Publication

Kalman Filter to Measure Position and Speed of a Linear Actuator

Publications associées (32)

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Real time multi-object tracking using multiple cameras

Michail Zervos

We build a real-time multi-people tracker, which is based on the Kalman Filter. The input to the software is a Probabilistic Occupancy Map of the observed area. The main goal of the project is to incorporate this tracker to the real-time detection software ...

2012

State Estimation for Legged Robots - Consistent Fusion of Leg Kinematics and IMU

Roland Siegwart, Marco Hutter

This paper introduces a state estimation framework for legged robots that allows estimating the full pose of the robot without making any assumptions about the geometrical structure of its environment. This is achieved by means of an Observability Constrai ...

2012

Design, Optimization, and Sensorless Control of a Linear Actuator

Joël Maridor

Electrical contactors are relays for interputing high currents (up to 2000 A). They consist of three main distinct parts: the low voltage circuit, the high voltage circuit and the linear actuator that moves the contact. The purpose of this thesis is to des ...

EPFL2011

A Wideband Doubly-Sparse Approach For MITO Sparse Filter Estimation

Rémi Gribonval

We propose an approach for the estimation of sparse filters from a convolutive mixture of sources, exploiting the time-domain sparsity of the mixing filters and the sparsity of the sources in the time-frequency (TF) domain. The proposed approach is based o ...

IEEE2011

Double Sparsity: Towards Blind Estimation of Multiple Channels

Rémi Gribonval

We propose a framework for blind multiple filter estimation from convolutive mixtures, exploiting the time-domain sparsity of the mixing filters and the disjointness of the sources in the time-frequency domain. The proposed framework includes two steps: (a ...

Springer-Verlag's2010

Distributed nonlinear Kalman filtering with applications to wireless localization

Ali H. Sayed

We study the problem of distributed state-space estimation, where a set of nodes are required to estimate the state of a nonlinear state-space system based on their observations. We extend our previous work on distributed Kalman filtering to the nonlinear ...

IEEE2010

UMTS-WiFi Switchable Bandpass Filter

Julien Perruisseau-Carrier

In this paper a reconfigurable bandpass filter able to switch between WiFi and UMTS transmit band standards is presented. The filter is designed in such a way that center frequency and bandwidth specifications are precisely met by defining a switchable fil ...

2009

Adaptive frequency tracking and application to biomedical signals

Yann Prudat

The main information of a signal resides in its frequency, its amplitude (or its power) and in their temporal evolution. Thus, a great number of methods for instantaneous frequency estimation have been proposed in the literature. Most of these algorithms u ...

EPFL2009

UWB and MEMS Based Indoor Navigation

Bertrand Merminod, Sylvain Pittet

Thanks to its physical characteristics, Ultra-wideband (UWB) is one of the most promising technologies for indoor pedestrian navigation. UWB radio localisation systems however experience multipath phenomena that decrease the precision and the reliability o ...

2008

Target tracking using a joint acoustic video system

Volkan Cevher

In this paper, we present a particle filter that exploits multi modal information for robust target tracking. We demonstrate a Bayesian framework for combining acoustic and video information using a state space approach. A proposal strategy for joint acous ...

2007