Dynamic electrical impedance imaging with the interacting multiple model scheme.

PubMed

Kim, Kyung Youn; Kim, Bong Seok; Kim, Min Chan; Kim, Sin; Isaacson, David; Newell, Jonathan C

2005-04-01

In this paper, an effective dynamical EIT imaging scheme is presented for on-line monitoring of the abruptly changing resistivity distribution inside the object, based on the interacting multiple model (IMM) algorithm. The inverse problem is treated as a stochastic nonlinear state estimation problem with the time-varying resistivity (state) being estimated on-line with the aid of the IMM algorithm. In the design of the IMM algorithm multiple models with different process noise covariance are incorporated to reduce the modeling uncertainty. Simulations and phantom experiments are provided to illustrate the proposed algorithm.

The MAP Spacecraft Angular State Estimation After Sensor Failure

NASA Technical Reports Server (NTRS)

Bar-Itzhack, Itzhack Y.; Harman, Richard R.

2003-01-01

This work describes two algorithms for computing the angular rate and attitude in case of a gyro and a Star Tracker failure in the Microwave Anisotropy Probe (MAP) satellite, which was placed in the L2 parking point from where it collects data to determine the origin of the universe. The nature of the problem is described, two algorithms are suggested, an observability study is carried out and real MAP data are used to determine the merit of the algorithms. It is shown that one of the algorithms yields a good estimate of the rates but not of the attitude whereas the other algorithm yields a good estimate of the rate as well as two of the three attitude angles. The estimation of the third angle depends on the initial state estimate. There is a contradiction between this result and the outcome of the observability analysis. An explanation of this contradiction is given in the paper. Although this work treats a particular spacecraft, the conclusions have a far reaching consequence.

A stochastic estimation procedure for intermittently-observed semi-Markov multistate models with back transitions.

PubMed

Aralis, Hilary; Brookmeyer, Ron

2017-01-01

Multistate models provide an important method for analyzing a wide range of life history processes including disease progression and patient recovery following medical intervention. Panel data consisting of the states occupied by an individual at a series of discrete time points are often used to estimate transition intensities of the underlying continuous-time process. When transition intensities depend on the time elapsed in the current state and back transitions between states are possible, this intermittent observation process presents difficulties in estimation due to intractability of the likelihood function. In this manuscript, we present an iterative stochastic expectation-maximization algorithm that relies on a simulation-based approximation to the likelihood function and implement this algorithm using rejection sampling. In a simulation study, we demonstrate the feasibility and performance of the proposed procedure. We then demonstrate application of the algorithm to a study of dementia, the Nun Study, consisting of intermittently-observed elderly subjects in one of four possible states corresponding to intact cognition, impaired cognition, dementia, and death. We show that the proposed stochastic expectation-maximization algorithm substantially reduces bias in model parameter estimates compared to an alternative approach used in the literature, minimal path estimation. We conclude that in estimating intermittently observed semi-Markov models, the proposed approach is a computationally feasible and accurate estimation procedure that leads to substantial improvements in back transition estimates.

Quantum algorithms for Gibbs sampling and hitting-time estimation

DOE PAGES

Chowdhury, Anirban Narayan; Somma, Rolando D.

2017-02-01

In this paper, we present quantum algorithms for solving two problems regarding stochastic processes. The first algorithm prepares the thermal Gibbs state of a quantum system and runs in time almost linear in √Nβ/Ζ and polynomial in log(1/ϵ), where N is the Hilbert space dimension, β is the inverse temperature, Ζ is the partition function, and ϵ is the desired precision of the output state. Our quantum algorithm exponentially improves the dependence on 1/ϵ and quadratically improves the dependence on β of known quantum algorithms for this problem. The second algorithm estimates the hitting time of a Markov chain. Formore » a sparse stochastic matrix Ρ, it runs in time almost linear in 1/(ϵΔ 3/2), where ϵ is the absolute precision in the estimation and Δ is a parameter determined by Ρ, and whose inverse is an upper bound of the hitting time. Our quantum algorithm quadratically improves the dependence on 1/ϵ and 1/Δ of the analog classical algorithm for hitting-time estimation. Finally, both algorithms use tools recently developed in the context of Hamiltonian simulation, spectral gap amplification, and solving linear systems of equations.« less

Local Estimators for Spacecraft Formation Flying

NASA Technical Reports Server (NTRS)

Fathpour, Nanaz; Hadaegh, Fred Y.; Mesbahi, Mehran; Nabi, Marzieh

2011-01-01

A formation estimation architecture for formation flying builds upon the local information exchange among multiple local estimators. Spacecraft formation flying involves the coordination of states among multiple spacecraft through relative sensing, inter-spacecraft communication, and control. Most existing formation flying estimation algorithms can only be supported via highly centralized, all-to-all, static relative sensing. New algorithms are needed that are scalable, modular, and robust to variations in the topology and link characteristics of the formation exchange network. These distributed algorithms should rely on a local information-exchange network, relaxing the assumptions on existing algorithms. In this research, it was shown that only local observability is required to design a formation estimator and control law. The approach relies on breaking up the overall information-exchange network into sequence of local subnetworks, and invoking an agreement-type filter to reach consensus among local estimators within each local network. State estimates were obtained by a set of local measurements that were passed through a set of communicating Kalman filters to reach an overall state estimation for the formation. An optimization approach was also presented by means of which diffused estimates over the network can be incorporated in the local estimates obtained by each estimator via local measurements. This approach compares favorably with that obtained by a centralized Kalman filter, which requires complete knowledge of the raw measurement available to each estimator.

Least-squares sequential parameter and state estimation for large space structures

NASA Technical Reports Server (NTRS)

Thau, F. E.; Eliazov, T.; Montgomery, R. C.

1982-01-01

This paper presents the formulation of simultaneous state and parameter estimation problems for flexible structures in terms of least-squares minimization problems. The approach combines an on-line order determination algorithm, with least-squares algorithms for finding estimates of modal approximation functions, modal amplitudes, and modal parameters. The approach combines previous results on separable nonlinear least squares estimation with a regression analysis formulation of the state estimation problem. The technique makes use of sequential Householder transformations. This allows for sequential accumulation of matrices required during the identification process. The technique is used to identify the modal prameters of a flexible beam.

Estimation of State Transition Probabilities: A Neural Network Model

NASA Astrophysics Data System (ADS)

Saito, Hiroshi; Takiyama, Ken; Okada, Masato

2015-12-01

Humans and animals can predict future states on the basis of acquired knowledge. This prediction of the state transition is important for choosing the best action, and the prediction is only possible if the state transition probability has already been learned. However, how our brains learn the state transition probability is unknown. Here, we propose a simple algorithm for estimating the state transition probability by utilizing the state prediction error. We analytically and numerically confirmed that our algorithm is able to learn the probability completely with an appropriate learning rate. Furthermore, our learning rule reproduced experimentally reported psychometric functions and neural activities in the lateral intraparietal area in a decision-making task. Thus, our algorithm might describe the manner in which our brains learn state transition probabilities and predict future states.

Maximum Correntropy Unscented Kalman Filter for Spacecraft Relative State Estimation.

PubMed

Liu, Xi; Qu, Hua; Zhao, Jihong; Yue, Pengcheng; Wang, Meng

2016-09-20

A new algorithm called maximum correntropy unscented Kalman filter (MCUKF) is proposed and applied to relative state estimation in space communication networks. As is well known, the unscented Kalman filter (UKF) provides an efficient tool to solve the non-linear state estimate problem. However, the UKF usually plays well in Gaussian noises. Its performance may deteriorate substantially in the presence of non-Gaussian noises, especially when the measurements are disturbed by some heavy-tailed impulsive noises. By making use of the maximum correntropy criterion (MCC), the proposed algorithm can enhance the robustness of UKF against impulsive noises. In the MCUKF, the unscented transformation (UT) is applied to obtain a predicted state estimation and covariance matrix, and a nonlinear regression method with the MCC cost is then used to reformulate the measurement information. Finally, the UT is adopted to the measurement equation to obtain the filter state and covariance matrix. Illustrative examples demonstrate the superior performance of the new algorithm.

Maximum Correntropy Unscented Kalman Filter for Spacecraft Relative State Estimation

PubMed Central

Liu, Xi; Qu, Hua; Zhao, Jihong; Yue, Pengcheng; Wang, Meng

2016-01-01

A new algorithm called maximum correntropy unscented Kalman filter (MCUKF) is proposed and applied to relative state estimation in space communication networks. As is well known, the unscented Kalman filter (UKF) provides an efficient tool to solve the non-linear state estimate problem. However, the UKF usually plays well in Gaussian noises. Its performance may deteriorate substantially in the presence of non-Gaussian noises, especially when the measurements are disturbed by some heavy-tailed impulsive noises. By making use of the maximum correntropy criterion (MCC), the proposed algorithm can enhance the robustness of UKF against impulsive noises. In the MCUKF, the unscented transformation (UT) is applied to obtain a predicted state estimation and covariance matrix, and a nonlinear regression method with the MCC cost is then used to reformulate the measurement information. Finally, the UT is adopted to the measurement equation to obtain the filter state and covariance matrix. Illustrative examples demonstrate the superior performance of the new algorithm. PMID:27657069

State estimation of stochastic non-linear hybrid dynamic system using an interacting multiple model algorithm.

PubMed

Elenchezhiyan, M; Prakash, J

2015-09-01

In this work, state estimation schemes for non-linear hybrid dynamic systems subjected to stochastic state disturbances and random errors in measurements using interacting multiple-model (IMM) algorithms are formulated. In order to compute both discrete modes and continuous state estimates of a hybrid dynamic system either an IMM extended Kalman filter (IMM-EKF) or an IMM based derivative-free Kalman filters is proposed in this study. The efficacy of the proposed IMM based state estimation schemes is demonstrated by conducting Monte-Carlo simulation studies on the two-tank hybrid system and switched non-isothermal continuous stirred tank reactor system. Extensive simulation studies reveal that the proposed IMM based state estimation schemes are able to generate fairly accurate continuous state estimates and discrete modes. In the presence and absence of sensor bias, the simulation studies reveal that the proposed IMM unscented Kalman filter (IMM-UKF) based simultaneous state and parameter estimation scheme outperforms multiple-model UKF (MM-UKF) based simultaneous state and parameter estimation scheme. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Anomaly Detection in Test Equipment via Sliding Mode Observers

NASA Technical Reports Server (NTRS)

Solano, Wanda M.; Drakunov, Sergey V.

2012-01-01

Nonlinear observers were originally developed based on the ideas of variable structure control, and for the purpose of detecting disturbances in complex systems. In this anomaly detection application, these observers were designed for estimating the distributed state of fluid flow in a pipe described by a class of advection equations. The observer algorithm uses collected data in a piping system to estimate the distributed system state (pressure and velocity along a pipe containing liquid gas propellant flow) using only boundary measurements. These estimates are then used to further estimate and localize possible anomalies such as leaks or foreign objects, and instrumentation metering problems such as incorrect flow meter orifice plate size. The observer algorithm has the following parts: a mathematical model of the fluid flow, observer control algorithm, and an anomaly identification algorithm. The main functional operation of the algorithm is in creating the sliding mode in the observer system implemented as software. Once the sliding mode starts in the system, the equivalent value of the discontinuous function in sliding mode can be obtained by filtering out the high-frequency chattering component. In control theory, "observers" are dynamic algorithms for the online estimation of the current state of a dynamic system by measurements of an output of the system. Classical linear observers can provide optimal estimates of a system state in case of uncertainty modeled by white noise. For nonlinear cases, the theory of nonlinear observers has been developed and its success is mainly due to the sliding mode approach. Using the mathematical theory of variable structure systems with sliding modes, the observer algorithm is designed in such a way that it steers the output of the model to the output of the system obtained via a variety of sensors, in spite of possible mismatches between the assumed model and actual system. The unique properties of sliding mode control allow not only control of the model internal states to the states of the real-life system, but also identification of the disturbance or anomaly that may occur.

Input Forces Estimation for Nonlinear Systems by Applying a Square-Root Cubature Kalman Filter.

PubMed

Song, Xuegang; Zhang, Yuexin; Liang, Dakai

2017-10-10

This work presents a novel inverse algorithm to estimate time-varying input forces in nonlinear beam systems. With the system parameters determined, the input forces can be estimated in real-time from dynamic responses, which can be used for structural health monitoring. In the process of input forces estimation, the Runge-Kutta fourth-order algorithm was employed to discretize the state equations; a square-root cubature Kalman filter (SRCKF) was employed to suppress white noise; the residual innovation sequences, a priori state estimate, gain matrix, and innovation covariance generated by SRCKF were employed to estimate the magnitude and location of input forces by using a nonlinear estimator. The nonlinear estimator was based on the least squares method. Numerical simulations of a large deflection beam and an experiment of a linear beam constrained by a nonlinear spring were employed. The results demonstrated accuracy of the nonlinear algorithm.

Economic evaluation in short bowel syndrome (SBS): an algorithm to estimate utility scores for a patient-reported SBS-specific quality of life scale (SBS-QoL™).

PubMed

Lloyd, Andrew; Kerr, Cicely; Breheny, Katie; Brazier, John; Ortiz, Aurora; Borg, Emma

2014-03-01

Condition-specific preference-based measures can offer utility data where they would not otherwise be available or where generic measures may lack sensitivity, although they lack comparability across conditions. This study aimed to develop an algorithm for estimating utilities from the short bowel syndrome health-related quality of life scale (SBS-QoL™). SBS-QoL™ items were selected based on factor and item performance analysis of a European SBS-QoL™ dataset and consultation with 3 SBS clinical experts. Six-dimension health states were developed using 8 SBS-QoL™ items (2 dimensions combined 2 SBS-QoL™ items). SBS health states were valued by a UK general population sample (N = 250) using the lead-time time trade-off method. Preference weights or 'utility decrements' for each severity level of each dimension were estimated by regression models and used to develop the scoring algorithm. Mean utilities for the SBS health states ranged from -0.46 (worst health state, very much affected on all dimensions) to 0.92 (best health state, not at all affected on all dimensions). The random effects model with maximum likelihood estimation regression had the best predictive ability and lowest root mean squared error and mean absolute error, and was used to develop the scoring algorithm. The preference-weighted scoring algorithm for the SBS-QoL™ developed is able to estimate a wide range of utility values from patient-level SBS-QoL™ data. This allows estimation of SBS HRQL impact for the purpose of economic evaluation of SBS treatment benefits.

Towards Real-Time Maneuver Detection: Automatic State and Dynamics Estimation with the Adaptive Optimal Control Based Estimator

NASA Astrophysics Data System (ADS)

Lubey, D.; Scheeres, D.

Tracking objects in Earth orbit is fraught with complications. This is due to the large population of orbiting spacecraft and debris that continues to grow, passive (i.e. no direct communication) and data-sparse observations, and the presence of maneuvers and dynamics mismodeling. Accurate orbit determination in this environment requires an algorithm to capture both a system's state and its state dynamics in order to account for mismodelings. Previous studies by the authors yielded an algorithm called the Optimal Control Based Estimator (OCBE) - an algorithm that simultaneously estimates a system's state and optimal control policies that represent dynamic mismodeling in the system for an arbitrary orbit-observer setup. The stochastic properties of these estimated controls are then used to determine the presence of mismodelings (maneuver detection), as well as characterize and reconstruct the mismodelings. The purpose of this paper is to develop the OCBE into an accurate real-time orbit tracking and maneuver detection algorithm by automating the algorithm and removing its linear assumptions. This results in a nonlinear adaptive estimator. In its original form the OCBE had a parameter called the assumed dynamic uncertainty, which is selected by the user with each new measurement to reflect the level of dynamic mismodeling in the system. This human-in-the-loop approach precludes real-time application to orbit tracking problems due to their complexity. This paper focuses on the Adaptive OCBE, a version of the estimator where the assumed dynamic uncertainty is chosen automatically with each new measurement using maneuver detection results to ensure that state uncertainties are properly adjusted to account for all dynamic mismodelings. The paper also focuses on a nonlinear implementation of the estimator. Originally, the OCBE was derived from a nonlinear cost function then linearized about a nominal trajectory, which is assumed to be ballistic (i.e. the nominal optimal control policy is zero for all times). In this paper, we relax this assumption on the nominal trajectory in order to allow for controlled nominal trajectories. This allows the estimator to be iterated to obtain a more accurate nonlinear solution for both the state and control estimates. Beyond these developments to the estimator, this paper also introduces a modified distance metric for maneuver detection. The original metric used in the OCBE only accounted for the estimated control and its uncertainty. This new metric accounts for measurement deviation and a priori state deviations, such that it accounts for all three major forms of uncertainty in orbit determination. This allows the user to understand the contributions of each source of uncertainty toward the total system mismodeling so that the user can properly account for them. Together these developments create an accurate orbit determination algorithm that is automated, robust to mismodeling, and capable of detecting and reconstructing the presence of mismodeling. These qualities make this algorithm a good foundation from which to approach the problem of real-time maneuver detection and reconstruction for Space Situational Awareness applications. This is further strengthened by the algorithm's general formulation that allows it to be applied to problems with an arbitrary target and observer.

Joint parameter and state estimation algorithms for real-time traffic monitoring.

DOT National Transportation Integrated Search

2013-12-01

A common approach to traffic monitoring is to combine a macroscopic traffic flow model with traffic sensor data in a process called state estimation, data fusion, or data assimilation. The main challenge of traffic state estimation is the integration...

State-Space Modeling of Dynamic Psychological Processes via the Kalman Smoother Algorithm: Rationale, Finite Sample Properties, and Applications

ERIC Educational Resources Information Center

Song, Hairong; Ferrer, Emilio

2009-01-01

This article presents a state-space modeling (SSM) technique for fitting process factor analysis models directly to raw data. The Kalman smoother via the expectation-maximization algorithm to obtain maximum likelihood parameter estimates is used. To examine the finite sample properties of the estimates in SSM when common factors are involved, a…

Composing problem solvers for simulation experimentation: a case study on steady state estimation.

PubMed

Leye, Stefan; Ewald, Roland; Uhrmacher, Adelinde M

2014-01-01

Simulation experiments involve various sub-tasks, e.g., parameter optimization, simulation execution, or output data analysis. Many algorithms can be applied to such tasks, but their performance depends on the given problem. Steady state estimation in systems biology is a typical example for this: several estimators have been proposed, each with its own (dis-)advantages. Experimenters, therefore, must choose from the available options, even though they may not be aware of the consequences. To support those users, we propose a general scheme to aggregate such algorithms to so-called synthetic problem solvers, which exploit algorithm differences to improve overall performance. Our approach subsumes various aggregation mechanisms, supports automatic configuration from training data (e.g., via ensemble learning or portfolio selection), and extends the plugin system of the open source modeling and simulation framework James II. We show the benefits of our approach by applying it to steady state estimation for cell-biological models.

Fat water decomposition using globally optimal surface estimation (GOOSE) algorithm.

PubMed

Cui, Chen; Wu, Xiaodong; Newell, John D; Jacob, Mathews

2015-03-01

This article focuses on developing a novel noniterative fat water decomposition algorithm more robust to fat water swaps and related ambiguities. Field map estimation is reformulated as a constrained surface estimation problem to exploit the spatial smoothness of the field, thus minimizing the ambiguities in the recovery. Specifically, the differences in the field map-induced frequency shift between adjacent voxels are constrained to be in a finite range. The discretization of the above problem yields a graph optimization scheme, where each node of the graph is only connected with few other nodes. Thanks to the low graph connectivity, the problem is solved efficiently using a noniterative graph cut algorithm. The global minimum of the constrained optimization problem is guaranteed. The performance of the algorithm is compared with that of state-of-the-art schemes. Quantitative comparisons are also made against reference data. The proposed algorithm is observed to yield more robust fat water estimates with fewer fat water swaps and better quantitative results than other state-of-the-art algorithms in a range of challenging applications. The proposed algorithm is capable of considerably reducing the swaps in challenging fat water decomposition problems. The experiments demonstrate the benefit of using explicit smoothness constraints in field map estimation and solving the problem using a globally convergent graph-cut optimization algorithm. © 2014 Wiley Periodicals, Inc.

Fuzzy Neural Network-Based Interacting Multiple Model for Multi-Node Target Tracking Algorithm

PubMed Central

Sun, Baoliang; Jiang, Chunlan; Li, Ming

2016-01-01

An interacting multiple model for multi-node target tracking algorithm was proposed based on a fuzzy neural network (FNN) to solve the multi-node target tracking problem of wireless sensor networks (WSNs). Measured error variance was adaptively adjusted during the multiple model interacting output stage using the difference between the theoretical and estimated values of the measured error covariance matrix. The FNN fusion system was established during multi-node fusion to integrate with the target state estimated data from different nodes and consequently obtain network target state estimation. The feasibility of the algorithm was verified based on a network of nine detection nodes. Experimental results indicated that the proposed algorithm could trace the maneuvering target effectively under sensor failure and unknown system measurement errors. The proposed algorithm exhibited great practicability in the multi-node target tracking of WSNs. PMID:27809271

On-line estimation of nonlinear physical systems

USGS Publications Warehouse

Christakos, G.

1988-01-01

Recursive algorithms for estimating states of nonlinear physical systems are presented. Orthogonality properties are rediscovered and the associated polynomials are used to linearize state and observation models of the underlying random processes. This requires some key hypotheses regarding the structure of these processes, which may then take account of a wide range of applications. The latter include streamflow forecasting, flood estimation, environmental protection, earthquake engineering, and mine planning. The proposed estimation algorithm may be compared favorably to Taylor series-type filters, nonlinear filters which approximate the probability density by Edgeworth or Gram-Charlier series, as well as to conventional statistical linearization-type estimators. Moreover, the method has several advantages over nonrecursive estimators like disjunctive kriging. To link theory with practice, some numerical results for a simulated system are presented, in which responses from the proposed and extended Kalman algorithms are compared. ?? 1988 International Association for Mathematical Geology.

State-dependent biasing method for importance sampling in the weighted stochastic simulation algorithm.

PubMed

Roh, Min K; Gillespie, Dan T; Petzold, Linda R

2010-11-07

The weighted stochastic simulation algorithm (wSSA) was developed by Kuwahara and Mura [J. Chem. Phys. 129, 165101 (2008)] to efficiently estimate the probabilities of rare events in discrete stochastic systems. The wSSA uses importance sampling to enhance the statistical accuracy in the estimation of the probability of the rare event. The original algorithm biases the reaction selection step with a fixed importance sampling parameter. In this paper, we introduce a novel method where the biasing parameter is state-dependent. The new method features improved accuracy, efficiency, and robustness.

Manifold absolute pressure estimation using neural network with hybrid training algorithm

PubMed Central

Selamat, Hazlina; Alimin, Ahmad Jais; Haniff, Mohamad Fadzli

2017-01-01

In a modern small gasoline engine fuel injection system, the load of the engine is estimated based on the measurement of the manifold absolute pressure (MAP) sensor, which took place in the intake manifold. This paper present a more economical approach on estimating the MAP by using only the measurements of the throttle position and engine speed, resulting in lower implementation cost. The estimation was done via two-stage multilayer feed-forward neural network by combining Levenberg-Marquardt (LM) algorithm, Bayesian Regularization (BR) algorithm and Particle Swarm Optimization (PSO) algorithm. Based on the results found in 20 runs, the second variant of the hybrid algorithm yields a better network performance than the first variant of hybrid algorithm, LM, LM with BR and PSO by estimating the MAP closely to the simulated MAP values. By using a valid experimental training data, the estimator network that trained with the second variant of the hybrid algorithm showed the best performance among other algorithms when used in an actual retrofit fuel injection system (RFIS). The performance of the estimator was also validated in steady-state and transient condition by showing a closer MAP estimation to the actual value. PMID:29190779

State of Charge estimation of lithium ion battery based on extended Kalman filtering algorithm

NASA Astrophysics Data System (ADS)

Yang, Fan; Feng, Yiming; Pan, Binbiao; Wan, Renzhuo; Wang, Jun

2017-08-01

Accurate estimation of state-of-charge (SOC) for lithium ion battery is crucial for real-time diagnosis and prognosis in green energy vehicles. In this paper, a state space model of the battery based on Thevenin model is adopted. The strategy of estimating state of charge (SOC) based on extended Kalman fil-ter is presented, as well as to combine with ampere-hour counting (AH) and open circuit voltage (OCV) methods. The comparison between simulation and experiments indicates that the model’s performance matches well with that of lithium ion battery. The algorithm of extended Kalman filter keeps a good accura-cy precision and less dependent on its initial value in full range of SOC, which is proved to be suitable for online SOC estimation.

Some modifications of Newton's method for the determination of the steady-state response of nonlinear oscillatory circuits

NASA Astrophysics Data System (ADS)

Grosz, F. B., Jr.; Trick, T. N.

1982-07-01

It is proposed that nondominant states should be eliminated from the Newton algorithm in the steady-state analysis of nonlinear oscillatory systems. This technique not only improves convergence, but also reduces the size of the sensitivity matrix so that less computation is required for each iteration. One or more periods of integration should be performed after each periodic state estimation before the sensitivity computations are made for the next periodic state estimation. These extra periods of integration between Newton iterations are found to allow the fast states due to parasitic effects to settle, which enables the Newton algorithm to make a better prediction. In addition, the reliability of the algorithm is improved in high Q oscillator circuits by both local and global damping in which the amount of damping is proportional to the difference between the initial and final state values.

Assessing performance of Bayesian state-space models fit to Argos satellite telemetry locations processed with Kalman filtering.

PubMed

Silva, Mónica A; Jonsen, Ian; Russell, Deborah J F; Prieto, Rui; Thompson, Dave; Baumgartner, Mark F

2014-01-01

Argos recently implemented a new algorithm to calculate locations of satellite-tracked animals that uses a Kalman filter (KF). The KF algorithm is reported to increase the number and accuracy of estimated positions over the traditional Least Squares (LS) algorithm, with potential advantages to the application of state-space methods to model animal movement data. We tested the performance of two Bayesian state-space models (SSMs) fitted to satellite tracking data processed with KF algorithm. Tracks from 7 harbour seals (Phoca vitulina) tagged with ARGOS satellite transmitters equipped with Fastloc GPS loggers were used to calculate the error of locations estimated from SSMs fitted to KF and LS data, by comparing those to "true" GPS locations. Data on 6 fin whales (Balaenoptera physalus) were used to investigate consistency in movement parameters, location and behavioural states estimated by switching state-space models (SSSM) fitted to data derived from KF and LS methods. The model fit to KF locations improved the accuracy of seal trips by 27% over the LS model. 82% of locations predicted from the KF model and 73% of locations from the LS model were <5 km from the corresponding interpolated GPS position. Uncertainty in KF model estimates (5.6 ± 5.6 km) was nearly half that of LS estimates (11.6 ± 8.4 km). Accuracy of KF and LS modelled locations was sensitive to precision but not to observation frequency or temporal resolution of raw Argos data. On average, 88% of whale locations estimated by KF models fell within the 95% probability ellipse of paired locations from LS models. Precision of KF locations for whales was generally higher. Whales' behavioural mode inferred by KF models matched the classification from LS models in 94% of the cases. State-space models fit to KF data can improve spatial accuracy of location estimates over LS models and produce equally reliable behavioural estimates.

Assessing Performance of Bayesian State-Space Models Fit to Argos Satellite Telemetry Locations Processed with Kalman Filtering

PubMed Central

Silva, Mónica A.; Jonsen, Ian; Russell, Deborah J. F.; Prieto, Rui; Thompson, Dave; Baumgartner, Mark F.

2014-01-01

Argos recently implemented a new algorithm to calculate locations of satellite-tracked animals that uses a Kalman filter (KF). The KF algorithm is reported to increase the number and accuracy of estimated positions over the traditional Least Squares (LS) algorithm, with potential advantages to the application of state-space methods to model animal movement data. We tested the performance of two Bayesian state-space models (SSMs) fitted to satellite tracking data processed with KF algorithm. Tracks from 7 harbour seals (Phoca vitulina) tagged with ARGOS satellite transmitters equipped with Fastloc GPS loggers were used to calculate the error of locations estimated from SSMs fitted to KF and LS data, by comparing those to “true” GPS locations. Data on 6 fin whales (Balaenoptera physalus) were used to investigate consistency in movement parameters, location and behavioural states estimated by switching state-space models (SSSM) fitted to data derived from KF and LS methods. The model fit to KF locations improved the accuracy of seal trips by 27% over the LS model. 82% of locations predicted from the KF model and 73% of locations from the LS model were <5 km from the corresponding interpolated GPS position. Uncertainty in KF model estimates (5.6±5.6 km) was nearly half that of LS estimates (11.6±8.4 km). Accuracy of KF and LS modelled locations was sensitive to precision but not to observation frequency or temporal resolution of raw Argos data. On average, 88% of whale locations estimated by KF models fell within the 95% probability ellipse of paired locations from LS models. Precision of KF locations for whales was generally higher. Whales’ behavioural mode inferred by KF models matched the classification from LS models in 94% of the cases. State-space models fit to KF data can improve spatial accuracy of location estimates over LS models and produce equally reliable behavioural estimates. PMID:24651252

An algorithm to estimate PBL heights from wind profiler data

NASA Astrophysics Data System (ADS)

Molod, A.; Salmun, H.

2016-12-01

An algorithm was developed to estimate planetary boundary layer (PBL) heights from hourlyarchived wind profiler data from the NOAA Profiler Network (NPN) sites located throughoutthe central United States from the period 1992-2012. The long period of record allows ananalysis of climatological mean PBL heights as well as some estimates of year to yearvariability. Under clear conditions, summertime averaged hourly time series of PBL heightscompare well with Richardson-number based estimates at the few NPN stations with hourlytemperature measurements. Comparisons with clear sky MERRA estimates show that the windprofiler (WP) and the Richardson number based PBL heights are lower by approximately 250-500 m.The geographical distribution of daily maximum WP PBL heights corresponds well with theexpected distribution based on patterns of surface temperature and soil moisture. Windprofiler PBL heights were also estimated under mostly cloudy conditions, but the WP estimatesshow a smaller clear-cloudy condition difference than either of the other two PBL height estimates.The algorithm presented here is shown to provide a reliable summer, fall and springclimatology of daytime hourly PBL heights throughout the central United States. The reliabilityof the algorithm has prompted its use to obtain hourly PBL heights from other archived windprofiler data located throughout the world.

A stochastic approach to online vehicle state and parameter estimation, with application to inertia estimation for rollover prevention and battery charge/health estimation.

DOT National Transportation Integrated Search

2013-08-01

This report summarizes research conducted at Penn State, Virginia Tech, and West Virginia University on the development of algorithms based on the generalized polynomial chaos (gpc) expansion for the online estimation of automotive and transportation...

Generalized Grover's Algorithm for Multiple Phase Inversion States

NASA Astrophysics Data System (ADS)

Byrnes, Tim; Forster, Gary; Tessler, Louis

2018-02-01

Grover's algorithm is a quantum search algorithm that proceeds by repeated applications of the Grover operator and the Oracle until the state evolves to one of the target states. In the standard version of the algorithm, the Grover operator inverts the sign on only one state. Here we provide an exact solution to the problem of performing Grover's search where the Grover operator inverts the sign on N states. We show the underlying structure in terms of the eigenspectrum of the generalized Hamiltonian, and derive an appropriate initial state to perform the Grover evolution. This allows us to use the quantum phase estimation algorithm to solve the search problem in this generalized case, completely bypassing the Grover algorithm altogether. We obtain a time complexity of this case of √{D /Mα }, where D is the search space dimension, M is the number of target states, and α ≈1 , which is close to the optimal scaling.

Cloud cover and solar disk state estimation using all-sky images: deep neural networks approach compared to routine methods

NASA Astrophysics Data System (ADS)

Krinitskiy, Mikhail; Sinitsyn, Alexey

2017-04-01

Shortwave radiation is an important component of surface heat budget over sea and land. To estimate them accurate observations of cloud conditions are needed including total cloud cover, spatial and temporal cloud structure. While massively observed visually, for building accurate SW radiation parameterizations cloud structure needs also to be quantified using precise instrumental measurements. While there already exist several state of the art land-based cloud-cameras that satisfy researchers needs, their major disadvantages are associated with inaccuracy of all-sky images processing algorithms which typically result in the uncertainties of 2-4 octa of cloud cover estimates with the resulting true-scoring cloud cover accuracy of about 7%. Moreover, none of these algorithms determine cloud types. We developed an approach for cloud cover and structure estimating, which provides much more accurate estimates and also allows for measuring additional characteristics. This method is based on the synthetic controlling index, namely the "grayness rate index", that we introduced in 2014. Since then this index has already demonstrated high efficiency being used along with the technique namely the "background sunburn effect suppression", to detect thin clouds. This made it possible to significantly increase the accuracy of total cloud cover estimation in various sky image states using this extension of routine algorithm type. Errors for the cloud cover estimates significantly decreased down resulting the mean squared error of about 1.5 octa. Resulting true-scoring accuracy is more than 38%. The main source of this approach uncertainties is the solar disk state determination errors. While the deep neural networks approach lets us to estimate solar disk state with 94% accuracy, the final result of total cloud estimation still isn`t satisfying. To solve this problem completely we applied the set of machine learning algorithms to the problem of total cloud cover estimation directly. The accuracy of this approach varies depending on algorithm choice. Deep neural networks demonstrated the best accuracy of more than 96%. We will demonstrate some approaches and the most influential statistical features of all-sky images that lets the algorithm reach that high accuracy. With the use of our new optical package a set of over 480`000 samples has been collected in several sea missions in 2014-2016 along with concurrent standard human observed and instrumentally recorded meteorological parameters. We will demonstrate the results of the field measurements and will discuss some still remaining problems and the potential of the further developments of machine learning approach.

Least mean square fourth based microgrid state estimation algorithm using the internet of things technology.

PubMed

Rana, Md Masud

2017-01-01

This paper proposes an innovative internet of things (IoT) based communication framework for monitoring microgrid under the condition of packet dropouts in measurements. First of all, the microgrid incorporating the renewable distributed energy resources is represented by a state-space model. The IoT embedded wireless sensor network is adopted to sense the system states. Afterwards, the information is transmitted to the energy management system using the communication network. Finally, the least mean square fourth algorithm is explored for estimating the system states. The effectiveness of the developed approach is verified through numerical simulations.

Sensor failure detection for jet engines

NASA Technical Reports Server (NTRS)

Beattie, E. C.; Laprad, R. F.; Akhter, M. M.; Rock, S. M.

1983-01-01

Revisions to the advanced sensor failure detection, isolation, and accommodation (DIA) algorithm, developed under the sensor failure detection system program were studied to eliminate the steady state errors due to estimation filter biases. Three algorithm revisions were formulated and one revision for detailed evaluation was chosen. The selected version modifies the DIA algorithm to feedback the actual sensor outputs to the integral portion of the control for the nofailure case. In case of a failure, the estimates of the failed sensor output is fed back to the integral portion. The estimator outputs are fed back to the linear regulator portion of the control all the time. The revised algorithm is evaluated and compared to the baseline algorithm developed previously.

Lithium-ion battery state of function estimation based on fuzzy logic algorithm with associated variables

NASA Astrophysics Data System (ADS)

Gan, L.; Yang, F.; Shi, Y. F.; He, H. L.

2017-11-01

Many occasions related to batteries demand to know how much continuous and instantaneous power can batteries provide such as the rapidly developing electric vehicles. As the large-scale applications of lithium-ion batteries, lithium-ion batteries are used to be our research object. Many experiments are designed to get the lithium-ion battery parameters to ensure the relevance and reliability of the estimation. To evaluate the continuous and instantaneous load capability of a battery called state-of-function (SOF), this paper proposes a fuzzy logic algorithm based on battery state-of-charge(SOC), state-of-health(SOH) and C-rate parameters. Simulation and experimental results indicate that the proposed approach is suitable for battery SOF estimation.

Dynamic State Estimation of Power Systems With Quantization Effects: A Recursive Filter Approach.

PubMed

Hu, Liang; Wang, Zidong; Liu, Xiaohui

2016-08-01

In this paper, a recursive filter algorithm is developed to deal with the state estimation problem for power systems with quantized nonlinear measurements. The measurements from both the remote terminal units and the phasor measurement unit are subject to quantizations described by a logarithmic quantizer. Attention is focused on the design of a recursive filter such that, in the simultaneous presence of nonlinear measurements and quantization effects, an upper bound for the estimation error covariance is guaranteed and subsequently minimized. Instead of using the traditional approximation methods in nonlinear estimation that simply ignore the linearization errors, we treat both the linearization and quantization errors as norm-bounded uncertainties in the algorithm development so as to improve the performance of the estimator. For the power system with such kind of introduced uncertainties, a filter is designed in the framework of robust recursive estimation, and the developed filter algorithm is tested on the IEEE benchmark power system to demonstrate its effectiveness.

RB Particle Filter Time Synchronization Algorithm Based on the DPM Model.

PubMed

Guo, Chunsheng; Shen, Jia; Sun, Yao; Ying, Na

2015-09-03

Time synchronization is essential for node localization, target tracking, data fusion, and various other Wireless Sensor Network (WSN) applications. To improve the estimation accuracy of continuous clock offset and skew of mobile nodes in WSNs, we propose a novel time synchronization algorithm, the Rao-Blackwellised (RB) particle filter time synchronization algorithm based on the Dirichlet process mixture (DPM) model. In a state-space equation with a linear substructure, state variables are divided into linear and non-linear variables by the RB particle filter algorithm. These two variables can be estimated using Kalman filter and particle filter, respectively, which improves the computational efficiency more so than if only the particle filter was used. In addition, the DPM model is used to describe the distribution of non-deterministic delays and to automatically adjust the number of Gaussian mixture model components based on the observational data. This improves the estimation accuracy of clock offset and skew, which allows achieving the time synchronization. The time synchronization performance of this algorithm is also validated by computer simulations and experimental measurements. The results show that the proposed algorithm has a higher time synchronization precision than traditional time synchronization algorithms.

Maneuver Algorithm for Bearings-Only Target Tracking with Acceleration and Field of View Constraints

NASA Astrophysics Data System (ADS)

Roh, Heekun; Shim, Sang-Wook; Tahk, Min-Jea

2018-05-01

This paper proposes a maneuver algorithm for the agent performing target tracking with bearing angle information only. The goal of the agent is to estimate the target position and velocity based only on the bearing angle data. The methods of bearings-only target state estimation are outlined. The nature of bearings-only target tracking problem is then addressed. Based on the insight from above-mentioned properties, the maneuver algorithm for the agent is suggested. The proposed algorithm is composed of a nonlinear, hysteresis guidance law and the estimation accuracy assessment criteria based on the theory of Cramer-Rao bound. The proposed guidance law generates lateral acceleration command based on current field of view angle. The accuracy criteria supply the expected estimation variance, which acts as a terminal criterion for the proposed algorithm. The aforementioned algorithm is verified with a two-dimensional simulation.

Determination of power system component parameters using nonlinear dead beat estimation method

NASA Astrophysics Data System (ADS)

Kolluru, Lakshmi

Power systems are considered the most complex man-made wonders in existence today. In order to effectively supply the ever increasing demands of the consumers, power systems are required to remain stable at all times. Stability and monitoring of these complex systems are achieved by strategically placed computerized control centers. State and parameter estimation is an integral part of these facilities, as they deal with identifying the unknown states and/or parameters of the systems. Advancements in measurement technologies and the introduction of phasor measurement units (PMU) provide detailed and dynamic information of all measurements. Accurate availability of dynamic measurements provides engineers the opportunity to expand and explore various possibilities in power system dynamic analysis/control. This thesis discusses the development of a parameter determination algorithm for nonlinear power systems, using dynamic data obtained from local measurements. The proposed algorithm was developed by observing the dead beat estimator used in state space estimation of linear systems. The dead beat estimator is considered to be very effective as it is capable of obtaining the required results in a fixed number of steps. The number of steps required is related to the order of the system and the number of parameters to be estimated. The proposed algorithm uses the idea of dead beat estimator and nonlinear finite difference methods to create an algorithm which is user friendly and can determine the parameters fairly accurately and effectively. The proposed algorithm is based on a deterministic approach, which uses dynamic data and mathematical models of power system components to determine the unknown parameters. The effectiveness of the algorithm is tested by implementing it to identify the unknown parameters of a synchronous machine. MATLAB environment is used to create three test cases for dynamic analysis of the system with assumed known parameters. Faults are introduced in the virtual test systems and the dynamic data obtained in each case is analyzed and recorded. Ideally, actual measurements are to be provided to the algorithm. As the measurements are not readily available the data obtained from simulations is fed into the determination algorithm as inputs. The obtained results are then compared to the original (or assumed) values of the parameters. The results obtained suggest that the algorithm is able to determine the parameters of a synchronous machine when crisp data is available.

Frequency-domain beamformers using conjugate gradient techniques for speech enhancement.

PubMed

Zhao, Shengkui; Jones, Douglas L; Khoo, Suiyang; Man, Zhihong

2014-09-01

A multiple-iteration constrained conjugate gradient (MICCG) algorithm and a single-iteration constrained conjugate gradient (SICCG) algorithm are proposed to realize the widely used frequency-domain minimum-variance-distortionless-response (MVDR) beamformers and the resulting algorithms are applied to speech enhancement. The algorithms are derived based on the Lagrange method and the conjugate gradient techniques. The implementations of the algorithms avoid any form of explicit or implicit autocorrelation matrix inversion. Theoretical analysis establishes formal convergence of the algorithms. Specifically, the MICCG algorithm is developed based on a block adaptation approach and it generates a finite sequence of estimates that converge to the MVDR solution. For limited data records, the estimates of the MICCG algorithm are better than the conventional estimators and equivalent to the auxiliary vector algorithms. The SICCG algorithm is developed based on a continuous adaptation approach with a sample-by-sample updating procedure and the estimates asymptotically converge to the MVDR solution. An illustrative example using synthetic data from a uniform linear array is studied and an evaluation on real data recorded by an acoustic vector sensor array is demonstrated. Performance of the MICCG algorithm and the SICCG algorithm are compared with the state-of-the-art approaches.

Implementation of Kalman filter algorithm on models reduced using singular pertubation approximation method and its application to measurement of water level

NASA Astrophysics Data System (ADS)

Rachmawati, Vimala; Khusnul Arif, Didik; Adzkiya, Dieky

2018-03-01

The systems contained in the universe often have a large order. Thus, the mathematical model has many state variables that affect the computation time. In addition, generally not all variables are known, so estimations are needed to measure the magnitude of the system that cannot be measured directly. In this paper, we discuss the model reduction and estimation of state variables in the river system to measure the water level. The model reduction of a system is an approximation method of a system with a lower order without significant errors but has a dynamic behaviour that is similar to the original system. The Singular Perturbation Approximation method is one of the model reduction methods where all state variables of the equilibrium system are partitioned into fast and slow modes. Then, The Kalman filter algorithm is used to estimate state variables of stochastic dynamic systems where estimations are computed by predicting state variables based on system dynamics and measurement data. Kalman filters are used to estimate state variables in the original system and reduced system. Then, we compare the estimation results of the state and computational time between the original and reduced system.

An Adaptive Orientation Estimation Method for Magnetic and Inertial Sensors in the Presence of Magnetic Disturbances

PubMed Central

Fan, Bingfei; Li, Qingguo; Wang, Chao; Liu, Tao

2017-01-01

Magnetic and inertial sensors have been widely used to estimate the orientation of human segments due to their low cost, compact size and light weight. However, the accuracy of the estimated orientation is easily affected by external factors, especially when the sensor is used in an environment with magnetic disturbances. In this paper, we propose an adaptive method to improve the accuracy of orientation estimations in the presence of magnetic disturbances. The method is based on existing gradient descent algorithms, and it is performed prior to sensor fusion algorithms. The proposed method includes stationary state detection and magnetic disturbance severity determination. The stationary state detection makes this method immune to magnetic disturbances in stationary state, while the magnetic disturbance severity determination helps to determine the credibility of magnetometer data under dynamic conditions, so as to mitigate the negative effect of the magnetic disturbances. The proposed method was validated through experiments performed on a customized three-axis instrumented gimbal with known orientations. The error of the proposed method and the original gradient descent algorithms were calculated and compared. Experimental results demonstrate that in stationary state, the proposed method is completely immune to magnetic disturbances, and in dynamic conditions, the error caused by magnetic disturbance is reduced by 51.2% compared with original MIMU gradient descent algorithm. PMID:28534858

Using State Estimation Residuals to Detect Abnormal SCADA Data

DOE Office of Scientific and Technical Information (OSTI.GOV)

Ma, Jian; Chen, Yousu; Huang, Zhenyu

2010-04-30

Detection of abnormal supervisory control and data acquisition (SCADA) data is critically important for safe and secure operation of modern power systems. In this paper, a methodology of abnormal SCADA data detection based on state estimation residuals is presented. Preceded with a brief overview of outlier detection methods and bad SCADA data detection for state estimation, the framework of the proposed methodology is described. Instead of using original SCADA measurements as the bad data sources, the residuals calculated based on the results of the state estimator are used as the input for the outlier detection algorithm. The BACON algorithm ismore » applied to the outlier detection task. The IEEE 118-bus system is used as a test base to evaluate the effectiveness of the proposed methodology. The accuracy of the BACON method is compared with that of the 3-σ method for the simulated SCADA measurements and residuals.« less

Spatiotemporal Local-Remote Senor Fusion (ST-LRSF) for Cooperative Vehicle Positioning.

PubMed

Jeong, Han-You; Nguyen, Hoa-Hung; Bhawiyuga, Adhitya

2018-04-04

Vehicle positioning plays an important role in the design of protocols, algorithms, and applications in the intelligent transport systems. In this paper, we present a new framework of spatiotemporal local-remote sensor fusion (ST-LRSF) that cooperatively improves the accuracy of absolute vehicle positioning based on two state estimates of a vehicle in the vicinity: a local sensing estimate, measured by the on-board exteroceptive sensors, and a remote sensing estimate, received from neighbor vehicles via vehicle-to-everything communications. Given both estimates of vehicle state, the ST-LRSF scheme identifies the set of vehicles in the vicinity, determines the reference vehicle state, proposes a spatiotemporal dissimilarity metric between two reference vehicle states, and presents a greedy algorithm to compute a minimal weighted matching (MWM) between them. Given the outcome of MWM, the theoretical position uncertainty of the proposed refinement algorithm is proven to be inversely proportional to the square root of matching size. To further reduce the positioning uncertainty, we also develop an extended Kalman filter model with the refined position of ST-LRSF as one of the measurement inputs. The numerical results demonstrate that the proposed ST-LRSF framework can achieve high positioning accuracy for many different scenarios of cooperative vehicle positioning.

Least mean square fourth based microgrid state estimation algorithm using the internet of things technology

PubMed Central

2017-01-01

This paper proposes an innovative internet of things (IoT) based communication framework for monitoring microgrid under the condition of packet dropouts in measurements. First of all, the microgrid incorporating the renewable distributed energy resources is represented by a state-space model. The IoT embedded wireless sensor network is adopted to sense the system states. Afterwards, the information is transmitted to the energy management system using the communication network. Finally, the least mean square fourth algorithm is explored for estimating the system states. The effectiveness of the developed approach is verified through numerical simulations. PMID:28459848

Testing mapping algorithms of the cancer-specific EORTC QLQ-C30 onto EQ-5D in malignant mesothelioma.

PubMed

Arnold, David T; Rowen, Donna; Versteegh, Matthijs M; Morley, Anna; Hooper, Clare E; Maskell, Nicholas A

2015-01-23

In order to estimate utilities for cancer studies where the EQ-5D was not used, the EORTC QLQ-C30 can be used to estimate EQ-5D using existing mapping algorithms. Several mapping algorithms exist for this transformation, however, algorithms tend to lose accuracy in patients in poor health states. The aim of this study was to test all existing mapping algorithms of QLQ-C30 onto EQ-5D, in a dataset of patients with malignant pleural mesothelioma, an invariably fatal malignancy where no previous mapping estimation has been published. Health related quality of life (HRQoL) data where both the EQ-5D and QLQ-C30 were used simultaneously was obtained from the UK-based prospective observational SWAMP (South West Area Mesothelioma and Pemetrexed) trial. In the original trial 73 patients with pleural mesothelioma were offered palliative chemotherapy and their HRQoL was assessed across five time points. This data was used to test the nine available mapping algorithms found in the literature, comparing predicted against observed EQ-5D values. The ability of algorithms to predict the mean, minimise error and detect clinically significant differences was assessed. The dataset had a total of 250 observations across 5 timepoints. The linear regression mapping algorithms tested generally performed poorly, over-estimating the predicted compared to observed EQ-5D values, especially when observed EQ-5D was below 0.5. The best performing algorithm used a response mapping method and predicted the mean EQ-5D with accuracy with an average root mean squared error of 0.17 (Standard Deviation; 0.22). This algorithm reliably discriminated between clinically distinct subgroups seen in the primary dataset. This study tested mapping algorithms in a population with poor health states, where they have been previously shown to perform poorly. Further research into EQ-5D estimation should be directed at response mapping methods given its superior performance in this study.

Q-Method Extended Kalman Filter

NASA Technical Reports Server (NTRS)

Zanetti, Renato; Ainscough, Thomas; Christian, John; Spanos, Pol D.

2012-01-01

A new algorithm is proposed that smoothly integrates non-linear estimation of the attitude quaternion using Davenport s q-method and estimation of non-attitude states through an extended Kalman filter. The new method is compared to a similar existing algorithm showing its similarities and differences. The validity of the proposed approach is confirmed through numerical simulations.

Fast noise level estimation algorithm based on principal component analysis transform and nonlinear rectification

NASA Astrophysics Data System (ADS)

Xu, Shaoping; Zeng, Xiaoxia; Jiang, Yinnan; Tang, Yiling

2018-01-01

We proposed a noniterative principal component analysis (PCA)-based noise level estimation (NLE) algorithm that addresses the problem of estimating the noise level with a two-step scheme. First, we randomly extracted a number of raw patches from a given noisy image and took the smallest eigenvalue of the covariance matrix of the raw patches as the preliminary estimation of the noise level. Next, the final estimation was directly obtained with a nonlinear mapping (rectification) function that was trained on some representative noisy images corrupted with different known noise levels. Compared with the state-of-art NLE algorithms, the experiment results show that the proposed NLE algorithm can reliably infer the noise level and has robust performance over a wide range of image contents and noise levels, showing a good compromise between speed and accuracy in general.

Application of square-root filtering for spacecraft attitude control

NASA Technical Reports Server (NTRS)

Sorensen, J. A.; Schmidt, S. F.; Goka, T.

1978-01-01

Suitable digital algorithms are developed and tested for providing on-board precision attitude estimation and pointing control for potential use in the Landsat-D spacecraft. These algorithms provide pointing accuracy of better than 0.01 deg. To obtain necessary precision with efficient software, a six state-variable square-root Kalman filter combines two star tracker measurements to update attitude estimates obtained from processing three gyro outputs. The validity of the estimation and control algorithms are established, and the sensitivity of their performance to various error sources and software parameters are investigated by detailed digital simulation. Spacecraft computer memory, cycle time, and accuracy requirements are estimated.

Minimized-Laplacian residual interpolation for color image demosaicking

NASA Astrophysics Data System (ADS)

Kiku, Daisuke; Monno, Yusuke; Tanaka, Masayuki; Okutomi, Masatoshi

2014-03-01

A color difference interpolation technique is widely used for color image demosaicking. In this paper, we propose a minimized-laplacian residual interpolation (MLRI) as an alternative to the color difference interpolation, where the residuals are differences between observed and tentatively estimated pixel values. In the MLRI, we estimate the tentative pixel values by minimizing the Laplacian energies of the residuals. This residual image transfor- mation allows us to interpolate more easily than the standard color difference transformation. We incorporate the proposed MLRI into the gradient based threshold free (GBTF) algorithm, which is one of current state-of- the-art demosaicking algorithms. Experimental results demonstrate that our proposed demosaicking algorithm can outperform the state-of-the-art algorithms for the 30 images of the IMAX and the Kodak datasets.

A Self-Organizing State-Space-Model Approach for Parameter Estimation in Hodgkin-Huxley-Type Models of Single Neurons

PubMed Central

Vavoulis, Dimitrios V.; Straub, Volko A.; Aston, John A. D.; Feng, Jianfeng

2012-01-01

Traditional approaches to the problem of parameter estimation in biophysical models of neurons and neural networks usually adopt a global search algorithm (for example, an evolutionary algorithm), often in combination with a local search method (such as gradient descent) in order to minimize the value of a cost function, which measures the discrepancy between various features of the available experimental data and model output. In this study, we approach the problem of parameter estimation in conductance-based models of single neurons from a different perspective. By adopting a hidden-dynamical-systems formalism, we expressed parameter estimation as an inference problem in these systems, which can then be tackled using a range of well-established statistical inference methods. The particular method we used was Kitagawa's self-organizing state-space model, which was applied on a number of Hodgkin-Huxley-type models using simulated or actual electrophysiological data. We showed that the algorithm can be used to estimate a large number of parameters, including maximal conductances, reversal potentials, kinetics of ionic currents, measurement and intrinsic noise, based on low-dimensional experimental data and sufficiently informative priors in the form of pre-defined constraints imposed on model parameters. The algorithm remained operational even when very noisy experimental data were used. Importantly, by combining the self-organizing state-space model with an adaptive sampling algorithm akin to the Covariance Matrix Adaptation Evolution Strategy, we achieved a significant reduction in the variance of parameter estimates. The algorithm did not require the explicit formulation of a cost function and it was straightforward to apply on compartmental models and multiple data sets. Overall, the proposed methodology is particularly suitable for resolving high-dimensional inference problems based on noisy electrophysiological data and, therefore, a potentially useful tool in the construction of biophysical neuron models. PMID:22396632

Kalman Filters for Time Delay of Arrival-Based Source Localization

NASA Astrophysics Data System (ADS)

Klee, Ulrich; Gehrig, Tobias; McDonough, John

2006-12-01

In this work, we propose an algorithm for acoustic source localization based on time delay of arrival (TDOA) estimation. In earlier work by other authors, an initial closed-form approximation was first used to estimate the true position of the speaker followed by a Kalman filtering stage to smooth the time series of estimates. In the proposed algorithm, this closed-form approximation is eliminated by employing a Kalman filter to directly update the speaker's position estimate based on the observed TDOAs. In particular, the TDOAs comprise the observation associated with an extended Kalman filter whose state corresponds to the speaker's position. We tested our algorithm on a data set consisting of seminars held by actual speakers. Our experiments revealed that the proposed algorithm provides source localization accuracy superior to the standard spherical and linear intersection techniques. Moreover, the proposed algorithm, although relying on an iterative optimization scheme, proved efficient enough for real-time operation.

Inferring Regulatory Networks by Combining Perturbation Screens and Steady State Gene Expression Profiles

PubMed Central

Michailidis, George

2014-01-01

Reconstructing transcriptional regulatory networks is an important task in functional genomics. Data obtained from experiments that perturb genes by knockouts or RNA interference contain useful information for addressing this reconstruction problem. However, such data can be limited in size and/or are expensive to acquire. On the other hand, observational data of the organism in steady state (e.g., wild-type) are more readily available, but their informational content is inadequate for the task at hand. We develop a computational approach to appropriately utilize both data sources for estimating a regulatory network. The proposed approach is based on a three-step algorithm to estimate the underlying directed but cyclic network, that uses as input both perturbation screens and steady state gene expression data. In the first step, the algorithm determines causal orderings of the genes that are consistent with the perturbation data, by combining an exhaustive search method with a fast heuristic that in turn couples a Monte Carlo technique with a fast search algorithm. In the second step, for each obtained causal ordering, a regulatory network is estimated using a penalized likelihood based method, while in the third step a consensus network is constructed from the highest scored ones. Extensive computational experiments show that the algorithm performs well in reconstructing the underlying network and clearly outperforms competing approaches that rely only on a single data source. Further, it is established that the algorithm produces a consistent estimate of the regulatory network. PMID:24586224

A Study Into the Effects of Kalman Filtered Noise in Advanced Guidance Laws of Missile Navigation

DTIC Science & Technology

2014-03-01

Kalman filtering algorithm is a highly effective linear state estimator . Known as the workhorse of estimation , the discrete time Kalman filter uses ...15]. At any discrete time 1k  the state estimate can be determined by (3.7). A Kalman filter estimates the state using the process described in...acceleration is calculated using Kalman filter outputs. It is not available to the Kalman filter for

Last-position elimination-based learning automata.

PubMed

Zhang, Junqi; Wang, Cheng; Zhou, MengChu

2014-12-01

An update scheme of the state probability vector of actions is critical for learning automata (LA). The most popular is the pursuit scheme that pursues the estimated optimal action and penalizes others. This paper proposes a reverse philosophy that leads to last-position elimination-based learning automata (LELA). The action graded last in terms of the estimated performance is penalized by decreasing its state probability and is eliminated when its state probability becomes zero. All active actions, that is, actions with nonzero state probability, equally share the penalized state probability from the last-position action at each iteration. The proposed LELA is characterized by the relaxed convergence condition for the optimal action, the accelerated step size of the state probability update scheme for the estimated optimal action, and the enriched sampling for the estimated nonoptimal actions. The proof of the ϵ-optimal property for the proposed algorithm is presented. Last-position elimination is a widespread philosophy in the real world and has proved to be also helpful for the update scheme of the learning automaton via the simulations of well-known benchmark environments. In the simulations, two versions of the LELA, using different selection strategies of the last action, are compared with the classical pursuit algorithms Discretized Pursuit Reward-Inaction (DP(RI)) and Discretized Generalized Pursuit Algorithm (DGPA). Simulation results show that the proposed schemes achieve significantly faster convergence and higher accuracy than the classical ones. Specifically, the proposed schemes reduce the interval to find the best parameter for a specific environment in the classical pursuit algorithms. Thus, they can have their parameter tuning easier to perform and can save much more time when applied to a practical case. Furthermore, the convergence curves and the corresponding variance coefficient curves of the contenders are illustrated to characterize their essential differences and verify the analysis results of the proposed algorithms.

The Effect of Sensor Failure on the Attitude and Rate Estimation of MAP Spacecraft

NASA Technical Reports Server (NTRS)

Bar-Itzhack, Itzhack Y.; Harman, Richard R.

2003-01-01

This work describes two algorithms for computing the angular rate and attitude in case of a gyro and a Star Tracker failure in the Microwave Anisotropy Probe (MAP) satellite, which was placed in the L2 parking point from where it collects data to determine the origin of the universe. The nature of the problem is described, two algorithms are suggested, an observability study is carried out and real MAP data are used to determine the merit of the algorithms. It is shown that one of the algorithms yields a good estimate of the rates but not of the attitude whereas the other algorithm yields a good estimate of the rate as well as two of the three attitude angles. The estimation of the third angle depends on the initial state estimate. There is a contradiction between this result and the outcome of the observability analysis. An explanation of this contradiction is given in the paper. Although this work treats a particular spacecraft, its conclusions are more general.

Adaptive estimation of nonlinear parameters of a nonholonomic spherical robot using a modified fuzzy-based speed gradient algorithm

NASA Astrophysics Data System (ADS)

Roozegar, Mehdi; Mahjoob, Mohammad J.; Ayati, Moosa

2017-05-01

This paper deals with adaptive estimation of the unknown parameters and states of a pendulum-driven spherical robot (PDSR), which is a nonlinear in parameters (NLP) chaotic system with parametric uncertainties. Firstly, the mathematical model of the robot is deduced by applying the Newton-Euler methodology for a system of rigid bodies. Then, based on the speed gradient (SG) algorithm, the states and unknown parameters of the robot are estimated online for different step length gains and initial conditions. The estimated parameters are updated adaptively according to the error between estimated and true state values. Since the errors of the estimated states and parameters as well as the convergence rates depend significantly on the value of step length gain, this gain should be chosen optimally. Hence, a heuristic fuzzy logic controller is employed to adjust the gain adaptively. Simulation results indicate that the proposed approach is highly encouraging for identification of this NLP chaotic system even if the initial conditions change and the uncertainties increase; therefore, it is reliable to be implemented on a real robot.

A Minimum Fuel Based Estimator for Maneuver and Natrual Dynamics Reconstruction

NASA Astrophysics Data System (ADS)

Lubey, D.; Scheeres, D.

2013-09-01

The vast and growing population of objects in Earth orbit (active and defunct spacecraft, orbital debris, etc.) offers many unique challenges when it comes to tracking these objects and associating the resulting observations. Complicating these challenges are the inaccurate natural dynamical models of these objects, the active maneuvers of spacecraft that deviate them from their ballistic trajectories, and the fact that spacecraft are tracked and operated by separate agencies. Maneuver detection and reconstruction algorithms can help with each of these issues by estimating mismodeled and unmodeled dynamics through indirect observation of spacecraft. It also helps to verify the associations made by an object correlation algorithm or aid in making those associations, which is essential when tracking objects in orbit. The algorithm developed in this study applies an Optimal Control Problem (OCP) Distance Metric approach to the problems of Maneuver Reconstruction and Dynamics Estimation. This was first developed by Holzinger, Scheeres, and Alfriend (2011), with a subsequent study by Singh, Horwood, and Poore (2012). This method estimates the minimum fuel control policy rather than the state as a typical Kalman Filter would. This difference ensures that the states are connected through a given dynamical model and allows for automatic covariance manipulation, which can help to prevent filter saturation. Using a string of measurements (either verified or hypothesized to correlate with one another), the algorithm outputs a corresponding string of adjoint and state estimates with associated noise. Post-processing techniques are implemented, which when applied to the adjoint estimates can remove noise and expose unmodeled maneuvers and mismodeled natural dynamics. Specifically, the estimated controls are used to determine spacecraft dependent accelerations (atmospheric drag and solar radiation pressure) using an adapted form of the Optimal Control based natural dynamics estimation scheme developed by Lubey and Scheeres (2012). In order to allow for direct comparison, the estimator developed here was modeled after a typical Kalman Filter. The estimator forces the terminal state to lie on a manifold that satisfies the least squares with a priori information cost function, thus establishing a link with a typical Kalman filter. Terms are collected into a pseudo-Kalman Gain, which creates an equivalent form in the state estimates and covariances between the two estimators. While the two estimators share common roots, the inclusion of control in the Minimum Fuel Estimator gives it special properties. For instance, the inclusion of adjoint noise can help to automatically prevent filter saturation in a manner similar to a State Noise Compensation Algorithm. This property is quite important when considering dynamics mismodeling as filter saturation will cause estimate divergence for mismodeled systems. Additional properties and alternative forms of the estimator are also explored in this study. Several implementations of this estimator are given in this paper. It is applied to LEO, GEO, and GTO orbits with drag and SRP mismodeling. The inclusion of unmodeled maneuvers is also considered. These numerical simulations verify the mathematical properties of this estimator, and demonstrate the advantages that this estimator has over typical Kalman Filters.

