Related papers: Angular velocity nonlinear observer from single ve…
The experimentally determined Sagnac fringe shift dependency on angular velocity and enclosed area is derived from the rotating reference frame using non-time-orthogonal tensor analysis. The relationship for the most general case, in which…
Attitude estimation using scalar measurements, corresponding to partial vectorial observations, arises naturally when inertial vectors are not fully observed but only measured along specific body-frame vectors. Such measurements arise in…
The angular momentum of radiation from an arbitrarily moving relativistic charge is studied. The angular momentum is presented as the sum of the angular momentum relative to the point where the charge is located at a retarded moment of time…
A nonlinear observer on the Special Euclidean group $\mathrm{SE(3)}$ for full pose estimation, that takes the system outputs on the real projective space directly as inputs, is proposed. The observer derivation is based on a recent advanced…
A determination is made of the radiation emitted by a linearly uniformly accelerated uncharged dipole transmitter. It is found that, first of all, the radiation rate is given by the familiar Larmor formula, but it is augmented by an amount…
This work proposes and investigates a new model of the rotating rigid body based on the non-twisting frame. Such a frame consists of three mutually orthogonal unit vectors whose rotation rate around one of the three axis remains zero at all…
Bicycle Power Meters have become ubiquitous in professional and amateur cycling. These devices claim high levels of accuracy, and this accuracy is indeed essential if they are to serve their purpose as reliable training aids and indicators…
We present a novel 3D odometry method that recovers the full motion of a vehicle only from a Doppler-capable range sensor. It leverages the radial velocities measured from the scene, estimating the sensor's velocity from a single scan. The…
This paper tackles the problem of estimating the relative position, orientation, and velocity between a UAV and a planar platform undergoing arbitrary 3D motion during approach and landing. The estimation relies on measurements from…
In this work a finite element simulation of the motion of a rigid body in a fluid, with free surface, is described. A completely general referential description (of which both Lagrangian and Eulerian descriptions are special cases) of an…
We consider a rigid body colliding with a continuum of particles. We assume that the body is moving at a velocity close to an equilibrium velocity V_{\infty} and that the particles colliding with the body reflect diffusely, that is,…
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…
The purpose of this paper is to derive the anisotropic averaged Euler equations and to study their geometric and analytic properties. These new equations involve the evolution of a mean velocity field and an advected symmetric tensor that…
We present a weak measurement protocol that permits a sensitive estimation of angular rotations based on the concept of weak-value amplification. The shift in the state of a pointer, in both angular position and the conjugate orbital…
The use of the tensor virial theorem (TVT) as a diagnostic of anisotropic velocity distributions in galaxies is revisited. The TVT provides a rigorous global link between velocity anisotropy, rotation and shape, but the quantities appearing…
The motion of a rigid body is described in Classical Mechanics with the venerable Euler's equations which are based on the assumption that the relative distances among the constituent particles are fixed in time. Real bodies, however,…
In this paper, we investigate the visual tracking problem for robotic systems without image-space velocity measurement, simultaneously taking into account the uncertainties of the camera model and the manipulator kinematics and dynamics. We…
This paper introduces an axiomatic basis for measuring the energy characteristic of vibrating dynamical systems. The basic approach is to compare non-modulated vs. modulated waveforms in measuring energy during the vibratory motion $m(t)$…
Accurate state estimation for flexible robotic systems poses significant challenges, particularly for platforms with dynamically deforming structures that invalidate rigid-body assumptions. This paper addresses this problem and enables the…
Many functional elements of human homes and workplaces consist of rigid components which are connected through one or more sliding or rotating linkages. Examples include doors and drawers of cabinets and appliances; laptops; and swivel…