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

Preposisi Dalam Drama Away Karya Michael Gow

This research entitled ‘‘Preposition in Drama Away by Michael Gow'' is written to analyze and classify the form and the meaning of the preposition that are use in drama. A preposition is a word that connects a noun or pronoun with a verb, adjective, or another noun or pronoun by indicating a relationship between the things for which they stand. In analyzing the data, the writer used Quirk Randolph and Harman's theory, and the data were taken from the Drama Away by Michael Gow. The problems of this research are focused on what are the from and the meaning of preposition. The forms are simple preposition and complex preposition. The meanings of preposition refer to the apposition, cause or reason, comparison, concession, condition, degree, description, direction, design, instrument, manner, material, means, measure, objective genitive, partition, place, purpose, quality, respect, source, time, and value

A Longitudinal Investigation Of A Sequential Arabic-English Bilingual Child’S Vocabulary Development

The purpose of the study was to explore the lexical development of a sequential bilingual Arabic-English speaking child. The study contributes to the growing research literature on the language behaviors of early bilingual children and specifically to the discussion of bilingual developmental milestones. The child\u27s vocabulary growth was assessed over the course of a year with the MacArthur-Bates Communicative Development Inventory (CDI-III, English and Arabic versions), the Peabody Picture Vocabulary Test (PPVT-4), parent interviews, and the Frog Story Narrative Test. Lexical measures were analyzed over time and indicated that the child progressed in the dominant language, English, similarly to the developmental trajectories of monolingual children, regardless of the bilingual exposure in the home. Both lexical and syntactic development halted in the native language after immersion in English. The findings suggest that balanced bilingualism is difficult to maintain even for sequential bilingual children, regardless of parents\u27 linguistic skills, in the absence of a language community for the minority language

Distributional fixed point equations for island nucleation in one dimension: a retrospective approach for capture zone scaling

The distributions of inter-island gaps and captures zones for islands nucleated on a one-dimensional substrate during submonolayer deposition are considered using a novel retrospective view. This provides an alternative perspective on why scaling occurs in this continuously evolving system. Distributional fixed point equations for the gaps are derived both with and without a mean field approximation for nearest neighbour gap size correlation. Solutions to the equations show that correct consideration of fragmentation bias justifies the mean field approach which can be extended to provide closed-from equations for the capture zones. Our results compare favourably to Monte Carlo data for both point and extended islands using a range of critical island size $i=0,1,2,3$. We also find satisfactory agreement with theoretical models based on more traditional fragmentation theory approaches.Comment: 9 pages, 7 figures and 1 tabl

Evaluating the Efficiency of Video Transmission Using a New Circular Search Algorithm Based on the Motion Estimation for a Single User

ويواجه البث الناجح للفيديو عبر الشبكات اللاسلكية العديد من التحديات والمشاكل التي تسهم في إضعاف أنظمة الإرسال الفعالة بسبب محدودية الموارد والبيئة المحيطة بالإشارة اللاسلكية. لذلك، من أجل التعامل مع هذه التحديات نحن بحاجة ليس فقط لضغط الفيديو بطرق فعالة ولكن أيضا لاستخدام نظام نقل جيد التغلب على أخطاء القناة وتصحيح الأخطاء المحتملة أثناء عملية الإرسال. وفي هذه الورقة، يعتمد نظام الإرسال على إرسال الفيديو إلى مستعمل واحد، ويضاف نظام مقترح لمحاكاة الإرسال في الشبكات المتنقلة وقياس كفاءة نظام الإرسال إلى نسبة الضوضاء (أي أبيض مضاف قنوات الضوضاء. وفي كثير من هذه الأنظمة العملية، يمكن أن يحسن المصدر المشترك والقناة التي تشفر كفاءة وأداء نظام الإرسال تحسنا كبيرا للحصول على نظام إرسال دون أخطاء في القناة. ويؤدي تشفير المصدر إلى تقليل التكرار في الإشارة المرسلة لتوفير عرض النطاق ويضيف التشفير القناة / التلافي  تكرارا مفيدا لمكافحة أخطاء القناة. وتستخدم خوارزمية البحث الدائرية لتقدير الحركة  كطريقة ترميز المصدر. وتظهر النتائج أن النظام المقترح يمكن أن يحقق التوازن بين أداء الضغط والحفاظ على جودة الفيديو. وأظهرت الأساليب المستخدمة في عملية الإرسال ميزة كبيرة في أداء تشفير القناة مقارنة بأداء نظام إرسال آخر دون تشفير القناة    The successful transmission of video over wireless networks faces many challenges and problems that contribute to the weakening of efficient transmission systems because of the limited resources and the environment surrounding the wireless signal. Therefore, In order to deal with these challenges we need not only to compress the video in efficient ways but also to use a good transmission system that overcome the errors of the channel and correct potential errors during the transmission process. In this paper, the transmission system depends on the transmission of the video to a single user, a proposed system to simulate the transmission in the mobile networks and to measure the efficiency of the transmission system is added to the percentage of noise (i.e. additive white Gaussian Noise (AWGN) channels). In many such practical systems, jointly source and channel coding the efficiency and performance of the transmission system can be greatly improved to obtain a transmission system without channel errors. The source coding decreases the redundancy in the signal sent to provide bandwidth and the channel/convolutional coding (CC) adds useful redundancy to combat channel errors. The circular search algorithm for motion estimation (ME) is used as a source coding method. The results show that the suggested system can produce a balance among the compression performance and maintain video quality. The methods used in the transmission process showed a great advantage in the performance of the channel encoding compared to that of another transmission system without channel coding

The statistical properties of the city transport in Cuernavaca (Mexico) and Random matrix ensembles

We analyze statistical properties of the city bus transport in Cuernavaca (Mexico) and show that the bus arrivals display probability distributions conforming those given by the Unitary Ensemble of random matrices.Comment: 4 pages, 3 figure