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

The stability of the Great Wall is mainly affected by traffic vibrations and natural hazards, such as strong winds, heavy rainfall, and thunderstorms, which are extremely harmful to the safety of the Great Wall. To determine the impact of the above factors on the Great Wall, a comparative analysis based on MEMS (micro-electro-mechanical system) accelerometer data was conducted between the non-impacts and the impacts of the above factors. An analysis of the relationship between vibration acceleration and each potential hazard based on a visual time series chart was presented using the data of accelerometers, traffic video, meteorology, rainfall, and wind. According to the results, traffic vibration is one of the primary dangerous factors affecting the stability of the Great Wall, Moreover, the intensity of the vibrations increases with the traffic flow. Thunderstorms also influence the stability of the Great Wall, with enhanced thunderstorm excitation resulting in increased vibration displacement. Furthermore, wind load is an influencing factor, with average wind speeds greater than 9 m/s significantly affecting the stability of the Great Wall. Rainfall has no impact on the stability of the Great Wall in the short term. This research can provide important guidance for risk assessment and protection of the Great Wall.

https://www.mdpi.com/1424-8220/23/4/2179/pdf?version=1676444247

The Great Wall Vibration Monitoring of Traffic and Natural Hazards Using MEMS Accelerometers

An alterable channelization intersection real-time coordinating method for connected and autonomous vehicles (CAVs) is proposed in this paper. Links connected with the intersection are divided into three areas: approaching area, lane changing area and speed adjusting area. A double first-conflicting-time (FCT) loop is introduced to form the parallel slots, calculate the target status of the vehicles and keep the performance of the proposed method in heavy traffic. A safe headway criterion is applied to guarantee the safety of the vehicles in the condition of position error and communication delay exist. Acceleration dynamically adjusting based on predicted trajectory (ADAPT) method is proposed to guide the vehicle to reach the target status. A simulation environment of 4-direction intersection with 3-lane of each link, is established to evaluate the effectiveness of the proposed method. The results show that the method can reduce average vehicle delay to 10s with input under 1350 veh/h per link. For coordinating heavy traffic, the vehicle delay rises but the performance of the coordinating method would not degrade. The proposed method can coordinate disequilibrium traffic by automatically and consecutively assigning parallel slots for each coming vehicle, and shows the superiority than traditional intersection control strategies.

Alterable channelization intersection coordinating method for connected and autonomous vehicles

As failures may happen on the train control system which has a complex structure due to the negative interference during train operation, the ability to resist the interference of the system needs to be improved. Resilience can improve the ability of the system to resist the adverse interference very well. Therefore, it is significant to study the quantitative analysis and improvement strategies of the system resilience. The resilience is defined as the capability of a system returning to normal state when suffered interference which may lead to the decrease of the system function. In this paper, discrete time Bayesian network approach is used to analyze the reliability of the on-board equipment with higher frequency of failure occurrence, and the resilience evaluation model is constructed. It is necessary to evaluate the resilience of the on-board equipment when the failure occurs in the process of operation. In addition, the failure of the on-board equipment in the operation process is divided into short-term recoverable failure and short-term unrecoverable failure. When the short-term recoverable failure occurs in the on-board equipment, such as the main equipment of the redundant equipment, the resilience of the system is 98.89%. Based on the evaluation results, this paper puts forward some strategies to improve the resilience of the system.

Resilience quantitative evaluation framework and performance improvement for train control system on-board equipment

Interferon-γ (IFN-γ) is a critical component of innate immune responses in humans to combat infection by many viruses, including human cytomegalovirus (HCMV). IFN-γ exerts its biological effects by inducing hundreds of IFN-stimulated genes (ISGs). In this study, RNA-seq analyses revealed that HCMV tegument protein UL23 could regulate the expression of many ISGs under IFN-γ treatment or HCMV infection. We further confirmed that among these IFN-γ stimulated genes, individual APOL1 (Apolipoprotein-L1), CMPK2 (Cytidine/uridine monophosphate kinase 2), and LGALS9 (Galectin-9) could inhibit HCMV replication. Moreover, these three proteins exhibited a synergistic effect on HCMV replication. UL23-deficient HCMV mutants induced higher expression of APOL1, CMPK2, and LGALS9, and exhibited lower viral titers in IFN-γ treated cells compared with parental viruses expressing full functional UL23. Thus, UL23 appears to resist the antiviral effect of IFN-γ by downregulating the expression of APOL1, CMPK2, and LGALS9. This study highlights the roles of HCMV UL23 in facilitating viral immune escape from IFN-γ responses by specifically downregulating these ISGs.

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Human Cytomegalovirus UL23 Antagonizes the Antiviral Effect of Interferon-γ by Restraining the Expression of Specific IFN-Stimulated Genes

Since the functional model of UWB positioning is nonlinear, iterative algorithms are often considered for solving the localization problem. With a rough initial value, we can obtain the optimal solution by the way of continuous iteration. However, in the UWB indoor positioning, the positioning system is prone to become ill-posed. It resulting in iterative algorithm cannot easily converge to a global optimal solution. In this paper, the convergence on iterative algorithm is analyzed. First of all, the nonlinear least-squares solution of distance equations in UWB positioning is given, then, four optimization iterative methods are presented. Finally, the four methods are applied to UWB static and dynamic positioning under ill-conditioned positioning configuration, the convergence property of the four methods are compared. For the iteration, three types of initial values are selected, and the three cases represent bad, general and good initial value respectively. Experimental results are given to demonstrate that although the barycenter method can converge correctly, it is inefficient with too more iterations. In addition, with a good initial value, the Gauss-Newton method can converge effectively, its iterations increase a lot with a general initial value, and this method rarely converges successfully, and sometimes converges to a false local optimization solution when selecting a bad initial value. Moreover, both the regularized Gauss-Newton method and closed-form Newton method work and converge to the global optimum effectively under the three types of initial values, and the closed-form Newton method has fewer iterations. The study shows that the closed-form of Newton method has higher efficiency of convergence than the other methods in Ultra-wideband positioning under ill-conditioned configuration.

Jian Wang

Papers

The Great Wall Vibration Monitoring of Traffic and Natural Hazards Using MEMS Accelerometers

Alterable channelization intersection coordinating method for connected and autonomous vehicles

Resilience quantitative evaluation framework and performance improvement for train control system on-board equipment

Human Cytomegalovirus UL23 Antagonizes the Antiviral Effect of Interferon-γ by Restraining the Expression of Specific IFN-Stimulated Genes

Convergence Analysis on Iterative Algorithm in Ultra-Wideband Positioning Under Ill-Conditioned Configuration