The purpose of this paper is to provide a comprehensive presentation and interpretation of the Ensemble Kalman Filter (EnKF) and its numerical implementation. The EnKF has a large user group, and numerous publications have discussed applications and theoretical aspects of it. This paper reviews the important results from these studies and also presents new ideas and alternative interpretations which further explain the success of the EnKF. In addition to providing the theoretical framework needed for using the EnKF, there is also a focus on the algorithmic formulation and optimal numerical implementation. A program listing is given for some of the key subroutines. The paper also touches upon specific issues such as the use of nonlinear measurements, in situ profiles of temperature and salinity, and data which are available with high frequency in time. An ensemble based optimal interpolation (EnOI) scheme is presented as a cost-effective approach which may serve as an alternative to the EnKF in some applications. A fairly extensive discussion is devoted to the use of time correlated model errors and the estimation of model bias.

The Ensemble Kalman Filter: Theoretical formulation and practical implementation

Digital Control Of Dynamic Systems This well-respected, market-leading text discusses the use of digital computers in the real-time control of dynamic systems. The emphasis is on the design of digital controls that achieve good dynamic response and small errors while using signals that are sampled in time and quantized in amplitude. Digital Control of Dynamic Systems (3rd Edition): Franklin ... This well-respected, market-leading text discusses the use of digital computers in the real-time control of dynamic systems. The emphasis is on the design of digital controls that achieve good dynamic response and small errors while using signals that are sampled in time and quantized in amplitude. Digital Control of Dynamic Systems: Gene F. Franklin ... Digital Control of Dynamic Systems, 2nd Edition. Gene F. Franklin, Stanford University. J. David Powell, Stanford University Digital Control of Dynamic Systems, 2nd Edition Pearson This well-respected work discusses the use of digital computers in the real-time control of dynamic systems. The emphasis is on the design of digital controls that achieve good dynamic response and small errors while using signals that are sampled in time and quantized in amplitude. MATLAB statements and problems are thoroughly and carefully integrated throughout the book to offer readers a complete design picture. Digital Control of Dynamic Systems, 3rd Edition ... Digital control of dynamic systems | Gene F. Franklin, J. David Powell, Michael L. Workman | download | B–OK. Download books for free. Find books Digital control of dynamic systems | Gene F. Franklin, J ... Abstract This well-respected work discusses the use of digital computers in the real-time control of dynamic systems. The emphasis is on the design of digital controls that achieve good dynamic... (PDF) Digital Control of Dynamic Systems Digital Control of Dynamic Systems, Addison.pdf There is document Digital Control of Dynamic Systems, Addison.pdfavailable here for reading and downloading. Use the download button below or simple online reader. The file extension PDFand ranks to the Documentscategory. Digital Control of Dynamic Systems, Addison.pdf Download ... Automatic control is the science that develops techniques to steer, guide, control dynamic systems. These systems are built by humans and must perform a specific task. Examples of such dynamic systems are found in biology, physics, robotics, finance, etc. Digital Control means that the control laws are implemented in a digital device, such as a microcontroller or a microprocessor. Introduction to Digital Control of Dynamic Systems And ... The discussions are clear, nomenclature is not hard to follow and there are plenty of worked examples. The book covers discretization effects and design by emulation (i.e. design of continuous-time control system followed by discretization before implementation) which are not to be found on every book on digital control. Amazon.com: Customer reviews: Digital Control of Dynamic ... Find helpful customer reviews and review ratings for Digital Control of Dynamic Systems (3rd Edition) at Amazon.com. Read honest and unbiased product reviews from our users. Amazon.com: Customer reviews: Digital Control of Dynamic ... 1.1.2 Digital control Digital control systems employ a computer as a fundamental component in the controller. The computer typically receives a measurement of the controlled variable, also often receives the reference input, and produces its output using an algorithm. Introduction to Applied Digital Control From the Back Cover This well-respected, marketleading text discusses the use of digital computers in the real-time control of dynamic systems. The emphasis is on the design of digital controls that achieve good dynamic response and small errors while using signals that are sampled in time and quantized in amplitude. Digital Control of Dynamic Systems (3rd Edition) Test Bank `Among the advantages of digital logic for control are the increased flexibility `of the control programs and the decision-making or logic capability of digital `systems, which can be combined with the dynamic control function to meet `other system requirements. `The digital controls studied in this book are for closed-loop (feedback) Every day, eBookDaily adds three new free Kindle books to several different genres, such as Nonfiction, Business & Investing, Mystery & Thriller, Romance, Teens & Young Adult, Children's Books, and others.

