Relevant bibliographies by topics / Payload estimation

Contents

  1. Journal articles
  2. Dissertations / Theses
  3. Books
  4. Book chapters
  5. Conference papers
  6. Reports

Academic literature on the topic 'Payload estimation'

Author: Grafiati
Published: 4 June 2021
Last updated: 15 February 2022

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Journal articles on the topic "Payload estimation"

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P., Amritha, and Anoj Madathil. "Payload Estimation in Universal Steganalysis." Defence Science Journal 60, no. 4 (May 25, 2010): 412–14. http://dx.doi.org/10.14429/dsj.60.499.

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Zhang, Na Na, Jia Fa Mao, Jing Yin, and Xiao Fang Yang. "Digital Watermarking Payload Estimation Based on Human Visual System." Advanced Materials Research 798-799 (September 2013): 785–89. http://dx.doi.org/10.4028/www.scientific.net/amr.798-799.785.

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This paper proposes the estimation method for the maximum payload on spatial domain, concentrates on digital watermarking payload in the spatial domain image, on the constraint of perceptual invisibility research, the influence under the factors in Human Visual System. The maximum payload is influenced by the factors which include the size of image, the brightness masking, contrast masking and texture masking of the image. with such as noise visibility function visual model, gets the just noticeable different value to calculate the payload of the image, finally we get the watermarking payload, test and verify it with Matlab simulation experiments.
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Ma, Sai, Xianfeng Zhao, Qingxiao Guan, Zhoujun Xu, and Yi Ma. "A Priori knowledge based secure payload estimation." Multimedia Tools and Applications 77, no. 14 (July 4, 2017): 17889–911. http://dx.doi.org/10.1007/s11042-017-4955-8.

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Renner, Anton, Hannes Wind, and Oliver Sawodny. "Online payload estimation for hydraulically actuated manipulators." Mechatronics 66 (April 2020): 102322. http://dx.doi.org/10.1016/j.mechatronics.2020.102322.

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Beyhan, Selami, Farnaz Eghbal Sarabi, Zsófia Lendek, and Robert Babuška. "Takagi–Sugeno Fuzzy Payload Estimation and Adaptive Control." IFAC-PapersOnLine 50, no. 1 (July 2017): 844–49. http://dx.doi.org/10.1016/j.ifacol.2017.08.150.

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Leahy, M. B., M. A. Johnson, and S. K. Rogers. "Neural network payload estimation for adaptive robot control." IEEE Transactions on Neural Networks 2, no. 1 (1991): 93–100. http://dx.doi.org/10.1109/72.80294.

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Quach, Tu-Thach. "Optimal Cover Estimation Methods and Steganographic Payload Location." IEEE Transactions on Information Forensics and Security 6, no. 4 (December 2011): 1214–22. http://dx.doi.org/10.1109/tifs.2011.2160855.

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Battle, Gregory. "Numerical Estimation of Munitions Payload using Random Distributions." Journal of Parametrics 24, no. 1 (July 2004): 1–19. http://dx.doi.org/10.1080/10157891.2004.10462265.

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Márton, Lörinc, and Béla Lantos. "Sliding Mode Robot Control with Friction and Payload Estimation." Journal of Advanced Computational Intelligence and Intelligent Informatics 8, no. 5 (September 20, 2004): 553–61. http://dx.doi.org/10.20965/jaciii.2004.p0553.

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The paper deals with robust motion control of robotic systems with unknown friction parameters and payload mass. The parameters of the robot arm were considered known with a given precision. To solve the control of the robot with unknown payload mass and friction parameters, sliding mode control algorithm was proposed combined with robust parameter adaptation techniques. Using Lyapunov method it was shown that the resulting controller achieves a guaranteed final tracking accuracy. Simulation results are presented to illustrate the effectiveness and achievable control performance of the proposed scheme.
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Kobayashi, Yoshitake, and Kazuo Yamafuji. "Load Estimation and Compensation Control of a Vertical Two-Link Robot." Journal of Robotics and Mechatronics 2, no. 2 (April 20, 1990): 107–13. http://dx.doi.org/10.20965/jrm.1990.p0107.

