Time filter

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Grenoble, France

Alamir M.,CNRS GIPSA Laboratory
Automatica | Year: 2012

In this paper, a novel approach is proposed to implement low-dimensional parameterized Nonlinear Model Predictive Control (NMPC) schemes for systems showing fast dynamics. The proposed scheme is based on distributing the reconstruction of the cost function over the real lifetime of the controlled system. The framework is particularly suitable for NMPC formulations that use low dimensional control parametrization. The concrete example of a Planar Vertical Take-Off and Landing (PVTOL) aircraft stabilization problem is used to illustrate the efficiency of the proposed formulation. © 2011 Elsevier Ltd. All rights reserved. Source

Seuret A.,CNRS GIPSA Laboratory
Automatica | Year: 2012

This article proposes a novel approach to assess the stability of continuous linear systems with sampled-data inputs. The method, which is based on the discrete-time Lyapunov theorem, provides easy tractable stability conditions for the continuous-time model. Sufficient conditions for asymptotic and exponential stability are provided dealing with synchronous and asynchronous samplings and uncertain systems. An additional stability analysis is provided for the cases of multiple sampling periods and packet losses. Several examples show the efficiency of the method. © 2011 Elsevier Ltd. All rights reserved. Source

Fourati H.,CNRS GIPSA Laboratory
IEEE Transactions on Instrumentation and Measurement | Year: 2015

This paper proposes a foot-mounted zero velocity update (ZVU) aided inertial measurement unit (IMU) filtering algorithm for pedestrian tracking in indoor environment. The algorithm outputs are the foot kinematic parameters that include foot orientation, position, velocity, acceleration, and gait phase. The foot motion filtering algorithm incorporates methods for orientation estimation, gait detection, and position estimation. A novel complementary filter is introduced to better preprocess the sensor data from a foot-mounted IMU containing triaxial angular rate sensors, accelerometers, and magnetometers and to estimate the foot orientation without resorting to global positioning system data. A gait detection is accomplished using a simple states detector that transitions between states based on acceleration and angular rate measurements. Once foot orientation is computed, position estimates are obtained using integrating acceleration and velocity data, which has been corrected at step stance phase for drift using an implemented ZVU algorithm, leading to a position accuracy improvement. We show our findings experimentally by using of a commercial IMU during regular human walking trials in a typical public building. Experiment results show that the positioning approach achieves approximately a position accuracy around 0.4% and improves the performance regarding recent works of literature. © 2014 IEEE. Source

Comon P.,CNRS GIPSA Laboratory
IEEE Signal Processing Magazine | Year: 2014

Tensor decompositions are at the core of many blind source separation (BSS) algorithms, either explicitly or implicitly. In particular, the canonical polyadic (CP) tensor decomposition plays a central role in the identification of underdetermined mixtures. Despite some similarities, CP and singular value decomposition (SVD) are quite different. More generally, tensors and matrices enjoy different properties, as pointed out in this brief introduction. © 1991-2012 IEEE. Source

Cecotti H.,CNRS GIPSA Laboratory
Journal of Physiology Paris | Year: 2011

Brain-Computer Interfaces (BCIs) have become a large research field that include challenges mainly in neuroscience, signal processing, machine learning and user interface. A non-invasive BCI can allow the direct communication between humans and computers by analyzing electrical brain activity, recorded at the surface of the scalp with electroencephalography. The main purpose for BCIs is to enable communication for people with severe disabilities. Spelling is one of the first BCI application, it corresponds to the main communication mean for people who are unable to speak. While spelling can be the most basic application it remains a benchmark for communication applications and one challenge in the BCI community for some patients. This paper proposes a review of the current main strategies, and their limitations, for spelling words. It includes recent BCIs based on P300, steady-state visual evoked potentials and motor imagery. © 2011 Elsevier Ltd. Source

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