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

Satellite image based land cover classification, which falls under the category of semantic segmentation, is critical for many global and environmental applications. Deep learning has been proven to be excellent in semantic segmentation. However, mainstream neural networks formed by connecting high-to-low convolutions in series are prone to losing image information, which affects the accuracy of semantic segmentation. Besides, it is difficult to distinguish adjacent land cover classes with similar colors using only RGB information presented by satellite images. Striven to maintain high-resolution representations and improve the inter-class distinguishability, a Canny enhanced high-resolution neural network (C-HRNet) is proposed based on Canny edge features and the high-resolution neural network (HRNet) that maintains high-resolution representations throughout the process. Meanwhile, we construct a novel dataset for model evaluation, which provides an automatic dataset construction method, making the dataset more efficient in construction and richer in samples. Extensive experiments are conducted on datasets at different granularities. Quantitative results demonstrate that for large-scale fine-grained scenarios, C-HRNet outperforms state-of-the-art semantic segmentation networks due to the accurate spatial localization ability of Canny edge features. For small-scale coarse-grained scenarios, Canny extracts a large number of edge features that highlight the positional differences between adjacent instances belonging to the same land cover class, which slightly degrades the performance of C-HRNet, but it can still provide reliable land cover classification results. Based on this conclusion, we apply C-HRNet to large-scale wireless channel simulations that are location-sensitive and require fine-grained semantic segmentation, which are proven to be accurate and effective.

Canny Enhanced High-Resolution Neural Network for Satellite Image Based Land Cover Classification and Its Application in Wireless Channel Simulations

Integrity monitoring is a crucial concern in Global Navigation Satellite System (GNSS) based positioning for railway transportation. The accurate detection and exclusion of the fault in GNSS measurements will greatly enhance the stability of the positioning performance for the safety critical application of GNSS. However, the existing Receiver Autonomous Integrity Monitoring (RAIM) method may fail in detecting and excluding the incipient fault due to the constraint of a Gaussian assumption. In this paper, a novel Fault Detection and Exclusion (FDE) approach with non Gaussian assumption is proposed to eliminate the effect from the incipient fault. Hatch filter is adopted to eliminate gross errors and smooth the observation but retain the incipient characteristic of deviated GNSS residual. A sliding window-based strategy is introduced to extract the empirical non Gaussian fault-free distribution using kernel density-based distribution fitting. Based on that, a global/local integrated test method is proposed to realize FDE, where the Kolmogorov-Smirnov test and Chi-square test are involved to detect the fault(s), and the improved Efficient Leave One Block Out (ELOBO) strategy is adopted to realize fault isolation. Results of fault injection tests under the GNSS-based train positioning scenario established with the field data demonstrate the performance of the proposal. In the comparison with the Gaussian-domain FDE method, the proposed approach realizes an enhanced sensitivity and exclusion capability to both the low level step fault and the incipient ramp fault. The fault exclusion capability ensures a stable positioning precision level, which is significant in GNSS-based train positioning for specific railway applications.

Detection and Exclusion of Incipient Fault for GNSS-based Train Positioning under Non-Gaussian Assumption

We consider a natural class of long range random walks on torsion free nilpotent groups and develop limit theorems for these walks. Given the original discrete group $\Gamma$ and a random walk $(S_n)_ {n\ge1}$ driven by a certain type of symmetric probability measure $\mu$, we construct a homogeneous nilpotent Lie group $G_\bullet(\Gamma,\mu)$ which carries an adapted dilation structure and a stable-like process $(X_t)_{ t\ge0}$ which appears in a Donsker-type functional limit theorem as the limit of a rescaled version of the random walk. Both the limit group and the limit process on that group depend on the measure $\mu$. In addition, the functional limit theorem is complemented by a local limit theorem.

Limit theorems for some long range random walks on torsion free nilpotent groups

Purpose: To investigate the protective role of tectorigenin in myocardial ischaemia/reperfusion. 
Methods: Myocardial cells (H9c2) were treated with different concentrations of tectorigenin and exposed to hypoxia/reoxygenation. Cell viability and apoptosis were determined by MTT (3-(4,5-dimethylthiazol-2-yl)-2,5-diphenyl-2H-tetrazolium bromide) and TUNEL (terminal deoxynucleotidyl transferase-mediated dUTP nick end labeling) staining, respectively. Oxidative stress and inflammation were evaluated using enzyme-linked immunosorbent assay (ELISA), while autophagy and the underlying mechanisms of action were evaluated by Western blot. 
Results: Tectorigenin enhanced the proliferative activity of H9c2 under hypoxia/reoxygenation conditions, and significantly reduced the apoptotic activity (p < 0.001) through decrease in Bax and increase in Bcl-2. Tectorigenin also significantly up-regulated SOD (superoxide dismutase) and GSH (glutathione) levels (p < 0.01), and down-regulated MDA (malondialdehyde) and MPO (myeloperoxidase) in hypoxia/reoxygenation-induced H9c2. TNF-α (tumor necrosis factor-α), IL(interleukin)-1β, and IL-6 levels were also inhibited by tectorigenin by down-regulating p-p65. Hypoxia/reoxygenation-induced increase in p62 and decrease in Beclin-1 and LC3-II/LC3-I were reversed by tectorigenin. Protein expressions of p-mTOR, p-AKT, and p-PI3K in hypoxia/reoxygenation-induced H9c2 were elevated by tectorigenin. 
Conclusion: Tectorigenin exerts anti-oxidant, anti-inflammatory, and anti-autophagic effects on hypoxia/reoxygenation-induced H9c2 through the activation of PI3K/AKT/mTOR pathway, thus suggesting that it is a potential agent for the management of myocardial ischaemia/reperfusion.

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Tectorigenin ameliorates myocardial cell injury caused by hypoxia/reoxygenation by inhibiting autophagy via activation of PI3K/AKT/mTOR pathway

Relative to single Global Navigation Satellite System (GNSS) measurements, i.e., the measurements from a single GNSS system, a single GNSS code, and a single GNSS receiver, multi-GNSS measurements for time transfer could improve reliability and provide better short-term stability. Previous studies applied equal weighting to different GNSS systems or different GNSS time transfer receivers, which, to some extent, revealed the improvement in the additional short-term stability from the combination of two or more kinds of GNSS measurements. In this study, the effects of the different weight allocation for multi-measurements of GNSS time transfer were analyzed, and a federated Kalman filter was designed and applied to fuse multi-GNSS measurements combined with the standard-deviation-allocated weight. Tests with real data showed that the proposed approach can reduce the noise level to well below about 250 ps for short averaging times.

/pdf/a-multi-global-navigation-satellite-system-gnss-time-15qdj0cd.pdf

Jian Wang

Papers

Canny Enhanced High-Resolution Neural Network for Satellite Image Based Land Cover Classification and Its Application in Wireless Channel Simulations

Detection and Exclusion of Incipient Fault for GNSS-based Train Positioning under Non-Gaussian Assumption

Limit theorems for some long range random walks on torsion free nilpotent groups

Tectorigenin ameliorates myocardial cell injury caused by hypoxia/reoxygenation by inhibiting autophagy via activation of PI3K/AKT/mTOR pathway

A Multi-Global Navigation Satellite System (GNSS) Time Transfer Method with Federated Kalman Filter (FKF)