Article
Automation & Control Systems
Yan Wang, Chen Lv, Yongjun Yan, Pai Peng, Faan Wang, Liwei Xu, Guodong Yin
Summary: This article proposes an integrated scheme for estimating tire-road friction coefficient (TRFC) by combining a strong tracking unscented Kalman filter and an interactive multiple model unscented Kalman filter. Real-time experiments on a mass-produced vehicle demonstrate the feasibility and effectiveness of the proposed method. The results show that the proposed approach has better estimation accuracy than the existing ones under various driving scenarios.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2022)
Article
Geochemistry & Geophysics
Huagui Du, Yongping Song, Nan Jiang, Daoxiang An, Wu Wang, Chongyi Fan, Xiaotao Huang
Summary: In this article, a novel SAR moving target imaging method based on adaptive phase tracking (MTIm-APT) is proposed. The method can adaptively track the Doppler phase and estimate the motion parameters required for moving target imaging. It efficiently eliminates high-order Doppler phase errors and maintains excellent imaging performance at a lower signal-to-noise ratio (SNR) compared to classical PGA. Both simulated and real data processing results are provided to validate the feasibility and effectiveness of the proposed method.
IEEE TRANSACTIONS ON GEOSCIENCE AND REMOTE SENSING
(2023)
Article
Engineering, Marine
Sisi Wang, Lijun Wang, Namkyun Im, Weidong Zhang, Xijin Li
Summary: A real-time parameter identification method based on nonlinear Gaussian filtering algorithm and nonlinear ship response model is proposed to improve system identification accuracy and reduce computational complexity.
Article
Engineering, Marine
Yunsheng Fan, Shuanghu Qiao, Guofeng Wang, Si Chen, Haoyan Zhang
Summary: This paper proposes an improved filtering algorithm to address the issue of poor observation caused by strong vibration in unmanned surface vehicles during navigation, and achieves superior performance in target tracking.
Article
Automation & Control Systems
Chen Qian, Qingwei Chen, Yifei Wu, Jian Guo, Yang Gao
Summary: A novel M-estimation based sparse grid quadrature filter (MSGQF) is proposed to improve the robust performance of the nonlinear system. The MSGQF outperforms other filters when abnormal measurement values appear, providing significant performance improvement in the robustness of the nonlinear system.
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
(2021)
Article
Nanoscience & Nanotechnology
Weiyi Chen, Fan He, Haidi Dong
Summary: A new adaptive variable structure IMM filtering and smoothing (AVSIMMFS) algorithm is proposed in this paper, and simulation results show that the tracking performance of the AVSIMMFS algorithm is better than that of other methods.
Article
Optics
Nianfeng Wang, Jun Ma, Hui Ding, Cong Wei, Xinyu Miao, Zhonghao Shen, Caojin Yuan
Summary: This Letter presents an iterative pseudo-phase inpainting algorithm (IPPI) to solve the segmented phase unwrapping problem. By using image inpainting, the IPPI can connect pseudo-phases and reduce error points. The proposed algorithm does not require any processing on the effective area of the wrapped phase, ensuring the authenticity of the result. It has high precision and can be applied to segmented phases with severe noise.
Article
Optics
Songzhe Lian, Haiquan Yang, Hiroyuki Kudo
Summary: This study proposes a new minimum norm method to solve the discrete phase unwrapping problem by minimizing a continuous energy function. Compared to the state-of-the-art methods, the proposed method has smaller memory requirements and a simple implementation, making it applicable to 3D or 4D phase unwrapping problems.
Article
Engineering, Electrical & Electronic
Erhang Li, Wenpei He, Huilong Yu, Junqiang Xi
Summary: This paper presents a novel model-based road grade estimation approach, which has been verified to have good accuracy and precision through experiments.