http://ieeexplore.ieee.org/iel6/29/26151/01163502.pdf

Digital control of dynamic systems

Presentacio sobre l'Oficina de Proteccio de Dades Personals de la UAB i la politica Open Science. Va formar part de la conferencia "Les politiques d'Open Data / Open Acces: Implicacions a la recerca" orientada a investigadors i gestors de projectes europeus que va tenir lloc el 20 de setembre de 2018 a la Universitat Autonoma de Barcelona

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General data protection regulation

Indoor wireless localization using Bluetooth Low Energy (BLE) beacons has attracted considerable attention after the release of the BLE protocol. In this paper, we propose an algorithm that uses the combination of channel-separate polynomial regression model (PRM), channel-separate fingerprinting (FP), outlier detection and extended Kalman filtering (EKF) for smartphone-based indoor localization with BLE beacons. The proposed algorithm uses FP and PRM to estimate the target’s location and the distances between the target and BLE beacons respectively. We compare the performance of distance estimation that uses separate PRM for three advertisement channels (i.e., the separate strategy) with that use an aggregate PRM generated through the combination of information from all channels (i.e., the aggregate strategy). The performance of FP-based location estimation results of the separate strategy and the aggregate strategy are also compared. It was found that the separate strategy can provide higher accuracy; thus, it is preferred to adopt PRM and FP for each BLE advertisement channel separately. Furthermore, to enhance the robustness of the algorithm, a two-level outlier detection mechanism is designed. Distance and location estimates obtained from PRM and FP are passed to the first outlier detection to generate improved distance estimates for the EKF. After the EKF process, the second outlier detection algorithm based on statistical testing is further performed to remove the outliers. The proposed algorithm was evaluated by various field experiments. Results show that the proposed algorithm achieved the accuracy of <2.56 m at 90% of the time with dense deployment of BLE beacons (1 beacon per 9 m), which performs 35.82% better than <3.99 m from the Propagation Model (PM) + EKF algorithm and 15.77% more accurate than <3.04 m from the FP + EKF algorithm. With sparse deployment (1 beacon per 18 m), the proposed algorithm achieves the accuracies of <3.88 m at 90% of the time, which performs 49.58% more accurate than <8.00 m from the PM + EKF algorithm and 21.41% better than <4.94 m from the FP + EKF algorithm. Therefore, the proposed algorithm is especially useful to improve the localization accuracy in environments with sparse beacon deployment.

Smartphone-Based Indoor Localization with Bluetooth Low Energy Beacons.

The development of light detection and ranging, Radar, camera, and other advanced sensor technologies inaugurated a new era in autonomous driving. However, due to the intrinsic limitations of these sensors, autonomous vehicles are prone to making erroneous decisions and causing serious disasters. At this point, networking and communication technologies can greatly make up for sensor deficiencies, and are more reliable, feasible and efficient to promote the information interaction, thereby improving autonomous vehicle’s perception and planning capabilities as well as realizing better vehicle control. This paper surveys the networking and communication technologies in autonomous driving from two aspects: intra- and inter-vehicle. The intra-vehicle network as the basis of realizing autonomous driving connects the on-board electronic parts. The inter-vehicle network is the medium for interaction between vehicles and outside information. In addition, we present the new trends of communication technologies in autonomous driving, as well as investigate the current mainstream verification methods and emphasize the challenges and open issues of networking and communications in autonomous driving.

Networking and Communications in Autonomous Driving: A Survey

This paper selects the car following model (CFM) in Cooperative Vehicle Infrastructure System (CVIS) to study. Through the study of the traditional car following model and the problem that in car following model in Paramics the safe distance value is not accurate, we design of a new minimum safe distance car following model based on Paramics car following model and the data exchange in CVIS. And we design the CVIS traffic simulation platform and compare it with the traditional safe distance of the car following model. From the simulation data, we can see that the minimum safety distance car following model based on CVIS is more efficiency.

