimator, and stepping control, which online modifies the trajectories of the COG and the swing leg. Using the centroidal-moment-pivot criterion, the COG angular momentum regulator controls the dynamics of the COG...
We consider a system of two parabolic equations with a forcing term present in one equation and a nonlinear coupling term of a particular type in the other one. We establish a local null controllability result, even if the linearized control system fails to be null controllable. The proof combines the return method, a Carleman inequality and an argument based on homogeneity. Our result can be applied...
Left-turn collisions are one of the most common types of traffic accidents at intersections because of the lack of broad vision. Collision warning system provides an effective way to solve the problem, but the poor accuracy of the trajectory prediction module in the collision warning system reduces it reliability. In this paper, we studied the trajectory prediction of left-turn vehicles at T-shaped...
This paper tackles the evaluation of a Kalman filter-based tracker with real data acquired by a Passive Bistatic Radar (PBR) system. The detection of slow moving targets manoeuvres in ground environment is considered. This radar scenario is characterized by shadowed areas with detection losses due to diffraction phenomena associated with trees, buildings, etc. The application of the designed tracker...
The paper addresses the problem of available bandwidth measurement in IP networks, with special attention to situations where the available bandwidth undergoes quick variations and needs be accurately tracked. The proposed solution is based on a Kalman filtering of the interarrival times of probing packet pairs, according to a Probe Gap Model and is therefore less invasive than alternative solutions...
It is proposed a navigation system based on the unmanned aerial vehicle (UAV) onboard camera that can land on a moving naval platform. It is considered that, besides the usual sensors, the aircraft is equipped with a RGB digital camera capable of detecting markers located on the ship's deck. The proposed method uses a framework based on a Kalman filter (KF) and an efficient perspective-n-point (EPnP)...
In this paper, we consider the problem of tracking a reference trajectory for a simplified car model based on unicycle kinematics, whose position only is measured, and where the control input and the measurements are corrupted by independent Gaussian noises. To tackle this problem we devise a novel observer-controller: the invariant Linear Quadratic Gaussian controller (ILQG). It is based on the Linear...
ARCAP time-frequency representations of narrow-band signals are made of instantaneous characteristics (frequencies and amplitudes), without any time links. In order to extract the frequency modulations (or sprectral trajectories), we propose to re-create them on the basis of ballistic integrator models. The analytic expression of the corresponding asymptotic Kalman filter gains allows a very simple...
In this paper we propose a method to localize a periodic RF transmitter using a single mobile receiver. The receiver measures the time-of-arrival (TOA) of the periodic messages at different locations along its trajectory. By comparing the TOA of successive messages at different points along its trajectory, the receiver can eventually estimate the transmitter location. The challenge lies in separating...
In this paper we propose a novel motion filtering approach that takes into consideration the existence of certain system constraints with respect to the amount of the corrective rotational and translational motions that can be applied on each video frame for stabilization. The interdependence between rotational and translational constraints is considered, and a modified Kalman filtering algorithm...
Tracking free form objects by fitting curve models to their boundaries in real-time is not feasible due to the computational burden of fitting algorithms. In this paper, we propose to do fitting only for certain frames in an image sequence and fill in the missing ones using Kalman filtering technique. An algorithm is presented to track a free-form shaped object, moving along an unknown trajectory,...
In this paper, we address the problem of adaptive sensor validation for flight control. The model-based approaches are developed, where the sensor system is modeled by a Markov switch dynamic state-space model. To handle the nonlinearity of the problem, two different particle filters: mixture Kalman filter (MKF) and stochastic M-algorithm (SMA) are proposed. Simulation results are presented to compare...
In this paper, we present a Sign Language Tutoring Demonstrator, which is capable of teaching the basics of the sign language interactively. Instead of a passive learner, by incorporating a simple sign language recognizer to the system, the learner would be able to practice the signs and have feedbacks according to the similarity of the performed gesture to the actual gesture model.
In this contribution, a framework for modeling of batch and semi-batch processes using a set of either finite impulse response models or autoregressive models with exogenous inputs is extended to include initial conditions and measurement noise. For identification of the resulting high dimensional model sets, an identification scheme has been developed which uses regularization to constrain excessive...
In this paper, an optimization-based iterative learning control approach is presented. Given a desired trajectory to be followed, the proposed learning algorithm improves the system performance from trial to trial by exploiting the experience gained from previous repetitions. Taking advantage of the a-priori knowledge about the systems dominating dynamics, a data-based update rule is derived which...
We propose a novel method for velocity estimation and detection of a moving object in an image sequence. This purpose is achieved by using discrete wavelet transform and parallel bank of extended complex Kalman filter in the transform/spatio-temporal mixed-domain. In the mixed-domain, image sequence processing is replaced by l-dimensional(l-D) complex signal processing. Then, trajectory signal with...
Objective: Navy ships require accurate location of nearby targets. For that we have devised procedure to locate target by integrating data from different sensor radar types by principles of data mining.
Android smart phone can be used in ITS (Intelligent Transportation Systems) to obtain people and vehicle’s location since it is integrated with GPS, direction sensor and acceleration sensor. Because the GPS built in smart phone always has an error of dozens of meters, improving the positioning accuracy is necessary before introducing it into ITS. This paper proposed an approach to improve the accuracy...
Acoustic source localization has a variety of applications, from speech signal enhancement to mobile object tracking. Localization procedures applying lightweight algorithms are appealing for implementation in distributed embedded systems. This paper builds on our previous research of simplifying acoustic localization based on the Steered Response Power with Phase Transform (SRP-PHAT) algorithm and...
As part of dead reckoning, inertial navigation has been developed for many years in locating the vehicle without GPS. We employ the technology on a quadrotor platform to track the trajectory of the vehicle. In this paper, a new method was designed to make the tracking result more precisely. To achieve this, we firstly smooth the sensor data by minus offset dynamically and adopt Kalman Filtering algorithm...
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