Browsing by Author "Carrasco Schmidt, Rodrigo Arnaldo"

Now showing 1 - 4 of 4
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    A RUL Estimation System from Clustered Run-to-Failure Degradation Signals
    (2022) Cho, Anthony D.; Carrasco Schmidt, Rodrigo Arnaldo; Ruz, Gonzalo A.
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    Fuzzy logic based nonlinear Kalman filter applied to mobile robots modelling
    (IEEE, 2004) Carrasco Schmidt, Rodrigo Arnaldo; Cipriano, Aldo
    In order to reduce the false alarms in fault detection systems for mobile robots, accurate state estimation is needed. Through this work, a new method for localization of a mobile robot is presented. First, a Takagi-Sugeno fuzzy model of a mobile robot is determined, which is optimized using genetic algorithms, creating a precise representation of the kinematic equations of the robot. Then, the fuzzy model is used to design a new extension of the Kalman filter, based on several linear Kalman filters. Finally, the fuzzy filter is compared to the conventional extended Kalman filter, showing an improvement over the estimation made. The fuzzy filter also presents advantages in implementation, due to the fact that the covariance matrices needed are easier to estimate, increasing the estimation frequency.
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    Is the change deforestation? Using time-series analysis of satellite data to disentangle deforestation from other forest degradation causes
    (2024) Fuentes, Ignacio; Lopatin, Javier; Galleguillos, Mauricio; Ceballos-Comisso, Andrés; Eyheramendy, Susana; Carrasco Schmidt, Rodrigo Arnaldo
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    Layered architecture for fault detection and isolation in cooperative mobile robots
    (IEEE, 2007) Carrasco Schmidt, Rodrigo Arnaldo; Cipriano, Aldo
    This work presents an architecture that can help to increase the reliability in groups of cooperative mobile robots by taking advantage of analytical and sensor redundancy. First, the design of the architecture is portrayed and the faults to be detected are described. The different layers of the system are then explained and analyzed, using simulations to test their capabilities and limitations. Finally, the architecture is implemented on a group of small mobile robots to validate the results of the simulations.