diff --git a/paper/paper.org b/paper/paper.org index b7f9285..ddfbd69 100644 --- a/paper/paper.org +++ b/paper/paper.org @@ -24,6 +24,7 @@ #+LATEX_HEADER: \IEEEoverridecommandlockouts #+LATEX_HEADER: \usepackage{cite} +#+LATEX_HEADER: \usepackage{showframe} #+LATEX_HEADER: \usepackage{amsmath,amssymb,amsfonts} #+LATEX_HEADER: \usepackage{algorithmic} #+LATEX_HEADER: \usepackage{graphicx} diff --git a/paper/paper.pdf b/paper/paper.pdf index 09283a4..1fa7d19 100644 Binary files a/paper/paper.pdf and b/paper/paper.pdf differ diff --git a/paper/paper.tex b/paper/paper.tex index c6f0a9d..8505906 100644 --- a/paper/paper.tex +++ b/paper/paper.tex @@ -1,4 +1,4 @@ -% Created 2020-08-17 lun. 17:56 +% Created 2020-08-17 lun. 18:06 % Intended LaTeX compiler: pdflatex \documentclass[conference]{IEEEtran} \usepackage[utf8]{inputenc} @@ -22,6 +22,7 @@ \usepackage{siunitx} \IEEEoverridecommandlockouts \usepackage{cite} +\usepackage{showframe} \usepackage{amsmath,amssymb,amsfonts} \usepackage{algorithmic} \usepackage{graphicx} @@ -49,15 +50,15 @@ Complementary Filters, Sensor Fusion, H-Infinity Synthesis \end{IEEEkeywords} \section{Introduction} -\label{sec:org1c3c846} +\label{sec:orgc7e68f1} \label{sec:introduction} \section{Optimal Super Sensor Noise: \(\mathcal{H}_2\) Synthesis} -\label{sec:org92b3e9e} +\label{sec:org9dea05a} \label{sec:optimal_fusion} \subsection{Sensor Fusion Architecture} -\label{sec:org3678a87} +\label{sec:org02189c8} \begin{figure}[htbp] \centering @@ -66,10 +67,10 @@ Complementary Filters, Sensor Fusion, H-Infinity Synthesis \end{figure} \subsection{Super Sensor Noise} -\label{sec:orgdea8e6d} +\label{sec:org75bf123} \subsection{\(\mathcal{H}_2\) Synthesis of Complementary Filters} -\label{sec:org22b990a} +\label{sec:org2372e4d} \begin{figure}[htbp] \centering @@ -78,17 +79,17 @@ Complementary Filters, Sensor Fusion, H-Infinity Synthesis \end{figure} \subsection{Example} -\label{sec:orge0d6784} +\label{sec:orgf58d3c3} \subsection{Robustness Problem} -\label{sec:orgce865b5} +\label{sec:org25143ef} \section{Robust Sensor Fusion: \(\mathcal{H}_\infty\) Synthesis} -\label{sec:org67d4941} +\label{sec:orge0ab922} \label{sec:robust_fusion} \subsection{Representation of Sensor Dynamical Uncertainty} -\label{sec:orgc542dcc} +\label{sec:orgde1ca0e} \begin{figure}[htbp] \centering @@ -97,7 +98,7 @@ Complementary Filters, Sensor Fusion, H-Infinity Synthesis \end{figure} \subsection{Super Sensor Dynamical Uncertainty} -\label{sec:org394776d} +\label{sec:org7f51f8d} \begin{figure}[htbp] \centering @@ -106,7 +107,7 @@ Complementary Filters, Sensor Fusion, H-Infinity Synthesis \end{figure} \subsection{\(\mathcal{H_\infty}\) Synthesis of Complementary Filters} -\label{sec:org1b01372} +\label{sec:org04f04f3} \begin{figure}[htbp] \centering @@ -115,14 +116,14 @@ Complementary Filters, Sensor Fusion, H-Infinity Synthesis \end{figure} \subsection{Example} -\label{sec:orgaa648f2} +\label{sec:orgbeb8891} \section{Optimal and Robust Sensor Fusion: Mixed \(\mathcal{H}_2/\mathcal{H}_\infty\) Synthesis} -\label{sec:orgf084670} +\label{sec:orgf739e93} \label{sec:optimal_robust_fusion} \subsection{Sensor Fusion Architecture} -\label{sec:org3c9692b} +\label{sec:org8fde0b7} \begin{figure}[htbp] \centering @@ -131,10 +132,10 @@ Complementary Filters, Sensor Fusion, H-Infinity Synthesis \end{figure} \subsection{Synthesis Objective} -\label{sec:orgae68b29} +\label{sec:org91a1cb3} \subsection{Mixed \(\mathcal{H}_2/\mathcal{H}_\infty\) Synthesis} -\label{sec:org92a0c83} +\label{sec:orgcd9ab73} \begin{figure}[htbp] \centering @@ -143,30 +144,30 @@ Complementary Filters, Sensor Fusion, H-Infinity Synthesis \end{figure} \subsection{Example} -\label{sec:org9ab5cae} +\label{sec:orgc2f161d} \section{Experimental Validation} -\label{sec:org6e8847d} +\label{sec:org9c8a2db} \label{sec:experimental_validation} \subsection{Experimental Setup} -\label{sec:orgc64e6fd} +\label{sec:orga1abc9b} \subsection{Sensor Noise and Dynamical Uncertainty} -\label{sec:orge0cb611} +\label{sec:org9d92c2b} \subsection{Mixed \(\mathcal{H}_2/\mathcal{H}_\infty\) Synthesis} -\label{sec:org952072f} +\label{sec:orgbda5f50} \subsection{Super Sensor Noise and Dynamical Uncertainty} -\label{sec:org777e3ba} +\label{sec:orgb1aa4c9} \section{Conclusion} -\label{sec:orgaeb27bf} +\label{sec:org468c862} \label{sec:conclusion} \section{Acknowledgment} -\label{sec:orgae04552} +\label{sec:org07d8818} \bibliography{ref} \end{document} diff --git a/tikz/figs/sensor_fusion_arch_full.pdf b/tikz/figs/sensor_fusion_arch_full.pdf index 70e112e..6a8d0d6 100644 Binary files a/tikz/figs/sensor_fusion_arch_full.pdf and b/tikz/figs/sensor_fusion_arch_full.pdf differ diff --git a/tikz/figs/sensor_fusion_arch_full.png b/tikz/figs/sensor_fusion_arch_full.png index 0d4267d..5760149 100644 Binary files a/tikz/figs/sensor_fusion_arch_full.png and b/tikz/figs/sensor_fusion_arch_full.png differ diff --git a/tikz/figs/sensor_fusion_arch_full.svg b/tikz/figs/sensor_fusion_arch_full.svg index 77e8d2c..a3b9bb1 100644 --- a/tikz/figs/sensor_fusion_arch_full.svg +++ b/tikz/figs/sensor_fusion_arch_full.svg @@ -1,5 +1,5 @@ - + @@ -88,318 +88,318 @@ - + - + - + - + - + - - - + + + - - + + - - - - - - + + + + + + - + - - - - - - + + + + + + - + - + - - - - - - + + + + + + - + - - + + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + - + - + - + - - + + - + - + - + - - + + - + - + - + - - + + - + - + - + - - + + - + - + - - + + - + - + - - - - - - + + + + + + - + - + - + diff --git a/tikz/index.org b/tikz/index.org index f9c9bad..78ef5cf 100644 --- a/tikz/index.org +++ b/tikz/index.org @@ -231,19 +231,19 @@ Configuration file is accessible [[file:config.org][here]]. #+begin_src latex :file sensor_fusion_arch_full.pdf \begin{tikzpicture} \node[branch] (x) at (0, 0); - \node[addb, above right=1.2 and 3.7 of x](add1){}; - \node[addb, below right=1.2 and 3.7 of x](add2){}; - \node[block, above left=0.2 and 0.1 of add1](delta1){$\Delta_1(s)$}; - \node[block, above left=0.2 and 0.1 of add2](delta2){$\Delta_2(s)$}; - \node[block, left=0.5 of delta1](W1){$w_1(s)$}; - \node[block, left=0.5 of delta2](W2){$w_2(s)$}; - \node[addb, right=0.5 of add1](addn1){}; - \node[addb, right=0.5 of add2](addn2){}; + \node[addb, above right=1.2 and 3.5 of x](add1){}; + \node[addb, below right=1.2 and 3.5 of x](add2){}; + \node[block, above left=0.2 and 0 of add1](delta1){$\Delta_1(s)$}; + \node[block, above left=0.2 and 0 of add2](delta2){$\Delta_2(s)$}; + \node[block, left=0.4 of delta1](W1){$w_1(s)$}; + \node[block, left=0.4 of delta2](W2){$w_2(s)$}; + \node[addb, right=0.4 of add1](addn1){}; + \node[addb, right=0.4 of add2](addn2){}; \node[block, above=0.5 of addn1](N1) {$N_1(s)$}; \node[block, above=0.5 of addn2](N2) {$N_2(s)$}; - \node[block, right=1.2 of addn1](H1){$H_1(s)$}; - \node[block, right=1.2 of addn2](H2){$H_2(s)$}; - \node[addb, right=7.5 of x](add){}; + \node[block, right=1.1 of addn1](H1){$H_1(s)$}; + \node[block, right=1.1 of addn2](H2){$H_2(s)$}; + \node[addb, right=7.0 of x](add){}; \draw[] ($(x)+(-0.7, 0)$) node[above right]{$x$} -- (x.center); \draw[->] (x.center) |- (add1.west);