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  • 1
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    Direct inversion of rigid-body rotational dynamics (1990)
    In:  Other Sources
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    Publication Date: 2011-08-19
    Description: The global linearization (inversion) of rigid-body rotational dynamics is reviewed, and representations in terms of quaternions and direction cosines are compared. Certain properties common to quaternions and direction cosines that make their use preferable to Euler angles and that simplify the inversion procedure are described. Applications of the inversion procedure for state estimation and attitude control are discussed. To avoid complexities caused by aerodynamics, an example of direct inversion for linear feedback control of spacecraft attitude is given.
    Keywords: CYBERNETICS
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  • 2
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    Recursive inversion of externally defined linear systems by FIR filters (1989)
    In:  Other Sources
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    Publication Date: 2011-08-19
    Description: The approximate inversion of an internally unknown linear system, given by its impulse response sequence, by an inverse system having a finite impulse response, is considered. The recursive least-squares procedure is shown to have an exact initialization, based on the triangular Toeplitz structure of the matrix involved. The proposed approach also suggests solutions to the problem of system identification and compensation.
    Keywords: CYBERNETICS
    Type: IEEE Transactions on Automatic Control (ISSN 0018-9286); 34; 635-637
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  • 3
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    Identifiability of unknown noise covariance matrices for some special cases of a linear, time-invariant, discrete-time dynamic system (1981)
    In:  Other Sources
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    Publication Date: 2011-08-18
    Description: Two off-line schemes are proposed for the identification of unknown noise covariance matrices Q and R of a discrete-time dynamic system. The first scheme is based on a maximum a posteriori cost function utilizing smoothed state estimates, while the second is based on a maximum likelihood cost function utilizing filtered state estimates. Sensitivity of the cost functions to Q and R is analyzed for the following cases: (1) single-input single-output systems; (2) multiinput single-output systems; and (3) single-input multioutput systems with a diagonal R. Identifiability criteria are presented for the cases considered and demonstrated by examples.
    Keywords: CYBERNETICS
    Type: IEEE Transactions on Automatic Control; AC-26; Aug. 198
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  • 4
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    Sensory substitution for space gloves and for space robots (1987)
    In:  CASI
    Details
    Publication Date: 2019-06-28
    Description: Sensory substitution systems for space applications are described. Physical sensors replace missing human receptors and feed information to the interpretive centers of a different sense. The brain is plastic enough so that, with training, the subject localizes the input as if it were received through the missing receptors. Astronauts have difficulty feeling objects through space suit gloves because of their thickness and because of the 4.3 psi pressure difference. Miniature force sensors on the glove palm drive an electrotactile belt around the waist, thus augmenting the missing tactile sensation. A proposed teleoperator system with telepresence for a space robot would incorporate teleproprioception and a force sensor/electrotactile belt sensory substitution system for teletouch.
    Keywords: CYBERNETICS
    Type: Jet Propulsion Lab., California Inst. of Tech., Proceedings of the Workshop on Space Telerobotics, Volume 2; p 51-57
    Format: application/pdf
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  • 5
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    Filtering and smoothing techniques for parameter estimation (1976)
    In:  Other Sources
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    Publication Date: 2019-07-13
    Description: In this paper filtering and smoothing criteria for maximum-likelihood parameter estimation are described and compared. It is shown that the parameter estimate using the smoothing criterion may be obtained independently of the smoothed state estimate. Monte Carlo test results are presented comparing the efficiency of the estimation procedures.
    Keywords: CYBERNETICS
    Type: Annual Asilomar Conference on Circuits, Systems, and Computers; Nov 03, 1975 - Nov 05, 1975; Pacific Grove, CA
    Format: text
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