... Soueres (France) M. Spong (USA) J. Stahre (Sweden) TJ Tarn (USA) K. Tenon (Poland) G. Ulivi (... more ... Soueres (France) M. Spong (USA) J. Stahre (Sweden) TJ Tarn (USA) K. Tenon (Poland) G. Ulivi (Italy) T. Yoshikawa (Japan) T ... Camera Configurations of a Visual Servoing Setup, for a 2 DOF Planar Robot 171 PJ SEQUEIRA GONgALVES, JR CALDAS PINTO Person Following ...
Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.
This paper presents a method which allows one to pass transversally through singularities of cora... more This paper presents a method which allows one to pass transversally through singularities of corank 1 for redundant manipulators. The method modifies a Jacobian matrix of the manipulator's forward kinematics to retrieve its full rank at singularities. The method is computationally inexpensive and conceptually simple. It is well suited for real time control and practical implementations. The method is illustrated with the example of a 3-link planar pendulum.
This paper proposes two methods to enhance traditional extended Kalman filter for UAV navigation.... more This paper proposes two methods to enhance traditional extended Kalman filter for UAV navigation. One is based on using fuzzy rules to choose parameters of an adaptive Kalman filter. The other uses inherent parallelism to speed up iterations in Kalman filter computations. Both methods are described briefly and simulation results are presented.
Mobile robot formations differ in accordance to the mission, environment and robot abilities. In ... more Mobile robot formations differ in accordance to the mission, environment and robot abilities. In the case of decentralized control, the ability to achieve the shapes of these formations needs to be built in the controllers of each autonomous robot. In this paper is investigated self-organizing formations control for material transfer, as an alternative to Automatic Guided Vehicles (AGVs). Leader-follower approach is applied for controllers design to drive the robots toward the goal. The results confirm the ability of velocity potential approach for motion control of both self-organizing formations.
Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334), 2000
In this paper, a class of MIMO systems is shown, for which the linearizing feedback can be evalua... more In this paper, a class of MIMO systems is shown, for which the linearizing feedback can be evaluated without prior solving partial equations. Every nonlinear component in the system of this class is separated from respective control signal by one equation. It is always possible to linearize two equations by every control. However, in this case, the remaining equations will be also linearized. This class of systems is relatively narrow, but it is often seen in thermal plants. The control of fluid flow usually incorporates a nonlinearity of product or square root type. These cases were studied by Bourles et al. (1997) and Bolek et al. (2000). In this paper, a model of a fossil-fuelled power plant is shown as an example.
AIAA Guidance, Navigation, and Control Conference and Exhibit, 2001
A Linear quadratic Gaussian (LQG) control scheme with either a regular extended Kalman filter (EK... more A Linear quadratic Gaussian (LQG) control scheme with either a regular extended Kalman filter (EKF) or a fuzzy logic adaptive EKF (FLAEKF) state estimator implemented in the control loop was used to control a two-link flexible robot manipulator tracking a square trajectory 12.6m x 12.6m. Simulations were performed to ascertain the extent of divergence that may develop in a regular EKF and how effectively a FLAEKF could reduce or eliminate this divergence. Trajectories were obtained using LQG with a regular EKF resulting in divergence according to the intensity of non-white process and measurement noise disturbances. They were compared to more precise trajectories obtained using LQG with a FLAEKF. The results confirm the ability of a FLAEKF state estimator to effectively correct divergence that would otherwise occur with a regular EKF state estimator and to maintain robot-tracking precision albeit at a greater computational time burden.
Room acoustics is currently achieved more based on acoustic expertise than on engineering design.... more Room acoustics is currently achieved more based on acoustic expertise than on engineering design. Among the reasons for this situation are the limitations due to acoustic measurements system design and the unsolved difficulties in solving inverse acoustic room problem given acoustic requirements. This paper investigates means for improving room acoustic measurement system design and for validating simulation approaches for room acoustics design
Abstract The paper presents a solution to dynamic calibration of sensors for precise remote monit... more Abstract The paper presents a solution to dynamic calibration of sensors for precise remote monitoring and control for teleoperation. The solution is based on the inverse dynamics of sensors and signal transmission system. The method is formulated theoretically, and then is exemplified for multi-sensor acceleration measurements. In the first example, robot arm control using joint acceleration feedback is analyzed for the case without and with dynamic calibration of sensors using inverse dynamics. In the second example, pure delay compensation is discussed for the case of INS and GPS signal fusion for flight control.
