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This paper concerns trajectory tracking control of attitude dynamics configured on SU(2). Inspired by a popular geometric tracking controller on SO(3), differential geometric tools are used to derive both continuous and discontinuous attitude controllers on the SU(2) manifold, relating these to preexisting controllers operating with imaginary quaternion errors. Additionally, a robustness result is
We exploit knowledge of linear substructure in the linear-regression Kalman filters (LRKFs) to simplify the problem of moment matching. The theoretical results yield quantifiable and significant computational speedups at no cost of estimation accuracy, assuming partially linear estimation models. The results apply to any symmetrical LRKF, and reductions in computational complexity are stated as a
We present a tracking controller for quadrotor UAVs which uses partial state information and filters measurement noise. We show uniform almost global and locally exponential asymptotic stability of the resulting closed-loop system, which implies robustness against bounded disturbances. We illustrate the performance of the controller by means of several numerical examples, including a complex loopi
This paper considers coordination control of double-integrator systems and proposes general control laws involving time-varying inputs. The nominal control input is weighted by time-varying (time-dependent or state-dependent) positive definite matrices, providing more freedoms in defining the control tasks. We present sufficient conditions to ensure the asymptotic convergence of double-integrator
Traditionally, automatic control techniques arose due to need for automation in mechanical systems. These techniques rely on robust mathematical modelling of physical systems with the goal to drive their behaviour to desired set-points. Decades of research have successfully automated, optimized, and ensured safety of a wide variety of mechanical systems. Recent advancement in digital technology ha
In this paper we consider the case of planar motion, where a mobile platform equipped with two cameras moves freely on a planar surface. The cameras are assumed to be directed towards the floor, as well as being connected by a rigid body motion, which constrains the relative motion of the cameras and introduces new geometric constraints. In the existing literature, there are several algorithms ava
Cloud computing, owing to its ubiquitousness, scalability and on-demand ac- cess, has transformed into many traditional sectors, such as telecommunication and manufacturing production. As the Fifth Generation Wireless Specifica- tions (5G) emerges, the demand on ubiquitous and re-configurable computing resources for handling tremendous traffic from omnipresent mobile devices has been put forward.
IoT networks are getting overcrowded following the vast increase in number of Internet-of-Things (IoT) devices and connections. Networks can be extended with more gateways, increasing the number of supported devices. However, as investigated in this work, massive MIMO has the potential to increase the number of simultaneous connections and moreover lower the energy expenditure of these devices. We
State estimators are crucial components of anomaly detectors that are used to monitor cyber-physical systems. Many frequently-used state estimators are suscepti- ble to model risk as they rely critically on the availability of an accurate state-space model. Modeling errors make it more difficult to distinguish whether deviations from expected behavior are due to anomalies or simply a lack of knowl
In order to improve the energy efficiency in district heating networks and the comfort of their customers, these networks need to overcome the problem of unfair heat distribution under heat deficits. This paper introduces a new strategy to achieve this thermal fairness objective: it is lowcost in terms of communication and computation. The proposed approach is illustrated on a simulation example.
We provide the first dedicated laboratory study of collisions of supercooled water drops with ice particles as a secondary ice production mechanism. We experimentally investigated collisions of supercooled water drops (∼5 mm in diameter) with ice particles of a similar size (∼6 mm in diameter) placed on a glass slide at temperatures >-12 °C. Our results showed that secondary drops were generated d
Error estimation and data fusion are critical to improving the accuracy of global model- and satellite-based precipitation products for practical applications. However, they face challenges over vast areas of the world due to limited ground observations. Triple collocation (TC) method can overcome this limitation and provide an efficient way for error estimation without the “ground truth” and thus
One way of reducing environmental pollution is to reduce our dependence on fossil fuels by replacing them with solar radiation (Rs), which is one of the main sources of clean and renewable energy. In this study, daily Rs values at seven meteorological stations in Iran (Ahvaz, Isfahan, Kermanshah, Mashhad, Bandar Abbas, Kerman and Tabriz) over 2010-2019 were estimated using empirical models, suppor
Engineers require high-quality data for the design and implementation of today’s software, especially in the context of machine learning (ML). This puts an emphasis on the need for the publication and sharing of data from and between organizations, public as well as private. Following the paradigm of open innovation, open data provide a mechanism to increase the availability of information, offeri
Epilepsy is one of the most prevalent paroxystic neurological disorders. It is characterized by the occurrence of spontaneous seizures. About 1 out of 3 patients have drug-resistant epilepsy, thus their seizures cannot be controlled by medication. Automatic detection of epileptic seizures can substantially improve the patient's quality of life. To achieve a high-quality model, we have to collect d
The accurate evaluation of shifts in vegetation phenology is essential for understanding of vegetation responses to climate change. Remote-sensing vegetation index (VI) products with multi-day scales have been widely used for phenology trend estimation. VI composites should be interpolated into a daily scale for extracting phenological metrics, which may not fully capture daily vegetation growth,
Software startups use prototyping to develop and test business ideas and to validate market viability. While prototyping is emphasized in agile methods, there is little research on how startups can best utilise scarce resources to effectively use prototypes in their dynamic business context. We performed a case study of four startups and investigated how startups currently use prototyping to elici
This article addresses the distributed cooperative control design for a class of sampled-data teleoperation systems with multiple slave mobile manipulators grasping an object in the presence of communication bandwidth limitation and time delays. Discrete-time information transmission with time-varying delays is assumed, and the Round-Robin (RR) scheduling protocol is used to regulate the data tran
Numerous modelling efforts have attempted to characterize the effects of different non-pharmaceutical interventions (NPIs) on the Covid-19 spread. Arguably the most famous is one published in Nature by an Imperial College group. A slight variation of it was later published in Science by a group of Oxford researchers. Both publications are based on hierarchical Bayesian modelling that aims to expla
