Abstract: Kalman filter is a well known adaptive filtering Algorithm, widely used for target tracking applications. When the system model and measurements are non linear, variation of Kalman filter like extended Kalman filter (EKF) is used. For obtaining reliable estimate of the target state, filter has to be tuned before the operation (off line).Tuning an EKF is the process of estimation of th...

This paper presents an experimental study on impedance control in both Cartesian and object level with adaptive friction compensation for dexterous robot hand based on joint torque feedback. To adaptively decrease the effects of high friction caused by complex transmission systems and joint coupling, a friction observer is proposed based on the extended Kalman filter (EKF) in this paper. A Cart...

[l] R. E. Kalman, “A new approach to linear filtering and prediction problems,” J. Basic Eng., Tram. ASME, pp. 35-45, Mar. 1960. [2] C. K. Chui and G. Chen, Kalrnun Filtering with Real-Time Applications. New York: Springer-Verlag. 1987. [3] L. Ljung, “Asymptotic behavior of the extended Kalman filter as a parameter estimator for linear systems,” IEEE Trans. Automat. Conrr., vol. 24, no. 1. pp. ...

Load forecasting allows for the utilities to plan their operations to serve their customers with more reliable and economical electric power. With the developments in computer and information technology new techniques to accurately forecast power system loading are emerging. This research culminates in development of modified algorithms for short-term load forecasting (STLF) of a utility grade ...

Map-Based Localization approaches use a local map of the sensed environment that is matched against a previously stored map to correct the robot localization in the world. In many cases these methods are based on a probabilistic representation of the spatial uncertainty and use the Kalman Filter (KF) or the Extended Kalman Filter (EKF) to update the robot’s location estimation. On the other han...

To solve the unavailability of a traditional strapdown inertial navigation system (SINS) for unmanned underwater vehicles (UUVs) in the polar region, a polar grid navigation algorithm for UUVs is proposed in this paper. Precise navigation is the basis for UUVs to complete missions. The rapid convergence of Earth meridians and the serious polar environment make it difficult to establish the true...