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It is widely recognized that the industrial robots used in production lines or in other engineering fields are installed with comparatively higher rated actuators and have higher rigidity than required, whereas they have too small payload capacity. To achieve high speed drive and accurate positioning under a high payload is indispensable for an advanced industrial robot. In order to increase payload/deadweight ratio without losing high speed driving and accurate control of robots, the nonlinear terms in the equations of motion relating to their load and attitude must be well compensated. The authors have developed and examined two kinds of load estimation and compensation control methods for a vertical-type manipulating robot, which are based on gravity estimation-compensation and fuzzy-set theory. It is confirmed experimentally that although both compensating methods are useful, the fuzzy theory is much better than the gravity compensation method.
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Dissertations / Theses on the topic "Payload estimation"

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Yung, I. "Automation of front-end loaders : electronic self leveling and payload estimation." Doctoral thesis, Umeå universitet, Institutionen för tillämpad fysik och elektronik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-134338.

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A growing population is driving automatization in agricultural industry to strive for more productive arable land. Being part of this process, this work is aimed to investigate the possibility to implement sensor-based automation in a particular system called Front End Loader, which is a lifting arms that is commonly mounted on the front of a tractor. Two main tasks are considered here, namely Electronic Self Leveling (ESL) and payload estimation. To propose commercially implementable solutions for these tasks, specific objectives are set, which are: 1) to propose a controller to perform ESL under typical disturbances 2) to propose a methodology for payload estimation considering realistic estimation conditions. Lastly, aligned with these goals, 3) to propose models for the Front End Loader under consideration for derivation of solutions of the specified tasks. The self-leveling task assists farmers in maintaining the angular position of the mounted implements, e.g. a bale handler or a bucket, with respect to the ground when the loader is manually lifted or lowered. Experimental results show that different controllers are required in lifting and lowering motions to maintain the implement's angular position with a required accuracy due to principle differences in gravity impact. The gravity helps the necessary correction in lifting motion, but works against the correction in lowering motions. This led us to propose a controller with a proportional term, a discontinuous term and an on-line disturbance estimation and compensation as well as the tuning procedure to achieve a 2 degrees tracking error for lowering motions in steady state. The proposed controller shows less sensitive performance to lowering velocity, as the main disturbance, in comparison to a linear controller. The second task, payload estimation, assists farmers to work within safety range as well as to work with a weight measurement tool. A mechanical model derived based on equations of motion is improved by a pressure based friction to sufficiently accurately represent the motion of the front end loader under consideration. The proposed model satisfies the desired estimation accuracy of 2\% full scale error in a certain estimation condition domain in constant velocity regions, with off-line calibration step and off-line payload estimation step. An on-line version of the estimation based on Recursive Least Squares also fulfills the desired accuracy, while keeping the calibration step off-line.
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Potter, Chris. "Modeling Channel Estimation Error in Continuously Varying MIMO Channels." International Foundation for Telemetering, 2007. http://hdl.handle.net/10150/604490.

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ITC/USA 2007 Conference Proceedings / The Forty-Third Annual International Telemetering Conference and Technical Exhibition / October 22-25, 2007 / Riviera Hotel & Convention Center, Las Vegas, Nevada
The accuracy of channel estimation plays a crucial role in the demodulation of data symbols sent across an unknown wireless medium. In this work a new analytical expression for the channel estimation error of a multiple input multiple output (MIMO) system is obtained when the wireless medium is continuously changing in the temporal domain. Numerical examples are provided to illustrate our findings.
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Le, Rall François. "Estimation of the Mass of a Manipulator Payload in Motion by Means of an FT Sensor." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-276674.

