Diego B. Haddad
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View article: Implementation of monocular visual SLAM with ARCog-NET for aerial robot swarm indoor mapping
Implementation of monocular visual SLAM with ARCog-NET for aerial robot swarm indoor mapping Open
This paper presents a real-time distributed framework for Unmanned Aerial Vehicle (UAV) swarms operating in GPS-denied indoor environments, built on the Aerial Robot Cognitive Network Architecture (ARCog-NET) cognitive architecture and enh…
View article: Striped Spin Density Wave in a Graphene/Black Phosphorous Heterostructure
Striped Spin Density Wave in a Graphene/Black Phosphorous Heterostructure Open
A bilayer formed by stacking two distinct materials creates a moiré lattice, which can serve as a platform for novel electronic phases. In this work we study a unique example of such a system: the graphene-black phosphorus heterostructure …
View article: Analysis and Control of Ball Displacement in Air Levitation Experiment by Using a Disturbance Rejection-Based Technique
Analysis and Control of Ball Displacement in Air Levitation Experiment by Using a Disturbance Rejection-Based Technique Open
This work describes the application of a disturbance rejection technique for controlling ball position in an air levitation experiment. The prototype consists of a light-mass ball that moves freely inside a vertical transparent cylindrical…
View article: Conjugate gradient‐based active noise cancellation
Conjugate gradient‐based active noise cancellation Open
Active noise cancellation schemes should synthesize proper secondary perturbations without relevant prior information. Their performance depends strongly on their adaptive mechanisms, which, sometimes, do not fulfill the severe requirement…
View article: Transient Analysis of a Selective Partial-Update LMS Algorithm
Transient Analysis of a Selective Partial-Update LMS Algorithm Open
In applications where large-order filters are needed, the computational load of adaptive filtering algorithms can become prohibitively expensive. In this paper, a comprehensive analysis of a selective partial-update least mean squares, nam…
View article: Heterogeneous Multi-Robot Collaboration for Coverage Path Planning in Partially Known Dynamic Environments
Heterogeneous Multi-Robot Collaboration for Coverage Path Planning in Partially Known Dynamic Environments Open
This research presents a cooperation strategy for a heterogeneous group of robots that comprises two Unmanned Aerial Vehicles (UAVs) and one Unmanned Ground Vehicles (UGVs) to perform tasks in dynamic scenarios. This paper defines specific…
View article: Stochastic Modeling of the Set-Membership- Sign-NLMS Algorithm
Stochastic Modeling of the Set-Membership- Sign-NLMS Algorithm Open
This paper proposes the Set-Membership sign-NLMS (SM-sign-NLMS) adaptive filter, which combines the ability for data censoring (offered by Set-Membership schemes) with robustness against impulsive noise (provided by signed schemes). The al…
View article: ARCog-NET: An Aerial Robot Cognitive Network Architecture for Swarm Applications Development
ARCog-NET: An Aerial Robot Cognitive Network Architecture for Swarm Applications Development Open
This work presents an advanced cognitive architecture for networked aerial robots to implement autonomous swarm systems effectively. It focuses on designing, implementing, and evaluating an architecture that enables unmanned aerial vehicle…
View article: Sparsity-Aware Distributed Adaptive Filtering with Robustness Against Impulsive Noise and Low SNR
Sparsity-Aware Distributed Adaptive Filtering with Robustness Against Impulsive Noise and Low SNR Open
Distributed inference tasks could be performed by adaptive filtering techniques. Several enhancement strategies for such techniques were proposed, such as sparsity-aware algorithms, coefficients reuse and correntropy-based cost functions i…
View article: Diesel Engine Fault Prediction Using Artificial Intelligence Regression Methods
Diesel Engine Fault Prediction Using Artificial Intelligence Regression Methods Open
Predictive maintenance has been employed to reduce maintenance costs and production losses and to prevent any failure before it occurs. The framework proposed in this work performs diesel engine prognosis by evaluating the absolute value o…
View article: A novel heuristic for the analysis of block sign LMS algorithm
A novel heuristic for the analysis of block sign LMS algorithm Open
This paper presents a new heuristic for the analysis of adaptive filtering algorithms. It combines Price's Theorem (which is strictly valid when the random variables are jointly Gaussian) with a probabilistic model of the input data that a…
View article: Análise do Algoritmo CMPN em regime permanente
Análise do Algoritmo CMPN em regime permanente Open
