Related papers: Novel Force Estimation-based Bilateral Teleoperati…
Retrieving rich contact information from robotic tactile sensing has been a challenging, yet significant task for the effective perception of object properties that the robot interacts with. This work is dedicated to developing an algorithm…
The use of terahertz (THz) communications with massive multiple input multiple output (MIMO) systems in 6G can potentially provide high data rates and low latency communications. However, accurate channel estimation in THz frequencies…
This paper introduces a generic filter-based state estimation framework that supports two state-decoupling strategies based on cross-covariance factorization. These strategies reduce the computational complexity and inherently support true…
Observers for PDEs are themselves PDEs. Therefore, producing real time estimates with such observers is computationally burdensome. For both finite-dimensional and ODE systems, moving-horizon estimators (MHE) are operators whose output is…
In this paper, we propose a new paradigm of fault diagnosis in dynamic systems as an alternative to the well-established observer-based framework. The basic idea behind this work is to (i) formulate fault detection and isolation as…
Traffic state estimation (TSE) falls methodologically into three categories: model-driven, data-driven, and model-data dual-driven. Model-driven TSE relies on macroscopic traffic flow models originated from hydrodynamics. Data-driven TSE…
Several recent studies have demonstrated the promise of deep visuomotor policies for robot manipulator control. Despite impressive progress, these systems are known to be vulnerable to physical disturbances, such as accidental or…
The internal state of a dynamical system, a set of variables that defines its evolving configuration, is often hidden and cannot be fully measured, posing a central challenge for real-time monitoring and control. While observers are…
The performance of on telescope depend strongly on its operating conditions. During pointing the telescope can move at a relatively high velocity, and the system can tolerate trajectory position errors higher than during tracking. On the…
In the realm of multimodal data integration, feature alignment plays a pivotal role. This paper introduces an innovative approach to feature alignment that revolutionizes the fusion of multimodal information. Our method employs a novel…
Accurate pose and velocity estimation is essential for effective spatial task planning in robotic manipulators. While centralized sensor fusion has traditionally been used to improve pose estimation accuracy, this paper presents a novel…
Optimisation-based algorithms known as Moving Horizon Estimator (MHE) have been developed through the years. This paper illustrates the implementation of the policy introduced in the companion paper submitted to the 18th IFAC Workshop on…
Utilizing highly synchronized measurements from synchrophasors, dynamic state estimation (DSE) can be applied for real-time monitoring of smart grids. Concurrent DSE studies for power systems are intolerant to unknown inputs and potential…
The paper presents a new stiffness modelling method for multi-chain parallel robotic manipulators with flexible links and compliant actuating joints. In contrast to other works, the method involves a FEA-based link stiffness evaluation and…
In bilateral teleoperation, the human who operates the master and the environment which interacts with the slave are part of the force feedback loop. Yet, both have time-varying and unpredictable dynamics and are challenging to model. A…
A globally exponentially stable speed observer for mechanical systems was recently reported in the literature, under the assumptions of known (or no) Coulomb friction and no disturbances. In this note we propose and adaptive version of this…
Dynamical models are often corrupted by model uncertainties, external disturbances, and measurement noise. These factors affect the performance of model-based observers and as a result, affect the closed-loop performance. Therefore, it is…
This paper formalises the concepts of weakly and weakly regularly persistent input trajectory as well as their link to the Observability Grammian and the existence and uniqueness of solutions of Moving Horizon Estimation (MHE) problems.…
The Koopman operator approach to the state estimation problem for nonlinear systems is a promising research area. The main goal of this paper is an attempt to provide a rigorous theoretical framework for this approach. In particular, the…
A properly designed handoff algorithm is essential in reducing the connection quality deterioration when a mobile node moves across the cell boundaries. Therefore, to improve communication quality, we identified three goals in our paper.…