A weight modification sequential method for VSC-MTDC power system state estimation

NASA Astrophysics Data System (ADS)

Yang, Xiaonan; Zhang, Hao; Li, Qiang; Guo, Ziming; Zhao, Kun; Li, Xinpeng; Han, Feng

2017-06-01

This paper presents an effective sequential approach based on weight modification for VSC-MTDC power system state estimation, called weight modification sequential method. The proposed approach simplifies the AC/DC system state estimation algorithm through modifying the weight of state quantity to keep the matrix dimension constant. The weight modification sequential method can also make the VSC-MTDC system state estimation calculation results more ccurate and increase the speed of calculation. The effectiveness of the proposed weight modification sequential method is demonstrated and validated in modified IEEE 14 bus system.

A preliminary evaluation of an F100 engine parameter estimation process using flight data

NASA Technical Reports Server (NTRS)

Maine, Trindel A.; Gilyard, Glenn B.; Lambert, Heather H.

1990-01-01

The parameter estimation algorithm developed for the F100 engine is described. The algorithm is a two-step process. The first step consists of a Kalman filter estimation of five deterioration parameters, which model the off-nominal behavior of the engine during flight. The second step is based on a simplified steady-state model of the compact engine model (CEM). In this step, the control vector in the CEM is augmented by the deterioration parameters estimated in the first step. The results of an evaluation made using flight data from the F-15 aircraft are presented, indicating that the algorithm can provide reasonable estimates of engine variables for an advanced propulsion control law development.

A preliminary evaluation of an F100 engine parameter estimation process using flight data

NASA Technical Reports Server (NTRS)

Maine, Trindel A.; Gilyard, Glenn B.; Lambert, Heather H.

1990-01-01

The parameter estimation algorithm developed for the F100 engine is described. The algorithm is a two-step process. The first step consists of a Kalman filter estimation of five deterioration parameters, which model the off-nominal behavior of the engine during flight. The second step is based on a simplified steady-state model of the 'compact engine model' (CEM). In this step the control vector in the CEM is augmented by the deterioration parameters estimated in the first step. The results of an evaluation made using flight data from the F-15 aircraft are presented, indicating that the algorithm can provide reasonable estimates of engine variables for an advanced propulsion-control-law development.

State estimation of spatio-temporal phenomena

NASA Astrophysics Data System (ADS)

Yu, Dan

This dissertation addresses the state estimation problem of spatio-temporal phenomena which can be modeled by partial differential equations (PDEs), such as pollutant dispersion in the atmosphere. After discretizing the PDE, the dynamical system has a large number of degrees of freedom (DOF). State estimation using Kalman Filter (KF) is computationally intractable, and hence, a reduced order model (ROM) needs to be constructed first. Moreover, the nonlinear terms, external disturbances or unknown boundary conditions can be modeled as unknown inputs, which leads to an unknown input filtering problem. Furthermore, the performance of KF could be improved by placing sensors at feasible locations. Therefore, the sensor scheduling problem to place multiple mobile sensors is of interest. The first part of the dissertation focuses on model reduction for large scale systems with a large number of inputs/outputs. A commonly used model reduction algorithm, the balanced proper orthogonal decomposition (BPOD) algorithm, is not computationally tractable for large systems with a large number of inputs/outputs. Inspired by the BPOD and randomized algorithms, we propose a randomized proper orthogonal decomposition (RPOD) algorithm and a computationally optimal RPOD (RPOD*) algorithm, which construct an ROM to capture the input-output behaviour of the full order model, while reducing the computational cost of BPOD by orders of magnitude. It is demonstrated that the proposed RPOD* algorithm could construct the ROM in real-time, and the performance of the proposed algorithms on different advection-diffusion equations. Next, we consider the state estimation problem of linear discrete-time systems with unknown inputs which can be treated as a wide-sense stationary process with rational power spectral density, while no other prior information needs to be known. We propose an autoregressive (AR) model based unknown input realization technique which allows us to recover the input statistics from the output data by solving an appropriate least squares problem, then fit an AR model to the recovered input statistics and construct an innovations model of the unknown inputs using the eigensystem realization algorithm. The proposed algorithm outperforms the augmented two-stage Kalman Filter (ASKF) and the unbiased minimum-variance (UMV) algorithm are shown in several examples. Finally, we propose a framework to place multiple mobile sensors to optimize the long-term performance of KF in the estimation of the state of a PDE. The major challenges are that placing multiple sensors is an NP-hard problem, and the optimization problem is non-convex in general. In this dissertation, first, we construct an ROM using RPOD* algorithm, and then reduce the feasible sensor locations into a subset using the ROM. The Information Space Receding Horizon Control (I-RHC) approach and a modified Monte Carlo Tree Search (MCTS) approach are applied to solve the sensor scheduling problem using the subset. Various applications have been provided to demonstrate the performance of the proposed approach.

State-Estimation Algorithm Based on Computer Vision

NASA Technical Reports Server (NTRS)

Bayard, David; Brugarolas, Paul

2007-01-01

An algorithm and software to implement the algorithm are being developed as means to estimate the state (that is, the position and velocity) of an autonomous vehicle, relative to a visible nearby target object, to provide guidance for maneuvering the vehicle. In the original intended application, the autonomous vehicle would be a spacecraft and the nearby object would be a small astronomical body (typically, a comet or asteroid) to be explored by the spacecraft. The algorithm could also be used on Earth in analogous applications -- for example, for guiding underwater robots near such objects of interest as sunken ships, mineral deposits, or submerged mines. It is assumed that the robot would be equipped with a vision system that would include one or more electronic cameras, image-digitizing circuitry, and an imagedata- processing computer that would generate feature-recognition data products.

Spatiotemporal Local-Remote Senor Fusion (ST-LRSF) for Cooperative Vehicle Positioning

PubMed Central

Bhawiyuga, Adhitya

2018-01-01

Vehicle positioning plays an important role in the design of protocols, algorithms, and applications in the intelligent transport systems. In this paper, we present a new framework of spatiotemporal local-remote sensor fusion (ST-LRSF) that cooperatively improves the accuracy of absolute vehicle positioning based on two state estimates of a vehicle in the vicinity: a local sensing estimate, measured by the on-board exteroceptive sensors, and a remote sensing estimate, received from neighbor vehicles via vehicle-to-everything communications. Given both estimates of vehicle state, the ST-LRSF scheme identifies the set of vehicles in the vicinity, determines the reference vehicle state, proposes a spatiotemporal dissimilarity metric between two reference vehicle states, and presents a greedy algorithm to compute a minimal weighted matching (MWM) between them. Given the outcome of MWM, the theoretical position uncertainty of the proposed refinement algorithm is proven to be inversely proportional to the square root of matching size. To further reduce the positioning uncertainty, we also develop an extended Kalman filter model with the refined position of ST-LRSF as one of the measurement inputs. The numerical results demonstrate that the proposed ST-LRSF framework can achieve high positioning accuracy for many different scenarios of cooperative vehicle positioning. PMID:29617341

On the estimation algorithm used in adaptive performance optimization of turbofan engines

NASA Technical Reports Server (NTRS)

Espana, Martin D.; Gilyard, Glenn B.

1993-01-01

The performance seeking control algorithm is designed to continuously optimize the performance of propulsion systems. The performance seeking control algorithm uses a nominal model of the propulsion system and estimates, in flight, the engine deviation parameters characterizing the engine deviations with respect to nominal conditions. In practice, because of measurement biases and/or model uncertainties, the estimated engine deviation parameters may not reflect the engine's actual off-nominal condition. This factor has a necessary impact on the overall performance seeking control scheme exacerbated by the open-loop character of the algorithm. The effects produced by unknown measurement biases over the estimation algorithm are evaluated. This evaluation allows for identification of the most critical measurements for application of the performance seeking control algorithm to an F100 engine. An equivalence relation between the biases and engine deviation parameters stems from an observability study; therefore, it is undecided whether the estimated engine deviation parameters represent the actual engine deviation or whether they simply reflect the measurement biases. A new algorithm, based on the engine's (steady-state) optimization model, is proposed and tested with flight data. When compared with previous Kalman filter schemes, based on local engine dynamic models, the new algorithm is easier to design and tune and it reduces the computational burden of the onboard computer.

A modified PATH algorithm rapidly generates transition states comparable to those found by other well established algorithms

PubMed Central

Chandrasekaran, Srinivas Niranj; Das, Jhuma; Dokholyan, Nikolay V.; Carter, Charles W.

2016-01-01

PATH rapidly computes a path and a transition state between crystal structures by minimizing the Onsager-Machlup action. It requires input parameters whose range of values can generate different transition-state structures that cannot be uniquely compared with those generated by other methods. We outline modifications to estimate these input parameters to circumvent these difficulties and validate the PATH transition states by showing consistency between transition-states derived by different algorithms for unrelated protein systems. Although functional protein conformational change trajectories are to a degree stochastic, they nonetheless pass through a well-defined transition state whose detailed structural properties can rapidly be identified using PATH. PMID:26958584

A Genetic Algorithm Method for Direct estimation of paleostress states from heterogeneous fault-slip observations

NASA Astrophysics Data System (ADS)

Srivastava, D. C.

2016-12-01

A Genetic Algorithm Method for Direct estimation of paleostress states from heterogeneous fault-slip observationsDeepak C. Srivastava, Prithvi Thakur and Pravin K. GuptaDepartment of Earth Sciences, Indian Institute of Technology Roorkee, Roorkee 247667, India. Abstract Paleostress estimation from a group of heterogeneous fault-slip observations entails first the classification of the observations into homogeneous fault sets and then a separate inversion of each homogeneous set. This study combines these two issues into a nonlinear inverse problem and proposes a heuristic search method that inverts the heterogeneous fault-slip observations. The method estimates different paleostress states in a group of heterogeneous fault-slip observations and classifies it into homogeneous sets as a byproduct. It uses the genetic algorithm operators, elitism, selection, encoding, crossover and mutation. These processes translate into a guided search that finds successively fitter solutions and operate iteratively until the termination criteria is met and the globally fittest stress tensors are obtained. We explain the basic steps of the algorithm on a working example and demonstrate validity of the method on several synthetic and a natural group of heterogeneous fault-slip observations. The method is independent of any user-defined bias or any entrapment of solution in a local optimum. It succeeds even in the difficult situations where other classification methods are found to fail.

Spacecraft Angular State Estimation After Sensor Failure

NASA Technical Reports Server (NTRS)

Bauer, Frank (Technical Monitor); BarItzhack, Itzhack Y.; Harman, Richard R.

2002-01-01

This work describes two algorithms for computing the angular rate and attitude in case of a gyro failure in a spacecraft (SC) with a special mission profile. The source of the problem is presented, two algorithms are suggested, an observability study is carried out, and the efficiency of the algorithms is demonstrated.

State-Dependent Pseudo-Linear Filter for Spacecraft Attitude and Rate Estimation

NASA Technical Reports Server (NTRS)

Bar-Itzhack, Itzhack Y.; Harman, Richard R.

2001-01-01

This paper presents the development and performance of a special algorithm for estimating the attitude and angular rate of a spacecraft. The algorithm is a pseudo-linear Kalman filter, which is an ordinary linear Kalman filter that operates on a linear model whose matrices are current state estimate dependent. The nonlinear rotational dynamics equation of the spacecraft is presented in the state space as a state-dependent linear system. Two types of measurements are considered. One type is a measurement of the quaternion of rotation, which is obtained from a newly introduced star tracker based apparatus. The other type of measurement is that of vectors, which permits the use of a variety of vector measuring sensors like sun sensors and magnetometers. While quaternion measurements are related linearly to the state vector, vector measurements constitute a nonlinear function of the state vector. Therefore, in this paper, a state-dependent linear measurement equation is developed for the vector measurement case. The state-dependent pseudo linear filter is applied to simulated spacecraft rotations and adequate estimates of the spacecraft attitude and rate are obtained for the case of quaternion measurements as well as of vector measurements.

Bad data detection in two stage estimation using phasor measurements

NASA Astrophysics Data System (ADS)

Tarali, Aditya

The ability of the Phasor Measurement Unit (PMU) to directly measure the system state, has led to steady increase in the use of PMU in the past decade. However, in spite of its high accuracy and the ability to measure the states directly, they cannot completely replace the conventional measurement units due to high cost. Hence it is necessary for the modern estimators to use both conventional and phasor measurements together. This thesis presents an alternative method to incorporate the new PMU measurements into the existing state estimator in a systematic manner such that no major modification is necessary to the existing algorithm. It is also shown that if PMUs are placed appropriately, the phasor measurements can be used to detect and identify the bad data associated with critical measurements by using this model, which cannot be detected by conventional state estimation algorithm. The developed model is tested on IEEE 14, IEEE 30 and IEEE 118 bus under various conditions.

Theory and practical application of out of sequence measurements with results for multi-static tracking

NASA Astrophysics Data System (ADS)

Iny, David

2007-09-01

This paper addresses the out-of-sequence measurement (OOSM) problem associated with multiple platform tracking systems. The problem arises due to different transmission delays in communication of detection reports across platforms. Much of the literature focuses on the improvement to the state estimate by incorporating the OOSM. As the time lag increases, there is diminishing improvement to the state estimate. However, this paper shows that optimal processing of OOSMs may still be beneficial by improving data association as part of a multi-target tracker. This paper derives exact multi-lag algorithms with the property that the standard log likelihood track scoring is independent of the order in which the measurements are processed. The orthogonality principle is applied to generalize the method of Bar- Shalom in deriving the exact A1 algorithm for 1-lag estimation. Theory is also developed for optimal filtering of time averaged measurements and measurements correlated through periodic updates of a target aim-point. An alternative derivation of the multi-lag algorithms is also achieved using an efficient variant of the augmented state Kalman filter (AS-KF). This results in practical and reasonably efficient multi-lag algorithms. Results are compared to a well known ad hoc algorithm for incorporating OOSMs. Finally, the paper presents some simulated multi-target multi-static scenarios where there is a benefit to processing the data out of sequence in order to improve pruning efficiency.

Estimating Planetary Boundary Layer Heights from NOAA Profiler Network Wind Profiler Data

NASA Technical Reports Server (NTRS)

Molod, Andrea M.; Salmun, H.; Dempsey, M

2015-01-01

An algorithm was developed to estimate planetary boundary layer (PBL) heights from hourly archived wind profiler data from the NOAA Profiler Network (NPN) sites located throughout the central United States. Unlike previous studies, the present algorithm has been applied to a long record of publicly available wind profiler signal backscatter data. Under clear conditions, summertime averaged hourly time series of PBL heights compare well with Richardson-number based estimates at the few NPN stations with hourly temperature measurements. Comparisons with clear sky reanalysis based estimates show that the wind profiler PBL heights are lower by approximately 250-500 m. The geographical distribution of daily maximum PBL heights corresponds well with the expected distribution based on patterns of surface temperature and soil moisture. Wind profiler PBL heights were also estimated under mostly cloudy conditions, and are generally higher than both the Richardson number based and reanalysis PBL heights, resulting in a smaller clear-cloudy condition difference. The algorithm presented here was shown to provide a reliable summertime climatology of daytime hourly PBL heights throughout the central United States.

Nonlinear unbiased minimum-variance filter for Mars entry autonomous navigation under large uncertainties and unknown measurement bias.

PubMed

Xiao, Mengli; Zhang, Yongbo; Fu, Huimin; Wang, Zhihua

2018-05-01

High-precision navigation algorithm is essential for the future Mars pinpoint landing mission. The unknown inputs caused by large uncertainties of atmospheric density and aerodynamic coefficients as well as unknown measurement biases may cause large estimation errors of conventional Kalman filters. This paper proposes a derivative-free version of nonlinear unbiased minimum variance filter for Mars entry navigation. This filter has been designed to solve this problem by estimating the state and unknown measurement biases simultaneously with derivative-free character, leading to a high-precision algorithm for the Mars entry navigation. IMU/radio beacons integrated navigation is introduced in the simulation, and the result shows that with or without radio blackout, our proposed filter could achieve an accurate state estimation, much better than the conventional unscented Kalman filter, showing the ability of high-precision Mars entry navigation algorithm. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

Quantum State Tomography via Linear Regression Estimation

PubMed Central

Qi, Bo; Hou, Zhibo; Li, Li; Dong, Daoyi; Xiang, Guoyong; Guo, Guangcan

2013-01-01

A simple yet efficient state reconstruction algorithm of linear regression estimation (LRE) is presented for quantum state tomography. In this method, quantum state reconstruction is converted into a parameter estimation problem of a linear regression model and the least-squares method is employed to estimate the unknown parameters. An asymptotic mean squared error (MSE) upper bound for all possible states to be estimated is given analytically, which depends explicitly upon the involved measurement bases. This analytical MSE upper bound can guide one to choose optimal measurement sets. The computational complexity of LRE is O(d4) where d is the dimension of the quantum state. Numerical examples show that LRE is much faster than maximum-likelihood estimation for quantum state tomography. PMID:24336519

Mapping from disease-specific measures to health-state utility values in individuals with migraine.

PubMed

Gillard, Patrick J; Devine, Beth; Varon, Sepideh F; Liu, Lei; Sullivan, Sean D

2012-05-01

The objective of this study was to develop empirical algorithms that estimate health-state utility values from disease-specific quality-of-life scores in individuals with migraine. Data from a cross-sectional, multicountry study were used. Individuals with episodic and chronic migraine were randomly assigned to training or validation samples. Spearman's correlation coefficients between paired EuroQol five-dimensional (EQ-5D) questionnaire utility values and both Headache Impact Test (HIT-6) scores and Migraine-Specific Quality-of-Life Questionnaire version 2.1 (MSQ) domain scores (role restrictive, role preventive, and emotional function) were examined. Regression models were constructed to estimate EQ-5D questionnaire utility values from the HIT-6 score or the MSQ domain scores. Preferred algorithms were confirmed in the validation samples. In episodic migraine, the preferred HIT-6 and MSQ algorithms explained 22% and 25% of the variance (R(2)) in the training samples, respectively, and had similar prediction errors (root mean square errors of 0.30). In chronic migraine, the preferred HIT-6 and MSQ algorithms explained 36% and 45% of the variance in the training samples, respectively, and had similar prediction errors (root mean square errors 0.31 and 0.29). In episodic and chronic migraine, no statistically significant differences were observed between the mean observed and the mean estimated EQ-5D questionnaire utility values for the preferred HIT-6 and MSQ algorithms in the validation samples. The relationship between the EQ-5D questionnaire and the HIT-6 or the MSQ is adequate to use regression equations to estimate EQ-5D questionnaire utility values. The preferred HIT-6 and MSQ algorithms will be useful in estimating health-state utilities in migraine trials in which no preference-based measure is present. Copyright © 2012 International Society for Pharmacoeconomics and Outcomes Research (ISPOR). Published by Elsevier Inc. All rights reserved.

An Empirical State Error Covariance Matrix for the Weighted Least Squares Estimation Method

NASA Technical Reports Server (NTRS)

Frisbee, Joseph H., Jr.

2011-01-01

State estimation techniques effectively provide mean state estimates. However, the theoretical state error covariance matrices provided as part of these techniques often suffer from a lack of confidence in their ability to describe the un-certainty in the estimated states. By a reinterpretation of the equations involved in the weighted least squares algorithm, it is possible to directly arrive at an empirical state error covariance matrix. This proposed empirical state error covariance matrix will contain the effect of all error sources, known or not. Results based on the proposed technique will be presented for a simple, two observer, measurement error only problem.

Quantum Parameter Estimation: From Experimental Design to Constructive Algorithm

NASA Astrophysics Data System (ADS)

Yang, Le; Chen, Xi; Zhang, Ming; Dai, Hong-Yi

2017-11-01

In this paper we design the following two-step scheme to estimate the model parameter ω 0 of the quantum system: first we utilize the Fisher information with respect to an intermediate variable v=\\cos ({ω }0t) to determine an optimal initial state and to seek optimal parameters of the POVM measurement operators; second we explore how to estimate ω 0 from v by choosing t when a priori information knowledge of ω 0 is available. Our optimal initial state can achieve the maximum quantum Fisher information. The formulation of the optimal time t is obtained and the complete algorithm for parameter estimation is presented. We further explore how the lower bound of the estimation deviation depends on the a priori information of the model. Supported by the National Natural Science Foundation of China under Grant Nos. 61273202, 61673389, and 61134008

A simple approach to nonlinear estimation of physical systems

USGS Publications Warehouse

Christakos, G.

1988-01-01

Recursive algorithms for estimating the states of nonlinear physical systems are developed. This requires some key hypotheses regarding the structure of the underlying processes. Members of this class of random processes have several desirable properties for the nonlinear estimation of random signals. An assumption is made about the form of the estimator, which may then take account of a wide range of applications. Under the above assumption, the estimation algorithm is mathematically suboptimal but effective and computationally attractive. It may be compared favorably to Taylor series-type filters, nonlinear filters which approximate the probability density by Edgeworth or Gram-Charlier series, as well as to conventional statistical linearization-type estimators. To link theory with practice, some numerical results for a simulated system are presented, in which the responses from the proposed and the extended Kalman algorithms are compared. ?? 1988.

Estimating Angle-of-Arrival and Time-of-Flight for Multipath Components Using WiFi Channel State Information.

PubMed

Ahmed, Afaz Uddin; Arablouei, Reza; Hoog, Frank de; Kusy, Branislav; Jurdak, Raja; Bergmann, Neil

2018-05-29

Channel state information (CSI) collected during WiFi packet transmissions can be used for localization of commodity WiFi devices in indoor environments with multipath propagation. To this end, the angle of arrival (AoA) and time of flight (ToF) for all dominant multipath components need to be estimated. A two-dimensional (2D) version of the multiple signal classification (MUSIC) algorithm has been shown to solve this problem using 2D grid search, which is computationally expensive and is therefore not suited for real-time localisation. In this paper, we propose using a modified matrix pencil (MMP) algorithm instead. Specifically, we show that the AoA and ToF estimates can be found independently of each other using the one-dimensional (1D) MMP algorithm and the results can be accurately paired to obtain the AoA⁻ToF pairs for all multipath components. Thus, the 2D estimation problem reduces to running 1D estimation multiple times, substantially reducing the computational complexity. We identify and resolve the problem of degenerate performance when two or more multipath components have the same AoA. In addition, we propose a packet aggregation model that uses the CSI data from multiple packets to improve the performance under noisy conditions. Simulation results show that our algorithm achieves two orders of magnitude reduction in the computational time over the 2D MUSIC algorithm while achieving similar accuracy. High accuracy and low computation complexity of our approach make it suitable for applications that require location estimation to run on resource-constrained embedded devices in real time.

On-line adaptive battery impedance parameter and state estimation considering physical principles in reduced order equivalent circuit battery models part 2. Parameter and state estimation

NASA Astrophysics Data System (ADS)

Fleischer, Christian; Waag, Wladislaw; Heyn, Hans-Martin; Sauer, Dirk Uwe

2014-09-01

Lithium-ion battery systems employed in high power demanding systems such as electric vehicles require a sophisticated monitoring system to ensure safe and reliable operation. Three major states of the battery are of special interest and need to be constantly monitored. These include: battery state of charge (SoC), battery state of health (capacity fade determination, SoH), and state of function (power fade determination, SoF). The second paper concludes the series by presenting a multi-stage online parameter identification technique based on a weighted recursive least quadratic squares parameter estimator to determine the parameters of the proposed battery model from the first paper during operation. A novel mutation based algorithm is developed to determine the nonlinear current dependency of the charge-transfer resistance. The influence of diffusion is determined by an on-line identification technique and verified on several batteries at different operation conditions. This method guarantees a short response time and, together with its fully recursive structure, assures a long-term stable monitoring of the battery parameters. The relative dynamic voltage prediction error of the algorithm is reduced to 2%. The changes of parameters are used to determine the states of the battery. The algorithm is real-time capable and can be implemented on embedded systems.

Enhanced Performance Controller Design for Stochastic Systems by Adding Extra State Estimation onto the Existing Closed Loop Control

DOE Office of Scientific and Technical Information (OSTI.GOV)

Zhou, Yuyang; Zhang, Qichun; Wang, Hong

To enhance the performance of the tracking property , this paper presents a novel control algorithm for a class of linear dynamic stochastic systems with unmeasurable states, where the performance enhancement loop is established based on Kalman filter. Without changing the existing closed loop with the PI controller, the compensative controller is designed to minimize the variances of the tracking errors using the estimated states and the propagation of state variances. Moreover, the stability of the closed-loop systems has been analyzed in the mean-square sense. A simulated example is included to show the effectiveness of the presented control algorithm, wheremore » encouraging results have been obtained.« less

Kalman Filtering with Inequality Constraints for Turbofan Engine Health Estimation

NASA Technical Reports Server (NTRS)

Simon, Dan; Simon, Donald L.

2003-01-01

Kalman filters are often used to estimate the state variables of a dynamic system. However, in the application of Kalman filters some known signal information is often either ignored or dealt with heuristically. For instance, state variable constraints (which may be based on physical considerations) are often neglected because they do not fit easily into the structure of the Kalman filter. This paper develops two analytic methods of incorporating state variable inequality constraints in the Kalman filter. The first method is a general technique of using hard constraints to enforce inequalities on the state variable estimates. The resultant filter is a combination of a standard Kalman filter and a quadratic programming problem. The second method uses soft constraints to estimate state variables that are known to vary slowly with time. (Soft constraints are constraints that are required to be approximately satisfied rather than exactly satisfied.) The incorporation of state variable constraints increases the computational effort of the filter but significantly improves its estimation accuracy. The improvement is proven theoretically and shown via simulation results. The use of the algorithm is demonstrated on a linearized simulation of a turbofan engine to estimate health parameters. The turbofan engine model contains 16 state variables, 12 measurements, and 8 component health parameters. It is shown that the new algorithms provide improved performance in this example over unconstrained Kalman filtering.

Research on the method of information system risk state estimation based on clustering particle filter

NASA Astrophysics Data System (ADS)

Cui, Jia; Hong, Bei; Jiang, Xuepeng; Chen, Qinghua

2017-05-01

With the purpose of reinforcing correlation analysis of risk assessment threat factors, a dynamic assessment method of safety risks based on particle filtering is proposed, which takes threat analysis as the core. Based on the risk assessment standards, the method selects threat indicates, applies a particle filtering algorithm to calculate influencing weight of threat indications, and confirms information system risk levels by combining with state estimation theory. In order to improve the calculating efficiency of the particle filtering algorithm, the k-means cluster algorithm is introduced to the particle filtering algorithm. By clustering all particles, the author regards centroid as the representative to operate, so as to reduce calculated amount. The empirical experience indicates that the method can embody the relation of mutual dependence and influence in risk elements reasonably. Under the circumstance of limited information, it provides the scientific basis on fabricating a risk management control strategy.

A Unified Estimation Framework for State-Related Changes in Effective Brain Connectivity.

PubMed

Samdin, S Balqis; Ting, Chee-Ming; Ombao, Hernando; Salleh, Sh-Hussain

2017-04-01

This paper addresses the critical problem of estimating time-evolving effective brain connectivity. Current approaches based on sliding window analysis or time-varying coefficient models do not simultaneously capture both slow and abrupt changes in causal interactions between different brain regions. To overcome these limitations, we develop a unified framework based on a switching vector autoregressive (SVAR) model. Here, the dynamic connectivity regimes are uniquely characterized by distinct vector autoregressive (VAR) processes and allowed to switch between quasi-stationary brain states. The state evolution and the associated directed dependencies are defined by a Markov process and the SVAR parameters. We develop a three-stage estimation algorithm for the SVAR model: 1) feature extraction using time-varying VAR (TV-VAR) coefficients, 2) preliminary regime identification via clustering of the TV-VAR coefficients, 3) refined regime segmentation by Kalman smoothing and parameter estimation via expectation-maximization algorithm under a state-space formulation, using initial estimates from the previous two stages. The proposed framework is adaptive to state-related changes and gives reliable estimates of effective connectivity. Simulation results show that our method provides accurate regime change-point detection and connectivity estimates. In real applications to brain signals, the approach was able to capture directed connectivity state changes in functional magnetic resonance imaging data linked with changes in stimulus conditions, and in epileptic electroencephalograms, differentiating ictal from nonictal periods. The proposed framework accurately identifies state-dependent changes in brain network and provides estimates of connectivity strength and directionality. The proposed approach is useful in neuroscience studies that investigate the dynamics of underlying brain states.

Performance and state-space analyses of systems using Petri nets

NASA Technical Reports Server (NTRS)

Watson, James Francis, III

1992-01-01

The goal of any modeling methodology is to develop a mathematical description of a system that is accurate in its representation and also permits analysis of structural and/or performance properties. Inherently, trade-offs exist between the level detail in the model and the ease with which analysis can be performed. Petri nets (PN's), a highly graphical modeling methodology for Discrete Event Dynamic Systems, permit representation of shared resources, finite capacities, conflict, synchronization, concurrency, and timing between state changes. By restricting the state transition time delays to the family of exponential density functions, Markov chain analysis of performance problems is possible. One major drawback of PN's is the tendency for the state-space to grow rapidly (exponential complexity) compared to increases in the PN constructs. It is the state space, or the Markov chain obtained from it, that is needed in the solution of many problems. The theory of state-space size estimation for PN's is introduced. The problem of state-space size estimation is defined, its complexities are examined, and estimation algorithms are developed. Both top-down and bottom-up approaches are pursued, and the advantages and disadvantages of each are described. Additionally, the author's research in non-exponential transition modeling for PN's is discussed. An algorithm for approximating non-exponential transitions is developed. Since only basic PN constructs are used in the approximation, theory already developed for PN's remains applicable. Comparison to results from entropy theory show the transition performance is close to the theoretic optimum. Inclusion of non-exponential transition approximations improves performance results at the expense of increased state-space size. The state-space size estimation theory provides insight and algorithms for evaluating this trade-off.

Sequential reconstruction of driving-forces from nonlinear nonstationary dynamics

NASA Astrophysics Data System (ADS)

Güntürkün, Ulaş

2010-07-01

This paper describes a functional analysis-based method for the estimation of driving-forces from nonlinear dynamic systems. The driving-forces account for the perturbation inputs induced by the external environment or the secular variations in the internal variables of the system. The proposed algorithm is applicable to the problems for which there is too little or no prior knowledge to build a rigorous mathematical model of the unknown dynamics. We derive the estimator conditioned on the differentiability of the unknown system’s mapping, and smoothness of the driving-force. The proposed algorithm is an adaptive sequential realization of the blind prediction error method, where the basic idea is to predict the observables, and retrieve the driving-force from the prediction error. Our realization of this idea is embodied by predicting the observables one-step into the future using a bank of echo state networks (ESN) in an online fashion, and then extracting the raw estimates from the prediction error and smoothing these estimates in two adaptive filtering stages. The adaptive nature of the algorithm enables to retrieve both slowly and rapidly varying driving-forces accurately, which are illustrated by simulations. Logistic and Moran-Ricker maps are studied in controlled experiments, exemplifying chaotic state and stochastic measurement models. The algorithm is also applied to the estimation of a driving-force from another nonlinear dynamic system that is stochastic in both state and measurement equations. The results are judged by the posterior Cramer-Rao lower bounds. The method is finally put into test on a real-world application; extracting sun’s magnetic flux from the sunspot time series.

Nonlinear stability of traffic models and the use of Lyapunov vectors for estimating the traffic state

NASA Astrophysics Data System (ADS)

Palatella, Luigi; Trevisan, Anna; Rambaldi, Sandro

2013-08-01

Valuable information for estimating the traffic flow is obtained with current GPS technology by monitoring position and velocity of vehicles. In this paper, we present a proof of concept study that shows how the traffic state can be estimated using only partial and noisy data by assimilating them in a dynamical model. Our approach is based on a data assimilation algorithm, developed by the authors for chaotic geophysical models, designed to be equivalent but computationally much less demanding than the traditional extended Kalman filter. Here we show that the algorithm is even more efficient if the system is not chaotic and demonstrate by numerical experiments that an accurate reconstruction of the complete traffic state can be obtained at a very low computational cost by monitoring only a small percentage of vehicles.

The DEP-6D, a new preference-based measure to assess health states of dependency.

PubMed

Rodríguez-Míguez, E; Abellán-Perpiñán, J M; Alvarez, X C; González, X M; Sampayo, A R

2016-03-01

In medical literature there are numerous multidimensional scales to measure health states for dependence in activities of daily living. However, these scales are not preference-based and are not able to yield QALYs. On the contrary, the generic preference-based measures are not sensitive enough to measure changes in dependence states. The objective of this paper is to propose a new dependency health state classification system, called DEP-6D, and to estimate its value set in such a way that it can be used in QALY calculations. DEP-6D states are described as a combination of 6 attributes (eat, incontinence, personal care, mobility, housework and cognition problems), with 3-4 levels each. A sample of 312 Spanish citizens was surveyed in 2011 to estimate the DEP-6D preference-scoring algorithm. Each respondent valued six out of the 24 states using time trade-off questions. After excluding those respondents who made two or more inconsistencies (6% out of the sample), each state was valued between 66 and 77 times. The responses present a high internal and external consistency. A random effect model accounting for main effects was the preferred model to estimate the scoring algorithm. The DEP-6D describes, in general, more severe problems than those usually described by means of generic preference-based measures. The minimum score predicted by the DEP-6D algorithm is -0.84, which is considerably lower than the minimum value predicted by the EQ-5D and SF-6D algorithms. The DEP-6D value set is based on community preferences. Therefore it is consistent with the so-called 'societal perspective'. Moreover, DEP-6D preference weights can be used in QALY calculations and cost-utility analysis. Copyright © 2016. Published by Elsevier Ltd.

Planetary Probe Entry Atmosphere Estimation Using Synthetic Air Data System

NASA Technical Reports Server (NTRS)

Karlgaard, Chris; Schoenenberger, Mark

2017-01-01

This paper develops an atmospheric state estimator based on inertial acceleration and angular rate measurements combined with an assumed vehicle aerodynamic model. The approach utilizes the full navigation state of the vehicle (position, velocity, and attitude) to recast the vehicle aerodynamic model to be a function solely of the atmospheric state (density, pressure, and winds). Force and moment measurements are based on vehicle sensed accelerations and angular rates. These measurements are combined with an aerodynamic model and a Kalman-Schmidt filter to estimate the atmospheric conditions. The new method is applied to data from the Mars Science Laboratory mission, which landed the Curiosity rover on the surface of Mars in August 2012. The results of the new estimation algorithm are compared with results from a Flush Air Data Sensing algorithm based on onboard pressure measurements on the vehicle forebody. The comparison indicates that the new proposed estimation method provides estimates consistent with the air data measurements, without the use of pressure measurements. Implications for future missions such as the Mars 2020 entry capsule are described.

Assessing the external validity of algorithms to estimate EQ-5D-3L from the WOMAC.

PubMed

Kiadaliri, Aliasghar A; Englund, Martin

2016-10-04

The use of mapping algorithms have been suggested as a solution to predict health utilities when no preference-based measure is included in the study. However, validity and predictive performance of these algorithms are highly variable and hence assessing the accuracy and validity of algorithms before use them in a new setting is of importance. The aim of the current study was to assess the predictive accuracy of three mapping algorithms to estimate the EQ-5D-3L from the Western Ontario and McMaster Universities Osteoarthritis Index (WOMAC) among Swedish people with knee disorders. Two of these algorithms developed using ordinary least squares (OLS) models and one developed using mixture model. The data from 1078 subjects mean (SD) age 69.4 (7.2) years with frequent knee pain and/or knee osteoarthritis from the Malmö Osteoarthritis study in Sweden were used. The algorithms' performance was assessed using mean error, mean absolute error, and root mean squared error. Two types of prediction were estimated for mixture model: weighted average (WA), and conditional on estimated component (CEC). The overall mean was overpredicted by an OLS model and underpredicted by two other algorithms (P < 0.001). All predictions but the CEC predictions of mixture model had a narrower range than the observed scores (22 to 90 %). All algorithms suffered from overprediction for severe health states and underprediction for mild health states with lesser extent for mixture model. While the mixture model outperformed OLS models at the extremes of the EQ-5D-3D distribution, it underperformed around the center of the distribution. While algorithm based on mixture model reflected the distribution of EQ-5D-3L data more accurately compared with OLS models, all algorithms suffered from systematic bias. This calls for caution in applying these mapping algorithms in a new setting particularly in samples with milder knee problems than original sample. Assessing the impact of the choice of these algorithms on cost-effectiveness studies through sensitivity analysis is recommended.

A MAP-based image interpolation method via Viterbi decoding of Markov chains of interpolation functions.

PubMed

Vedadi, Farhang; Shirani, Shahram

2014-01-01

A new method of image resolution up-conversion (image interpolation) based on maximum a posteriori sequence estimation is proposed. Instead of making a hard decision about the value of each missing pixel, we estimate the missing pixels in groups. At each missing pixel of the high resolution (HR) image, we consider an ensemble of candidate interpolation methods (interpolation functions). The interpolation functions are interpreted as states of a Markov model. In other words, the proposed method undergoes state transitions from one missing pixel position to the next. Accordingly, the interpolation problem is translated to the problem of estimating the optimal sequence of interpolation functions corresponding to the sequence of missing HR pixel positions. We derive a parameter-free probabilistic model for this to-be-estimated sequence of interpolation functions. Then, we solve the estimation problem using a trellis representation and the Viterbi algorithm. Using directional interpolation functions and sequence estimation techniques, we classify the new algorithm as an adaptive directional interpolation using soft-decision estimation techniques. Experimental results show that the proposed algorithm yields images with higher or comparable peak signal-to-noise ratios compared with some benchmark interpolation methods in the literature while being efficient in terms of implementation and complexity considerations.

Investigating the error sources of the online state of charge estimation methods for lithium-ion batteries in electric vehicles

NASA Astrophysics Data System (ADS)

Zheng, Yuejiu; Ouyang, Minggao; Han, Xuebing; Lu, Languang; Li, Jianqiu

2018-02-01

Sate of charge (SOC) estimation is generally acknowledged as one of the most important functions in battery management system for lithium-ion batteries in new energy vehicles. Though every effort is made for various online SOC estimation methods to reliably increase the estimation accuracy as much as possible within the limited on-chip resources, little literature discusses the error sources for those SOC estimation methods. This paper firstly reviews the commonly studied SOC estimation methods from a conventional classification. A novel perspective focusing on the error analysis of the SOC estimation methods is proposed. SOC estimation methods are analyzed from the views of the measured values, models, algorithms and state parameters. Subsequently, the error flow charts are proposed to analyze the error sources from the signal measurement to the models and algorithms for the widely used online SOC estimation methods in new energy vehicles. Finally, with the consideration of the working conditions, choosing more reliable and applicable SOC estimation methods is discussed, and the future development of the promising online SOC estimation methods is suggested.

Multimodel Kalman filtering for adaptive nonuniformity correction in infrared sensors.

PubMed

Pezoa, Jorge E; Hayat, Majeed M; Torres, Sergio N; Rahman, Md Saifur

2006-06-01

We present an adaptive technique for the estimation of nonuniformity parameters of infrared focal-plane arrays that is robust with respect to changes and uncertainties in scene and sensor characteristics. The proposed algorithm is based on using a bank of Kalman filters in parallel. Each filter independently estimates state variables comprising the gain and the bias matrices of the sensor, according to its own dynamic-model parameters. The supervising component of the algorithm then generates the final estimates of the state variables by forming a weighted superposition of all the estimates rendered by each Kalman filter. The weights are computed and updated iteratively, according to the a posteriori-likelihood principle. The performance of the estimator and its ability to compensate for fixed-pattern noise is tested using both simulated and real data obtained from two cameras operating in the mid- and long-wave infrared regime.

Progress in navigation filter estimate fusion and its application to spacecraft rendezvous

NASA Technical Reports Server (NTRS)

Carpenter, J. Russell

1994-01-01

A new derivation of an algorithm which fuses the outputs of two Kalman filters is presented within the context of previous research in this field. Unlike other works, this derivation clearly shows the combination of estimates to be optimal, minimizing the trace of the fused covariance matrix. The algorithm assumes that the filters use identical models, and are stable and operating optimally with respect to their own local measurements. Evidence is presented which indicates that the error ellipsoid derived from the covariance of the optimally fused estimate is contained within the intersections of the error ellipsoids of the two filters being fused. Modifications which reduce the algorithm's data transmission requirements are also presented, including a scalar gain approximation, a cross-covariance update formula which employs only the two contributing filters' autocovariances, and a form of the algorithm which can be used to reinitialize the two Kalman filters. A sufficient condition for using the optimally fused estimates to periodically reinitialize the Kalman filters in this fashion is presented and proved as a theorem. When these results are applied to an optimal spacecraft rendezvous problem, simulated performance results indicate that the use of optimally fused data leads to significantly improved robustness to initial target vehicle state errors. The following applications of estimate fusion methods to spacecraft rendezvous are also described: state vector differencing, and redundancy management.

Consensus-based distributed estimation in multi-agent systems with time delay

NASA Astrophysics Data System (ADS)

Abdelmawgoud, Ahmed

During the last years, research in the field of cooperative control of swarm of robots, especially Unmanned Aerial Vehicles (UAV); have been improved due to the increase of UAV applications. The ability to track targets using UAVs has a wide range of applications not only civilian but also military as well. For civilian applications, UAVs can perform tasks including, but not limited to: map an unknown area, weather forecasting, land survey, and search and rescue missions. On the other hand, for military personnel, UAV can track and locate a variety of objects, including the movement of enemy vehicles. Consensus problems arise in a number of applications including coordination of UAVs, information processing in wireless sensor networks, and distributed multi-agent optimization. We consider a widely studied consensus algorithms for processing sensed data by different sensors in wireless sensor networks of dynamic agents. Every agent involved in the network forms a weighted average of its own estimated value of some state with the values received from its neighboring agents. We introduced a novelty of consensus-based distributed estimation algorithms. We propose a new algorithm to reach a consensus given time delay constraints. The proposed algorithm performance was observed in a scenario where a swarm of UAVs measuring the location of a ground maneuvering target. We assume that each UAV computes its state prediction and shares it with its neighbors only. However, the shared information applied to different agents with variant time delays. The entire group of UAVs must reach a consensus on target state. Different scenarios were also simulated to examine the effectiveness and performance in terms of overall estimation error, disagreement between delayed and non-delayed agents, and time to reach a consensus for each parameter contributing on the proposed algorithm.

Efficient Round-Trip Time Optimization for Replica-Exchange Enveloping Distribution Sampling (RE-EDS).

PubMed

Sidler, Dominik; Cristòfol-Clough, Michael; Riniker, Sereina

2017-06-13

Replica-exchange enveloping distribution sampling (RE-EDS) allows the efficient estimation of free-energy differences between multiple end-states from a single molecular dynamics (MD) simulation. In EDS, a reference state is sampled, which can be tuned by two types of parameters, i.e., smoothness parameters(s) and energy offsets, such that all end-states are sufficiently sampled. However, the choice of these parameters is not trivial. Replica exchange (RE) or parallel tempering is a widely applied technique to enhance sampling. By combining EDS with the RE technique, the parameter choice problem could be simplified and the challenge shifted toward an optimal distribution of the replicas in the smoothness-parameter space. The choice of a certain replica distribution can alter the sampling efficiency significantly. In this work, global round-trip time optimization (GRTO) algorithms are tested for the use in RE-EDS simulations. In addition, a local round-trip time optimization (LRTO) algorithm is proposed for systems with slowly adapting environments, where a reliable estimate for the round-trip time is challenging to obtain. The optimization algorithms were applied to RE-EDS simulations of a system of nine small-molecule inhibitors of phenylethanolamine N-methyltransferase (PNMT). The energy offsets were determined using our recently proposed parallel energy-offset (PEOE) estimation scheme. While the multistate GRTO algorithm yielded the best replica distribution for the ligands in water, the multistate LRTO algorithm was found to be the method of choice for the ligands in complex with PNMT. With this, the 36 alchemical free-energy differences between the nine ligands were calculated successfully from a single RE-EDS simulation 10 ns in length. Thus, RE-EDS presents an efficient method for the estimation of relative binding free energies.

An affine projection algorithm using grouping selection of input vectors

NASA Astrophysics Data System (ADS)

Shin, JaeWook; Kong, NamWoong; Park, PooGyeon

2011-10-01

This paper present an affine projection algorithm (APA) using grouping selection of input vectors. To improve the performance of conventional APA, the proposed algorithm adjusts the number of the input vectors using two procedures: grouping procedure and selection procedure. In grouping procedure, the some input vectors that have overlapping information for update is grouped using normalized inner product. Then, few input vectors that have enough information for for coefficient update is selected using steady-state mean square error (MSE) in selection procedure. Finally, the filter coefficients update using selected input vectors. The experimental results show that the proposed algorithm has small steady-state estimation errors comparing with the existing algorithms.

Towards Unmanned Systems for Dismounted Operations in the Canadian Forces

DTIC Science & Technology

2011-01-01

LIDAR , and RADAR) and lower power/mass, passive imaging techniques such as structure from motion and simultaneous localisation and mapping ( SLAM ...sensors and learning algorithms. 5.1.2 Simultaneous localisation and mapping SLAM algorithms concurrently estimate a robot pose and a map of unique...locations and vehicle pose are part of the SLAM state vector and are estimated in each update step. AISS developed a monocular camera-based SLAM

Support vector machines for nuclear reactor state estimation

DOE Office of Scientific and Technical Information (OSTI.GOV)

Zavaljevski, N.; Gross, K. C.

2000-02-14

Validation of nuclear power reactor signals is often performed by comparing signal prototypes with the actual reactor signals. The signal prototypes are often computed based on empirical data. The implementation of an estimation algorithm which can make predictions on limited data is an important issue. A new machine learning algorithm called support vector machines (SVMS) recently developed by Vladimir Vapnik and his coworkers enables a high level of generalization with finite high-dimensional data. The improved generalization in comparison with standard methods like neural networks is due mainly to the following characteristics of the method. The input data space is transformedmore » into a high-dimensional feature space using a kernel function, and the learning problem is formulated as a convex quadratic programming problem with a unique solution. In this paper the authors have applied the SVM method for data-based state estimation in nuclear power reactors. In particular, they implemented and tested kernels developed at Argonne National Laboratory for the Multivariate State Estimation Technique (MSET), a nonlinear, nonparametric estimation technique with a wide range of applications in nuclear reactors. The methodology has been applied to three data sets from experimental and commercial nuclear power reactor applications. The results are promising. The combination of MSET kernels with the SVM method has better noise reduction and generalization properties than the standard MSET algorithm.« less

Adaptive approach for on-board impedance parameters and voltage estimation of lithium-ion batteries in electric vehicles

NASA Astrophysics Data System (ADS)

Farmann, Alexander; Waag, Wladislaw; Sauer, Dirk Uwe

2015-12-01

Robust algorithms using reduced order equivalent circuit model (ECM) for an accurate and reliable estimation of battery states in various applications become more popular. In this study, a novel adaptive, self-learning heuristic algorithm for on-board impedance parameters and voltage estimation of lithium-ion batteries (LIBs) in electric vehicles is introduced. The presented approach is verified using LIBs with different composition of chemistries (NMC/C, NMC/LTO, LFP/C) at different aging states. An impedance-based reduced order ECM incorporating ohmic resistance and a combination of a constant phase element and a resistance (so-called ZARC-element) is employed. Existing algorithms in vehicles are much more limited in the complexity of the ECMs. The algorithm is validated using seven day real vehicle data with high temperature variation including very low temperatures (from -20 °C to +30 °C) at different Depth-of-Discharges (DoDs). Two possibilities to approximate both ZARC-elements with finite number of RC-elements on-board are shown and the results of the voltage estimation are compared. Moreover, the current dependence of the charge-transfer resistance is considered by employing Butler-Volmer equation. Achieved results indicate that both models yield almost the same grade of accuracy.

Stable Algorithm For Estimating Airdata From Flush Surface Pressure Measurements

NASA Technical Reports Server (NTRS)

Whitmore, Stephen, A. (Inventor); Cobleigh, Brent R. (Inventor); Haering, Edward A., Jr. (Inventor)

2001-01-01

An airdata estimation and evaluation system and method, including a stable algorithm for estimating airdata from nonintrusive surface pressure measurements. The airdata estimation and evaluation system is preferably implemented in a flush airdata sensing (FADS) system. The system and method of the present invention take a flow model equation and transform it into a triples formulation equation. The triples formulation equation eliminates the pressure related states from the flow model equation by strategically taking the differences of three surface pressures, known as triples. This triples formulation equation is then used to accurately estimate and compute vital airdata from nonintrusive surface pressure measurements.

A review of data fusion techniques.

PubMed

Castanedo, Federico

2013-01-01

The integration of data and knowledge from several sources is known as data fusion. This paper summarizes the state of the data fusion field and describes the most relevant studies. We first enumerate and explain different classification schemes for data fusion. Then, the most common algorithms are reviewed. These methods and algorithms are presented using three different categories: (i) data association, (ii) state estimation, and (iii) decision fusion.

An algorithm of adaptive scale object tracking in occlusion

NASA Astrophysics Data System (ADS)

Zhao, Congmei

2017-05-01

Although the correlation filter-based trackers achieve the competitive results both on accuracy and robustness, there are still some problems in handling scale variations, object occlusion, fast motions and so on. In this paper, a multi-scale kernel correlation filter algorithm based on random fern detector was proposed. The tracking task was decomposed into the target scale estimation and the translation estimation. At the same time, the Color Names features and HOG features were fused in response level to further improve the overall tracking performance of the algorithm. In addition, an online random fern classifier was trained to re-obtain the target after the target was lost. By comparing with some algorithms such as KCF, DSST, TLD, MIL, CT and CSK, experimental results show that the proposed approach could estimate the object state accurately and handle the object occlusion effectively.

Kernel Temporal Differences for Neural Decoding

PubMed Central

Bae, Jihye; Sanchez Giraldo, Luis G.; Pohlmeyer, Eric A.; Francis, Joseph T.; Sanchez, Justin C.; Príncipe, José C.

2015-01-01

We study the feasibility and capability of the kernel temporal difference (KTD)(λ) algorithm for neural decoding. KTD(λ) is an online, kernel-based learning algorithm, which has been introduced to estimate value functions in reinforcement learning. This algorithm combines kernel-based representations with the temporal difference approach to learning. One of our key observations is that by using strictly positive definite kernels, algorithm's convergence can be guaranteed for policy evaluation. The algorithm's nonlinear functional approximation capabilities are shown in both simulations of policy evaluation and neural decoding problems (policy improvement). KTD can handle high-dimensional neural states containing spatial-temporal information at a reasonable computational complexity allowing real-time applications. When the algorithm seeks a proper mapping between a monkey's neural states and desired positions of a computer cursor or a robot arm, in both open-loop and closed-loop experiments, it can effectively learn the neural state to action mapping. Finally, a visualization of the coadaptation process between the decoder and the subject shows the algorithm's capabilities in reinforcement learning brain machine interfaces. PMID:25866504

Observability and Estimation of Distributed Space Systems via Local Information-Exchange Networks

NASA Technical Reports Server (NTRS)

Fathpour, Nanaz; Hadaegh, Fred Y.; Mesbahi, Mehran; Rahmani, Amirreza

2011-01-01

Spacecraft formation flying involves the coordination of states among multiple spacecraft through relative sensing, inter-spacecraft communication, and control. Most existing formation-flying estimation algorithms can only be supported via highly centralized, all-to-all, static relative sensing. New algorithms are proposed that are scalable, modular, and robust to variations in the topology and link characteristics of the formation exchange network. These distributed algorithms rely on a local information exchange network, relaxing the assumptions on existing algorithms. Distributed space systems rely on a signal transmission network among multiple spacecraft for their operation. Control and coordination among multiple spacecraft in a formation is facilitated via a network of relative sensing and interspacecraft communications. Guidance, navigation, and control rely on the sensing network. This network becomes more complex the more spacecraft are added, or as mission requirements become more complex. The observability of a formation state was observed by a set of local observations from a particular node in the formation. Formation observability can be parameterized in terms of the matrices appearing in the formation dynamics and observation matrices. An agreement protocol was used as a mechanism for observing formation states from local measurements. An agreement protocol is essentially an unforced dynamic system whose trajectory is governed by the interconnection geometry and initial condition of each node, with a goal of reaching a common value of interest. The observability of the interconnected system depends on the geometry of the network, as well as the position of the observer relative to the topology. For the first time, critical GN&C (guidance, navigation, and control estimation) subsystems are synthesized by bringing the contribution of the spacecraft information-exchange network to the forefront of algorithmic analysis and design. The result is a formation estimation algorithm that is modular and robust to variations in the topology and link properties of the underlying formation network.

Robust Battery Fuel Gauge Algorithm Development, Part 3: State of Charge Tracking

DTIC Science & Technology

2014-10-19

X. Zhang, F. Sun, and J. Fan, “State-of-charge estimation of the lithium - ion battery using an adaptive extended kalman filter based on an improved...framework with ex- tended kalman filter for lithium - ion battery soc and capacity estimation,” Applied Energy, vol. 92, pp. 694–704, 2012. [16] X. Hu, F...Sun, and Y. Zou, “Estimation of state of charge of a lithium - ion battery pack for electric vehicles using an adaptive luenberger observer,” Energies

Power system observability and dynamic state estimation for stability monitoring using synchrophasor measurements

DOE Office of Scientific and Technical Information (OSTI.GOV)

Sun, Kai; Qi, Junjian; Kang, Wei

2016-08-01

Growing penetration of intermittent resources such as renewable generations increases the risk of instability in a power grid. This paper introduces the concept of observability and its computational algorithms for a power grid monitored by the wide-area measurement system (WAMS) based on synchrophasors, e.g. phasor measurement units (PMUs). The goal is to estimate real-time states of generators, especially for potentially unstable trajectories, the information that is critical for the detection of rotor angle instability of the grid. The paper studies the number and siting of synchrophasors in a power grid so that the state of the system can be accuratelymore » estimated in the presence of instability. An unscented Kalman filter (UKF) is adopted as a tool to estimate the dynamic states that are not directly measured by synchrophasors. The theory and its computational algorithms are illustrated in detail by using a 9-bus 3-generator power system model and then tested on a 140-bus 48-generator Northeast Power Coordinating Council power grid model. Case studies on those two systems demonstrate the performance of the proposed approach using a limited number of synchrophasors for dynamic state estimation for stability assessment and its robustness against moderate inaccuracies in model parameters.« less

Interacting multiple model forward filtering and backward smoothing for maneuvering target tracking

NASA Astrophysics Data System (ADS)

Nandakumaran, N.; Sutharsan, S.; Tharmarasa, R.; Lang, Tom; McDonald, Mike; Kirubarajan, T.

2009-08-01

The Interacting Multiple Model (IMM) estimator has been proven to be effective in tracking agile targets. Smoothing or retrodiction, which uses measurements beyond the current estimation time, provides better estimates of target states. Various methods have been proposed for multiple model smoothing in the literature. In this paper, a new smoothing method, which involves forward filtering followed by backward smoothing while maintaining the fundamental spirit of the IMM, is proposed. The forward filtering is performed using the standard IMM recursion, while the backward smoothing is performed using a novel interacting smoothing recursion. This backward recursion mimics the IMM estimator in the backward direction, where each mode conditioned smoother uses standard Kalman smoothing recursion. Resulting algorithm provides improved but delayed estimates of target states. Simulation studies are performed to demonstrate the improved performance with a maneuvering target scenario. The comparison with existing methods confirms the improved smoothing accuracy. This improvement results from avoiding the augmented state vector used by other algorithms. In addition, the new technique to account for model switching in smoothing is a key in improving the performance.

Fast instantaneous center of rotation estimation algorithm for a skied-steered robot

NASA Astrophysics Data System (ADS)

Kniaz, V. V.

2015-05-01

Skid-steered robots are widely used as mobile platforms for machine vision systems. However it is hard to achieve a stable motion of such robots along desired trajectory due to an unpredictable wheel slip. It is possible to compensate the unpredictable wheel slip and stabilize the motion of the robot using visual odometry. This paper presents a fast optical flow based algorithm for estimation of instantaneous center of rotation, angular and longitudinal speed of the robot. The proposed algorithm is based on Horn-Schunck variational optical flow estimation method. The instantaneous center of rotation and motion of the robot is estimated by back projection of optical flow field to the ground surface. The developed algorithm was tested using skid-steered mobile robot. The robot is based on a mobile platform that includes two pairs of differential driven motors and a motor controller. Monocular visual odometry system consisting of a singleboard computer and a low cost webcam is mounted on the mobile platform. A state-space model of the robot was derived using standard black-box system identification. The input (commands) and the output (motion) were recorded using a dedicated external motion capture system. The obtained model was used to control the robot without visual odometry data. The paper is concluded with the algorithm quality estimation by comparison of the trajectories estimated by the algorithm with the data from motion capture system.

Estimating rare events in biochemical systems using conditional sampling.

PubMed

Sundar, V S

2017-01-28

The paper focuses on development of variance reduction strategies to estimate rare events in biochemical systems. Obtaining this probability using brute force Monte Carlo simulations in conjunction with the stochastic simulation algorithm (Gillespie's method) is computationally prohibitive. To circumvent this, important sampling tools such as the weighted stochastic simulation algorithm and the doubly weighted stochastic simulation algorithm have been proposed. However, these strategies require an additional step of determining the important region to sample from, which is not straightforward for most of the problems. In this paper, we apply the subset simulation method, developed as a variance reduction tool in the context of structural engineering, to the problem of rare event estimation in biochemical systems. The main idea is that the rare event probability is expressed as a product of more frequent conditional probabilities. These conditional probabilities are estimated with high accuracy using Monte Carlo simulations, specifically the Markov chain Monte Carlo method with the modified Metropolis-Hastings algorithm. Generating sample realizations of the state vector using the stochastic simulation algorithm is viewed as mapping the discrete-state continuous-time random process to the standard normal random variable vector. This viewpoint opens up the possibility of applying more sophisticated and efficient sampling schemes developed elsewhere to problems in stochastic chemical kinetics. The results obtained using the subset simulation method are compared with existing variance reduction strategies for a few benchmark problems, and a satisfactory improvement in computational time is demonstrated.

Near-optimal quantum circuit for Grover's unstructured search using a transverse field

NASA Astrophysics Data System (ADS)

Jiang, Zhang; Rieffel, Eleanor G.; Wang, Zhihui

2017-06-01

Inspired by a class of algorithms proposed by Farhi et al. (arXiv:1411.4028), namely, the quantum approximate optimization algorithm (QAOA), we present a circuit-based quantum algorithm to search for a needle in a haystack, obtaining the same quadratic speedup achieved by Grover's original algorithm. In our algorithm, the problem Hamiltonian (oracle) and a transverse field are applied alternately to the system in a periodic manner. We introduce a technique, based on spin-coherent states, to analyze the composite unitary in a single period. This composite unitary drives a closed transition between two states that have high degrees of overlap with the initial state and the target state, respectively. The transition rate in our algorithm is of order Θ (1 /√{N }) , and the overlaps are of order Θ (1 ) , yielding a nearly optimal query complexity of T ≃√{N }(π /2 √{2 }) . Our algorithm is a QAOA circuit that demonstrates a quantum advantage with a large number of iterations that is not derived from Trotterization of an adiabatic quantum optimization (AQO) algorithm. It also suggests that the analysis required to understand QAOA circuits involves a very different process from estimating the energy gap of a Hamiltonian in AQO.

Empirical State Error Covariance Matrix for Batch Estimation

NASA Technical Reports Server (NTRS)

Frisbee, Joe

2015-01-01

State estimation techniques effectively provide mean state estimates. However, the theoretical state error covariance matrices provided as part of these techniques often suffer from a lack of confidence in their ability to describe the uncertainty in the estimated states. By a reinterpretation of the equations involved in the weighted batch least squares algorithm, it is possible to directly arrive at an empirical state error covariance matrix. The proposed empirical state error covariance matrix will contain the effect of all error sources, known or not. This empirical error covariance matrix may be calculated as a side computation for each unique batch solution. Results based on the proposed technique will be presented for a simple, two observer and measurement error only problem.

