FaultBuster: data driven fault detection and diagnosis for industrial systems

B176 http://www.issi.uz.zgora.pl/ACD_2009

EKF Application on Estimating Missile Guidance Signals

An Extended Kalman Filter (EKF) application has been developed to estimate relative position, relative velocity, Line Of Sight (LOS), LOS rate and target acceleration in the nonlinear missile-target relative kinematics. The used measures come from a strapdown seeker and an IMU. In order to improve the guidance performance, the setting of the filter against different types of target maneuvers has been studied. In all considered scenarios the EKF yields a remarkable improvement of miss distance values. The used approach and the filter set-up allow to include uncertainties such as misalignments, non synchronisms between sensors or seeker measures aberrations. The introduction of a supervision to adapt the setting to different identified target manoeuvres could be developed. [DOI: 10.1685/CSC09323] About DO

EXPERIMENTAL VALIDATION OF FASTSLAM ALGORITHM CHARACTERIZED BY A LINEAR FEATURES BASED MAP

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an embedded database technology perspective in cyber physical production systems

Abstract The goal of the paper is the proposition of an enabling technology for the control and optimization of cyber-physical production systems, oriented to the lightweight implementation of performance metrics methodology in a network of distributed devices. The database-centric perspective, applied to distributed devices, supports the adoption of well-known key performance metrics for viable lightweight control policies and optimization of complex scenarios in the factory of the future. An experiment of the technique on a real case data set is presented and analyzed

Embedded solutions for a class of highly unstable, underactuated and self-balancing robotic systems

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Redundancy analysis of cooperative dual-arm manipulators

This paper presents the redundancy analysis of two cooperative manipulators, showing how they can be considered as a single redundant manipulator through the use of the relative Jacobian matrix. In this way, the kinematic redundancy can be resolved by applying the principal local optimization techniques used in the single manipulator case. We resolve the redundancy by using the Jacobian null space technique, which permits us to perform several tasks with different execution priority levels at the same time; this is a useful feature, especially when the manipulators are to be mounted on and cooperate with a mobile platform. As an illustrative example, we present a case study consisting of two planar manipulators mounted on a smart wheelchair, whose degrees of redundancy are employed to move an object along a pre-defined path, while avoiding an obstacle in the manipulator's workspace at the same time