Related papers: On the effects of angular acceleration in orientat…

The rigid-body attitude tracking using vector and biased gyro measurements with unknown inertia matrix is studied in this note. First, a gyro-bias observer with global exponential stability is designed. Then, an attitude tracking controller…

Sensitive and accurate rotation sensing is a critical requirement for applications such as inertial navigation [1], north-finding [2], geophysical analysis [3], and tests of general relativity [4]. One effective technique used for rotation…

In many contexts the modal properties of a structure change, either due to the impact of a changing environment, fatigue, or due to the presence of structural damage. For example during flight, an aircraft's modal properties are known to…

Attitude estimation for small, low-cost unmanned aerial vehicles is often achieved using a relatively simple complementary filter that combines onboard accelerometers, gyroscopes, and magnetometer sensing. This paper explores the limits of…

It is known that adaptive optimization algorithms represent the key pillar behind the rise of the Machine Learning field. In the Optimization literature numerous studies have been devoted to accelerated gradient methods but only recently…

High-fidelity physics simulations are powerful tools in the design and optimization of charged particle accelerators. However, the computational burden of these simulations often limits their use in practice for design optimization and…

This paper deals with the problem of full state estimation for vehicles navigating in a three dimensional space. We assume that the vehicle is equipped with an Inertial Measurement Unit (IMU) providing body-frame measurements of the angular…

Knowledge of how a body is oriented relative to the world is frequently invaluable information in the field of robotics. An attitude estimator that fuses 3-axis gyroscope, accelerometer and magnetometer data into a quaternion orientation…

In the presence of Earth gravity and gravity-gradient forces, centrifugal and Coriolis forces caused by the Earth rotation, the phase of the time-domain atom interferometers is calculated with accuracy up to the terms proportional to the…

Strapdown inertial navigation systems are sensitive to the quality of the data provided by the accelerometer and gyroscope. Low-grade IMUs in handheld smart-devices pose a problem for inertial odometry on these devices. We propose a scheme…

Carouseling is an efficient method to mitigate the measurement errors of inertial sensors, particularly MEMS gyroscopes. In this article, the effect of carouseling on the most significant stochastic error processes of a MEMS gyroscope,…

Measurements and analysis of orbit response matrix have been providing for decades a formidable tool in the detection of linear lattice imperfections and their correction. Basically all storage-ring-based synchrotron light sources across…

Elongated anisotropic Gaussian filters are used for the orientation estimation of fibers. In cases where computed tomography images are noisy, roughly resolved, and of low contrast, they are the method of choice even if being efficient only…

We propose a framework for inversion-based estimation of certain categories of faults in discrete-time linear systems. The fault signal, as an unknown input, is reconstructed from its projections onto two subspaces. One projection is…

In a posteriori error analysis, the relationship between error and estimator is usually spoiled by so-called oscillation terms, which cannot be bounded by the error. In order to remedy, we devise a new approach where the oscillation has the…

Some of the most prominent theoretical predictions of modern times, e.g., the Unruh effect, Hawking radiation, and gravity-assisted particle creation, are supported by the fact that various quantum constructs like particle content and…

Underactuated systems like sea vessels have degrees of motion that are insufficiently matched by a set of independent actuation forces. In addition, the underlying trajectory-tracking control problems grow in complexity in order to decide…

Attitude estimation is often a prerequisite for control of the attitude or orientation of mechanical systems. Current attitude estimation algorithms use coordinate representations for the group of rigid body orientations. All coordinate…

The measurement of an electromagnetic radiation field by a linearly accelerated observer is discussed. The nonlocality of this process is emphasized. The nonlocal theory of accelerated observers is briefly described and the consequences of…

Using weak values amplification angular resolution limits, we theoretically investigate the gravitational sensing of objects. By inserting a force-sensing pendulum into a weak values interferometer, the optical response can sense…