Newton Maruyama

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In this note we propose the input structure for a system of multi-articulated bodies and undertake the evaluation of some system input scenarios and the corresponding methods for which the proposed multibody system stabilization is possible. The system input structure analysis plays a major role in this regard. We concentrate attention on cases that allow(More)
This paper presents a nonlinear sensor fusion algorithm for inertial navigation designed to reconstruct trajectories of a Pipeline Inspection Gauge. Outputs of a strapdown inertial measurement unit are combined with non inertial measurements provided by an incremental odometer and a set of cartographic landmarks. The navigation system is modeled as a(More)
Although neuro-fuzzy models and other similar modeis have great flexibility they also have drawbacks, especially for systems which have high uncertainty associated . This paper points out which are the major drawbacks of neuro-fuzzy models and proposes a methodology to design fault detectors in uncertain systems using neuro-fuzzy models. The coolíng coil of(More)
A semi-autonomous unmanned underwater vehicle (UUV), named VSOR, is being developed at the Laboratory of Sensors and Actuators at the University of Sao Paulo. The vehicle has been designed to provide inspection and intervention capabilities in specific missions in deep water oil fields. With the aim of identifying the hydrodynamic motion parameters, such(More)
A semi-autonomous unmanned underwater vehicle (UUV), named VSOR, is being developed at the Laboratory of Sensors and Actuators at the University of Sao Paulo. The vehicle has been designed to provide inspection and intervention capabilities in specific missions in deep water oil fields. This work presents a methodology to identify the drag coefficients and(More)
In this work, a new method of refinement of embedded systems specifications based on the graphical specification language UML-RT and the formal specification CSP-OZ is introduced. The UML-RT is used to model real time distributed architecture systems and these are mapped onto formal specifications using CSP-OZ. The CSP-OZ formal specification language is a(More)
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