Identifiability is important to guarantee convergence in system identification applications, and observability is important in applications such as control and diagnosis. In this paper, recent results on analysis of nonlinear differentialalgebraic equations are used to derive criteria for local identifiability and local weak observability for such models. The criteria are based on rank tests. E...

 The above-mentioned work [1] presented an extended Kalman filter for calibrating the misalignment between a camera and an IMU. As one of the main contributions, the locally weakly observable analysis was carried out using Lie derivatives. The seminal paper [1] is undoubtedly the cornerstone of current observability work in SLAM and a number of real SLAM systems have been developed on the obse...

In the paper by Vaclavek et al. (IEEE Trans. Ind. Electron., vol. 60, no. 8, pp. 3047-3059, Aug. 2013), the local observability of both induction machine and permanent magnet synchronous machine under motion sensorless operation is studied. In this letter, the “slowly varying” speed assumption is discussed, and the permanent magnet synchronous machine observability condition at standstill is re...

Real-time motion tracking of kinematic chains is a key prerequisite in the control of, e.g., robotic actuators and autonomous vehicles also has numerous biomechanical applications. In recent years, it been shown that, by placing inertial sensors on segments that are connected rotational joints, chain can be tracked accurately. These methods specifically avoid using magnetometer measurements, wh...

We de$ne a measure of “observability” of robot motion that can be used in evaluating a hand/eye set-up with respect to the ease of achieving vision-based control. This eztends the analysis of “manipulability” of a robotic mechanism in [9] to incorporate the effect of visual features. We discuss how the observability measure can be applied for active camera placement and for robot tmjectory plan...

Title of dissertation: OBSERVABILITY-BASED SAMPLING AND ESTIMATION OF FLOWFIELDS USING MULTI-SENSOR SYSTEMS Levi D. DeVries, Doctor of Philosophy, 2014 Dissertation directed by: Professor Derek A. Paley Department of Aerospace Engineering The long-term goal of this research is to optimize estimation of an unknown flowfield using an autonomous multi-vehicle or multi-sensor system. The specific r...

This paper examines the problem of relative attitude observability for formations of three, four and five vehicle formations. The analysis is rooted in within the principles of maximum likelihood estimation insomuch as the metric for observability is the resulting Fisher information matrix for the small attitude errors. For formations of three and four vehicles it is shown that the relative att...