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
(2022)
Article
Engineering, Electrical & Electronic
Mengwei Sun, Mike E. Davies, Ian K. Proudler, James R. Hopgood
Summary: This article introduces the use of adaptive kernel Kalman filter in the belief propagation algorithm for multi-target tracking in single-sensor systems. The algorithm can accurately track targets in complex environments with lower computational cost.
IEEE SIGNAL PROCESSING LETTERS
(2022)
Article
Engineering, Mechanical
M. Nosratollahi, M. Delalat
Summary: This paper investigates the importance of using unmanned vehicles for challenging missions such as search and rescue, surveillance, and recognition, and explores the capability of different dynamic models in tracking high-maneuverability targets. Through testing and comparing 10 different dynamic models and filters, it identifies the most suitable model for tracking aerial targets.
IRANIAN JOURNAL OF SCIENCE AND TECHNOLOGY-TRANSACTIONS OF MECHANICAL ENGINEERING
(2023)
Article
Engineering, Mechanical
P. Sanila, Anjali Pradeep, Jeevamma Jacob, Rijil Ramchand
Summary: This paper proposes a torque-level leader-follower control law using the dynamic model of multi-robotic vehicles for target interception. The control law includes the estimates of target variables obtained using the UKF algorithm. The proposed technique achieves smooth control signals and exponential convergence to the desired formation when intercepting the moving target.
NONLINEAR DYNAMICS
(2023)
Article
Computer Science, Artificial Intelligence
Anton Aguilar-Rivera
Summary: This work introduces the Unscented Genetic Algorithm (U-GA), a novel approach that combines evolutionary computation and Kalman filters to solve GA-hard problems. The approach relaxes the strong assumptions made by other Bayesian methods through the use of unscented Kalman filters and Monte-Carlo simulation. Experimental results demonstrate that U-GA outperforms benchmark algorithms in terms of performance and speed.
APPLIED SOFT COMPUTING
(2023)
Article
Geochemistry & Geophysics
Zhibo Liu, Yuyuan Fang, Lei Zhang, Jun Li, Jun Hu
Summary: Video synthetic aperture radar (VideoSAR) provides high-resolution and high-frame-rate target tracking ability through the use of target shadows.
IEEE GEOSCIENCE AND REMOTE SENSING LETTERS
(2022)
Article
Engineering, Aerospace
Kevin R. Ford, Anton J. Haug
Summary: This article introduces a new filter that combines a modified version of the EPC with a multiple-model algorithm to achieve superior performance against a wider range of ASCM trajectories than the EPC EKF.
IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS
(2021)
Article
Automation & Control Systems
Min Gyu Jo, Jae Hyun Kim, Jae Weon Choi
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
(2020)
Article
Automation & Control Systems
Olamide Akinyele, Jae Weon Choi, Chang Ho Yu
Summary: This paper proposes the use of a gyrostabilizer to enhance the response performance of an unmanned underwater vehicle navigating in shallow water docking operations under ocean disturbances. Various control methodologies combining forward Riccati and passive, PD, or penalty function controls are examined for reference tracking and disturbance attenuation. The forward Riccati and penalty function control method is found to show desired performance by maintaining gyroscope precession within actuation limits while operating effectively in dominant precession spin regions.
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
(2021)
Article
Computer Science, Information Systems
Jung Hyun Choi, Kangwagye Samuel, Kanghyun Nam, Sehoon Oh
Article
Automation & Control Systems
Kang Hyun Hwang, Chang Ho Yu, Jae Weon Choi
Summary: This study considered a multi-sensor data fusion system using a load cell and vision sensor for a flatfish classifier in aquaculture. The load cell performs well in measuring adult fish, while the vision sensor is better for measuring fry, and a data fusion algorithm was used to compensate for their respective disadvantages in fish measurement. The performance of the system was evaluated by comparing single sensor measurements with multi-sensor data fusion results.
