2013 10th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE)最新文献

筛选

英文中文

Data fusion of an attitude estimator for global localization of a robot 面向机器人全局定位的姿态估计器数据融合

2013 10th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE) Pub Date : 2013-09-01 DOI: 10.1109/ICEEE.2013.6676042

B. B. Salmeron-Quiroz, G. Villegas-Medina, J. Guerrero-Castellanos, R. Villalobos-Martinez, M. A. Mendoza-Nunez

{"title":"Data fusion of an attitude estimator for global localization of a robot","authors":"B. B. Salmeron-Quiroz, G. Villegas-Medina, J. Guerrero-Castellanos, R. Villalobos-Martinez, M. A. Mendoza-Nunez","doi":"10.1109/ICEEE.2013.6676042","DOIUrl":"https://doi.org/10.1109/ICEEE.2013.6676042","url":null,"abstract":"This paper focuses on the design and test results of an estimator based on fusing data from Inertial Measurement Unit (AHRS). Therefore in order to improve the quality of the attitude estimates, the covariance matrix of measurement noise is estimated in real time upon information obtained from the differential measurements, so that the estimator continually is “tuned” as well as possible. No a priori knowledge on the direction of the gravity vector in the inertial frame is required as these parameters can be also identified by the KF, relieving any need for calibration. With this approach, only the measurements of at least two non-collinear directional sensors are needed. Since the control laws are highly simple and a model based in an observer for angular velocity reconstruction is not needed, the proposed new strategy is very suitable for embedded implementations. Test results are presented showing the performance of the integrated AHRS to estimate the attitude of a mobile robot moving across uneven terrain. The global convergence of the estimation techniques is proved.","PeriodicalId":226547,"journal":{"name":"2013 10th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE)","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115720604","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

3D cartesian system for the characterization of electromagnetic and ultrasonic applicators: Validation and performance testing 用于电磁和超声波涂抹器表征的三维笛卡尔系统:验证和性能测试

2013 10th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE) Pub Date : 2013-07-25 DOI: 10.1109/ICEEE.2013.6676092

O. Martínez, L. Leija, A. Vera

{"title":"3D cartesian system for the characterization of electromagnetic and ultrasonic applicators: Validation and performance testing","authors":"O. Martínez, L. Leija, A. Vera","doi":"10.1109/ICEEE.2013.6676092","DOIUrl":"https://doi.org/10.1109/ICEEE.2013.6676092","url":null,"abstract":"It should be considered that in ultrasound or microwave ablation tests, it is important to know the effective area of the applicators. Also, each applicator should be characterized with adequate precision to meet the needs of the application. In order to achieve the mentioned-above objectives, we must have control of the position in space with respect to tested tissue or phantom. This paper presents the development of a three-dimensional cartesian position system being useful for working spaces of the following dimensions: 60 cm × 40 cm × 18 cm. The purpose of the proposed system is to perform temperature measurements in phantoms and tissue, and evaluate the performance of applicators of U.S. (Ultrasound) applicators as well as electromagnetic energy (EM) and radio frequency (RF). The movement of each axis of the positioner is controlled by a stepping motor running sequences based on the displacement that the user enters through a computer which are interpreted and executed by a microcontroller to finally display the results on the screen through a graphical interface.","PeriodicalId":226547,"journal":{"name":"2013 10th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125633868","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

首页上一页