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The estimation of the mass of payloads, which are grasped by a vacuum cup gripper, may benefit several robotics applications, e.g.: object recognition, force-guided motions, hard failure detection. These applications require accurate, robust and fast estimation of the mass. Existing methods use standard kinetic batch least-squares techniques and exciting trajectories that cannot be implemented in the context of time-optimized industrial operations. Besides, no comparable projects have tackled the mechanical behavior of suction cup grippers. This project proposes a method to measure the mass of the payload grasped by a robotic manipulator by estimating its inertial parameters. A mechanical model of the vacuum cup is derived to approximate the inertial parameters with a Recursive Total Least Squares algorithm. A calibration process, based on the dynamic model, is developed to determine the inner properties of the tool and the vacuum cup. The approach was evaluated on a database of a pick-and-place robot operating in an e-commerce warehouse. The results show that the method can accurately estimate the mass for typical scenarios, although the performance decreases for higher speed tasks and shorter data recording duration.
Massuppskattningen av nyttolaster, som greppas av en vakuumkoppgripare, kan gynna flera robotapplikationer, t.ex. objektigenkänning, kraftledda rörelser, detektering av grova fel. Dessa applikationer kräver noggrann, robust och snabb massuppskattning. Befintliga metoder använder vanliga kinetiska batch-minstakvadrattekniker och exciterande banor som inte kan implementeras inom ramen för tidsoptimerad industriell verksamhet. Dessutom har inga jämförbara projekt tacklat sugkoppens mekaniska beteende. Detta projekt föreslår en metod för att mäta massan på nyttolasten som grips av en robotmanipulator genom att uppskatta dess tröghetsparametrar. En mekanisk modell av sugkoppen har härletts för att uppskatta tröghetsparametrarna med en rekursiv total minstakvadratalgoritm. En kalibreringsprocess, baserad på den dynamiska modellen, utvecklas för att initialisera de inre egenskaperna hos verktyget och vakuumkoppen. Metoden utvärderades på en databas över en pick-and-place-robot som fungerar i ett e-handelslager. Resultaten visar att metoden exakt kan uppskatta massan för typiska scenarier, även om prestandan minskar för uppgifter med högre hastighet och kortare dataregistrering.
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Rasuli, Abdol Rasul. "Dynamic modeling, parameter identification, payload estimation, and non-contact arm geometry sensing of the mining cable shovel." Thesis, University of British Columbia, 2012. http://hdl.handle.net/2429/43648.

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This thesis presents the application of the least squares estimation technique in identification of the cable shovel parameters and monitoring its payload. Both detailed and simplified dynamic models of the cable shovel are derived by modeling the DC motors and analyzing such nonlinear effects as inertia, Coriolis, centripetal, and friction. Mathematical methods, including the interactive Newton-Euler technique, have been used to obtain the kinematic and dynamic equations of the shovel, and establish the relationship between the shovel parameters and the payload inside the bucket. The cable shovel bucket is also referred to as “dipper”. An on-line parameter identification scheme was developed and experimentally verified in order to estimate the cable shovel parameters. A data acquisition system was installed on a P&H2100 cable shovel in the Sarcheshmeh Copper mine, located in Iran, where it logged the cable shovel data for several loading cycles. The payload was dynamically estimated using the simplified dynamic cable-shovel model developed in this thesis. The accuracy and repeatability of the algorithm has been verified based upon the cable-shovel data logged during its normal operation at the mine. In the course of this thesis project, I also devised a novel approach for non-contact sensing of the dynamic arm-geometry of the cable-shovel. A prototype sensor apparatus was designed and assembled that measures the dipper handle angle, the swing angle, and the dipper handle length. Different sensors such as gyroscopes, magnetometers, accelerometers, and a laser sensor are integrated into Arm Geometry Sensor (AGS) apparatus. The AGS apparatus is installed on the saddle block and measures all cable shovel joint variables without having direct physical contact with the links or joints. The AGS apparatus was employed during field trials on the on P&H2100 cable shovel and verified to effectively sense the shovel joint variables with acceptable accuracy.
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Burzlaff, Marcus. "Aircraft Fuel Consumption - Estimation and Visualization." Aircraft Design and Systems Group (AERO), Department of Automotive and Aeronautical Engineering, Hamburg University of Applied Sciences, 2017. http://d-nb.info/1148997490.

