Related papers: Angular Velocity Estimation using Non-coplanar Acc…
We propose a novel angular velocity estimation method to increase the robustness of Simultaneous Localization And Mapping (SLAM) algorithms against gyroscope saturations induced by aggressive motions. Field robotics expose robots to various…
This paper presents the design, simulation, and analytical modeling of the single proposed axis MEMSbased capacitive accelerometer. Analytical modeling has been done for frequency and displacement sensitivity. The performance of the…
This paper considers the problem of direction-of-arrival (DOA) estimation of coherent signals on passive coprime arrays, where we resort to the fourth-order cumulants of the received signal to explore more information. A fourth-order…
Most sensor calibrations rely on the linearity and steadiness of their response characteristics, but practical sensors are nonlinear, and their response drifts with time, restricting their choices for adoption. To broaden the realm of…
We employ the circular cumulant approach to construct a low dimensional description of the macroscopic dynamics of populations of phase oscillators (elements) subject to non-Gaussian white noise. Two-cumulant reduction equations for…
Spatial frequency estimation from a mixture of noisy sinusoids finds applications in various fields. While subspace-based methods offer cost-effective super-resolution parameter estimation, they demand precise array calibration, posing…
In this paper, a fast algorithm for the Direction Of Arrival (DOA) estimation of radiating sources, based on partial covariance matrix and without eigende- composition of incoming signals is extended to two dimensional problem of joint…
Mobility in urban and interurban areas, mainly by cars, is a day-to-day activity of many people. However, some of its main drawbacks are traffic jams and accidents. Newly made vehicles have pre-installed driving evaluation systems, which…
This paper presents a state- and control-dependent moving-horizon estimation (SCD-MHE) algorithm for nonlinear discrete-time systems. Within this framework, a pseudo-linear representation of nonlinear dynamics is leveraged utilizing state-…
Long-term inertial navigation is currently limited by the bias drifts of gyroscopes and accelerometers and ultra-stable cold-atom interferometers offer a promising alternative for the next generation of high-end navigation systems. Here, we…
This article proposes an inertial navigation algorithm intended to lower the negative consequences of the absence of GNSS (Global Navigation Satellite System) signals on the navigation of autonomous fixed wing low SWaP (Size, Weight, and…
We propose a new method for testing antenna arrays that records the radiating electromagnetic (EM) field using an absorbing material and evaluating the resulting thermal image series through an AI using a conditional encoder-decoder model.…
This study presents the design, fabrication, and test of a micro accelerometer with intrinsic processing capabilities, that integrates the functions of sensing and computing in the same MEMS. The device consists of an inertial mass…
Quantum annealing is a powerful alternative model for quantum computing, which can succeed in the presence of environmental noise even without error correction. However, despite great effort, no conclusive proof of a quantum speedup…
Euler's Elastica based unsupervised segmentation models have strong capability of completing the missing boundaries for existing objects in a clean image, but they are not working well for noisy images. This paper aims to establish a…
The state-of-the-art accelerators for Convolutional Neural Networks (CNNs) typically focus on accelerating only the convolutional layers, but do not prioritize the fully-connected layers much. Hence, they lack a synergistic optimization of…
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…
In this paper, we investigate the inconsistency problem arising from observability mismatch that frequently occurs in nonlinear systems such as multi-robot cooperative localization and simultaneous localization and mapping. For a general…
Ego-velocity estimation from point cloud measurements of a millimeter-wave frequency-modulated continuous wave (mmWave FMCW) radar has become a crucial component of radar-inertial odometry (RIO) systems. Conventional approaches often…
Robust and accurate acceleration tracking remains a challenge in many fields. For geophysics and economic geology, precise gravity mapping requires onboard sensors combined with accurate positioning and navigation systems. Cold-atom-based…