Optimizing the learning rate for adaptive estimation of neural encoding models

PubMed Central

2018-01-01

Closed-loop neurotechnologies often need to adaptively learn an encoding model that relates the neural activity to the brain state, and is used for brain state decoding. The speed and accuracy of adaptive learning algorithms are critically affected by the learning rate, which dictates how fast model parameters are updated based on new observations. Despite the importance of the learning rate, currently an analytical approach for its selection is largely lacking and existing signal processing methods vastly tune it empirically or heuristically. Here, we develop a novel analytical calibration algorithm for optimal selection of the learning rate in adaptive Bayesian filters. We formulate the problem through a fundamental trade-off that learning rate introduces between the steady-state error and the convergence time of the estimated model parameters. We derive explicit functions that predict the effect of learning rate on error and convergence time. Using these functions, our calibration algorithm can keep the steady-state parameter error covariance smaller than a desired upper-bound while minimizing the convergence time, or keep the convergence time faster than a desired value while minimizing the error. We derive the algorithm both for discrete-valued spikes modeled as point processes nonlinearly dependent on the brain state, and for continuous-valued neural recordings modeled as Gaussian processes linearly dependent on the brain state. Using extensive closed-loop simulations, we show that the analytical solution of the calibration algorithm accurately predicts the effect of learning rate on parameter error and convergence time. Moreover, the calibration algorithm allows for fast and accurate learning of the encoding model and for fast convergence of decoding to accurate performance. Finally, larger learning rates result in inaccurate encoding models and decoders, and smaller learning rates delay their convergence. The calibration algorithm provides a novel analytical approach to predictably achieve a desired level of error and convergence time in adaptive learning, with application to closed-loop neurotechnologies and other signal processing domains. PMID:29813069

Optimizing the learning rate for adaptive estimation of neural encoding models.

PubMed

Hsieh, Han-Lin; Shanechi, Maryam M

2018-05-01

Closed-loop neurotechnologies often need to adaptively learn an encoding model that relates the neural activity to the brain state, and is used for brain state decoding. The speed and accuracy of adaptive learning algorithms are critically affected by the learning rate, which dictates how fast model parameters are updated based on new observations. Despite the importance of the learning rate, currently an analytical approach for its selection is largely lacking and existing signal processing methods vastly tune it empirically or heuristically. Here, we develop a novel analytical calibration algorithm for optimal selection of the learning rate in adaptive Bayesian filters. We formulate the problem through a fundamental trade-off that learning rate introduces between the steady-state error and the convergence time of the estimated model parameters. We derive explicit functions that predict the effect of learning rate on error and convergence time. Using these functions, our calibration algorithm can keep the steady-state parameter error covariance smaller than a desired upper-bound while minimizing the convergence time, or keep the convergence time faster than a desired value while minimizing the error. We derive the algorithm both for discrete-valued spikes modeled as point processes nonlinearly dependent on the brain state, and for continuous-valued neural recordings modeled as Gaussian processes linearly dependent on the brain state. Using extensive closed-loop simulations, we show that the analytical solution of the calibration algorithm accurately predicts the effect of learning rate on parameter error and convergence time. Moreover, the calibration algorithm allows for fast and accurate learning of the encoding model and for fast convergence of decoding to accurate performance. Finally, larger learning rates result in inaccurate encoding models and decoders, and smaller learning rates delay their convergence. The calibration algorithm provides a novel analytical approach to predictably achieve a desired level of error and convergence time in adaptive learning, with application to closed-loop neurotechnologies and other signal processing domains.

A hierarchical framework for air traffic control

NASA Astrophysics Data System (ADS)

Roy, Kaushik

Air travel in recent years has been plagued by record delays, with over $8 billion in direct operating costs being attributed to 100 million flight delay minutes in 2007. Major contributing factors to delay include weather, congestion, and aging infrastructure; the Next Generation Air Transportation System (NextGen) aims to alleviate these delays through an upgrade of the air traffic control system. Changes to large-scale networked systems such as air traffic control are complicated by the need for coordinated solutions over disparate temporal and spatial scales. Individual air traffic controllers must ensure aircraft maintain safe separation locally with a time horizon of seconds to minutes, whereas regional plans are formulated to efficiently route flows of aircraft around weather and congestion on the order of every hour. More efficient control algorithms that provide a coordinated solution are required to safely handle a larger number of aircraft in a fixed amount of airspace. Improved estimation algorithms are also needed to provide accurate aircraft state information and situational awareness for human controllers. A hierarchical framework is developed to simultaneously solve the sometimes conflicting goals of regional efficiency and local safety. Careful attention is given in defining the interactions between the layers of this hierarchy. In this way, solutions to individual air traffic problems can be targeted and implemented as needed. First, the regional traffic flow management problem is posed as an optimization problem and shown to be NP-Hard. Approximation methods based on aggregate flow models are developed to enable real-time implementation of algorithms that reduce the impact of congestion and adverse weather. Second, the local trajectory design problem is solved using a novel slot-based sector model. This model is used to analyze sector capacity under varying traffic patterns, providing a more comprehensive understanding of how increased automation in NextGen will affect the overall performance of air traffic control. The dissertation also provides solutions to several key estimation problems that support corresponding control tasks. Throughout the development of these estimation algorithms, aircraft motion is modeled using hybrid systems, which encapsulate both the discrete flight mode of an aircraft and the evolution of continuous states such as position and velocity. The target-tracking problem is posed as one of hybrid state estimation, and two new algorithms are developed to exploit structure specific to aircraft motion, especially near airports. First, discrete mode evolution is modeled using state-dependent transitions, in which the likelihood of changing flight modes is dependent on aircraft state. Second, an estimator is designed for systems with limited mode changes, including arrival aircraft. Improved target tracking facilitates increased safety in collision avoidance and trajectory design problems. A multiple-target tracking and identity management algorithm is developed to improve situational awareness for controllers about multiple maneuvering targets in a congested region. Finally, tracking algorithms are extended to predict aircraft landing times; estimated time of arrival prediction is one example of important decision support information for air traffic control.

Identification of the focal plane wavefront control system using E-M algorithm

NASA Astrophysics Data System (ADS)

Sun, He; Kasdin, N. Jeremy; Vanderbei, Robert

2017-09-01

In a typical focal plane wavefront control (FPWC) system, such as the adaptive optics system of NASA's WFIRST mission, the efficient controllers and estimators in use are usually model-based. As a result, the modeling accuracy of the system influences the ultimate performance of the control and estimation. Currently, a linear state space model is used and calculated based on lab measurements using Fourier optics. Although the physical model is clearly defined, it is usually biased due to incorrect distance measurements, imperfect diagnoses of the optical aberrations, and our lack of knowledge of the deformable mirrors (actuator gains and influence functions). In this paper, we present a new approach for measuring/estimating the linear state space model of a FPWC system using the expectation-maximization (E-M) algorithm. Simulation and lab results in the Princeton's High Contrast Imaging Lab (HCIL) show that the E-M algorithm can well handle both the amplitude and phase errors and accurately recover the system. Using the recovered state space model, the controller creates dark holes with faster speed. The final accuracy of the model depends on the amount of data used for learning.

Nonlinear calibration for petroleum water content measurement using PSO

NASA Astrophysics Data System (ADS)

Li, Mingbao; Zhang, Jiawei

2008-10-01

A new algorithmic for strapdown inertial navigation system (SINS) state estimation based on neural networks is introduced. In training strategy, the error vector and its delay are introduced. This error vector is made of the position and velocity difference between the estimations of system and the outputs of GPS. After state prediction and state update, the states of the system are estimated. After off-line training, the network can approach the status switching of SINS and after on-line training, the state estimate precision can be improved further by reducing network output errors. Then the network convergence is discussed. In the end, several simulations with different noise are given. The results show that the neural network state estimator has lower noise sensitivity and better noise immunity than Kalman filter.

Comparisons of Four Methods for Estimating a Dynamic Factor Model

ERIC Educational Resources Information Center

Zhang, Zhiyong; Hamaker, Ellen L.; Nesselroade, John R.

2008-01-01

Four methods for estimating a dynamic factor model, the direct autoregressive factor score (DAFS) model, are evaluated and compared. The first method estimates the DAFS model using a Kalman filter algorithm based on its state space model representation. The second one employs the maximum likelihood estimation method based on the construction of a…

Clustering of tethered satellite system simulation data by an adaptive neuro-fuzzy algorithm

NASA Technical Reports Server (NTRS)

Mitra, Sunanda; Pemmaraju, Surya

1992-01-01

Recent developments in neuro-fuzzy systems indicate that the concepts of adaptive pattern recognition, when used to identify appropriate control actions corresponding to clusters of patterns representing system states in dynamic nonlinear control systems, may result in innovative designs. A modular, unsupervised neural network architecture, in which fuzzy learning rules have been embedded is used for on-line identification of similar states. The architecture and control rules involved in Adaptive Fuzzy Leader Clustering (AFLC) allow this system to be incorporated in control systems for identification of system states corresponding to specific control actions. We have used this algorithm to cluster the simulation data of Tethered Satellite System (TSS) to estimate the range of delta voltages necessary to maintain the desired length rate of the tether. The AFLC algorithm is capable of on-line estimation of the appropriate control voltages from the corresponding length error and length rate error without a priori knowledge of their membership functions and familarity with the behavior of the Tethered Satellite System.

Automated mammographic breast density estimation using a fully convolutional network.

PubMed

Lee, Juhun; Nishikawa, Robert M

2018-03-01

The purpose of this study was to develop a fully automated algorithm for mammographic breast density estimation using deep learning. Our algorithm used a fully convolutional network, which is a deep learning framework for image segmentation, to segment both the breast and the dense fibroglandular areas on mammographic images. Using the segmented breast and dense areas, our algorithm computed the breast percent density (PD), which is the faction of dense area in a breast. Our dataset included full-field digital screening mammograms of 604 women, which included 1208 mediolateral oblique (MLO) and 1208 craniocaudal (CC) views. We allocated 455, 58, and 91 of 604 women and their exams into training, testing, and validation datasets, respectively. We established ground truth for the breast and the dense fibroglandular areas via manual segmentation and segmentation using a simple thresholding based on BI-RADS density assessments by radiologists, respectively. Using the mammograms and ground truth, we fine-tuned a pretrained deep learning network to train the network to segment both the breast and the fibroglandular areas. Using the validation dataset, we evaluated the performance of the proposed algorithm against radiologists' BI-RADS density assessments. Specifically, we conducted a correlation analysis between a BI-RADS density assessment of a given breast and its corresponding PD estimate by the proposed algorithm. In addition, we evaluated our algorithm in terms of its ability to classify the BI-RADS density using PD estimates, and its ability to provide consistent PD estimates for the left and the right breast and the MLO and CC views of the same women. To show the effectiveness of our algorithm, we compared the performance of our algorithm against a state of the art algorithm, laboratory for individualized breast radiodensity assessment (LIBRA). The PD estimated by our algorithm correlated well with BI-RADS density ratings by radiologists. Pearson's rho values of our algorithm for CC view, MLO view, and CC-MLO-averaged were 0.81, 0.79, and 0.85, respectively, while those of LIBRA were 0.58, 0.71, and 0.69, respectively. For CC view and CC-MLO averaged cases, the difference in rho values between the proposed algorithm and LIBRA showed statistical significance (P < 0.006). In addition, our algorithm provided reliable PD estimates for the left and the right breast (Pearson's ρ > 0.87) and for the MLO and CC views (Pearson's ρ = 0.76). However, LIBRA showed a lower Pearson's rho value (0.66) for both the left and right breasts for the CC view. In addition, our algorithm showed an excellent ability to separate each sub BI-RADS breast density class (statistically significant, p-values = 0.0001 or less); only one comparison pair, density 1 and density 2 in the CC view, was not statistically significant (P = 0.54). However, LIBRA failed to separate breasts in density 1 and 2 for both the CC and MLO views (P > 0.64). We have developed a new deep learning based algorithm for breast density segmentation and estimation. We showed that the proposed algorithm correlated well with BI-RADS density assessments by radiologists and outperformed an existing state of the art algorithm. © 2018 American Association of Physicists in Medicine.

Filtering Based Adaptive Visual Odometry Sensor Framework Robust to Blurred Images

PubMed Central

Zhao, Haiying; Liu, Yong; Xie, Xiaojia; Liao, Yiyi; Liu, Xixi

2016-01-01

Visual odometry (VO) estimation from blurred image is a challenging problem in practical robot applications, and the blurred images will severely reduce the estimation accuracy of the VO. In this paper, we address the problem of visual odometry estimation from blurred images, and present an adaptive visual odometry estimation framework robust to blurred images. Our approach employs an objective measure of images, named small image gradient distribution (SIGD), to evaluate the blurring degree of the image, then an adaptive blurred image classification algorithm is proposed to recognize the blurred images, finally we propose an anti-blurred key-frame selection algorithm to enable the VO robust to blurred images. We also carried out varied comparable experiments to evaluate the performance of the VO algorithms with our anti-blur framework under varied blurred images, and the experimental results show that our approach can achieve superior performance comparing to the state-of-the-art methods under the condition with blurred images while not increasing too much computation cost to the original VO algorithms. PMID:27399704

A Review of Data Fusion Techniques

PubMed Central

2013-01-01

The integration of data and knowledge from several sources is known as data fusion. This paper summarizes the state of the data fusion field and describes the most relevant studies. We first enumerate and explain different classification schemes for data fusion. Then, the most common algorithms are reviewed. These methods and algorithms are presented using three different categories: (i) data association, (ii) state estimation, and (iii) decision fusion. PMID:24288502

RS-Forest: A Rapid Density Estimator for Streaming Anomaly Detection.

PubMed

Wu, Ke; Zhang, Kun; Fan, Wei; Edwards, Andrea; Yu, Philip S

Anomaly detection in streaming data is of high interest in numerous application domains. In this paper, we propose a novel one-class semi-supervised algorithm to detect anomalies in streaming data. Underlying the algorithm is a fast and accurate density estimator implemented by multiple fully randomized space trees (RS-Trees), named RS-Forest. The piecewise constant density estimate of each RS-tree is defined on the tree node into which an instance falls. Each incoming instance in a data stream is scored by the density estimates averaged over all trees in the forest. Two strategies, statistical attribute range estimation of high probability guarantee and dual node profiles for rapid model update, are seamlessly integrated into RS-Forest to systematically address the ever-evolving nature of data streams. We derive the theoretical upper bound for the proposed algorithm and analyze its asymptotic properties via bias-variance decomposition. Empirical comparisons to the state-of-the-art methods on multiple benchmark datasets demonstrate that the proposed method features high detection rate, fast response, and insensitivity to most of the parameter settings. Algorithm implementations and datasets are available upon request.

RS-Forest: A Rapid Density Estimator for Streaming Anomaly Detection

PubMed Central

Wu, Ke; Zhang, Kun; Fan, Wei; Edwards, Andrea; Yu, Philip S.

2015-01-01

Anomaly detection in streaming data is of high interest in numerous application domains. In this paper, we propose a novel one-class semi-supervised algorithm to detect anomalies in streaming data. Underlying the algorithm is a fast and accurate density estimator implemented by multiple fully randomized space trees (RS-Trees), named RS-Forest. The piecewise constant density estimate of each RS-tree is defined on the tree node into which an instance falls. Each incoming instance in a data stream is scored by the density estimates averaged over all trees in the forest. Two strategies, statistical attribute range estimation of high probability guarantee and dual node profiles for rapid model update, are seamlessly integrated into RS-Forest to systematically address the ever-evolving nature of data streams. We derive the theoretical upper bound for the proposed algorithm and analyze its asymptotic properties via bias-variance decomposition. Empirical comparisons to the state-of-the-art methods on multiple benchmark datasets demonstrate that the proposed method features high detection rate, fast response, and insensitivity to most of the parameter settings. Algorithm implementations and datasets are available upon request. PMID:25685112

Infrared dim-small target tracking via singular value decomposition and improved Kernelized correlation filter

NASA Astrophysics Data System (ADS)

Qian, Kun; Zhou, Huixin; Rong, Shenghui; Wang, Bingjian; Cheng, Kuanhong

2017-05-01

Infrared small target tracking plays an important role in applications including military reconnaissance, early warning and terminal guidance. In this paper, an effective algorithm based on the Singular Value Decomposition (SVD) and the improved Kernelized Correlation Filter (KCF) is presented for infrared small target tracking. Firstly, the super performance of the SVD-based algorithm is that it takes advantage of the target's global information and obtains a background estimation of an infrared image. A dim target is enhanced by subtracting the corresponding estimated background with update from the original image. Secondly, the KCF algorithm is combined with Gaussian Curvature Filter (GCF) to eliminate the excursion problem. The GCF technology is adopted to preserve the edge and eliminate the noise of the base sample in the KCF algorithm, helping to calculate the classifier parameter for a small target. At last, the target position is estimated with a response map, which is obtained via the kernelized classifier. Experimental results demonstrate that the presented algorithm performs favorably in terms of efficiency and accuracy, compared with several state-of-the-art algorithms.

Noise normalization and windowing functions for VALIDAR in wind parameter estimation

NASA Astrophysics Data System (ADS)

Beyon, Jeffrey Y.; Koch, Grady J.; Li, Zhiwen

2006-05-01

The wind parameter estimates from a state-of-the-art 2-μm coherent lidar system located at NASA Langley, Virginia, named VALIDAR (validation lidar), were compared after normalizing the noise by its estimated power spectra via the periodogram and the linear predictive coding (LPC) scheme. The power spectra and the Doppler shift estimates were the main parameter estimates for comparison. Different types of windowing functions were implemented in VALIDAR data processing algorithm and their impact on the wind parameter estimates was observed. Time and frequency independent windowing functions such as Rectangular, Hanning, and Kaiser-Bessel and time and frequency dependent apodized windowing function were compared. The briefing of current nonlinear algorithm development for Doppler shift correction subsequently follows.

23 CFR Appendix B to Part 1240 - Procedures for Missing or Inadequate State-Submitted Information (Calendar Years 1996 and 1997)

Code of Federal Regulations, 2011 CFR

2011-04-01

... (FARS) will be translated into estimated observed seat belt use rates using an algorithm that relates... 133, June, 1994. B. The algorithm is as follows: u = (−.221794 + √.049193 + .410769F) / .456410 Where... change in the FARS-based observed seat belt use rate (derived from the above algorithm) between the two...

23 CFR Appendix B to Part 1240 - Procedures for Missing or Inadequate State-Submitted Information (Calendar Years 1996 and 1997)

Code of Federal Regulations, 2013 CFR

2013-04-01

... (FARS) will be translated into estimated observed seat belt use rates using an algorithm that relates... 133, June, 1994. B. The algorithm is as follows: u = (−.221794 + √.049193 + .410769F) / .456410 Where... change in the FARS-based observed seat belt use rate (derived from the above algorithm) between the two...

23 CFR Appendix B to Part 1240 - Procedures for Missing or Inadequate State-Submitted Information (Calendar Years 1996 and 1997)

Code of Federal Regulations, 2014 CFR

2014-04-01

... (FARS) will be translated into estimated observed seat belt use rates using an algorithm that relates... 133, June, 1994. B. The algorithm is as follows: u = (−.221794 + √.049193 + .410769F) / .456410 Where... change in the FARS-based observed seat belt use rate (derived from the above algorithm) between the two...

23 CFR Appendix B to Part 1240 - Procedures for Missing or Inadequate State-Submitted Information (Calendar Years 1996 and 1997)

Code of Federal Regulations, 2012 CFR

2012-04-01

... (FARS) will be translated into estimated observed seat belt use rates using an algorithm that relates... 133, June, 1994. B. The algorithm is as follows: u = (−.221794 + √.049193 + .410769F) / .456410 Where... change in the FARS-based observed seat belt use rate (derived from the above algorithm) between the two...

23 CFR Appendix B to Part 1240 - Procedures for Missing or Inadequate State-Submitted Information (Calendar Years 1996 and 1997)

Code of Federal Regulations, 2010 CFR

2010-04-01

... (FARS) will be translated into estimated observed seat belt use rates using an algorithm that relates... 133, June, 1994. B. The algorithm is as follows: u = (−.221794 + √.049193 + .410769F) / .456410 Where... change in the FARS-based observed seat belt use rate (derived from the above algorithm) between the two...

Accurate Heart Rate Monitoring During Physical Exercises Using PPG.

PubMed

Temko, Andriy

2017-09-01

The challenging task of heart rate (HR) estimation from the photoplethysmographic (PPG) signal, during intensive physical exercises, is tackled in this paper. The study presents a detailed analysis of a novel algorithm (WFPV) that exploits a Wiener filter to attenuate the motion artifacts, a phase vocoder to refine the HR estimate and user-adaptive post-processing to track the subject physiology. Additionally, an offline version of the HR estimation algorithm that uses Viterbi decoding is designed for scenarios that do not require online HR monitoring (WFPV+VD). The performance of the HR estimation systems is rigorously compared with existing algorithms on the publically available database of 23 PPG recordings. On the whole dataset of 23 PPG recordings, the algorithms result in average absolute errors of 1.97 and 1.37 BPM in the online and offline modes, respectively. On the test dataset of 10 PPG recordings which were most corrupted with motion artifacts, WFPV has an error of 2.95 BPM on its own and 2.32 BPM in an ensemble with two existing algorithms. The error rate is significantly reduced when compared with the state-of-the art PPG-based HR estimation methods. The proposed system is shown to be accurate in the presence of strong motion artifacts and in contrast to existing alternatives has very few free parameters to tune. The algorithm has a low computational cost and can be used for fitness tracking and health monitoring in wearable devices. The MATLAB implementation of the algorithm is provided online.

Geodetic point positioning with GPS (Global Positioning System) carrier beat phase data from the CASA (Central and South America) Uno experiment

DOE Office of Scientific and Technical Information (OSTI.GOV)

Malys, S.; Jensen, P.A.

1990-04-01

The Global Positioning System (GPS) carrier beat phase data collected by the TI4100 GPS receiver has been successfully utilized by the US Defense Mapping Agency in an algorithm which is designed to estimate individual absolute geodetic point positions from data collected over a few hours. The algorithm uses differenced data from one station and two to four GPS satellites at a series of epochs separated by 30 second intervals. The precise GPS ephemerides and satellite clock states, held fixed in the estimation process, are those estimated by the Naval Surface Warfare Center (NSWC). Broadcast ephemerides and clock states are alsomore » utilized for comparative purposes. An outline of the data corrections applied, the mathematical model and the estimation algorithm are presented. Point positioning results and statistics are presented for a globally-distributed set of stations which contributed to the CASA Uno experiment. Statistical assessment of 114 GPS point positions at 11 CASA Uno stations indicates that the overall standard deviation of a point position component, estimated from a few hours of data, is 73 centimeters. Solution of the long line geodetic inverse problem using repeated point positions such as these can potentially offer a new tool for those studying geodynamics on a global scale.« less

Customized Steady-State Constraints for Parameter Estimation in Non-Linear Ordinary Differential Equation Models

PubMed Central

Rosenblatt, Marcus; Timmer, Jens; Kaschek, Daniel

2016-01-01

Ordinary differential equation models have become a wide-spread approach to analyze dynamical systems and understand underlying mechanisms. Model parameters are often unknown and have to be estimated from experimental data, e.g., by maximum-likelihood estimation. In particular, models of biological systems contain a large number of parameters. To reduce the dimensionality of the parameter space, steady-state information is incorporated in the parameter estimation process. For non-linear models, analytical steady-state calculation typically leads to higher-order polynomial equations for which no closed-form solutions can be obtained. This can be circumvented by solving the steady-state equations for kinetic parameters, which results in a linear equation system with comparatively simple solutions. At the same time multiplicity of steady-state solutions is avoided, which otherwise is problematic for optimization. When solved for kinetic parameters, however, steady-state constraints tend to become negative for particular model specifications, thus, generating new types of optimization problems. Here, we present an algorithm based on graph theory that derives non-negative, analytical steady-state expressions by stepwise removal of cyclic dependencies between dynamical variables. The algorithm avoids multiple steady-state solutions by construction. We show that our method is applicable to most common classes of biochemical reaction networks containing inhibition terms, mass-action and Hill-type kinetic equations. Comparing the performance of parameter estimation for different analytical and numerical methods of incorporating steady-state information, we show that our approach is especially well-tailored to guarantee a high success rate of optimization. PMID:27243005

Customized Steady-State Constraints for Parameter Estimation in Non-Linear Ordinary Differential Equation Models.

PubMed

Rosenblatt, Marcus; Timmer, Jens; Kaschek, Daniel

2016-01-01

Ordinary differential equation models have become a wide-spread approach to analyze dynamical systems and understand underlying mechanisms. Model parameters are often unknown and have to be estimated from experimental data, e.g., by maximum-likelihood estimation. In particular, models of biological systems contain a large number of parameters. To reduce the dimensionality of the parameter space, steady-state information is incorporated in the parameter estimation process. For non-linear models, analytical steady-state calculation typically leads to higher-order polynomial equations for which no closed-form solutions can be obtained. This can be circumvented by solving the steady-state equations for kinetic parameters, which results in a linear equation system with comparatively simple solutions. At the same time multiplicity of steady-state solutions is avoided, which otherwise is problematic for optimization. When solved for kinetic parameters, however, steady-state constraints tend to become negative for particular model specifications, thus, generating new types of optimization problems. Here, we present an algorithm based on graph theory that derives non-negative, analytical steady-state expressions by stepwise removal of cyclic dependencies between dynamical variables. The algorithm avoids multiple steady-state solutions by construction. We show that our method is applicable to most common classes of biochemical reaction networks containing inhibition terms, mass-action and Hill-type kinetic equations. Comparing the performance of parameter estimation for different analytical and numerical methods of incorporating steady-state information, we show that our approach is especially well-tailored to guarantee a high success rate of optimization.

Linear functional minimization for inverse modeling

DOE PAGES

Barajas-Solano, David A.; Wohlberg, Brendt Egon; Vesselinov, Velimir Valentinov; ...

2015-06-01

In this paper, we present a novel inverse modeling strategy to estimate spatially distributed parameters of nonlinear models. The maximum a posteriori (MAP) estimators of these parameters are based on a likelihood functional, which contains spatially discrete measurements of the system parameters and spatiotemporally discrete measurements of the transient system states. The piecewise continuity prior for the parameters is expressed via Total Variation (TV) regularization. The MAP estimator is computed by minimizing a nonquadratic objective equipped with the TV operator. We apply this inversion algorithm to estimate hydraulic conductivity of a synthetic confined aquifer from measurements of conductivity and hydraulicmore » head. The synthetic conductivity field is composed of a low-conductivity heterogeneous intrusion into a high-conductivity heterogeneous medium. Our algorithm accurately reconstructs the location, orientation, and extent of the intrusion from the steady-state data only. Finally, addition of transient measurements of hydraulic head improves the parameter estimation, accurately reconstructing the conductivity field in the vicinity of observation locations.« less

Utilizing Adjoint-Based Error Estimates for Surrogate Models to Accurately Predict Probabilities of Events

DOE PAGES

Butler, Troy; Wildey, Timothy

2018-01-01

In thist study, we develop a procedure to utilize error estimates for samples of a surrogate model to compute robust upper and lower bounds on estimates of probabilities of events. We show that these error estimates can also be used in an adaptive algorithm to simultaneously reduce the computational cost and increase the accuracy in estimating probabilities of events using computationally expensive high-fidelity models. Specifically, we introduce the notion of reliability of a sample of a surrogate model, and we prove that utilizing the surrogate model for the reliable samples and the high-fidelity model for the unreliable samples gives preciselymore » the same estimate of the probability of the output event as would be obtained by evaluation of the original model for each sample. The adaptive algorithm uses the additional evaluations of the high-fidelity model for the unreliable samples to locally improve the surrogate model near the limit state, which significantly reduces the number of high-fidelity model evaluations as the limit state is resolved. Numerical results based on a recently developed adjoint-based approach for estimating the error in samples of a surrogate are provided to demonstrate (1) the robustness of the bounds on the probability of an event, and (2) that the adaptive enhancement algorithm provides a more accurate estimate of the probability of the QoI event than standard response surface approximation methods at a lower computational cost.« less

Utilizing Adjoint-Based Error Estimates for Surrogate Models to Accurately Predict Probabilities of Events

DOE Office of Scientific and Technical Information (OSTI.GOV)

Butler, Troy; Wildey, Timothy

In thist study, we develop a procedure to utilize error estimates for samples of a surrogate model to compute robust upper and lower bounds on estimates of probabilities of events. We show that these error estimates can also be used in an adaptive algorithm to simultaneously reduce the computational cost and increase the accuracy in estimating probabilities of events using computationally expensive high-fidelity models. Specifically, we introduce the notion of reliability of a sample of a surrogate model, and we prove that utilizing the surrogate model for the reliable samples and the high-fidelity model for the unreliable samples gives preciselymore » the same estimate of the probability of the output event as would be obtained by evaluation of the original model for each sample. The adaptive algorithm uses the additional evaluations of the high-fidelity model for the unreliable samples to locally improve the surrogate model near the limit state, which significantly reduces the number of high-fidelity model evaluations as the limit state is resolved. Numerical results based on a recently developed adjoint-based approach for estimating the error in samples of a surrogate are provided to demonstrate (1) the robustness of the bounds on the probability of an event, and (2) that the adaptive enhancement algorithm provides a more accurate estimate of the probability of the QoI event than standard response surface approximation methods at a lower computational cost.« less

Sensor placement algorithm development to maximize the efficiency of acid gas removal unit for integrated gasifiction combined sycle (IGCC) power plant with CO2 capture

DOE Office of Scientific and Technical Information (OSTI.GOV)

Paul, P.; Bhattacharyya, D.; Turton, R.

2012-01-01

Future integrated gasification combined cycle (IGCC) power plants with CO{sub 2} capture will face stricter operational and environmental constraints. Accurate values of relevant states/outputs/disturbances are needed to satisfy these constraints and to maximize the operational efficiency. Unfortunately, a number of these process variables cannot be measured while a number of them can be measured, but have low precision, reliability, or signal-to-noise ratio. In this work, a sensor placement (SP) algorithm is developed for optimal selection of sensor location, number, and type that can maximize the plant efficiency and result in a desired precision of the relevant measured/unmeasured states. In thismore » work, an SP algorithm is developed for an selective, dual-stage Selexol-based acid gas removal (AGR) unit for an IGCC plant with pre-combustion CO{sub 2} capture. A comprehensive nonlinear dynamic model of the AGR unit is developed in Aspen Plus Dynamics® (APD) and used to generate a linear state-space model that is used in the SP algorithm. The SP algorithm is developed with the assumption that an optimal Kalman filter will be implemented in the plant for state and disturbance estimation. The algorithm is developed assuming steady-state Kalman filtering and steady-state operation of the plant. The control system is considered to operate based on the estimated states and thereby, captures the effects of the SP algorithm on the overall plant efficiency. The optimization problem is solved by Genetic Algorithm (GA) considering both linear and nonlinear equality and inequality constraints. Due to the very large number of candidate sets available for sensor placement and because of the long time that it takes to solve the constrained optimization problem that includes more than 1000 states, solution of this problem is computationally expensive. For reducing the computation time, parallel computing is performed using the Distributed Computing Server (DCS®) and the Parallel Computing® toolbox from Mathworks®. In this presentation, we will share our experience in setting up parallel computing using GA in the MATLAB® environment and present the overall approach for achieving higher computational efficiency in this framework.« less

Sensor placement algorithm development to maximize the efficiency of acid gas removal unit for integrated gasification combined cycle (IGCC) power plant with CO{sub 2} capture

DOE Office of Scientific and Technical Information (OSTI.GOV)

Paul, P.; Bhattacharyya, D.; Turton, R.

2012-01-01

Future integrated gasification combined cycle (IGCC) power plants with CO{sub 2} capture will face stricter operational and environmental constraints. Accurate values of relevant states/outputs/disturbances are needed to satisfy these constraints and to maximize the operational efficiency. Unfortunately, a number of these process variables cannot be measured while a number of them can be measured, but have low precision, reliability, or signal-to-noise ratio. In this work, a sensor placement (SP) algorithm is developed for optimal selection of sensor location, number, and type that can maximize the plant efficiency and result in a desired precision of the relevant measured/unmeasured states. In thismore » work, an SP algorithm is developed for an selective, dual-stage Selexol-based acid gas removal (AGR) unit for an IGCC plant with pre-combustion CO{sub 2} capture. A comprehensive nonlinear dynamic model of the AGR unit is developed in Aspen Plus Dynamics® (APD) and used to generate a linear state-space model that is used in the SP algorithm. The SP algorithm is developed with the assumption that an optimal Kalman filter will be implemented in the plant for state and disturbance estimation. The algorithm is developed assuming steady-state Kalman filtering and steady-state operation of the plant. The control system is considered to operate based on the estimated states and thereby, captures the effects of the SP algorithm on the overall plant efficiency. The optimization problem is solved by Genetic Algorithm (GA) considering both linear and nonlinear equality and inequality constraints. Due to the very large number of candidate sets available for sensor placement and because of the long time that it takes to solve the constrained optimization problem that includes more than 1000 states, solution of this problem is computationally expensive. For reducing the computation time, parallel computing is performed using the Distributed Computing Server (DCS®) and the Parallel Computing® toolbox from Mathworks®. In this presentation, we will share our experience in setting up parallel computing using GA in the MATLAB® environment and present the overall approach for achieving higher computational efficiency in this framework.« less

Synchrophasor Data Correction under GPS Spoofing Attack: A State Estimation Based Approach

DOE Office of Scientific and Technical Information (OSTI.GOV)

Fan, Xiaoyuan; Du, Liang; Duan, Dongliang

GPS spoofing attack (GSA) has been shown to be one of the most imminent threats to almost all cyber-physical systems incorporated with the civilian GPS signal. Specifically, for our current agenda of the modernization of the power grid, this may greatly jeopardize the benefits provided by the pervasively installed phasor measurement units (PMU). In this study, we consider the case where synchrophasor data from PMUs are compromised due to the presence of a single GSA, and show that it can be corrected by signal processing techniques. In particular, we introduce a statistical model for synchrophasorbased power system state estimation (SE),more » and then derive the spoofing-matched algorithms for synchrophasor data correction against GPS spoofing attack. Different testing scenarios in IEEE 14-, 30-, 57-, 118-bus systems are simulated to show the proposed algorithms’ performance on GSA detection and state estimation. Numerical results demonstrate that our proposed algorithms can consistently locate and correct the spoofed synchrophasor data with good accuracy as long as the system observability is satisfied. Finally, the accuracy of state estimation is significantly improved compared with the traditional weighted least square method and approaches the performance under the Genie-aided method.« less

Synchrophasor Data Correction under GPS Spoofing Attack: A State Estimation Based Approach

DOE PAGES

Fan, Xiaoyuan; Du, Liang; Duan, Dongliang

2017-02-01

GPS spoofing attack (GSA) has been shown to be one of the most imminent threats to almost all cyber-physical systems incorporated with the civilian GPS signal. Specifically, for our current agenda of the modernization of the power grid, this may greatly jeopardize the benefits provided by the pervasively installed phasor measurement units (PMU). In this study, we consider the case where synchrophasor data from PMUs are compromised due to the presence of a single GSA, and show that it can be corrected by signal processing techniques. In particular, we introduce a statistical model for synchrophasorbased power system state estimation (SE),more » and then derive the spoofing-matched algorithms for synchrophasor data correction against GPS spoofing attack. Different testing scenarios in IEEE 14-, 30-, 57-, 118-bus systems are simulated to show the proposed algorithms’ performance on GSA detection and state estimation. Numerical results demonstrate that our proposed algorithms can consistently locate and correct the spoofed synchrophasor data with good accuracy as long as the system observability is satisfied. Finally, the accuracy of state estimation is significantly improved compared with the traditional weighted least square method and approaches the performance under the Genie-aided method.« less

A novel approach of battery pack state of health estimation using artificial intelligence optimization algorithm

NASA Astrophysics Data System (ADS)

Zhang, Xu; Wang, Yujie; Liu, Chang; Chen, Zonghai

2018-02-01

An accurate battery pack state of health (SOH) estimation is important to characterize the dynamic responses of battery pack and ensure the battery work with safety and reliability. However, the different performances in battery discharge/charge characteristics and working conditions in battery pack make the battery pack SOH estimation difficult. In this paper, the battery pack SOH is defined as the change of battery pack maximum energy storage. It contains all the cells' information including battery capacity, the relationship between state of charge (SOC) and open circuit voltage (OCV), and battery inconsistency. To predict the battery pack SOH, the method of particle swarm optimization-genetic algorithm is applied in battery pack model parameters identification. Based on the results, a particle filter is employed in battery SOC and OCV estimation to avoid the noise influence occurring in battery terminal voltage measurement and current drift. Moreover, a recursive least square method is used to update cells' capacity. Finally, the proposed method is verified by the profiles of New European Driving Cycle and dynamic test profiles. The experimental results indicate that the proposed method can estimate the battery states with high accuracy for actual operation. In addition, the factors affecting the change of SOH is analyzed.

An analysis of a candidate control algorithm for a ride quality augmentation system

NASA Technical Reports Server (NTRS)

Suikat, Reiner; Donaldson, Kent; Downing, David R.

1987-01-01

This paper presents a detailed analysis of a candidate algorithm for a ride quality augmentation system. The algorithm consists of a full-state feedback control law based on optimal control output weighting, estimators for angle of attack and sideslip, and a maneuvering algorithm. The control law is shown to perform well by both frequency and time domain analysis. The rms vertical acceleration is reduced by about 40 percent over the whole mission flight envelope. The estimators for the angle of attack and sideslip avoid the often inaccurate or costly direct measurement of those angles. The maneuvering algorithm will allow the augmented airplane to respond to pilot inputs. The design characteristics and performance are documented by the closed-loop eigenvalues; rms levels of vertical, lateral, and longitudinal acceleration; and representative time histories and frequency response.

Motion Field Estimation for a Dynamic Scene Using a 3D LiDAR

PubMed Central

Li, Qingquan; Zhang, Liang; Mao, Qingzhou; Zou, Qin; Zhang, Pin; Feng, Shaojun; Ochieng, Washington

2014-01-01

This paper proposes a novel motion field estimation method based on a 3D light detection and ranging (LiDAR) sensor for motion sensing for intelligent driverless vehicles and active collision avoidance systems. Unlike multiple target tracking methods, which estimate the motion state of detected targets, such as cars and pedestrians, motion field estimation regards the whole scene as a motion field in which each little element has its own motion state. Compared to multiple target tracking, segmentation errors and data association errors have much less significance in motion field estimation, making it more accurate and robust. This paper presents an intact 3D LiDAR-based motion field estimation method, including pre-processing, a theoretical framework for the motion field estimation problem and practical solutions. The 3D LiDAR measurements are first projected to small-scale polar grids, and then, after data association and Kalman filtering, the motion state of every moving grid is estimated. To reduce computing time, a fast data association algorithm is proposed. Furthermore, considering the spatial correlation of motion among neighboring grids, a novel spatial-smoothing algorithm is also presented to optimize the motion field. The experimental results using several data sets captured in different cities indicate that the proposed motion field estimation is able to run in real-time and performs robustly and effectively. PMID:25207868

Motion field estimation for a dynamic scene using a 3D LiDAR.

PubMed

Li, Qingquan; Zhang, Liang; Mao, Qingzhou; Zou, Qin; Zhang, Pin; Feng, Shaojun; Ochieng, Washington

2014-09-09

This paper proposes a novel motion field estimation method based on a 3D light detection and ranging (LiDAR) sensor for motion sensing for intelligent driverless vehicles and active collision avoidance systems. Unlike multiple target tracking methods, which estimate the motion state of detected targets, such as cars and pedestrians, motion field estimation regards the whole scene as a motion field in which each little element has its own motion state. Compared to multiple target tracking, segmentation errors and data association errors have much less significance in motion field estimation, making it more accurate and robust. This paper presents an intact 3D LiDAR-based motion field estimation method, including pre-processing, a theoretical framework for the motion field estimation problem and practical solutions. The 3D LiDAR measurements are first projected to small-scale polar grids, and then, after data association and Kalman filtering, the motion state of every moving grid is estimated. To reduce computing time, a fast data association algorithm is proposed. Furthermore, considering the spatial correlation of motion among neighboring grids, a novel spatial-smoothing algorithm is also presented to optimize the motion field. The experimental results using several data sets captured in different cities indicate that the proposed motion field estimation is able to run in real-time and performs robustly and effectively.

Rare Event Simulation in Radiation Transport

NASA Astrophysics Data System (ADS)

Kollman, Craig

This dissertation studies methods for estimating extremely small probabilities by Monte Carlo simulation. Problems in radiation transport typically involve estimating very rare events or the expected value of a random variable which is with overwhelming probability equal to zero. These problems often have high dimensional state spaces and irregular geometries so that analytic solutions are not possible. Monte Carlo simulation must be used to estimate the radiation dosage being transported to a particular location. If the area is well shielded the probability of any one particular particle getting through is very small. Because of the large number of particles involved, even a tiny fraction penetrating the shield may represent an unacceptable level of radiation. It therefore becomes critical to be able to accurately estimate this extremely small probability. Importance sampling is a well known technique for improving the efficiency of rare event calculations. Here, a new set of probabilities is used in the simulation runs. The results are multiplied by the likelihood ratio between the true and simulated probabilities so as to keep our estimator unbiased. The variance of the resulting estimator is very sensitive to which new set of transition probabilities are chosen. It is shown that a zero variance estimator does exist, but that its computation requires exact knowledge of the solution. A simple random walk with an associated killing model for the scatter of neutrons is introduced. Large deviation results for optimal importance sampling in random walks are extended to the case where killing is present. An adaptive "learning" algorithm for implementing importance sampling is given for more general Markov chain models of neutron scatter. For finite state spaces this algorithm is shown to give, with probability one, a sequence of estimates converging exponentially fast to the true solution. In the final chapter, an attempt to generalize this algorithm to a continuous state space is made. This involves partitioning the space into a finite number of cells. There is a tradeoff between additional computation per iteration and variance reduction per iteration that arises in determining the optimal grid size. All versions of this algorithm can be thought of as a compromise between deterministic and Monte Carlo methods, capturing advantages of both techniques.

Distributed State Estimation Using a Modified Partitioned Moving Horizon Strategy for Power Systems.

PubMed

Chen, Tengpeng; Foo, Yi Shyh Eddy; Ling, K V; Chen, Xuebing

2017-10-11

In this paper, a distributed state estimation method based on moving horizon estimation (MHE) is proposed for the large-scale power system state estimation. The proposed method partitions the power systems into several local areas with non-overlapping states. Unlike the centralized approach where all measurements are sent to a processing center, the proposed method distributes the state estimation task to the local processing centers where local measurements are collected. Inspired by the partitioned moving horizon estimation (PMHE) algorithm, each local area solves a smaller optimization problem to estimate its own local states by using local measurements and estimated results from its neighboring areas. In contrast with PMHE, the error from the process model is ignored in our method. The proposed modified PMHE (mPMHE) approach can also take constraints on states into account during the optimization process such that the influence of the outliers can be further mitigated. Simulation results on the IEEE 14-bus and 118-bus systems verify that our method achieves comparable state estimation accuracy but with a significant reduction in the overall computation load.

Centralized Multi-Sensor Square Root Cubature Joint Probabilistic Data Association

PubMed Central

Liu, Jun; Li, Gang; Qi, Lin; Li, Yaowen; He, You

2017-01-01

This paper focuses on the tracking problem of multiple targets with multiple sensors in a nonlinear cluttered environment. To avoid Jacobian matrix computation and scaling parameter adjustment, improve numerical stability, and acquire more accurate estimated results for centralized nonlinear tracking, a novel centralized multi-sensor square root cubature joint probabilistic data association algorithm (CMSCJPDA) is proposed. Firstly, the multi-sensor tracking problem is decomposed into several single-sensor multi-target tracking problems, which are sequentially processed during the estimation. Then, in each sensor, the assignment of its measurements to target tracks is accomplished on the basis of joint probabilistic data association (JPDA), and a weighted probability fusion method with square root version of a cubature Kalman filter (SRCKF) is utilized to estimate the targets’ state. With the measurements in all sensors processed CMSCJPDA is derived and the global estimated state is achieved. Experimental results show that CMSCJPDA is superior to the state-of-the-art algorithms in the aspects of tracking accuracy, numerical stability, and computational cost, which provides a new idea to solve multi-sensor tracking problems. PMID:29113085

Centralized Multi-Sensor Square Root Cubature Joint Probabilistic Data Association.

PubMed

Liu, Yu; Liu, Jun; Li, Gang; Qi, Lin; Li, Yaowen; He, You

2017-11-05

This paper focuses on the tracking problem of multiple targets with multiple sensors in a nonlinear cluttered environment. To avoid Jacobian matrix computation and scaling parameter adjustment, improve numerical stability, and acquire more accurate estimated results for centralized nonlinear tracking, a novel centralized multi-sensor square root cubature joint probabilistic data association algorithm (CMSCJPDA) is proposed. Firstly, the multi-sensor tracking problem is decomposed into several single-sensor multi-target tracking problems, which are sequentially processed during the estimation. Then, in each sensor, the assignment of its measurements to target tracks is accomplished on the basis of joint probabilistic data association (JPDA), and a weighted probability fusion method with square root version of a cubature Kalman filter (SRCKF) is utilized to estimate the targets' state. With the measurements in all sensors processed CMSCJPDA is derived and the global estimated state is achieved. Experimental results show that CMSCJPDA is superior to the state-of-the-art algorithms in the aspects of tracking accuracy, numerical stability, and computational cost, which provides a new idea to solve multi-sensor tracking problems.

Inertial Pocket Navigation System: Unaided 3D Positioning

PubMed Central

Munoz Diaz, Estefania

2015-01-01

Inertial navigation systems use dead-reckoning to estimate the pedestrian's position. There are two types of pedestrian dead-reckoning, the strapdown algorithm and the step-and-heading approach. Unlike the strapdown algorithm, which consists of the double integration of the three orthogonal accelerometer readings, the step-and-heading approach lacks the vertical displacement estimation. We propose the first step-and-heading approach based on unaided inertial data solving 3D positioning. We present a step detector for steps up and down and a novel vertical displacement estimator. Our navigation system uses the sensor introduced in the front pocket of the trousers, a likely location of a smartphone. The proposed algorithms are based on the opening angle of the leg or pitch angle. We analyzed our step detector and compared it with the state-of-the-art, as well as our already proposed step length estimator. Lastly, we assessed our vertical displacement estimator in a real-world scenario. We found that our algorithms outperform the literature step and heading algorithms and solve 3D positioning using unaided inertial data. Additionally, we found that with the pitch angle, five activities are distinguishable: standing, sitting, walking, walking up stairs and walking down stairs. This information complements the pedestrian location and is of interest for applications, such as elderly care. PMID:25897501

Solving Quantum Ground-State Problems with Nuclear Magnetic Resonance

PubMed Central

Li, Zhaokai; Yung, Man-Hong; Chen, Hongwei; Lu, Dawei; Whitfield, James D.; Peng, Xinhua; Aspuru-Guzik, Alán; Du, Jiangfeng

2011-01-01

Quantum ground-state problems are computationally hard problems for general many-body Hamiltonians; there is no classical or quantum algorithm known to be able to solve them efficiently. Nevertheless, if a trial wavefunction approximating the ground state is available, as often happens for many problems in physics and chemistry, a quantum computer could employ this trial wavefunction to project the ground state by means of the phase estimation algorithm (PEA). We performed an experimental realization of this idea by implementing a variational-wavefunction approach to solve the ground-state problem of the Heisenberg spin model with an NMR quantum simulator. Our iterative phase estimation procedure yields a high accuracy for the eigenenergies (to the 10−5 decimal digit). The ground-state fidelity was distilled to be more than 80%, and the singlet-to-triplet switching near the critical field is reliably captured. This result shows that quantum simulators can better leverage classical trial wave functions than classical computers PMID:22355607

Vector Graph Assisted Pedestrian Dead Reckoning Using an Unconstrained Smartphone

PubMed Central

Qian, Jiuchao; Pei, Ling; Ma, Jiabin; Ying, Rendong; Liu, Peilin

2015-01-01

The paper presents a hybrid indoor positioning solution based on a pedestrian dead reckoning (PDR) approach using built-in sensors on a smartphone. To address the challenges of flexible and complex contexts of carrying a phone while walking, a robust step detection algorithm based on motion-awareness has been proposed. Given the fact that step length is influenced by different motion states, an adaptive step length estimation algorithm based on motion recognition is developed. Heading estimation is carried out by an attitude acquisition algorithm, which contains a two-phase filter to mitigate the distortion of magnetic anomalies. In order to estimate the heading for an unconstrained smartphone, principal component analysis (PCA) of acceleration is applied to determine the offset between the orientation of smartphone and the actual heading of a pedestrian. Moreover, a particle filter with vector graph assisted particle weighting is introduced to correct the deviation in step length and heading estimation. Extensive field tests, including four contexts of carrying a phone, have been conducted in an office building to verify the performance of the proposed algorithm. Test results show that the proposed algorithm can achieve sub-meter mean error in all contexts. PMID:25738763

Latent degradation indicators estimation and prediction: A Monte Carlo approach

NASA Astrophysics Data System (ADS)

Zhou, Yifan; Sun, Yong; Mathew, Joseph; Wolff, Rodney; Ma, Lin

2011-01-01

Asset health inspections can produce two types of indicators: (1) direct indicators (e.g. the thickness of a brake pad, and the crack depth on a gear) which directly relate to a failure mechanism; and (2) indirect indicators (e.g. the indicators extracted from vibration signals and oil analysis data) which can only partially reveal a failure mechanism. While direct indicators enable more precise references to asset health condition, they are often more difficult to obtain than indirect indicators. The state space model provides an efficient approach to estimating direct indicators by using indirect indicators. However, existing state space models to estimate direct indicators largely depend on assumptions such as, discrete time, discrete state, linearity, and Gaussianity. The discrete time assumption requires fixed inspection intervals. The discrete state assumption entails discretising continuous degradation indicators, which often introduces additional errors. The linear and Gaussian assumptions are not consistent with nonlinear and irreversible degradation processes in most engineering assets. This paper proposes a state space model without these assumptions. Monte Carlo-based algorithms are developed to estimate the model parameters and the remaining useful life. These algorithms are evaluated for performance using numerical simulations through MATLAB. The result shows that both the parameters and the remaining useful life are estimated accurately. Finally, the new state space model is used to process vibration and crack depth data from an accelerated test of a gearbox. During this application, the new state space model shows a better fitness result than the state space model with linear and Gaussian assumption.

Event-Based Stereo Depth Estimation Using Belief Propagation.

PubMed

Xie, Zhen; Chen, Shengyong; Orchard, Garrick

2017-01-01

Compared to standard frame-based cameras, biologically-inspired event-based sensors capture visual information with low latency and minimal redundancy. These event-based sensors are also far less prone to motion blur than traditional cameras, and still operate effectively in high dynamic range scenes. However, classical framed-based algorithms are not typically suitable for these event-based data and new processing algorithms are required. This paper focuses on the problem of depth estimation from a stereo pair of event-based sensors. A fully event-based stereo depth estimation algorithm which relies on message passing is proposed. The algorithm not only considers the properties of a single event but also uses a Markov Random Field (MRF) to consider the constraints between the nearby events, such as disparity uniqueness and depth continuity. The method is tested on five different scenes and compared to other state-of-art event-based stereo matching methods. The results show that the method detects more stereo matches than other methods, with each match having a higher accuracy. The method can operate in an event-driven manner where depths are reported for individual events as they are received, or the network can be queried at any time to generate a sparse depth frame which represents the current state of the network.

Comparative assessment of techniques for initial pose estimation using monocular vision

NASA Astrophysics Data System (ADS)

Sharma, Sumant; D`Amico, Simone

2016-06-01

This work addresses the comparative assessment of initial pose estimation techniques for monocular navigation to enable formation-flying and on-orbit servicing missions. Monocular navigation relies on finding an initial pose, i.e., a coarse estimate of the attitude and position of the space resident object with respect to the camera, based on a minimum number of features from a three dimensional computer model and a single two dimensional image. The initial pose is estimated without the use of fiducial markers, without any range measurements or any apriori relative motion information. Prior work has been done to compare different pose estimators for terrestrial applications, but there is a lack of functional and performance characterization of such algorithms in the context of missions involving rendezvous operations in the space environment. Use of state-of-the-art pose estimation algorithms designed for terrestrial applications is challenging in space due to factors such as limited on-board processing power, low carrier to noise ratio, and high image contrasts. This paper focuses on performance characterization of three initial pose estimation algorithms in the context of such missions and suggests improvements.

On-line, adaptive state estimator for active noise control

NASA Technical Reports Server (NTRS)

Lim, Tae W.

1994-01-01

Dynamic characteristics of airframe structures are expected to vary as aircraft flight conditions change. Accurate knowledge of the changing dynamic characteristics is crucial to enhancing the performance of the active noise control system using feedback control. This research investigates the development of an adaptive, on-line state estimator using a neural network concept to conduct active noise control. In this research, an algorithm has been developed that can be used to estimate displacement and velocity responses at any locations on the structure from a limited number of acceleration measurements and input force information. The algorithm employs band-pass filters to extract from the measurement signal the frequency contents corresponding to a desired mode. The filtered signal is then used to train a neural network which consists of a linear neuron with three weights. The structure of the neural network is designed as simple as possible to increase the sampling frequency as much as possible. The weights obtained through neural network training are then used to construct the transfer function of a mode in z-domain and to identify modal properties of each mode. By using the identified transfer function and interpolating the mode shape obtained at sensor locations, the displacement and velocity responses are estimated with reasonable accuracy at any locations on the structure. The accuracy of the response estimates depends on the number of modes incorporated in the estimates and the number of sensors employed to conduct mode shape interpolation. Computer simulation demonstrates that the algorithm is capable of adapting to the varying dynamic characteristics of structural properties. Experimental implementation of the algorithm on a DSP (digital signal processing) board for a plate structure is underway. The algorithm is expected to reach the sampling frequency range of about 10 kHz to 20 kHz which needs to be maintained for a typical active noise control application.

An adaptive transmission protocol for managing dynamic shared states in collaborative surgical simulation.

PubMed

Qin, J; Choi, K S; Ho, Simon S M; Heng, P A

2008-01-01

A force prediction algorithm is proposed to facilitate virtual-reality (VR) based collaborative surgical simulation by reducing the effect of network latencies. State regeneration is used to correct the estimated prediction. This algorithm is incorporated into an adaptive transmission protocol in which auxiliary features such as view synchronization and coupling control are equipped to ensure the system consistency. We implemented this protocol using multi-threaded technique on a cluster-based network architecture.

Variance-reduced simulation of lattice discrete-time Markov chains with applications in reaction networks

NASA Astrophysics Data System (ADS)

Maginnis, P. A.; West, M.; Dullerud, G. E.

2016-10-01

We propose an algorithm to accelerate Monte Carlo simulation for a broad class of stochastic processes. Specifically, the class of countable-state, discrete-time Markov chains driven by additive Poisson noise, or lattice discrete-time Markov chains. In particular, this class includes simulation of reaction networks via the tau-leaping algorithm. To produce the speedup, we simulate pairs of fair-draw trajectories that are negatively correlated. Thus, when averaged, these paths produce an unbiased Monte Carlo estimator that has reduced variance and, therefore, reduced error. Numerical results for three example systems included in this work demonstrate two to four orders of magnitude reduction of mean-square error. The numerical examples were chosen to illustrate different application areas and levels of system complexity. The areas are: gene expression (affine state-dependent rates), aerosol particle coagulation with emission and human immunodeficiency virus infection (both with nonlinear state-dependent rates). Our algorithm views the system dynamics as a ;black-box;, i.e., we only require control of pseudorandom number generator inputs. As a result, typical codes can be retrofitted with our algorithm using only minor changes. We prove several analytical results. Among these, we characterize the relationship of covariances between paths in the general nonlinear state-dependent intensity rates case, and we prove variance reduction of mean estimators in the special case of affine intensity rates.

Derivatives of logarithmic stationary distributions for policy gradient reinforcement learning.

PubMed

Morimura, Tetsuro; Uchibe, Eiji; Yoshimoto, Junichiro; Peters, Jan; Doya, Kenji

2010-02-01

Most conventional policy gradient reinforcement learning (PGRL) algorithms neglect (or do not explicitly make use of) a term in the average reward gradient with respect to the policy parameter. That term involves the derivative of the stationary state distribution that corresponds to the sensitivity of its distribution to changes in the policy parameter. Although the bias introduced by this omission can be reduced by setting the forgetting rate gamma for the value functions close to 1, these algorithms do not permit gamma to be set exactly at gamma = 1. In this article, we propose a method for estimating the log stationary state distribution derivative (LSD) as a useful form of the derivative of the stationary state distribution through backward Markov chain formulation and a temporal difference learning framework. A new policy gradient (PG) framework with an LSD is also proposed, in which the average reward gradient can be estimated by setting gamma = 0, so it becomes unnecessary to learn the value functions. We also test the performance of the proposed algorithms using simple benchmark tasks and show that these can improve the performances of existing PG methods.

On the Simulation of Sea States with High Significant Wave Height for the Validation of Parameter Retrieval Algorithms for Future Altimetry Missions

NASA Astrophysics Data System (ADS)

Kuschenerus, Mieke; Cullen, Robert

2016-08-01

To ensure reliability and precision of wave height estimates for future satellite altimetry missions such as Sentinel 6, reliable parameter retrieval algorithms that can extract significant wave heights up to 20 m have to be established. The retrieved parameters, i.e. the retrieval methods need to be validated extensively on a wide range of possible significant wave heights. Although current missions require wave height retrievals up to 20 m, there is little evidence of systematic validation of parameter retrieval methods for sea states with wave heights above 10 m. This paper provides a definition of a set of simulated sea states with significant wave height up to 20 m, that allow simulation of radar altimeter response echoes for extreme sea states in SAR and low resolution mode. The simulated radar responses are used to derive significant wave height estimates, which can be compared with the initial models, allowing precision estimations of the applied parameter retrieval methods. Thus we establish a validation method for significant wave height retrieval for sea states causing high significant wave heights, to allow improved understanding and planning of future satellite altimetry mission validation.

Nonlinear convergence active vibration absorber for single and multiple frequency vibration control

NASA Astrophysics Data System (ADS)

Wang, Xi; Yang, Bintang; Guo, Shufeng; Zhao, Wenqiang

2017-12-01

This paper presents a nonlinear convergence algorithm for active dynamic undamped vibration absorber (ADUVA). The damping of absorber is ignored in this algorithm to strengthen the vibration suppressing effect and simplify the algorithm at the same time. The simulation and experimental results indicate that this nonlinear convergence ADUVA can help significantly suppress vibration caused by excitation of both single and multiple frequency. The proposed nonlinear algorithm is composed of equivalent dynamic modeling equations and frequency estimator. Both the single and multiple frequency ADUVA are mathematically imitated by the same mechanical structure with a mass body and a voice coil motor (VCM). The nonlinear convergence estimator is applied to simultaneously satisfy the requirements of fast convergence rate and small steady state frequency error, which are incompatible for linear convergence estimator. The convergence of the nonlinear algorithm is mathematically proofed, and its non-divergent characteristic is theoretically guaranteed. The vibration suppressing experiments demonstrate that the nonlinear ADUVA can accelerate the convergence rate of vibration suppressing and achieve more decrement of oscillation attenuation than the linear ADUVA.

An algorithm to estimate aircraft cruise black carbon emissions for use in developing a cruise emissions inventory.

PubMed

Peck, Jay; Oluwole, Oluwayemisi O; Wong, Hsi-Wu; Miake-Lye, Richard C

2013-03-01

To provide accurate input parameters to the large-scale global climate simulation models, an algorithm was developed to estimate the black carbon (BC) mass emission index for engines in the commercial fleet at cruise. Using a high-dimensional model representation (HDMR) global sensitivity analysis, relevant engine specification/operation parameters were ranked, and the most important parameters were selected. Simple algebraic formulas were then constructed based on those important parameters. The algorithm takes the cruise power (alternatively, fuel flow rate), altitude, and Mach number as inputs, and calculates BC emission index for a given engine/airframe combination using the engine property parameters, such as the smoke number, available in the International Civil Aviation Organization (ICAO) engine certification databank. The algorithm can be interfaced with state-of-the-art aircraft emissions inventory development tools, and will greatly improve the global climate simulations that currently use a single fleet average value for all airplanes. An algorithm to estimate the cruise condition black carbon emission index for commercial aircraft engines was developed. Using the ICAO certification data, the algorithm can evaluate the black carbon emission at given cruise altitude and speed.

Doppler-based motion compensation algorithm for focusing the signature of a rotorcraft.

PubMed

Goldman, Geoffrey H

2013-02-01

A computationally efficient algorithm was developed and tested to compensate for the effects of motion on the acoustic signature of a rotorcraft. For target signatures with large spectral peaks that vary slowly in amplitude and have near constant frequency, the time-varying Doppler shift can be tracked and then removed from the data. The algorithm can be used to preprocess data for classification, tracking, and nulling algorithms. The algorithm was tested on rotorcraft data. The average instantaneous frequency of the first harmonic of a rotorcraft was tracked with a fixed-lag smoother. Then, state space estimates of the frequency were used to calculate a time warping that removed the effect of a time-varying Doppler shift from the data. The algorithm was evaluated by analyzing the increase in the amplitude of the harmonics in the spectrum of a rotorcraft. The results depended upon the frequency of the harmonics and the processing interval duration. Under good conditions, the results for the fundamental frequency of the target (~11 Hz) almost achieved an estimated upper bound. The results for higher frequency harmonics had larger increases in the amplitude of the peaks, but significantly lower than the estimated upper bounds.

A PC-based magnetometer-only attitude and rate determination system for gyroless spacecraft

NASA Technical Reports Server (NTRS)

Challa, M.; Natanson, G.; Deutschmann, J.; Galal, K.

1995-01-01

This paper describes a prototype PC-based system that uses measurements from a three-axis magnetometer (TAM) to estimate the state (three-axis attitude and rates) of a spacecraft given no a priori information other than the mass properties. The system uses two algorithms that estimate the spacecraft's state - a deterministic magnetic-field only algorithm and a Kalman filter for gyroless spacecraft. The algorithms are combined by invoking the deterministic algorithm to generate the spacecraft state at epoch using a small batch of data and then using this deterministic epoch solution as the initial condition for the Kalman filter during the production run. System input comprises processed data that includes TAM and reference magnetic field data. Additional information, such as control system data and measurements from line-of-sight sensors, can be input to the system if available. Test results are presented using in-flight data from two three-axis stabilized spacecraft: Solar, Anomalous, and Magnetospheric Particle Explorer (SAMPEX) (gyroless, Sun-pointing) and Earth Radiation Budget Satellite (ERBS) (gyro-based, Earth-pointing). The results show that, using as little as 700 s of data, the system is capable of accuracies of 1.5 deg in attitude and 0.01 deg/s in rates; i.e., within SAMPEX mission requirements.

