Related papers: Angular velocity nonlinear observer from vector me…
In this paper the exact analytical solution of the motion of a rigid body with arbitrary mass distribution is derived in the absence of forces or torques. The resulting expressions are cast into a form where the dependence of the motion on…
The inertia tensor is an important parameter in many engineering fields, but measuring it can be cumbersome and involve multiple experiments or accurate and expensive equipment. We propose a method to measure the moment of inertia tensor of…
We describe a convergence acceleration technique for unconstrained optimization problems. Our scheme computes estimates of the optimum from a nonlinear average of the iterates produced by any optimization method. The weights in this average…
Friction is an unavoidable phenomenon that exists in all mechanical systems incorporating parts with relative motion. It is well-known that friction is a serious impediment for precise servo control, hence the interest to devise a procedure…
A geometric estimator is proposed for the rigid body attitude under multi-rate measurements using discrete-time Lyapunov stability analysis in this work. The angular velocity measurements are assumed to be sampled at a higher rate compared…
This paper proposes a novel unit-quaternion observer-based controller for attitude tracking (attitude and angular velocity) with guaranteed transient and steady-state performance. The proposed approach is computationally cheap and can…
In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…
In recent years, a new method for experimental nonlinear modal analysis has been developed, which is based on the extended periodic motion concept. The method is well suited to experimentally obtain amplitude-dependent modal properties…
Given a network of $N$ static nodes in $D$-dimensional space and the pairwise distances between them, the challenge of estimating the coordinates of the nodes is a well-studied problem. However, for numerous application domains, the nodes…
Unsteadiness lies at the heart of turbulent fluid dynamics, eddy formation and instabilities in flows thus making it central to both understanding and controlling fluid systems. In this work, we present an objective measure for the…
Imaging systems based on a narrow-band tunable filter are used to obtain Doppler velocity maps of solar features. These velocity maps are created by taking the difference between the blue- and red-wing intensity images of a chosen spectral…
This paper presents an Adaptive Gain Nonlinear Observer (AGNO) for estimating the external interaction wrench (forces and torques) in human-UAV physical interaction for assistive payload transportation. The proposed AGNO uses the full…
Recently, the author proposed an alternative vector theory of gravity. To the best of our knowledge, vector gravity also passes available tests of gravity, and, in addition, predicts the correct value of the cosmological constant without…
This paper presents a new event-based method for detecting and tracking features from the output of an event-based camera. Unlike many tracking algorithms from the computer vision community, this process does not aim for particular…
Inertial measurement units are commonly used to estimate the attitude of moving objects. Numerous nonlinear filter approaches have been proposed for solving the inherent sensor fusion problem. However, when a large range of different…
We introduce the notion of angular values for deterministic linear difference equations and random linear cocycles. We measure the principal angles between subspaces of fixed dimension as they evolve under nonautonomous or random linear…
Tracking the kinematics of fast-moving objects is an important diagnostic tool for science and engineering. Existing optical methods include high-speed CCD/CMOS imaging, streak cameras, lidar, serial time-encoded imaging and sequentially…
In order to test gravitation in the Solar System, it is necessary to improve the orbit restitution of interplanetary spacecrafts. The addition of an accelerometer on board is a major step toward this goal because this instrument measures…
This paper utilizes the recently proposed cubic observer to estimate the state of a class of nonlinear systems. The cubic observer is proposed as an alternative to linear observers for improved convergence rate and robustness. It is shown…
This paper addresses the problem of the separation of rotational and internal motion. It introduces the concept of average angular velocity as the moment of inertia weighted average of particle angular velocities. It extends and elucidates…