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In order to uncover the best kept secret in today's commercial aviation, this project deals with the calculation of fuel consumption of aircraft. With only the reference of the aircraft manufacturer's information, given within the airport planning documents, a method is established that allows computing values for the fuel consumption of every aircraft in question. The aircraft's fuel consumption per passenger and 100 flown kilometers decreases rapidly with range, until a near constant level is reached around the aircraft's average range. At longer range, where payload reduction becomes necessary, fuel consumption increases significantly. Numerical results are visualized, explained, and discussed. With regard to today's increasing number of long-haul flights, the results are investigated in terms of efficiency and viability. The environmental impact of burning fuel is not considered in this report. The presented method allows calculating aircraft type specific fuel consumption based on publicly available information. In this way, the fuel consumption of every aircraft can be investigated and can be discussed openly.
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Wang, Wei-Chen, and 王偉震. "Payload Damage Estimation for Hybrid ARQ." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/88195521981830658820.

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碩士
臺灣大學
電信工程學研究所
95
Hybrid automatic retransmission request (HARQ) is an important technique for communications without CSI. When the retransmission arrives, as opposed to simple ARQ, in HARQ all the received transmissions for a payload are used together to determine the common underlying payload. This could allow the transmitter to be more aggressive in its selection of the transmission rate. Intuitively, the amount of resources that a transmitter needs to invest in a retransmission to repair a previously failed transmission depends on how severely the prior transmission is damaged. If the payload damage information (PDI) can be made available at the transmitter, it could signi‾cantly improve the effciency of retransmission. Compared to a typical HARQ scheme, a PDI-available HARQ transmission scheme requires the estimation and description of damage at the receiver and a corresponding resource allocation determination scheme at the transmitter. In this thesis, we investigate the problem of how and how well a receiver can estimate the damage suffered by a failed payload. First, we will show that in order to achieve the ultimate performance in damage estimation, one must estimate damage from the received signal itself. Auxiliary signals and the received payload can be used in the process of channel state estimation. As will be shown in this paper, fundamentally this type of approach cannot reach the optimal level of damage estimation. Next, we look at how the payload damage is to be estimated directly from the received signal. Our main approach is to carefully examine the geometrical space around the received signal to assess potential damage. The constellations near the received signal can be estimated using a multiple-output decoder such as a list decoder. To illustrate how the idea can be applied in practice, we introduce a simple yet effective damage estimator for an convolutionally-coded OFDM link over a frequency selective medium. We can compute the effective minimum distance of the received signal and apply this result to assist in designing retransmission mechanism. We also discuss the output patterns of list decoder in the rest of this thesis.
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Wang, Wei-Chen. "Payload Damage Estimation for Hybrid ARQ." 2007. http://www.cetd.com.tw/ec/thesisdetail.aspx?etdun=U0001-3107200701422400.

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Lien, Ching-Ke, and 連青科. "Study of Payload Estimation for Steganalysis of Pixel-value Differencing Steganography." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/42428885157359925442.

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Yuan, Yunxia. "Attitude and Trajectory Estimation for Small Suborbital Payloads." Doctoral thesis, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-206965.

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Sounding rockets and small suborbital payloads provide a means for research in situ of the atmosphere and ionosphere. The trajectory and the attitude of the payload are critical for the evaluation of the scientific measurements and experiments. The trajectory refers the location of the measurement, while the attitude determines the orientation of the sensors. This thesis covers methods of trajectory and attitude reconstruction implemented in several experiments with small suborbital payloads carried out by the Department of Space and Plasma Physics in 2012--2016. The problem of trajectory reconstruction based on raw GPS data was studied for small suborbital payloads. It was formulated as a global least squares optimization problem. The method was applied to flight data of two suborbital payloads of the RAIN REXUS experiment. Positions and velocities were obtained with high accuracy. Based on the trajectory reconstruction technique, atmospheric densities, temperatures, and horizontal wind speeds below 80 km were obtained using rigid free falling spheres of the LEEWAVES experiment. Comparison with independent data indicates that the results are reliable for densities below 70 km, temperatures below 50 km, and wind speeds below 45 km. Attitude reconstruction of suborbital payloads from yaw-pitch-roll Euler angles was studied. The Euler angles were established by two methods: a global optimization method and an Unscented Kalman Filter (UKF) technique. The comparison of the results shows that the global optimization method provides a more accurate fit to the observations than the UKF. Improving the results of the falling sphere experiments requires understanding of the attitude motion of the sphere. An analytical consideration was developed for a free falling and axisymmetric sphere under aerodynamic torques. The motion can generally be defined as a superposition of precession and nutation. These motion phenomena were modeled numerically and compared to flight data.

