Related papers: Angular velocity nonlinear observer from single ve…
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…
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…
This paper investigates the estimation problem of the pose (orientation and position) and linear velocity of a rigid body, as well as the landmark positions, using an inertial measurement unit (IMU) and a monocular camera. First, we propose…
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 addresses the problem of estimating the relative pose (position and orientation) and velocity of a vehicle with respect to a moving target, where both are equipped with Inertial Measurement Units (IMUs), assuming the availability…
This paper presents a robust non-linear state estimator for autonomous surface vehicles, where the movement is restricted to the horizontal plane. It is assumed that only the vehicle position and orientation can be measured, being the…
This paper presents an orbit estimation using non-simultaneous horizon detector measurements in the presence of uncertainties in the celestial body rotational velocity and its geometrical characteristics. The celestial body is modelled as a…
Euler's rotation theorem states that any reconfiguration of a rigid body with one of its points fixed is equivalent to a single rotation about an axis passing through the fixed point. The theorem forms the basis for Chasles' theorem which…
Self-propelled colloidal swimmers move by pushing the adjacent fluid backwards. The resulting motion of an asymmetric body depends on the profile of pushing velocity over its surface. We describe a method of predicting the motion arising…
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…
This research investigates the rotational dynamics of a charged axisymmetric spinning rigid body influenced by gyrostatic torque. The study also accounts for the effects of transverse and constant body-fixed torques and an electromagnetic…
This article reconsiders the relative-velocity-dependent approach to modeling electromagnetism that was proposed initially by Weber before data from cathode-ray-tube (CRT) experiments was available. It is shown that identifying the…
The dynamics of a constrained three-vortex problem, a free point vortex pair in the velocity field of a fixed point vortex, is investigated. The underlying dynamical system is simplified using a coordinate transformation and categorized…
The general misconception regarding velocity measurements of a test particle as it approaches black hole is addressed by introducing generalized observer set. For a general static spherically symmetric metric applicable to both Einstein and…
This paper derives new results for the analysis of nonlinear systems by extending contraction theory in the framework of vector distances. A new tool, vector contraction analysis utilizing a notion of the vector-valued norm which evidently…
The design of a globally convergent position observer for feature points from visual information is a challenging problem, especially for the case with only inertial measurements and without assumptions of uniform observability, which…
The vortex-induced vibration of multiple spring-mounted bodies free to move in the orthogonal direction of the flow is investigated. In a first step, we derive a Linear Arbitrary Lagrangian Eulerian (L-ALE) method to solve the…
We consider the system of a two ball automatic dynamic balancer attached to a rotating disc with nonconstant angular velocity. We directly compare the scenario of constant angular velocity with that when the acceleration of the rotor is…
Relying on the equivalence principle, a first approach of the general theory of relativity is presented using the spacetime metric of an observer with a constant proper acceleration. Within this non inertial frame, the equation of motion of…
The paper presents a new observer for tilt estimation of a 3-D non-rigid pendulum. The system can be seen as a multibody robot attached to the environment with a ball joint. There is no sensor for the joint position of the sensor. The…