A Variable Step-Size Proportionate Affine Projection Algorithm for Identification of Sparse Impulse Response

NASA Astrophysics Data System (ADS)

Liu, Ligang; Fukumoto, Masahiro; Saiki, Sachio; Zhang, Shiyong

2009-12-01

Proportionate adaptive algorithms have been proposed recently to accelerate convergence for the identification of sparse impulse response. When the excitation signal is colored, especially the speech, the convergence performance of proportionate NLMS algorithms demonstrate slow convergence speed. The proportionate affine projection algorithm (PAPA) is expected to solve this problem by using more information in the input signals. However, its steady-state performance is limited by the constant step-size parameter. In this article we propose a variable step-size PAPA by canceling the a posteriori estimation error. This can result in high convergence speed using a large step size when the identification error is large, and can then considerably decrease the steady-state misalignment using a small step size after the adaptive filter has converged. Simulation results show that the proposed approach can greatly improve the steady-state misalignment without sacrificing the fast convergence of PAPA.

Coarse initial orbit determination for a geostationary satellite using single-epoch GPS measurements.

PubMed

Kim, Ghangho; Kim, Chongwon; Kee, Changdon

2015-04-01

A practical algorithm is proposed for determining the orbit of a geostationary orbit (GEO) satellite using single-epoch measurements from a Global Positioning System (GPS) receiver under the sparse visibility of the GPS satellites. The algorithm uses three components of a state vector to determine the satellite's state, even when it is impossible to apply the classical single-point solutions (SPS). Through consideration of the characteristics of the GEO orbital elements and GPS measurements, the components of the state vector are reduced to three. However, the algorithm remains sufficiently accurate for a GEO satellite. The developed algorithm was tested on simulated measurements from two or three GPS satellites, and the calculated maximum position error was found to be less than approximately 40 km or even several kilometers within the geometric range, even when the classical SPS solution was unattainable. In addition, extended Kalman filter (EKF) tests of a GEO satellite with the estimated initial state were performed to validate the algorithm. In the EKF, a reliable dynamic model was adapted to reduce the probability of divergence that can be caused by large errors in the initial state.

Coarse Initial Orbit Determination for a Geostationary Satellite Using Single-Epoch GPS Measurements

PubMed Central

Kim, Ghangho; Kim, Chongwon; Kee, Changdon

2015-01-01

A practical algorithm is proposed for determining the orbit of a geostationary orbit (GEO) satellite using single-epoch measurements from a Global Positioning System (GPS) receiver under the sparse visibility of the GPS satellites. The algorithm uses three components of a state vector to determine the satellite’s state, even when it is impossible to apply the classical single-point solutions (SPS). Through consideration of the characteristics of the GEO orbital elements and GPS measurements, the components of the state vector are reduced to three. However, the algorithm remains sufficiently accurate for a GEO satellite. The developed algorithm was tested on simulated measurements from two or three GPS satellites, and the calculated maximum position error was found to be less than approximately 40 km or even several kilometers within the geometric range, even when the classical SPS solution was unattainable. In addition, extended Kalman filter (EKF) tests of a GEO satellite with the estimated initial state were performed to validate the algorithm. In the EKF, a reliable dynamic model was adapted to reduce the probability of divergence that can be caused by large errors in the initial state. PMID:25835299

Script-independent text line segmentation in freestyle handwritten documents.

PubMed

Li, Yi; Zheng, Yefeng; Doermann, David; Jaeger, Stefan; Li, Yi

2008-08-01

Text line segmentation in freestyle handwritten documents remains an open document analysis problem. Curvilinear text lines and small gaps between neighboring text lines present a challenge to algorithms developed for machine printed or hand-printed documents. In this paper, we propose a novel approach based on density estimation and a state-of-the-art image segmentation technique, the level set method. From an input document image, we estimate a probability map, where each element represents the probability that the underlying pixel belongs to a text line. The level set method is then exploited to determine the boundary of neighboring text lines by evolving an initial estimate. Unlike connected component based methods ( [1], [2] for example), the proposed algorithm does not use any script-specific knowledge. Extensive quantitative experiments on freestyle handwritten documents with diverse scripts, such as Arabic, Chinese, Korean, and Hindi, demonstrate that our algorithm consistently outperforms previous methods [1]-[3]. Further experiments show the proposed algorithm is robust to scale change, rotation, and noise.

Heli/SITAN: A Terrain Referenced Navigation algorithm for helicopters

DOE Office of Scientific and Technical Information (OSTI.GOV)

Hollowell, J.

1990-01-01

Heli/SITAN is a Terrain Referenced Navigation (TRN) algorithm that utilizes radar altimeter ground clearance measurements in combination with a conventional navigation system and a stored digital terrain elevation map to accurately estimate a helicopter's position. Multiple Model Adaptive Estimation (MMAE) techniques are employed using a bank of single state Kalman filters to ensure that reliable position estimates are obtained even in the face of large initial position errors. A real-time implementation of the algorithm was tested aboard a US Army UH-1 helicopter equipped with a Singer-Kearfott Doppler Velocity Sensor (DVS) and a Litton LR-80 strapdown Attitude and Heading Reference Systemmore » (AHRS). The median radial error of the position fixes provided in real-time by this implementation was less than 50 m for a variety of mission profiles. 6 refs., 7 figs.« less

Vector Observation-Aided/Attitude-Rate Estimation Using Global Positioning System Signals

NASA Technical Reports Server (NTRS)

Oshman, Yaakov; Markley, F. Landis

1997-01-01

A sequential filtering algorithm is presented for attitude and attitude-rate estimation from Global Positioning System (GPS) differential carrier phase measurements. A third-order, minimal-parameter method for solving the attitude matrix kinematic equation is used to parameterize the filter's state, which renders the resulting estimator computationally efficient. Borrowing from tracking theory concepts, the angular acceleration is modeled as an exponentially autocorrelated stochastic process, thus avoiding the use of the uncertain spacecraft dynamic model. The new formulation facilitates the use of aiding vector observations in a unified filtering algorithm, which can enhance the method's robustness and accuracy. Numerical examples are used to demonstrate the performance of the method.

Estimation Filter for Alignment of the Spitzer Space Telescope

NASA Technical Reports Server (NTRS)

Bayard, David

2007-01-01

A document presents a summary of an onboard estimation algorithm now being used to calibrate the alignment of the Spitzer Space Telescope (formerly known as the Space Infrared Telescope Facility). The algorithm, denoted the S2P calibration filter, recursively generates estimates of the alignment angles between a telescope reference frame and a star-tracker reference frame. At several discrete times during the day, the filter accepts, as input, attitude estimates from the star tracker and observations taken by the Pointing Control Reference Sensor (a sensor in the field of view of the telescope). The output of the filter is a calibrated quaternion that represents the best current mean-square estimate of the alignment angles between the telescope and the star tracker. The S2P calibration filter incorporates a Kalman filter that tracks six states - two for each of three orthogonal coordinate axes. Although, in principle, one state per axis is sufficient, the use of two states per axis makes it possible to model both short- and long-term behaviors. Specifically, the filter properly models transient learning, characteristic times and bounds of thermomechanical drift, and long-term steady-state statistics, whether calibration measurements are taken frequently or infrequently. These properties ensure that the S2P filter performance is optimal over a broad range of flight conditions, and can be confidently run autonomously over several years of in-flight operation without human intervention.

State Estimation for Tensegrity Robots

NASA Technical Reports Server (NTRS)

Caluwaerts, Ken; Bruce, Jonathan; Friesen, Jeffrey M.; Sunspiral, Vytas

2016-01-01

Tensegrity robots are a class of compliant robots that have many desirable traits when designing mass efficient systems that must interact with uncertain environments. Various promising control approaches have been proposed for tensegrity systems in simulation. Unfortunately, state estimation methods for tensegrity robots have not yet been thoroughly studied. In this paper, we present the design and evaluation of a state estimator for tensegrity robots. This state estimator will enable existing and future control algorithms to transfer from simulation to hardware. Our approach is based on the unscented Kalman filter (UKF) and combines inertial measurements, ultra wideband time-of-flight ranging measurements, and actuator state information. We evaluate the effectiveness of our method on the SUPERball, a tensegrity based planetary exploration robotic prototype. In particular, we conduct tests for evaluating both the robot's success in estimating global position in relation to fixed ranging base stations during rolling maneuvers as well as local behavior due to small-amplitude deformations induced by cable actuation.

An Example of the Estimation and Display of a Smoothly Varying Function of Time and Space--The Incidence of the Disease Mumps.

ERIC Educational Resources Information Center

Eddy, William F.; Mockus, Audris

1994-01-01

Describes animation algorithms for creating smooth functions of time- and space-varying phenomenon. The incidence of the disease mumps from 1968-88 in the United States is used to demonstrate the algorithms. Figures that illustrate the findings are included. (14 references) (KRN)

Space Shuttle propulsion parameter estimation using optimal estimation techniques, volume 1

NASA Technical Reports Server (NTRS)

1983-01-01

The mathematical developments and their computer program implementation for the Space Shuttle propulsion parameter estimation project are summarized. The estimation approach chosen is the extended Kalman filtering with a modified Bryson-Frazier smoother. Its use here is motivated by the objective of obtaining better estimates than those available from filtering and to eliminate the lag associated with filtering. The estimation technique uses as the dynamical process the six degree equations-of-motion resulting in twelve state vector elements. In addition to these are mass and solid propellant burn depth as the ""system'' state elements. The ""parameter'' state elements can include aerodynamic coefficient, inertia, center-of-gravity, atmospheric wind, etc. deviations from referenced values. Propulsion parameter state elements have been included not as options just discussed but as the main parameter states to be estimated. The mathematical developments were completed for all these parameters. Since the systems dynamics and measurement processes are non-linear functions of the states, the mathematical developments are taken up almost entirely by the linearization of these equations as required by the estimation algorithms.

State estimation with incomplete nonlinear constraint

NASA Astrophysics Data System (ADS)

Huang, Yuan; Wang, Xueying; An, Wei

2017-10-01

A problem of state estimation with a new constraints named incomplete nonlinear constraint is considered. The targets are often move in the curve road, if the width of road is neglected, the road can be considered as the constraint, and the position of sensors, e.g., radar, is known in advance, this info can be used to enhance the performance of the tracking filter. The problem of how to incorporate the priori knowledge is considered. In this paper, a second-order sate constraint is considered. A fitting algorithm of ellipse is adopted to incorporate the priori knowledge by estimating the radius of the trajectory. The fitting problem is transformed to the nonlinear estimation problem. The estimated ellipse function is used to approximate the nonlinear constraint. Then, the typical nonlinear constraint methods proposed in recent works can be used to constrain the target state. Monte-Carlo simulation results are presented to illustrate the effectiveness proposed method in state estimation with incomplete constraint.

Sliding mode control based on Kalman filter dynamic estimation of battery SOC

NASA Astrophysics Data System (ADS)

He, Dongmeia; Hou, Enguang; Qiao, Xin; Liu, Guangmin

2018-06-01

Lithium-ion battery charge state of the accurate and rapid estimation of battery management system is the key technology. In this paper, an exponentially reaching law sliding-mode variable structure control algorithm based on Kalman filter is proposed to estimate the state of charge of Li-ion battery for the dynamic nonlinear system. The RC equivalent circuit model is established, and the model equation with specific structure is given. The proposed Kalman filter sliding mode structure is used to estimate the state of charge of the battery in the battery model, and the jitter effect can be avoided and the estimation performance can be improved. The simulation results show that the proposed Kalman filter sliding mode control has good accuracy in estimating the state of charge of the battery compared with the ordinary Kalman filter, and the error range is within 3%.

Improved quantum backtracking algorithms using effective resistance estimates

NASA Astrophysics Data System (ADS)

Jarret, Michael; Wan, Kianna

2018-02-01

We investigate quantum backtracking algorithms of the type introduced by Montanaro (Montanaro, arXiv:1509.02374). These algorithms explore trees of unknown structure and in certain settings exponentially outperform their classical counterparts. Some of the previous work focused on obtaining a quantum advantage for trees in which a unique marked vertex is promised to exist. We remove this restriction by recharacterizing the problem in terms of the effective resistance of the search space. In this paper, we present a generalization of one of Montanaro's algorithms to trees containing k marked vertices, where k is not necessarily known a priori. Our approach involves using amplitude estimation to determine a near-optimal weighting of a diffusion operator, which can then be applied to prepare a superposition state with support only on marked vertices and ancestors thereof. By repeatedly sampling this state and updating the input vertex, a marked vertex is reached in a logarithmic number of steps. The algorithm thereby achieves the conjectured bound of O ˜(√{T Rmax }) for finding a single marked vertex and O ˜(k √{T Rmax }) for finding all k marked vertices, where T is an upper bound on the tree size and Rmax is the maximum effective resistance encountered by the algorithm. This constitutes a speedup over Montanaro's original procedure in both the case of finding one and the case of finding multiple marked vertices in an arbitrary tree.

Simultaneous Mass Determination for Gravitationally Coupled Asteroids

NASA Astrophysics Data System (ADS)

Baer, James; Chesley, Steven R.

2017-08-01

The conventional least-squares asteroid mass determination algorithm allows us to solve for the mass of a large subject asteroid that is perturbing the trajectory of a smaller test asteroid. However, this algorithm is necessarily a first approximation, ignoring the possibility that the subject asteroid may itself be perturbed by the test asteroid, or that the encounter’s precise geometry may be entangled with encounters involving other asteroids. After reviewing the conventional algorithm, we use it to calculate the masses of 30 main-belt asteroids. Compared to our previous results, we find new mass estimates for eight asteroids (11 Parthenope, 27 Euterpe, 51 Neimausa, 76 Freia, 121 Hermione, 324 Bamberga, 476 Hedwig, and 532 Herculina) and significantly more precise estimates for six others (2 Pallas, 3 Juno, 4 Vesta, 9 Metis, 16 Psyche, and 88 Thisbe). However, we also find that the conventional algorithm yields questionable results in several gravitationally coupled cases. To address such cases, we describe a new algorithm that allows the epoch state vectors of the subject asteroids to be included as solve-for parameters, allowing for the simultaneous solution of the masses and epoch state vectors of multiple subject and test asteroids. We then apply this algorithm to the same 30 main-belt asteroids and conclude that mass determinations resulting from current and future high-precision astrometric sources (such as Gaia) should conduct a thorough search for possible gravitational couplings and account for their effects.

Assessing the MODIS crop detection algorithm for soybean crop area mapping and expansion in the Mato Grosso state, Brazil.

PubMed

Gusso, Anibal; Arvor, Damien; Ducati, Jorge Ricardo; Veronez, Mauricio Roberto; da Silveira, Luiz Gonzaga

2014-01-01

Estimations of crop area were made based on the temporal profiles of the Enhanced Vegetation Index (EVI) obtained from moderate resolution imaging spectroradiometer (MODIS) images. Evaluation of the ability of the MODIS crop detection algorithm (MCDA) to estimate soybean crop areas was performed for fields in the Mato Grosso state, Brazil. Using the MCDA approach, soybean crop area estimations can be provided for December (first forecast) using images from the sowing period and for February (second forecast) using images from the sowing period and the maximum crop development period. The area estimates were compared to official agricultural statistics from the Brazilian Institute of Geography and Statistics (IBGE) and from the National Company of Food Supply (CONAB) at different crop levels from 2000/2001 to 2010/2011. At the municipality level, the estimates were highly correlated, with R (2) = 0.97 and RMSD = 13,142 ha. The MCDA was validated using field campaign data from the 2006/2007 crop year. The overall map accuracy was 88.25%, and the Kappa Index of Agreement was 0.765. By using pre-defined parameters, MCDA is able to provide the evolution of annual soybean maps, forecast of soybean cropping areas, and the crop area expansion in the Mato Grosso state.

Estimation of wind stress using dual-frequency TOPEX data

NASA Astrophysics Data System (ADS)

Elfouhaily, Tanos; Vandemark, Douglas; Gourrion, Jéro‸me; Chapron, Bertrand

1998-10-01

The TOPEX/POSEIDON satellite carries the first dual-frequency radar altimeter. Monofrequency (Ku-band) algorithms are presently used to retrieve surface wind speed from the altimeter's radar cross-section measurement (σ0Ku). These algorithms work reasonably well, but it is also known that altimeter wind estimates can be contaminated by residual effects, such as sea state, embedded in the σ0Ku measurement. Investigating the potential benefit of using two frequencies for wind retrieval, it is shown that a simple evaluation of TOPEX data yields previously unavailable information, particularly for high and low wind speeds. As the wind speed increases, the dual-frequency data provides a measurement more directly linked to the short-scale surface roughness, which in turn is associated with the local surface wind stress. Using a global TOPEX σ0° data set and TOPEX's significant wave height (Hs) estimate as a surrogate for the sea state's degree of development, it is also shown that differences between the two TOPEX σ0 measurements strongly evidence nonlocal sea state signature. A composite scattering theory is used to show how the dual-frequency data can provide an improved friction velocity model, especially for winds above 7 m/s. A wind speed conversion is included using a sea state dependent drag coefficient fed with TOPEX Hs data. Two colocated TOPEX-buoy data sets (from the National Data Buoy Center (NDBC) and the Structure des Echanges Mer-Atmosphre, Proprietes des Heterogeneites Oceaniques: Recherche Expérimentale (SEMAPHORE) campaign) are employed to test the new wind speed algorithm. A measurable improvement in wind speed estimation is obtained when compared to the monofrequency Witter and Chelton [1991] model.

GNSS/Electronic Compass/Road Segment Information Fusion for Vehicle-to-Vehicle Collision Avoidance Application

PubMed Central

Cheng, Qi; Xue, Dabin; Wang, Guanyu; Ochieng, Washington Yotto

2017-01-01

The increasing number of vehicles in modern cities brings the problem of increasing crashes. One of the applications or services of Intelligent Transportation Systems (ITS) conceived to improve safety and reduce congestion is collision avoidance. This safety critical application requires sub-meter level vehicle state estimation accuracy with very high integrity, continuity and availability, to detect an impending collision and issue a warning or intervene in the case that the warning is not heeded. Because of the challenging city environment, to date there is no approved method capable of delivering this high level of performance in vehicle state estimation. In particular, the current Global Navigation Satellite System (GNSS) based collision avoidance systems have the major limitation that the real-time accuracy of dynamic state estimation deteriorates during abrupt acceleration and deceleration situations, compromising the integrity of collision avoidance. Therefore, to provide the Required Navigation Performance (RNP) for collision avoidance, this paper proposes a novel Particle Filter (PF) based model for the integration or fusion of real-time kinematic (RTK) GNSS position solutions with electronic compass and road segment data used in conjunction with an Autoregressive (AR) motion model. The real-time vehicle state estimates are used together with distance based collision avoidance algorithms to predict potential collisions. The algorithms are tested by simulation and in the field representing a low density urban environment. The results show that the proposed algorithm meets the horizontal positioning accuracy requirement for collision avoidance and is superior to positioning accuracy of GNSS only, traditional Constant Velocity (CV) and Constant Acceleration (CA) based motion models, with a significant improvement in the prediction accuracy of potential collision. PMID:29186851

GNSS/Electronic Compass/Road Segment Information Fusion for Vehicle-to-Vehicle Collision Avoidance Application.

PubMed

Sun, Rui; Cheng, Qi; Xue, Dabin; Wang, Guanyu; Ochieng, Washington Yotto

2017-11-25

The increasing number of vehicles in modern cities brings the problem of increasing crashes. One of the applications or services of Intelligent Transportation Systems (ITS) conceived to improve safety and reduce congestion is collision avoidance. This safety critical application requires sub-meter level vehicle state estimation accuracy with very high integrity, continuity and availability, to detect an impending collision and issue a warning or intervene in the case that the warning is not heeded. Because of the challenging city environment, to date there is no approved method capable of delivering this high level of performance in vehicle state estimation. In particular, the current Global Navigation Satellite System (GNSS) based collision avoidance systems have the major limitation that the real-time accuracy of dynamic state estimation deteriorates during abrupt acceleration and deceleration situations, compromising the integrity of collision avoidance. Therefore, to provide the Required Navigation Performance (RNP) for collision avoidance, this paper proposes a novel Particle Filter (PF) based model for the integration or fusion of real-time kinematic (RTK) GNSS position solutions with electronic compass and road segment data used in conjunction with an Autoregressive (AR) motion model. The real-time vehicle state estimates are used together with distance based collision avoidance algorithms to predict potential collisions. The algorithms are tested by simulation and in the field representing a low density urban environment. The results show that the proposed algorithm meets the horizontal positioning accuracy requirement for collision avoidance and is superior to positioning accuracy of GNSS only, traditional Constant Velocity (CV) and Constant Acceleration (CA) based motion models, with a significant improvement in the prediction accuracy of potential collision.

One-way quantum computing in superconducting circuits

NASA Astrophysics Data System (ADS)

Albarrán-Arriagada, F.; Alvarado Barrios, G.; Sanz, M.; Romero, G.; Lamata, L.; Retamal, J. C.; Solano, E.

2018-03-01

We propose a method for the implementation of one-way quantum computing in superconducting circuits. Measurement-based quantum computing is a universal quantum computation paradigm in which an initial cluster state provides the quantum resource, while the iteration of sequential measurements and local rotations encodes the quantum algorithm. Up to now, technical constraints have limited a scalable approach to this quantum computing alternative. The initial cluster state can be generated with available controlled-phase gates, while the quantum algorithm makes use of high-fidelity readout and coherent feedforward. With current technology, we estimate that quantum algorithms with above 20 qubits may be implemented in the path toward quantum supremacy. Moreover, we propose an alternative initial state with properties of maximal persistence and maximal connectedness, reducing the required resources of one-way quantum computing protocols.

Modeling, Control, and Estimation of Flexible, Aerodynamic Structures

NASA Astrophysics Data System (ADS)

Ray, Cody W.

Engineers have long been inspired by nature’s flyers. Such animals navigate complex environments gracefully and efficiently by using a variety of evolutionary adaptations for high-performance flight. Biologists have discovered a variety of sensory adaptations that provide flow state feedback and allow flying animals to feel their way through flight. A specialized skeletal wing structure and plethora of robust, adaptable sensory systems together allow nature’s flyers to adapt to myriad flight conditions and regimes. In this work, motivated by biology and the successes of bio-inspired, engineered aerial vehicles, linear quadratic control of a flexible, morphing wing design is investigated, helping to pave the way for truly autonomous, mission-adaptive craft. The proposed control algorithm is demonstrated to morph a wing into desired positions. Furthermore, motivated specifically by the sensory adaptations organisms possess, this work transitions to an investigation of aircraft wing load identification using structural response as measured by distributed sensors. A novel, recursive estimation algorithm is utilized to recursively solve the inverse problem of load identification, providing both wing structural and aerodynamic states for use in a feedback control, mission-adaptive framework. The recursive load identification algorithm is demonstrated to provide accurate load estimate in both simulation and experiment.

Performance of a Limiting-Antigen Avidity Enzyme Immunoassay for Cross-Sectional Estimation of HIV Incidence in the United States

PubMed Central

Konikoff, Jacob; Brookmeyer, Ron; Longosz, Andrew F.; Cousins, Matthew M.; Celum, Connie; Buchbinder, Susan P.; Seage, George R.; Kirk, Gregory D.; Moore, Richard D.; Mehta, Shruti H.; Margolick, Joseph B.; Brown, Joelle; Mayer, Kenneth H.; Koblin, Beryl A.; Justman, Jessica E.; Hodder, Sally L.; Quinn, Thomas C.; Eshleman, Susan H.; Laeyendecker, Oliver

2013-01-01

Background A limiting antigen avidity enzyme immunoassay (HIV-1 LAg-Avidity assay) was recently developed for cross-sectional HIV incidence estimation. We evaluated the performance of the LAg-Avidity assay alone and in multi-assay algorithms (MAAs) that included other biomarkers. Methods and Findings Performance of testing algorithms was evaluated using 2,282 samples from individuals in the United States collected 1 month to >8 years after HIV seroconversion. The capacity of selected testing algorithms to accurately estimate incidence was evaluated in three longitudinal cohorts. When used in a single-assay format, the LAg-Avidity assay classified some individuals infected >5 years as assay positive and failed to provide reliable incidence estimates in cohorts that included individuals with long-term infections. We evaluated >500,000 testing algorithms, that included the LAg-Avidity assay alone and MAAs with other biomarkers (BED capture immunoassay [BED-CEIA], BioRad-Avidity assay, HIV viral load, CD4 cell count), varying the assays and assay cutoffs. We identified an optimized 2-assay MAA that included the LAg-Avidity and BioRad-Avidity assays, and an optimized 4-assay MAA that included those assays, as well as HIV viral load and CD4 cell count. The two optimized MAAs classified all 845 samples from individuals infected >5 years as MAA negative and estimated incidence within a year of sample collection. These two MAAs produced incidence estimates that were consistent with those from longitudinal follow-up of cohorts. A comparison of the laboratory assay costs of the MAAs was also performed, and we found that the costs associated with the optimal two assay MAA were substantially less than with the four assay MAA. Conclusions The LAg-Avidity assay did not perform well in a single-assay format, regardless of the assay cutoff. MAAs that include the LAg-Avidity and BioRad-Avidity assays, with or without viral load and CD4 cell count, provide accurate incidence estimates. PMID:24386116

Advantages of estimating rate corrections during dynamic propagation of spacecraft rates: Applications to real-time attitude determination of SAMPEX

NASA Technical Reports Server (NTRS)

Challa, M. S.; Natanson, G. A.; Baker, D. F.; Deutschmann, J. K.

1994-01-01

This paper describes real-time attitude determination results for the Solar, Anomalous, and Magnetospheric Particle Explorer (SAMPEX), a gyroless spacecraft, using a Kalman filter/Euler equation approach denoted the real-time sequential filter (RTSF). The RTSF is an extended Kalman filter whose state vector includes the attitude quaternion and corrections to the rates, which are modeled as Markov processes with small time constants. The rate corrections impart a significant robustness to the RTSF against errors in modeling the environmental and control torques, as well as errors in the initial attitude and rates, while maintaining a small state vector. SAMPLEX flight data from various mission phases are used to demonstrate the robustness of the RTSF against a priori attitude and rate errors of up to 90 deg and 0.5 deg/sec, respectively, as well as a sensitivity of 0.0003 deg/sec in estimating rate corrections in torque computations. In contrast, it is shown that the RTSF attitude estimates without the rate corrections can degrade rapidly. RTSF advantages over single-frame attitude determination algorithms are also demonstrated through (1) substantial improvements in attitude solutions during sun-magnetic field coalignment and (2) magnetic-field-only attitude and rate estimation during the spacecraft's sun-acquisition mode. A robust magnetometer-only attitude-and-rate determination method is also developed to provide for the contingency when both sun data as well as a priori knowledge of the spacecraft state are unavailable. This method includes a deterministic algorithm used to initialize the RTSF with coarse estimates of the spacecraft attitude and rates. The combined algorithm has been found effective, yielding accuracies of 1.5 deg in attitude and 0.01 deg/sec in the rates and convergence times as little as 400 sec.

Estimation of power lithium-ion battery SOC based on fuzzy optimal decision

NASA Astrophysics Data System (ADS)

He, Dongmei; Hou, Enguang; Qiao, Xin; Liu, Guangmin

2018-06-01

In order to improve vehicle performance and safety, need to accurately estimate the power lithium battery state of charge (SOC), analyzing the common SOC estimation methods, according to the characteristics open circuit voltage and Kalman filter algorithm, using T - S fuzzy model, established a lithium battery SOC estimation method based on the fuzzy optimal decision. Simulation results show that the battery model accuracy can be improved.

On robust parameter estimation in brain-computer interfacing

NASA Astrophysics Data System (ADS)

Samek, Wojciech; Nakajima, Shinichi; Kawanabe, Motoaki; Müller, Klaus-Robert

2017-12-01

Objective. The reliable estimation of parameters such as mean or covariance matrix from noisy and high-dimensional observations is a prerequisite for successful application of signal processing and machine learning algorithms in brain-computer interfacing (BCI). This challenging task becomes significantly more difficult if the data set contains outliers, e.g. due to subject movements, eye blinks or loose electrodes, as they may heavily bias the estimation and the subsequent statistical analysis. Although various robust estimators have been developed to tackle the outlier problem, they ignore important structural information in the data and thus may not be optimal. Typical structural elements in BCI data are the trials consisting of a few hundred EEG samples and indicating the start and end of a task. Approach. This work discusses the parameter estimation problem in BCI and introduces a novel hierarchical view on robustness which naturally comprises different types of outlierness occurring in structured data. Furthermore, the class of minimum divergence estimators is reviewed and a robust mean and covariance estimator for structured data is derived and evaluated with simulations and on a benchmark data set. Main results. The results show that state-of-the-art BCI algorithms benefit from robustly estimated parameters. Significance. Since parameter estimation is an integral part of various machine learning algorithms, the presented techniques are applicable to many problems beyond BCI.

Side-information-dependent correlation channel estimation in hash-based distributed video coding.

PubMed

Deligiannis, Nikos; Barbarien, Joeri; Jacobs, Marc; Munteanu, Adrian; Skodras, Athanassios; Schelkens, Peter

2012-04-01

In the context of low-cost video encoding, distributed video coding (DVC) has recently emerged as a potential candidate for uplink-oriented applications. This paper builds on a concept of correlation channel (CC) modeling, which expresses the correlation noise as being statistically dependent on the side information (SI). Compared with classical side-information-independent (SII) noise modeling adopted in current DVC solutions, it is theoretically proven that side-information-dependent (SID) modeling improves the Wyner-Ziv coding performance. Anchored in this finding, this paper proposes a novel algorithm for online estimation of the SID CC parameters based on already decoded information. The proposed algorithm enables bit-plane-by-bit-plane successive refinement of the channel estimation leading to progressively improved accuracy. Additionally, the proposed algorithm is included in a novel DVC architecture that employs a competitive hash-based motion estimation technique to generate high-quality SI at the decoder. Experimental results corroborate our theoretical gains and validate the accuracy of the channel estimation algorithm. The performance assessment of the proposed architecture shows remarkable and consistent coding gains over a germane group of state-of-the-art distributed and standard video codecs, even under strenuous conditions, i.e., large groups of pictures and highly irregular motion content.

Web of Objects Based Ambient Assisted Living Framework for Emergency Psychiatric State Prediction

PubMed Central

Alam, Md Golam Rabiul; Abedin, Sarder Fakhrul; Al Ameen, Moshaddique; Hong, Choong Seon

2016-01-01

Ambient assisted living can facilitate optimum health and wellness by aiding physical, mental and social well-being. In this paper, patients’ psychiatric symptoms are collected through lightweight biosensors and web-based psychiatric screening scales in a smart home environment and then analyzed through machine learning algorithms to provide ambient intelligence in a psychiatric emergency. The psychiatric states are modeled through a Hidden Markov Model (HMM), and the model parameters are estimated using a Viterbi path counting and scalable Stochastic Variational Inference (SVI)-based training algorithm. The most likely psychiatric state sequence of the corresponding observation sequence is determined, and an emergency psychiatric state is predicted through the proposed algorithm. Moreover, to enable personalized psychiatric emergency care, a service a web of objects-based framework is proposed for a smart-home environment. In this framework, the biosensor observations and the psychiatric rating scales are objectified and virtualized in the web space. Then, the web of objects of sensor observations and psychiatric rating scores are used to assess the dweller’s mental health status and to predict an emergency psychiatric state. The proposed psychiatric state prediction algorithm reported 83.03 percent prediction accuracy in an empirical performance study. PMID:27608023

EKF-Based Enhanced Performance Controller Design for Nonlinear Stochastic Systems

DOE Office of Scientific and Technical Information (OSTI.GOV)

Zhou, Yuyang; Zhang, Qichun; Wang, Hong

In this paper, a novel control algorithm is presented to enhance the performance of tracking property for a class of non-linear dynamic stochastic systems with unmeasurable variables. To minimize the entropy of tracking errors without changing the existing closed loop with PI controller, the enhanced performance loop is constructed based on the state estimation by extended Kalman Filter and the new controller is designed by full state feedback following this presented control algorithm. Besides, the conditions are obtained for the stability analysis in the mean square sense. In the end, the comparative simulation results are given to illustrate the effectivenessmore » of proposed control algorithm.« less

Self-tuning control of attitude and momentum management for the Space Station

NASA Technical Reports Server (NTRS)

Shieh, L. S.; Sunkel, J. W.; Yuan, Z. Z.; Zhao, X. M.

1992-01-01

This paper presents a hybrid state-space self-tuning design methodology using dual-rate sampling for suboptimal digital adaptive control of attitude and momentum management for the Space Station. This new hybrid adaptive control scheme combines an on-line recursive estimation algorithm for indirectly identifying the parameters of a continuous-time system from the available fast-rate sampled data of the inputs and states and a controller synthesis algorithm for indirectly finding the slow-rate suboptimal digital controller from the designed optimal analog controller. The proposed method enables the development of digitally implementable control algorithms for the robust control of Space Station Freedom with unknown environmental disturbances and slowly time-varying dynamics.

Robust Multi-Frame Adaptive Optics Image Restoration Algorithm Using Maximum Likelihood Estimation with Poisson Statistics.

PubMed

Li, Dongming; Sun, Changming; Yang, Jinhua; Liu, Huan; Peng, Jiaqi; Zhang, Lijuan

2017-04-06

An adaptive optics (AO) system provides real-time compensation for atmospheric turbulence. However, an AO image is usually of poor contrast because of the nature of the imaging process, meaning that the image contains information coming from both out-of-focus and in-focus planes of the object, which also brings about a loss in quality. In this paper, we present a robust multi-frame adaptive optics image restoration algorithm via maximum likelihood estimation. Our proposed algorithm uses a maximum likelihood method with image regularization as the basic principle, and constructs the joint log likelihood function for multi-frame AO images based on a Poisson distribution model. To begin with, a frame selection method based on image variance is applied to the observed multi-frame AO images to select images with better quality to improve the convergence of a blind deconvolution algorithm. Then, by combining the imaging conditions and the AO system properties, a point spread function estimation model is built. Finally, we develop our iterative solutions for AO image restoration addressing the joint deconvolution issue. We conduct a number of experiments to evaluate the performances of our proposed algorithm. Experimental results show that our algorithm produces accurate AO image restoration results and outperforms the current state-of-the-art blind deconvolution methods.

Robust Multi-Frame Adaptive Optics Image Restoration Algorithm Using Maximum Likelihood Estimation with Poisson Statistics

PubMed Central

Li, Dongming; Sun, Changming; Yang, Jinhua; Liu, Huan; Peng, Jiaqi; Zhang, Lijuan

2017-01-01

An adaptive optics (AO) system provides real-time compensation for atmospheric turbulence. However, an AO image is usually of poor contrast because of the nature of the imaging process, meaning that the image contains information coming from both out-of-focus and in-focus planes of the object, which also brings about a loss in quality. In this paper, we present a robust multi-frame adaptive optics image restoration algorithm via maximum likelihood estimation. Our proposed algorithm uses a maximum likelihood method with image regularization as the basic principle, and constructs the joint log likelihood function for multi-frame AO images based on a Poisson distribution model. To begin with, a frame selection method based on image variance is applied to the observed multi-frame AO images to select images with better quality to improve the convergence of a blind deconvolution algorithm. Then, by combining the imaging conditions and the AO system properties, a point spread function estimation model is built. Finally, we develop our iterative solutions for AO image restoration addressing the joint deconvolution issue. We conduct a number of experiments to evaluate the performances of our proposed algorithm. Experimental results show that our algorithm produces accurate AO image restoration results and outperforms the current state-of-the-art blind deconvolution methods. PMID:28383503

Evaluating the Real-time and Offline Performance of the Virtual Seismologist Earthquake Early Warning Algorithm

NASA Astrophysics Data System (ADS)

Cua, G.; Fischer, M.; Heaton, T.; Wiemer, S.

2009-04-01

The Virtual Seismologist (VS) algorithm is a Bayesian approach to regional, network-based earthquake early warning (EEW). Bayes' theorem as applied in the VS algorithm states that the most probable source estimates at any given time is a combination of contributions from relatively static prior information that does not change over the timescale of earthquake rupture and a likelihood function that evolves with time to take into account incoming pick and amplitude observations from the on-going earthquake. Potentially useful types of prior information include network topology or station health status, regional hazard maps, earthquake forecasts, and the Gutenberg-Richter magnitude-frequency relationship. The VS codes provide magnitude and location estimates once picks are available at 4 stations; these source estimates are subsequently updated each second. The algorithm predicts the geographical distribution of peak ground acceleration and velocity using the estimated magnitude and location and appropriate ground motion prediction equations; the peak ground motion estimates are also updated each second. Implementation of the VS algorithm in California and Switzerland is funded by the Seismic Early Warning for Europe (SAFER) project. The VS method is one of three EEW algorithms whose real-time performance is being evaluated and tested by the California Integrated Seismic Network (CISN) EEW project. A crucial component of operational EEW algorithms is the ability to distinguish between noise and earthquake-related signals in real-time. We discuss various empirical approaches that allow the VS algorithm to operate in the presence of noise. Real-time operation of the VS codes at the Southern California Seismic Network (SCSN) began in July 2008. On average, the VS algorithm provides initial magnitude, location, origin time, and ground motion distribution estimates within 17 seconds of the earthquake origin time. These initial estimate times are dominated by the time for 4 acceptable picks to be available, and thus are heavily influenced by the station density in a given region; these initial estimate times also include the effects of telemetry delay, which ranges between 6 and 15 seconds at the SCSN, and processing time (~1 second). Other relevant performance statistics include: 95% of initial real-time location estimates are within 20 km of the actual epicenter, 97% of initial real-time magnitude estimates are within one magnitude unit of the network magnitude. Extension of real-time VS operations to networks in Northern California is an on-going effort. In Switzerland, the VS codes have been run on offline waveform data from over 125 earthquakes recorded by the Swiss Digital Seismic Network (SDSN) and the Swiss Strong Motion Network (SSMS). We discuss the performance of the VS algorithm on these datasets in terms of magnitude, location, and ground motion estimation.

Attitude/attitude-rate estimation from GPS differential phase measurements using integrated-rate parameters

NASA Technical Reports Server (NTRS)

Oshman, Yaakov; Markley, Landis

1998-01-01

A sequential filtering algorithm is presented for attitude and attitude-rate estimation from Global Positioning System (GPS) differential carrier phase measurements. A third-order, minimal-parameter method for solving the attitude matrix kinematic equation is used to parameterize the filter's state, which renders the resulting estimator computationally efficient. Borrowing from tracking theory concepts, the angular acceleration is modeled as an exponentially autocorrelated stochastic process, thus avoiding the use of the uncertain spacecraft dynamic model. The new formulation facilitates the use of aiding vector observations in a unified filtering algorithm, which can enhance the method's robustness and accuracy. Numerical examples are used to demonstrate the performance of the method.

Filter bank common spatial patterns in mental workload estimation.

PubMed

Arvaneh, Mahnaz; Umilta, Alberto; Robertson, Ian H

2015-01-01

EEG-based workload estimation technology provides a real time means of assessing mental workload. Such technology can effectively enhance the performance of the human-machine interaction and the learning process. When designing workload estimation algorithms, a crucial signal processing component is the feature extraction step. Despite several studies on this field, the spatial properties of the EEG signals were mostly neglected. Since EEG inherently has a poor spacial resolution, features extracted individually from each EEG channel may not be sufficiently efficient. This problem becomes more pronounced when we use low-cost but convenient EEG sensors with limited stability which is the case in practical scenarios. To address this issue, in this paper, we introduce a filter bank common spatial patterns algorithm combined with a feature selection method to extract spatio-spectral features discriminating different mental workload levels. To evaluate the proposed algorithm, we carry out a comparative analysis between two representative types of working memory tasks using data recorded from an Emotiv EPOC headset which is a mobile low-cost EEG recording device. The experimental results showed that the proposed spatial filtering algorithm outperformed the state-of-the algorithms in terms of the classification accuracy.

DOE Office of Scientific and Technical Information (OSTI.GOV)

This algorithm processes high-rate 3-phase signals to identify the start time of each signal and estimate its envelope as data features. The start time and magnitude of each signal during the steady state is also extracted. The features can be used to detect abnormal signals. This algorithm is developed to analyze Exxeno's 3-phase voltage and current data recorded from refrigeration systems to detect device failure or degradation.

Modeling Driver Behavior near Intersections in Hidden Markov Model

PubMed Central

Li, Juan; He, Qinglian; Zhou, Hang; Guan, Yunlin; Dai, Wei

2016-01-01

Intersections are one of the major locations where safety is a big concern to drivers. Inappropriate driver behaviors in response to frequent changes when approaching intersections often lead to intersection-related crashes or collisions. Thus to better understand driver behaviors at intersections, especially in the dilemma zone, a Hidden Markov Model (HMM) is utilized in this study. With the discrete data processing, the observed dynamic data of vehicles are used for the inference of the Hidden Markov Model. The Baum-Welch (B-W) estimation algorithm is applied to calculate the vehicle state transition probability matrix and the observation probability matrix. When combined with the Forward algorithm, the most likely state of the driver can be obtained. Thus the model can be used to measure the stability and risk of driver behavior. It is found that drivers’ behaviors in the dilemma zone are of lower stability and higher risk compared with those in other regions around intersections. In addition to the B-W estimation algorithm, the Viterbi Algorithm is utilized to predict the potential dangers of vehicles. The results can be applied to driving assistance systems to warn drivers to avoid possible accidents. PMID:28009838

Markov chains: computing limit existence and approximations with DNA.

PubMed

Cardona, M; Colomer, M A; Conde, J; Miret, J M; Miró, J; Zaragoza, A

2005-09-01

We present two algorithms to perform computations over Markov chains. The first one determines whether the sequence of powers of the transition matrix of a Markov chain converges or not to a limit matrix. If it does converge, the second algorithm enables us to estimate this limit. The combination of these algorithms allows the computation of a limit using DNA computing. In this sense, we have encoded the states and the transition probabilities using strands of DNA for generating paths of the Markov chain.

Deriving Continuous Fields of Tree Cover at 1-m over the Continental United States From the National Agriculture Imagery Program (NAIP) Imagery to Reduce Uncertainties in Forest Carbon Stock Estimation

NASA Astrophysics Data System (ADS)

Ganguly, S.; Basu, S.; Mukhopadhyay, S.; Michaelis, A.; Milesi, C.; Votava, P.; Nemani, R. R.

2013-12-01

An unresolved issue with coarse-to-medium resolution satellite-based forest carbon mapping over regional to continental scales is the high level of uncertainty in above ground biomass (AGB) estimates caused by the absence of forest cover information at a high enough spatial resolution (current spatial resolution is limited to 30-m). To put confidence in existing satellite-derived AGB density estimates, it is imperative to create continuous fields of tree cover at a sufficiently high resolution (e.g. 1-m) such that large uncertainties in forested area are reduced. The proposed work will provide means to reduce uncertainty in present satellite-derived AGB maps and Forest Inventory and Analysis (FIA) based regional estimates. Our primary objective will be to create Very High Resolution (VHR) estimates of tree cover at a spatial resolution of 1-m for the Continental United States using all available National Agriculture Imaging Program (NAIP) color-infrared imagery from 2010 till 2012. We will leverage the existing capabilities of the NASA Earth Exchange (NEX) high performance computing and storage facilities. The proposed 1-m tree cover map can be further aggregated to provide percent tree cover at any medium-to-coarse resolution spatial grid, which will aid in reducing uncertainties in AGB density estimation at the respective grid and overcome current limitations imposed by medium-to-coarse resolution land cover maps. We have implemented a scalable and computationally-efficient parallelized framework for tree-cover delineation - the core components of the algorithm [that] include a feature extraction process, a Statistical Region Merging image segmentation algorithm and a classification algorithm based on Deep Belief Network and a Feedforward Backpropagation Neural Network algorithm. An initial pilot exercise has been performed over the state of California (~11,000 scenes) to create a wall-to-wall 1-m tree cover map and the classification accuracy has been assessed. Results show an improvement in accuracy of tree-cover delineation as compared to existing forest cover maps from NLCD, especially over fragmented, heterogeneous and urban landscapes. Estimates of VHR tree cover will complement and enhance the accuracy of present remote-sensing based AGB modeling approaches and forest inventory based estimates at both national and local scales. A requisite step will be to characterize the inherent uncertainties in tree cover estimates and propagate them to estimate AGB.

Individual tree detection in intact forest and degraded forest areas in the north region of Mato Grosso State, Brazilian Amazon

NASA Astrophysics Data System (ADS)

Santos, E. G.; Jorge, A.; Shimabukuro, Y. E.; Gasparini, K.

2017-12-01

The State of Mato Grosso - MT has the second largest area with degraded forest among the states of the Brazilian Legal Amazon. Land use and land cover change processes that occur in this region cause the loss of forest biomass, releasing greenhouse gases that contribute to the increase of temperature on earth. These degraded forest areas lose biomass according to the intensity and magnitude of the degradation type. The estimate of forest biomass, commonly performed by forest inventory through sample plots, shows high variance in degraded forest areas. Due to this variance and complexity of tropical forests, the aim of this work was to estimate forest biomass using LiDAR point clouds in three distinct forest areas: one degraded by fire, another by selective logging and one area of intact forest. The approach applied in these areas was the Individual Tree Detection (ITD). To isolate the trees, we generated Canopy Height Models (CHM) images, which are obtained by subtracting the Digital Elevation Model (MDE) and the Digital Terrain Model (MDT), created by the cloud of LiDAR points. The trees in the CHM images are isolated by an algorithm provided by the Quantitative Ecology research group at the School of Forestry at Northern Arizona University (SILVA, 2015). With these points, metrics were calculated for some areas, which were used in the model of biomass estimation. The methodology used in this work was expected to reduce the error in biomass estimate in the study area. The cloud points of the most representative trees were analyzed, and thus field data was correlated with the individual trees found by the proposed algorithm. In a pilot study, the proposed methodology was applied generating the individual tree metrics: total height and area of the crown. When correlating 339 isolated trees, an unsatisfactory R² was obtained, as heights found by the algorithm were lower than those obtained in the field, with an average difference of 2.43 m. This shows that the algorithm used to isolate trees in temperate areas did not obtained satisfactory results in the tropical forest of Mato Grosso State. Due to this, in future works two algorithms, one developed by Dalponte et al. (2015) and another by Li et al. (2012) will be used.

Real-time estimation of ionospheric delay using GPS measurements

NASA Astrophysics Data System (ADS)

Lin, Lao-Sheng

1997-12-01

When radio waves such as the GPS signals propagate through the ionosphere, they experience an extra time delay. The ionospheric delay can be eliminated (to the first order) through a linear combination of L1 and L2 observations from dual-frequency GPS receivers. Taking advantage of this dispersive principle, one or more dual- frequency GPS receivers can be used to determine a model of the ionospheric delay across a region of interest and, if implemented in real-time, can support single-frequency GPS positioning and navigation applications. The research objectives of this thesis were: (1) to develop algorithms to obtain accurate absolute Total Electron Content (TEC) estimates from dual-frequency GPS observables, and (2) to develop an algorithm to improve the accuracy of real-time ionosphere modelling. In order to fulfil these objectives, four algorithms have been proposed in this thesis. A 'multi-day multipath template technique' is proposed to mitigate the pseudo-range multipath effects at static GPS reference stations. This technique is based on the assumption that the multipath disturbance at a static station will be constant if the physical environment remains unchanged from day to day. The multipath template, either single-day or multi-day, can be generated from the previous days' GPS data. A 'real-time failure detection and repair algorithm' is proposed to detect and repair the GPS carrier phase 'failures', such as the occurrence of cycle slips. The proposed algorithm uses two procedures: (1) application of a statistical test on the state difference estimated from robust and conventional Kalman filters in order to detect and identify the carrier phase failure, and (2) application of a Kalman filter algorithm to repair the 'identified carrier phase failure'. A 'L1/L2 differential delay estimation algorithm' is proposed to estimate GPS satellite transmitter and receiver L1/L2 differential delays. This algorithm, based on the single-site modelling technique, is able to estimate the sum of the satellite and receiver L1/L2 differential delay for each tracked GPS satellite. A 'UNSW grid-based algorithm' is proposed to improve the accuracy of real-time ionosphere modelling. The proposed algorithm is similar to the conventional grid-based algorithm. However, two modifications were made to the algorithm: (1) an 'exponential function' is adopted as the weighting function, and (2) the 'grid-based ionosphere model' estimated from the previous day is used to predict the ionospheric delay ratios between the grid point and reference points. (Abstract shortened by UMI.)

A proposed Kalman filter algorithm for estimation of unmeasured output variables for an F100 turbofan engine

NASA Technical Reports Server (NTRS)

Alag, Gurbux S.; Gilyard, Glenn B.

1990-01-01

To develop advanced control systems for optimizing aircraft engine performance, unmeasurable output variables must be estimated. The estimation has to be done in an uncertain environment and be adaptable to varying degrees of modeling errors and other variations in engine behavior over its operational life cycle. This paper represented an approach to estimate unmeasured output variables by explicitly modeling the effects of off-nominal engine behavior as biases on the measurable output variables. A state variable model accommodating off-nominal behavior is developed for the engine, and Kalman filter concepts are used to estimate the required variables. Results are presented from nonlinear engine simulation studies as well as the application of the estimation algorithm on actual flight data. The formulation presented has a wide range of application since it is not restricted or tailored to the particular application described.

A translational platform for prototyping closed-loop neuromodulation systems

PubMed Central

Afshar, Pedram; Khambhati, Ankit; Stanslaski, Scott; Carlson, David; Jensen, Randy; Linde, Dave; Dani, Siddharth; Lazarewicz, Maciej; Cong, Peng; Giftakis, Jon; Stypulkowski, Paul; Denison, Tim

2013-01-01

While modulating neural activity through stimulation is an effective treatment for neurological diseases such as Parkinson's disease and essential tremor, an opportunity for improving neuromodulation therapy remains in automatically adjusting therapy to continuously optimize patient outcomes. Practical issues associated with achieving this include the paucity of human data related to disease states, poorly validated estimators of patient state, and unknown dynamic mappings of optimal stimulation parameters based on estimated states. To overcome these challenges, we present an investigational platform including: an implanted sensing and stimulation device to collect data and run automated closed-loop algorithms; an external tool to prototype classifier and control-policy algorithms; and real-time telemetry to update the implanted device firmware and monitor its state. The prototyping system was demonstrated in a chronic large animal model studying hippocampal dynamics. We used the platform to find biomarkers of the observed states and transfer functions of different stimulation amplitudes. Data showed that moderate levels of stimulation suppress hippocampal beta activity, while high levels of stimulation produce seizure-like after-discharge activity. The biomarker and transfer function observations were mapped into classifier and control-policy algorithms, which were downloaded to the implanted device to continuously titrate stimulation amplitude for the desired network effect. The platform is designed to be a flexible prototyping tool and could be used to develop improved mechanistic models and automated closed-loop systems for a variety of neurological disorders. PMID:23346048

A translational platform for prototyping closed-loop neuromodulation systems.

PubMed

Afshar, Pedram; Khambhati, Ankit; Stanslaski, Scott; Carlson, David; Jensen, Randy; Linde, Dave; Dani, Siddharth; Lazarewicz, Maciej; Cong, Peng; Giftakis, Jon; Stypulkowski, Paul; Denison, Tim

2012-01-01

While modulating neural activity through stimulation is an effective treatment for neurological diseases such as Parkinson's disease and essential tremor, an opportunity for improving neuromodulation therapy remains in automatically adjusting therapy to continuously optimize patient outcomes. Practical issues associated with achieving this include the paucity of human data related to disease states, poorly validated estimators of patient state, and unknown dynamic mappings of optimal stimulation parameters based on estimated states. To overcome these challenges, we present an investigational platform including: an implanted sensing and stimulation device to collect data and run automated closed-loop algorithms; an external tool to prototype classifier and control-policy algorithms; and real-time telemetry to update the implanted device firmware and monitor its state. The prototyping system was demonstrated in a chronic large animal model studying hippocampal dynamics. We used the platform to find biomarkers of the observed states and transfer functions of different stimulation amplitudes. Data showed that moderate levels of stimulation suppress hippocampal beta activity, while high levels of stimulation produce seizure-like after-discharge activity. The biomarker and transfer function observations were mapped into classifier and control-policy algorithms, which were downloaded to the implanted device to continuously titrate stimulation amplitude for the desired network effect. The platform is designed to be a flexible prototyping tool and could be used to develop improved mechanistic models and automated closed-loop systems for a variety of neurological disorders.

Tuning of Kalman filter parameters via genetic algorithm for state-of-charge estimation in battery management system.

PubMed

Ting, T O; Man, Ka Lok; Lim, Eng Gee; Leach, Mark

2014-01-01

In this work, a state-space battery model is derived mathematically to estimate the state-of-charge (SoC) of a battery system. Subsequently, Kalman filter (KF) is applied to predict the dynamical behavior of the battery model. Results show an accurate prediction as the accumulated error, in terms of root-mean-square (RMS), is a very small value. From this work, it is found that different sets of Q and R values (KF's parameters) can be applied for better performance and hence lower RMS error. This is the motivation for the application of a metaheuristic algorithm. Hence, the result is further improved by applying a genetic algorithm (GA) to tune Q and R parameters of the KF. In an online application, a GA can be applied to obtain the optimal parameters of the KF before its application to a real plant (system). This simply means that the instantaneous response of the KF is not affected by the time consuming GA as this approach is applied only once to obtain the optimal parameters. The relevant workable MATLAB source codes are given in the appendix to ease future work and analysis in this area.

Tuning of Kalman Filter Parameters via Genetic Algorithm for State-of-Charge Estimation in Battery Management System

PubMed Central

Ting, T. O.; Lim, Eng Gee

2014-01-01

In this work, a state-space battery model is derived mathematically to estimate the state-of-charge (SoC) of a battery system. Subsequently, Kalman filter (KF) is applied to predict the dynamical behavior of the battery model. Results show an accurate prediction as the accumulated error, in terms of root-mean-square (RMS), is a very small value. From this work, it is found that different sets of Q and R values (KF's parameters) can be applied for better performance and hence lower RMS error. This is the motivation for the application of a metaheuristic algorithm. Hence, the result is further improved by applying a genetic algorithm (GA) to tune Q and R parameters of the KF. In an online application, a GA can be applied to obtain the optimal parameters of the KF before its application to a real plant (system). This simply means that the instantaneous response of the KF is not affected by the time consuming GA as this approach is applied only once to obtain the optimal parameters. The relevant workable MATLAB source codes are given in the appendix to ease future work and analysis in this area. PMID:25162041

Landmark-Based Drift Compensation Algorithm for Inertial Pedestrian Navigation

PubMed Central

Munoz Diaz, Estefania; Caamano, Maria; Fuentes Sánchez, Francisco Javier

2017-01-01

The navigation of pedestrians based on inertial sensors, i.e., accelerometers and gyroscopes, has experienced a great growth over the last years. However, the noise of medium- and low-cost sensors causes a high error in the orientation estimation, particularly in the yaw angle. This error, called drift, is due to the bias of the z-axis gyroscope and other slow changing errors, such as temperature variations. We propose a seamless landmark-based drift compensation algorithm that only uses inertial measurements. The proposed algorithm adds a great value to the state of the art, because the vast majority of the drift elimination algorithms apply corrections to the estimated position, but not to the yaw angle estimation. Instead, the presented algorithm computes the drift value and uses it to prevent yaw errors and therefore position errors. In order to achieve this goal, a detector of landmarks, i.e., corners and stairs, and an association algorithm have been developed. The results of the experiments show that it is possible to reliably detect corners and stairs using only inertial measurements eliminating the need that the user takes any action, e.g., pressing a button. Associations between re-visited landmarks are successfully made taking into account the uncertainty of the position. After that, the drift is computed out of all associations and used during a post-processing stage to obtain a low-drifted yaw angle estimation, that leads to successfully drift compensated trajectories. The proposed algorithm has been tested with quasi-error-free turn rate measurements introducing known biases and with medium-cost gyroscopes in 3D indoor and outdoor scenarios. PMID:28671622

Strong Tracking Spherical Simplex-Radial Cubature Kalman Filter for Maneuvering Target Tracking.

PubMed

Liu, Hua; Wu, Wen

2017-03-31

Conventional spherical simplex-radial cubature Kalman filter (SSRCKF) for maneuvering target tracking may decline in accuracy and even diverge when a target makes abrupt state changes. To overcome this problem, a novel algorithm named strong tracking spherical simplex-radial cubature Kalman filter (STSSRCKF) is proposed in this paper. The proposed algorithm uses the spherical simplex-radial (SSR) rule to obtain a higher accuracy than cubature Kalman filter (CKF) algorithm. Meanwhile, by introducing strong tracking filter (STF) into SSRCKF and modifying the predicted states' error covariance with a time-varying fading factor, the gain matrix is adjusted on line so that the robustness of the filter and the capability of dealing with uncertainty factors is improved. In this way, the proposed algorithm has the advantages of both STF's strong robustness and SSRCKF's high accuracy. Finally, a maneuvering target tracking problem with abrupt state changes is used to test the performance of the proposed filter. Simulation results show that the STSSRCKF algorithm can get better estimation accuracy and greater robustness for maneuvering target tracking.

Methodology for Time-Domain Estimation of Storm-Time Electric Fields Using the 3D Earth Impedance

NASA Astrophysics Data System (ADS)

Kelbert, A.; Balch, C. C.; Pulkkinen, A. A.; Egbert, G. D.; Love, J. J.; Rigler, E. J.; Fujii, I.

2016-12-01

Magnetic storms can induce geoelectric fields in the Earth's electrically conducting interior, interfering with the operations of electric-power grid industry. The ability to estimate these electric fields at Earth's surface in close to real-time and to provide local short-term predictions would improve the ability of the industry to protect their operations. At any given time, the electric field at the Earth's surface is a function of the time-variant magnetic activity (driven by the solar wind), and the local electrical conductivity structure of the Earth's crust and mantle. For this reason, implementation of an operational electric field estimation service requires an interdisciplinary, collaborative effort between space science, real-time space weather operations, and solid Earth geophysics. We highlight in this talk an ongoing collaboration between USGS, NOAA, NASA, Oregon State University, and the Japan Meteorological Agency, to develop algorithms that can be used for scenario analyses and which might be implemented in a real-time, operational setting. We discuss the development of a time domain algorithm that employs discrete time domain representation of the impedance tensor for a realistic 3D Earth, known as the discrete time impulse response (DTIR), convolved with the local magnetic field time series, to estimate the local electric field disturbances. The algorithm is validated against measured storm-time electric field data collected in the United States and Japan. We also discuss our plans for operational real-time electric field estimation using 3D Earth impedances.

Thermodynamic properties of solvated peptides from selective integrated tempering sampling with a new weighting factor estimation algorithm

NASA Astrophysics Data System (ADS)

Shen, Lin; Xie, Liangxu; Yang, Mingjun

2017-04-01

Conformational sampling under rugged energy landscape is always a challenge in computer simulations. The recently developed integrated tempering sampling, together with its selective variant (SITS), emerges to be a powerful tool in exploring the free energy landscape or functional motions of various systems. The estimation of weighting factors constitutes a critical step in these methods and requires accurate calculation of partition function ratio between different thermodynamic states. In this work, we propose a new adaptive update algorithm to compute the weighting factors based on the weighted histogram analysis method (WHAM). The adaptive-WHAM algorithm with SITS is then applied to study the thermodynamic properties of several representative peptide systems solvated in an explicit water box. The performance of the new algorithm is validated in simulations of these solvated peptide systems. We anticipate more applications of this coupled optimisation and production algorithm to other complicated systems such as the biochemical reactions in solution.

New method for propagating the square root covariance matrix in triangular form. [using Kalman-Bucy filter

NASA Technical Reports Server (NTRS)

Choe, C. Y.; Tapley, B. D.

1975-01-01

A method proposed by Potter of applying the Kalman-Bucy filter to the problem of estimating the state of a dynamic system is described, in which the square root of the state error covariance matrix is used to process the observations. A new technique which propagates the covariance square root matrix in lower triangular form is given for the discrete observation case. The technique is faster than previously proposed algorithms and is well-adapted for use with the Carlson square root measurement algorithm.

Neural network fusion capabilities for efficient implementation of tracking algorithms

NASA Astrophysics Data System (ADS)

Sundareshan, Malur K.; Amoozegar, Farid

1997-03-01

The ability to efficiently fuse information of different forms to facilitate intelligent decision making is one of the major capabilities of trained multilayer neural networks that is now being recognized. While development of innovative adaptive control algorithms for nonlinear dynamical plants that attempt to exploit these capabilities seems to be more popular, a corresponding development of nonlinear estimation algorithms using these approaches, particularly for application in target surveillance and guidance operations, has not received similar attention. We describe the capabilities and functionality of neural network algorithms for data fusion and implementation of tracking filters. To discuss details and to serve as a vehicle for quantitative performance evaluations, the illustrative case of estimating the position and velocity of surveillance targets is considered. Efficient target- tracking algorithms that can utilize data from a host of sensing modalities and are capable of reliably tracking even uncooperative targets executing fast and complex maneuvers are of interest in a number of applications. The primary motivation for employing neural networks in these applications comes from the efficiency with which more features extracted from different sensor measurements can be utilized as inputs for estimating target maneuvers. A system architecture that efficiently integrates the fusion capabilities of a trained multilayer neural net with the tracking performance of a Kalman filter is described. The innovation lies in the way the fusion of multisensor data is accomplished to facilitate improved estimation without increasing the computational complexity of the dynamical state estimator itself.