QC 20170510

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Lin, Chin-Chung, and 林進忠. "Sliding-Mode Control Applied to DC-DC Buck Converter Based on Payload Estimator." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/31797585452206108810.

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碩士
國立交通大學
電機學院碩士在職專班電機與控制組
99
In this thesis, a general DC-DC Buck converter model is derived by the state space average method, which is valid for continuous conduction mode. A sliding mode controller with an integral term of error function is proposed for constant frequency PWM-based DC-DC Buck converter. To reduce the influence of system uncertainty, a first-order estimator is also applied to estimate the unknown payload. With the sliding mode control, the system trajectory could be successfully driven to the sliding surface in a finite time even though the payload changes. In the sliding mode, the system is stabilized and the output voltage reaches the desired value, which fulfills the control goal. Finally, the proposed control scheme is demonstrated by the numerical simulation results.
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Books on the topic "Payload estimation"

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Science Applications International Corporation. Space Sciences Dept. Advanced Planning and Analysis Division. and Lyndon B. Johnson Space Center. Engineering Directorate., eds. Satellite servicing price estimation instruction booklet. Schaumburg, IL: Advanced Planning and Analysis Division, Space Sciences Dept., Science Applications International Corporation, 1987.

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Book chapters on the topic "Payload estimation"

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Wadiwala, Krishna K., Neeraj Mishra, Deepak Mishra, and Hetal Patel. "Channel Power Estimation for DVBRCS to DVBS2 Onboard DSP Payload." In Smart Innovations in Communication and Computational Sciences, 161–72. Singapore: Springer Singapore, 2018. http://dx.doi.org/10.1007/978-981-13-2414-7_16.

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Walawalkar, Ashwin, Steffen Heep, Christian Schindler, Roland Leifeld, and Martin Frank. "Validation of an analytical method for payload estimation in excavators." In Proceedings, 3–16. Wiesbaden: Springer Fachmedien Wiesbaden, 2018. http://dx.doi.org/10.1007/978-3-658-21300-8_1.

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Walawalkar, Ashwin, Steffen Heep, Martin Frank, and Christian Schindler. "Payload Estimation in Excavators Using a Machine Learning Based Parameter Identification Method." In Lecture Notes in Mechanical Engineering, 1670–80. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-38077-9_190.

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Alber, Irwin E. "Estimating Shuttle launch, orbit, and payload magnitudes." In Aerospace Engineering on the Back of an Envelope, 77–168. Berlin, Heidelberg: Springer Berlin Heidelberg, 2012. http://dx.doi.org/10.1007/978-3-642-22537-6_3.

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Gandhi, Ravi V., and Dipak M. Adhyaru. "Design of Intelligent Stabilizing Controller and Payload Estimator for the Electromagnetic Levitation System: DOBFLC Approach." In Soft Computing Applications, 329–43. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-51992-6_26.

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Troll, Péter, Károly Szipka, and Andreas Archenti. "Indoor Localization of Quadcopters in Industrial Environment." In Advances in Transdisciplinary Engineering. IOS Press, 2020. http://dx.doi.org/10.3233/atde200183.

