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adaptive-extended-kalman-filters
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Robust estimation of arc length in a GMAW process by an adaptive extended Kalman filter
, Article Transactions of the Institute of Measurement and Control ; Volume 38, Issue 11 , 2016 , Pages 1334-1344 ; 01423312 (ISSN) ; Haeri, M ; Sharif University of Technology
SAGE Publications Ltd
2016
Abstract
An adaptive extended Kalman filter is designed to estimate the arc length in a gas metal arc welding system. The simulation results show that the estimated variables track the true variables of the non-linear model with negligible error and are robust against parameters uncertainties. The proposed estimator also operates adequately in a highly noisy welding environment. Because of the low computational requirements and little lag produced in the process dynamic, use of the proposed estimator would be valuable in the design of a controller for the gas metal arc welding system
Attitude determination improvement in accelerated motions for maneuvering underwater vehicles
, Article Applied Ocean Research ; Volume 104 , November , 2020 ; Hosseini, I ; Makarem, H ; Sharif University of Technology
Elsevier Ltd
2020
Abstract
Attitude determination for underwater vehicles in control and navigation applications has been always an important issue. MEMS-based accelerometer and gyroscope data can be usually used to determine the underwater vehicle attitude. However, the gyroscope sensors suffer from bias problem and the accelerometer data is not reliable in the presence of the external acceleration for the attitude determination. Therefore, data fusion for these two sensors is used to determine the attitude. But it should be noted that the common fusion algorithm does not perceive some special maneuvering accelerated motions and the use of accelerometer data causes a mistake in determining the Euler angles in these...