An Uncertainty Quantification Framework for Remote Sensing Retrievals

NASA Astrophysics Data System (ADS)

Braverman, A. J.; Hobbs, J.

2017-12-01

Remote sensing data sets produced by NASA and other space agencies are the result of complex algorithms that infer geophysical state from observed radiances using retrieval algorithms. The processing must keep up with the downlinked data flow, and this necessitates computational compromises that affect the accuracies of retrieved estimates. The algorithms are also limited by imperfect knowledge of physics and of ancillary inputs that are required. All of this contributes to uncertainties that are generally not rigorously quantified by stepping outside the assumptions that underlie the retrieval methodology. In this talk we discuss a practical framework for uncertainty quantification that can be applied to a variety of remote sensing retrieval algorithms. Ours is a statistical approach that uses Monte Carlo simulation to approximate the sampling distribution of the retrieved estimates. We will discuss the strengths and weaknesses of this approach, and provide a case-study example from the Orbiting Carbon Observatory 2 mission.

A Laplacian based image filtering using switching noise detector.

PubMed

Ranjbaran, Ali; Hassan, Anwar Hasni Abu; Jafarpour, Mahboobe; Ranjbaran, Bahar

2015-01-01

This paper presents a Laplacian-based image filtering method. Using a local noise estimator function in an energy functional minimizing scheme we show that Laplacian that has been known as an edge detection function can be used for noise removal applications. The algorithm can be implemented on a 3x3 window and easily tuned by number of iterations. Image denoising is simplified to the reduction of the pixels value with their related Laplacian value weighted by local noise estimator. The only parameter which controls smoothness is the number of iterations. Noise reduction quality of the introduced method is evaluated and compared with some classic algorithms like Wiener and Total Variation based filters for Gaussian noise. And also the method compared with the state-of-the-art method BM3D for some images. The algorithm appears to be easy, fast and comparable with many classic denoising algorithms for Gaussian noise.

Demosaicking algorithm for the Kodak-RGBW color filter array

NASA Astrophysics Data System (ADS)

Rafinazari, M.; Dubois, E.

2015-01-01

Digital cameras capture images through different Color Filter Arrays and then reconstruct the full color image. Each CFA pixel only captures one primary color component; the other primary components will be estimated using information from neighboring pixels. During the demosaicking algorithm, the two unknown color components will be estimated at each pixel location. Most of the demosaicking algorithms use the RGB Bayer CFA pattern with Red, Green and Blue filters. The least-Squares Luma-Chroma demultiplexing method is a state of the art demosaicking method for the Bayer CFA. In this paper we develop a new demosaicking algorithm using the Kodak-RGBW CFA. This particular CFA reduces noise and improves the quality of the reconstructed images by adding white pixels. We have applied non-adaptive and adaptive demosaicking method using the Kodak-RGBW CFA on the standard Kodak image dataset and the results have been compared with previous work.

Sensor selection cost optimisation for tracking structurally cyclic systems: a P-order solution

NASA Astrophysics Data System (ADS)

Doostmohammadian, M.; Zarrabi, H.; Rabiee, H. R.

2017-08-01

Measurements and sensing implementations impose certain cost in sensor networks. The sensor selection cost optimisation is the problem of minimising the sensing cost of monitoring a physical (or cyber-physical) system. Consider a given set of sensors tracking states of a dynamical system for estimation purposes. For each sensor assume different costs to measure different (realisable) states. The idea is to assign sensors to measure states such that the global cost is minimised. The number and selection of sensor measurements need to ensure the observability to track the dynamic state of the system with bounded estimation error. The main question we address is how to select the state measurements to minimise the cost while satisfying the observability conditions. Relaxing the observability condition for structurally cyclic systems, the main contribution is to propose a graph theoretic approach to solve the problem in polynomial time. Note that polynomial time algorithms are suitable for large-scale systems as their running time is upper-bounded by a polynomial expression in the size of input for the algorithm. We frame the problem as a linear sum assignment with solution complexity of ?.

Comparing Consider-Covariance Analysis with Sigma-Point Consider Filter and Linear-Theory Consider Filter Formulations

NASA Technical Reports Server (NTRS)

Lisano, Michael E.

2007-01-01

Recent literature in applied estimation theory reflects growing interest in the sigma-point (also called unscented ) formulation for optimal sequential state estimation, often describing performance comparisons with extended Kalman filters as applied to specific dynamical problems [c.f. 1, 2, 3]. Favorable attributes of sigma-point filters are described as including a lower expected error for nonlinear even non-differentiable dynamical systems, and a straightforward formulation not requiring derivation or implementation of any partial derivative Jacobian matrices. These attributes are particularly attractive, e.g. in terms of enabling simplified code architecture and streamlined testing, in the formulation of estimators for nonlinear spaceflight mechanics systems, such as filter software onboard deep-space robotic spacecraft. As presented in [4], the Sigma-Point Consider Filter (SPCF) algorithm extends the sigma-point filter algorithm to the problem of consider covariance analysis. Considering parameters in a dynamical system, while estimating its state, provides an upper bound on the estimated state covariance, which is viewed as a conservative approach to designing estimators for problems of general guidance, navigation and control. This is because, whether a parameter in the system model is observable or not, error in the knowledge of the value of a non-estimated parameter will increase the actual uncertainty of the estimated state of the system beyond the level formally indicated by the covariance of an estimator that neglects errors or uncertainty in that parameter. The equations for SPCF covariance evolution are obtained in a fashion similar to the derivation approach taken with standard (i.e. linearized or extended) consider parameterized Kalman filters (c.f. [5]). While in [4] the SPCF and linear-theory consider filter (LTCF) were applied to an illustrative linear dynamics/linear measurement problem, in the present work examines the SPCF as applied to nonlinear sequential consider covariance analysis, i.e. in the presence of nonlinear dynamics and nonlinear measurements. A simple SPCF for orbit determination, exemplifying an algorithm hosted in the guidance, navigation and control (GN&C) computer processor of a hypothetical robotic spacecraft, was implemented, and compared with an identically-parameterized (standard) extended, consider-parameterized Kalman filter. The onboard filtering scenario examined is a hypothetical spacecraft orbit about a small natural body with imperfectly-known mass. The formulations, relative complexities, and performances of the filters are compared and discussed.

Burst suppression probability algorithms: state-space methods for tracking EEG burst suppression

NASA Astrophysics Data System (ADS)

Chemali, Jessica; Ching, ShiNung; Purdon, Patrick L.; Solt, Ken; Brown, Emery N.

2013-10-01

Objective. Burst suppression is an electroencephalogram pattern in which bursts of electrical activity alternate with an isoelectric state. This pattern is commonly seen in states of severely reduced brain activity such as profound general anesthesia, anoxic brain injuries, hypothermia and certain developmental disorders. Devising accurate, reliable ways to quantify burst suppression is an important clinical and research problem. Although thresholding and segmentation algorithms readily identify burst suppression periods, analysis algorithms require long intervals of data to characterize burst suppression at a given time and provide no framework for statistical inference. Approach. We introduce the concept of the burst suppression probability (BSP) to define the brain's instantaneous propensity of being in the suppressed state. To conduct dynamic analyses of burst suppression we propose a state-space model in which the observation process is a binomial model and the state equation is a Gaussian random walk. We estimate the model using an approximate expectation maximization algorithm and illustrate its application in the analysis of rodent burst suppression recordings under general anesthesia and a patient during induction of controlled hypothermia. Main result. The BSP algorithms track burst suppression on a second-to-second time scale, and make possible formal statistical comparisons of burst suppression at different times. Significance. The state-space approach suggests a principled and informative way to analyze burst suppression that can be used to monitor, and eventually to control, the brain states of patients in the operating room and in the intensive care unit.

Observability and Estimation of Distributed Space Systems via Local Information-Exchange Networks

NASA Technical Reports Server (NTRS)

Rahmani, Amirreza; Mesbahi, Mehran; Fathpour, Nanaz; Hadaegh, Fred Y.

2008-01-01

In this work, we develop an approach to formation estimation by explicitly characterizing formation's system-theoretic attributes in terms of the underlying inter-spacecraft information-exchange network. In particular, we approach the formation observer/estimator design by relaxing the accessibility to the global state information by a centralized observer/estimator- and in turn- providing an analysis and synthesis framework for formation observers/estimators that rely on local measurements. The noveltyof our approach hinges upon the explicit examination of the underlying distributed spacecraft network in the realm of guidance, navigation, and control algorithmic analysis and design. The overarching goal of our general research program, some of whose results are reported in this paper, is the development of distributed spacecraft estimation algorithms that are scalable, modular, and robust to variations inthe topology and link characteristics of the formation information exchange network. In this work, we consider the observability of a spacecraft formation from a single observation node and utilize the agreement protocol as a mechanism for observing formation states from local measurements. Specifically, we show how the symmetry structure of the network, characterized in terms of its automorphism group, directly relates to the observability of the corresponding multi-agent system The ramification of this notion of observability over networks is then explored in the context of distributed formation estimation.

Trajectory prediction for ballistic missiles based on boost-phase LOS measurements

NASA Astrophysics Data System (ADS)

Yeddanapudi, Murali; Bar-Shalom, Yaakov

1997-10-01

This paper addresses the problem of the estimation of the trajectory of a tactical ballistic missile using line of sight (LOS) measurements from one or more passive sensors (typically satellites). The major difficulties of this problem include: the estimation of the unknown time of launch, incorporation of (inaccurate) target thrust profiles to model the target dynamics during the boost phase and an overall ill-conditioning of the estimation problem due to poor observability of the target motion via the LOS measurements. We present a robust estimation procedure based on the Levenberg-Marquardt algorithm that provides both the target state estimate and error covariance taking into consideration the complications mentioned above. An important consideration in the defense against tactical ballistic missiles is the determination of the target position and error covariance at the acquisition range of a surveillance radar in the vicinity of the impact point. We present a systematic procedure to propagate the target state and covariance to a nominal time, when it is within the detection range of a surveillance radar to obtain a cueing volume. Mont Carlo simulation studies on typical single and two sensor scenarios indicate that the proposed algorithms are accurate in terms of the estimates and the estimator calculated covariances are consistent with the errors.

Delay compensation in integrated communication and control systems. I - Conceptual development and analysis

NASA Technical Reports Server (NTRS)

Luck, Rogelio; Ray, Asok

1990-01-01

A procedure for compensating for the effects of distributed network-induced delays in integrated communication and control systems (ICCS) is proposed. The problem of analyzing systems with time-varying and possibly stochastic delays could be circumvented by use of a deterministic observer which is designed to perform under certain restrictive but realistic assumptions. The proposed delay-compensation algorithm is based on a deterministic state estimator and a linear state-variable-feedback control law. The deterministic observer can be replaced by a stochastic observer without any structural modifications of the delay compensation algorithm. However, if a feedforward-feedback control law is chosen instead of the state-variable feedback control law, the observer must be modified as a conventional nondelayed system would be. Under these circumstances, the delay compensation algorithm would be accordingly changed. The separation principle of the classical Luenberger observer holds true for the proposed delay compensator. The algorithm is suitable for ICCS in advanced aircraft, spacecraft, manufacturing automation, and chemical process applications.

Robust generative asymmetric GMM for brain MR image segmentation.

PubMed

Ji, Zexuan; Xia, Yong; Zheng, Yuhui

2017-11-01

Accurate segmentation of brain tissues from magnetic resonance (MR) images based on the unsupervised statistical models such as Gaussian mixture model (GMM) has been widely studied during last decades. However, most GMM based segmentation methods suffer from limited accuracy due to the influences of noise and intensity inhomogeneity in brain MR images. To further improve the accuracy for brain MR image segmentation, this paper presents a Robust Generative Asymmetric GMM (RGAGMM) for simultaneous brain MR image segmentation and intensity inhomogeneity correction. First, we develop an asymmetric distribution to fit the data shapes, and thus construct a spatial constrained asymmetric model. Then, we incorporate two pseudo-likelihood quantities and bias field estimation into the model's log-likelihood, aiming to exploit the neighboring priors of within-cluster and between-cluster and to alleviate the impact of intensity inhomogeneity, respectively. Finally, an expectation maximization algorithm is derived to iteratively maximize the approximation of the data log-likelihood function to overcome the intensity inhomogeneity in the image and segment the brain MR images simultaneously. To demonstrate the performances of the proposed algorithm, we first applied the proposed algorithm to a synthetic brain MR image to show the intermediate illustrations and the estimated distribution of the proposed algorithm. The next group of experiments is carried out in clinical 3T-weighted brain MR images which contain quite serious intensity inhomogeneity and noise. Then we quantitatively compare our algorithm to state-of-the-art segmentation approaches by using Dice coefficient (DC) on benchmark images obtained from IBSR and BrainWeb with different level of noise and intensity inhomogeneity. The comparison results on various brain MR images demonstrate the superior performances of the proposed algorithm in dealing with the noise and intensity inhomogeneity. In this paper, the RGAGMM algorithm is proposed which can simply and efficiently incorporate spatial constraints into an EM framework to simultaneously segment brain MR images and estimate the intensity inhomogeneity. The proposed algorithm is flexible to fit the data shapes, and can simultaneously overcome the influence of noise and intensity inhomogeneity, and hence is capable of improving over 5% segmentation accuracy comparing with several state-of-the-art algorithms. Copyright © 2017 Elsevier B.V. All rights reserved.

A method and implementation for incorporating heuristic knowledge into a state estimator through the use of a fuzzy model

NASA Astrophysics Data System (ADS)

Swanson, Steven Roy

The objective of the dissertation is to improve state estimation performance, as compared to a Kalman filter, when non-constant, or changing, biases exist in the measurement data. The state estimation performance increase will come from the use of a fuzzy model to determine the position and velocity gains of a state estimator. A method is proposed for incorporating heuristic knowledge into a state estimator through the use of a fuzzy model. This method consists of using a fuzzy model to determine the gains of the state estimator, converting the heuristic knowledge into the fuzzy model, and then optimizing the fuzzy model with a genetic algorithm. This method is applied to the problem of state estimation of a cascaded global positioning system (GPS)/inertial reference unit (IRU) navigation system. The GPS position data contains two major sources for position bias. The first bias is due to satellite errors and the second is due to the time delay or lag from when the GPS position is calculated until it is used in the state estimator. When a change in the bias of the measurement data occurs, a state estimator will converge on the new measurement data solution. This will introduce errors into a Kalman filter's estimated state velocities, which in turn will cause a position overshoot as it converges. By using a fuzzy model to determine the gains of a state estimator, the velocity errors and their associated deficiencies can be reduced.

Real-Time Tracking of Selective Auditory Attention From M/EEG: A Bayesian Filtering Approach

PubMed Central

Miran, Sina; Akram, Sahar; Sheikhattar, Alireza; Simon, Jonathan Z.; Zhang, Tao; Babadi, Behtash

2018-01-01

Humans are able to identify and track a target speaker amid a cacophony of acoustic interference, an ability which is often referred to as the cocktail party phenomenon. Results from several decades of studying this phenomenon have culminated in recent years in various promising attempts to decode the attentional state of a listener in a competing-speaker environment from non-invasive neuroimaging recordings such as magnetoencephalography (MEG) and electroencephalography (EEG). To this end, most existing approaches compute correlation-based measures by either regressing the features of each speech stream to the M/EEG channels (the decoding approach) or vice versa (the encoding approach). To produce robust results, these procedures require multiple trials for training purposes. Also, their decoding accuracy drops significantly when operating at high temporal resolutions. Thus, they are not well-suited for emerging real-time applications such as smart hearing aid devices or brain-computer interface systems, where training data might be limited and high temporal resolutions are desired. In this paper, we close this gap by developing an algorithmic pipeline for real-time decoding of the attentional state. Our proposed framework consists of three main modules: (1) Real-time and robust estimation of encoding or decoding coefficients, achieved by sparse adaptive filtering, (2) Extracting reliable markers of the attentional state, and thereby generalizing the widely-used correlation-based measures thereof, and (3) Devising a near real-time state-space estimator that translates the noisy and variable attention markers to robust and statistically interpretable estimates of the attentional state with minimal delay. Our proposed algorithms integrate various techniques including forgetting factor-based adaptive filtering, ℓ1-regularization, forward-backward splitting algorithms, fixed-lag smoothing, and Expectation Maximization. We validate the performance of our proposed framework using comprehensive simulations as well as application to experimentally acquired M/EEG data. Our results reveal that the proposed real-time algorithms perform nearly as accurately as the existing state-of-the-art offline techniques, while providing a significant degree of adaptivity, statistical robustness, and computational savings. PMID:29765298

Real-Time Tracking of Selective Auditory Attention From M/EEG: A Bayesian Filtering Approach.

PubMed

Miran, Sina; Akram, Sahar; Sheikhattar, Alireza; Simon, Jonathan Z; Zhang, Tao; Babadi, Behtash

2018-01-01

Humans are able to identify and track a target speaker amid a cacophony of acoustic interference, an ability which is often referred to as the cocktail party phenomenon. Results from several decades of studying this phenomenon have culminated in recent years in various promising attempts to decode the attentional state of a listener in a competing-speaker environment from non-invasive neuroimaging recordings such as magnetoencephalography (MEG) and electroencephalography (EEG). To this end, most existing approaches compute correlation-based measures by either regressing the features of each speech stream to the M/EEG channels (the decoding approach) or vice versa (the encoding approach). To produce robust results, these procedures require multiple trials for training purposes. Also, their decoding accuracy drops significantly when operating at high temporal resolutions. Thus, they are not well-suited for emerging real-time applications such as smart hearing aid devices or brain-computer interface systems, where training data might be limited and high temporal resolutions are desired. In this paper, we close this gap by developing an algorithmic pipeline for real-time decoding of the attentional state. Our proposed framework consists of three main modules: (1) Real-time and robust estimation of encoding or decoding coefficients, achieved by sparse adaptive filtering, (2) Extracting reliable markers of the attentional state, and thereby generalizing the widely-used correlation-based measures thereof, and (3) Devising a near real-time state-space estimator that translates the noisy and variable attention markers to robust and statistically interpretable estimates of the attentional state with minimal delay. Our proposed algorithms integrate various techniques including forgetting factor-based adaptive filtering, ℓ 1 -regularization, forward-backward splitting algorithms, fixed-lag smoothing, and Expectation Maximization. We validate the performance of our proposed framework using comprehensive simulations as well as application to experimentally acquired M/EEG data. Our results reveal that the proposed real-time algorithms perform nearly as accurately as the existing state-of-the-art offline techniques, while providing a significant degree of adaptivity, statistical robustness, and computational savings.

Optshrink LR + S: accelerated fMRI reconstruction using non-convex optimal singular value shrinkage.

PubMed

Aggarwal, Priya; Shrivastava, Parth; Kabra, Tanay; Gupta, Anubha

2017-03-01

This paper presents a new accelerated fMRI reconstruction method, namely, OptShrink LR + S method that reconstructs undersampled fMRI data using a linear combination of low-rank and sparse components. The low-rank component has been estimated using non-convex optimal singular value shrinkage algorithm, while the sparse component has been estimated using convex l 1 minimization. The performance of the proposed method is compared with the existing state-of-the-art algorithms on real fMRI dataset. The proposed OptShrink LR + S method yields good qualitative and quantitative results.

Using State Estimation Residuals to Detect Abnormal SCADA Data

DOE Office of Scientific and Technical Information (OSTI.GOV)

Ma, Jian; Chen, Yousu; Huang, Zhenyu

2010-06-14

Detection of manipulated supervisory control and data acquisition (SCADA) data is critically important for the safe and secure operation of modern power systems. In this paper, a methodology of detecting manipulated SCADA data based on state estimation residuals is presented. A framework of the proposed methodology is described. Instead of using original SCADA measurements as the bad data sources, the residuals calculated based on the results of the state estimator are used as the input for the outlier detection process. The BACON algorithm is applied to detect outliers in the state estimation residuals. The IEEE 118-bus system is used asmore » a test case to evaluate the effectiveness of the proposed methodology. The accuracy of the BACON method is compared with that of the 3-σ method for the simulated SCADA measurements and residuals.« less

Kalman Filter Constraint Tuning for Turbofan Engine Health Estimation

NASA Technical Reports Server (NTRS)

Simon, Dan; Simon, Donald L.

2005-01-01

Kalman filters are often used to estimate the state variables of a dynamic system. However, in the application of Kalman filters some known signal information is often either ignored or dealt with heuristically. For instance, state variable constraints are often neglected because they do not fit easily into the structure of the Kalman filter. Recently published work has shown a new method for incorporating state variable inequality constraints in the Kalman filter, which has been shown to generally improve the filter s estimation accuracy. However, the incorporation of inequality constraints poses some risk to the estimation accuracy as the Kalman filter is theoretically optimal. This paper proposes a way to tune the filter constraints so that the state estimates follow the unconstrained (theoretically optimal) filter when the confidence in the unconstrained filter is high. When confidence in the unconstrained filter is not so high, then we use our heuristic knowledge to constrain the state estimates. The confidence measure is based on the agreement of measurement residuals with their theoretical values. The algorithm is demonstrated on a linearized simulation of a turbofan engine to estimate engine health.

Critical review of on-board capacity estimation techniques for lithium-ion batteries in electric and hybrid electric vehicles

NASA Astrophysics Data System (ADS)

Farmann, Alexander; Waag, Wladislaw; Marongiu, Andrea; Sauer, Dirk Uwe

2015-05-01

This work provides an overview of available methods and algorithms for on-board capacity estimation of lithium-ion batteries. An accurate state estimation for battery management systems in electric vehicles and hybrid electric vehicles is becoming more essential due to the increasing attention paid to safety and lifetime issues. Different approaches for the estimation of State-of-Charge, State-of-Health and State-of-Function are discussed and analyzed by many authors and researchers in the past. On-board estimation of capacity in large lithium-ion battery packs is definitely one of the most crucial challenges of battery monitoring in the aforementioned vehicles. This is mostly due to high dynamic operation and conditions far from those used in laboratory environments as well as the large variation in aging behavior of each cell in the battery pack. Accurate capacity estimation allows an accurate driving range prediction and accurate calculation of a battery's maximum energy storage capability in a vehicle. At the same time it acts as an indicator for battery State-of-Health and Remaining Useful Lifetime estimation.

Simultaneous Mass Determination for Gravitationally Coupled Asteroids

DOE Office of Scientific and Technical Information (OSTI.GOV)

Baer, James; Chesley, Steven R., E-mail: jimbaer1@earthlink.net

The conventional least-squares asteroid mass determination algorithm allows us to solve for the mass of a large subject asteroid that is perturbing the trajectory of a smaller test asteroid. However, this algorithm is necessarily a first approximation, ignoring the possibility that the subject asteroid may itself be perturbed by the test asteroid, or that the encounter’s precise geometry may be entangled with encounters involving other asteroids. After reviewing the conventional algorithm, we use it to calculate the masses of 30 main-belt asteroids. Compared to our previous results, we find new mass estimates for eight asteroids (11 Parthenope, 27 Euterpe, 51more » Neimausa, 76 Freia, 121 Hermione, 324 Bamberga, 476 Hedwig, and 532 Herculina) and significantly more precise estimates for six others (2 Pallas, 3 Juno, 4 Vesta, 9 Metis, 16 Psyche, and 88 Thisbe). However, we also find that the conventional algorithm yields questionable results in several gravitationally coupled cases. To address such cases, we describe a new algorithm that allows the epoch state vectors of the subject asteroids to be included as solve-for parameters, allowing for the simultaneous solution of the masses and epoch state vectors of multiple subject and test asteroids. We then apply this algorithm to the same 30 main-belt asteroids and conclude that mass determinations resulting from current and future high-precision astrometric sources (such as Gaia ) should conduct a thorough search for possible gravitational couplings and account for their effects.« less

A modified NARMAX model-based self-tuner with fault tolerance for unknown nonlinear stochastic hybrid systems with an input-output direct feed-through term.

PubMed

Tsai, Jason S-H; Hsu, Wen-Teng; Lin, Long-Guei; Guo, Shu-Mei; Tann, Joseph W

2014-01-01

A modified nonlinear autoregressive moving average with exogenous inputs (NARMAX) model-based state-space self-tuner with fault tolerance is proposed in this paper for the unknown nonlinear stochastic hybrid system with a direct transmission matrix from input to output. Through the off-line observer/Kalman filter identification method, one has a good initial guess of modified NARMAX model to reduce the on-line system identification process time. Then, based on the modified NARMAX-based system identification, a corresponding adaptive digital control scheme is presented for the unknown continuous-time nonlinear system, with an input-output direct transmission term, which also has measurement and system noises and inaccessible system states. Besides, an effective state space self-turner with fault tolerance scheme is presented for the unknown multivariable stochastic system. A quantitative criterion is suggested by comparing the innovation process error estimated by the Kalman filter estimation algorithm, so that a weighting matrix resetting technique by adjusting and resetting the covariance matrices of parameter estimate obtained by the Kalman filter estimation algorithm is utilized to achieve the parameter estimation for faulty system recovery. Consequently, the proposed method can effectively cope with partially abrupt and/or gradual system faults and input failures by the fault detection. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

Extension algorithm for generic low-voltage networks

NASA Astrophysics Data System (ADS)

Marwitz, S.; Olk, C.

2018-02-01

Distributed energy resources (DERs) are increasingly penetrating the energy system which is driven by climate and sustainability goals. These technologies are mostly connected to low- voltage electrical networks and change the demand and supply situation in these networks. This can cause critical network states. Network topologies vary significantly and depend on several conditions including geography, historical development, network design or number of network connections. In the past, only some of these aspects were taken into account when estimating the network investment needs for Germany on the low-voltage level. Typically, fixed network topologies are examined or a Monte Carlo approach is used to quantify the investment needs at this voltage level. Recent research has revealed that DERs differ substantially between rural, suburban and urban regions. The low-voltage network topologies have different design concepts in these regions, so that different network topologies have to be considered when assessing the need for network extensions and investments due to DERs. An extension algorithm is needed to calculate network extensions and investment needs for the different typologies of generic low-voltage networks. We therefore present a new algorithm, which is capable of calculating the extension for generic low-voltage networks of any given topology based on voltage range deviations and thermal overloads. The algorithm requires information about line and cable lengths, their topology and the network state only. We test the algorithm on a radial, a loop, and a heavily meshed network. Here we show that the algorithm functions for electrical networks with these topologies. We found that the algorithm is able to extend different networks efficiently by placing cables between network nodes. The main value of the algorithm is that it does not require any information about routes for additional cables or positions for additional substations when it comes to estimating network extension needs.

Multimodal Estimation of Distribution Algorithms.

PubMed

Yang, Qiang; Chen, Wei-Neng; Li, Yun; Chen, C L Philip; Xu, Xiang-Min; Zhang, Jun

2016-02-15

Taking the advantage of estimation of distribution algorithms (EDAs) in preserving high diversity, this paper proposes a multimodal EDA. Integrated with clustering strategies for crowding and speciation, two versions of this algorithm are developed, which operate at the niche level. Then these two algorithms are equipped with three distinctive techniques: 1) a dynamic cluster sizing strategy; 2) an alternative utilization of Gaussian and Cauchy distributions to generate offspring; and 3) an adaptive local search. The dynamic cluster sizing affords a potential balance between exploration and exploitation and reduces the sensitivity to the cluster size in the niching methods. Taking advantages of Gaussian and Cauchy distributions, we generate the offspring at the niche level through alternatively using these two distributions. Such utilization can also potentially offer a balance between exploration and exploitation. Further, solution accuracy is enhanced through a new local search scheme probabilistically conducted around seeds of niches with probabilities determined self-adaptively according to fitness values of these seeds. Extensive experiments conducted on 20 benchmark multimodal problems confirm that both algorithms can achieve competitive performance compared with several state-of-the-art multimodal algorithms, which is supported by nonparametric tests. Especially, the proposed algorithms are very promising for complex problems with many local optima.

IMM estimator with out-of-sequence measurements

NASA Astrophysics Data System (ADS)

Bar-Shalom, Yaakov; Chen, Huimin

2004-08-01

In multisensor tracking systems that operate in a centralized information processing architecture, measurements from the same target obtained by different sensors can arrive at the processing center out of sequence. In order to avoid either a delay in the output or the need for reordering and reprocessing an entire sequence of measurements, such measurements have to be processed as out-of-sequence measurements (OOSM). Recent work developed procedures for incorporating OOSMs into a Kalman filter (KF). Since the state of the art tracker for real (maneuvering) targets is the Interacting Multiple Model (IMM) estimator, this paper presents the algorithm for incorporating OOSMs into an IMM estimator. Both data association and estimation are considered. Simulation results are presented for two realistic problems using measurements from two airborne GMTI sensors. It is shown that the proposed algorithm for incorporating OOSMs into an IMM estimator yields practically the same performance as the reordering and in-sequence reprocessing of the measurements.

Satellite Angular Rate Estimation From Vector Measurements

NASA Technical Reports Server (NTRS)

Azor, Ruth; Bar-Itzhack, Itzhack Y.; Harman, Richard R.

1996-01-01

This paper presents an algorithm for estimating the angular rate vector of a satellite which is based on the time derivatives of vector measurements expressed in a reference and body coordinate. The computed derivatives are fed into a spacial Kalman filter which yields an estimate of the spacecraft angular velocity. The filter, named Extended Interlaced Kalman Filter (EIKF), is an extension of the Kalman filter which, although being linear, estimates the state of a nonlinear dynamic system. It consists of two or three parallel Kalman filters whose individual estimates are fed to one another and are considered as known inputs by the other parallel filter(s). The nonlinear dynamics stem from the nonlinear differential equation that describes the rotation of a three dimensional body. Initial results, using simulated data, and real Rossi X ray Timing Explorer (RXTE) data indicate that the algorithm is efficient and robust.

Optimal post-experiment estimation of poorly modeled dynamic systems

NASA Technical Reports Server (NTRS)

Mook, D. Joseph

1988-01-01

Recently, a novel strategy for post-experiment state estimation of discretely-measured dynamic systems has been developed. The method accounts for errors in the system dynamic model equations in a more general and rigorous manner than do filter-smoother algorithms. The dynamic model error terms do not require the usual process noise assumptions of zero-mean, symmetrically distributed random disturbances. Instead, the model error terms require no prior assumptions other than piecewise continuity. The resulting state estimates are more accurate than filters for applications in which the dynamic model error clearly violates the typical process noise assumptions, and the available measurements are sparse and/or noisy. Estimates of the dynamic model error, in addition to the states, are obtained as part of the solution of a two-point boundary value problem, and may be exploited for numerous reasons. In this paper, the basic technique is explained, and several example applications are given. Included among the examples are both state estimation and exploitation of the model error estimates.

Object tracking algorithm based on the color histogram probability distribution

NASA Astrophysics Data System (ADS)

Li, Ning; Lu, Tongwei; Zhang, Yanduo

2018-04-01

In order to resolve tracking failure resulted from target's being occlusion and follower jamming caused by objects similar to target in the background, reduce the influence of light intensity. This paper change HSV and YCbCr color channel correction the update center of the target, continuously updated image threshold self-adaptive target detection effect, Clustering the initial obstacles is roughly range, shorten the threshold range, maximum to detect the target. In order to improve the accuracy of detector, this paper increased the Kalman filter to estimate the target state area. The direction predictor based on the Markov model is added to realize the target state estimation under the condition of background color interference and enhance the ability of the detector to identify similar objects. The experimental results show that the improved algorithm more accurate and faster speed of processing.

[Detection of quadratic phase coupling between EEG signal components by nonparamatric and parametric methods of bispectral analysis].

PubMed

Schmidt, K; Witte, H

1999-11-01

Recently the assumption of the independence of individual frequency components in a signal has been rejected, for example, for the EEG during defined physiological states such as sleep or sedation [9, 10]. Thus, the use of higher-order spectral analysis capable of detecting interrelations between individual signal components has proved useful. The aim of the present study was to investigate the quality of various non-parametric and parametric estimation algorithms using simulated as well as true physiological data. We employed standard algorithms available for the MATLAB. The results clearly show that parametric bispectral estimation is superior to non-parametric estimation in terms of the quality of peak localisation and the discrimination from other peaks.

Rapid cable tension estimation using dynamic and mechanical properties

NASA Astrophysics Data System (ADS)

Martínez-Castro, Rosana E.; Jang, Shinae; Christenson, Richard E.

2016-04-01

Main tension elements are critical to the overall stability of cable-supported bridges. A dependable and rapid determination of cable tension is desired to assess the state of a cable-supported bridge and evaluate its operability. A portable smart sensor setup is presented to reduce post-processing time and deployment complexity while reliably determining cable tension using dynamic characteristics extracted from spectral analysis. A self-recording accelerometer is coupled with a single-board microcomputer that communicates wirelessly with a remote host computer. The portable smart sensing device is designed such that additional algorithms, sensors and controlling devices for various monitoring applications can be installed and operated for additional structural assessment. The tension-estimating algorithms are based on taut string theory and expand to consider bending stiffness. The successful combination of cable properties allows the use of a cable's dynamic behavior to determine tension force. The tension-estimating algorithms are experimentally validated on a through-arch steel bridge subject to ambient vibration induced by passing traffic. The tension estimation is determined in well agreement with previously determined tension values for the structure.

Robust head pose estimation via supervised manifold learning.

PubMed

Wang, Chao; Song, Xubo

2014-05-01

Head poses can be automatically estimated using manifold learning algorithms, with the assumption that with the pose being the only variable, the face images should lie in a smooth and low-dimensional manifold. However, this estimation approach is challenging due to other appearance variations related to identity, head location in image, background clutter, facial expression, and illumination. To address the problem, we propose to incorporate supervised information (pose angles of training samples) into the process of manifold learning. The process has three stages: neighborhood construction, graph weight computation and projection learning. For the first two stages, we redefine inter-point distance for neighborhood construction as well as graph weight by constraining them with the pose angle information. For Stage 3, we present a supervised neighborhood-based linear feature transformation algorithm to keep the data points with similar pose angles close together but the data points with dissimilar pose angles far apart. The experimental results show that our method has higher estimation accuracy than the other state-of-art algorithms and is robust to identity and illumination variations. Copyright © 2014 Elsevier Ltd. All rights reserved.

An Ensemble-Based Smoother with Retrospectively Updated Weights for Highly Nonlinear Systems

NASA Technical Reports Server (NTRS)

Chin, T. M.; Turmon, M. J.; Jewell, J. B.; Ghil, M.

2006-01-01

Monte Carlo computational methods have been introduced into data assimilation for nonlinear systems in order to alleviate the computational burden of updating and propagating the full probability distribution. By propagating an ensemble of representative states, algorithms like the ensemble Kalman filter (EnKF) and the resampled particle filter (RPF) rely on the existing modeling infrastructure to approximate the distribution based on the evolution of this ensemble. This work presents an ensemble-based smoother that is applicable to the Monte Carlo filtering schemes like EnKF and RPF. At the minor cost of retrospectively updating a set of weights for ensemble members, this smoother has demonstrated superior capabilities in state tracking for two highly nonlinear problems: the double-well potential and trivariate Lorenz systems. The algorithm does not require retrospective adaptation of the ensemble members themselves, and it is thus suited to a streaming operational mode. The accuracy of the proposed backward-update scheme in estimating non-Gaussian distributions is evaluated by comparison to the more accurate estimates provided by a Markov chain Monte Carlo algorithm.

Dense depth maps from correspondences derived from perceived motion

NASA Astrophysics Data System (ADS)

Kirby, Richard; Whitaker, Ross

2017-01-01

Many computer vision applications require finding corresponding points between images and using the corresponding points to estimate disparity. Today's correspondence finding algorithms primarily use image features or pixel intensities common between image pairs. Some 3-D computer vision applications, however, do not produce the desired results using correspondences derived from image features or pixel intensities. Two examples are the multimodal camera rig and the center region of a coaxial camera rig. We present an image correspondence finding technique that aligns pairs of image sequences using optical flow fields. The optical flow fields provide information about the structure and motion of the scene, which are not available in still images but can be used in image alignment. We apply the technique to a dual focal length stereo camera rig consisting of a visible light-infrared camera pair and to a coaxial camera rig. We test our method on real image sequences and compare our results with the state-of-the-art multimodal and structure from motion (SfM) algorithms. Our method produces more accurate depth and scene velocity reconstruction estimates than the state-of-the-art multimodal and SfM algorithms.

Modelling maximum river flow by using Bayesian Markov Chain Monte Carlo

NASA Astrophysics Data System (ADS)

Cheong, R. Y.; Gabda, D.

2017-09-01

Analysis of flood trends is vital since flooding threatens human living in terms of financial, environment and security. The data of annual maximum river flows in Sabah were fitted into generalized extreme value (GEV) distribution. Maximum likelihood estimator (MLE) raised naturally when working with GEV distribution. However, previous researches showed that MLE provide unstable results especially in small sample size. In this study, we used different Bayesian Markov Chain Monte Carlo (MCMC) based on Metropolis-Hastings algorithm to estimate GEV parameters. Bayesian MCMC method is a statistical inference which studies the parameter estimation by using posterior distribution based on Bayes’ theorem. Metropolis-Hastings algorithm is used to overcome the high dimensional state space faced in Monte Carlo method. This approach also considers more uncertainty in parameter estimation which then presents a better prediction on maximum river flow in Sabah.

An Adaptive Low-Cost INS/GNSS Tightly-Coupled Integration Architecture Based on Redundant Measurement Noise Covariance Estimation.

PubMed

Li, Zheng; Zhang, Hai; Zhou, Qifan; Che, Huan

2017-09-05

The main objective of the introduced study is to design an adaptive Inertial Navigation System/Global Navigation Satellite System (INS/GNSS) tightly-coupled integration system that can provide more reliable navigation solutions by making full use of an adaptive Kalman filter (AKF) and satellite selection algorithm. To achieve this goal, we develop a novel redundant measurement noise covariance estimation (RMNCE) theorem, which adaptively estimates measurement noise properties by analyzing the difference sequences of system measurements. The proposed RMNCE approach is then applied to design both a modified weighted satellite selection algorithm and a type of adaptive unscented Kalman filter (UKF) to improve the performance of the tightly-coupled integration system. In addition, an adaptive measurement noise covariance expanding algorithm is developed to mitigate outliers when facing heavy multipath and other harsh situations. Both semi-physical simulation and field experiments were conducted to evaluate the performance of the proposed architecture and were compared with state-of-the-art algorithms. The results validate that the RMNCE provides a significant improvement in the measurement noise covariance estimation and the proposed architecture can improve the accuracy and reliability of the INS/GNSS tightly-coupled systems. The proposed architecture can effectively limit positioning errors under conditions of poor GNSS measurement quality and outperforms all the compared schemes.

An Adaptive Low-Cost INS/GNSS Tightly-Coupled Integration Architecture Based on Redundant Measurement Noise Covariance Estimation

PubMed Central

Li, Zheng; Zhang, Hai; Zhou, Qifan; Che, Huan

2017-01-01

The main objective of the introduced study is to design an adaptive Inertial Navigation System/Global Navigation Satellite System (INS/GNSS) tightly-coupled integration system that can provide more reliable navigation solutions by making full use of an adaptive Kalman filter (AKF) and satellite selection algorithm. To achieve this goal, we develop a novel redundant measurement noise covariance estimation (RMNCE) theorem, which adaptively estimates measurement noise properties by analyzing the difference sequences of system measurements. The proposed RMNCE approach is then applied to design both a modified weighted satellite selection algorithm and a type of adaptive unscented Kalman filter (UKF) to improve the performance of the tightly-coupled integration system. In addition, an adaptive measurement noise covariance expanding algorithm is developed to mitigate outliers when facing heavy multipath and other harsh situations. Both semi-physical simulation and field experiments were conducted to evaluate the performance of the proposed architecture and were compared with state-of-the-art algorithms. The results validate that the RMNCE provides a significant improvement in the measurement noise covariance estimation and the proposed architecture can improve the accuracy and reliability of the INS/GNSS tightly-coupled systems. The proposed architecture can effectively limit positioning errors under conditions of poor GNSS measurement quality and outperforms all the compared schemes. PMID:28872629

MATSurv: multisensor air traffic surveillance system

NASA Astrophysics Data System (ADS)

Yeddanapudi, Murali; Bar-Shalom, Yaakov; Pattipati, Krishna R.; Gassner, Richard R.

1995-09-01

This paper deals with the design and implementation of MATSurv 1--an experimental Multisensor Air Traffic Surveillance system. The proposed system consists of a Kalman filter based state estimator used in conjunction with a 2D sliding window assignment algorithm. Real data from two FAA radars is used to evaluate the performance of this algorithm. The results indicate that the proposed algorithm provides a superior classification of the measurements into tracks (i.e., the most likely aircraft trajectories) when compared to the aircraft trajectories obtained using the measurement IDs (squawk or IFF code).

Simulated quantum computation of molecular energies.

PubMed

Aspuru-Guzik, Alán; Dutoi, Anthony D; Love, Peter J; Head-Gordon, Martin

2005-09-09

The calculation time for the energy of atoms and molecules scales exponentially with system size on a classical computer but polynomially using quantum algorithms. We demonstrate that such algorithms can be applied to problems of chemical interest using modest numbers of quantum bits. Calculations of the water and lithium hydride molecular ground-state energies have been carried out on a quantum computer simulator using a recursive phase-estimation algorithm. The recursive algorithm reduces the number of quantum bits required for the readout register from about 20 to 4. Mappings of the molecular wave function to the quantum bits are described. An adiabatic method for the preparation of a good approximate ground-state wave function is described and demonstrated for a stretched hydrogen molecule. The number of quantum bits required scales linearly with the number of basis functions, and the number of gates required grows polynomially with the number of quantum bits.

Seismic and acoustic signal identification algorithms

DOE Office of Scientific and Technical Information (OSTI.GOV)

LADD,MARK D.; ALAM,M. KATHLEEN; SLEEFE,GERARD E.

2000-04-03

This paper will describe an algorithm for detecting and classifying seismic and acoustic signals for unattended ground sensors. The algorithm must be computationally efficient and continuously process a data stream in order to establish whether or not a desired signal has changed state (turned-on or off). The paper will focus on describing a Fourier based technique that compares the running power spectral density estimate of the data to a predetermined signature in order to determine if the desired signal has changed state. How to establish the signature and the detection thresholds will be discussed as well as the theoretical statisticsmore » of the algorithm for the Gaussian noise case with results from simulated data. Actual seismic data results will also be discussed along with techniques used to reduce false alarms due to the inherent nonstationary noise environments found with actual data.« less

Differential sampling for fast frequency acquisition via adaptive extended least squares algorithm

NASA Technical Reports Server (NTRS)

Kumar, Rajendra

1987-01-01

This paper presents a differential signal model along with appropriate sampling techinques for least squares estimation of the frequency and frequency derivatives and possibly the phase and amplitude of a sinusoid received in the presence of noise. The proposed algorithm is recursive in mesurements and thus the computational requirement increases only linearly with the number of measurements. The dimension of the state vector in the proposed algorithm does not depend upon the number of measurements and is quite small, typically around four. This is an advantage when compared to previous algorithms wherein the dimension of the state vector increases monotonically with the product of the frequency uncertainty and the observation period. Such a computational simplification may possibly result in some loss of optimality. However, by applying the sampling techniques of the paper such a possible loss in optimality can made small.

A survey of the state of the art and focused research in range systems, task 2

NASA Technical Reports Server (NTRS)

Yao, K.

1986-01-01

Contract generated publications are compiled which describe the research activities for the reporting period. Study topics include: equivalent configurations of systolic arrays; least squares estimation algorithms with systolic array architectures; modeling and equilization of nonlinear bandlimited satellite channels; and least squares estimation and Kalman filtering by systolic arrays.

Algorithmic decision rules for estimating growth, removals, and mortality within a national-scale forest inventory (USA)

Treesearch

William H. McWilliams; Carol L. Alerich; William A. Bechtold; Mark Hansen; Christopher M. Oswalt; Mike Thompson; Jeff Turner

2012-01-01

The U.S. Department of Agriculture, Forest Service, Forest Inventory and Analysis (FIA) program maintains the National Information Management System (NIMS) that provides the computational framework for the annual forest inventory of the United States. Questions regarding the impact of key elements of programming logic, processing criteria, and estimation procedures...

Control design for robust stability in linear regulators: Application to aerospace flight control

NASA Technical Reports Server (NTRS)

Yedavalli, R. K.

1986-01-01

Time domain stability robustness analysis and design for linear multivariable uncertain systems with bounded uncertainties is the central theme of the research. After reviewing the recently developed upper bounds on the linear elemental (structured), time varying perturbation of an asymptotically stable linear time invariant regulator, it is shown that it is possible to further improve these bounds by employing state transformations. Then introducing a quantitative measure called the stability robustness index, a state feedback conrol design algorithm is presented for a general linear regulator problem and then specialized to the case of modal systems as well as matched systems. The extension of the algorithm to stochastic systems with Kalman filter as the state estimator is presented. Finally an algorithm for robust dynamic compensator design is presented using Parameter Optimization (PO) procedure. Applications in a aircraft control and flexible structure control are presented along with a comparison with other existing methods.

Fast adaptive flat-histogram ensemble to enhance the sampling in large systems

NASA Astrophysics Data System (ADS)

Xu, Shun; Zhou, Xin; Jiang, Yi; Wang, YanTing

2015-09-01

An efficient novel algorithm was developed to estimate the Density of States (DOS) for large systems by calculating the ensemble means of an extensive physical variable, such as the potential energy, U, in generalized canonical ensembles to interpolate the interior reverse temperature curve , where S( U) is the logarithm of the DOS. This curve is computed with different accuracies in different energy regions to capture the dependence of the reverse temperature on U without setting prior grid in the U space. By combining with a U-compression transformation, we decrease the computational complexity from O( N 3/2) in the normal Wang Landau type method to O( N 1/2) in the current algorithm, as the degrees of freedom of system N. The efficiency of the algorithm is demonstrated by applying to Lennard Jones fluids with various N, along with its ability to find different macroscopic states, including metastable states.

Estimation for general birth-death processes

PubMed Central

Crawford, Forrest W.; Minin, Vladimir N.; Suchard, Marc A.

2013-01-01

Birth-death processes (BDPs) are continuous-time Markov chains that track the number of “particles” in a system over time. While widely used in population biology, genetics and ecology, statistical inference of the instantaneous particle birth and death rates remains largely limited to restrictive linear BDPs in which per-particle birth and death rates are constant. Researchers often observe the number of particles at discrete times, necessitating data augmentation procedures such as expectation-maximization (EM) to find maximum likelihood estimates. For BDPs on finite state-spaces, there are powerful matrix methods for computing the conditional expectations needed for the E-step of the EM algorithm. For BDPs on infinite state-spaces, closed-form solutions for the E-step are available for some linear models, but most previous work has resorted to time-consuming simulation. Remarkably, we show that the E-step conditional expectations can be expressed as convolutions of computable transition probabilities for any general BDP with arbitrary rates. This important observation, along with a convenient continued fraction representation of the Laplace transforms of the transition probabilities, allows for novel and efficient computation of the conditional expectations for all BDPs, eliminating the need for truncation of the state-space or costly simulation. We use this insight to derive EM algorithms that yield maximum likelihood estimation for general BDPs characterized by various rate models, including generalized linear models. We show that our Laplace convolution technique outperforms competing methods when they are available and demonstrate a technique to accelerate EM algorithm convergence. We validate our approach using synthetic data and then apply our methods to cancer cell growth and estimation of mutation parameters in microsatellite evolution. PMID:25328261

Estimation for general birth-death processes.

PubMed

Crawford, Forrest W; Minin, Vladimir N; Suchard, Marc A

2014-04-01

Birth-death processes (BDPs) are continuous-time Markov chains that track the number of "particles" in a system over time. While widely used in population biology, genetics and ecology, statistical inference of the instantaneous particle birth and death rates remains largely limited to restrictive linear BDPs in which per-particle birth and death rates are constant. Researchers often observe the number of particles at discrete times, necessitating data augmentation procedures such as expectation-maximization (EM) to find maximum likelihood estimates. For BDPs on finite state-spaces, there are powerful matrix methods for computing the conditional expectations needed for the E-step of the EM algorithm. For BDPs on infinite state-spaces, closed-form solutions for the E-step are available for some linear models, but most previous work has resorted to time-consuming simulation. Remarkably, we show that the E-step conditional expectations can be expressed as convolutions of computable transition probabilities for any general BDP with arbitrary rates. This important observation, along with a convenient continued fraction representation of the Laplace transforms of the transition probabilities, allows for novel and efficient computation of the conditional expectations for all BDPs, eliminating the need for truncation of the state-space or costly simulation. We use this insight to derive EM algorithms that yield maximum likelihood estimation for general BDPs characterized by various rate models, including generalized linear models. We show that our Laplace convolution technique outperforms competing methods when they are available and demonstrate a technique to accelerate EM algorithm convergence. We validate our approach using synthetic data and then apply our methods to cancer cell growth and estimation of mutation parameters in microsatellite evolution.

First Attempt of Orbit Determination of SLR Satellites and Space Debris Using Genetic Algorithms

NASA Astrophysics Data System (ADS)

Deleflie, F.; Coulot, D.; Descosta, R.; Fernier, A.; Richard, P.

2013-08-01

We present an orbit determination method based on genetic algorithms. Contrary to usual estimation methods mainly based on least-squares methods, these algorithms do not require any a priori knowledge of the initial state vector to be estimated. These algorithms can be applied when a new satellite is launched or for uncatalogued objects that appear in images obtained from robotic telescopes such as the TAROT ones. We show in this paper preliminary results obtained from an SLR satellite, for which tracking data acquired by the ILRS network enable to build accurate orbital arcs at a few centimeter level, which can be used as a reference orbit ; in this case, the basic observations are made up of time series of ranges, obtained from various tracking stations. We show as well the results obtained from the observations acquired by the two TAROT telescopes on the Telecom-2D satellite operated by CNES ; in that case, the observations are made up of time series of azimuths and elevations, seen from the two TAROT telescopes. The method is carried out in several steps: (i) an analytical propagation of the equations of motion, (ii) an estimation kernel based on genetic algorithms, which follows the usual steps of such approaches: initialization and evolution of a selected population, so as to determine the best parameters. Each parameter to be estimated, namely each initial keplerian element, has to be searched among an interval that is preliminary chosen. The algorithm is supposed to converge towards an optimum over a reasonable computational time.

Mode Shape Estimation Algorithms Under Ambient Conditions: A Comparative Review

DOE Office of Scientific and Technical Information (OSTI.GOV)

Dosiek, Luke; Zhou, Ning; Pierre, John W.

Abstract—This paper provides a comparative review of five existing ambient electromechanical mode shape estimation algorithms, i.e., the Transfer Function (TF), Spectral, Frequency Domain Decomposition (FDD), Channel Matching, and Subspace Methods. It is also shown that the TF Method is a general approach to estimating mode shape and that the Spectral, FDD, and Channel Matching Methods are actually special cases of it. Additionally, some of the variations of the Subspace Method are reviewed and the Numerical algorithm for Subspace State Space System IDentification (N4SID) is implemented. The five algorithms are then compared using data simulated from a 17-machine model of themore » Western Electricity Coordinating Council (WECC) under ambient conditions with both low and high damping, as well as during the case where ambient data is disrupted by an oscillatory ringdown. The performance of the algorithms is compared using the statistics from Monte Carlo Simulations and results from measured WECC data, and a discussion of the practical issues surrounding their implementation, including cases where power system probing is an option, is provided. The paper concludes with some recommendations as to the appropriate use of the various techniques. Index Terms—Electromechanical mode shape, small-signal stability, phasor measurement units (PMU), system identification, N4SID, subspace.« less

A survey of the state-of-the-art and focused research in range systems

NASA Technical Reports Server (NTRS)

Kung, Yao; Balakrishnan, A. V.

1988-01-01

In this one-year renewal of NASA Contract No. 2-304, basic research, development, and implementation in the areas of modern estimation algorithms and digital communication systems have been performed. In the first area, basic study on the conversion of general classes of practical signal processing algorithms into systolic array algorithms is considered, producing four publications. Also studied were the finite word length effects and convergence rates of lattice algorithms, producing two publications. In the second area of study, the use of efficient importance sampling simulation technique for the evaluation of digital communication system performances were studied, producing two publications.

The research of radar target tracking observed information linear filter method

NASA Astrophysics Data System (ADS)

Chen, Zheng; Zhao, Xuanzhi; Zhang, Wen

2018-05-01

Aiming at the problems of low precision or even precision divergent is caused by nonlinear observation equation in radar target tracking, a new filtering algorithm is proposed in this paper. In this algorithm, local linearization is carried out on the observed data of the distance and angle respectively. Then the kalman filter is performed on the linearized data. After getting filtered data, a mapping operation will provide the posteriori estimation of target state. A large number of simulation results show that this algorithm can solve above problems effectively, and performance is better than the traditional filtering algorithm for nonlinear dynamic systems.

Phase unwrapping algorithm using polynomial phase approximation and linear Kalman filter.

PubMed

Kulkarni, Rishikesh; Rastogi, Pramod

2018-02-01

A noise-robust phase unwrapping algorithm is proposed based on state space analysis and polynomial phase approximation using wrapped phase measurement. The true phase is approximated as a two-dimensional first order polynomial function within a small sized window around each pixel. The estimates of polynomial coefficients provide the measurement of phase and local fringe frequencies. A state space representation of spatial phase evolution and the wrapped phase measurement is considered with the state vector consisting of polynomial coefficients as its elements. Instead of using the traditional nonlinear Kalman filter for the purpose of state estimation, we propose to use the linear Kalman filter operating directly with the wrapped phase measurement. The adaptive window width is selected at each pixel based on the local fringe density to strike a balance between the computation time and the noise robustness. In order to retrieve the unwrapped phase, either a line-scanning approach or a quality guided strategy of pixel selection is used depending on the underlying continuous or discontinuous phase distribution, respectively. Simulation and experimental results are provided to demonstrate the applicability of the proposed method.

Nonlinear observation of internal states of fuel cell cathode utilizing a high-order sliding-mode algorithm

NASA Astrophysics Data System (ADS)

Xu, Liangfei; Hu, Junming; Cheng, Siliang; Fang, Chuan; Li, Jianqiu; Ouyang, Minggao; Lehnert, Werner

2017-07-01

A scheme for designing a second-order sliding-mode (SOSM) observer that estimates critical internal states on the cathode side of a polymer electrolyte membrane (PEM) fuel cell system is presented. A nonlinear, isothermal dynamic model for the cathode side and a membrane electrolyte assembly are first described. A nonlinear observer topology based on an SOSM algorithm is then introduced, and equations for the SOSM observer deduced. Online calculation of the inverse matrix produces numerical errors, so a modified matrix is introduced to eliminate the negative effects of these on the observer. The simulation results indicate that the SOSM observer performs well for the gas partial pressures and air stoichiometry. The estimation results follow the simulated values in the model with relative errors within ± 2% at stable status. Large errors occur during the fast dynamic processes (<1 s). Moreover, the nonlinear observer shows good robustness against variations in the initial values of the internal states, but less robustness against variations in system parameters. The partial pressures are more sensitive than the air stoichiometry to system parameters. Finally, the order of effects of parameter uncertainties on the estimation results is outlined and analyzed.

An algorithm to estimate building heights from Google street-view imagery using single view metrology across a representational state transfer system

NASA Astrophysics Data System (ADS)

Díaz, Elkin; Arguello, Henry

2016-05-01

Urban ecosystem studies require monitoring, controlling and planning to analyze building density, urban density, urban planning, atmospheric modeling and land use. In urban planning, there are many methods for building height estimation using optical remote sensing images. These methods however, highly depend on sun illumination and cloud-free weather. In contrast, high resolution synthetic aperture radar provides images independent from daytime and weather conditions, although, these images rely on special hardware and expensive acquisition. Most of the biggest cities around the world have been photographed by Google street view under different conditions. Thus, thousands of images from the principal streets of a city can be accessed online. The availability of this and similar rich city imagery such as StreetSide from Microsoft, represents huge opportunities in computer vision because these images can be used as input in many applications such as 3D modeling, segmentation, recognition and stereo correspondence. This paper proposes a novel algorithm to estimate building heights using public Google Street-View imagery. The objective of this work is to obtain thousands of geo-referenced images from Google Street-View using a representational state transfer system, and estimate their average height using single view metrology. Furthermore, the resulting measurements and image metadata are used to derive a layer of heights in a Google map available online. The experimental results show that the proposed algorithm can estimate an accurate average building height map of thousands of images using Google Street-View Imagery of any city.

State Estimation of International Space Station Centrifuge Rotor With Incomplete Knowledge of Disturbance Inputs

NASA Technical Reports Server (NTRS)

Sullivan, Michael J.

2005-01-01

This thesis develops a state estimation algorithm for the Centrifuge Rotor (CR) system where only relative measurements are available with limited knowledge of both rotor imbalance disturbances and International Space Station (ISS) thruster disturbances. A Kalman filter is applied to a plant model augmented with sinusoidal disturbance states used to model both the effect of the rotor imbalance and the 155 thrusters on the CR relative motion measurement. The sinusoidal disturbance states compensate for the lack of the availability of plant inputs for use in the Kalman filter. Testing confirms that complete disturbance modeling is necessary to ensure reliable estimation. Further testing goes on to show that increased estimator operational bandwidth can be achieved through the expansion of the disturbance model within the filter dynamics. In addition, Monte Carlo analysis shows the varying levels of robustness against defined plant/filter uncertainty variations.

Detecting an atomic clock frequency anomaly using an adaptive Kalman filter algorithm

NASA Astrophysics Data System (ADS)

Song, Huijie; Dong, Shaowu; Wu, Wenjun; Jiang, Meng; Wang, Weixiong

2018-06-01

The abnormal frequencies of an atomic clock mainly include frequency jump and frequency drift jump. Atomic clock frequency anomaly detection is a key technique in time-keeping. The Kalman filter algorithm, as a linear optimal algorithm, has been widely used in real-time detection for abnormal frequency. In order to obtain an optimal state estimation, the observation model and dynamic model of the Kalman filter algorithm should satisfy Gaussian white noise conditions. The detection performance is degraded if anomalies affect the observation model or dynamic model. The idea of the adaptive Kalman filter algorithm, applied to clock frequency anomaly detection, uses the residuals given by the prediction for building ‘an adaptive factor’ the prediction state covariance matrix is real-time corrected by the adaptive factor. The results show that the model error is reduced and the detection performance is improved. The effectiveness of the algorithm is verified by the frequency jump simulation, the frequency drift jump simulation and the measured data of the atomic clock by using the chi-square test.

Bounded Kalman filter method for motion-robust, non-contact heart rate estimation

PubMed Central

Prakash, Sakthi Kumar Arul; Tucker, Conrad S.

2018-01-01

The authors of this work present a real-time measurement of heart rate across different lighting conditions and motion categories. This is an advancement over existing remote Photo Plethysmography (rPPG) methods that require a static, controlled environment for heart rate detection, making them impractical for real-world scenarios wherein a patient may be in motion, or remotely connected to a healthcare provider through telehealth technologies. The algorithm aims to minimize motion artifacts such as blurring and noise due to head movements (uniform, random) by employing i) a blur identification and denoising algorithm for each frame and ii) a bounded Kalman filter technique for motion estimation and feature tracking. A case study is presented that demonstrates the feasibility of the algorithm in non-contact estimation of the pulse rate of subjects performing everyday head and body movements. The method in this paper outperforms state of the art rPPG methods in heart rate detection, as revealed by the benchmarked results. PMID:29552419

An adaptive multi-level simulation algorithm for stochastic biological systems

DOE Office of Scientific and Technical Information (OSTI.GOV)

Lester, C., E-mail: lesterc@maths.ox.ac.uk; Giles, M. B.; Baker, R. E.

2015-01-14

Discrete-state, continuous-time Markov models are widely used in the modeling of biochemical reaction networks. Their complexity often precludes analytic solution, and we rely on stochastic simulation algorithms (SSA) to estimate system statistics. The Gillespie algorithm is exact, but computationally costly as it simulates every single reaction. As such, approximate stochastic simulation algorithms such as the tau-leap algorithm are often used. Potentially computationally more efficient, the system statistics generated suffer from significant bias unless tau is relatively small, in which case the computational time can be comparable to that of the Gillespie algorithm. The multi-level method [Anderson and Higham, “Multi-level Montemore » Carlo for continuous time Markov chains, with applications in biochemical kinetics,” SIAM Multiscale Model. Simul. 10(1), 146–179 (2012)] tackles this problem. A base estimator is computed using many (cheap) sample paths at low accuracy. The bias inherent in this estimator is then reduced using a number of corrections. Each correction term is estimated using a collection of paired sample paths where one path of each pair is generated at a higher accuracy compared to the other (and so more expensive). By sharing random variables between these paired paths, the variance of each correction estimator can be reduced. This renders the multi-level method very efficient as only a relatively small number of paired paths are required to calculate each correction term. In the original multi-level method, each sample path is simulated using the tau-leap algorithm with a fixed value of τ. This approach can result in poor performance when the reaction activity of a system changes substantially over the timescale of interest. By introducing a novel adaptive time-stepping approach where τ is chosen according to the stochastic behaviour of each sample path, we extend the applicability of the multi-level method to such cases. We demonstrate the efficiency of our method using a number of examples.« less

Estimation of Hidden State Variables of the Intracranial System Using Constrained Nonlinear Kalman Filters

PubMed Central

Nenov, Valeriy; Bergsneider, Marvin; Glenn, Thomas C.; Vespa, Paul; Martin, Neil

2007-01-01

Impeded by the rigid skull, assessment of physiological variables of the intracranial system is difficult. A hidden state estimation approach is used in the present work to facilitate the estimation of unobserved variables from available clinical measurements including intracranial pressure (ICP) and cerebral blood flow velocity (CBFV). The estimation algorithm is based on a modified nonlinear intracranial mathematical model, whose parameters are first identified in an offline stage using a nonlinear optimization paradigm. Following the offline stage, an online filtering process is performed using a nonlinear Kalman filter (KF)-like state estimator that is equipped with a new way of deriving the Kalman gain satisfying the physiological constraints on the state variables. The proposed method is then validated by comparing different state estimation methods and input/output (I/O) configurations using simulated data. It is also applied to a set of CBFV, ICP and arterial blood pressure (ABP) signal segments from brain injury patients. The results indicated that the proposed constrained nonlinear KF achieved the best performance among the evaluated state estimators and that the state estimator combined with the I/O configuration that has ICP as the measured output can potentially be used to estimate CBFV continuously. Finally, the state estimator combined with the I/O configuration that has both ICP and CBFV as outputs can potentially estimate the lumped cerebral arterial radii, which are not measurable in a typical clinical environment. PMID:17281533

Estimation in Linear Systems Featuring Correlated Uncertain Observations Coming from Multiple Sensors

NASA Astrophysics Data System (ADS)

Caballero-Águila, R.; Hermoso-Carazo, A.; Linares-Pérez, J.

