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Safety and automatic control are extremely important when operating manipulators. For large engineering manipulators, the main challenge is to accurately recognize the posture of all arm segments. In classical sensing methods, the accuracy…

We present a small autonomous vehicle, with the purpose of aiding teachers and researchers to easily deploy different approaches to guidance, control and positioning systems, without the hassle to develop the entire modules required for…

In continuum robotics, real-time robust shape estimation is crucial for planning and control tasks that involve physical manipulation in complex environments. In this paper, we present a novel stochastic observer-based shape estimation…

Global navigation satellite systems readily provide accurate position information when localizing a robot outdoors. However, an analogous standard solution does not exist yet for mobile robots operating indoors. This paper presents an…

Over the past decades, industrial manipulators play a vital role in in various fields, like aircraft manufacturing and automobile manufacturing. However, an industrial manipulator without calibration suffers from its low absolute…

When tracking a target particle that is interacting with nearest neighbors in a known way, positional data of the neighbors can be used to improve the state estimate. Effects of the accuracy of such positional data on the target track…

Accurate estimation of the position of network nodes is essential, e.g., in localization, geographic routing, and vehicular networks. Unfortunately, typical positioning techniques based on ranging or on velocity and angular measurements are…

Input estimation is a signal processing technique associated with deconvolution of measured signals after filtering through a known dynamic system. Kitanidis and others extended this to the simultaneous estimation of the input signal and…

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…

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…

The choice of the location of controllers and observations is of great importance for designing control systems and improving the estimations in various practical problems. For time-varying systems in Hilbert spaces, the existence and…

In this paper we describe improvements to the particle swarm optimizer (PSO) made by inclusion of an unscented Kalman filter to guide particle motion. We demonstrate the effectiveness of the unscented Kalman filter PSO by comparing it with…

This paper addresses the problem of selecting the minimum number of dedicated sensors to achieve observability in the presence of unknown inputs, namely, the state and input observability, for linear time-invariant systems. We assume that…

This paper considers the Linear Minimum Variance recursive state estimation for the linear discrete time dynamic system with random state transition and measurement matrices, i.e., random parameter matrices Kalman filtering. It is shown…

In this paper we present the statistical analysis of data from inexpensive sensors. We also present the performance of machine learning algorithms when used for automatic calibration such sensors. In this we have used low-cost…

To build commercial robots, skid-steering mechanical design is of increased popularity due to its manufacturing simplicity and unique mechanism. However, these also cause significant challenges on software and algorithm design, especially…

Vision-aided localization for low-cost mobile robots in diverse environments has attracted widespread attention recently. Although many current systems are applicable in daytime environments, nocturnal visual localization is still an open…

Realizing high-throughput aberration-corrected Scanning Transmission Electron Microscopy (STEM) exploration of atomic structures requires rapid tuning of multipole probe correctors while compensating for the inevitable drift of the optical…

Inspecting petrochemical pipelines is challenging due to hazardous materials, narrow diameters, and inaccessible locations. Mobile robots are promising for autonomous pipeline inspection and mapping. This project aimed to simulate and…

This paper discusses an innovative adaptive heterogeneous fusion algorithm based on estimation of the mean square error of all variables used in real time processing. The algorithm is designed for a fusion between derivative and absolute…