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In this paper we present a novel procedure for the identification of hybrid systems in the piece-wise ARX form. The procedure consists of three steps: 1) parameter estimation, 2) classification of data points and 3) partition estimation. Our approach to parameter estimation is based on the gradual refinement of the a-priori information about the parameter values, using the Bayesian inference rule. Particle filters are used for a numerical implementation of the proposed parameter estimation procedure. Data points are subsequently classified to the mode which is most likely to have generated them. A modified version of the multi-category robust linear programming (MRLP) classification procedure, adjusted to use the information derived in the previous steps of the identification algorithm, is used for estimating the partition of the PWARX map. The proposed procedure is applied for the identification of the component placement process in pick-and-place machines.

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The use of flexible endoscopes is the standard screening method for the upper gastrointestinal tract today. Disadvantages for the patient, due to the insertion process and often applied sedation, can be overcome with wireless capsule endoscopy (WCE). But WCE is not suited for the stomach as it can not guarantee a complete screening having no active guidance. With the magnetically guided capsule endoscopy (MGCE) a novel minimal invasive screening method for the gastrointestinal tract is being developed. With its current focus on the human stomach comes the need for a navigation and control method that is specialized for this application and its constraints. We present a new method for screening a waterfilled stomach with 10 functions for basic capsule movements, special maneuvers and mode-changes. Its evaluation was done in a clinical study consisting of 53 patient and volunteer cases. The individual evaluation of each function included a statistical analysis and an operators' survey. The functions proved sufficient to reach all parts of the stomach and to acquire close-up views of the mucosa.

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SUMMARYIn this paper we present observer design procedures for a class of bi-modal piecewise linear systems in both continuous and discrete time. We propose Luenberger-type observers, and derive sufficient conditions for the observation error dynamics to be globally asymptotically stable, in the case when the system dynamics is continuous over the switching plane. When the dynamics is discontinuous, we derive conditions that guarantee that the relative estimation error with respect to the state of the observed system will be asymptotically small. The presented theory is illustrated with several examples.

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