presented by: mouaad boughellaba
supervisor: dr. abdelhamid tayebi
thesis committee members: dr. kefu liu, dr. xiaoping liu, & dr. amir aghdam
session chair: dr. salama ikki

date and time: thursday, april 25, 2024 at 9:00am

join zoom meeting
https://lakeheadu.zoom.us/j/99683295153?pwd=cmhja1c0qmu5wus4wnz4uu5xbxyv...
meeting id: 996 8329 5153
passcode: 817410




title: distributed cooperative state estimation and control for multi-agent autonomous systems

abstract

this thesis addresses several problems related to distributed cooperative state estimation and control design for multi-agent rigid-body autonomous systems, namely bearing-based distributed pose estimation, distributed attitude estimation on so(3), and global attitude synchronization on so(3). we consider the distributed pose estimation problem for multi-agent rigid-body systems, under a directed graph topology, assuming that two agents have access to their respective poses. first, we consider the case where all agents have static positions and time-varying orientations, and propose two distributed pose estimation schemes with almost global asymptotic stability guarantees. thereafter, we consider the case where the agents positions and orientations are time-varying, and propose a distributed pose observer with local exponential stability guarantees. the three proposed estimation schemes rely on individual angular velocity (and linear velocity in the case of agents with time-varying positions) measurements and local information exchange between neighboring agents (relative time-varying bearing measurements and estimated poses). we also consider the problem of distributed attitude estimation of multi-agent systems, evolving on so(3), relying on individual angular velocity and relative attitude measurements, under an undirected, connected and acyclic communication graph topology. we propose two distributed attitude observers on so(3); a continuous version and a hybrid version, endowed respectively with almost global asymptotic stability and global asymptotic stability guarantees. in addition, the proposed hybrid attitude estimation scheme is used to solve the pose estimation problem of multi-agent rigid-body systems, with global asymptotic stability guarantees, relying on individual linear and angular velocity measurements as well as local relative bearing and relative orientation measurements. finally, we propose a distributed hybrid attitude synchronization scheme (with and without individual velocity measurements) for a group of rigid body systems evolving on so(3) under an undirected, connected and acyclic communication graph topology, with global asymptotic stability guarantees.

an evening dedicated to capturing the greatness of females in music. with works from iconic women such as clara schumann, sara bareilles, and laufey, this concert's eclectic program brings something for most-everyone's musical tastes.

classic characters like mimi, from puccini's la bohème, manon herself, from massenet's manon, and new ones, like jenna from waitress, are brought to life with stunning piano accompaniment from mariko kamachi cosbey, and captivating characterizations from brenna. beyond this, selections from the unknown kurt weill performed by teresa stratas are featured, and even lieder from the lesser known schumann (clara).

breathing life into well known jazz standards and new jazz are anang binesi (percussion) and thomas poulin (double bass).

join us for an evening of celebrating both the accomplishments of brenna, as she presents her graduating recital, and the many female musicians who came before her, lighting her path.

admission is free, donations are accepted at door.

join amani sloley and friends for an unforgettable evening featuring the premiere of his compositions, showcasing his journey as a composition major.

amani is grateful for dr. aris carastathis, dr. darlene chepil reid, and dr. sean kim's mentorship. from introspective choral pieces like “once was you” to mixed-media electroacoustic piece, “the giants sleeping,” will come to life through the talents of current lakehead music 世界杯2022赛程表淘汰赛 ! i can’t wait to see you there!

refreshments will be served during the morning and afternoon sessions. everyone is welcome to attend. 

the biotechnology phd candidate, xuantong chen will present his research development of symbiosis of marine algae chrysotila and bacteria nitratireductor and large-scale production of marine microalgae in inland environment.

due to energy, environmental, and food-related concerns, research on microalgae is increasingly gaining attention. microalgae can utilize photosynthesis to synthesize and accumulate various valuable bioproducts such as lipids, proteins, polysaccharides, and pigments, and can also absorb and fix carbon dioxide. therefore, efficiently, and cost-effectively cultivating specific algae species has become a crucial goal. however, various challenges hinder the development of algae during cultivation. one of the issues that needs to be addressed is the cultivation cost of microalgae, which involves optimizing the cultivation process and innovating the use and methods of cultivation devices. therefore, my research explored the indoor and outdoor cultivation conditions of marine microalgae in inland areas over a long time period and reduce cultivation costs by designing and using new photobioreactor, thereby further promoting the process of microalgae research.

committee members: dr. wensheng qin (supervisor), dr. heidi schraft, dr. baoqiang liao, dr. haipeng guo (external), and dr. ahmed elshaer (chair).

everyone is welcome.

for more information contact brenda magajna at phd.ses@lakeheadu.ca

come visit a furry friend for some much needed relaxation in the sas multi use access lounge for the last time this term. thursday from 2 to 3 pm in the tunnels, sc 0004. all are welcome!

title: "relating edna concentrations to brook trout abundance and biomass across varying spatial scales in northern ontario streams"

supervisory committee:
dr. robert mackereth (co-supervisor)
dr. michael rennie (co-supervisor)
dr. ashley thomson
dr. christopher wilson (external)

please join mark schutte in cb 3013 (thunder bay) or contact biology@lakeheadu.ca for the zoom meeting id and password.

enactus lakehead is thrilled to present an electrifying opportunity just for you! have you ever wished for a chance to get back at your professors for those tough exams or mountains of homework? well, now's your time to shine! get ready to let loose and participate in our pie a prof event! 🥳

when: wednesday, march 27th, from 11 am to 3 pm
where: the agora

here's the deal: we're inviting you to nominate your professors to sign up for half-hour slots during this event. it's your chance to pie them in the face! that's right, for just $5, you can purchase a pie and take aim at your chosen professor. but it's not all fun and games – part of the proceeds will go to support the 阿根廷vs墨西哥竞猜 food resource centre, helping 世界杯2022赛程表淘汰赛 facing food insecurity. 🍽️

enactus lakehead is dedicated to fostering entrepreneurial leadership and making a positive impact on our community. through projects like brain blitz, we aim to support student mental health. this event is a chance for you to take a break from the books and have a blast while supporting a good cause. 🧠

a post of which profs will be posted on our instagram @enactuslakehead!

come celebrate with us! we wanted to share some more details about the events planned for the end of march (march 21 to 23) as we mark the 10th year anniversary of the bora laskin faculty of law.

please see below for a dateline and attached for an event poster; additional details and rsvp links for all other events are available on our website at  //www.hsbcwebinars.com/programs/departments/law/blfl-10-year-anniversa....

thursday, march 21 at 3:30 pm, pipe ceremony followed by traditional feast (paterson auditorium / third floor hallway)

friday, march 22:

• 12 pm, alumni panel and lunch (paterson auditorium)
• evening alumni 'mix & mingle' event at sleeping giant brew co.

saturday, march 23, afternoon "open doors" event at the paci building ft. tours / displays / meet and greets / merchandise /etc.

leadercast lake country

for ages, humans have understood that our individual and collective habits dictate how we work, live, and play. leadercast g.h.o.a.t. (greatest habits of all time) will unearth the golden habits of proven leaders and give you positive, ancient habits to take your leadership to the next level.

join us on may 30^th for the top leadership event!