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Atom interferometers have been used to measure acceleration with at best a $T^2$ scaling in sensitivity as the interferometer time $T$ is increased. This limits the sensitivity to acceleration which is theoretically achievable by these…
To measure oscillation of a simple pendulum was probably a first idea coming to mind after appearance of smartphones with small but powerful acceleration sensors~: Simply attach the telephone to a playground swing or hang it on two string…
For autonomous driving or advanced driving assistance, it is key to monitor the vehicle dynamics behavior. Accurate models of this behavior include acceleration, but also the side-slip angle, that eventually results from the complex…
This paper proposes a qualitative analysis to the simple harmonic motion for students who are not mathematically well-prepared. It uses the variation in speed and acceleration to sketch the velocity-time curve. The curve appears to be…
The main advantage of an atomic accelerometer when compared to a classical accelerometer is negligible bias drift, allowing for stable long-term measurements, which opens the potential application in navigation. This negligible drift arises…
Localization using a single range anchor combined with onboard optical-inertial odometry offers a lightweight solution that provides multidimensional measurements for the positioning of unmanned aerial vehicles. Unfortunately, the…
This paper describes the synthesis and evaluation of a novel state estimator for a Quadrotor Micro Aerial Vehicle. Dynamic equations which relate acceleration, attitude and the aero-dynamic propeller drag are encapsulated in an extended…
To take sample biases and skewness in the observations into account, practitioners frequently weight their observations according to some marginal distribution. The present paper demonstrates that such weighting can indeed improve the…
This paper introduces our methodology to estimate sidewalk accessibilities from wheelchair behavior via a triaxial accelerometer in a smartphone installed under a wheelchair seat. Our method recognizes sidewalk accessibilities from…
For real symmetric matrices that are accessible only through matrix vector products, we present Monte Carlo estimators for computing the diagonal elements. Our probabilistic bounds for normwise absolute and relative errors apply to Monte…
In this paper, we study methods to estimate drivers' posture in vehicles using acceleration data of wearable sensor and conduct a field test. Recently, sensor technologies have been progressed. Solutions of safety management to analyze…
Straight lines are common features in human made environments, which makes them a frequently explored feature for control applications. Many control schemes, like Visual Servoing, require the 3D parameters of the features to be estimated.…
Radar sensors have become an important part of the perception sensor suite due to their long range and their ability to work in adverse weather conditions. However, several shortcomings such as large amounts of noise and extreme sparsity of…
BLDC motor applications require precise position and speed measurements, traditionally obtained with sensors. This article presents a method for estimating those measurements without position sensors using terminal phase voltages with…
Application of the minimum distance method to the linear regression model for estimating regression parameters is a difficult and time-consuming process due to the complexity of its distance function, and hence, it is computationally…
To navigate in an environment safely and autonomously, robots must accurately estimate where obstacles are and how they move. Instead of using expensive traditional 3D sensors, we explore the use of a much cheaper, faster, and higher…
It has previously been shown that ordinary least squares can be used to estimate the coefficients of the single-index model under only mild conditions. However, the estimator is non-robust leading to poor estimates for some models. In this…
We consider the problem of estimating the slope parameter in functional linear regression, where scalar responses Y1,...,Yn are modeled in dependence of second order stationary random functions X1,...,Xn. An orthogonal series estimator of…
Accurate and reliable navigation is essential for autonomous ground vehicle operations. Standard INS/GNSS fusion relies on GNSS position updates, which provide limited observability of orientation and inertial sensor error states,…
Accurate disturbance estimation is crucial for reliable robotic physical interaction. To estimate environmental interference in a low-cost and sensorless way (without force sensor), a variety of tightly-coupled visual inertial external…