2009-08-01

In this paper, the state least-squares linear estimation problem from correlated uncertain observations coming from multiple sensors is addressed. It is assumed that, at each sensor, the state is measured in the presence of additive white noise and that the uncertainty in the observations is characterized by a set of Bernoulli random variables which are only correlated at consecutive time instants. Assuming that the statistical properties of such variables are not necessarily the same for all the sensors, a recursive filtering algorithm is proposed, and the performance of the estimators is illustrated by a numerical simulation example wherein a signal is estimated from correlated uncertain observations coming from two sensors with different uncertainty characteristics.

Investigation of optical current transformer signal processing method based on an improved Kalman algorithm

NASA Astrophysics Data System (ADS)

Shen, Yan; Ge, Jin-ming; Zhang, Guo-qing; Yu, Wen-bin; Liu, Rui-tong; Fan, Wei; Yang, Ying-xuan

2018-01-01

This paper explores the problem of signal processing in optical current transformers (OCTs). Based on the noise characteristics of OCTs, such as overlapping signals, noise frequency bands, low signal-to-noise ratios, and difficulties in acquiring statistical features of noise power, an improved standard Kalman filtering algorithm was proposed for direct current (DC) signal processing. The state-space model of the OCT DC measurement system is first established, and then mixed noise can be processed by adding mixed noise into measurement and state parameters. According to the minimum mean squared error criterion, state predictions and update equations of the improved Kalman algorithm could be deduced based on the established model. An improved central difference Kalman filter was proposed for alternating current (AC) signal processing, which improved the sampling strategy and noise processing of colored noise. Real-time estimation and correction of noise were achieved by designing AC and DC noise recursive filters. Experimental results show that the improved signal processing algorithms had a good filtering effect on the AC and DC signals with mixed noise of OCT. Furthermore, the proposed algorithm was able to achieve real-time correction of noise during the OCT filtering process.

Automatic detection of retina disease: robustness to image quality and localization of anatomy structure.

PubMed

Karnowski, T P; Aykac, D; Giancardo, L; Li, Y; Nichols, T; Tobin, K W; Chaum, E

2011-01-01

The automated detection of diabetic retinopathy and other eye diseases in images of the retina has great promise as a low-cost method for broad-based screening. Many systems in the literature which perform automated detection include a quality estimation step and physiological feature detection, including the vascular tree and the optic nerve / macula location. In this work, we study the robustness of an automated disease detection method with respect to the accuracy of the optic nerve location and the quality of the images obtained as judged by a quality estimation algorithm. The detection algorithm features microaneurysm and exudate detection followed by feature extraction on the detected population to describe the overall retina image. Labeled images of retinas ground-truthed to disease states are used to train a supervised learning algorithm to identify the disease state of the retina image and exam set. Under the restrictions of high confidence optic nerve detections and good quality imagery, the system achieves a sensitivity and specificity of 94.8% and 78.7% with area-under-curve of 95.3%. Analysis of the effect of constraining quality and the distinction between mild non-proliferative diabetic retinopathy, normal retina images, and more severe disease states is included.

Model parameter estimations from residual gravity anomalies due to simple-shaped sources using Differential Evolution Algorithm

NASA Astrophysics Data System (ADS)

Ekinci, Yunus Levent; Balkaya, Çağlayan; Göktürkler, Gökhan; Turan, Seçil

2016-06-01

An efficient approach to estimate model parameters from residual gravity data based on differential evolution (DE), a stochastic vector-based metaheuristic algorithm, has been presented. We have showed the applicability and effectiveness of this algorithm on both synthetic and field anomalies. According to our knowledge, this is a first attempt of applying DE for the parameter estimations of residual gravity anomalies due to isolated causative sources embedded in the subsurface. The model parameters dealt with here are the amplitude coefficient (A), the depth and exact origin of causative source (zo and xo, respectively) and the shape factors (q and ƞ). The error energy maps generated for some parameter pairs have successfully revealed the nature of the parameter estimation problem under consideration. Noise-free and noisy synthetic single gravity anomalies have been evaluated with success via DE/best/1/bin, which is a widely used strategy in DE. Additionally some complicated gravity anomalies caused by multiple source bodies have been considered, and the results obtained have showed the efficiency of the algorithm. Then using the strategy applied in synthetic examples some field anomalies observed for various mineral explorations such as a chromite deposit (Camaguey district, Cuba), a manganese deposit (Nagpur, India) and a base metal sulphide deposit (Quebec, Canada) have been considered to estimate the model parameters of the ore bodies. Applications have exhibited that the obtained results such as the depths and shapes of the ore bodies are quite consistent with those published in the literature. Uncertainty in the solutions obtained from DE algorithm has been also investigated by Metropolis-Hastings (M-H) sampling algorithm based on simulated annealing without cooling schedule. Based on the resulting histogram reconstructions of both synthetic and field data examples the algorithm has provided reliable parameter estimations being within the sampling limits of M-H sampler. Although it is not a common inversion technique in geophysics, it can be stated that DE algorithm is worth to get more interest for parameter estimations from potential field data in geophysics considering its good accuracy, less computational cost (in the present problem) and the fact that a well-constructed initial guess is not required to reach the global minimum.

Vision-based control for flight relative to dynamic environments

NASA Astrophysics Data System (ADS)

Causey, Ryan Scott

The concept of autonomous systems has been considered an enabling technology for a diverse group of military and civilian applications. The current direction for autonomous systems is increased capabilities through more advanced systems that are useful for missions that require autonomous avoidance, navigation, tracking, and docking. To facilitate this level of mission capability, passive sensors, such as cameras, and complex software are added to the vehicle. By incorporating an on-board camera, visual information can be processed to interpret the surroundings. This information allows decision making with increased situational awareness without the cost of a sensor signature, which is critical in military applications. The concepts presented in this dissertation facilitate the issues inherent to vision-based state estimation of moving objects for a monocular camera configuration. The process consists of several stages involving image processing such as detection, estimation, and modeling. The detection algorithm segments the motion field through a least-squares approach and classifies motions not obeying the dominant trend as independently moving objects. An approach to state estimation of moving targets is derived using a homography approach. The algorithm requires knowledge of the camera motion, a reference motion, and additional feature point geometry for both the target and reference objects. The target state estimates are then observed over time to model the dynamics using a probabilistic technique. The effects of uncertainty on state estimation due to camera calibration are considered through a bounded deterministic approach. The system framework focuses on an aircraft platform of which the system dynamics are derived to relate vehicle states to image plane quantities. Control designs using standard guidance and navigation schemes are then applied to the tracking and homing problems using the derived state estimation. Four simulations are implemented in MATLAB that build on the image concepts present in this dissertation. The first two simulations deal with feature point computations and the effects of uncertainty. The third simulation demonstrates the open-loop estimation of a target ground vehicle in pursuit whereas the four implements a homing control design for the Autonomous Aerial Refueling (AAR) using target estimates as feedback.

Bayesian parameter estimation for nonlinear modelling of biological pathways.

PubMed

Ghasemi, Omid; Lindsey, Merry L; Yang, Tianyi; Nguyen, Nguyen; Huang, Yufei; Jin, Yu-Fang

2011-01-01

The availability of temporal measurements on biological experiments has significantly promoted research areas in systems biology. To gain insight into the interaction and regulation of biological systems, mathematical frameworks such as ordinary differential equations have been widely applied to model biological pathways and interpret the temporal data. Hill equations are the preferred formats to represent the reaction rate in differential equation frameworks, due to their simple structures and their capabilities for easy fitting to saturated experimental measurements. However, Hill equations are highly nonlinearly parameterized functions, and parameters in these functions cannot be measured easily. Additionally, because of its high nonlinearity, adaptive parameter estimation algorithms developed for linear parameterized differential equations cannot be applied. Therefore, parameter estimation in nonlinearly parameterized differential equation models for biological pathways is both challenging and rewarding. In this study, we propose a Bayesian parameter estimation algorithm to estimate parameters in nonlinear mathematical models for biological pathways using time series data. We used the Runge-Kutta method to transform differential equations to difference equations assuming a known structure of the differential equations. This transformation allowed us to generate predictions dependent on previous states and to apply a Bayesian approach, namely, the Markov chain Monte Carlo (MCMC) method. We applied this approach to the biological pathways involved in the left ventricle (LV) response to myocardial infarction (MI) and verified our algorithm by estimating two parameters in a Hill equation embedded in the nonlinear model. We further evaluated our estimation performance with different parameter settings and signal to noise ratios. Our results demonstrated the effectiveness of the algorithm for both linearly and nonlinearly parameterized dynamic systems. Our proposed Bayesian algorithm successfully estimated parameters in nonlinear mathematical models for biological pathways. This method can be further extended to high order systems and thus provides a useful tool to analyze biological dynamics and extract information using temporal data.

Maximum likelihood method for estimating airplane stability and control parameters from flight data in frequency domain

NASA Technical Reports Server (NTRS)

Klein, V.

1980-01-01

A frequency domain maximum likelihood method is developed for the estimation of airplane stability and control parameters from measured data. The model of an airplane is represented by a discrete-type steady state Kalman filter with time variables replaced by their Fourier series expansions. The likelihood function of innovations is formulated, and by its maximization with respect to unknown parameters the estimation algorithm is obtained. This algorithm is then simplified to the output error estimation method with the data in the form of transformed time histories, frequency response curves, or spectral and cross-spectral densities. The development is followed by a discussion on the equivalence of the cost function in the time and frequency domains, and on advantages and disadvantages of the frequency domain approach. The algorithm developed is applied in four examples to the estimation of longitudinal parameters of a general aviation airplane using computer generated and measured data in turbulent and still air. The cost functions in the time and frequency domains are shown to be equivalent; therefore, both approaches are complementary and not contradictory. Despite some computational advantages of parameter estimation in the frequency domain, this approach is limited to linear equations of motion with constant coefficients.

Estimation of the full-field dynamic response of a floating bridge using Kalman-type filtering algorithms

NASA Astrophysics Data System (ADS)

Petersen, Ø. W.; Øiseth, O.; Nord, T. S.; Lourens, E.

2018-07-01

Numerical predictions of the dynamic response of complex structures are often uncertain due to uncertainties inherited from the assumed load effects. Inverse methods can estimate the true dynamic response of a structure through system inversion, combining measured acceleration data with a system model. This article presents a case study of full-field dynamic response estimation of a long-span floating bridge: the Bergøysund Bridge in Norway. This bridge is instrumented with a network of 14 triaxial accelerometers. The system model consists of 27 vibration modes with natural frequencies below 2 Hz, obtained from a tuned finite element model that takes the fluid-structure interaction with the surrounding water into account. Two methods, a joint input-state estimation algorithm and a dual Kalman filter, are applied to estimate the full-field response of the bridge. The results demonstrate that the displacements and the accelerations can be estimated at unmeasured locations with reasonable accuracy when the wave loads are the dominant source of excitation.

Improved localisation of neoclassical tearing modes by combining multiple diagnostic estimates

NASA Astrophysics Data System (ADS)

Rapson, C. J.; Fischer, R.; Giannone, L.; Maraschek, M.; Reich, M.; Treutterer, W.; The ASDEX Upgrade Team

2017-07-01

Neoclassical tearing modes (NTMs) strongly degrade confinement in tokamaks, and are a leading cause of disruptions. They can be stabilised by targeted electron cyclotron current drive (ECCD), however the effectiveness of ECCD depends strongly on the accuracy or misalignment between ECCD and the NTM. The first step to ensure minimal misalignment is a good estimate of the NTM location. In previous NTM control experiments, three methods have been used independently to estimate the NTM location: the magnetic equilibrium, correlation between magnetic and spatially-resolved temperature fluctuations, and the amplitude response of the NTM to nearby ECCD. This submission describes an algorithm which has been designed to fuse these three estimates into one, taking into account many of the characteristics of each diagnostic. Although the method diverges from standard data fusion methods, results from simulation and experiment confirm that the algorithm achieves its stated goal of providing an estimate that is more reliable and accurate than any of the individual estimates.

Complexity of Quantum Impurity Problems

NASA Astrophysics Data System (ADS)

Bravyi, Sergey; Gosset, David

2017-12-01

We give a quasi-polynomial time classical algorithm for estimating the ground state energy and for computing low energy states of quantum impurity models. Such models describe a bath of free fermions coupled to a small interacting subsystem called an impurity. The full system consists of n fermionic modes and has a Hamiltonian {H=H_0+H_{imp}}, where H 0 is quadratic in creation-annihilation operators and H imp is an arbitrary Hamiltonian acting on a subset of O(1) modes. We show that the ground energy of H can be approximated with an additive error {2^{-b}} in time {n^3 \\exp{[O(b^3)]}}. Our algorithm also finds a low energy state that achieves this approximation. The low energy state is represented as a superposition of {\\exp{[O(b^3)]}} fermionic Gaussian states. To arrive at this result we prove several theorems concerning exact ground states of impurity models. In particular, we show that eigenvalues of the ground state covariance matrix decay exponentially with the exponent depending very mildly on the spectral gap of H 0. A key ingredient of our proof is Zolotarev's rational approximation to the {√{x}} function. We anticipate that our algorithms may be used in hybrid quantum-classical simulations of strongly correlated materials based on dynamical mean field theory. We implemented a simplified practical version of our algorithm and benchmarked it using the single impurity Anderson model.

Real-time state estimation in a flight simulator using fNIRS.

PubMed

Gateau, Thibault; Durantin, Gautier; Lancelot, Francois; Scannella, Sebastien; Dehais, Frederic

2015-01-01

Working memory is a key executive function for flying an aircraft. This function is particularly critical when pilots have to recall series of air traffic control instructions. However, working memory limitations may jeopardize flight safety. Since the functional near-infrared spectroscopy (fNIRS) method seems promising for assessing working memory load, our objective is to implement an on-line fNIRS-based inference system that integrates two complementary estimators. The first estimator is a real-time state estimation MACD-based algorithm dedicated to identifying the pilot's instantaneous mental state (not-on-task vs. on-task). It does not require a calibration process to perform its estimation. The second estimator is an on-line SVM-based classifier that is able to discriminate task difficulty (low working memory load vs. high working memory load). These two estimators were tested with 19 pilots who were placed in a realistic flight simulator and were asked to recall air traffic control instructions. We found that the estimated pilot's mental state matched significantly better than chance with the pilot's real state (62% global accuracy, 58% specificity, and 72% sensitivity). The second estimator, dedicated to assessing single trial working memory loads, led to 80% classification accuracy, 72% specificity, and 89% sensitivity. These two estimators establish reusable blocks for further fNIRS-based passive brain computer interface development.

System identification using Nuclear Norm & Tabu Search optimization

NASA Astrophysics Data System (ADS)

Ahmed, Asif A.; Schoen, Marco P.; Bosworth, Ken W.

2018-01-01

In recent years, subspace System Identification (SI) algorithms have seen increased research, stemming from advanced minimization methods being applied to the Nuclear Norm (NN) approach in system identification. These minimization algorithms are based on hard computing methodologies. To the authors’ knowledge, as of now, there has been no work reported that utilizes soft computing algorithms to address the minimization problem within the nuclear norm SI framework. A linear, time-invariant, discrete time system is used in this work as the basic model for characterizing a dynamical system to be identified. The main objective is to extract a mathematical model from collected experimental input-output data. Hankel matrices are constructed from experimental data, and the extended observability matrix is employed to define an estimated output of the system. This estimated output and the actual - measured - output are utilized to construct a minimization problem. An embedded rank measure assures minimum state realization outcomes. Current NN-SI algorithms employ hard computing algorithms for minimization. In this work, we propose a simple Tabu Search (TS) algorithm for minimization. TS algorithm based SI is compared with the iterative Alternating Direction Method of Multipliers (ADMM) line search optimization based NN-SI. For comparison, several different benchmark system identification problems are solved by both approaches. Results show improved performance of the proposed SI-TS algorithm compared to the NN-SI ADMM algorithm.

Accuracy and robustness evaluation in stereo matching

NASA Astrophysics Data System (ADS)

Nguyen, Duc M.; Hanca, Jan; Lu, Shao-Ping; Schelkens, Peter; Munteanu, Adrian

2016-09-01

Stereo matching has received a lot of attention from the computer vision community, thanks to its wide range of applications. Despite of the large variety of algorithms that have been proposed so far, it is not trivial to select suitable algorithms for the construction of practical systems. One of the main problems is that many algorithms lack sufficient robustness when employed in various operational conditions. This problem is due to the fact that most of the proposed methods in the literature are usually tested and tuned to perform well on one specific dataset. To alleviate this problem, an extensive evaluation in terms of accuracy and robustness of state-of-the-art stereo matching algorithms is presented. Three datasets (Middlebury, KITTI, and MPEG FTV) representing different operational conditions are employed. Based on the analysis, improvements over existing algorithms have been proposed. The experimental results show that our improved versions of cross-based and cost volume filtering algorithms outperform the original versions with large margins on Middlebury and KITTI datasets. In addition, the latter of the two proposed algorithms ranks itself among the best local stereo matching approaches on the KITTI benchmark. Under evaluations using specific settings for depth-image-based-rendering applications, our improved belief propagation algorithm is less complex than MPEG's FTV depth estimation reference software (DERS), while yielding similar depth estimation performance. Finally, several conclusions on stereo matching algorithms are also presented.

Numerical discretization-based estimation methods for ordinary differential equation models via penalized spline smoothing with applications in biomedical research.

PubMed

Wu, Hulin; Xue, Hongqi; Kumar, Arun

2012-06-01

Differential equations are extensively used for modeling dynamics of physical processes in many scientific fields such as engineering, physics, and biomedical sciences. Parameter estimation of differential equation models is a challenging problem because of high computational cost and high-dimensional parameter space. In this article, we propose a novel class of methods for estimating parameters in ordinary differential equation (ODE) models, which is motivated by HIV dynamics modeling. The new methods exploit the form of numerical discretization algorithms for an ODE solver to formulate estimating equations. First, a penalized-spline approach is employed to estimate the state variables and the estimated state variables are then plugged in a discretization formula of an ODE solver to obtain the ODE parameter estimates via a regression approach. We consider three different order of discretization methods, Euler's method, trapezoidal rule, and Runge-Kutta method. A higher-order numerical algorithm reduces numerical error in the approximation of the derivative, which produces a more accurate estimate, but its computational cost is higher. To balance the computational cost and estimation accuracy, we demonstrate, via simulation studies, that the trapezoidal discretization-based estimate is the best and is recommended for practical use. The asymptotic properties for the proposed numerical discretization-based estimators are established. Comparisons between the proposed methods and existing methods show a clear benefit of the proposed methods in regards to the trade-off between computational cost and estimation accuracy. We apply the proposed methods t an HIV study to further illustrate the usefulness of the proposed approaches. © 2012, The International Biometric Society.

An Extended Kalman Filter-Based Attitude Tracking Algorithm for Star Sensors

PubMed Central

Li, Jian; Wei, Xinguo; Zhang, Guangjun

2017-01-01

Efficiency and reliability are key issues when a star sensor operates in tracking mode. In the case of high attitude dynamics, the performance of existing attitude tracking algorithms degenerates rapidly. In this paper an extended Kalman filtering-based attitude tracking algorithm is presented. The star sensor is modeled as a nonlinear stochastic system with the state estimate providing the three degree-of-freedom attitude quaternion and angular velocity. The star positions in the star image are predicted and measured to estimate the optimal attitude. Furthermore, all the cataloged stars observed in the sensor field-of-view according the predicted image motion are accessed using a catalog partition table to speed up the tracking, called star mapping. Software simulation and night-sky experiment are performed to validate the efficiency and reliability of the proposed method. PMID:28825684

An Extended Kalman Filter-Based Attitude Tracking Algorithm for Star Sensors.

PubMed

Li, Jian; Wei, Xinguo; Zhang, Guangjun

2017-08-21

Efficiency and reliability are key issues when a star sensor operates in tracking mode. In the case of high attitude dynamics, the performance of existing attitude tracking algorithms degenerates rapidly. In this paper an extended Kalman filtering-based attitude tracking algorithm is presented. The star sensor is modeled as a nonlinear stochastic system with the state estimate providing the three degree-of-freedom attitude quaternion and angular velocity. The star positions in the star image are predicted and measured to estimate the optimal attitude. Furthermore, all the cataloged stars observed in the sensor field-of-view according the predicted image motion are accessed using a catalog partition table to speed up the tracking, called star mapping. Software simulation and night-sky experiment are performed to validate the efficiency and reliability of the proposed method.

Distributed finite-time containment control for double-integrator multiagent systems.

PubMed

Wang, Xiangyu; Li, Shihua; Shi, Peng

2014-09-01

In this paper, the distributed finite-time containment control problem for double-integrator multiagent systems with multiple leaders and external disturbances is discussed. In the presence of multiple dynamic leaders, by utilizing the homogeneous control technique, a distributed finite-time observer is developed for the followers to estimate the weighted average of the leaders' velocities at first. Then, based on the estimates and the generalized adding a power integrator approach, distributed finite-time containment control algorithms are designed to guarantee that the states of the followers converge to the dynamic convex hull spanned by those of the leaders in finite time. Moreover, as a special case of multiple dynamic leaders with zero velocities, the proposed containment control algorithms also work for the case of multiple stationary leaders without using the distributed observer. Simulations demonstrate the effectiveness of the proposed control algorithms.

Modification and fixed-point analysis of a Kalman filter for orientation estimation based on 9D inertial measurement unit data.

PubMed

Brückner, Hans-Peter; Spindeldreier, Christian; Blume, Holger

2013-01-01

A common approach for high accuracy sensor fusion based on 9D inertial measurement unit data is Kalman filtering. State of the art floating-point filter algorithms differ in their computational complexity nevertheless, real-time operation on a low-power microcontroller at high sampling rates is not possible. This work presents algorithmic modifications to reduce the computational demands of a two-step minimum order Kalman filter. Furthermore, the required bit-width of a fixed-point filter version is explored. For evaluation real-world data captured using an Xsens MTx inertial sensor is used. Changes in computational latency and orientation estimation accuracy due to the proposed algorithmic modifications and fixed-point number representation are evaluated in detail on a variety of processing platforms enabling on-board processing on wearable sensor platforms.

Estimation and tracking of AP-diameter of the inferior vena cava in ultrasound images using a novel active circle algorithm.

PubMed

Karami, Ebrahim; Shehata, Mohamed S; Smith, Andrew

2018-05-04

Medical research suggests that the anterior-posterior (AP)-diameter of the inferior vena cava (IVC) and its associated temporal variation as imaged by bedside ultrasound is useful in guiding fluid resuscitation of the critically-ill patient. Unfortunately, indistinct edges and gaps in vessel walls are frequently present which impede accurate estimation of the IVC AP-diameter for both human operators and segmentation algorithms. The majority of research involving use of the IVC to guide fluid resuscitation involves manual measurement of the maximum and minimum AP-diameter as it varies over time. This effort proposes using a time-varying circle fitted inside the typically ellipsoid IVC as an efficient, consistent and novel approach to tracking and approximating the AP-diameter even in the context of poor image quality. In this active-circle algorithm, a novel evolution functional is proposed and shown to be a useful tool for ultrasound image processing. The proposed algorithm is compared with an expert manual measurement, and state-of-the-art relevant algorithms. It is shown that the algorithm outperforms other techniques and performs very close to manual measurement. Copyright © 2018 Elsevier Ltd. All rights reserved.

Target-type probability combining algorithms for multisensor tracking

NASA Astrophysics Data System (ADS)

Wigren, Torbjorn

2001-08-01

Algorithms for the handing of target type information in an operational multi-sensor tracking system are presented. The paper discusses recursive target type estimation, computation of crosses from passive data (strobe track triangulation), as well as the computation of the quality of the crosses for deghosting purposes. The focus is on Bayesian algorithms that operate in the discrete target type probability space, and on the approximations introduced for computational complexity reduction. The centralized algorithms are able to fuse discrete data from a variety of sensors and information sources, including IFF equipment, ESM's, IRST's as well as flight envelopes estimated from track data. All algorithms are asynchronous and can be tuned to handle clutter, erroneous associations as well as missed and erroneous detections. A key to obtain this ability is the inclusion of data forgetting by a procedure for propagation of target type probability states between measurement time instances. Other important properties of the algorithms are their abilities to handle ambiguous data and scenarios. The above aspects are illustrated in a simulations study. The simulation setup includes 46 air targets of 6 different types that are tracked by 5 airborne sensor platforms using ESM's and IRST's as data sources.

Multi-frequency Phase Unwrap from Noisy Data: Adaptive Least Squares Approach

NASA Astrophysics Data System (ADS)

Katkovnik, Vladimir; Bioucas-Dias, José

2010-04-01

Multiple frequency interferometry is, basically, a phase acquisition strategy aimed at reducing or eliminating the ambiguity of the wrapped phase observations or, equivalently, reducing or eliminating the fringe ambiguity order. In multiple frequency interferometry, the phase measurements are acquired at different frequencies (or wavelengths) and recorded using the corresponding sensors (measurement channels). Assuming that the absolute phase to be reconstructed is piece-wise smooth, we use a nonparametric regression technique for the phase reconstruction. The nonparametric estimates are derived from a local least squares criterion, which, when applied to the multifrequency data, yields denoised (filtered) phase estimates with extended ambiguity (periodized), compared with the phase ambiguities inherent to each measurement frequency. The filtering algorithm is based on local polynomial (LPA) approximation for design of nonlinear filters (estimators) and adaptation of these filters to unknown smoothness of the spatially varying absolute phase [9]. For phase unwrapping, from filtered periodized data, we apply the recently introduced robust (in the sense of discontinuity preserving) PUMA unwrapping algorithm [1]. Simulations give evidence that the proposed algorithm yields state-of-the-art performance for continuous as well as for discontinues phase surfaces, enabling phase unwrapping in extraordinary difficult situations when all other algorithms fail.

Absolute phase estimation: adaptive local denoising and global unwrapping.

PubMed

Bioucas-Dias, Jose; Katkovnik, Vladimir; Astola, Jaakko; Egiazarian, Karen

2008-10-10

The paper attacks absolute phase estimation with a two-step approach: the first step applies an adaptive local denoising scheme to the modulo-2 pi noisy phase; the second step applies a robust phase unwrapping algorithm to the denoised modulo-2 pi phase obtained in the first step. The adaptive local modulo-2 pi phase denoising is a new algorithm based on local polynomial approximations. The zero-order and the first-order approximations of the phase are calculated in sliding windows of varying size. The zero-order approximation is used for pointwise adaptive window size selection, whereas the first-order approximation is used to filter the phase in the obtained windows. For phase unwrapping, we apply the recently introduced robust (in the sense of discontinuity preserving) PUMA unwrapping algorithm [IEEE Trans. Image Process.16, 698 (2007)] to the denoised wrapped phase. Simulations give evidence that the proposed algorithm yields state-of-the-art performance, enabling strong noise attenuation while preserving image details. (c) 2008 Optical Society of America

Meal Detection in Patients With Type 1 Diabetes: A New Module for the Multivariable Adaptive Artificial Pancreas Control System.

PubMed

Turksoy, Kamuran; Samadi, Sediqeh; Feng, Jianyuan; Littlejohn, Elizabeth; Quinn, Laurie; Cinar, Ali

2016-01-01

A novel meal-detection algorithm is developed based on continuous glucose measurements. Bergman's minimal model is modified and used in an unscented Kalman filter for state estimations. The estimated rate of appearance of glucose is used for meal detection. Data from nine subjects are used to assess the performance of the algorithm. The results indicate that the proposed algorithm works successfully with high accuracy. The average change in glucose levels between the meals and the detection points is 16(±9.42) [mg/dl] for 61 successfully detected meals and snacks. The algorithm is developed as a new module of an integrated multivariable adaptive artificial pancreas control system. Meal detection with the proposed method is used to administer insulin boluses and prevent most of postprandial hyperglycemia without any manual meal announcements. A novel meal bolus calculation method is proposed and tested with the UVA/Padova simulator. The results indicate significant reduction in hyperglycemia.

Adaptive control of Parkinson's state based on a nonlinear computational model with unknown parameters.

PubMed

Su, Fei; Wang, Jiang; Deng, Bin; Wei, Xi-Le; Chen, Ying-Yuan; Liu, Chen; Li, Hui-Yan

2015-02-01

The objective here is to explore the use of adaptive input-output feedback linearization method to achieve an improved deep brain stimulation (DBS) algorithm for closed-loop control of Parkinson's state. The control law is based on a highly nonlinear computational model of Parkinson's disease (PD) with unknown parameters. The restoration of thalamic relay reliability is formulated as the desired outcome of the adaptive control methodology, and the DBS waveform is the control input. The control input is adjusted in real time according to estimates of unknown parameters as well as the feedback signal. Simulation results show that the proposed adaptive control algorithm succeeds in restoring the relay reliability of the thalamus, and at the same time achieves accurate estimation of unknown parameters. Our findings point to the potential value of adaptive control approach that could be used to regulate DBS waveform in more effective treatment of PD.

Performance analysis of improved iterated cubature Kalman filter and its application to GNSS/INS.

PubMed

Cui, Bingbo; Chen, Xiyuan; Xu, Yuan; Huang, Haoqian; Liu, Xiao

2017-01-01

In order to improve the accuracy and robustness of GNSS/INS navigation system, an improved iterated cubature Kalman filter (IICKF) is proposed by considering the state-dependent noise and system uncertainty. First, a simplified framework of iterated Gaussian filter is derived by using damped Newton-Raphson algorithm and online noise estimator. Then the effect of state-dependent noise coming from iterated update is analyzed theoretically, and an augmented form of CKF algorithm is applied to improve the estimation accuracy. The performance of IICKF is verified by field test and numerical simulation, and results reveal that, compared with non-iterated filter, iterated filter is less sensitive to the system uncertainty, and IICKF improves the accuracy of yaw, roll and pitch by 48.9%, 73.1% and 83.3%, respectively, compared with traditional iterated KF. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Health-aware Model Predictive Control of Pasteurization Plant

NASA Astrophysics Data System (ADS)

Karimi Pour, Fatemeh; Puig, Vicenç; Ocampo-Martinez, Carlos

2017-01-01

In order to optimize the trade-off between components life and energy consumption, the integration of a system health management and control modules is required. This paper proposes the integration of model predictive control (MPC) with a fatigue estimation approach that minimizes the damage of the components of a pasteurization plant. The fatigue estimation is assessed with the rainflow counting algorithm. Using data from this algorithm, a simplified model that characterizes the health of the system is developed and integrated with MPC. The MPC controller objective is modified by adding an extra criterion that takes into account the accumulated damage. But, a steady-state offset is created by adding this extra criterion. Finally, by including an integral action in the MPC controller, the steady-state error for regulation purpose is eliminated. The proposed control scheme is validated in simulation using a simulator of a utility-scale pasteurization plant.

Soybean Crop Area Estimation and Mapping in Mato Grosso State, Brazil

NASA Astrophysics Data System (ADS)

Gusso, A.; Ducati, J. R.

2012-07-01

Evaluation of the MODIS Crop Detection Algorithm (MCDA) procedure for estimating historical planted soybean crop areas was done on fields in Mato Grosso State, Brazil. MCDA is based on temporal profiles of EVI (Enhanced Vegetation Index) derived from satellite data of the MODIS (Moderate Resolution Imaging Spectroradiometer) imager, and was previously developed for soybean area estimation in Rio Grande do Sul State, Brazil. According to the MCDA approach, in Mato Grosso soybean area estimates can be provided in December (1st forecast), using images from the sowing period, and in February (2nd forecast), using images from sowing and maximum crop development period. The results obtained by the MCDA were compared with Brazilian Institute of Geography and Statistics (IBGE) official estimates of soybean area at municipal level. Coefficients of determination were between 0.93 and 0.98, indicating a good agreement, and also the suitability of MCDA to estimations performed in Mato Grosso State. On average, the MCDA results explained 96% of the variation of the data estimated by the IBGE. In this way, MCDA calibration was able to provide annual thematic soybean maps, forecasting the planted area in the State, with results which are comparable to the official agricultural statistics.

Simultaneous Mean and Covariance Correction Filter for Orbit Estimation.

PubMed

Wang, Xiaoxu; Pan, Quan; Ding, Zhengtao; Ma, Zhengya

2018-05-05

This paper proposes a novel filtering design, from a viewpoint of identification instead of the conventional nonlinear estimation schemes (NESs), to improve the performance of orbit state estimation for a space target. First, a nonlinear perturbation is viewed or modeled as an unknown input (UI) coupled with the orbit state, to avoid the intractable nonlinear perturbation integral (INPI) required by NESs. Then, a simultaneous mean and covariance correction filter (SMCCF), based on a two-stage expectation maximization (EM) framework, is proposed to simply and analytically fit or identify the first two moments (FTM) of the perturbation (viewed as UI), instead of directly computing such the INPI in NESs. Orbit estimation performance is greatly improved by utilizing the fit UI-FTM to simultaneously correct the state estimation and its covariance. Third, depending on whether enough information is mined, SMCCF should outperform existing NESs or the standard identification algorithms (which view the UI as a constant independent of the state and only utilize the identified UI-mean to correct the state estimation, regardless of its covariance), since it further incorporates the useful covariance information in addition to the mean of the UI. Finally, our simulations demonstrate the superior performance of SMCCF via an orbit estimation example.

Direct migration motion estimation and mode decision to decoder for a low-complexity decoder Wyner-Ziv video coding

NASA Astrophysics Data System (ADS)

Lei, Ted Chih-Wei; Tseng, Fan-Shuo

2017-07-01

This paper addresses the problem of high-computational complexity decoding in traditional Wyner-Ziv video coding (WZVC). The key focus is the migration of two traditionally high-computationally complex encoder algorithms, namely motion estimation and mode decision. In order to reduce the computational burden in this process, the proposed architecture adopts the partial boundary matching algorithm and four flexible types of block mode decision at the decoder. This approach does away with the need for motion estimation and mode decision at the encoder. The experimental results show that the proposed padding block-based WZVC not only decreases decoder complexity to approximately one hundredth that of the state-of-the-art DISCOVER decoding but also outperforms DISCOVER codec by up to 3 to 4 dB.

New measures of mental state and behavior based on data collected from sensors, smartphones, and the Internet.

PubMed

Glenn, Tasha; Monteith, Scott

2014-12-01

With the rapid and ubiquitous acceptance of new technologies, algorithms will be used to estimate new measures of mental state and behavior based on digital data. The algorithms will analyze data collected from sensors in smartphones and wearable technology, and data collected from Internet and smartphone usage and activities. In the future, new medical measures that assist with the screening, diagnosis, and monitoring of psychiatric disorders will be available despite unresolved reliability, usability, and privacy issues. At the same time, similar non-medical commercial measures of mental state are being developed primarily for targeted advertising. There are societal and ethical implications related to the use of these measures of mental state and behavior for both medical and non-medical purposes.

A test to evaluate the earthquake prediction algorithm, M8

USGS Publications Warehouse

Healy, John H.; Kossobokov, Vladimir G.; Dewey, James W.

1992-01-01

A test of the algorithm M8 is described. The test is constructed to meet four rules, which we propose to be applicable to the test of any method for earthquake prediction:  1. An earthquake prediction technique should be presented as a well documented, logical algorithm that can be used by  investigators without restrictions. 2. The algorithm should be coded in a common programming language and implementable on widely available computer systems. 3. A test of the earthquake prediction technique should involve future predictions with a black box version of the algorithm in which potentially adjustable parameters are fixed in advance. The source of the input data must be defined and ambiguities in these data must be resolved automatically by the algorithm. 4. At least one reasonable null hypothesis should be stated in advance of testing the earthquake prediction method, and it should be stated how this null hypothesis will be used to estimate the statistical significance of the earthquake predictions. The M8 algorithm has successfully predicted several destructive earthquakes, in the sense that the earthquakes occurred inside regions with linear dimensions from 384 to 854 km that the algorithm had identified as being in times of increased probability for strong earthquakes. In addition, M8 has successfully "post predicted" high percentages of strong earthquakes in regions to which it has been applied in retroactive studies. The statistical significance of previous predictions has not been established, however, and post-prediction studies in general are notoriously subject to success-enhancement through hindsight. Nor has it been determined how much more precise an M8 prediction might be than forecasts and probability-of-occurrence estimates made by other techniques. We view our test of M8 both as a means to better determine the effectiveness of M8 and as an experimental structure within which to make observations that might lead to improvements in the algorithm or conceivably lead to a radically different approach to earthquake prediction.

Metal-organic complexes in geochemical processes: Estimation of standard partial molal thermodynamic properties of aqueous complexes between metal cations and monovalent organic acid ligands at high pressures and temperatures

NASA Astrophysics Data System (ADS)

Shock, Everetr L.; Koretsky, Carla M.

1995-04-01

Regression of standard state equilibrium constants with the revised Helgeson-Kirkham-Flowers (HKF) equation of state allows evaluation of standard partial molal entropies ( overlineSo) of aqueous metal-organic complexes involving monovalent organic acid ligands. These values of overlineSo provide the basis for correlations that can be used, together with correlation algorithms among standard partial molal properties of aqueous complexes and equation-of-state parameters, to estimate thermodynamic properties including equilibrium constants for complexes between aqueous metals and several monovalent organic acid ligands at the elevated pressures and temperatures of many geochemical processes which involve aqueous solutions. Data, parameters, and estimates are given for 270 formate, propanoate, n-butanoate, n-pentanoate, glycolate, lactate, glycinate, and alanate complexes, and a consistent algorithm is provided for making other estimates. Standard partial molal entropies of association ( Δ -Sro) for metal-monovalent organic acid ligand complexes fall into at least two groups dependent upon the type of functional groups present in the ligand. It is shown that isothermal correlations among equilibrium constants for complex formation are consistent with one another and with similar correlations for inorganic metal-ligand complexes. Additional correlations allow estimates of standard partial molal Gibbs free energies of association at 25°C and 1 bar which can be used in cases where no experimentally derived values are available.

A Sparse Reconstruction Approach for Identifying Gene Regulatory Networks Using Steady-State Experiment Data

PubMed Central

Zhang, Wanhong; Zhou, Tong

2015-01-01

Motivation Identifying gene regulatory networks (GRNs) which consist of a large number of interacting units has become a problem of paramount importance in systems biology. Situations exist extensively in which causal interacting relationships among these units are required to be reconstructed from measured expression data and other a priori information. Though numerous classical methods have been developed to unravel the interactions of GRNs, these methods either have higher computing complexities or have lower estimation accuracies. Note that great similarities exist between identification of genes that directly regulate a specific gene and a sparse vector reconstruction, which often relates to the determination of the number, location and magnitude of nonzero entries of an unknown vector by solving an underdetermined system of linear equations y = Φx. Based on these similarities, we propose a novel framework of sparse reconstruction to identify the structure of a GRN, so as to increase accuracy of causal regulation estimations, as well as to reduce their computational complexity. Results In this paper, a sparse reconstruction framework is proposed on basis of steady-state experiment data to identify GRN structure. Different from traditional methods, this approach is adopted which is well suitable for a large-scale underdetermined problem in inferring a sparse vector. We investigate how to combine the noisy steady-state experiment data and a sparse reconstruction algorithm to identify causal relationships. Efficiency of this method is tested by an artificial linear network, a mitogen-activated protein kinase (MAPK) pathway network and the in silico networks of the DREAM challenges. The performance of the suggested approach is compared with two state-of-the-art algorithms, the widely adopted total least-squares (TLS) method and those available results on the DREAM project. Actual results show that, with a lower computational cost, the proposed method can significantly enhance estimation accuracy and greatly reduce false positive and negative errors. Furthermore, numerical calculations demonstrate that the proposed algorithm may have faster convergence speed and smaller fluctuation than other methods when either estimate error or estimate bias is considered. PMID:26207991

Robust Huber-based iterated divided difference filtering with application to cooperative localization of autonomous underwater vehicles.

PubMed

Gao, Wei; Liu, Yalong; Xu, Bo

2014-12-19

A new algorithm called Huber-based iterated divided difference filtering (HIDDF) is derived and applied to cooperative localization of autonomous underwater vehicles (AUVs) supported by a single surface leader. The position states are estimated using acoustic range measurements relative to the leader, in which some disadvantages such as weak observability, large initial error and contaminated measurements with outliers are inherent. By integrating both merits of iterated divided difference filtering (IDDF) and Huber's M-estimation methodology, the new filtering method could not only achieve more accurate estimation and faster convergence contrast to standard divided difference filtering (DDF) in conditions of weak observability and large initial error, but also exhibit robustness with respect to outlier measurements, for which the standard IDDF would exhibit severe degradation in estimation accuracy. The correctness as well as validity of the algorithm is demonstrated through experiment results.

Algorithms for System Identification and Source Location.

NASA Astrophysics Data System (ADS)

Nehorai, Arye

This thesis deals with several topics in least squares estimation and applications to source location. It begins with a derivation of a mapping between Wiener theory and Kalman filtering for nonstationary autoregressive moving average (ARMO) processes. Applying time domain analysis, connections are found between time-varying state space realizations and input-output impulse response by matrix fraction description (MFD). Using these connections, the whitening filters are derived by the two approaches, and the Kalman gain is expressed in terms of Wiener theory. Next, fast estimation algorithms are derived in a unified way as special cases of the Conjugate Direction Method. The fast algorithms included are the block Levinson, fast recursive least squares, ladder (or lattice) and fast Cholesky algorithms. The results give a novel derivation and interpretation for all these methods, which are efficient alternatives to available recursive system identification algorithms. Multivariable identification algorithms are usually designed only for left MFD models. In this work, recursive multivariable identification algorithms are derived for right MFD models with diagonal denominator matrices. The algorithms are of prediction error and model reference type. Convergence analysis results obtained by the Ordinary Differential Equation (ODE) method are presented along with simulations. Sources of energy can be located by estimating time differences of arrival (TDOA's) of waves between the receivers. A new method for TDOA estimation is proposed for multiple unknown ARMA sources and additive correlated receiver noise. The method is based on a formula that uses only the receiver cross-spectra and the source poles. Two algorithms are suggested that allow tradeoffs between computational complexity and accuracy. A new time delay model is derived and used to show the applicability of the methods for non -integer TDOA's. Results from simulations illustrate the performance of the algorithms. The last chapter analyzes the response of exact least squares predictors for enhancement of sinusoids with additive colored noise. Using the matrix inversion lemma and the Christoffel-Darboux formula, the frequency response and amplitude gain of the sinusoids are expressed as functions of the signal and noise characteristics. The results generalize the available white noise case.

Quantum-inspired algorithm for estimating the permanent of positive semidefinite matrices

NASA Astrophysics Data System (ADS)

Chakhmakhchyan, L.; Cerf, N. J.; Garcia-Patron, R.

2017-08-01

We construct a quantum-inspired classical algorithm for computing the permanent of Hermitian positive semidefinite matrices by exploiting a connection between these mathematical structures and the boson sampling model. Specifically, the permanent of a Hermitian positive semidefinite matrix can be expressed in terms of the expected value of a random variable, which stands for a specific photon-counting probability when measuring a linear-optically evolved random multimode coherent state. Our algorithm then approximates the matrix permanent from the corresponding sample mean and is shown to run in polynomial time for various sets of Hermitian positive semidefinite matrices, achieving a precision that improves over known techniques. This work illustrates how quantum optics may benefit algorithm development.

An Empirical State Error Covariance Matrix Orbit Determination Example

NASA Technical Reports Server (NTRS)

Frisbee, Joseph H., Jr.

2015-01-01

State estimation techniques serve effectively to provide mean state estimates. However, the state error covariance matrices provided as part of these techniques suffer from some degree of lack of confidence in their ability to adequately describe the uncertainty in the estimated states. A specific problem with the traditional form of state error covariance matrices is that they represent only a mapping of the assumed observation error characteristics into the state space. Any errors that arise from other sources (environment modeling, precision, etc.) are not directly represented in a traditional, theoretical state error covariance matrix. First, consider that an actual observation contains only measurement error and that an estimated observation contains all other errors, known and unknown. Then it follows that a measurement residual (the difference between expected and observed measurements) contains all errors for that measurement. Therefore, a direct and appropriate inclusion of the actual measurement residuals in the state error covariance matrix of the estimate will result in an empirical state error covariance matrix. This empirical state error covariance matrix will fully include all of the errors in the state estimate. The empirical error covariance matrix is determined from a literal reinterpretation of the equations involved in the weighted least squares estimation algorithm. It is a formally correct, empirical state error covariance matrix obtained through use of the average form of the weighted measurement residual variance performance index rather than the usual total weighted residual form. Based on its formulation, this matrix will contain the total uncertainty in the state estimate, regardless as to the source of the uncertainty and whether the source is anticipated or not. It is expected that the empirical error covariance matrix will give a better, statistical representation of the state error in poorly modeled systems or when sensor performance is suspect. In its most straight forward form, the technique only requires supplemental calculations to be added to existing batch estimation algorithms. In the current problem being studied a truth model making use of gravity with spherical, J2 and J4 terms plus a standard exponential type atmosphere with simple diurnal and random walk components is used. The ability of the empirical state error covariance matrix to account for errors is investigated under four scenarios during orbit estimation. These scenarios are: exact modeling under known measurement errors, exact modeling under corrupted measurement errors, inexact modeling under known measurement errors, and inexact modeling under corrupted measurement errors. For this problem a simple analog of a distributed space surveillance network is used. The sensors in this network make only range measurements and with simple normally distributed measurement errors. The sensors are assumed to have full horizon to horizon viewing at any azimuth. For definiteness, an orbit at the approximate altitude and inclination of the International Space Station is used for the study. The comparison analyses of the data involve only total vectors. No investigation of specific orbital elements is undertaken. The total vector analyses will look at the chisquare values of the error in the difference between the estimated state and the true modeled state using both the empirical and theoretical error covariance matrices for each of scenario.

Automated Transition State Theory Calculations for High-Throughput Kinetics.

PubMed

Bhoorasingh, Pierre L; Slakman, Belinda L; Seyedzadeh Khanshan, Fariba; Cain, Jason Y; West, Richard H

2017-09-21

A scarcity of known chemical kinetic parameters leads to the use of many reaction rate estimates, which are not always sufficiently accurate, in the construction of detailed kinetic models. To reduce the reliance on these estimates and improve the accuracy of predictive kinetic models, we have developed a high-throughput, fully automated, reaction rate calculation method, AutoTST. The algorithm integrates automated saddle-point geometry search methods and a canonical transition state theory kinetics calculator. The automatically calculated reaction rates compare favorably to existing estimated rates. Comparison against high level theoretical calculations show the new automated method performs better than rate estimates when the estimate is made by a poor analogy. The method will improve by accounting for internal rotor contributions and by improving methods to determine molecular symmetry.

Optimally Distributed Kalman Filtering with Data-Driven Communication †

PubMed Central

Dormann, Katharina

2018-01-01

For multisensor data fusion, distributed state estimation techniques that enable a local processing of sensor data are the means of choice in order to minimize storage and communication costs. In particular, a distributed implementation of the optimal Kalman filter has recently been developed. A significant disadvantage of this algorithm is that the fusion center needs access to each node so as to compute a consistent state estimate, which requires full communication each time an estimate is requested. In this article, different extensions of the optimally distributed Kalman filter are proposed that employ data-driven transmission schemes in order to reduce communication expenses. As a first relaxation of the full-rate communication scheme, it can be shown that each node only has to transmit every second time step without endangering consistency of the fusion result. Also, two data-driven algorithms are introduced that even allow for lower transmission rates, and bounds are derived to guarantee consistent fusion results. Simulations demonstrate that the data-driven distributed filtering schemes can outperform a centralized Kalman filter that requires each measurement to be sent to the center node. PMID:29596392

A modern control theory based algorithm for control of the NASA/JPL 70-meter antenna axis servos

NASA Technical Reports Server (NTRS)

Hill, R. E.

1987-01-01

A digital computer-based state variable controller was designed and applied to the 70-m antenna axis servos. The general equations and structure of the algorithm and provisions for alternate position error feedback modes to accommodate intertarget slew, encoder referenced tracking, and precision tracking modes are descibed. Development of the discrete time domain control model and computation of estimator and control gain parameters based on closed loop pole placement criteria are discussed. The new algorithm was successfully implemented and tested in the 70-m antenna at Deep Space Network station 63 in Spain.

Born approximation, multiple scattering, and butterfly algorithm

NASA Astrophysics Data System (ADS)

Martinez, Alex; Qiao, Zhijun

2014-06-01

Many imaging algorithms have been designed assuming the absence of multiple scattering. In the 2013 SPIE proceeding, we discussed an algorithm for removing high order scattering components from collected data. In this paper, our goal is to continue this work. First, we survey the current state of multiple scattering in SAR. Then, we revise our method and test it. Given an estimate of our target reflectivity, we compute the multi scattering effects in our target region for various frequencies. Furthermore, we propagate this energy through free space towards our antenna, and remove it from the collected data.

Sensor Fusion Based on an Integrated Neural Network and Probability Density Function (PDF) Dual Kalman Filter for On-Line Estimation of Vehicle Parameters and States.

PubMed

Vargas-Melendez, Leandro; Boada, Beatriz L; Boada, Maria Jesus L; Gauchia, Antonio; Diaz, Vicente

2017-04-29

Vehicles with a high center of gravity (COG), such as light trucks and heavy vehicles, are prone to rollover. This kind of accident causes nearly 33 % of all deaths from passenger vehicle crashes. Nowadays, these vehicles are incorporating roll stability control (RSC) systems to improve their safety. Most of the RSC systems require the vehicle roll angle as a known input variable to predict the lateral load transfer. The vehicle roll angle can be directly measured by a dual antenna global positioning system (GPS), but it is expensive. For this reason, it is important to estimate the vehicle roll angle from sensors installed onboard in current vehicles. On the other hand, the knowledge of the vehicle's parameters values is essential to obtain an accurate vehicle response. Some of vehicle parameters cannot be easily obtained and they can vary over time. In this paper, an algorithm for the simultaneous on-line estimation of vehicle's roll angle and parameters is proposed. This algorithm uses a probability density function (PDF)-based truncation method in combination with a dual Kalman filter (DKF), to guarantee that both vehicle's states and parameters are within bounds that have a physical meaning, using the information obtained from sensors mounted on vehicles. Experimental results show the effectiveness of the proposed algorithm.

Sensor Fusion Based on an Integrated Neural Network and Probability Density Function (PDF) Dual Kalman Filter for On-Line Estimation of Vehicle Parameters and States

PubMed Central

Vargas-Melendez, Leandro; Boada, Beatriz L.; Boada, Maria Jesus L.; Gauchia, Antonio; Diaz, Vicente

2017-01-01

Vehicles with a high center of gravity (COG), such as light trucks and heavy vehicles, are prone to rollover. This kind of accident causes nearly 33% of all deaths from passenger vehicle crashes. Nowadays, these vehicles are incorporating roll stability control (RSC) systems to improve their safety. Most of the RSC systems require the vehicle roll angle as a known input variable to predict the lateral load transfer. The vehicle roll angle can be directly measured by a dual antenna global positioning system (GPS), but it is expensive. For this reason, it is important to estimate the vehicle roll angle from sensors installed onboard in current vehicles. On the other hand, the knowledge of the vehicle’s parameters values is essential to obtain an accurate vehicle response. Some of vehicle parameters cannot be easily obtained and they can vary over time. In this paper, an algorithm for the simultaneous on-line estimation of vehicle’s roll angle and parameters is proposed. This algorithm uses a probability density function (PDF)-based truncation method in combination with a dual Kalman filter (DKF), to guarantee that both vehicle’s states and parameters are within bounds that have a physical meaning, using the information obtained from sensors mounted on vehicles. Experimental results show the effectiveness of the proposed algorithm. PMID:28468252

Assimilation of thermospheric measurements for ionosphere-thermosphere state estimation

NASA Astrophysics Data System (ADS)

Miladinovich, Daniel S.; Datta-Barua, Seebany; Bust, Gary S.; Makela, Jonathan J.

2016-12-01

We develop a method that uses data assimilation to estimate ionospheric-thermospheric (IT) states during midlatitude nighttime storm conditions. The algorithm Estimating Model Parameters from Ionospheric Reverse Engineering (EMPIRE) uses time-varying electron densities in the F region, derived primarily from total electron content data, to estimate two drivers of the IT: neutral winds and electric potential. A Kalman filter is used to update background models based on ingested plasma densities and neutral wind measurements. This is the first time a Kalman filtering technique is used with the EMPIRE algorithm and the first time neutral wind measurements from 630.0 nm Fabry-Perot interferometers (FPIs) are ingested to improve estimates of storm time ion drifts and neutral winds. The effects of assimilating remotely sensed neutral winds from FPI observations are studied by comparing results of ingesting: electron densities (N) only, N plus half the measurements from a single FPI, and then N plus all of the FPI data. While estimates of ion drifts and neutral winds based on N give estimates similar to the background models, this study's results show that ingestion of the FPI data can significantly change neutral wind and ion drift estimation away from background models. In particular, once neutral winds are ingested, estimated neutral winds agree more with validation wind data, and estimated ion drifts in the magnetic field-parallel direction are more sensitive to ingestion than the field-perpendicular zonal and meridional directions. Also, data assimilation with FPI measurements helps provide insight into the effects of contamination on 630.0 nm emissions experienced during geomagnetic storms.

A Two-Stage Kalman Filter Approach for Robust and Real-Time Power System State Estimation

DOE Office of Scientific and Technical Information (OSTI.GOV)

Zhang, Jinghe; Welch, Greg; Bishop, Gary

2014-04-01

As electricity demand continues to grow and renewable energy increases its penetration in the power grid, realtime state estimation becomes essential for system monitoring and control. Recent development in phasor technology makes it possible with high-speed time-synchronized data provided by Phasor Measurement Units (PMU). In this paper we present a two-stage Kalman filter approach to estimate the static state of voltage magnitudes and phase angles, as well as the dynamic state of generator rotor angles and speeds. Kalman filters achieve optimal performance only when the system noise characteristics have known statistical properties (zero-mean, Gaussian, and spectrally white). However in practicemore » the process and measurement noise models are usually difficult to obtain. Thus we have developed the Adaptive Kalman Filter with Inflatable Noise Variances (AKF with InNoVa), an algorithm that can efficiently identify and reduce the impact of incorrect system modeling and/or erroneous measurements. In stage one, we estimate the static state from raw PMU measurements using the AKF with InNoVa; then in stage two, the estimated static state is fed into an extended Kalman filter to estimate the dynamic state. Simulations demonstrate its robustness to sudden changes of system dynamics and erroneous measurements.« less

Stochastic spectral projection of electrochemical thermal model for lithium-ion cell state estimation

NASA Astrophysics Data System (ADS)

Tagade, Piyush; Hariharan, Krishnan S.; Kolake, Subramanya Mayya; Song, Taewon; Oh, Dukjin

2017-03-01

A novel approach for integrating a pseudo-two dimensional electrochemical thermal (P2D-ECT) model and data assimilation algorithm is presented for lithium-ion cell state estimation. This approach refrains from making any simplifications in the P2D-ECT model while making it amenable for online state estimation. Though deterministic, uncertainty in the initial states induces stochasticity in the P2D-ECT model. This stochasticity is resolved by spectrally projecting the stochastic P2D-ECT model on a set of orthogonal multivariate Hermite polynomials. Volume averaging in the stochastic dimensions is proposed for efficient numerical solution of the resultant model. A state estimation framework is developed using a transformation of the orthogonal basis to assimilate the measurables with this system of equations. Effectiveness of the proposed method is first demonstrated by assimilating the cell voltage and temperature data generated using a synthetic test bed. This validated method is used with the experimentally observed cell voltage and temperature data for state estimation at different operating conditions and drive cycle protocols. The results show increased prediction accuracy when the data is assimilated every 30s. High accuracy of the estimated states is exploited to infer temperature dependent behavior of the lithium-ion cell.

Stereovision-based pose and inertia estimation of unknown and uncooperative space objects

NASA Astrophysics Data System (ADS)

Pesce, Vincenzo; Lavagna, Michèle; Bevilacqua, Riccardo

2017-01-01

Autonomous close proximity operations are an arduous and attractive problem in space mission design. In particular, the estimation of pose, motion and inertia properties of an uncooperative object is a challenging task because of the lack of available a priori information. This paper develops a novel method to estimate the relative position, velocity, angular velocity, attitude and the ratios of the components of the inertia matrix of an uncooperative space object using only stereo-vision measurements. The classical Extended Kalman Filter (EKF) and an Iterated Extended Kalman Filter (IEKF) are used and compared for the estimation procedure. In addition, in order to compute the inertia properties, the ratios of the inertia components are added to the state and a pseudo-measurement equation is considered in the observation model. The relative simplicity of the proposed algorithm could be suitable for an online implementation for real applications. The developed algorithm is validated by numerical simulations in MATLAB using different initial conditions and uncertainty levels. The goal of the simulations is to verify the accuracy and robustness of the proposed estimation algorithm. The obtained results show satisfactory convergence of estimation errors for all the considered quantities. The obtained results, in several simulations, shows some improvements with respect to similar works, which deal with the same problem, present in literature. In addition, a video processing procedure is presented to reconstruct the geometrical properties of a body using cameras. This inertia reconstruction algorithm has been experimentally validated at the ADAMUS (ADvanced Autonomous MUltiple Spacecraft) Lab at the University of Florida. In the future, this different method could be integrated to the inertia ratios estimator to have a complete tool for mass properties recognition.

Online Sensor Fault Detection Based on an Improved Strong Tracking Filter

PubMed Central

Wang, Lijuan; Wu, Lifeng; Guan, Yong; Wang, Guohui

2015-01-01

We propose a method for online sensor fault detection that is based on the evolving Strong Tracking Filter (STCKF). The cubature rule is used to estimate states to improve the accuracy of making estimates in a nonlinear case. A residual is the difference in value between an estimated value and the true value. A residual will be regarded as a signal that includes fault information. The threshold is set at a reasonable level, and will be compared with residuals to determine whether or not the sensor is faulty. The proposed method requires only a nominal plant model and uses STCKF to estimate the original state vector. The effectiveness of the algorithm is verified by simulation on a drum-boiler model. PMID:25690553

Drogue pose estimation for unmanned aerial vehicle autonomous aerial refueling system based on infrared vision sensor

NASA Astrophysics Data System (ADS)

Chen, Shanjun; Duan, Haibin; Deng, Yimin; Li, Cong; Zhao, Guozhi; Xu, Yan

2017-12-01

Autonomous aerial refueling is a significant technology that can significantly extend the endurance of unmanned aerial vehicles. A reliable method that can accurately estimate the position and attitude of the probe relative to the drogue is the key to such a capability. A drogue pose estimation method based on infrared vision sensor is introduced with the general goal of yielding an accurate and reliable drogue state estimate. First, by employing direct least squares ellipse fitting and convex hull in OpenCV, a feature point matching and interference point elimination method is proposed. In addition, considering the conditions that some infrared LEDs are damaged or occluded, a missing point estimation method based on perspective transformation and affine transformation is designed. Finally, an accurate and robust pose estimation algorithm improved by the runner-root algorithm is proposed. The feasibility of the designed visual measurement system is demonstrated by flight test, and the results indicate that our proposed method enables precise and reliable pose estimation of the probe relative to the drogue, even in some poor conditions.

Entropy-based adaptive attitude estimation

NASA Astrophysics Data System (ADS)

Kiani, Maryam; Barzegar, Aylin; Pourtakdoust, Seid H.

2018-03-01

Gaussian approximation filters have increasingly been developed to enhance the accuracy of attitude estimation in space missions. The effective employment of these algorithms demands accurate knowledge of system dynamics and measurement models, as well as their noise characteristics, which are usually unavailable or unreliable. An innovation-based adaptive filtering approach has been adopted as a solution to this problem; however, it exhibits two major challenges, namely appropriate window size selection and guaranteed assurance of positive definiteness for the estimated noise covariance matrices. The current work presents two novel techniques based on relative entropy and confidence level concepts in order to address the abovementioned drawbacks. The proposed adaptation techniques are applied to two nonlinear state estimation algorithms of the extended Kalman filter and cubature Kalman filter for attitude estimation of a low earth orbit satellite equipped with three-axis magnetometers and Sun sensors. The effectiveness of the proposed adaptation scheme is demonstrated by means of comprehensive sensitivity analysis on the system and environmental parameters by using extensive independent Monte Carlo simulations.

Strategic Decision-Making Learning from Label Distributions: An Approach for Facial Age Estimation.

