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The main purpose of power swing blocking is to distinguish faults from power swings. However, faults occurred during a power swing should still be detected and cleared promptly. This paper proposes an index based on detecting abrupt jump of impedance trajectory by utilization of predicting capability of Kalman Filter. The proposed index is calculated by assessing the difference between predicted and...
Automated riving is becoming the focus of various research institutions and companies. In this context, road estimation is one of the most important tasks. Many works propose to realize this task by employing one or multiple of the following orthogonal information sources: road markings from optical lane recognition, leading vehicle, digital map. etc. Each of them has its own strength and drawbacks...
In the control of Interior Permanent Magnet Synchronous Machines (IPMSMs), Maximum Torque Per Ampere (MTPA) based on motor parameters is a common approach to achieve high efficiency and torque density. Parametric uncertainty (e.g. due to identification errors, magnetic saturation or temperature variation) results in undesired deviation from the optimal operating trajectory. To solve this problem,...
Scene depth variation is an important factor that leads to spatially-varying camera motion blur. Most of the previous methods require auxiliary cameras or user interaction to make depth-aware deblurring tractable. In this work, we propose to use a noisy/blurred/noisy image sequence and simultaneously recorded inertial measurements to jointly estimate scene depth and remove spatially-varying blur caused...
Capturing multiple images using the burst mode of handheld cameras can be a boon to obtain a high resolution (HR) image by exploiting the subpixel motion among the captured images arising from handshake. However, the caveat with mobile phone cameras is that they produce rolling shutter (RS) distortions that must be accounted for in the super-resolution process. We propose a method in which we obtain...
Curvature and torsion of discrete curves are important quantities in numerous applications in 3D image processing. Classical algorithms based on high order derivatives lead to high errors when computing torsion of 3D curves with discrete data of low resolution. To face this challenge we present a discrete parameter free approach to calculate the torsion values without fitting continuous curves on...
This paper presents a new approach of a path planing algorithm applied in an indoor environment. Path planning or motion planning is an essential part of navigating mobile agents. The goal of path planning is to specify a collision-free trajectory between the start state and the goal state for a mobile agent. The estimation of the absolute position inside the testing environment is performed based...
Tracking of low SNR signals is challenging task. The algorithm for tracking of single object observed as line in single image is proposed in this paper. The object signal signature is periodic with unknown pattern. Proposed algorithm uses multidimensional scatter with variable parameters for exhaustive search of solution. Example results are provided for the simplified 1D case using Monte Carlo approach.
This paper proposes a co-worker in-time Parts/tools Delivery to You robot, PaDY, in an automobile assembly line. Since co-worker robots share a workspace, the workers are at risk of colliding with them. Therefore, the safety of the workers has to be considered when operating such robots. In previous studies, the robot generally stops to ensure the worker's safety when a collision is detected, delaying...
Previous research of teleoperation assumed teleoperator as a determined signal input or a parallel spring-damp model. However, the teleoperator actually performs quite stochastically in the teleoperation loop. This paper raises a discussion on the problem of the stochastic behavior model of teleoperator, and derives a linear regression method for the behavior approximation. Both the model and method...
Mobile wireless ad hoc network (MANET) can significantly enhance the capability to monitor contaminated areas, detect pollution and gas clouds, tackle emergency incidents and support rescue teams that are working in the emergency areas. In this paper, we investigate the problem of estimation of boundary of discovered heavy gas cloud and tracking this clouds. The MANET comprised of mobile sensing devices...
We consider a range estimation algorithm based on the time-of-arrival differences between multipath replicas of a signal transmitted by an anchor node of known location to a silent node that needs to localize itself. We consider the geometry of the problem in the simplified case of a constant sound speed profile (SSP), and argue that the more realistic case of a non-constant SSP can be still tackled...
Multistatic radar system has a great potential for human detection and tracking for its fine localization precision, wide coverage and good observability. Traditional human detection and tracking are performed on the one dimensional (1-D) range profile. If targets are close or overlapped in range, it is difficult to distinguish these targets and obtain the measurements for target tracking. It can...
Active training mode has good clinical effect for patients who need lower limb rehabilitation, and estimation for the motion trajectory of human lower limb is one of the most important and fundamental work for active training. In this study, a novel estimation method is proposed based on ε-support vector regression (ε-SVR) using acceleration signals of lower limb. Firstly, some qualitative variation...
This paper addresses the dim target tracking problem with respect to the multi-frame detection (MFD). Generally, the MFD strategy implicitly merges the tracking stage into its framework, by which the estimated target trajectory can be simultaneously returned when a target is declared. However, due to the batch processing manner of MFD, such products, essentially, are short state sequences in time...
In this paper, we deal with the problem of received signal strength (RSS)-based self-localization of a wireless blind node using a statistical path loss model for the measurements. The considered environment is homogeneous, i.e., the attenuation factors of the various links are one and the same while the transmitted powers are different. The blind node possibly moves along a trajectory that is unknown...
This work proposes a novel method for estimating the influence that unknown static objects might have over mobile agents. Since the motion of agents can be affected by the presence of fixed objects, it is possible use the information about trajectories deviations to infer the presence of obstacles and estimate the forces involved in a scene. Artificial neural networks are used to estimate a non-parametric...
Physical systems switching between various working regimes are often encountered in practical applications. However, transition probabilities, according to which a system switches from the current regime to another one, are commonly designed as a priori known parameters, and their misspecification can degrade the performance of the algorithms filtering (or estimating) latent variables of the system...
We propose a novel progressive Gaussian filter for nonlinear stochastic systems. A Gaussian approximation of the posterior is computed without an explicit assumption of a linear relation between the system state and the measurement. This allows for better quality of the estimation compared to Kalman filters for nonlinear problems like the EKF or UKF. In this work, we use the progressive filter framework,...
This paper presents a novel BOTMA based upon two types of bearing measurements: the angles of arrival of electromagnetic waves and the angles of arrival of acoustic waves. The difference of the propagation delays makes the problem observable even when the observer is motionless or non-maneuvering. We construct a recursive estimator (using the extended Kalman filter) and a batch estimator (the maximum...
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