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This paper compares two commonly used algorithms to solve Simultaneous Localization and Mapping (SLAM) problem in order to safely navigate an outdoor autonomous robot in an unknown location and without any access to a priori map. EKF-SLAM is considered as a classical method to solve SLAM problem. This method, however, suffers from two major issues; the quadratic computational complexity and single hypothesis data association. Large number of landmarks in the environment, especially, nearby landmarks, causes extensive error accumulation when the robot is traveling along a desired path. The multi-hypothesis data association property and the linear computational complexity are essential features in FastSLAM method. Those features make this method an alternative to overcome mentioned issues. The FastSLAM algorithm uses Rao-Blackwellised particle filtering to estimate the path of the robot and EKF-SLAM method to estimate locations of landmarks. In case of FastSLAM applications, however, observation noise needs to be reconsidered if the motion measurements are noisy while the range sensor is noiseless. This study suggests optimization of a specific situation of FastSLAM algorithm in case of noise discrepancy.

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Non destructive testing requires the predetermination of the parameters of the experiment. In this paper the focus is on the design of the experiments for infrared testing based on analytical models. Resulting design parameters are obtained using conservative approximate equations. The results are particularly relevant for non destructive testing in thin plates of various materials

This study is concerned with the design of a nonsingular decoupled terminal sliding mode controller for a class of fourth-order under-actuated uncertain nonlinear systems with unknown external disturbance. For the unmeasured disturbance, a disturbance observer with finite-time convergence of estimation error to zero is proposed. The nonsingular decoupled terminal sliding mode controller is designed by utilizing the output of the proposed disturbance observer. Also, an input saturation constraint and control singularity are considered in the controller design. The finite-time stability and convergence of the disturbance observer are proved for the closed-loop system. In addition, the control of an electrostatically actuated Timoshenko nanobeam subjected to Casimir force is simulated to demonstrate the effectiveness and performance of the proposed control scheme.

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