PubMed

Zhao, Wei; Wang, Han

2016-06-28

Nowadays, label distribution learning is among the state-of-the-art methodologies in facial age estimation. It takes the age of each facial image instance as a label distribution with a series of age labels rather than the single chronological age label that is commonly used. However, this methodology is deficient in its simple decision-making criterion: the final predicted age is only selected at the one with maximum description degree. In many cases, different age labels may have very similar description degrees. Consequently, blindly deciding the estimated age by virtue of the highest description degree would miss or neglect other valuable age labels that may contribute a lot to the final predicted age. In this paper, we propose a strategic decision-making label distribution learning algorithm (SDM-LDL) with a series of strategies specialized for different types of age label distribution. Experimental results from the most popular aging face database, FG-NET, show the superiority and validity of all the proposed strategic decision-making learning algorithms over the existing label distribution learning and other single-label learning algorithms for facial age estimation. The inner properties of SDM-LDL are further explored with more advantages.

Strategic Decision-Making Learning from Label Distributions: An Approach for Facial Age Estimation

PubMed Central

Zhao, Wei; Wang, Han

2016-01-01

Nowadays, label distribution learning is among the state-of-the-art methodologies in facial age estimation. It takes the age of each facial image instance as a label distribution with a series of age labels rather than the single chronological age label that is commonly used. However, this methodology is deficient in its simple decision-making criterion: the final predicted age is only selected at the one with maximum description degree. In many cases, different age labels may have very similar description degrees. Consequently, blindly deciding the estimated age by virtue of the highest description degree would miss or neglect other valuable age labels that may contribute a lot to the final predicted age. In this paper, we propose a strategic decision-making label distribution learning algorithm (SDM-LDL) with a series of strategies specialized for different types of age label distribution. Experimental results from the most popular aging face database, FG-NET, show the superiority and validity of all the proposed strategic decision-making learning algorithms over the existing label distribution learning and other single-label learning algorithms for facial age estimation. The inner properties of SDM-LDL are further explored with more advantages. PMID:27367691

Comparison and testing of extended Kalman filters for attitude estimation of the Earth radiation budget satellite

NASA Technical Reports Server (NTRS)

Deutschmann, Julie; Bar-Itzhack, Itzhack Y.; Rokni, Mohammad

1990-01-01

The testing and comparison of two Extended Kalman Filters (EKFs) developed for the Earth Radiation Budget Satellite (ERBS) is described. One EKF updates the attitude quaternion using a four component additive error quaternion. This technique is compared to that of a second EKF, which uses a multiplicative error quaternion. A brief development of the multiplicative algorithm is included. The mathematical development of the additive EKF was presented in the 1989 Flight Mechanics/Estimation Theory Symposium along with some preliminary testing results using real spacecraft data. A summary of the additive EKF algorithm is included. The convergence properties, singularity problems, and normalization techniques of the two filters are addressed. Both filters are also compared to those from the ERBS operational ground support software, which uses a batch differential correction algorithm to estimate attitude and gyro biases. Sensitivity studies are performed on the estimation of sensor calibration states. The potential application of the EKF for real time and non-real time ground attitude determination and sensor calibration for future missions such as the Gamma Ray Observatory (GRO) and the Small Explorer Mission (SMEX) is also presented.

Multisensor fusion for 3D target tracking using track-before-detect particle filter

NASA Astrophysics Data System (ADS)

Moshtagh, Nima; Romberg, Paul M.; Chan, Moses W.

2015-05-01

This work presents a novel fusion mechanism for estimating the three-dimensional trajectory of a moving target using images collected by multiple imaging sensors. The proposed projective particle filter avoids the explicit target detection prior to fusion. In projective particle filter, particles that represent the posterior density (of target state in a high-dimensional space) are projected onto the lower-dimensional observation space. Measurements are generated directly in the observation space (image plane) and a marginal (sensor) likelihood is computed. The particles states and their weights are updated using the joint likelihood computed from all the sensors. The 3D state estimate of target (system track) is then generated from the states of the particles. This approach is similar to track-before-detect particle filters that are known to perform well in tracking dim and stealthy targets in image collections. Our approach extends the track-before-detect approach to 3D tracking using the projective particle filter. The performance of this measurement-level fusion method is compared with that of a track-level fusion algorithm using the projective particle filter. In the track-level fusion algorithm, the 2D sensor tracks are generated separately and transmitted to a fusion center, where they are treated as measurements to the state estimator. The 2D sensor tracks are then fused to reconstruct the system track. A realistic synthetic scenario with a boosting target was generated, and used to study the performance of the fusion mechanisms.

Sparse Covariance Matrix Estimation by DCA-Based Algorithms.

PubMed

Phan, Duy Nhat; Le Thi, Hoai An; Dinh, Tao Pham

2017-11-01

This letter proposes a novel approach using the [Formula: see text]-norm regularization for the sparse covariance matrix estimation (SCME) problem. The objective function of SCME problem is composed of a nonconvex part and the [Formula: see text] term, which is discontinuous and difficult to tackle. Appropriate DC (difference of convex functions) approximations of [Formula: see text]-norm are used that result in approximation SCME problems that are still nonconvex. DC programming and DCA (DC algorithm), powerful tools in nonconvex programming framework, are investigated. Two DC formulations are proposed and corresponding DCA schemes developed. Two applications of the SCME problem that are considered are classification via sparse quadratic discriminant analysis and portfolio optimization. A careful empirical experiment is performed through simulated and real data sets to study the performance of the proposed algorithms. Numerical results showed their efficiency and their superiority compared with seven state-of-the-art methods.

Strong Tracking Spherical Simplex-Radial Cubature Kalman Filter for Maneuvering Target Tracking

PubMed Central

Liu, Hua; Wu, Wen

2017-01-01

Conventional spherical simplex-radial cubature Kalman filter (SSRCKF) for maneuvering target tracking may decline in accuracy and even diverge when a target makes abrupt state changes. To overcome this problem, a novel algorithm named strong tracking spherical simplex-radial cubature Kalman filter (STSSRCKF) is proposed in this paper. The proposed algorithm uses the spherical simplex-radial (SSR) rule to obtain a higher accuracy than cubature Kalman filter (CKF) algorithm. Meanwhile, by introducing strong tracking filter (STF) into SSRCKF and modifying the predicted states’ error covariance with a time-varying fading factor, the gain matrix is adjusted on line so that the robustness of the filter and the capability of dealing with uncertainty factors is improved. In this way, the proposed algorithm has the advantages of both STF’s strong robustness and SSRCKF’s high accuracy. Finally, a maneuvering target tracking problem with abrupt state changes is used to test the performance of the proposed filter. Simulation results show that the STSSRCKF algorithm can get better estimation accuracy and greater robustness for maneuvering target tracking. PMID:28362347

Advanced Physiological Estimation of Cognitive Status. Part 2

DTIC Science & Technology

2011-05-24

Neurofeedback Algorithms and Gaze Controller EEG Sensor System g.USBamp *, ** • internal 24-bit ADC and digital signal processor • 16 channels (expandable...SUBJECT TERMS EEG eye-tracking mental state estimation machine learning Leonard J. Trejo Pacific Development and Technology LLC 999 Commercial St. Palo...fatigue, overload) Technology Transfer Opportunity Technology from PDT – Methods to acquire various physiological signals ( EEG , EOG, EMG, ECG, etc

Sensor Data Fusion for Body State Estimation in a Bipedal Robot and Its Feedback Control Application for Stable Walking

PubMed Central

Chen, Ching-Pei; Chen, Jing-Yi; Huang, Chun-Kai; Lu, Jau-Ching; Lin, Pei-Chun

2015-01-01

We report on a sensor data fusion algorithm via an extended Kalman filter for estimating the spatial motion of a bipedal robot. Through fusing the sensory information from joint encoders, a 6-axis inertial measurement unit and a 2-axis inclinometer, the robot’s body state at a specific fixed position can be yielded. This position is also equal to the CoM when the robot is in the standing posture suggested by the detailed CAD model of the robot. In addition, this body state is further utilized to provide sensory information for feedback control on a bipedal robot with walking gait. The overall control strategy includes the proposed body state estimator as well as the damping controller, which regulates the body position state of the robot in real-time based on instant and historical position tracking errors. Moreover, a posture corrector for reducing unwanted torque during motion is addressed. The body state estimator and the feedback control structure are implemented in a child-size bipedal robot and the performance is experimentally evaluated. PMID:25734644

Development of a preference-based index from the National Eye Institute Visual Function Questionnaire-25.

PubMed

Rentz, Anne M; Kowalski, Jonathan W; Walt, John G; Hays, Ron D; Brazier, John E; Yu, Ren; Lee, Paul; Bressler, Neil; Revicki, Dennis A

2014-03-01

Understanding how individuals value health states is central to patient-centered care and to health policy decision making. Generic preference-based measures of health may not effectively capture the impact of ocular diseases. Recently, 6 items from the National Eye Institute Visual Function Questionnaire-25 were used to develop the Visual Function Questionnaire-Utility Index health state classification, which defines visual function health states. To describe elicitation of preferences for health states generated from the Visual Function Questionnaire-Utility Index health state classification and development of an algorithm to estimate health preference scores for any health state. Nonintervention, cross-sectional study of the general community in 4 countries (Australia, Canada, United Kingdom, and United States). A total of 607 adult participants were recruited from local newspaper advertisements. In the United Kingdom, an existing database of participants from previous studies was used for recruitment. Eight of 15,625 possible health states from the Visual Function Questionnaire-Utility Index were valued using time trade-off technique. A θ severity score was calculated for Visual Function Questionnaire-Utility Index-defined health states using item response theory analysis. Regression models were then used to develop an algorithm to assign health state preference values for all potential health states defined by the Visual Function Questionnaire-Utility Index. Health state preference values for the 8 states ranged from a mean (SD) of 0.343 (0.395) to 0.956 (0.124). As expected, preference values declined with worsening visual function. Results indicate that the Visual Function Questionnaire-Utility Index describes states that participants view as spanning most of the continuum from full health to dead. Visual Function Questionnaire-Utility Index health state classification produces health preference scores that can be estimated in vision-related studies that include the National Eye Institute Visual Function Questionnaire-25. These preference scores may be of value for estimating utilities in economic and health policy analyses.

Effects of overweight vehicles on New York State DOT infrastructure.

DOT National Transportation Integrated Search

2015-09-01

This report develops a methodology for estimating the effects of different categories of overweight : trucks on NYSDOT pavements and bridges. A data mining algorithm is used to categorize truck : data collected at several Weigh-In-Motion stations aro...

Improvement in error propagation in the Shack-Hartmann-type zonal wavefront sensors.

PubMed

Pathak, Biswajit; Boruah, Bosanta R

2017-12-01

Estimation of the wavefront from measured slope values is an essential step in a Shack-Hartmann-type wavefront sensor. Using an appropriate estimation algorithm, these measured slopes are converted into wavefront phase values. Hence, accuracy in wavefront estimation lies in proper interpretation of these measured slope values using the chosen estimation algorithm. There are two important sources of errors associated with the wavefront estimation process, namely, the slope measurement error and the algorithm discretization error. The former type is due to the noise in the slope measurements or to the detector centroiding error, and the latter is a consequence of solving equations of a basic estimation algorithm adopted onto a discrete geometry. These errors deserve particular attention, because they decide the preference of a specific estimation algorithm for wavefront estimation. In this paper, we investigate these two important sources of errors associated with the wavefront estimation algorithms of Shack-Hartmann-type wavefront sensors. We consider the widely used Southwell algorithm and the recently proposed Pathak-Boruah algorithm [J. Opt.16, 055403 (2014)JOOPDB0150-536X10.1088/2040-8978/16/5/055403] and perform a comparative study between the two. We find that the latter algorithm is inherently superior to the Southwell algorithm in terms of the error propagation performance. We also conduct experiments that further establish the correctness of the comparative study between the said two estimation algorithms.

Comparison of photo-matching algorithms commonly used for photographic capture-recapture studies.

PubMed

Matthé, Maximilian; Sannolo, Marco; Winiarski, Kristopher; Spitzen-van der Sluijs, Annemarieke; Goedbloed, Daniel; Steinfartz, Sebastian; Stachow, Ulrich

2017-08-01

Photographic capture-recapture is a valuable tool for obtaining demographic information on wildlife populations due to its noninvasive nature and cost-effectiveness. Recently, several computer-aided photo-matching algorithms have been developed to more efficiently match images of unique individuals in databases with thousands of images. However, the identification accuracy of these algorithms can severely bias estimates of vital rates and population size. Therefore, it is important to understand the performance and limitations of state-of-the-art photo-matching algorithms prior to implementation in capture-recapture studies involving possibly thousands of images. Here, we compared the performance of four photo-matching algorithms; Wild-ID, I3S Pattern+, APHIS, and AmphIdent using multiple amphibian databases of varying image quality. We measured the performance of each algorithm and evaluated the performance in relation to database size and the number of matching images in the database. We found that algorithm performance differed greatly by algorithm and image database, with recognition rates ranging from 100% to 22.6% when limiting the review to the 10 highest ranking images. We found that recognition rate degraded marginally with increased database size and could be improved considerably with a higher number of matching images in the database. In our study, the pixel-based algorithm of AmphIdent exhibited superior recognition rates compared to the other approaches. We recommend carefully evaluating algorithm performance prior to using it to match a complete database. By choosing a suitable matching algorithm, databases of sizes that are unfeasible to match "by eye" can be easily translated to accurate individual capture histories necessary for robust demographic estimates.

Real-Time State Estimation in a Flight Simulator Using fNIRS

PubMed Central

Gateau, Thibault; Durantin, Gautier; Lancelot, Francois; Scannella, Sebastien; Dehais, Frederic

2015-01-01

Working memory is a key executive function for flying an aircraft. This function is particularly critical when pilots have to recall series of air traffic control instructions. However, working memory limitations may jeopardize flight safety. Since the functional near-infrared spectroscopy (fNIRS) method seems promising for assessing working memory load, our objective is to implement an on-line fNIRS-based inference system that integrates two complementary estimators. The first estimator is a real-time state estimation MACD-based algorithm dedicated to identifying the pilot’s instantaneous mental state (not-on-task vs. on-task). It does not require a calibration process to perform its estimation. The second estimator is an on-line SVM-based classifier that is able to discriminate task difficulty (low working memory load vs. high working memory load). These two estimators were tested with 19 pilots who were placed in a realistic flight simulator and were asked to recall air traffic control instructions. We found that the estimated pilot’s mental state matched significantly better than chance with the pilot’s real state (62% global accuracy, 58% specificity, and 72% sensitivity). The second estimator, dedicated to assessing single trial working memory loads, led to 80% classification accuracy, 72% specificity, and 89% sensitivity. These two estimators establish reusable blocks for further fNIRS-based passive brain computer interface development. PMID:25816347

Enhancing Data Assimilation by Evolutionary Particle Filter and Markov Chain Monte Carlo

NASA Astrophysics Data System (ADS)

Moradkhani, H.; Abbaszadeh, P.; Yan, H.

2016-12-01

Particle Filters (PFs) have received increasing attention by the researchers from different disciplines in hydro-geosciences as an effective method to improve model predictions in nonlinear and non-Gaussian dynamical systems. The implication of dual state and parameter estimation by means of data assimilation in hydrology and geoscience has evolved since 2005 from SIR-PF to PF-MCMC and now to the most effective and robust framework through evolutionary PF approach based on Genetic Algorithm (GA) and Markov Chain Monte Carlo (MCMC), the so-called EPF-MCMC. In this framework, the posterior distribution undergoes an evolutionary process to update an ensemble of prior states that more closely resemble realistic posterior probability distribution. The premise of this approach is that the particles move to optimal position using the GA optimization coupled with MCMC increasing the number of effective particles, hence the particle degeneracy is avoided while the particle diversity is improved. The proposed algorithm is applied on a conceptual and highly nonlinear hydrologic model and the effectiveness, robustness and reliability of the method in jointly estimating the states and parameters and also reducing the uncertainty is demonstrated for few river basins across the United States.

The Argos-CLS Kalman Filter: Error Structures and State-Space Modelling Relative to Fastloc GPS Data.

PubMed

Lowther, Andrew D; Lydersen, Christian; Fedak, Mike A; Lovell, Phil; Kovacs, Kit M

2015-01-01

Understanding how an animal utilises its surroundings requires its movements through space to be described accurately. Satellite telemetry is the only means of acquiring movement data for many species however data are prone to varying amounts of spatial error; the recent application of state-space models (SSMs) to the location estimation problem have provided a means to incorporate spatial errors when characterising animal movements. The predominant platform for collecting satellite telemetry data on free-ranging animals, Service Argos, recently provided an alternative Doppler location estimation algorithm that is purported to be more accurate and generate a greater number of locations that its predecessor. We provide a comprehensive assessment of this new estimation process performance on data from free-ranging animals relative to concurrently collected Fastloc GPS data. Additionally, we test the efficacy of three readily-available SSM in predicting the movement of two focal animals. Raw Argos location estimates generated by the new algorithm were greatly improved compared to the old system. Approximately twice as many Argos locations were derived compared to GPS on the devices used. Root Mean Square Errors (RMSE) for each optimal SSM were less than 4.25 km with some producing RMSE of less than 2.50 km. Differences in the biological plausibility of the tracks between the two focal animals used to investigate the utility of SSM highlights the importance of considering animal behaviour in movement studies. The ability to reprocess Argos data collected since 2008 with the new algorithm should permit questions of animal movement to be revisited at a finer resolution.

Subspace methods for identification of human ankle joint stiffness.

PubMed

Zhao, Y; Westwick, D T; Kearney, R E

2011-11-01

Joint stiffness, the dynamic relationship between the angular position of a joint and the torque acting about it, describes the dynamic, mechanical behavior of a joint during posture and movement. Joint stiffness arises from both intrinsic and reflex mechanisms, but the torques due to these mechanisms cannot be measured separately experimentally, since they appear and change together. Therefore, the direct estimation of the intrinsic and reflex stiffnesses is difficult. In this paper, we present a new, two-step procedure to estimate the intrinsic and reflex components of ankle stiffness. In the first step, a discrete-time, subspace-based method is used to estimate a state-space model for overall stiffness from the measured overall torque and then predict the intrinsic and reflex torques. In the second step, continuous-time models for the intrinsic and reflex stiffnesses are estimated from the predicted intrinsic and reflex torques. Simulations and experimental results demonstrate that the algorithm estimates the intrinsic and reflex stiffnesses accurately. The new subspace-based algorithm has three advantages over previous algorithms: 1) It does not require iteration, and therefore, will always converge to an optimal solution; 2) it provides better estimates for data with high noise or short sample lengths; and 3) it provides much more accurate results for data acquired under the closed-loop conditions, that prevail when subjects interact with compliant loads.

Development of ocean color algorithms for estimating chlorophyll-a concentrations and inherent optical properties using gene expression programming (GEP).

PubMed

Chang, Chih-Hua

2015-03-09

This paper proposes new inversion algorithms for the estimation of Chlorophyll-a concentration (Chla) and the ocean's inherent optical properties (IOPs) from the measurement of remote sensing reflectance (Rrs). With in situ data from the NASA bio-optical marine algorithm data set (NOMAD), inversion algorithms were developed by the novel gene expression programming (GEP) approach, which creates, manipulates and selects the most appropriate tree-structured functions based on evolutionary computing. The limitations and validity of the proposed algorithms are evaluated by simulated Rrs spectra with respect to NOMAD, and a closure test for IOPs obtained at a single reference wavelength. The application of GEP-derived algorithms is validated against in situ, synthetic and satellite match-up data sets compiled by NASA and the International Ocean Color Coordinate Group (IOCCG). The new algorithms are able to provide Chla and IOPs retrievals to those derived by other state-of-the-art regression approaches and obtained with the semi- and quasi-analytical algorithms, respectively. In practice, there are no significant differences between GEP, support vector regression, and multilayer perceptron model in terms of the overall performance. The GEP-derived algorithms are successfully applied in processing the images taken by the Sea Wide Field-of-view Sensor (SeaWiFS), generate Chla and IOPs maps which show better details of developing algal blooms, and give more information on the distribution of water constituents between different water bodies.

Estimation of time- and state-dependent delays and other parameters in functional differential equations

NASA Technical Reports Server (NTRS)

Murphy, K. A.

1988-01-01

A parameter estimation algorithm is developed which can be used to estimate unknown time- or state-dependent delays and other parameters (e.g., initial condition) appearing within a nonlinear nonautonomous functional differential equation. The original infinite dimensional differential equation is approximated using linear splines, which are allowed to move with the variable delay. The variable delays are approximated using linear splines as well. The approximation scheme produces a system of ordinary differential equations with nice computational properties. The unknown parameters are estimated within the approximating systems by minimizing a least-squares fit-to-data criterion. Convergence theorems are proved for time-dependent delays and state-dependent delays within two classes, which say essentially that fitting the data by using approximations will, in the limit, provide a fit to the data using the original system. Numerical test examples are presented which illustrate the method for all types of delay.

Estimation of time- and state-dependent delays and other parameters in functional differential equations

NASA Technical Reports Server (NTRS)

Murphy, K. A.

1990-01-01

A parameter estimation algorithm is developed which can be used to estimate unknown time- or state-dependent delays and other parameters (e.g., initial condition) appearing within a nonlinear nonautonomous functional differential equation. The original infinite dimensional differential equation is approximated using linear splines, which are allowed to move with the variable delay. The variable delays are approximated using linear splines as well. The approximation scheme produces a system of ordinary differential equations with nice computational properties. The unknown parameters are estimated within the approximating systems by minimizing a least-squares fit-to-data criterion. Convergence theorems are proved for time-dependent delays and state-dependent delays within two classes, which say essentially that fitting the data by using approximations will, in the limit, provide a fit to the data using the original system. Numerical test examples are presented which illustrate the method for all types of delay.

Quantum Linear System Algorithm for Dense Matrices.

PubMed

Wossnig, Leonard; Zhao, Zhikuan; Prakash, Anupam

2018-02-02

Solving linear systems of equations is a frequently encountered problem in machine learning and optimization. Given a matrix A and a vector b the task is to find the vector x such that Ax=b. We describe a quantum algorithm that achieves a sparsity-independent runtime scaling of O(κ^{2}sqrt[n]polylog(n)/ε) for an n×n dimensional A with bounded spectral norm, where κ denotes the condition number of A, and ε is the desired precision parameter. This amounts to a polynomial improvement over known quantum linear system algorithms when applied to dense matrices, and poses a new state of the art for solving dense linear systems on a quantum computer. Furthermore, an exponential improvement is achievable if the rank of A is polylogarithmic in the matrix dimension. Our algorithm is built upon a singular value estimation subroutine, which makes use of a memory architecture that allows for efficient preparation of quantum states that correspond to the rows of A and the vector of Euclidean norms of the rows of A.

Real-Time Robust Tracking for Motion Blur and Fast Motion via Correlation Filters.

PubMed

Xu, Lingyun; Luo, Haibo; Hui, Bin; Chang, Zheng

2016-09-07

Visual tracking has extensive applications in intelligent monitoring and guidance systems. Among state-of-the-art tracking algorithms, Correlation Filter methods perform favorably in robustness, accuracy and speed. However, it also has shortcomings when dealing with pervasive target scale variation, motion blur and fast motion. In this paper we proposed a new real-time robust scheme based on Kernelized Correlation Filter (KCF) to significantly improve performance on motion blur and fast motion. By fusing KCF and STC trackers, our algorithm also solve the estimation of scale variation in many scenarios. We theoretically analyze the problem for CFs towards motions and utilize the point sharpness function of the target patch to evaluate the motion state of target. Then we set up an efficient scheme to handle the motion and scale variation without much time consuming. Our algorithm preserves the properties of KCF besides the ability to handle special scenarios. In the end extensive experimental results on benchmark of VOT datasets show our algorithm performs advantageously competed with the top-rank trackers.

Real-time depth camera tracking with geometrically stable weight algorithm

NASA Astrophysics Data System (ADS)

Fu, Xingyin; Zhu, Feng; Qi, Feng; Wang, Mingming

2017-03-01

We present an approach for real-time camera tracking with depth stream. Existing methods are prone to drift in sceneries without sufficient geometric information. First, we propose a new weight method for an iterative closest point algorithm commonly used in real-time dense mapping and tracking systems. By detecting uncertainty in pose and increasing weight of points that constrain unstable transformations, our system achieves accurate and robust trajectory estimation results. Our pipeline can be fully parallelized with GPU and incorporated into the current real-time depth camera tracking system seamlessly. Second, we compare the state-of-the-art weight algorithms and propose a weight degradation algorithm according to the measurement characteristics of a consumer depth camera. Third, we use Nvidia Kepler Shuffle instructions during warp and block reduction to improve the efficiency of our system. Results on the public TUM RGB-D database benchmark demonstrate that our camera tracking system achieves state-of-the-art results both in accuracy and efficiency.

Inverse consistent non-rigid image registration based on robust point set matching

PubMed Central

2014-01-01

Background Robust point matching (RPM) has been extensively used in non-rigid registration of images to robustly register two sets of image points. However, except for the location at control points, RPM cannot estimate the consistent correspondence between two images because RPM is a unidirectional image matching approach. Therefore, it is an important issue to make an improvement in image registration based on RPM. Methods In our work, a consistent image registration approach based on the point sets matching is proposed to incorporate the property of inverse consistency and improve registration accuracy. Instead of only estimating the forward transformation between the source point sets and the target point sets in state-of-the-art RPM algorithms, the forward and backward transformations between two point sets are estimated concurrently in our algorithm. The inverse consistency constraints are introduced to the cost function of RPM and the fuzzy correspondences between two point sets are estimated based on both the forward and backward transformations simultaneously. A modified consistent landmark thin-plate spline registration is discussed in detail to find the forward and backward transformations during the optimization of RPM. The similarity of image content is also incorporated into point matching in order to improve image matching. Results Synthetic data sets, medical images are employed to demonstrate and validate the performance of our approach. The inverse consistent errors of our algorithm are smaller than RPM. Especially, the topology of transformations is preserved well for our algorithm for the large deformation between point sets. Moreover, the distance errors of our algorithm are similar to that of RPM, and they maintain a downward trend as whole, which demonstrates the convergence of our algorithm. The registration errors for image registrations are evaluated also. Again, our algorithm achieves the lower registration errors in same iteration number. The determinant of the Jacobian matrix of the deformation field is used to analyse the smoothness of the forward and backward transformations. The forward and backward transformations estimated by our algorithm are smooth for small deformation. For registration of lung slices and individual brain slices, large or small determinant of the Jacobian matrix of the deformation fields are observed. Conclusions Results indicate the improvement of the proposed algorithm in bi-directional image registration and the decrease of the inverse consistent errors of the forward and the reverse transformations between two images. PMID:25559889

Quantum computing applied to calculations of molecular energies: CH2 benchmark.

PubMed

Veis, Libor; Pittner, Jiří

2010-11-21

Quantum computers are appealing for their ability to solve some tasks much faster than their classical counterparts. It was shown in [Aspuru-Guzik et al., Science 309, 1704 (2005)] that they, if available, would be able to perform the full configuration interaction (FCI) energy calculations with a polynomial scaling. This is in contrast to conventional computers where FCI scales exponentially. We have developed a code for simulation of quantum computers and implemented our version of the quantum FCI algorithm. We provide a detailed description of this algorithm and the results of the assessment of its performance on the four lowest lying electronic states of CH(2) molecule. This molecule was chosen as a benchmark, since its two lowest lying (1)A(1) states exhibit a multireference character at the equilibrium geometry. It has been shown that with a suitably chosen initial state of the quantum register, one is able to achieve the probability amplification regime of the iterative phase estimation algorithm even in this case.

AEKF-SLAM: A New Algorithm for Robotic Underwater Navigation

PubMed Central

Yuan, Xin; Martínez-Ortega, José-Fernán; Fernández, José Antonio Sánchez; Eckert, Martina

2017-01-01

In this work, we focus on key topics related to underwater Simultaneous Localization and Mapping (SLAM) applications. Moreover, a detailed review of major studies in the literature and our proposed solutions for addressing the problem are presented. The main goal of this paper is the enhancement of the accuracy and robustness of the SLAM-based navigation problem for underwater robotics with low computational costs. Therefore, we present a new method called AEKF-SLAM that employs an Augmented Extended Kalman Filter (AEKF)-based SLAM algorithm. The AEKF-based SLAM approach stores the robot poses and map landmarks in a single state vector, while estimating the state parameters via a recursive and iterative estimation-update process. Hereby, the prediction and update state (which exist as well in the conventional EKF) are complemented by a newly proposed augmentation stage. Applied to underwater robot navigation, the AEKF-SLAM has been compared with the classic and popular FastSLAM 2.0 algorithm. Concerning the dense loop mapping and line mapping experiments, it shows much better performances in map management with respect to landmark addition and removal, which avoid the long-term accumulation of errors and clutters in the created map. Additionally, the underwater robot achieves more precise and efficient self-localization and a mapping of the surrounding landmarks with much lower processing times. Altogether, the presented AEKF-SLAM method achieves reliably map revisiting, and consistent map upgrading on loop closure. PMID:28531135

Manticore and CS mode : parallelizable encryption with joint cipher-state authentication.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Torgerson, Mark Dolan; Draelos, Timothy John; Schroeppel, Richard Crabtree

2004-10-01

We describe a new mode of encryption with inexpensive authentication, which uses information from the internal state of the cipher to provide the authentication. Our algorithms have a number of benefits: (1) the encryption has properties similar to CBC mode, yet the encipherment and authentication can be parallelized and/or pipelined, (2) the authentication overhead is minimal, and (3) the authentication process remains resistant against some IV reuse. We offer a Manticore class of authenticated encryption algorithms based on cryptographic hash functions, which support variable block sizes up to twice the hash output length and variable key lengths. A proof ofmore » security is presented for the MTC4 and Pepper algorithms. We then generalize the construction to create the Cipher-State (CS) mode of encryption that uses the internal state of any round-based block cipher as an authenticator. We provide hardware and software performance estimates for all of our constructions and give a concrete example of the CS mode of encryption that uses AES as the encryption primitive and adds a small speed overhead (10-15%) compared to AES alone.« less

Time series segmentation: a new approach based on Genetic Algorithm and Hidden Markov Model

NASA Astrophysics Data System (ADS)

Toreti, A.; Kuglitsch, F. G.; Xoplaki, E.; Luterbacher, J.

2009-04-01

The subdivision of a time series into homogeneous segments has been performed using various methods applied to different disciplines. In climatology, for example, it is accompanied by the well-known homogenization problem and the detection of artificial change points. In this context, we present a new method (GAMM) based on Hidden Markov Model (HMM) and Genetic Algorithm (GA), applicable to series of independent observations (and easily adaptable to autoregressive processes). A left-to-right hidden Markov model, estimating the parameters and the best-state sequence, respectively, with the Baum-Welch and Viterbi algorithms, was applied. In order to avoid the well-known dependence of the Baum-Welch algorithm on the initial condition, a Genetic Algorithm was developed. This algorithm is characterized by mutation, elitism and a crossover procedure implemented with some restrictive rules. Moreover the function to be minimized was derived following the approach of Kehagias (2004), i.e. it is the so-called complete log-likelihood. The number of states was determined applying a two-fold cross-validation procedure (Celeux and Durand, 2008). Being aware that the last issue is complex, and it influences all the analysis, a Multi Response Permutation Procedure (MRPP; Mielke et al., 1981) was inserted. It tests the model with K+1 states (where K is the state number of the best model) if its likelihood is close to K-state model. Finally, an evaluation of the GAMM performances, applied as a break detection method in the field of climate time series homogenization, is shown. 1. G. Celeux and J.B. Durand, Comput Stat 2008. 2. A. Kehagias, Stoch Envir Res 2004. 3. P.W. Mielke, K.J. Berry, G.W. Brier, Monthly Wea Rev 1981.

An improved state-parameter analysis of ecosystem models using data assimilation

USGS Publications Warehouse

Chen, M.; Liu, S.; Tieszen, L.L.; Hollinger, D.Y.

2008-01-01

Much of the effort spent in developing data assimilation methods for carbon dynamics analysis has focused on estimating optimal values for either model parameters or state variables. The main weakness of estimating parameter values alone (i.e., without considering state variables) is that all errors from input, output, and model structure are attributed to model parameter uncertainties. On the other hand, the accuracy of estimating state variables may be lowered if the temporal evolution of parameter values is not incorporated. This research develops a smoothed ensemble Kalman filter (SEnKF) by combining ensemble Kalman filter with kernel smoothing technique. SEnKF has following characteristics: (1) to estimate simultaneously the model states and parameters through concatenating unknown parameters and state variables into a joint state vector; (2) to mitigate dramatic, sudden changes of parameter values in parameter sampling and parameter evolution process, and control narrowing of parameter variance which results in filter divergence through adjusting smoothing factor in kernel smoothing algorithm; (3) to assimilate recursively data into the model and thus detect possible time variation of parameters; and (4) to address properly various sources of uncertainties stemming from input, output and parameter uncertainties. The SEnKF is tested by assimilating observed fluxes of carbon dioxide and environmental driving factor data from an AmeriFlux forest station located near Howland, Maine, USA, into a partition eddy flux model. Our analysis demonstrates that model parameters, such as light use efficiency, respiration coefficients, minimum and optimum temperatures for photosynthetic activity, and others, are highly constrained by eddy flux data at daily-to-seasonal time scales. The SEnKF stabilizes parameter values quickly regardless of the initial values of the parameters. Potential ecosystem light use efficiency demonstrates a strong seasonality. Results show that the simultaneous parameter estimation procedure significantly improves model predictions. Results also show that the SEnKF can dramatically reduce the variance in state variables stemming from the uncertainty of parameters and driving variables. The SEnKF is a robust and effective algorithm in evaluating and developing ecosystem models and in improving the understanding and quantification of carbon cycle parameters and processes. ?? 2008 Elsevier B.V.

Hierarchical group testing for multiple infections.

PubMed

Hou, Peijie; Tebbs, Joshua M; Bilder, Christopher R; McMahan, Christopher S

2017-06-01

Group testing, where individuals are tested initially in pools, is widely used to screen a large number of individuals for rare diseases. Triggered by the recent development of assays that detect multiple infections at once, screening programs now involve testing individuals in pools for multiple infections simultaneously. Tebbs, McMahan, and Bilder (2013, Biometrics) recently evaluated the performance of a two-stage hierarchical algorithm used to screen for chlamydia and gonorrhea as part of the Infertility Prevention Project in the United States. In this article, we generalize this work to accommodate a larger number of stages. To derive the operating characteristics of higher-stage hierarchical algorithms with more than one infection, we view the pool decoding process as a time-inhomogeneous, finite-state Markov chain. Taking this conceptualization enables us to derive closed-form expressions for the expected number of tests and classification accuracy rates in terms of transition probability matrices. When applied to chlamydia and gonorrhea testing data from four states (Region X of the United States Department of Health and Human Services), higher-stage hierarchical algorithms provide, on average, an estimated 11% reduction in the number of tests when compared to two-stage algorithms. For applications with rarer infections, we show theoretically that this percentage reduction can be much larger. © 2016, The International Biometric Society.

Hierarchical group testing for multiple infections

PubMed Central

Hou, Peijie; Tebbs, Joshua M.; Bilder, Christopher R.; McMahan, Christopher S.

2016-01-01

Summary Group testing, where individuals are tested initially in pools, is widely used to screen a large number of individuals for rare diseases. Triggered by the recent development of assays that detect multiple infections at once, screening programs now involve testing individuals in pools for multiple infections simultaneously. Tebbs, McMahan, and Bilder (2013, Biometrics) recently evaluated the performance of a two-stage hierarchical algorithm used to screen for chlamydia and gonorrhea as part of the Infertility Prevention Project in the United States. In this article, we generalize this work to accommodate a larger number of stages. To derive the operating characteristics of higher-stage hierarchical algorithms with more than one infection, we view the pool decoding process as a time-inhomogeneous, finite-state Markov chain. Taking this conceptualization enables us to derive closed-form expressions for the expected number of tests and classification accuracy rates in terms of transition probability matrices. When applied to chlamydia and gonorrhea testing data from four states (Region X of the United States Department of Health and Human Services), higher-stage hierarchical algorithms provide, on average, an estimated 11 percent reduction in the number of tests when compared to two-stage algorithms. For applications with rarer infections, we show theoretically that this percentage reduction can be much larger. PMID:27657666

Set-theoretic estimation of hybrid system configurations.

PubMed

Benazera, Emmanuel; Travé-Massuyès, Louise

2009-10-01

Hybrid systems serve as a powerful modeling paradigm for representing complex continuous controlled systems that exhibit discrete switches in their dynamics. The system and the models of the system are nondeterministic due to operation in uncertain environment. Bayesian belief update approaches to stochastic hybrid system state estimation face a blow up in the number of state estimates. Therefore, most popular techniques try to maintain an approximation of the true belief state by either sampling or maintaining a limited number of trajectories. These limitations can be avoided by using bounded intervals to represent the state uncertainty. This alternative leads to splitting the continuous state space into a finite set of possibly overlapping geometrical regions that together with the system modes form configurations of the hybrid system. As a consequence, the true system state can be captured by a finite number of hybrid configurations. A set of dedicated algorithms that can efficiently compute these configurations is detailed. Results are presented on two systems of the hybrid system literature.

Thrust stand evaluation of engine performance improvement algorithms in an F-15 airplane

NASA Technical Reports Server (NTRS)

Conners, Timothy R.

1992-01-01

An investigation is underway to determine the benefits of a new propulsion system optimization algorithm in an F-15 airplane. The performance seeking control (PSC) algorithm optimizes the quasi-steady-state performance of an F100 derivative turbofan engine for several modes of operation. The PSC algorithm uses an onboard software engine model that calculates thrust, stall margin, and other unmeasured variables for use in the optimization. As part of the PSC test program, the F-15 aircraft was operated on a horizontal thrust stand. Thrust was measured with highly accurate load cells. The measured thrust was compared to onboard model estimates and to results from posttest performance programs. Thrust changes using the various PSC modes were recorded. Those results were compared to benefits using the less complex highly integrated digital electronic control (HIDEC) algorithm. The PSC maximum thrust mode increased intermediate power thrust by 10 percent. The PSC engine model did very well at estimating measured thrust and closely followed the transients during optimization. Quantitative results from the evaluation of the algorithms and performance calculation models are included with emphasis on measured thrust results. The report presents a description of the PSC system and a discussion of factors affecting the accuracy of the thrust stand load measurements.

Optimal input selection for neural machine interfaces predicting multiple non-explicit outputs.

PubMed

Krepkovich, Eileen T; Perreault, Eric J

2008-01-01

This study implemented a novel algorithm that optimally selects inputs for neural machine interface (NMI) devices intended to control multiple outputs and evaluated its performance on systems lacking explicit output. NMIs often incorporate signals from multiple physiological sources and provide predictions for multidimensional control, leading to multiple-input multiple-output systems. Further, NMIs often are used with subjects who have motor disabilities and thus lack explicit motor outputs. Our algorithm was tested on simulated multiple-input multiple-output systems and on electromyogram and kinematic data collected from healthy subjects performing arm reaches. Effects of output noise in simulated systems indicated that the algorithm could be useful for systems with poor estimates of the output states, as is true for systems lacking explicit motor output. To test efficacy on physiological data, selection was performed using inputs from one subject and outputs from a different subject. Selection was effective for these cases, again indicating that this algorithm will be useful for predictions where there is no motor output, as often is the case for disabled subjects. Further, prediction results generalized for different movement types not used for estimation. These results demonstrate the efficacy of this algorithm for the development of neural machine interfaces.

RatCar system for estimating locomotion states using neural signals with parameter monitoring: Vehicle-formed brain-machine interfaces for rat.

PubMed

Fukayama, Osamu; Taniguchi, Noriyuki; Suzuki, Takafumi; Mabuchi, Kunihiko

2008-01-01

An online brain-machine interface (BMI) in the form of a small vehicle, the 'RatCar,' has been developed. A rat had neural electrodes implanted in its primary motor cortex and basal ganglia regions to continuously record neural signals. Then, a linear state space model represents a correlation between the recorded neural signals and locomotion states (i.e., moving velocity and azimuthal variances) of the rat. The model parameters were set so as to minimize estimation errors, and the locomotion states were estimated from neural firing rates using a Kalman filter algorithm. The results showed a small oscillation to achieve smooth control of the vehicle in spite of fluctuating firing rates with noises applied to the model. Major variation of the model variables converged in a first 30 seconds of the experiments and lasted for the entire one hour session.

A Robust Random Forest-Based Approach for Heart Rate Monitoring Using Photoplethysmography Signal Contaminated by Intense Motion Artifacts.

PubMed

Ye, Yalan; He, Wenwen; Cheng, Yunfei; Huang, Wenxia; Zhang, Zhilin

2017-02-16

The estimation of heart rate (HR) based on wearable devices is of interest in fitness. Photoplethysmography (PPG) is a promising approach to estimate HR due to low cost; however, it is easily corrupted by motion artifacts (MA). In this work, a robust approach based on random forest is proposed for accurately estimating HR from the photoplethysmography signal contaminated by intense motion artifacts, consisting of two stages. Stage 1 proposes a hybrid method to effectively remove MA with a low computation complexity, where two MA removal algorithms are combined by an accurate binary decision algorithm whose aim is to decide whether or not to adopt the second MA removal algorithm. Stage 2 proposes a random forest-based spectral peak-tracking algorithm, whose aim is to locate the spectral peak corresponding to HR, formulating the problem of spectral peak tracking into a pattern classification problem. Experiments on the PPG datasets including 22 subjects used in the 2015 IEEE Signal Processing Cup showed that the proposed approach achieved the average absolute error of 1.65 beats per minute (BPM) on the 22 PPG datasets. Compared to state-of-the-art approaches, the proposed approach has better accuracy and robustness to intense motion artifacts, indicating its potential use in wearable sensors for health monitoring and fitness tracking.

An algorithm for computing moments-based flood quantile estimates when historical flood information is available

USGS Publications Warehouse

Cohn, T.A.; Lane, W.L.; Baier, W.G.

1997-01-01

This paper presents the expected moments algorithm (EMA), a simple and efficient method for incorporating historical and paleoflood information into flood frequency studies. EMA can utilize three types of at-site flood information: systematic stream gage record; information about the magnitude of historical floods; and knowledge of the number of years in the historical period when no large flood occurred. EMA employs an iterative procedure to compute method-of-moments parameter estimates. Initial parameter estimates are calculated from systematic stream gage data. These moments are then updated by including the measured historical peaks and the expected moments, given the previously estimated parameters, of the below-threshold floods from the historical period. The updated moments result in new parameter estimates, and the last two steps are repeated until the algorithm converges. Monte Carlo simulations compare EMA, Bulletin 17B's [United States Water Resources Council, 1982] historically weighted moments adjustment, and maximum likelihood estimators when fitting the three parameters of the log-Pearson type III distribution. These simulations demonstrate that EMA is more efficient than the Bulletin 17B method, and that it is nearly as efficient as maximum likelihood estimation (MLE). The experiments also suggest that EMA has two advantages over MLE when dealing with the log-Pearson type III distribution: It appears that EMA estimates always exist and that they are unique, although neither result has been proven. EMA can be used with binomial or interval-censored data and with any distributional family amenable to method-of-moments estimation.

An algorithm for computing moments-based flood quantile estimates when historical flood information is available

NASA Astrophysics Data System (ADS)

Cohn, T. A.; Lane, W. L.; Baier, W. G.

This paper presents the expected moments algorithm (EMA), a simple and efficient method for incorporating historical and paleoflood information into flood frequency studies. EMA can utilize three types of at-site flood information: systematic stream gage record; information about the magnitude of historical floods; and knowledge of the number of years in the historical period when no large flood occurred. EMA employs an iterative procedure to compute method-of-moments parameter estimates. Initial parameter estimates are calculated from systematic stream gage data. These moments are then updated by including the measured historical peaks and the expected moments, given the previously estimated parameters, of the below-threshold floods from the historical period. The updated moments result in new parameter estimates, and the last two steps are repeated until the algorithm converges. Monte Carlo simulations compare EMA, Bulletin 17B's [United States Water Resources Council, 1982] historically weighted moments adjustment, and maximum likelihood estimators when fitting the three parameters of the log-Pearson type III distribution. These simulations demonstrate that EMA is more efficient than the Bulletin 17B method, and that it is nearly as efficient as maximum likelihood estimation (MLE). The experiments also suggest that EMA has two advantages over MLE when dealing with the log-Pearson type III distribution: It appears that EMA estimates always exist and that they are unique, although neither result has been proven. EMA can be used with binomial or interval-censored data and with any distributional family amenable to method-of-moments estimation.

Color constancy by characterization of illumination chromaticity

NASA Astrophysics Data System (ADS)

Nikkanen, Jarno T.

2011-05-01

Computational color constancy algorithms play a key role in achieving desired color reproduction in digital cameras. Failure to estimate illumination chromaticity correctly will result in invalid overall colour cast in the image that will be easily detected by human observers. A new algorithm is presented for computational color constancy. Low computational complexity and low memory requirement make the algorithm suitable for resource-limited camera devices, such as consumer digital cameras and camera phones. Operation of the algorithm relies on characterization of the range of possible illumination chromaticities in terms of camera sensor response. The fact that only illumination chromaticity is characterized instead of the full color gamut, for example, increases robustness against variations in sensor characteristics and against failure of diagonal model of illumination change. Multiple databases are used in order to demonstrate the good performance of the algorithm in comparison to the state-of-the-art color constancy algorithms.

Robust Online Hamiltonian Learning

NASA Astrophysics Data System (ADS)

Granade, Christopher; Ferrie, Christopher; Wiebe, Nathan; Cory, David

2013-05-01

In this talk, we introduce a machine-learning algorithm for the problem of inferring the dynamical parameters of a quantum system, and discuss this algorithm in the example of estimating the precession frequency of a single qubit in a static field. Our algorithm is designed with practicality in mind by including parameters that control trade-offs between the requirements on computational and experimental resources. The algorithm can be implemented online, during experimental data collection, or can be used as a tool for post-processing. Most importantly, our algorithm is capable of learning Hamiltonian parameters even when the parameters change from experiment-to-experiment, and also when additional noise processes are present and unknown. Finally, we discuss the performance of the our algorithm by appeal to the Cramer-Rao bound. This work was financially supported by the Canadian government through NSERC and CERC and by the United States government through DARPA. NW would like to acknowledge funding from USARO-DTO.

Frequency-Modulated, Continuous-Wave Laser Ranging Using Photon-Counting Detectors

NASA Technical Reports Server (NTRS)

Erkmen, Baris I.; Barber, Zeb W.; Dahl, Jason

2014-01-01

Optical ranging is a problem of estimating the round-trip flight time of a phase- or amplitude-modulated optical beam that reflects off of a target. Frequency- modulated, continuous-wave (FMCW) ranging systems obtain this estimate by performing an interferometric measurement between a local frequency- modulated laser beam and a delayed copy returning from the target. The range estimate is formed by mixing the target-return field with the local reference field on a beamsplitter and detecting the resultant beat modulation. In conventional FMCW ranging, the source modulation is linear in instantaneous frequency, the reference-arm field has many more photons than the target-return field, and the time-of-flight estimate is generated by balanced difference- detection of the beamsplitter output, followed by a frequency-domain peak search. This work focused on determining the maximum-likelihood (ML) estimation algorithm when continuous-time photoncounting detectors are used. It is founded on a rigorous statistical characterization of the (random) photoelectron emission times as a function of the incident optical field, including the deleterious effects caused by dark current and dead time. These statistics enable derivation of the Cramér-Rao lower bound (CRB) on the accuracy of FMCW ranging, and derivation of the ML estimator, whose performance approaches this bound at high photon flux. The estimation algorithm was developed, and its optimality properties were shown in simulation. Experimental data show that it performs better than the conventional estimation algorithms used. The demonstrated improvement is a factor of 1.414 over frequency-domainbased estimation. If the target interrogating photons and the local reference field photons are costed equally, the optimal allocation of photons between these two arms is to have them equally distributed. This is different than the state of the art, in which the local field is stronger than the target return. The optimal processing of the photocurrent processes at the outputs of the two detectors is to perform log-matched filtering followed by a summation and peak detection. This implies that neither difference detection, nor Fourier-domain peak detection, which are the staples of the state-of-the-art systems, is optimal when a weak local oscillator is employed.

Deriving health utilities from the MacNew Heart Disease Quality of Life Questionnaire.

PubMed

Chen, Gang; McKie, John; Khan, Munir A; Richardson, Jeff R

2015-10-01

Quality of life is included in the economic evaluation of health services by measuring the preference for health states, i.e. health state utilities. However, most intervention studies include a disease-specific, not a utility, instrument. Consequently, there has been increasing use of statistical mapping algorithms which permit utilities to be estimated from a disease-specific instrument. The present paper provides such algorithms between the MacNew Heart Disease Quality of Life Questionnaire (MacNew) instrument and six multi-attribute utility (MAU) instruments, the Euroqol (EQ-5D), the Short Form 6D (SF-6D), the Health Utilities Index (HUI) 3, the Quality of Wellbeing (QWB), the 15D (15 Dimension) and the Assessment of Quality of Life (AQoL-8D). Heart disease patients and members of the healthy public were recruited from six countries. Non-parametric rank tests were used to compare subgroup utilities and MacNew scores. Mapping algorithms were estimated using three separate statistical techniques. Mapping algorithms achieved a high degree of precision. Based on the mean absolute error and the intra class correlation the preferred mapping is MacNew into SF-6D or 15D. Using the R squared statistic the preferred mapping is MacNew into AQoL-8D. The algorithms reported in this paper enable MacNew data to be mapped into utilities predicted from any of six instruments. This permits studies which have included the MacNew to be used in cost utility analyses which, in turn, allows the comparison of services with interventions across the health system. © The European Society of Cardiology 2014.

Air traffic surveillance and control using hybrid estimation and protocol-based conflict resolution

NASA Astrophysics Data System (ADS)

Hwang, Inseok

The continued growth of air travel and recent advances in new technologies for navigation, surveillance, and communication have led to proposals by the Federal Aviation Administration (FAA) to provide reliable and efficient tools to aid Air Traffic Control (ATC) in performing their tasks. In this dissertation, we address four problems frequently encountered in air traffic surveillance and control; multiple target tracking and identity management, conflict detection, conflict resolution, and safety verification. We develop a set of algorithms and tools to aid ATC; These algorithms have the provable properties of safety, computational efficiency, and convergence. Firstly, we develop a multiple-maneuvering-target tracking and identity management algorithm which can keep track of maneuvering aircraft in noisy environments and of their identities. Secondly, we propose a hybrid probabilistic conflict detection algorithm between multiple aircraft which uses flight mode estimates as well as aircraft current state estimates. Our algorithm is based on hybrid models of aircraft, which incorporate both continuous dynamics and discrete mode switching. Thirdly, we develop an algorithm for multiple (greater than two) aircraft conflict avoidance that is based on a closed-form analytic solution and thus provides guarantees of safety. Finally, we consider the problem of safety verification of control laws for safety critical systems, with application to air traffic control systems. We approach safety verification through reachability analysis, which is a computationally expensive problem. We develop an over-approximate method for reachable set computation using polytopic approximation methods and dynamic optimization. These algorithms may be used either in a fully autonomous way, or as supporting tools to increase controllers' situational awareness and to reduce their work load.

An Optical Flow-Based Full Reference Video Quality Assessment Algorithm.

PubMed

K, Manasa; Channappayya, Sumohana S

2016-06-01

We present a simple yet effective optical flow-based full-reference video quality assessment (FR-VQA) algorithm for assessing the perceptual quality of natural videos. Our algorithm is based on the premise that local optical flow statistics are affected by distortions and the deviation from pristine flow statistics is proportional to the amount of distortion. We characterize the local flow statistics using the mean, the standard deviation, the coefficient of variation (CV), and the minimum eigenvalue ( λ min ) of the local flow patches. Temporal distortion is estimated as the change in the CV of the distorted flow with respect to the reference flow, and the correlation between λ min of the reference and of the distorted patches. We rely on the robust multi-scale structural similarity index for spatial quality estimation. The computed temporal and spatial distortions, thus, are then pooled using a perceptually motivated heuristic to generate a spatio-temporal quality score. The proposed method is shown to be competitive with the state-of-the-art when evaluated on the LIVE SD database, the EPFL Polimi SD database, and the LIVE Mobile HD database. The distortions considered in these databases include those due to compression, packet-loss, wireless channel errors, and rate-adaptation. Our algorithm is flexible enough to allow for any robust FR spatial distortion metric for spatial distortion estimation. In addition, the proposed method is not only parameter-free but also independent of the choice of the optical flow algorithm. Finally, we show that the replacement of the optical flow vectors in our proposed method with the much coarser block motion vectors also results in an acceptable FR-VQA algorithm. Our algorithm is called the flow similarity index.

Integrated detection, estimation, and guidance in pursuit of a maneuvering target

NASA Astrophysics Data System (ADS)

Dionne, Dany

The thesis focuses on efficient solutions of non-cooperative pursuit-evasion games with imperfect information on the state of the system. This problem is important in the context of interception of future maneuverable ballistic missiles. However, the theoretical developments are expected to find application to a broad class of hybrid control and estimation problems in industry. The validity of the results is nevertheless confirmed using a benchmark problem in the area of terminal guidance. A specific interception scenario between an incoming target with no information and a single interceptor missile with noisy measurements is analyzed in the form of a linear hybrid system subject to additive abrupt changes. The general research is aimed to achieve improved homing accuracy by integrating ideas from detection theory, state estimation theory and guidance. The results achieved can be summarized as follows. (i) Two novel maneuver detectors are developed to diagnose abrupt changes in a class of hybrid systems (detection and isolation of evasive maneuvers): a new implementation of the GLR detector and the novel adaptive- H0 GLR detector. (ii) Two novel state estimators for target tracking are derived using the novel maneuver detectors. The state estimators employ parameterized family of functions to described possible evasive maneuvers. (iii) A novel adaptive Bayesian multiple model predictor of the ballistic miss is developed which employs semi-Markov models and ideas from detection theory. (iv) A novel integrated estimation and guidance scheme that significantly improves the homing accuracy is also presented. The integrated scheme employs banks of estimators and guidance laws, a maneuver detector, and an on-line governor; the scheme is adaptive with respect to the uncertainty affecting the probability density function of the filtered state. (v) A novel discretization technique for the family of continuous-time, game theoretic, bang-bang guidance laws is introduced. The performance of the novel algorithms is assessed for the scenario of a pursuit-evasion engagement between a randomly maneuvering ballistic missile and an interceptor. Extensive Monte Carlo simulations are employed to evaluate the main statistical properties of the algorithms. (Abstract shortened by UMI.)

Assisted Perception, Planning and Control for Remote Mobility and Dexterous Manipulation

DTIC Science & Technology

2017-04-01

on unmanned aerial vehicles (UAVs). The underlying algorithm is based on an Extended Kalman Filter (EKF) that simultaneously estimates robot state...and sensor biases. The filter developed provided a probabilistic fusion of sensor data from many modalities to produce a single consistent position...estimation for a walking humanoid. Given a prior map using a Gaussian particle filter , the LIDAR based system is able to provide a drift-free

Interdisciplinary Investigations in Support of Project DI-MOD

NASA Technical Reports Server (NTRS)

Starks, Scott A. (Principal Investigator)

1996-01-01

Various concepts from time series analysis are used as the basis for the development of algorithms to assist in the analysis and interpretation of remote sensed imagery. An approach to trend detection that is based upon the fractal analysis of power spectrum estimates is presented. Additionally, research was conducted toward the development of a software architecture to support processing tasks associated with databases housing a variety of data. An algorithmic approach which provides for the automation of the state monitoring process is presented.

Integrative missing value estimation for microarray data.

PubMed

Hu, Jianjun; Li, Haifeng; Waterman, Michael S; Zhou, Xianghong Jasmine

2006-10-12

Missing value estimation is an important preprocessing step in microarray analysis. Although several methods have been developed to solve this problem, their performance is unsatisfactory for datasets with high rates of missing data, high measurement noise, or limited numbers of samples. In fact, more than 80% of the time-series datasets in Stanford Microarray Database contain less than eight samples. We present the integrative Missing Value Estimation method (iMISS) by incorporating information from multiple reference microarray datasets to improve missing value estimation. For each gene with missing data, we derive a consistent neighbor-gene list by taking reference data sets into consideration. To determine whether the given reference data sets are sufficiently informative for integration, we use a submatrix imputation approach. Our experiments showed that iMISS can significantly and consistently improve the accuracy of the state-of-the-art Local Least Square (LLS) imputation algorithm by up to 15% improvement in our benchmark tests. We demonstrated that the order-statistics-based integrative imputation algorithms can achieve significant improvements over the state-of-the-art missing value estimation approaches such as LLS and is especially good for imputing microarray datasets with a limited number of samples, high rates of missing data, or very noisy measurements. With the rapid accumulation of microarray datasets, the performance of our approach can be further improved by incorporating larger and more appropriate reference datasets.

Performance analysis of a fault inferring nonlinear detection system algorithm with integrated avionics flight data

NASA Technical Reports Server (NTRS)

Caglayan, A. K.; Godiwala, P. M.; Morrell, F. R.

1985-01-01

This paper presents the performance analysis results of a fault inferring nonlinear detection system (FINDS) using integrated avionics sensor flight data for the NASA ATOPS B-737 aircraft in a Microwave Landing System (MLS) environment. First, an overview of the FINDS algorithm structure is given. Then, aircraft state estimate time histories and statistics for the flight data sensors are discussed. This is followed by an explanation of modifications made to the detection and decision functions in FINDS to improve false alarm and failure detection performance. Next, the failure detection and false alarm performance of the FINDS algorithm are analyzed by injecting bias failures into fourteen sensor outputs over six repetitive runs of the five minutes of flight data. Results indicate that the detection speed, failure level estimation, and false alarm performance show a marked improvement over the previously reported simulation runs. In agreement with earlier results, detection speed is faster for filter measurement sensors such as MLS than for filter input sensors such as flight control accelerometers. Finally, the progress in modifications of the FINDS algorithm design to accommodate flight computer constraints is discussed.

Airway and tissue loading in postinterrupter response of the respiratory system - an identification algorithm construction.

PubMed

Jablonski, Ireneusz; Mroczka, Janusz

2010-01-01

The paper offers an enhancement of the classical interrupter technique algorithm dedicated to respiratory mechanics measurements. Idea consists in exploitation of information contained in postocclusional transient states during indirect measurement of parameter characteristics by model identification. It needs the adequacy of an inverse analogue to general behavior of the real system and a reliable algorithm of parameter estimation. The second one was a subject of reported works, which finally showed the potential of the approach to separation of airway and tissue response in a case of short-term excitation by interrupter valve operation. Investigations were conducted in a regime of forward-inverse computer experiment.

Impact of double counting and transfer bias on estimated rates and outcomes of acute myocardial infarction.

PubMed

Westfall, J M; McGloin, J

2001-05-01

Ischemic heart disease is the leading cause of death in the United States. Recent studies report inconsistent findings on the changes in the incidence of hospitalizations for ischemic heart disease. These reports have relied primarily on hospital discharge data. Preliminary data suggest that a significant percentage of patients suffering acute myocardial infarction (MI) in rural communities are transferred to urban centers for care. Patients transferred to a second hospital may be counted twice for one episode of ischemic heart disease. To describe the impact of double counting and transfer bias on the estimation of incidence rates and outcomes of ischemic heart disease, specifically acute MI, in the United States. Analysis of state hospital discharge data from Kansas, Colorado (State Inpatient Database [SID]), Nebraska, Arizona, New Jersey, Michigan, Pennsylvania, and Illinois (SID) for the years 1995 to 1997. A matching algorithm was developed for hospital discharges to determine patients counted twice for one episode of ischemic heart disease. Validation of our matching algorithm. Patients reported to have suffered ischemic heart disease (ICD9 codes 410-414, 786.5). Number of patients counted twice for one episode of acute MI. It is estimated that double count rates range from 10% to 15% for all states and increased over the 3 years. Moderate sized rural counties had the highest estimated double count rates at 15% to 20% with a few counties having estimated double count rates a high as 35% to 50%. Older patients and females were less likely to be double counted (P <0.05). Double counting patients has resulted in a significant overestimation in the incidence rate for hospitalization for acute MI. Correction of this double counting reveals a significantly lower incidence rate and a higher in-hospital mortality rate for acute MI. Transferred patients differ significantly from nontransferred patients, introducing significant bias into MI outcome studies. Double counting and transfer bias should be considered when conducting and interpreting research on ischemic heart disease, particularly in rural regions.

Seismic noise attenuation using an online subspace tracking algorithm

NASA Astrophysics Data System (ADS)

Zhou, Yatong; Li, Shuhua; Zhang, Dong; Chen, Yangkang

2018-02-01

We propose a new low-rank based noise attenuation method using an efficient algorithm for tracking subspaces from highly corrupted seismic observations. The subspace tracking algorithm requires only basic linear algebraic manipulations. The algorithm is derived by analysing incremental gradient descent on the Grassmannian manifold of subspaces. When the multidimensional seismic data are mapped to a low-rank space, the subspace tracking algorithm can be directly applied to the input low-rank matrix to estimate the useful signals. Since the subspace tracking algorithm is an online algorithm, it is more robust to random noise than traditional truncated singular value decomposition (TSVD) based subspace tracking algorithm. Compared with the state-of-the-art algorithms, the proposed denoising method can obtain better performance. More specifically, the proposed method outperforms the TSVD-based singular spectrum analysis method in causing less residual noise and also in saving half of the computational cost. Several synthetic and field data examples with different levels of complexities demonstrate the effectiveness and robustness of the presented algorithm in rejecting different types of noise including random noise, spiky noise, blending noise, and coherent noise.