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The research work in this paper was carried out to reach advanced positioning capabilities of unmanned aerial vehicles (UAVs) for indoor applications. The paper includes the design of a quadcopter and the implementation of a control system with the capability to position the quadcopter indoor using onboard visual pose estimation system, without the help of GPS. The project also covered the design and implementation of quadcopter hardware and the control software. The developed hardware enables the quadcopter to raise at least 0.5kg additional payload. The system was developed on a Raspberry single-board computer in combination with a PixHawk flight controller. OpenCV library was used to implement the necessary computer vision. The Open-source software-based solution was developed in the Robotic Operating System (ROS) environment, which performs sensor reading and communication with the flight controller while recording data about its operation and transmits those to the user interface. For the vision-based position estimation, pre-positioned printed markers were used. The markers were generated by ArUco coding, which exactly defines the current position and orientation of the quadcopter, with the help of computer vision. The resulting data was processed in the ROS environment. LiDAR with Hector SLAM algorithm was used to map the objects around the quadcopter. The project also deals with the necessary camera calibration. The fusion of signals from the camera and from the IMU (Inertial Measurement Unit) was achieved by using Extended Kalman Filter (EKF). The evaluation of the completed positioning system was performed with an OptiTrack optical-based external multi-camera measurement system. The introduced evaluation method has enough precision to be used to investigate the enhancement of positioning performance of quadcopters, as well as fine-tuning the parameters of the used controller and filtering approach. The payload capacity allows autonomous material handling indoors. Based on the experiments, the system has an accurate positioning system to be suitable for industrial application.
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Kumar, Amit, Anil Kumar Singh, Nitesh Awasthi, and Virendra Singh. "Natural Hazard." In Interdisciplinary Approaches to Information Systems and Software Engineering, 124–41. IGI Global, 2019. http://dx.doi.org/10.4018/978-1-5225-7784-3.ch006.

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Tropical cyclones are also known as typhoons or hurricanes. Also, special emphasis is given on the various aspects associated with cyclogenesis, like the six essential parameters required for cyclogenesis as given by W. M. Grey, and Dvorak technique is discussed in this chapter. INSAT-3D is an indigenous advanced dedicated meteorological satellite in geostationary orbit, which was launched on 26th July 2013. INSAT-3D was declared operational by IMD on 15th January 2014. INSAT-3D has four payloads, namely. IMAGER, SOUNDER, data relay transponder (DRT), and satellite aided search, aid and rescue (SAR). Three rainfall estimates are being generated from INSAT-3D, namely, hydro-estimator (HE), INSAT multispectral rainfall algorithm (IMSRA), and QPE (quantitative precipitation estimate). It has been found in this study that IMSRA performs better during initial stages of cyclogenesis (i.e., during T1.0, T1.5, and T2.0); during mature stages T2.5 to T3.0, HE performs better. During weakening stages IMSRA gives better results.
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Conference papers on the topic "Payload estimation"

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Huang, Xiaoyu, and Junmin Wang. "Payload Parameter Real-Time Estimation for Lightweight Vehicles." In ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control. ASMEDC, 2011. http://dx.doi.org/10.1115/dscc2011-6045.

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This paper proposes a payload parameter estimation method for lightweight vehicles (LWVs), whose dynamics and control are substantially affected by their payload variations due to the LWVs’ significantly reduced sizes and weights. Accurate and real-time estimation of payload parameters, including payload mass and its onboard planar location, will be helpful for controller designs and load condition monitoring. The proposed payload parameter estimator (PPE) is divided into two parts: tire nominal normal force estimator (NNFE) based on a recursive least squares (RLS) algorithm using signals measured from LWV constant speed maneuvers, and parameter calculator based on estimated nominal normal forces. The prototype LWV is an electric ground vehicle with separable torque control of the four wheels by in-wheel motors, which allow redundant input injections in the designed maneuvers. Simulation results, based on a CarSim® model, show that the proposed PPE is capable of accurately and quickly estimating payload parameters, and is independent of the road condition as long as the tire forces are kept within their linear ranges.
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Guerra, Filippo, Luca Marchi, Stefano Grigolato, and Raimondo Gallo. "Indirect payload estimation in cable-logging operations." In 19th International Scientific Conference Engineering for Rural Development. Latvia University of Life Sciences and Technologies, Faculty of Engineering, 2020. http://dx.doi.org/10.22616/erdev.2020.19.tf537.

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Picard, Etienne, Stéphane Caro, Franck Plestan, and Fabien Claveau. "Control Solution for a Cable-Driven Parallel Robot With Highly Variable Payload." In ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/detc2018-85304.