Research on car following model based on cooperative vehicle infrastructure system

The speed and localization information of the high-speed trains are essential and significant for train control systems. The occurrence of faults in SDUs (Speed Distance Units) will affect the accuracy and effectiveness of location reports to ensure the operation safety of high-speed trains. The fault detection and diagnosis method for SDUs are focused in this paper. By using the on-board GPS (Global Positioning System) measurements, we propose a parallel-filtering-based architecture for detecting the faults in odometers that use the pulse-counting information to estimate the speed and travelling distance of the trains. According to the characteristics of different fault modes, including the hard fault, soft fault and implicated fault, a rule-based fault diagnosis approach is proposed to identify the detected fault and take suggested maintenance measures, where a conservative determination strategy for utilizing the results of the two filters is demonstrated to decrease the missed detection probability. The field operation data from the high-speed train is employed to build the simulation scenarios. The simulation results demonstrate the performance of the proposed method and illustrate its potentials in real-time fault diagnosis and maintenance for speed distance units.

A fault detection and diagnosis method for Speed Distance Units of high-speed train control systems

With the development of economy, the accelerating urbanization and the increase of car ownership and road traffic, the traffic congestion and safety problem has been becoming more and more serious. Especially, a car would encounter a great number of signalized and unsigned intersections in the regionalized road network. In this paper, we illustrate the control theory of the unsigned intersection and that in the CVIS. Based on it, the library of the traffic rule is developed for the CVIS. The regionalized and unsigned intersection control method is analyzed in the real-time information interaction mode. By using the Q-paramics and VS2013, we have constructed a regionalized and unsigned intersection control test platform based on the CVIS. And based on it, two simulations have been performed. The first simulation is used to compare the performance of the CVIS based regionalized and unsigned intersection control and the traditional unsigned intersection control for different traffic loads in the case where the road network is with different scales and relative equilibrium traffic flow distribution. The second simulation is designed to compare the performance of the CVIS based regionalized and unsigned intersection control and the traditional unsigned intersection for three different travel demands in the case where the road network is with a middle scale and two different disequilibrium traffic flow distribution.

Research on unsigned intersection control method based on cooperative vehicle infrastructure system

The cooperative vehicle localization using DSRC (Dedicated Short Range Communication) is of great significance in many future transportation applications. An overlay function of DSRC has been explored with vehicular communication and it is with great potentials to achieve accurate and reliable vehicle cooperative localization with assistance from the GNSS (Global Navigation Satellite System) receivers. In order to establish a solid foundation for emergent implementations of the connected vehicles scheme, an effective error bound strategy for filtering-based estimation in cooperative localization using the GNSS and DSRC needs to be concentrated to bridge the connection between localization and extended functions. In this paper, a tight-coupled architecture for integrating GNSS and DSRC is investigated to realize cooperative localization, and a corresponding error bound estimation method is addressed. Based on the integrity concept, a confidential interval-based strategy is presented to constrain the uncertainties in filter estimation, and the combination of space alignment calibration and the additional safety margin further enhances the capability of the presented solution. The simulation results demonstrate the potential for safety-related applications under the connected vehicular environments.

Error bound estimation of cooperative vehicle localization using an integrity concept

Multiple communication modes can be used to communicate between vehicle-to-vehicle (V2V) & vehicle-to-infrastructure (V2I) in cooperative vehicle infrastructure system, such as wireless fidelity (Wi-Fi), dedicated short range communication (DSRC), Third-Generation (3G) and so on. However, it is difficult to choose the most appropriate communication mode because of the complexity of application scenario of cooperative vehicle infrastructure system. It is necessary to study multi-mode communication competition optimization method in cooperative vehicle infrastructure system. The multi-mode communication competition mechanism which can select optimal communication mode and improve communication efficiency based on adaptive neural network is proposed in this paper. Moreover, the proposed model can be used to verify and evaluate the competition mechanism in OPNET Modeler. By showing the results of simulation, the efficiency of the proposed model is illustrated. The results indicate that the competition mechanism can fulfill the prediction of the optimal communication mode when the vehicle density and vehicle speed are inputted, and the accuracy rate is about 90.6%. It can be seen from the results of all traffic simulation scenarios that the average transmission delay is 59ms, the average throughput is 104 862 bits/s, and the average packet loss rate is 2.1%.

Jian Wang

Papers

Research on car following model based on cooperative vehicle infrastructure system

A fault detection and diagnosis method for Speed Distance Units of high-speed train control systems

Research on unsigned intersection control method based on cooperative vehicle infrastructure system

Error bound estimation of cooperative vehicle localization using an integrity concept

Multiple V2V communication mode competition method in cooperative vehicle infrastructure system