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

Time–frequency extraction is a key issue to understand structural symmetry of dynamic responses of offshore oil platforms for early warning during drilling operations. Current popular methods for signal characteristics extraction can only obtain the attributes with a single dimension or poor precision. To solve this, a combined Hilbert–Huang transform (HHT) and variational mode decomposition (VMD) method is proposed to extract multidimensional dynamic response characteristics of time, frequency, and energy of offshore oil platforms. Based on the extracted time–frequency–energy information, the frequency-domain integration approach (FDIA) can be applied to calculate the displacement using accelerometer in the micro inertial measurement unit (MIMU). A complementary filtering algorithm was designed to measure the torsion angle of platforms using six degrees of freedom data from the MIMU to obtain the torsion angle information. The performance of the proposed method was validated using a series of simulation shaking-table tests and a field test conducted on an offshore oil platform at Dongying City, Shandong Province, China. During the field test, seven out of eight collisions were detected in the frequency range 5 Hz to 12 Hz. The intensity of the fifth collision was the highest, and the maximum displacement obtained by the accelerometer was 6 mm. In addition, the results show a correlation between the axes of the accelerometer and gyroscope, and their combination can measure a torsion angle up to 1.1°.

Time–Frequency Extraction Model Based on Variational Mode Decomposition and Hilbert–Huang Transform for Offshore Oil Platforms Using MIMU Data

Safe train localization is the key element to provide reliable Position, Velocity and Timing (PVT) information for Automatic Train Operation (ATO), and will enable future applications such as moving block, real-time safety margin estimation for adjacent trains, and many more. The safety-assured train localization under many repeated tests along the test railway line providing acceptable performance level will allow Global Navigation Satellite Systems (GNSS) as part of the localization unit to be adopted into the elements of ATO system to perform localization function. But under real railway operation environmental conditions, the accuracy performance shows strong variations; but using the simulated GNSS signals in the laboratory will have more consistent and repeatable test sequence for GNSS receiver testing. The GNSS receiver for the application of ATO is based on the performance requirements for the localization function in predefined environmental conditions, both simulation and real world test procedures including standard test definitions will enable the possibility to examine the repeatability of GNSS performance in acknowledged railway operation environment. Based on this, the test results will give the repeatability facts of the tested GNSS receiver, then the repeatability performance criteria can be set for later railway application in different environments. But for the performance evaluation of the repeatability property as part of the GNSS performance testing concept, accuracy can be seen as the foundation of all the other performance properties. Accuracy in both along-track and cross-track direction of the train should be evaluated under dynamic movement using bidirectional error models. The dynamic train localization accuracy is among one of the key tests for the GNSS receiver for safe applications in railway applications. This paper firstly describes the repeatability performance as part of the GNSS receiver quality for safe train localization in definition and also the relation among the major performance properties of a GNSS receiver under dynamic measurements. Secondly, the test scenario and the data collection strategy on an existent railway line is settled for both real world and simulated data analysis. Then the collected data is evaluated using the proposed dynamic accuracy evaluation method with the consideration of measurement uncertainty caused by the movement of the measurement object. Thirdly, the accuracy evaluation is based on the GNSS receiver as the system under test (SUT) and the mobile reference measurement system (MRMS) developed based on mature solutions and further developed platform in our research lab. The same datasets for real world accuracy evaluation are loaded into the Spirent GSS8000 for the repeatability performance evaluation. The test procedure is restricted to follow the standard test requirements in both railway and navigation societies. Finally, with the test results following the defined procedure and evaluation method in this paper, the repeatability performance criteria can be clearly shown for the level of safety application in railway train operation.

Repeatability test method of GNSS for safe train localisation in real and simulated environments

Today, one of the main concerns for railways administrations and operators is reducing energy consumption. Ecodriving design is one of the main approaches to reducing energy consumption with low levels of investment. In this paper, a Pareto set–based adaptive fuzzy approach to trajectory planning is proposed to generate energy-efficient speed profiles for high-speed train operation. First, the Pareto set for high-speed train operation is constructed by using a hybrid evolutionary algorithm based on differential evolution and simulated annealing. Second, by considering that the operational delays are variable because of the uncertainties of line conditions in practice, a system to control adaptive fuzzy predictions is proposed to regulate the coasting point dynamically so as to meet the requirements of punctuality and energy savings. The proposed approach decreases the energy consumption of high-speed trains mainly by changing the coasting point, a technique that make implementation easy and guarantees pas...

Adaptive Fuzzy Planning of Optimal Speed Profiles for High-Speed Train Operation on the Basis of a Pareto Set

GPS precise point positioning (PPP) is increasingly being used in many precise positioning applications to achieve sub-meter level accuracy using a stand-alone user receiver. To achieve the full-scale navigation parameters of position, velocity and attitude, GPS is often combined with the inertial navigation system (INS) to deliver navigation solutions in high update rate. However, GPS signals cannot always be tracked in difficult areas, which leads to an integration performance degradation because of INS sensor errors. Therefore, the authors propose a PPP-GPS/INS/odometer/map-matching integrated navigation system. The positioning performance based on the different International GNSS Service (IGS) products for train kinematic positioning applications is investigated. A field test was conducted on a specific low-density line to evaluate the proposed system. The test results confirm that the proposed multi-sensor navigation system can provide seamless navigation in both GPS available and unavailable situations with the accuracy of decimeter. Different IGS satellite orbits and clock offset products were used to generate the PPP results, and it was concluded that the IGS final products provide the best performance, with a distance root mean square (DRMS) of 0.138 m, and the IGS ultra-rapid product can also generate acceptable positioning solutions with a DRMS of 0.222 m.

An analysis of PPP-GPS-based decentralized train multi-sensor navigation system

Train operation energy consumption occupies a large proportion of whole rail transport resource consumption. Aiming at improving energy utilization, current research is mainly about saving energy while security and time are limiting conditions. However, actual train operation is a complex process which has strict requirements on safety, energy consumption, precise parking and some other factors. This paper summarizes train control optimization research, analyzes train running characteristics and influential factors, and introduces train traction computing method. Multi-objective Particle Swarm Optimization with inertia weight algorithm is applied to study train operation optimization. With energy-saving, punctuality and precise parking being optimization goals, train operation optimization models and fitness evaluation functions are established. Through optimization, optimal operating condition sequence and corresponding condition conversion points are obtained. Effectiveness of the proposed algorithm is verified by offline simulations, and the results present good optimization performance.

Jian Wang

Papers

Time–Frequency Extraction Model Based on Variational Mode Decomposition and Hilbert–Huang Transform for Offshore Oil Platforms Using MIMU Data

Repeatability test method of GNSS for safe train localisation in real and simulated environments

Adaptive Fuzzy Planning of Optimal Speed Profiles for High-Speed Train Operation on the Basis of a Pareto Set

An analysis of PPP-GPS-based decentralized train multi-sensor navigation system

Multi-objective operation control of rail vehicles