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This paper deals with the design of a robust control scheme for a suspended Cable-Driven Parallel Robot (CDPR), composed of eight cables and a moving platform (MP), suitable for pick-and-place operations of heterogeneous objects with different shapes, sizes and masses, up to a total load of 700 kg. Dynamometers measure the force applied by each cable onto the moving-platform and are used to assess the payload mass at any time. In the proposed control solution, each motor of the CDPR is directly driven by a PD torque controller, which takes benefit of the real-time payload estimation in a feedforward term. In order to evaluate its performance, experiments on a typical pick and place trajectory are realized for different payloads. As a result, three control schemes: (i) a Proportional-Derivative (PD) torque controller; (ii) a PD controller with compensation of the MP mass only and (iii) a PD controller with real-time mass estimation and compensation are experimentally compared with respect to their positioning accuracy. It turns out that a good estimation of the payload is obtained in real-time thanks to the dynamometers. Moreover, the higher the payload mass, the more accurate the proposed controller with respect to its two counterparts.
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Bewley, Alex, Rajiv Shekhar, Sam Leonard, Ben Upcroft, and Paul Lever. "Real-time volume estimation of a dragline payload." In 2011 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2011. http://dx.doi.org/10.1109/icra.2011.5979898.

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Mu, Xiuping, and Inna Sharf. "Nonlinear Contact Parameter Estimation for Robotic Systems With Payload." In ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2007. http://dx.doi.org/10.1115/detc2007-35391.

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Simulating robotic operations where the robot interacts with its environment remains a challenging task because of the difficulties involved in contact modeling. At present, the basic methodologies for modeling contact are well established and have been integrated into many existing multibody dynamics formulations and software. One popular approach involves modeling the normal contact force as a continuous function of deformation, according to a particular constitutive relation. These models are usually simple in form and are easily integrated into any multibody framework because they provide an explicit relationship between the normal contact force and a geometric penetration variable, with the aid of appropriate contact parameters. One issue that remains ambiguous, however, is the choice of the contact parameters to be ‘fed’ into the force-deformation law. In this paper, the problem of contact parameter estimation is addressed in the context of a nonlinear contact force model proposed by Hunt and Crossley. An offline parameter estimation algorithm is developed which effectively transforms the nonlinear estimation problem into a linear one, it in turn solved using a multi-pass recursive technique. Results of application of the algorithm to simulated and experimental data are presented, the latter obtained with a six-DOF robotic manipulator and a variety of payload materials and geometries. Comparison of the proposed method to the nonlinear curve fitting algorithm from MATLAB demonstrates some advantages and limitations.
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Malzahn, Jorn, Russell Schloss, and Torsten Bertram. "Link elasticity exploited for payload estimation and force control." In 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2015. http://dx.doi.org/10.1109/iros.2015.7353567.

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Quach, Tu-Thach. "Cover estimation and payload location using Markov random fields." In IS&T/SPIE Electronic Imaging, edited by Adnan M. Alattar, Nasir D. Memon, and Chad D. Heitzenrater. SPIE, 2014. http://dx.doi.org/10.1117/12.2032711.

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Angel, L., and J. Viola. "Payload estimation for a robotic system using unsupervised classification." In 2016 XXI Symposium on Signal Processing, Images and Artificial Vision (STSIVA). IEEE, 2016. http://dx.doi.org/10.1109/stsiva.2016.7743300.

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Decker, Ryan J., and Oleg A. Yakimenko. "Automated Canopy and Payload Motion Estimation Using Vision Based Methods." In 23rd AIAA Aerodynamic Decelerator Systems Technology Conference. Reston, Virginia: American Institute of Aeronautics and Astronautics, 2015. http://dx.doi.org/10.2514/6.2015-2171.

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Chung, Y., D. Krebs, and J. Peebles. "Estimation of payload random vibration loads for proper structure design." In 19th AIAA Applied Aerodynamics Conference. Reston, Virigina: American Institute of Aeronautics and Astronautics, 2001. http://dx.doi.org/10.2514/6.2001-1667.

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Reports on the topic "Payload estimation"

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Dobranich, D. Estimating payload internal temperatures and radiator size for multimegawatt space platforms. Office of Scientific and Technical Information (OSTI), August 1987. http://dx.doi.org/10.2172/6112240.

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