Informatics in Control, Automation and Robotics (LNEE 430) 2018

“Lecture Notes in Electrical Engineering (LNEE)” is a book series which reports the latest research and developments in Electrical Engineering, namely: • Communication, Networks, and Information Theory • Computer Engineering • Signal, Image, Speech and Information Processing • Circuits and Systems • Bioengineering Contents: Part I Intelligent Control Systems and Optimization A Method for the Energy Optimization of a Multisource Elevator . . 3 Chloé Desdouits, Mazen Alamir, Rodolphe Giroudeau, Claude Le Pape Visual Servoing Path-Planning with Elliptical Projections . . . 30 Tiantian Shen and Graziano Chesi Fractional Models of Lithium-Ion Batteries with Application to State of Charge and Ageing Estimation . . . . . . . . . . . . . . . . . . . . 55 Jocelyn Sabatier, Franck Guillemard, Loic Lavigne, Agnieszka Noury, Mathieu Merveillaut, and Junior Mbala Francico Co-operation of Biology Related Algorithms for Solving Opinion Mining Problems by Using Different Term Weighting Schemes . . . . . . . 73 Shakhnaz Akhmedova, Eugene Semenkin, and Vladimir Stanovov Bifurcation Analysis and Active Control of Surge and Rotating Stall in Axial Flow Compressors via Passivity . . . . . . . . . . . . . . . . . . . . . . . . . . 91 Gholam-Reza Sari, Ouassima Akhrif, and Lahcen Saydy Task Controller for Performing Remote Centre of Motion . . . . . . . . . . 117 Bassem Dahroug, Brahim Tamadazte, and Nicolas Andreff Toward an Automatic Fongbe Speech Recognition System: Hierarchical Mixtures of Algorithms for Phoneme Recognition . . . . . . . 133 Fréjus A.A. Laleye, Eugène C. Ezin, and Cina Motamed Part II Robotics and Automation Spatial Fusion of Different Imaging Technologies Using a Virtual Multimodal Camera . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153 Sebastian P. Kleinschmidt and Bernardo Wagner Fusing LiDAR and Radar Data to Perform SLAM in Harsh Environments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175 Paul Fritsche, Simon Kueppers, Gunnar Briese, and Bernardo Wagner On Redundancy Resolution in Minimum-Time Trajectory Planning of Robotic Manipulators Along Predefined End-Effector Paths . . . . . . . . . 190 Alexander Reiter, Hubert Gattringer, and Andreas Müller Parameter Identification and Model-Based Control of Redundantly Actuated, Non-holonomic, Omnidirectional Vehicles . . . . . . . . . . . . . . . 207 Christoph Stöger, Andreas Müller, and Hubert Gattringer Passivity-Based Control Design and Experiments for a Rolling- Balancing System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230 Alejandro Donaire, Martin Crespo, Fabio Ruggiero, Vincenzo Lippiello, and Bruno Siciliano Time-Optimal Paths for a Robotic Batting Task . . . . . . . . . . . . . . . . . . 256 Diana Serra, Fabio Ruggiero, Aykut C. Satici, Vincenzo Lippiello, and Bruno Siciliano An Adaptive Terminal Sliding Mode Guidance Law for Head Pursuit Interception with Impact Angle Considered . . . . . . . . . . . . . . . . . . . . . . 277 Cheng Zhang, Ke Zhang, and Jingyu Wang Kinematic and Dynamic Approaches in Gait Optimization for Humanoid Robot Locomotion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293 Ramil Khusainov, Alexandr Klimchik, and Evgeni Magid Part III Signal Processing, Sensors, Systems Modelling and Control Identification and Control of the Waelz Process Using Infrared Image Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323 Jörg Matthes, Patrick Waibel, Hubert B. Keller, and Lutz Gröll Modeling and Calibrating Triangulation Lidars for Indoor Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 342 Anas Alhashimi, Giovanni Pierobon, Damiano Varagnolo, and Thomas Gustafsson A Comparison of Discretization Methods for Parameter Estimation of Nonlinear Mechanical Systems Using Extended Kalman Filter: Symplectic versus Classical Approaches . . . . . . . . . . . . . . . . . . . . . . . . . 367 Daniel Beckmann, Matthias Dagen, and Tobias Ortmaier Dynamics Calibration and Real-Time State Estimation of a Redundant Flexible Joint Robot Based on Encoders and Gyroscopes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 385 Dennis Schüthe, Felix Wenk, and Udo Frese Mathematical Model for the Output Signal’s Energy of an Ideal DAC in the Presence of Clock Jitter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 410 Paola Loreti, Sima Sarv Ahrabi, and Pierluigi Vellucci Stochastic Integration Filter with Improved State Estimate Mean- Square Error Computation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 423 Jindřich Havlík, Ondřej Straka, Jindřich Duník, and Jiří Ajgl Author Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 440