O algoritmo adaptativo de norma lp continuamente mista apresenta por vantagens tanto a robustez a ruído impulsivo quanto a implementação automática de uma estratégia de passo de aprendizagem variante no tempo. Devido à extrema não-linearid…
View article: Comprehensive Direct Georeferencing of Aerial Images for Unmanned Aerial Systems Applications
Comprehensive Direct Georeferencing of Aerial Images for Unmanned Aerial Systems Applications Open
Optical image sensors are the most common remote sensing data acquisition devices present in Unmanned Aerial Systems (UAS). In this context, assigning a location in a geographic frame of reference to the acquired image is a necessary task …
View article: Unmanned Aerial Vehicles Motion Control with Fuzzy Tuning of Cascaded-PID Gains
Unmanned Aerial Vehicles Motion Control with Fuzzy Tuning of Cascaded-PID Gains Open
One of the main challenges of maneuvering an Unmanned Aerial Vehicle (UAV) to keep a stabilized flight is dealing with its fast and highly coupled nonlinear dynamics. There are several solutions in the literature, but most of them require …
View article: Análise Comparativa de Métodos para Esteganografia Digital em Imagens
Análise Comparativa de Métodos para Esteganografia Digital em Imagens Open
Sensitive information being shared on the internet is growing. Becauseof this, it is increasingly necessary to take security measureswhilst this information travels in the network. Digital steganographyallows one to send sensitive informat…
View article: Additional file 1 of Flattening the curves: on-off lock-down strategies for COVID-19 with an application to Brazil
Additional file 1 of Flattening the curves: on-off lock-down strategies for COVID-19 with an application to Brazil Open
Supplementary information (ZIP 4 kB)
View article: A non‐uniform NSAF‐SF adaptive algorithm
A non‐uniform NSAF‐SF adaptive algorithm Open
Speech enhancement and acoustic noise reduction are two important tasks where adaptive filtering algorithms emerge as a competitive solution. Unfortunately, in such applications the convergence rate of the system identification is hampered…
View article: Transient Analysis of the Bias-Compensated LMS Algorithm
Transient Analysis of the Bias-Compensated LMS Algorithm Open
In most supervised adaptive filtering settings, only the additive noise of the reference signal is taken into account. However, in many practical situations the excitation data is also immersed in noise, which leads to a bias in the estima…
View article: On the steady‐state performance of bias‐compensated LMS algorithm
On the steady‐state performance of bias‐compensated LMS algorithm Open
Adaptive filtering algorithms are widespread today owing to their flexibility and simplicity. Due to environments in which they are normally immersed, their robustness against noise has been a topic of interest. Traditionally, in the liter…
View article: Bias‐compensated FX‐LMS algorithm
Bias‐compensated FX‐LMS algorithm Open
Active noise control is an expanding field that requires a suitable synthesis of secondary perturbations. Unfortunately, most schemes for noise cancelling do not take into account that the input signal that drives the adaptive filter can b…
View article: Improved sparsity‐aware NSAF‐SF adaptive algorithm
Improved sparsity‐aware NSAF‐SF adaptive algorithm Open
Normalised subband adaptive filtering algorithms have attracted attention due to their ability to present faster convergence in the case of coloured excitation data. The NSAF‐SF scheme is an example of a state‐of‐the‐art subband adaptive a…
View article: ‐norm feature least mean square algorithm
‐norm feature least mean square algorithm Open
In many practical applications, systems and signals show energy concentration in a few coefficients. This prior knowledge can often be incorporated into algorithms designed for tasks such as compressive sensing and system identification. T…
View article: Exact expectation analysis of the LMS adaptive identification of non‐linear systems
Exact expectation analysis of the LMS adaptive identification of non‐linear systems Open
Most adaptive filtering schemes employ the tapped‐delay line. In part, such a fact can be explained by the assumption that the plant they intend to estimate is linear. Although such a hypothesis can be reasonable if the input signal is con…
View article: Autonomous Unmanned Aerial Vehicles in Search and Rescue Missions Using Real-Time Cooperative Model Predictive Control
Autonomous Unmanned Aerial Vehicles in Search and Rescue Missions Using Real-Time Cooperative Model Predictive Control Open
Unmanned Aerial Vehicles (UAVs) have recently been used in a wide variety of applications due to their versatility, reduced cost, rapid deployment, among other advantages. Search and Rescue (SAR) is one of the most prominent areas for the …