This paper presents a robust nonlinear control strategy for a laser scanner’s actuator operating under stochastic mechanical disturbances. External perturbations are represented as bounded stochastic torque inputs, capturing the aggregate effect of structural imbalance, impacts, or system degradation. Experimental observations of vibration-induced angular fluctuations motivate this modeling choice, highlighting the need for control strategies tolerant to bounded stochastic disturbances resulting from unpredictable mechanical faults. A smooth hyperbolic-based control law is proposed to achieve robust velocity tracking under these uncertain conditions. Global asymptotic stability is formally established through Lyapunov analysis, and simulation results confirm that the proposed method effectively maintains convergence and bounded control effort in the presence of estimated disturbance torque. The formulation is suitable for fault-tolerant control of precision actuators where physical irregularities are difficult to isolate or diagnose in real time.

This work presents improvements to a patented 3D laser scanning system with a friction-compensated laser positioning mechanism. By employing a dynamic friction model, the system accurately identifies angular positioning errors through a combination of manual and automatic measurements with different control inputs. The study conducts experiments involving multiple friction cycles and SEM micrograph analysis to compare the microscopic irregularities of steel surfaces before and after friction-based positioning. Parameters of the friction system are derived or estimated from processed input-output test data. A nonlinear control is proposed to compensate for friction effects, resulting in improved positioning accuracy. Experimental implementation using an STM32 board demonstrates a remarkable reduction in the uncertainty of 3D coordinates measured by applying friction-compensated laser positioning. The findings highlight the effectiveness of the proposed friction compensation method, making the 3D laser scanning system more precise and reliable for diverse applications.

Laser Scanners used for Structural Health Monitoring applications such as Pipelines Structural Inspections normally needs Point Clouds from a large quantity of individual measurements that should be adjusted or post-processed to decrease overall point-cloud errors depending on scanner's characteristics. The posterior adjustment is commonly addressed by different mathematical methods or computational algorithms. According to application requirements methods such as machine learning, signal filtering, or RANSAC algorithms are used. This paper shows the application of an adapted/modify RANSAC algorithm especially suited for the pipeline inspection task. Aiming to increase the percentage of useful data per capture.

In this work, a method is proposed for measuring the frequency and frequency deviations of a signal in a waveguide with respect to the power sensors embedded in the waveguide. The report contains expressions for estimating the uncertainty of the obtained measurement results. The ways of optimization of the measuring experiment are shown.

Inertial navigation systems (INS) provide information about position and acceleration of a unmanned aerial vehicle (UAV) or airplanes. There are many types of INS, but most of them share the same principle of operation. We provide in this paper basic information in regard of accelerometers and gyroscopes; then, we demonstrate the effectiveness of our method based on computational experiments to measure the information from the INS. Finally we introduce a method for frequency shift detection and measurement based on pulse coincidence.

Robotic group communication in a densely cluttered terrain is one of the main aid to optimize group navigation and come through this sector efficiently. This paper describes the basic set of tasks need to be solved for distributed robotic group behavior. The transferring of data obtained from technical vision system (TVS), which uses the principles of dynamic triangulation, is given. Combination of mentioned methods dovetailing with the presented path planning method can improvement robotic motion planning and navigation in unknown cluttered terrain.