Traditionally, the automotive industry has been the largest employer of robots, but their control is inline and programmed to follow planning trajectories. In this case, in the motor's department test of Volskwagen México a semi autonomous robot is developed to generally purpose. Some critical technical problems must be solved in a number of areas, including in dynamics and control. Generally, ...

In the several past years, Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF) havebecame basic algorithm for state-variables and parameters estimation of discrete nonlinear systems.The UKF has consistently outperformed for estimation. Sometimes least estimation error doesn't yieldwith UKF for the most nonlinear systems. In this paper, we use a new approach for a two variablestate no...

Finding the mean (average) of n arbitrary 3D rotations or orientations is conceptually challenging both in its algebra and its geometric interpretation. To my knowledge, no solutions have been found for the general case, although a number of approximate solutions have been proposed [3, 4, 5] to accurately and e ciently handle those limiting cases typical of engineering interest. This report pro...

In this chapter, the problem of quaternion beamformer based on linear and widely linear hypercomplex processing is investigated in scenarios, where there exist one signal and one interference that are uncorrelated. First, we introduce brief information about the quaternion algebra and a quaternion model of linear symmetric array with twocomponent electromagnetic (EM) vector-sensors is presented...

We propose a general paradigm for generating optimal coordinate frame fields that may be exploited to annotate and display curves and surfaces. Parallel-transport framings, which work well for open curves, generally fail to have desirable properties for cyclic curves and for surfaces. We suggest that minimal quaternion measure provides an appropriate generalization of parallel transport. Our fu...

In this article, the optimal attitude consensus control problem of distributed spacecraft formation through local information exchange is solved in presence parameter uncertainty and disturbance. The dynamics model rigid established based on unit quaternion under an undirected graph. Then, scheme Lyapunov functions adopted for formation. approach to construct appropriate function multiple devel...

This paper presents the Application of Quaternion Neural Network (QNN) to Electromyography (EMG) based Estimation of Forearm Motion. Motion of human body can be modeled as a set of rotations in three-dimensional space by various joints. The aim of this research is to show the efficiency of QNN in estimation from EMG. We are trying to learn, estimate and simulate combined motion using QNN as wel...

Recent developments in quaternion-valued widely linear processing have established that the exploitation of complete second-order statistics requires consideration of both the standard covariance and the three complementary covariance matrices. Although such matrices have a tremendous amount of structure and their decomposition is a powerful tool in a variety of applications, the noncommutative...

Attitude estimation is a core problem in many robotic systems that perform automated or semi automated navigation. The configuration space of the attitude motion is naturally modelled on the Lie group of special orthogonal matrices SO(3). Many current attitude estimation methods are based on non-matrix parameterization of attitude. Non-matrix parameterization schemes sometimes lead to modelling...