https://users.encs.concordia.ca/~ymzhang/publications/ARC32-2-98Zhang_pp.229-252.pdf

Bibliographical review on reconfigurable fault-tolerant control systems

This book, written by two major figures in adaptive control, provides a wealth of material for researchers, practitioners, and students. While some researchers in adaptive control may note the absence of a particular topic, the book‘s scope represents a high-gain instrument. It can be used by designers of control systems to enhance their work through the information on many new theoretical developments, and can be used by mathematical control theory specialists to adapt their research to practical needs. The book is strongly recommended to anyone interested in adaptive control.

Adaptive Control

Unmanned surface vehicles: An overview of developments and challenges

Kalman filters have received much attention with the increasing demands for robotic automation. This paper briefly surveys the recent developments for robot vision. Among many factors that affect the performance of a robotic system, Kalman filters have made great contributions to vision perception. Kalman filters solve uncertainties in robot localization, navigation, following, tracking, motion control, estimation and prediction, visual servoing and manipulation, and structure reconstruction from a sequence of images. In the 50th anniversary, we have noticed that more than 20 kinds of Kalman filters have been developed so far. These include extended Kalman filters and unscented Kalman filters. In the last 30 years, about 800 publications have reported the capability of these filters in solving robot vision problems. Such problems encompass a rather wide application area, such as object modeling, robot control, target tracking, surveillance, search, recognition, and assembly, as well as robotic manipulation, localization, mapping, navigation, and exploration. These reports are summarized in this review to enable easy referral to suitable methods for practical solutions. Representative contributions and future research trends are also addressed in an abstract level.

Kalman Filter for Robot Vision: A Survey

A survey of dynamic positioning control systems

The majority of Human-Machine-Interfaces (HMIs) designed for teleoperation of Unmanned Vehicles (UVs) present information only visually. Frequent overloading of operator’s visual channel may cause unwanted mishaps. In order to reduce such mishaps and improve overall operating performance, this paper proposes the extension of the HMI by hearing modality in the form of spatial auditory display for trajectory tracking, the most complex guidance task. The main novelty of the interface is introduction of guidance laws to generate the reference presented to the operator as a spatial auditory image of the virtual target to be followed. Guidance laws for teleoperated trajectory tracking are based on modified "lookahead distance" strategy, known from path following applications. The paper also analyzes the stability of the kinematic controller based on this new guidance control law. The experiments show that the novel guidance strategy provides comprehensible and effective reference providing excellent trajectory tracking performance.

Teleoperated trajectory tracking of remotely operated vehicles using spatial auditory interface

Acoustically aided HMI for ROV navigation

This paper reports the results of a system based on hidden Markov models (HMM) that is used to interpret both static and dynamic divers' hand signals using real time video feed. Two methods of collecting features that describe diver gestures are described and two types of HMMs are investigated: one based on discrete outputs variable distribution and the other based on mixture of Gaussians outputs variable distribution. For 8 basic diver gestures, 800 data samples were collected and the results were analyzed for the purpose of determining the most appropriate i) feature vector describing diver gestures, ii) HMM parameters (number of states and mixture components), and iii) type of the hidden Markov model. Finally, the quality of performance for recognition of each gesture is evaluated and analyzed, and necessary steps for improving the overall system are reported.

Interpretation of divers' symbolic language by using hidden Markov models

A method for the trajectory planning of coordinated groups of UUVs, developed in authors' previous work is extended. The key points within the design patterns that must be used to implement the method in code are stressed. Rotors, vectorized quantities which introduce directionality, and thereby cause divergence from local minima, are introduced into the virtual potential algorithm. This development is compared with the strategy for local minima avoidance previously employed by the authors. Testing is done by simulation and comparison of simulated system responses.

/pdf/effects-of-rotors-on-uuv-trajectory-planning-via-the-virtual-345rfgdds7.pdf

Zoran Vukić

Papers

Teleoperated trajectory tracking of remotely operated vehicles using spatial auditory interface

Acoustically aided HMI for ROV navigation

Interpretation of divers' symbolic language by using hidden Markov models

Effects of rotors on UUV trajectory planning via the virtual potentials method

Automatsko upravljanje : analiza linearnih sustava