177 lines
5.1 KiB
Org Mode
177 lines
5.1 KiB
Org Mode
#+TITLE: Robust and Optimal Sensor Fusion
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:DRAWER:
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#+LATEX_CLASS: IEEEtran
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#+LATEX_CLASS_OPTIONS: [conference]
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#+OPTIONS: toc:nil todo:nil
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#+STARTUP: overview
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#+DATE: {{{time(%Y-%m-%d)}}}
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#+AUTHOR: @@latex:\IEEEauthorblockN{Dehaeze Thomas}@@
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#+AUTHOR: @@latex:\IEEEauthorblockA{\textit{European Synchrotron Radiation Facility} \\@@
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#+AUTHOR: @@latex:Grenoble, France\\@@
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#+AUTHOR: @@latex:\textit{Precision Mechatronics Laboratory} \\@@
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#+AUTHOR: @@latex:\textit{University of Liege}, Belgium \\@@
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#+AUTHOR: @@latex:thomas.dehaeze@esrf.fr@@
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#+AUTHOR: @@latex:}\and@@
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#+AUTHOR: @@latex:\IEEEauthorblockN{Collette Christophe}@@
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#+AUTHOR: @@latex:\IEEEauthorblockA{\textit{BEAMS Department}\\@@
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#+AUTHOR: @@latex:\textit{Free University of Brussels}, Belgium\\@@
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#+AUTHOR: @@latex:\textit{Precision Mechatronics Laboratory} \\@@
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#+AUTHOR: @@latex:\textit{University of Liege}, Belgium \\@@
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#+AUTHOR: @@latex:ccollett@ulb.ac.be@@
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#+AUTHOR: @@latex:}@@
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#+LATEX_HEADER: \IEEEoverridecommandlockouts
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#+LATEX_HEADER: \usepackage{cite}
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#+LATEX_HEADER: \usepackage{showframe}
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#+LATEX_HEADER: \usepackage{amsmath,amssymb,amsfonts}
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#+LATEX_HEADER: \usepackage{algorithmic}
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#+LATEX_HEADER: \usepackage{graphicx}
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#+LATEX_HEADER: \usepackage{textcomp}
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#+LATEX_HEADER: \usepackage{xcolor}
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#+LATEX_HEADER: \usepackage{cases}
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#+LATEX_HEADER: \usepackage{tabularx,siunitx,booktabs}
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#+LATEX_HEADER: \usepackage{algorithmic}
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#+LATEX_HEADER: \usepackage{import, hyperref}
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#+LATEX_HEADER: \renewcommand{\citedash}{--}
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#+LATEX_HEADER: \def\BibTeX{{\rm B\kern-.05em{\sc i\kern-.025em b}\kern-.08em T\kern-.1667em\lower.7ex\hbox{E}\kern-.125emX}}
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\bibliographystyle{IEEEtran}
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:END:
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* LaTeX Config :noexport:
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#+begin_src latex :tangle config.tex
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#+end_src
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* Build :noexport:
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#+NAME: startblock
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#+BEGIN_SRC emacs-lisp :results none
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(add-to-list 'org-latex-classes
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'("IEEEtran"
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"\\documentclass{IEEEtran}"
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("\\section{%s}" . "\\section*{%s}")
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("\\subsection{%s}" . "\\subsection*{%s}")
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("\\subsubsection{%s}" . "\\subsubsection*{%s}")
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("\\paragraph{%s}" . "\\paragraph*{%s}")
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("\\subparagraph{%s}" . "\\subparagraph*{%s}"))
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)
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(defun delete-org-comments (backend)
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(loop for comment in (reverse (org-element-map (org-element-parse-buffer)
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'comment 'identity))
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do
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(setf (buffer-substring (org-element-property :begin comment)
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(org-element-property :end comment))
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"")))
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;; add to export hook
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(add-hook 'org-export-before-processing-hook 'delete-org-comments)
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;; Remove hypersetup
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(setq org-latex-with-hyperref nil)
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#+END_SRC
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* Abstract :ignore:
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#+begin_abstract
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Abstract text to be done
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#+end_abstract
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* Keywords :ignore:
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#+begin_IEEEkeywords
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Complementary Filters, Sensor Fusion, H-Infinity Synthesis
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#+end_IEEEkeywords
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* Introduction
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<<sec:introduction>>
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* Optimal Super Sensor Noise: $\mathcal{H}_2$ Synthesis
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<<sec:optimal_fusion>>
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** Sensor Fusion Architecture
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#+name: fig:sensor_fusion_noise_arch
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#+caption: Figure caption
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#+attr_latex: :scale 1
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[[file:figs/sensor_fusion_noise_arch.pdf]]
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** Super Sensor Noise
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** $\mathcal{H}_2$ Synthesis of Complementary Filters
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#+name: fig:h_two_optimal_fusion
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#+caption: Figure caption
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#+attr_latex: :scale 1
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[[file:figs/h_two_optimal_fusion.pdf]]
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** Example
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** Robustness Problem
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* Robust Sensor Fusion: $\mathcal{H}_\infty$ Synthesis
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<<sec:robust_fusion>>
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** Representation of Sensor Dynamical Uncertainty
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#+name: fig:sensor_fusion_arch_uncertainty
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#+caption: Figure caption
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#+attr_latex: :scale 1
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[[file:figs/sensor_fusion_arch_uncertainty.pdf]]
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** Super Sensor Dynamical Uncertainty
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#+name: fig:uncertainty_set_super_sensor
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#+caption: Figure caption
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#+attr_latex: :scale 1
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[[file:figs/uncertainty_set_super_sensor.pdf]]
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** $\mathcal{H_\infty}$ Synthesis of Complementary Filters
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#+name: fig:h_infinity_robust_fusion
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#+caption: Figure caption
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#+attr_latex: :scale 1
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[[file:figs/h_infinity_robust_fusion.pdf]]
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** Example
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* Optimal and Robust Sensor Fusion: Mixed $\mathcal{H}_2/\mathcal{H}_\infty$ Synthesis
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<<sec:optimal_robust_fusion>>
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** Sensor Fusion Architecture
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#+name: fig:sensor_fusion_arch_full
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#+caption: Figure caption
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#+attr_latex: :scale 1
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[[file:figs/sensor_fusion_arch_full.pdf]]
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** Synthesis Objective
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** Mixed $\mathcal{H}_2/\mathcal{H}_\infty$ Synthesis
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#+name: fig:mixed_h2_hinf_synthesis
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#+caption: Figure caption
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#+attr_latex: :scale 1
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[[file:figs/mixed_h2_hinf_synthesis.pdf]]
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** Example
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* Experimental Validation
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<<sec:experimental_validation>>
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** Experimental Setup
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** Sensor Noise and Dynamical Uncertainty
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** Mixed $\mathcal{H}_2/\mathcal{H}_\infty$ Synthesis
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** Super Sensor Noise and Dynamical Uncertainty
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* Conclusion
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<<sec:conclusion>>
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* Acknowledgment
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* Bibliography :ignore:
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\bibliography{ref}
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