Related papers: Rapid and Inexpensive Inertia Tensor Estimation fr…
We present a novel algorithm for online, real-time orientation estimation. Our algorithm integrates gyroscope data and corrects the resulting orientation estimate for integration drift using accelerometer and magnetometer data. This…
Bodies with the nonspherical tensor of inertia exhibit a variety of rotational motion patterns, including chaotic motion, stable periodic (quasi-periodic) rotation, unstable rotation around the direction close to the body's second principal…
We demonstrate that, under orthographic projection and with a camera fixated on a point located on a rigid body, the rotation of that body can be analytically obtained by tracking only one other feature in the image. With some exceptions,…
The purpose of this paper is to characterize aiming errors in controlled weapon systems given target location as input. To achieve this objective, we analyze the accuracy of a controlled weapon system model for stationary and moving targets…
The increasing penetration of power-electronic-interfaced devices is expected to have a significant effect on the overall system inertia and a crucial impact on the system dynamics. In the future, the reduction of inertia will have drastic…
We study signatures of physical constraints on free rotations of rigid bodies. We show analytically that the physical or non-physical nature of the moments of inertia of a system can be detected by qualitative changes both in the Montgomery…
User's mental state is concerned gradually, during the interaction course of human robot. As the measurement and identification method of psychological state, tension, has certain practical significance role. At presents there is no…
We describe a torsion pendulum with a large mass-quadrupole moment and a resonant frequency of 2.8 mHz, whose angle is measured using a modified Michelson interferometer. The system achieved noise levels of $\sim200\…
A metric representing a slowly rotating object with quadrupole moment is obtained using a perturbation method to include rotation into the weak limit of the Erez-Rosen metric. This metric is intended to tackle relativistic astrometry and…
This paper presents an efficient servomotor-aided calibration method for the triaxial gyroscope. The entire calibration process only requires approximately one minute, and does not require high-precision equipment. This method is based on…
The reduction of overall system inertia in modern power systems due to the increasing deployment of distributed energy resources is generally recognized as a major issue for system stability. Consequently, real-time monitoring of system…
Rotational displacement about the grasping point is a common grasp failure when an object is grasped at a location away from its center of gravity. Tactile sensors with soft surfaces, such as GelSight sensors, can detect the rotation…
The attitude of a rigid body evolves on the three-dimensional special orthogonal group, and it is often estimated by measuring reference directions, such as gravity or magnetic field, using an onboard sensor. As a single direction…
A four mass torsion pendulum facility for testing of the LISA GRS is under development in Trento. With a LISA-like test mass suspended off-axis with respect to the pendulum fiber, the facility allows for a direct measurement of surface…
Methods are presented for measuring thrust using common force sensors and data acquisition to construct a dynamic force plate. A spreadsheet can be used to compute trajectory by integrating the equations of motion numerically. These…
We propose an under-ground experiment to detect the general relativistic effects due to the curvature of space-time around the Earth (de Sitter effect) and to rotation of the planet (dragging of the inertial frames or Lense-Thirring…
Traditional visual-inertial state estimation targets absolute camera poses and spatial landmark locations while first-order kinematics are typically resolved as an implicitly estimated sub-state. However, this poses a risk in velocity-based…
We report on the design and sensitivity of a new torsion pendulum for measuring the performance of ultra-precise inertial sensors and for the development of associated technologies for space-based gravitational wave observatories and…
A new scalar measure of the gyrotropy of a pressure tensor is defined. Previously suggested measures are shown to be incomplete by means of examples for which they give unphysical results. To demonstrate its usefulness as an indicator of…
Grasping compliant objects is difficult for robots - applying too little force may cause the grasp to fail, while too much force may lead to object damage. A robot needs to apply the right amount of force to quickly and confidently grasp…