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

With aggressive technology scaling, SRAM design has been seriously challenged by the difficulties in analyzing rare failure events. In this paper we propose to create statistical performance models with accuracy sufficient to facilitate probability extraction for SRAM parametric failures. A piecewise modeling technique is first proposed to capture the performance metrics over the large variation space. A controlled sampling scheme and a nested Monte Carlo analysis method are then applied for the failure probability extraction at cell-level and array-level respectively. Our 65nm SRAM example demonstrates that by combining the piecewise model and the fast probability extraction methods, we have significantly accelerated the SRAM failure analysis.

/pdf/sram-parametric-failure-analysis-3emhe5q3rf.pdf

SRAM parametric failure analysis

The BeiDou navigation satellite system (BDS) has been widely applied in many areas, including communications, transportation, emergency rescue, public security, surveying, precise positioning, and many other industrial applications The integration of BDS and an inertial navigation system (INS) has the ability to achieve a more consistent and accurate positioning solution However, during long BDS outages, the performance of such an integrated system degrades because of the characteristics of the inertial measurement unit—the sensor errors accumulate rapidly with time when operated in a standalone mode In this paper, a BDS/INS/odometer/map-matching (MM) positioning methodology for train navigation applications is proposed to solve the problem of positioning during BDS outages when trains pass through signal obstructed areas such as under bridges, inside tunnels, and through deep valleys The seamless transition of the train operation in various scenarios can be, therefore, maintained When the train operates in an open-sky environment, the BDS signals are available to provide accurate positioning, and the integrated BDS/INS/odometer/MM system is used to correct the INS errors using BDS measurements and to calculate the velocity using the odometer in the navigation frame so as to improve the system reliability and accuracy In addition, the integrated system also delivers accurate positioning measurements at a high update rate When the BDS signals are blocked, the integrated system switches to the INS/odometer/MM mode, and the integrated system corrects the INS errors by using odometer measurements In order to evaluate the proposed system, a real experiment was conducted on the Qinghai–Tibet railway in western China The experimental results indicate that the proposed system can provide accurate and continuous positioning results in both open-sky and BDS signal-obstructed environments

A Multi-Sensor Positioning Method-Based Train Localization System for Low Density Line

This paper describes an adaptive fault-tolerant triple-integration vehicle navigation system. The proposed triple-integration system is based on a tightly coupled design, which fuses measurements from the Global Navigation Satellite System (GNSS), an Inertial Navigation System (INS), and optical velocity sensors (OVS). The difference between GNSS-measured and INS-derived pseudorange and pseudorange rate, and the difference between INS-derived and OVS-measured velocity are taken as the measurement inputs to the system filter, which uses them to obtain accurate and continuous navigation solutions. However, to ensure the optimality and to improve the robustness of the integration system in GNSS-challenging environments, a fault-tolerant fault detection and processing (FDP) algorithm is then applied to detect faults and further process the detected faults in fault-varying methods. The detected faults can be classified as Outliers and Biases according to the designed fault factor; Outliers are excluded and Biases are still utilized by adaptively adjusting the corresponding measurement noise covariance matrix. To evaluate the performance of the proposed triple-integration system, a road test was conducted under different scenarios, including GNSS open-sky, GNSS partly blocked, and GNSS-difficult conditions. The results indicate that the proposed integration system can generate more accurate position solutions than a loosely coupled system. To verify the fault-tolerant ability of the proposed FDP algorithm, typical types of GNSS faults are simulated. The results confirm that the proposed FDP algorithm can improve the system performance in terms of its fault-tolerant ability and accuracy as well.

A Fault-Tolerant Tightly Coupled GNSS/INS/OVS Integration Vehicle Navigation System Based on an FDP Algorithm

The integration of Inertial Navigation System (INS) and Global Positioning System (GPS) single-point-positioning (SPP) mode cannot meet the requirements of high-accuracy navigation. Range observation through ultra-wideband (UWB) is an effective means to enhance the reliability and accuracy of GPS/INS integrated navigation, particularly in environments where GPS availability is poor. Because it is difficult for UWB signal to achieve large-scale intervention coverage, an enhanced GPS/INS/UWB integrated scheme with positioning error correction is proposed to improve the position accuracy in the UWB signal outage scenario. The position difference between the GPS/INS integrated solution and the GPS/INS/UWB integrated solution is predicated as the error correction for GPS/INS/UWB integrated navigation in a UWB signal challenging environment. Position correction information in the north and east directions is input to the two-step filter to decrease the error of GPS/INS integrated navigation in single-point-positioning. In order to validate the proposed method, a real experiment is conducted. The results indicate that the enhanced GPS/INS/UWB integrated scheme with positioning error correction is able to improve the position accuracy of GPS/INS/UWB integrated navigation when UWB signal is unavailable.

An Approach to Improve the Positioning Performance of GPS/INS/UWB Integrated System with Two-Step Filter

This paper proposes a scheme for indoor positioning by fusing floor map, WiFi and smartphone sensor data to provide meter-level positioning without additional infrastructure. A topology-constrained K nearest neighbor (KNN) algorithm based on a floor map layout provides the coordinates required to integrate WiFi data with pseudo-odometry (P-O) measurements simulated using a pedestrian dead reckoning (PDR) approach. One method of further improving the positioning accuracy is to use a more effective multi-threshold step detection algorithm, as proposed by the authors. The “go and back” phenomenon caused by incorrect matching of the reference points (RPs) of a WiFi algorithm is eliminated using an adaptive fading-factor-based extended Kalman filter (EKF), taking WiFi positioning coordinates, P-O measurements and fused heading angles as observations. The “cross-wall” problem is solved based on the development of a floor-map-aided particle filter algorithm by weighting the particles, thereby also eliminating the gross-error effects originating from WiFi or P-O measurements. The performance observed in a field experiment performed on the fourth floor of the School of Environmental Science and Spatial Informatics (SESSI) building on the China University of Mining and Technology (CUMT) campus confirms that the proposed scheme can reliably achieve meter-level positioning.

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Jian Wang

Papers

SRAM parametric failure analysis

A Multi-Sensor Positioning Method-Based Train Localization System for Low Density Line

A Fault-Tolerant Tightly Coupled GNSS/INS/OVS Integration Vehicle Navigation System Based on an FDP Algorithm

An Approach to Improve the Positioning Performance of GPS/INS/UWB Integrated System with Two-Step Filter

A Floor-Map-Aided WiFi/Pseudo-Odometry Integration Algorithm for an Indoor Positioning System