Attitude Estimation and Control Using Linear-Like Complementary Filters: Theory and Experiment

This paper proposes new algorithms for attitude estimation and control based on fused inertial vector measurements using linear complementary filters principle. First, n-order direct and passive complementary filters combined with TRIAD algorithm are proposed to give attitude estimation solutions. These solutions which are efficient with respect to noise include the gyro bias estimation. Thereafter, the same principle of data fusion is used to address the problem of attitude tracking based on inertial vector measurements. Thus, instead of using noisy raw measurements in the control law a new solution of control that includes a linear-like complementary filter to deal with the noise is proposed. The stability analysis of the tracking error dynamics based on LaSalle's invariance theorem proved that almost all trajectories converge asymptotically to the desired equilibrium. Experimental results, obtained with DIY Quad equipped with the APM2.6 auto-pilot, show the effectiveness and the performance of the proposed solutions.Comment: Submitted for Journal publication on March 09, 2015. Partial results related to this work have been presented in IEEE-ROBIO-201

Synergy between optical and microwave remote sensing to derive soil and vegetation parameters from MAC Europe 1991 Experiment

The ability of remote sensing for monitoring vegetation density and soil moisture for agricultural applications is extensively studied. In optical bands, vegetation indices (NDVI, WDVI) in visible and near infrared reflectances are related to biophysical quantities as the leaf area index, the biomass. In active microwave bands, the quantitative assessment of crop parameters and soil moisture over agricultural areas by radar multiconfiguration algorithms remains prospective. Furthermore the main results are mostly validated on small test sites, but have still to be demonstrated in an operational way at a regional scale. In this study, a large data set of radar backscattering has been achieved at a regional scale on a French pilot watershed, the Orgeval, along two growing seasons in 1988 and 1989 (mainly wheat and corn). The radar backscattering was provided by the airborne scatterometer ERASME, designed at CRPE, (C and X bands and HH and VV polarizations). Empirical relationships to estimate water crop and soil moisture over wheat in CHH band under actual field conditions and at a watershed scale are investigated. Therefore, the algorithms developed in CHH band are applied for mapping the surface conditions over wheat fields using the AIRSAR and TMS images collected during the MAC EUROPE 1991 experiment. The synergy between optical and microwave bands is analyzed

Consanguinity and reproductive health among Arabs

Consanguineous marriages have been practiced since the early existence of modern humans. Until now consanguinity is widely practiced in several global communities with variable rates depending on religion, culture, and geography. Arab populations have a long tradition of consanguinity due to socio-cultural factors. Many Arab countries display some of the highest rates of consanguineous marriages in the world, and specifically first cousin marriages which may reach 25-30% of all marriages. In some countries like Qatar, Yemen, and UAE, consanguinity rates are increasing in the current generation. Research among Arabs and worldwide has indicated that consanguinity could have an effect on some reproductive health parameters such as postnatal mortality and rates of congenital malformations. The association of consanguinity with other reproductive health parameters, such as fertility and fetal wastage, is controversial. The main impact of consanguinity, however, is an increase in the rate of homozygotes for autosomal recessive genetic disorders. Worldwide, known dominant disorders are more numerous than known recessive disorders. However, data on genetic disorders in Arab populations as extracted from the Catalogue of Transmission Genetics in Arabs (CTGA) database indicate a relative abundance of recessive disorders in the region that is clearly associated with the practice of consanguinity

Experimental Validation of Unknown Inputs Estimation Via High Order Sliding Mode Observer

In this work, A new method is developed to estimate the unknown inputs of heavy vehicle. These inputs represent road profile which is very interesting since is used to estimate the vertical forces acting on the wheels. We reconstruct these unknown inputs by using higher order sliding mode observer. First, we estimate speeds and accelerations of heavy vehicle in finite time. Validation process is done using an instrumented heavy vehicle and measured road profile by LPA instrument

Adaptive Neural Controller for Redundant Robot Manipulators and Collision Avoidance with Mobile Obstacles

International audienceno abstrac

Non Linear H1 Control of Quadrotor Unmanned Aerial Vehicule

International audienceno abstrac