... Soueres (France) M. Spong (USA) J. Stahre (Sweden) TJ Tarn (USA) K. Tenon (Poland) G. Ulivi (... more ... Soueres (France) M. Spong (USA) J. Stahre (Sweden) TJ Tarn (USA) K. Tenon (Poland) G. Ulivi (Italy) T. Yoshikawa (Japan) T ... Camera Configurations of a Visual Servoing Setup, for a 2 DOF Planar Robot 171 PJ SEQUEIRA GONgALVES, JR CALDAS PINTO Person Following ...
Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.
This paper presents a method which allows one to pass transversally through singularities of cora... more This paper presents a method which allows one to pass transversally through singularities of corank 1 for redundant manipulators. The method modifies a Jacobian matrix of the manipulator's forward kinematics to retrieve its full rank at singularities. The method is computationally inexpensive and conceptually simple. It is well suited for real time control and practical implementations. The method is illustrated with the example of a 3-link planar pendulum.
This paper proposes two methods to enhance traditional extended Kalman filter for UAV navigation.... more This paper proposes two methods to enhance traditional extended Kalman filter for UAV navigation. One is based on using fuzzy rules to choose parameters of an adaptive Kalman filter. The other uses inherent parallelism to speed up iterations in Kalman filter computations. Both methods are described briefly and simulation results are presented.
Mobile robot formations differ in accordance to the mission, environment and robot abilities. In ... more Mobile robot formations differ in accordance to the mission, environment and robot abilities. In the case of decentralized control, the ability to achieve the shapes of these formations needs to be built in the controllers of each autonomous robot. In this paper is investigated self-organizing formations control for material transfer, as an alternative to Automatic Guided Vehicles (AGVs). Leader-follower approach is applied for controllers design to drive the robots toward the goal. The results confirm the ability of velocity potential approach for motion control of both self-organizing formations.
Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334), 2000
In this paper, a class of MIMO systems is shown, for which the linearizing feedback can be evalua... more In this paper, a class of MIMO systems is shown, for which the linearizing feedback can be evaluated without prior solving partial equations. Every nonlinear component in the system of this class is separated from respective control signal by one equation. It is always possible to linearize two equations by every control. However, in this case, the remaining equations will be also linearized. This class of systems is relatively narrow, but it is often seen in thermal plants. The control of fluid flow usually incorporates a nonlinearity of product or square root type. These cases were studied by Bourles et al. (1997) and Bolek et al. (2000). In this paper, a model of a fossil-fuelled power plant is shown as an example.
AIAA Guidance, Navigation, and Control Conference and Exhibit, 2001
A Linear quadratic Gaussian (LQG) control scheme with either a regular extended Kalman filter (EK... more A Linear quadratic Gaussian (LQG) control scheme with either a regular extended Kalman filter (EKF) or a fuzzy logic adaptive EKF (FLAEKF) state estimator implemented in the control loop was used to control a two-link flexible robot manipulator tracking a square trajectory 12.6m x 12.6m. Simulations were performed to ascertain the extent of divergence that may develop in a regular EKF and how effectively a FLAEKF could reduce or eliminate this divergence. Trajectories were obtained using LQG with a regular EKF resulting in divergence according to the intensity of non-white process and measurement noise disturbances. They were compared to more precise trajectories obtained using LQG with a FLAEKF. The results confirm the ability of a FLAEKF state estimator to effectively correct divergence that would otherwise occur with a regular EKF state estimator and to maintain robot-tracking precision albeit at a greater computational time burden.
Room acoustics is currently achieved more based on acoustic expertise than on engineering design.... more Room acoustics is currently achieved more based on acoustic expertise than on engineering design. Among the reasons for this situation are the limitations due to acoustic measurements system design and the unsolved difficulties in solving inverse acoustic room problem given acoustic requirements. This paper investigates means for improving room acoustic measurement system design and for validating simulation approaches for room acoustics design
Abstract The paper presents a solution to dynamic calibration of sensors for precise remote monit... more Abstract The paper presents a solution to dynamic calibration of sensors for precise remote monitoring and control for teleoperation. The solution is based on the inverse dynamics of sensors and signal transmission system. The method is formulated theoretically, and then is exemplified for multi-sensor acceleration measurements. In the first example, robot arm control using joint acceleration feedback is analyzed for the case without and with dynamic calibration of sensors using inverse dynamics. In the second example, pure delay compensation is discussed for the case of INS and GPS signal fusion for flight control.
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