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

/pdf/general-data-protection-regulation-2z11cloyp7.pdf

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

A bi-block sleeper dynamic strain monitoring method based on embedded FRP-OF sensor

To study on the influence of Vehicle Cluster Driving (VCD) behavior on Traffic Flow Efficiency on freeway, a new two-lane cellular automaton model which has been improved the accelerate, decelerate and change lane regulation of NaSch cellular automaton is proposed. By comparing the influence of vehicle cluster driving behavior with Vehicle Free Driving (VFD) behavior on average vehicle speed and Lane Changing (LC) frequency, the result shows us that the average vehicle speed of VCD behavior is higher than VFD behavior with the increasing of traffic flow, at the same time the change rate of average vehicle speed of VCD behavior is less than VFD behavior. The lane changing frequency presents a single peak distribution which is increasing first and then decreasing with the increasing of traffic flow both in VCD behavior and VFD behavior. The simulation result shows that the lane changing frequency of VCD behavior reached the peak value when the traffic flow near 1000veh/h and the lane changing frequency of VFD behavior reached the peak value when the traffic flow near 2200veh/h.

Influence of vehicle cluster driving behavior on traffic flow efficiency

Accurate and reliable positioning of road vehicles is of great significance in several location-aware applications of cooperative intelligent transport systems, especially applications by means of the Global Navigation Satellite Systems (GNSSs). However, the performance of GNSS-based vehicle positioning is degraded under challenged signal observing environments. Due to the difficulties in GNSS observation quality modeling in the urban areas, the data-driven modeling provides an alternative approach to assist the GNSS integrity monitoring, which makes it possible to ensure the trustiness and safety in certain critical applications. In this paper, according to the concept of “local integrity”, a GNSS observation quality modeling method using GNSS pseudorange residual data within different time slots is presented, and the derived local models are employed to adjust the weights of satellite measurements in navigation calculation. The residual-based Receiver Autonomous Integrity Monitoring (RAIM) algorithm is improved by using local GNSS observation quality models under a Weighted Least Squares (WLS) frame. Results from field experiment validate the capability of the local weighting approach in enhancing integrity monitoring against the fault conditions of GNSS measurements.

A Local Weighting Method for GNSS Receiver Autonomous Integrity Monitoring using Pseudorange Residuals

With high accuracy and storage efficiency, digital track map plays an important role in train positioning system as a special sensor, and directly affects the safety of the train operation control. In this paper, the characteristics of the track are analyzed with practical measurements, a distance discrimination is utilized to reject abnormal data, and a vertical distance criterion and cubic spline curve based algorithm is presented to reduct numerous measurement data and fit the track. By using the distance criterion and vertical distance based local optimum algorithm, a group of feature points are generated to represent the feature of rail tracks. Then the well-fitting cubic spline algorithm is employed to fit the tracks with high precision and optimize the feature point set, and then the smooth tracks could be realized by segmental cubic curves. Validation with practical measurements from Qinghai-Tibet line demonstrate that with a proper limited error of the vertical distance the proposed algorithm could realize data reduction and map generation effectively.

A cubic spline curve based track map generation method for train control

Global Navigation Satellite System (GNSS) has been widely studying in train positioning. GNSS based train positioning can realize the transformation from 3-dimensional (3D) GNSS position to 1-dimensional (1D) kilometer mark by map-matching, in which the accurate digital track map (DTM) is the key input for map-matching. This paper proposes a complete method for DTM generation and validation. The DTM generation process is introduced firstly, in which data reduction is an important step for reducing storage space and improving data utilization. The 3 track representation principles (discrete point method, curve method and mixed types of line method) are all available with the reduction technical specification. To compare performance of them, the 3 representation principles and their corresponding data reduction methods are introduced. Then, to obtain the projection distance for validating the quality of the generated different DTMs, the comprehensive probability map-matching method is proposed. In this method, a candidate set of track segments is determined according to range of track segment and confidence region of train positioning result, and the track segment where the train is having highest confidential is selected based on the maximum comprehensive probability calculated by distance / heading / topology information. The matching position and projection distance are obtained by the vertical projection method or the shortest distance method at last. The measured data from Beijing Round Track demonstrated that the DTMs generated by above 3 principles meets the technical specification, in which the DTM generated by curve method is with the least segmentation points, and the DTM generated by mixed types of line method is with the highest overall accuracy. The map-matching method can be efficiently applied to the validation of different DTMs.

Jian Wang

Papers

A bi-block sleeper dynamic strain monitoring method based on embedded FRP-OF sensor

Influence of vehicle cluster driving behavior on traffic flow efficiency

A Local Weighting Method for GNSS Receiver Autonomous Integrity Monitoring using Pseudorange Residuals

A cubic spline curve based track map generation method for train control

Comprehensive Probability Map-matching Method for Digital Track Map Validation