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
(2021)
Article
Automation & Control Systems
Kangwagye Samuel, Roberto Oboe, Sehoon Oh
Summary: This article introduces a reduced-order multisensor-based force observer for accurately estimating the force exerted on a load, which excels in noise attenuation and offset compensation. The observer design includes tools for analysis and evaluation of its performance.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2022)
Article
Automation & Control Systems
Kangwagye Samuel, Roberto Oboe, Sehoon Oh
Summary: This brief proposes a precise force control system that combines force and disturbance observers to overcome the challenges posed by force sensor measurement noises and mechanical disturbances. A reduced-order multisensor-based force observer (RMFOB) is used to attenuate sensor measurement noises, while a model-based force disturbance observer (FDOB) is employed to suppress the effects of mechanical disturbances. The system's stability analysis is conducted using a systematic tuning criterion based on RMFOB cutoff frequency. The effectiveness of the proposed method is verified through theoretical analyses, simulations, and experiments.
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
(2022)
Article
Automation & Control Systems
Kangwagye Samuel, Kevin Haninger, Roberto Oboe, Sehoon Oh
Summary: For robotic tasks involving both transmitting and contact force control, it is challenging to achieve high-performance motion control and stable environment contact. This article proposes a novel integrated disturbance observer (DOB) (IDOB) that effectively isolates and suppresses force disturbances while ensuring contact stability. Experimental results demonstrate improved force control and disturbance suppression with the IDOB in both free space and contact scenarios, reducing peak collision force and maintaining contact stability with stiff environments.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2023)
Article
Automation & Control Systems
Kangwagye Samuel, Kevin Haninger, Roberto Oboe, Sehoon Oh
Summary: This article proposes a linear admittance control framework and a multifunction observer-based control scheme to improve motion control accuracy in contact with a stiff environment and achieve better loop shaping.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2023)
Proceedings Paper
Automation & Control Systems
Kangwagye Samuel, Sehoon Oh
Summary: This paper presents a comparative study of multisensor-based force observers for accurate force control. Three types of observer-based force controllers are designed and implemented to exploit the availability of force sensor, motor encoder, and motor torque information for accurate force estimation. Mathematical and quantitative analyses are conducted to compare their performances, and simulations and experiments are carried out for validation.
2022 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
(2022)
Proceedings Paper
Automation & Control Systems
Kangwagye Samuel, Sehoon Oh
Summary: This study introduces the challenge of instability when a robot's end effector contacts a stiff environment, and proposes a robust impedance controller to address force disturbances. Through simulations and experiments, it is demonstrated that the FDOB-based control system shows superior performance in improving contact stability compared to a direct force sensor feedback control system.
IECON 2021 - 47TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY
(2021)
Proceedings Paper
Automation & Control Systems
Kangwagye Samuel, Junyoung Kim, Sehoon Oh
Summary: This paper presents the position control of the robotic stage with position-based and force-based disturbance observers (DOB) implemented, aiming to improve force control quality by suppressing disturbances within and into the mechanical system. The accuracy of position control is crucial as it affects the reproducibility of position perturbation and the reliability of force readings. Simulation and experiments are conducted to evaluate the position control strategies and analyze the differences in reaction force when using DOB-based position control strategies.
2021 21ST INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2021)
(2021)
Proceedings Paper
Automation & Control Systems
Kangwagye Samuel, Dasol Cheon, Sehoon Oh
Summary: The paper presents a robust force control system that implements a force disturbance observer (FDOB) to achieve high performance dynamic interaction for robots in unknown environments. The system consists of a servo system, the proposed FDOB, feedforward and feedback controllers, and a low-pass filter. The proposed control structure shows superior performance over conventional force control methods in experiments.
2021 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS (ICM)
(2021)
Proceedings Paper
Automation & Control Systems
Kangwagye Samuel, Sehoon Oh
2020 20TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS)
(2020)
Proceedings Paper
Automation & Control Systems
Kangwagye Samuel, Roberto Oboe, Sehoon Oh
IECON 2020: THE 46TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY
(2020)
