相关论文: ANN-based position and speed sensorless estimation…

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…

As robots shift from industrial to human-centered spaces, adopting mobile manipulators, which expand workspace capabilities, becomes crucial. In these settings, seamless interaction with humans necessitates compliant control. Two common…

A Feed Forward Error Back Propagation Artificial Neural Network(ANN) algorithm is developed for electron/positron identification in a wide momentum region (10 - 300 GeV/c). The method was proposed for the Transition Radiation Detector of…

We study methods to estimate drivers' posture in vehicles using acceleration data of wearable sensor and conduct field tests. To prevent fatal accidents, demands for safety management of bus and taxi are high. However, acceleration of…

In this paper, we propose a novel framework called rigid body localization for joint position and orientation estimation of a rigid body. We consider a setup in which a few sensors are mounted on a rigid body. The absolute position of the…

Most recently, machine learning has been used to study the dynamics of integrable Hamiltonian systems and the chaotic 3-body problem. In this work, we consider an intermediate case of regular motion in a non-integrable system: the behaviour…

Force and torque sensing is crucial in robotic manipulation across both collaborative and industrial settings. Traditional methods for dynamics identification enable the detection and control of external forces and torques without the need…

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…

For vehicles equipped with the automatic parking system, the accuracy and speed of the parking slot detection are crucial. But the high accuracy is obtained at the price of low speed or expensive computation equipment, which are sensitive…

Vertical turbine pumps in oil and gas operations rely on motor-mounted accelerometers for condition monitoring. However, these sensors cannot detect faults at submerged impellers exposed to harsh downhole environments. We present the first…

Training of convolutional neural networks (CNNs)on embedded platforms to support on-device learning is earning vital importance in recent days. Designing flexible training hard-ware is much more challenging than inference hardware, due to…

The development of Adaptive Cruise Control (ACC) systems aims to enhance the safety and comfort of vehicles by automatically regulating the speed of the vehicle to ensure a safe gap from the preceding vehicle. However, conventional ACC…

Acceleration of Convolutional Neural Network (CNN) on edge devices has recently achieved a remarkable performance in image classification and object detection applications. This paper proposes an efficient and scalable CNN-based SoC-FPGA…

Motion and dynamic environments, especially under challenging lighting conditions, are still an open issue for robust robotic applications. In this paper, we propose an end-to-end pipeline for real-time, low latency, 6 degrees-of-freedom…

As inverter-based loads and energy sources become increasingly prevalent, accurate estimation of line impedance between inverters and the grid is essential for optimizing performance and enhancing control strategies. This paper presents a…

High-fidelity numerical simulations of compressible flow past a rapidly rotating cylinder are used to investigate the evolution of aerodynamic loads and flow instability over a wide range of Reynolds numbers (Re = 1000 to 6000). The study…

Beam position monitor (BPM) can easily reinforce the handling of beam orbits and measure the absolute beam position [1]. Its data can be used to optimize and correct beam in both first turn and closed orbit mode. In order to set the…

Featuring the fast response and flexibility in control allocation, an electric vehicle with in-wheel motors is a good platform for implementing advanced vehicle dynamics control. Among many active safety functions of an in-wheel motor…

Over the last few decades, Gyro-Free IMUs have been extensively researched to overcome the limitations of gyroscopes. This research presents a Non-coplanar Accelerometer Array (NAA) for estimating angular velocity with non-specific…

Autonomous driving is an important trend of the automotive industry. The continuous research towards this goal requires a precise reference vehicle state estimation under all circumstances in order to develop and test autonomous vehicle…