相关论文: Online 3-Axis Magnetometer Hard-Iron and Soft-Iron…
Magnetic levitation positioning technology has attracted considerable research efforts and dedicated attention due to its extremely attractive features. The technology offers high-precision, contactless, dust/lubricant-free, multi-axis, and…
With robots increasingly operating in human-centric environments, ensuring soft and safe physical interactions, whether with humans, surroundings, or other machines, is essential. While compliant hardware can facilitate such interactions,…
In the present work we develop an algorithm for calibrating MEMS sensors, which accounts for the nonorthogonality of the accelerometers' axis, as well as for the constant bias and scaling errors. We derive an explicit formula for computing…
This paper proposes a novel hybrid control framework for switched linear parameter-varying (LPV) systems under hysteresis switching logic. By introducing a controller state-reset mechanism, the hybrid LPV synthesis problem is reformulated…
This work presents approaches for the estimation of quantities important for the control of the momentum of a humanoid robot. In contrast to previous approaches which use simplified models such as the Linear Inverted Pendulum Model, we…
This work aims efficiently estimating the posterior distribution of kinetic parameters for dynamic positron emission tomography (PET) imaging given a measurement of time of activity curve. Considering the inherent information loss from…
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…
This paper presents a vision-based sensing approach for a soft linear actuator, which is equipped with an integrated camera. The proposed vision-based sensing pipeline predicts the three-dimensional position of a point of interest on the…
Velocity estimation is a core component of state estimation and sensor fusion pipelines in mobile robotics and autonomous ground systems, directly affecting navigation accuracy, control stability, and operational safety. In conventional…
Magnetic field errors pose a limitation in the performance of synchrotrons, as they excite non-systematic resonances, reduce dynamic aperture and may result in beam loss. Their effect can be compensated assuming knowledge of their location…
Magnet errors in storage rings significantly degrade beam performance, impacting the brightness and stability of the light source. Therefore, beam-based correction is crucial for the safe operation of machines and the stability of radiated…
In recent years, MEMS inertial sensors (3D accelerometers and 3D gyroscopes) have become widely available due to their small size and low cost. Inertial sensor measurements are obtained at high sampling rates and can be integrated to obtain…
In millimeter-wave (mmWave) communications, directional transmission based on beamforming is important to compensate for high pathloss. To maintain the desired direction transmission gain, beam scanning that involves the transmitter sending…
A yoke-based permanent magnet, which has been employed in many watt balances at national metrology institutes, is supposed to generate strong and uniform magnetic field in an air gap in the radial direction. However, in reality the fringe…
This paper presents a novel robust online calibration framework for Ultra-Wideband (UWB) anchors in UWB-aided Visual-Inertial Navigation Systems (VINS). Accurate anchor positioning, a process known as calibration, is crucial for integrating…
We consider the channel estimation problem in point-to-point reconfigurable intelligent surface (RIS)-aided millimeter-wave (mmWave) MIMO systems. By exploiting the low-rank nature of mmWave channels in the angular domains, we propose a…
The manifold extended Kalman filter (Manifold EKF) has found extensive application for attitude determination. Magnetometers employed as sensors for such attitude determination are easily prone to disturbances by their sensitivity to…
In this work, we study angle-based localization and rigidity maintenance control for multi-robot networks. First, we establish the relationship between angle rigidity and bearing rigidity considering \textit{directed} sensing graphs and…
Inertial measurement unit (IMU)-based 3-DoF angle estimation methods for lower limb joints have been studied for decades, however the calibration motions and/or careful sensor placement are still necessary due to challenges of real-time…
The inherently low signal-to-noise ratio of NMR and MRI is now being addressed by hyperpolarization methods. For example, iridium-based catalysts that reversibly bind both parahydrogen and ligands in solution can hyperpolarize protons…