The problem of localization is well known in mobile robotics. A solution is to use a model-based technique such as a kalman filter with multi sensor data fusion. For a car-like mobile robot, the nonlinear dynamic model is suitable for robot movement representation. This work presents the discrete extended kalman filter including a nonlinear dynamic model for the mobile robot localization. As in...

LHD (load-haul-dump) vehicles are used extensively in underground mining operations for ore transporting, primarily in tunnels where access is difficult or dangerous. To ensure underground efficient and safe LHD’s performance, a robust feedback control strategy is needed. A state estimation based MPC scheme was designed for control purposes, and evaluated by simulation. The state estimator was ...

This application note investigates the design of analog filters that reduce the influence of extraneous noise in data acquisition systems. These types of systems primarily utilize low-pass filters, digital filters or a combination of both. With the analog low-pass filter, high frequency noise and interference can be removed from the signal path prior to the analog-to-digital (A/D) conversion. I...

This paper describes the design of a spectro-photo/radio-metric camera, that can be used in both portable and in-situ applications, whose compactness is made possible by a suitable image spectral scanning scheme based on a Linearly Variable Filter (LVF). Such filter is able to operate continuously from 400 nm to 2500 nm, allowing the hyper-spectral imaging from visible to near infrared. In trad...

In this paper accurate estimation of parameters, higher order state space prediction methods and Extended Kalman filter (EKF) for modeling shadow power in wireless mobile communications are developed. Path-loss parameter estimation models are compared and evaluated. Shadow power estimation methods in wireless cellular communications are very important for use in power control of mobile device a...

The utility and importance of symbolic analysis is well known in our area, i.e. Control Theory is not conceived without Mason’s Rule. This article remarks this importance with some novel applications. Basic applications are exposed, general filters based on OTA (Transconductance Operational Amplifiers) Gm-C applications are also presented, the article finishes with a Q enhancement filter design...

Improvement of Analog-to-Digital Converters testing method that is suitable for testing of high-resolution AD converters (e.g. Σ-∆ or dither-based) or on the contrary ultra high-speed AD converters is presented. The method is based on the histogram test driven by stochastic signal with defined probability density function. By repeating of the test for different settings of band-pass filter that...

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In this paper, the problem of robust filter design for networked systems with time-varying sampling rate is investigated. The design conditions are obtained by using the Lyapunov theory and the Finsler’s Lemma. A robust filter, that minimizes an upper bound to the H∞ performance of the estimation error, is obtained as the solution of an optimization problem. A path-dependent Lyapunov function i...

An analytical technique for extracting phase, visibility, and amplitude information as needed for interferometric astrometry for the Space Interferometry Mission (SIM) is presented. This model accounts for a number of physical and instrumental effects and is valid for the general case of a bandpass filter. I was able to obtain a general solution for polychromatic phasors and to address the prop...