Facial Affect Recognition Using Regularized Discriminant Analysis-Based Algorithms

NASA Astrophysics Data System (ADS)

Lee, Chien-Cheng; Huang, Shin-Sheng; Shih, Cheng-Yuan

2010-12-01

This paper presents a novel and effective method for facial expression recognition including happiness, disgust, fear, anger, sadness, surprise, and neutral state. The proposed method utilizes a regularized discriminant analysis-based boosting algorithm (RDAB) with effective Gabor features to recognize the facial expressions. Entropy criterion is applied to select the effective Gabor feature which is a subset of informative and nonredundant Gabor features. The proposed RDAB algorithm uses RDA as a learner in the boosting algorithm. The RDA combines strengths of linear discriminant analysis (LDA) and quadratic discriminant analysis (QDA). It solves the small sample size and ill-posed problems suffered from QDA and LDA through a regularization technique. Additionally, this study uses the particle swarm optimization (PSO) algorithm to estimate optimal parameters in RDA. Experiment results demonstrate that our approach can accurately and robustly recognize facial expressions.

Higher-order Multivariable Polynomial Regression to Estimate Human Affective States

NASA Astrophysics Data System (ADS)

Wei, Jie; Chen, Tong; Liu, Guangyuan; Yang, Jiemin

2016-03-01

From direct observations, facial, vocal, gestural, physiological, and central nervous signals, estimating human affective states through computational models such as multivariate linear-regression analysis, support vector regression, and artificial neural network, have been proposed in the past decade. In these models, linear models are generally lack of precision because of ignoring intrinsic nonlinearities of complex psychophysiological processes; and nonlinear models commonly adopt complicated algorithms. To improve accuracy and simplify model, we introduce a new computational modeling method named as higher-order multivariable polynomial regression to estimate human affective states. The study employs standardized pictures in the International Affective Picture System to induce thirty subjects’ affective states, and obtains pure affective patterns of skin conductance as input variables to the higher-order multivariable polynomial model for predicting affective valence and arousal. Experimental results show that our method is able to obtain efficient correlation coefficients of 0.98 and 0.96 for estimation of affective valence and arousal, respectively. Moreover, the method may provide certain indirect evidences that valence and arousal have their brain’s motivational circuit origins. Thus, the proposed method can serve as a novel one for efficiently estimating human affective states.

Higher-order Multivariable Polynomial Regression to Estimate Human Affective States

PubMed Central

Wei, Jie; Chen, Tong; Liu, Guangyuan; Yang, Jiemin

2016-01-01

From direct observations, facial, vocal, gestural, physiological, and central nervous signals, estimating human affective states through computational models such as multivariate linear-regression analysis, support vector regression, and artificial neural network, have been proposed in the past decade. In these models, linear models are generally lack of precision because of ignoring intrinsic nonlinearities of complex psychophysiological processes; and nonlinear models commonly adopt complicated algorithms. To improve accuracy and simplify model, we introduce a new computational modeling method named as higher-order multivariable polynomial regression to estimate human affective states. The study employs standardized pictures in the International Affective Picture System to induce thirty subjects’ affective states, and obtains pure affective patterns of skin conductance as input variables to the higher-order multivariable polynomial model for predicting affective valence and arousal. Experimental results show that our method is able to obtain efficient correlation coefficients of 0.98 and 0.96 for estimation of affective valence and arousal, respectively. Moreover, the method may provide certain indirect evidences that valence and arousal have their brain’s motivational circuit origins. Thus, the proposed method can serve as a novel one for efficiently estimating human affective states. PMID:26996254

Ensemble-type numerical uncertainty information from single model integrations

DOE Office of Scientific and Technical Information (OSTI.GOV)

Rauser, Florian, E-mail: florian.rauser@mpimet.mpg.de; Marotzke, Jochem; Korn, Peter

2015-07-01

We suggest an algorithm that quantifies the discretization error of time-dependent physical quantities of interest (goals) for numerical models of geophysical fluid dynamics. The goal discretization error is estimated using a sum of weighted local discretization errors. The key feature of our algorithm is that these local discretization errors are interpreted as realizations of a random process. The random process is determined by the model and the flow state. From a class of local error random processes we select a suitable specific random process by integrating the model over a short time interval at different resolutions. The weights of themore » influences of the local discretization errors on the goal are modeled as goal sensitivities, which are calculated via automatic differentiation. The integration of the weighted realizations of local error random processes yields a posterior ensemble of goal approximations from a single run of the numerical model. From the posterior ensemble we derive the uncertainty information of the goal discretization error. This algorithm bypasses the requirement of detailed knowledge about the models discretization to generate numerical error estimates. The algorithm is evaluated for the spherical shallow-water equations. For two standard test cases we successfully estimate the error of regional potential energy, track its evolution, and compare it to standard ensemble techniques. The posterior ensemble shares linear-error-growth properties with ensembles of multiple model integrations when comparably perturbed. The posterior ensemble numerical error estimates are of comparable size as those of a stochastic physics ensemble.« less

Novel angle estimation for bistatic MIMO radar using an improved MUSIC

NASA Astrophysics Data System (ADS)

Li, Jianfeng; Zhang, Xiaofei; Chen, Han

2014-09-01

In this article, we study the problem of angle estimation for bistatic multiple-input multiple-output (MIMO) radar and propose an improved multiple signal classification (MUSIC) algorithm for joint direction of departure (DOD) and direction of arrival (DOA) estimation. The proposed algorithm obtains initial estimations of angles obtained from the signal subspace and uses the local one-dimensional peak searches to achieve the joint estimations of DOD and DOA. The angle estimation performance of the proposed algorithm is better than that of estimation of signal parameters via rotational invariance techniques (ESPRIT) algorithm, and is almost the same as that of two-dimensional MUSIC. Furthermore, the proposed algorithm can be suitable for irregular array geometry, obtain automatically paired DOD and DOA estimations, and avoid two-dimensional peak searching. The simulation results verify the effectiveness and improvement of the algorithm.

Image segmentation using hidden Markov Gauss mixture models.

PubMed

Pyun, Kyungsuk; Lim, Johan; Won, Chee Sun; Gray, Robert M

2007-07-01

Image segmentation is an important tool in image processing and can serve as an efficient front end to sophisticated algorithms and thereby simplify subsequent processing. We develop a multiclass image segmentation method using hidden Markov Gauss mixture models (HMGMMs) and provide examples of segmentation of aerial images and textures. HMGMMs incorporate supervised learning, fitting the observation probability distribution given each class by a Gauss mixture estimated using vector quantization with a minimum discrimination information (MDI) distortion. We formulate the image segmentation problem using a maximum a posteriori criteria and find the hidden states that maximize the posterior density given the observation. We estimate both the hidden Markov parameter and hidden states using a stochastic expectation-maximization algorithm. Our results demonstrate that HMGMM provides better classification in terms of Bayes risk and spatial homogeneity of the classified objects than do several popular methods, including classification and regression trees, learning vector quantization, causal hidden Markov models (HMMs), and multiresolution HMMs. The computational load of HMGMM is similar to that of the causal HMM.

Application of fault factor method to fault detection and diagnosis for space shuttle main engine

NASA Astrophysics Data System (ADS)

Cha, Jihyoung; Ha, Chulsu; Ko, Sangho; Koo, Jaye

2016-09-01

This paper deals with an application of the multiple linear regression algorithm to fault detection and diagnosis for the space shuttle main engine (SSME) during a steady state. In order to develop the algorithm, the energy balance equations, which balances the relation among pressure, mass flow rate and power at various locations within the SSME, are obtained. Then using the measurement data of some important parameters of the engine, fault factors which reflects the deviation of each equation from the normal state are estimated. The probable location of each fault and the levels of severity can be obtained from the estimated fault factors. This process is numerically demonstrated for the SSME at 104% Rated Propulsion Level (RPL) by using the simulated measurement data from the mathematical models of the engine. The result of the current study is particularly important considering that the recently developed reusable Liquid Rocket Engines (LREs) have staged-combustion cycles similarly to the SSME.

A Robust Adaptive Unscented Kalman Filter for Nonlinear Estimation with Uncertain Noise Covariance.

PubMed

Zheng, Binqi; Fu, Pengcheng; Li, Baoqing; Yuan, Xiaobing

2018-03-07

The Unscented Kalman filter (UKF) may suffer from performance degradation and even divergence while mismatch between the noise distribution assumed as a priori by users and the actual ones in a real nonlinear system. To resolve this problem, this paper proposes a robust adaptive UKF (RAUKF) to improve the accuracy and robustness of state estimation with uncertain noise covariance. More specifically, at each timestep, a standard UKF will be implemented first to obtain the state estimations using the new acquired measurement data. Then an online fault-detection mechanism is adopted to judge if it is necessary to update current noise covariance. If necessary, innovation-based method and residual-based method are used to calculate the estimations of current noise covariance of process and measurement, respectively. By utilizing a weighting factor, the filter will combine the last noise covariance matrices with the estimations as the new noise covariance matrices. Finally, the state estimations will be corrected according to the new noise covariance matrices and previous state estimations. Compared with the standard UKF and other adaptive UKF algorithms, RAUKF converges faster to the actual noise covariance and thus achieves a better performance in terms of robustness, accuracy, and computation for nonlinear estimation with uncertain noise covariance, which is demonstrated by the simulation results.

A Robust Adaptive Unscented Kalman Filter for Nonlinear Estimation with Uncertain Noise Covariance

PubMed Central

Zheng, Binqi; Yuan, Xiaobing

2018-01-01

The Unscented Kalman filter (UKF) may suffer from performance degradation and even divergence while mismatch between the noise distribution assumed as a priori by users and the actual ones in a real nonlinear system. To resolve this problem, this paper proposes a robust adaptive UKF (RAUKF) to improve the accuracy and robustness of state estimation with uncertain noise covariance. More specifically, at each timestep, a standard UKF will be implemented first to obtain the state estimations using the new acquired measurement data. Then an online fault-detection mechanism is adopted to judge if it is necessary to update current noise covariance. If necessary, innovation-based method and residual-based method are used to calculate the estimations of current noise covariance of process and measurement, respectively. By utilizing a weighting factor, the filter will combine the last noise covariance matrices with the estimations as the new noise covariance matrices. Finally, the state estimations will be corrected according to the new noise covariance matrices and previous state estimations. Compared with the standard UKF and other adaptive UKF algorithms, RAUKF converges faster to the actual noise covariance and thus achieves a better performance in terms of robustness, accuracy, and computation for nonlinear estimation with uncertain noise covariance, which is demonstrated by the simulation results. PMID:29518960

Parameter optimization on the convergence surface of path simulations

NASA Astrophysics Data System (ADS)

Chandrasekaran, Srinivas Niranj

Computational treatments of protein conformational changes tend to focus on the trajectories themselves, despite the fact that it is the transition state structures that contain information about the barriers that impose multi-state behavior. PATH is an algorithm that computes a transition pathway between two protein crystal structures, along with the transition state structure, by minimizing the Onsager-Machlup action functional. It is rapid but depends on several unknown input parameters whose range of different values can potentially generate different transition-state structures. Transition-state structures arising from different input parameters cannot be uniquely compared with those generated by other methods. I outline modifications that I have made to the PATH algorithm that estimates these input parameters in a manner that circumvents these difficulties, and describe two complementary tests that validate the transition-state structures found by the PATH algorithm. First, I show that although the PATH algorithm and two other approaches to computing transition pathways produce different low-energy structures connecting the initial and final ground-states with the transition state, all three methods agree closely on the configurations of their transition states. Second, I show that the PATH transition states are close to the saddle points of free-energy surfaces connecting initial and final states generated by replica-exchange Discrete Molecular Dynamics simulations. I show that aromatic side-chain rearrangements create similar potential energy barriers in the transition-state structures identified by PATH for a signaling protein, a contractile protein, and an enzyme. Finally, I observed, but cannot account for, the fact that trajectories obtained for all-atom and Calpha-only simulations identify transition state structures in which the Calpha atoms are in essentially the same positions. The consistency between transition-state structures derived by different algorithms for unrelated protein systems argues that although functionally important protein conformational change trajectories are to a degree stochastic, they nonetheless pass through a well-defined transition state whose detailed structural properties can rapidly be identified using PATH. In the end, I outline the strategies that could enhance the efficiency and applicability of PATH.

Dietary Iron Bioavailability: Agreement between Estimation Methods and Association with Serum Ferritin Concentrations in Women of Childbearing Age

PubMed Central

Dias, Gisele Cristina; Morimoto, Juliana Massami; Marchioni, Dirce Maria Lobo; Colli, Célia

2018-01-01

Predictive iron bioavailability (FeBio) methods aimed at evaluating the association between diet and body iron have been proposed, but few studies explored their validity and practical usefulness in epidemiological studies. In this cross-sectional study involving 127 women (18–42 years) with presumably steady-state body iron balance, correlations were checked among various FeBio estimates (probabilistic approach and meal-based and diet-based algorithms) and serum ferritin (SF) concentrations. Iron deficiency was defined as SF < 15 µg/L. Pearson correlation, Friedman test, and linear regression were employed. Iron intake and prevalence of iron deficiency were 10.9 mg/day and 12.6%. Algorithm estimates were strongly correlated (0.69≤ r ≥0.85; p < 0.001), although diet-based models (8.5–8.9%) diverged from meal-based models (11.6–12.8%; p < 0.001). Still, all algorithms underestimated the probabilistic approach (17.2%). No significant association was found between SF and FeBio from Monsen (1978), Reddy (2000), and Armah (2013) algorithms. Nevertheless, there was a 30–37% difference in SF concentrations between women stratified at extreme tertiles of FeBio from Hallberg and Hulthén (2000) and Collings’ (2013) models. The results demonstrate discordance of FeBio from probabilistic approach and algorithm methods while suggesting two models with best performances to rank individuals according to their bioavailable iron intakes. PMID:29883384

Real-time moving horizon estimation for a vibrating active cantilever

NASA Astrophysics Data System (ADS)

Abdollahpouri, Mohammad; Takács, Gergely; Rohaľ-Ilkiv, Boris

2017-03-01

Vibrating structures may be subject to changes throughout their operating lifetime due to a range of environmental and technical factors. These variations can be considered as parameter changes in the dynamic model of the structure, while their online estimates can be utilized in adaptive control strategies, or in structural health monitoring. This paper implements the moving horizon estimation (MHE) algorithm on a low-cost embedded computing device that is jointly observing the dynamic states and parameter variations of an active cantilever beam in real time. The practical behavior of this algorithm has been investigated in various experimental scenarios. It has been found, that for the given field of application, moving horizon estimation converges faster than the extended Kalman filter; moreover, it handles atypical measurement noise, sensor errors or other extreme changes, reliably. Despite its improved performance, the experiments demonstrate that the disadvantage of solving the nonlinear optimization problem in MHE is that it naturally leads to an increase in computational effort.

Army ants algorithm for rare event sampling of delocalized nonadiabatic transitions by trajectory surface hopping and the estimation of sampling errors by the bootstrap method.

PubMed

Nangia, Shikha; Jasper, Ahren W; Miller, Thomas F; Truhlar, Donald G

2004-02-22

The most widely used algorithm for Monte Carlo sampling of electronic transitions in trajectory surface hopping (TSH) calculations is the so-called anteater algorithm, which is inefficient for sampling low-probability nonadiabatic events. We present a new sampling scheme (called the army ants algorithm) for carrying out TSH calculations that is applicable to systems with any strength of coupling. The army ants algorithm is a form of rare event sampling whose efficiency is controlled by an input parameter. By choosing a suitable value of the input parameter the army ants algorithm can be reduced to the anteater algorithm (which is efficient for strongly coupled cases), and by optimizing the parameter the army ants algorithm may be efficiently applied to systems with low-probability events. To demonstrate the efficiency of the army ants algorithm, we performed atom-diatom scattering calculations on a model system involving weakly coupled electronic states. Fully converged quantum mechanical calculations were performed, and the probabilities for nonadiabatic reaction and nonreactive deexcitation (quenching) were found to be on the order of 10(-8). For such low-probability events the anteater sampling scheme requires a large number of trajectories ( approximately 10(10)) to obtain good statistics and converged semiclassical results. In contrast by using the new army ants algorithm converged results were obtained by running 10(5) trajectories. Furthermore, the results were found to be in excellent agreement with the quantum mechanical results. Sampling errors were estimated using the bootstrap method, which is validated for use with the army ants algorithm. (c) 2004 American Institute of Physics.

Attitude determination and parameter estimation using vector observations - Theory

NASA Technical Reports Server (NTRS)

Markley, F. Landis

1989-01-01

Procedures for attitude determination based on Wahba's loss function are generalized to include the estimation of parameters other than the attitude, such as sensor biases. Optimization with respect to the attitude is carried out using the q-method, which does not require an a priori estimate of the attitude. Optimization with respect to the other parameters employs an iterative approach, which does require an a priori estimate of these parameters. Conventional state estimation methods require a priori estimates of both the parameters and the attitude, while the algorithm presented in this paper always computes the exact optimal attitude for given values of the parameters. Expressions for the covariance of the attitude and parameter estimates are derived.

Aircraft Turbofan Engine Health Estimation Using Constrained Kalman Filtering

NASA Technical Reports Server (NTRS)

Simon, Dan; Simon, Donald L.

2003-01-01

Kalman filters are often used to estimate the state variables of a dynamic system. However, in the application of Kalman filters some known signal information is often either ignored or dealt with heuristically. For instance, state variable constraints (which may be based on physical considerations) are often neglected because they do not fit easily into the structure of the Kalman filter. This paper develops an analytic method of incorporating state variable inequality constraints in the Kalman filter. The resultant filter is a combination of a standard Kalman filter and a quadratic programming problem. The incorporation of state variable constraints increases the computational effort of the filter but significantly improves its estimation accuracy. The improvement is proven theoretically and shown via simulation results obtained from application to a turbofan engine model. This model contains 16 state variables, 12 measurements, and 8 component health parameters. It is shown that the new algorithms provide improved performance in this example over unconstrained Kalman filtering.

A general non-Abelian density matrix renormalization group algorithm with application to the C2 dimer.

PubMed

Sharma, Sandeep

2015-01-14

We extend our previous work [S. Sharma and G. K.-L. Chan, J. Chem. Phys. 136, 124121 (2012)], which described a spin-adapted (SU(2) symmetry) density matrix renormalization group algorithm, to additionally utilize general non-Abelian point group symmetries. A key strength of the present formulation is that the requisite tensor operators are not hard-coded for each symmetry group, but are instead generated on the fly using the appropriate Clebsch-Gordan coefficients. This allows our single implementation to easily enable (or disable) any non-Abelian point group symmetry (including SU(2) spin symmetry). We use our implementation to compute the ground state potential energy curve of the C2 dimer in the cc-pVQZ basis set (with a frozen-core), corresponding to a Hilbert space dimension of 10(12) many-body states. While our calculated energy lies within the 0.3 mEh error bound of previous initiator full configuration interaction quantum Monte Carlo and correlation energy extrapolation by intrinsic scaling calculations, our estimated residual error is only 0.01 mEh, much more accurate than these previous estimates. Due to the additional efficiency afforded by the algorithm, the excitation energies (Te) of eight lowest lying excited states: a(3)Πu, b(3)Σg (-), A(1)Πu, c(3)Σu (+), B(1)Δg, B(') (1)Σg (+), d(3)Πg, and C(1)Πg are calculated, which agree with experimentally derived values to better than 0.06 eV. In addition, we also compute the potential energy curves of twelve states: the three lowest levels for each of the irreducible representations (1)Σg (+), (1)Σu (+), (1)Σg (-), and (1)Σu (-), to an estimated accuracy of 0.1 mEh of the exact result in this basis.

A general non-Abelian density matrix renormalization group algorithm with application to the C2 dimer

NASA Astrophysics Data System (ADS)

Sharma, Sandeep

2015-01-01

We extend our previous work [S. Sharma and G. K.-L. Chan, J. Chem. Phys. 136, 124121 (2012)], which described a spin-adapted (SU(2) symmetry) density matrix renormalization group algorithm, to additionally utilize general non-Abelian point group symmetries. A key strength of the present formulation is that the requisite tensor operators are not hard-coded for each symmetry group, but are instead generated on the fly using the appropriate Clebsch-Gordan coefficients. This allows our single implementation to easily enable (or disable) any non-Abelian point group symmetry (including SU(2) spin symmetry). We use our implementation to compute the ground state potential energy curve of the C2 dimer in the cc-pVQZ basis set (with a frozen-core), corresponding to a Hilbert space dimension of 1012 many-body states. While our calculated energy lies within the 0.3 mEh error bound of previous initiator full configuration interaction quantum Monte Carlo and correlation energy extrapolation by intrinsic scaling calculations, our estimated residual error is only 0.01 mEh, much more accurate than these previous estimates. Due to the additional efficiency afforded by the algorithm, the excitation energies (Te) of eight lowest lying excited states: a3Πu, b 3 Σg - , A1Πu, c 3 Σu + , B1Δg, B ' 1 Σg + , d3Πg, and C1Πg are calculated, which agree with experimentally derived values to better than 0.06 eV. In addition, we also compute the potential energy curves of twelve states: the three lowest levels for each of the irreducible representations 1 Σg + , 1 Σu + , 1 Σg - , and 1 Σu - , to an estimated accuracy of 0.1 mEh of the exact result in this basis.

LS-APC v1.0: a tuning-free method for the linear inverse problem and its application to source-term determination

NASA Astrophysics Data System (ADS)

Tichý, Ondřej; Šmídl, Václav; Hofman, Radek; Stohl, Andreas

2016-11-01

Estimation of pollutant releases into the atmosphere is an important problem in the environmental sciences. It is typically formalized as an inverse problem using a linear model that can explain observable quantities (e.g., concentrations or deposition values) as a product of the source-receptor sensitivity (SRS) matrix obtained from an atmospheric transport model multiplied by the unknown source-term vector. Since this problem is typically ill-posed, current state-of-the-art methods are based on regularization of the problem and solution of a formulated optimization problem. This procedure depends on manual settings of uncertainties that are often very poorly quantified, effectively making them tuning parameters. We formulate a probabilistic model, that has the same maximum likelihood solution as the conventional method using pre-specified uncertainties. Replacement of the maximum likelihood solution by full Bayesian estimation also allows estimation of all tuning parameters from the measurements. The estimation procedure is based on the variational Bayes approximation which is evaluated by an iterative algorithm. The resulting method is thus very similar to the conventional approach, but with the possibility to also estimate all tuning parameters from the observations. The proposed algorithm is tested and compared with the standard methods on data from the European Tracer Experiment (ETEX) where advantages of the new method are demonstrated. A MATLAB implementation of the proposed algorithm is available for download.

Applied estimation for hybrid dynamical systems using perceptional information

NASA Astrophysics Data System (ADS)

Plotnik, Aaron M.

This dissertation uses the motivating example of robotic tracking of mobile deep ocean animals to present innovations in robotic perception and estimation for hybrid dynamical systems. An approach to estimation for hybrid systems is presented that utilizes uncertain perceptional information about the system's mode to improve tracking of its mode and continuous states. This results in significant improvements in situations where previously reported methods of estimation for hybrid systems perform poorly due to poor distinguishability of the modes. The specific application that motivates this research is an automatic underwater robotic observation system that follows and films individual deep ocean animals. A first version of such a system has been developed jointly by the Stanford Aerospace Robotics Laboratory and Monterey Bay Aquarium Research Institute (MBARI). This robotic observation system is successfully fielded on MBARI's ROVs, but agile specimens often evade the system. When a human ROV pilot performs this task, one advantage that he has over the robotic observation system in these situations is the ability to use visual perceptional information about the target, immediately recognizing any changes in the specimen's behavior mode. With the approach of the human pilot in mind, a new version of the robotic observation system is proposed which is extended to (a) derive perceptional information (visual cues) about the behavior mode of the tracked specimen, and (b) merge this dissimilar, discrete and uncertain information with more traditional continuous noisy sensor data by extending existing algorithms for hybrid estimation. These performance enhancements are enabled by integrating techniques in hybrid estimation, computer vision and machine learning. First, real-time computer vision and classification algorithms extract a visual observation of the target's behavior mode. Existing hybrid estimation algorithms are extended to admit this uncertain but discrete observation, complementing the information available from more traditional sensors. State tracking is achieved using a new form of Rao-Blackwellized particle filter called the mode-observed Gaussian Particle Filter. Performance is demonstrated using data from simulation and data collected on actual specimens in the ocean. The framework for estimation using both traditional and perceptional information is easily extensible to other stochastic hybrid systems with mode-related perceptional observations available.

A comparison of kinematic algorithms to estimate gait events during overground running.

PubMed

Smith, Laura; Preece, Stephen; Mason, Duncan; Bramah, Christopher

2015-01-01

The gait cycle is frequently divided into two distinct phases, stance and swing, which can be accurately determined from ground reaction force data. In the absence of such data, kinematic algorithms can be used to estimate footstrike and toe-off. The performance of previously published algorithms is not consistent between studies. Furthermore, previous algorithms have not been tested at higher running speeds nor used to estimate ground contact times. Therefore the purpose of this study was to both develop a new, custom-designed, event detection algorithm and compare its performance with four previously tested algorithms at higher running speeds. Kinematic and force data were collected on twenty runners during overground running at 5.6m/s. The five algorithms were then implemented and estimated times for footstrike, toe-off and contact time were compared to ground reaction force data. There were large differences in the performance of each algorithm. The custom-designed algorithm provided the most accurate estimation of footstrike (True Error 1.2 ± 17.1 ms) and contact time (True Error 3.5 ± 18.2 ms). Compared to the other tested algorithms, the custom-designed algorithm provided an accurate estimation of footstrike and toe-off across different footstrike patterns. The custom-designed algorithm provides a simple but effective method to accurately estimate footstrike, toe-off and contact time from kinematic data. Copyright © 2014 Elsevier B.V. All rights reserved.

Developing a Fundamental Model for an Integrated GPS/INS State Estimation System with Kalman Filtering

NASA Technical Reports Server (NTRS)

Canfield, Stephen

1999-01-01

This work will demonstrate the integration of sensor and system dynamic data and their appropriate models using an optimal filter to create a robust, adaptable, easily reconfigurable state (motion) estimation system. This state estimation system will clearly show the application of fundamental modeling and filtering techniques. These techniques are presented at a general, first principles level, that can easily be adapted to specific applications. An example of such an application is demonstrated through the development of an integrated GPS/INS navigation system. This system acquires both global position data and inertial body data, to provide optimal estimates of current position and attitude states. The optimal states are estimated using a Kalman filter. The state estimation system will include appropriate error models for the measurement hardware. The results of this work will lead to the development of a "black-box" state estimation system that supplies current motion information (position and attitude states) that can be used to carry out guidance and control strategies. This black-box state estimation system is developed independent of the vehicle dynamics and therefore is directly applicable to a variety of vehicles. Issues in system modeling and application of Kalman filtering techniques are investigated and presented. These issues include linearized models of equations of state, models of the measurement sensors, and appropriate application and parameter setting (tuning) of the Kalman filter. The general model and subsequent algorithm is developed in Matlab for numerical testing. The results of this system are demonstrated through application to data from the X-33 Michael's 9A8 mission and are presented in plots and simple animations.

Estimation of Cardiopulmonary Parameters From Ultra Wideband Radar Measurements Using the State Space Method.

PubMed

Naishadham, Krishna; Piou, Jean E; Ren, Lingyun; Fathy, Aly E

2016-12-01

Ultra wideband (UWB) Doppler radar has many biomedical applications, including remote diagnosis of cardiovascular disease, triage and real-time personnel tracking in rescue missions. It uses narrow pulses to probe the human body and detect tiny cardiopulmonary movements by spectral analysis of the backscattered electromagnetic (EM) field. With the help of super-resolution spectral algorithms, UWB radar is capable of increased accuracy for estimating vital signs such as heart and respiration rates in adverse signal-to-noise conditions. A major challenge for biomedical radar systems is detecting the heartbeat of a subject with high accuracy, because of minute thorax motion (less than 0.5 mm) caused by the heartbeat. The problem becomes compounded by EM clutter and noise in the environment. In this paper, we introduce a new algorithm based on the state space method (SSM) for the extraction of cardiac and respiration rates from UWB radar measurements. SSM produces range-dependent system poles that can be classified parametrically with spectral peaks at the cardiac and respiratory frequencies. It is shown that SSM produces accurate estimates of the vital signs without producing harmonics and inter-modulation products that plague signal resolution in widely used FFT spectrograms.

Estimating Single-Trial Responses in EEG

NASA Technical Reports Server (NTRS)

Shah, A. S.; Knuth, K. H.; Truccolo, W. A.; Mehta, A. D.; Fu, K. G.; Johnston, T. A.; Ding, M.; Bressler, S. L.; Schroeder, C. E.; Clancy, Daniel (Technical Monitor)

2002-01-01

Accurate characterization of single-trial field potential responses is critical from a number of perspectives. For example, it allows differentiation of an evoked response from ongoing EEG. We previously developed the multiple component Event Related Potential (mcERP) algorithm to improve resolution of the single-trial evoked response. The mcERP model states that multiple components, each specified by a stereotypic waveform varying in latency and amplitude from trial to trial, comprise the evoked response. Application of the mcERP algorithm to simulated data with three independent, synthetic components has shown that the model is capable of separating these components and estimating their variability. Application of the model to single trial, visual evoked potentials recorded simultaneously from all V1 laminae in an awake, fixating macaque yielded local and far-field components. Certain local components estimated by the model were distributed in both granular and supragranular laminae. This suggests a linear coupling between the responses of thalamo-recipient neuronal ensembles and subsequent responses of supragranular neuronal ensembles, as predicted by the feedforward anatomy of V1. Our results indicate that the mcERP algorithm provides a valid estimation of single-trial responses. This will enable analyses that depend on trial-to-trial variations and those that require separation of the evoked response from background EEG rhythms

Orientation estimation algorithm applied to high-spin projectiles

NASA Astrophysics Data System (ADS)

Long, D. F.; Lin, J.; Zhang, X. M.; Li, J.

2014-06-01

High-spin projectiles are low cost military weapons. Accurate orientation information is critical to the performance of the high-spin projectiles control system. However, orientation estimators have not been well translated from flight vehicles since they are too expensive, lack launch robustness, do not fit within the allotted space, or are too application specific. This paper presents an orientation estimation algorithm specific for these projectiles. The orientation estimator uses an integrated filter to combine feedback from a three-axis magnetometer, two single-axis gyros and a GPS receiver. As a new feature of this algorithm, the magnetometer feedback estimates roll angular rate of projectile. The algorithm also incorporates online sensor error parameter estimation performed simultaneously with the projectile attitude estimation. The second part of the paper deals with the verification of the proposed orientation algorithm through numerical simulation and experimental tests. Simulations and experiments demonstrate that the orientation estimator can effectively estimate the attitude of high-spin projectiles. Moreover, online sensor calibration significantly enhances the estimation performance of the algorithm.

Compatibility check of measured aircraft responses using kinematic equations and extended Kalman filter

NASA Technical Reports Server (NTRS)

Klein, V.; Schiess, J. R.

1977-01-01

An extended Kalman filter smoother and a fixed point smoother were used for estimation of the state variables in the six degree of freedom kinematic equations relating measured aircraft responses and for estimation of unknown constant bias and scale factor errors in measured data. The computing algorithm includes an analysis of residuals which can improve the filter performance and provide estimates of measurement noise characteristics for some aircraft output variables. The technique developed was demonstrated using simulated and real flight test data. Improved accuracy of measured data was obtained when the data were corrected for estimated bias errors.

The implementation of contour-based object orientation estimation algorithm in FPGA-based on-board vision system

NASA Astrophysics Data System (ADS)

Alpatov, Boris; Babayan, Pavel; Ershov, Maksim; Strotov, Valery

2016-10-01

This paper describes the implementation of the orientation estimation algorithm in FPGA-based vision system. An approach to estimate an orientation of objects lacking axial symmetry is proposed. Suggested algorithm is intended to estimate orientation of a specific known 3D object based on object 3D model. The proposed orientation estimation algorithm consists of two stages: learning and estimation. Learning stage is devoted to the exploring of studied object. Using 3D model we can gather set of training images by capturing 3D model from viewpoints evenly distributed on a sphere. Sphere points distribution is made by the geosphere principle. Gathered training image set is used for calculating descriptors, which will be used in the estimation stage of the algorithm. The estimation stage is focusing on matching process between an observed image descriptor and the training image descriptors. The experimental research was performed using a set of images of Airbus A380. The proposed orientation estimation algorithm showed good accuracy in all case studies. The real-time performance of the algorithm in FPGA-based vision system was demonstrated.

A Locally Optimal Algorithm for Estimating a Generating Partition from an Observed Time Series and Its Application to Anomaly Detection.

PubMed

Ghalyan, Najah F; Miller, David J; Ray, Asok

2018-06-12

Estimation of a generating partition is critical for symbolization of measurements from discrete-time dynamical systems, where a sequence of symbols from a (finite-cardinality) alphabet may uniquely specify the underlying time series. Such symbolization is useful for computing measures (e.g., Kolmogorov-Sinai entropy) to identify or characterize the (possibly unknown) dynamical system. It is also useful for time series classification and anomaly detection. The seminal work of Hirata, Judd, and Kilminster (2004) derives a novel objective function, akin to a clustering objective, that measures the discrepancy between a set of reconstruction values and the points from the time series. They cast estimation of a generating partition via the minimization of their objective function. Unfortunately, their proposed algorithm is nonconvergent, with no guarantee of finding even locally optimal solutions with respect to their objective. The difficulty is a heuristic-nearest neighbor symbol assignment step. Alternatively, we develop a novel, locally optimal algorithm for their objective. We apply iterative nearest-neighbor symbol assignments with guaranteed discrepancy descent, by which joint, locally optimal symbolization of the entire time series is achieved. While most previous approaches frame generating partition estimation as a state-space partitioning problem, we recognize that minimizing the Hirata et al. (2004) objective function does not induce an explicit partitioning of the state space, but rather the space consisting of the entire time series (effectively, clustering in a (countably) infinite-dimensional space). Our approach also amounts to a novel type of sliding block lossy source coding. Improvement, with respect to several measures, is demonstrated over popular methods for symbolizing chaotic maps. We also apply our approach to time-series anomaly detection, considering both chaotic maps and failure application in a polycrystalline alloy material.

Towards designing an optical-flow based colonoscopy tracking algorithm: a comparative study

NASA Astrophysics Data System (ADS)

Liu, Jianfei; Subramanian, Kalpathi R.; Yoo, Terry S.

2013-03-01

Automatic co-alignment of optical and virtual colonoscopy images can supplement traditional endoscopic procedures, by providing more complete information of clinical value to the gastroenterologist. In this work, we present a comparative analysis of our optical flow based technique for colonoscopy tracking, in relation to current state of the art methods, in terms of tracking accuracy, system stability, and computational efficiency. Our optical-flow based colonoscopy tracking algorithm starts with computing multi-scale dense and sparse optical flow fields to measure image displacements. Camera motion parameters are then determined from optical flow fields by employing a Focus of Expansion (FOE) constrained egomotion estimation scheme. We analyze the design choices involved in the three major components of our algorithm: dense optical flow, sparse optical flow, and egomotion estimation. Brox's optical flow method,1 due to its high accuracy, was used to compare and evaluate our multi-scale dense optical flow scheme. SIFT6 and Harris-affine features7 were used to assess the accuracy of the multi-scale sparse optical flow, because of their wide use in tracking applications; the FOE-constrained egomotion estimation was compared with collinear,2 image deformation10 and image derivative4 based egomotion estimation methods, to understand the stability of our tracking system. Two virtual colonoscopy (VC) image sequences were used in the study, since the exact camera parameters(for each frame) were known; dense optical flow results indicated that Brox's method was superior to multi-scale dense optical flow in estimating camera rotational velocities, but the final tracking errors were comparable, viz., 6mm vs. 8mm after the VC camera traveled 110mm. Our approach was computationally more efficient, averaging 7.2 sec. vs. 38 sec. per frame. SIFT and Harris affine features resulted in tracking errors of up to 70mm, while our sparse optical flow error was 6mm. The comparison among egomotion estimation algorithms showed that our FOE-constrained egomotion estimation method achieved the optimal balance between tracking accuracy and robustness. The comparative study demonstrated that our optical-flow based colonoscopy tracking algorithm maintains good accuracy and stability for routine use in clinical practice.

Real-Time Algebraic Derivative Estimations Using a Novel Low-Cost Architecture Based on Reconfigurable Logic

PubMed Central

Morales, Rafael; Rincón, Fernando; Gazzano, Julio Dondo; López, Juan Carlos

2014-01-01

Time derivative estimation of signals plays a very important role in several fields, such as signal processing and control engineering, just to name a few of them. For that purpose, a non-asymptotic algebraic procedure for the approximate estimation of the system states is used in this work. The method is based on results from differential algebra and furnishes some general formulae for the time derivatives of a measurable signal in which two algebraic derivative estimators run simultaneously, but in an overlapping fashion. The algebraic derivative algorithm presented in this paper is computed online and in real-time, offering high robustness properties with regard to corrupting noises, versatility and ease of implementation. Besides, in this work, we introduce a novel architecture to accelerate this algebraic derivative estimator using reconfigurable logic. The core of the algorithm is implemented in an FPGA, improving the speed of the system and achieving real-time performance. Finally, this work proposes a low-cost platform for the integration of hardware in the loop in MATLAB. PMID:24859033

A New Polar Transfer Alignment Algorithm with the Aid of a Star Sensor and Based on an Adaptive Unscented Kalman Filter.

PubMed

Cheng, Jianhua; Wang, Tongda; Wang, Lu; Wang, Zhenmin

2017-10-23

Because of the harsh polar environment, the master strapdown inertial navigation system (SINS) has low accuracy and the system model information becomes abnormal. In this case, existing polar transfer alignment (TA) algorithms which use the measurement information provided by master SINS would lose their effectiveness. In this paper, a new polar TA algorithm with the aid of a star sensor and based on an adaptive unscented Kalman filter (AUKF) is proposed to deal with the problems. Since the measurement information provided by master SINS is inaccurate, the accurate information provided by the star sensor is chosen as the measurement. With the compensation of lever-arm effect and the model of star sensor, the nonlinear navigation equations are derived. Combined with the attitude matching method, the filter models for polar TA are designed. An AUKF is introduced to solve the abnormal information of system model. Then, the AUKF is used to estimate the states of TA. Results have demonstrated that the performance of the new polar TA algorithm is better than the state-of-the-art polar TA algorithms. Therefore, the new polar TA algorithm proposed in this paper is effectively to ensure and improve the accuracy of TA in the harsh polar environment.

A New Polar Transfer Alignment Algorithm with the Aid of a Star Sensor and Based on an Adaptive Unscented Kalman Filter

PubMed Central

Cheng, Jianhua; Wang, Tongda; Wang, Lu; Wang, Zhenmin

2017-01-01

Because of the harsh polar environment, the master strapdown inertial navigation system (SINS) has low accuracy and the system model information becomes abnormal. In this case, existing polar transfer alignment (TA) algorithms which use the measurement information provided by master SINS would lose their effectiveness. In this paper, a new polar TA algorithm with the aid of a star sensor and based on an adaptive unscented Kalman filter (AUKF) is proposed to deal with the problems. Since the measurement information provided by master SINS is inaccurate, the accurate information provided by the star sensor is chosen as the measurement. With the compensation of lever-arm effect and the model of star sensor, the nonlinear navigation equations are derived. Combined with the attitude matching method, the filter models for polar TA are designed. An AUKF is introduced to solve the abnormal information of system model. Then, the AUKF is used to estimate the states of TA. Results have demonstrated that the performance of the new polar TA algorithm is better than the state-of-the-art polar TA algorithms. Therefore, the new polar TA algorithm proposed in this paper is effectively to ensure and improve the accuracy of TA in the harsh polar environment. PMID:29065521

Localization of Non-Linearly Modeled Autonomous Mobile Robots Using Out-of-Sequence Measurements

PubMed Central

Besada-Portas, Eva; Lopez-Orozco, Jose A.; Lanillos, Pablo; de la Cruz, Jesus M.

2012-01-01

This paper presents a state of the art of the estimation algorithms dealing with Out-of-Sequence (OOS) measurements for non-linearly modeled systems. The state of the art includes a critical analysis of the algorithm properties that takes into account the applicability of these techniques to autonomous mobile robot navigation based on the fusion of the measurements provided, delayed and OOS, by multiple sensors. Besides, it shows a representative example of the use of one of the most computationally efficient approaches in the localization module of the control software of a real robot (which has non-linear dynamics, and linear and non-linear sensors) and compares its performance against other approaches. The simulated results obtained with the selected OOS algorithm shows the computational requirements that each sensor of the robot imposes to it. The real experiments show how the inclusion of the selected OOS algorithm in the control software lets the robot successfully navigate in spite of receiving many OOS measurements. Finally, the comparison highlights that not only is the selected OOS algorithm among the best performing ones of the comparison, but it also has the lowest computational and memory cost. PMID:22736962

Localization of non-linearly modeled autonomous mobile robots using out-of-sequence measurements.

PubMed

Besada-Portas, Eva; Lopez-Orozco, Jose A; Lanillos, Pablo; de la Cruz, Jesus M

2012-01-01

This paper presents a state of the art of the estimation algorithms dealing with Out-of-Sequence (OOS) measurements for non-linearly modeled systems. The state of the art includes a critical analysis of the algorithm properties that takes into account the applicability of these techniques to autonomous mobile robot navigation based on the fusion of the measurements provided, delayed and OOS, by multiple sensors. Besides, it shows a representative example of the use of one of the most computationally efficient approaches in the localization module of the control software of a real robot (which has non-linear dynamics, and linear and non-linear sensors) and compares its performance against other approaches. The simulated results obtained with the selected OOS algorithm shows the computational requirements that each sensor of the robot imposes to it. The real experiments show how the inclusion of the selected OOS algorithm in the control software lets the robot successfully navigate in spite of receiving many OOS measurements. Finally, the comparison highlights that not only is the selected OOS algorithm among the best performing ones of the comparison, but it also has the lowest computational and memory cost.

Using microwave observations to estimate land surface temperature during cloudy conditions

USDA-ARS?s Scientific Manuscript database

Land surface temperature (LST), a key ingredient for physically-based retrieval algorithms of hydrological states and fluxes, remains a poorly constrained parameter for global scale studies. The main two observational methods to remotely measure T are based on thermal infrared (TIR) observations and...

State and parameter estimation of spatiotemporally chaotic systems illustrated by an application to Rayleigh-Bénard convection.

PubMed

Cornick, Matthew; Hunt, Brian; Ott, Edward; Kurtuldu, Huseyin; Schatz, Michael F

2009-03-01

Data assimilation refers to the process of estimating a system's state from a time series of measurements (which may be noisy or incomplete) in conjunction with a model for the system's time evolution. Here we demonstrate the applicability of a recently developed data assimilation method, the local ensemble transform Kalman filter, to nonlinear, high-dimensional, spatiotemporally chaotic flows in Rayleigh-Bénard convection experiments. Using this technique we are able to extract the full temperature and velocity fields from a time series of shadowgraph measurements. In addition, we describe extensions of the algorithm for estimating model parameters. Our results suggest the potential usefulness of our data assimilation technique to a broad class of experimental situations exhibiting spatiotemporal chaos.

Design of a two-level power system linear state estimator

NASA Astrophysics Data System (ADS)

Yang, Tao

The availability of synchro-phasor data has raised the possibility of a linear state estimator if the inputs are only complex currents and voltages and if there are enough such measurements to meet observability and redundancy requirements. Moreover, the new digital substations can perform some of the computation at the substation itself resulting in a more accurate two-level state estimator. The objective of this research is to develop a two-level linear state estimator processing synchro-phasor data and estimating the states at both the substation level and the control center level. Both the mathematical algorithms that are different from those in the present state estimation procedure and the layered architecture of databases, communications and application programs that are required to support this two-level linear state estimator are described in this dissertation. Besides, as the availability of phasor measurements at substations will increase gradually, this research also describes how the state estimator can be enhanced to handle both the traditional state estimator and the proposed linear state estimator simultaneously. This provides a way to immediately utilize the benefits in those parts of the system where such phasor measurements become available and provides a pathway to transition to the smart grid of the future. The design procedure of the two-level state estimator is applied to two study systems. The first study system is the IEEE-14 bus system. The second one is the 179 bus Western Electricity Coordinating Council (WECC) system. The static database for the substations is constructed from the power flow data of these systems and the real-time measurement database is produced by a power system dynamic simulating tool (TSAT). Time-skew problems that may be caused by communication delays are also considered and simulated. We used the Network Simulator (NS) tool to simulate a simple communication system and analyse its time delay performance. These time delays were too small to affect the results especially since the measurement data is time-stamped and the state estimator for these small systems could be run with subseconf frequency. Keywords: State Estimation, Synchro-Phasor Measurement, Distributed System, Energy Control Center, Substation, Time-skew

Energy-Efficient Transmissions for Remote Wireless Sensor Networks: An Integrated HAP/Satellite Architecture for Emergency Scenarios

PubMed Central

Dong, Feihong; Li, Hongjun; Gong, Xiangwu; Liu, Quan; Wang, Jingchao

2015-01-01

A typical application scenario of remote wireless sensor networks (WSNs) is identified as an emergency scenario. One of the greatest design challenges for communications in emergency scenarios is energy-efficient transmission, due to scarce electrical energy in large-scale natural and man-made disasters. Integrated high altitude platform (HAP)/satellite networks are expected to optimally meet emergency communication requirements. In this paper, a novel integrated HAP/satellite (IHS) architecture is proposed, and three segments of the architecture are investigated in detail. The concept of link-state advertisement (LSA) is designed in a slow flat Rician fading channel. The LSA is received and processed by the terminal to estimate the link state information, which can significantly reduce the energy consumption at the terminal end. Furthermore, the transmission power requirements of the HAPs and terminals are derived using the gradient descent and differential equation methods. The energy consumption is modeled at both the source and system level. An innovative and adaptive algorithm is given for the energy-efficient path selection. The simulation results validate the effectiveness of the proposed adaptive algorithm. It is shown that the proposed adaptive algorithm can significantly improve energy efficiency when combined with the LSA and the energy consumption estimation. PMID:26404292

Energy-Efficient Transmissions for Remote Wireless Sensor Networks: An Integrated HAP/Satellite Architecture for Emergency Scenarios.

PubMed

Dong, Feihong; Li, Hongjun; Gong, Xiangwu; Liu, Quan; Wang, Jingchao

2015-09-03

A typical application scenario of remote wireless sensor networks (WSNs) is identified as an emergency scenario. One of the greatest design challenges for communications in emergency scenarios is energy-efficient transmission, due to scarce electrical energy in large-scale natural and man-made disasters. Integrated high altitude platform (HAP)/satellite networks are expected to optimally meet emergency communication requirements. In this paper, a novel integrated HAP/satellite (IHS) architecture is proposed, and three segments of the architecture are investigated in detail. The concept of link-state advertisement (LSA) is designed in a slow flat Rician fading channel. The LSA is received and processed by the terminal to estimate the link state information, which can significantly reduce the energy consumption at the terminal end. Furthermore, the transmission power requirements of the HAPs and terminals are derived using the gradient descent and differential equation methods. The energy consumption is modeled at both the source and system level. An innovative and adaptive algorithm is given for the energy-efficient path selection. The simulation results validate the effectiveness of the proposed adaptive algorithm. It is shown that the proposed adaptive algorithm can significantly improve energy efficiency when combined with the LSA and the energy consumption estimation.

GNSS Active Network of West of Sao Paulo State Applied to Ionosphere Monitoring

NASA Astrophysics Data System (ADS)

Aguiar, C. R.; Camargo, P. D.

2008-12-01

In Brazil, a research project of atmospheric studies from reference stations equipped with dual frequency GNSS receivers is in initial phase. These stations have composed the GNSS Active Network of West Sao Paulo State (Network-GNSS-SP) and have been broadcasting GNSS data in real time. Network-GNSS-SP is in tests phase and it's the first Brazilian network to provide GNSS measurements in real time. In Spatial Geodesy Study Brazilian Group (GEGE) has been researched the ionosphere effects on L band signal, as well as the GPS potential on ionosphere dynamic monitoring and, consequently, the application of this one to spatial geophysics study, besides dynamic ionosphere modeling. An algorithm based on Kalman filter has been developed for ionosphere modeling at low latitude regions and estimation of ionospheric parameters as absolute vertical TEC (VTEC) for the monitoring of ionosphere behavior. The approach used in this study is to apply a model for the ionospheric vertical delay. In the algorithm, the ionospheric vertical delay is modeled and expanded by Fourier series. In this paper has been realized on-line processing of the Network-GNSS-SP data and the initial results reached with the algorithm can already be analyzed. The results show the ionospheric maps created from real time TEC estimates.

Real-time sensor validation and fusion for distributed autonomous sensors

NASA Astrophysics Data System (ADS)

Yuan, Xiaojing; Li, Xiangshang; Buckles, Bill P.

2004-04-01

Multi-sensor data fusion has found widespread applications in industrial and research sectors. The purpose of real time multi-sensor data fusion is to dynamically estimate an improved system model from a set of different data sources, i.e., sensors. This paper presented a systematic and unified real time sensor validation and fusion framework (RTSVFF) based on distributed autonomous sensors. The RTSVFF is an open architecture which consists of four layers - the transaction layer, the process fusion layer, the control layer, and the planning layer. This paradigm facilitates distribution of intelligence to the sensor level and sharing of information among sensors, controllers, and other devices in the system. The openness of the architecture also provides a platform to test different sensor validation and fusion algorithms and thus facilitates the selection of near optimal algorithms for specific sensor fusion application. In the version of the model presented in this paper, confidence weighted averaging is employed to address the dynamic system state issue noted above. The state is computed using an adaptive estimator and dynamic validation curve for numeric data fusion and a robust diagnostic map for decision level qualitative fusion. The framework is then applied to automatic monitoring of a gas-turbine engine, including a performance comparison of the proposed real-time sensor fusion algorithms and a traditional numerical weighted average.

Dynamic belief state representations.

PubMed

Lee, Daniel D; Ortega, Pedro A; Stocker, Alan A

2014-04-01

Perceptual and control systems are tasked with the challenge of accurately and efficiently estimating the dynamic states of objects in the environment. To properly account for uncertainty, it is necessary to maintain a dynamical belief state representation rather than a single state vector. In this review, canonical algorithms for computing and updating belief states in robotic applications are delineated, and connections to biological systems are highlighted. A navigation example is used to illustrate the importance of properly accounting for correlations between belief state components, and to motivate the need for further investigations in psychophysics and neurobiology. Copyright © 2014 Elsevier Ltd. All rights reserved.

A proposed method to estimate premorbid full scale intelligence quotient (FSIQ) for the Canadian Wechsler Intelligence Scale for Children-Fourth Edition (WISC-IV) using demographic and combined estimation procedures.

PubMed

Schoenberg, Mike R; Lange, Rael T; Saklofske, Donald H

2007-11-01

Establishing a comparison standard in neuropsychological assessment is crucial to determining change in function. There is no available method to estimate premorbid intellectual functioning for the Wechsler Intelligence Scale for Children-Fourth Edition (WISC-IV). The WISC-IV provided normative data for both American and Canadian children aged 6 to 16 years old. This study developed regression algorithms as a proposed method to estimate full-scale intelligence quotient (FSIQ) for the Canadian WISC-IV. Participants were the Canadian WISC-IV standardization sample (n = 1,100). The sample was randomly divided into two groups (development and validation groups). The development group was used to generate regression algorithms; 1 algorithm only included demographics, and 11 combined demographic variables with WISC-IV subtest raw scores. The algorithms accounted for 18% to 70% of the variance in FSIQ (standard error of estimate, SEE = 8.6 to 14.2). Estimated FSIQ significantly correlated with actual FSIQ (r = .30 to .80), and the majority of individual FSIQ estimates were within +/-10 points of actual FSIQ. The demographic-only algorithm was less accurate than algorithms combining demographic variables with subtest raw scores. The current algorithms yielded accurate estimates of current FSIQ for Canadian individuals aged 6-16 years old. The potential application of the algorithms to estimate premorbid FSIQ is reviewed. While promising, clinical validation of the algorithms in a sample of children and/or adolescents with known neurological dysfunction is needed to establish these algorithms as a premorbid estimation procedure.

Robust Control Algorithm for a Two Cart System and an Inverted Pendulum

NASA Technical Reports Server (NTRS)

Wilson, Chris L.; Capo-Lugo, Pedro

2011-01-01

The Rectilinear Control System can be used to simulate a launch vehicle during liftoff. Several control schemes have been developed that can control different dynamic models of the rectilinear plant. A robust control algorithm was developed that can control a pendulum to maintain an inverted position. A fluid slosh tank will be attached to the pendulum in order to test robustness in the presence of unknown slosh characteristics. The rectilinear plant consists of a DC motor and three carts mounted in series. Each cart s weight can be adjusted with brass masses and the carts can be coupled with springs. The pendulum is mounted on the first cart and an adjustable air damper can be attached to the third cart if desired. Each cart and the pendulum have a quadrature encoder to determine position. Full state feedback was implemented in order to develop the control algorithm along with a state estimator to determine the velocity states of the system. A MATLAB program was used to convert the state space matrices from continuous time to discrete time. This program also used a desired phase margin and damping ratio to determine the feedback gain matrix that would be used in the LabVIEW program. This experiment will allow engineers to gain a better understanding of liquid propellant slosh dynamics, therefore enabling them to develop more robust control algorithms for launch vehicle systems

Statistics based sampling for controller and estimator design

NASA Astrophysics Data System (ADS)

Tenne, Dirk

The purpose of this research is the development of statistical design tools for robust feed-forward/feedback controllers and nonlinear estimators. This dissertation is threefold and addresses the aforementioned topics nonlinear estimation, target tracking and robust control. To develop statistically robust controllers and nonlinear estimation algorithms, research has been performed to extend existing techniques, which propagate the statistics of the state, to achieve higher order accuracy. The so-called unscented transformation has been extended to capture higher order moments. Furthermore, higher order moment update algorithms based on a truncated power series have been developed. The proposed techniques are tested on various benchmark examples. Furthermore, the unscented transformation has been utilized to develop a three dimensional geometrically constrained target tracker. The proposed planar circular prediction algorithm has been developed in a local coordinate framework, which is amenable to extension of the tracking algorithm to three dimensional space. This tracker combines the predictions of a circular prediction algorithm and a constant velocity filter by utilizing the Covariance Intersection. This combined prediction can be updated with the subsequent measurement using a linear estimator. The proposed technique is illustrated on a 3D benchmark trajectory, which includes coordinated turns and straight line maneuvers. The third part of this dissertation addresses the design of controller which include knowledge of parametric uncertainties and their distributions. The parameter distributions are approximated by a finite set of points which are calculated by the unscented transformation. This set of points is used to design robust controllers which minimize a statistical performance of the plant over the domain of uncertainty consisting of a combination of the mean and variance. The proposed technique is illustrated on three benchmark problems. The first relates to the design of prefilters for a linear and nonlinear spring-mass-dashpot system and the second applies a feedback controller to a hovering helicopter. Lastly, the statistical robust controller design is devoted to a concurrent feed-forward/feedback controller structure for a high-speed low tension tape drive.

A Steady-State Kalman Predictor-Based Filtering Strategy for Non-Overlapping Sub-Band Spectral Estimation

PubMed Central

Li, Zenghui; Xu, Bin; Yang, Jian; Song, Jianshe

2015-01-01

This paper focuses on suppressing spectral overlap for sub-band spectral estimation, with which we can greatly decrease the computational complexity of existing spectral estimation algorithms, such as nonlinear least squares spectral analysis and non-quadratic regularized sparse representation. Firstly, our study shows that the nominal ability of the high-order analysis filter to suppress spectral overlap is greatly weakened when filtering a finite-length sequence, because many meaningless zeros are used as samples in convolution operations. Next, an extrapolation-based filtering strategy is proposed to produce a series of estimates as the substitutions of the zeros and to recover the suppression ability. Meanwhile, a steady-state Kalman predictor is applied to perform a linearly-optimal extrapolation. Finally, several typical methods for spectral analysis are applied to demonstrate the effectiveness of the proposed strategy. PMID:25609038

Robust Low-dose CT Perfusion Deconvolution via Tensor Total-Variation Regularization

PubMed Central

Zhang, Shaoting; Chen, Tsuhan; Sanelli, Pina C.

2016-01-01

Acute brain diseases such as acute strokes and transit ischemic attacks are the leading causes of mortality and morbidity worldwide, responsible for 9% of total death every year. ‘Time is brain’ is a widely accepted concept in acute cerebrovascular disease treatment. Efficient and accurate computational framework for hemodynamic parameters estimation can save critical time for thrombolytic therapy. Meanwhile the high level of accumulated radiation dosage due to continuous image acquisition in CT perfusion (CTP) raised concerns on patient safety and public health. However, low-radiation leads to increased noise and artifacts which require more sophisticated and time-consuming algorithms for robust estimation. In this paper, we focus on developing a robust and efficient framework to accurately estimate the perfusion parameters at low radiation dosage. Specifically, we present a tensor total-variation (TTV) technique which fuses the spatial correlation of the vascular structure and the temporal continuation of the blood signal flow. An efficient algorithm is proposed to find the solution with fast convergence and reduced computational complexity. Extensive evaluations are carried out in terms of sensitivity to noise levels, estimation accuracy, contrast preservation, and performed on digital perfusion phantom estimation, as well as in-vivo clinical subjects. Our framework reduces the necessary radiation dose to only 8% of the original level and outperforms the state-of-art algorithms with peak signal-to-noise ratio improved by 32%. It reduces the oscillation in the residue functions, corrects over-estimation of cerebral blood flow (CBF) and under-estimation of mean transit time (MTT), and maintains the distinction between the deficit and normal regions. PMID:25706579

Automatic lung lobe segmentation using particles, thin plate splines, and maximum a posteriori estimation.

PubMed

Ross, James C; San José Estépar, Rail; Kindlmann, Gordon; Díaz, Alejandro; Westin, Carl-Fredrik; Silverman, Edwin K; Washko, George R

2010-01-01

We present a fully automatic lung lobe segmentation algorithm that is effective in high resolution computed tomography (CT) datasets in the presence of confounding factors such as incomplete fissures (anatomical structures indicating lobe boundaries), advanced disease states, high body mass index (BMI), and low-dose scanning protocols. In contrast to other algorithms that leverage segmentations of auxiliary structures (esp. vessels and airways), we rely only upon image features indicating fissure locations. We employ a particle system that samples the image domain and provides a set of candidate fissure locations. We follow this stage with maximum a posteriori (MAP) estimation to eliminate poor candidates and then perform a post-processing operation to remove remaining noise particles. We then fit a thin plate spline (TPS) interpolating surface to the fissure particles to form the final lung lobe segmentation. Results indicate that our algorithm performs comparably to pulmonologist-generated lung lobe segmentations on a set of challenging cases.

Automatic Lung Lobe Segmentation Using Particles, Thin Plate Splines, and Maximum a Posteriori Estimation

PubMed Central

Ross, James C.; Estépar, Raúl San José; Kindlmann, Gordon; Díaz, Alejandro; Westin, Carl-Fredrik; Silverman, Edwin K.; Washko, George R.

2011-01-01

We present a fully automatic lung lobe segmentation algorithm that is effective in high resolution computed tomography (CT) datasets in the presence of confounding factors such as incomplete fissures (anatomical structures indicating lobe boundaries), advanced disease states, high body mass index (BMI), and low-dose scanning protocols. In contrast to other algorithms that leverage segmentations of auxiliary structures (esp. vessels and airways), we rely only upon image features indicating fissure locations. We employ a particle system that samples the image domain and provides a set of candidate fissure locations. We follow this stage with maximum a posteriori (MAP) estimation to eliminate poor candidates and then perform a post-processing operation to remove remaining noise particles. We then fit a thin plate spline (TPS) interpolating surface to the fissure particles to form the final lung lobe segmentation. Results indicate that our algorithm performs comparably to pulmonologist-generated lung lobe segmentations on a set of challenging cases. PMID:20879396

The GRAPE aerosol retrieval algorithm

NASA Astrophysics Data System (ADS)

Thomas, G. E.; Poulsen, C. A.; Sayer, A. M.; Marsh, S. H.; Dean, S. M.; Carboni, E.; Siddans, R.; Grainger, R. G.; Lawrence, B. N.

2009-11-01

The aerosol component of the Oxford-Rutherford Aerosol and Cloud (ORAC) combined cloud and aerosol retrieval scheme is described and the theoretical performance of the algorithm is analysed. ORAC is an optimal estimation retrieval scheme for deriving cloud and aerosol properties from measurements made by imaging satellite radiometers and, when applied to cloud free radiances, provides estimates of aerosol optical depth at a wavelength of 550 nm, aerosol effective radius and surface reflectance at 550 nm. The aerosol retrieval component of ORAC has several incarnations - this paper addresses the version which operates in conjunction with the cloud retrieval component of ORAC (described by Watts et al., 1998), as applied in producing the Global Retrieval of ATSR Cloud Parameters and Evaluation (GRAPE) data-set. The algorithm is described in detail and its performance examined. This includes a discussion of errors resulting from the formulation of the forward model, sensitivity of the retrieval to the measurements and a priori constraints, and errors resulting from assumptions made about the atmospheric/surface state.

The GRAPE aerosol retrieval algorithm

NASA Astrophysics Data System (ADS)

Thomas, G. E.; Poulsen, C. A.; Sayer, A. M.; Marsh, S. H.; Dean, S. M.; Carboni, E.; Siddans, R.; Grainger, R. G.; Lawrence, B. N.

2009-04-01

The aerosol component of the Oxford-Rutherford Aerosol and Cloud (ORAC) combined cloud and aerosol retrieval scheme is described and the theoretical performance of the algorithm is analysed. ORAC is an optimal estimation retrieval scheme for deriving cloud and aerosol properties from measurements made by imaging satellite radiometers and, when applied to cloud free radiances, provides estimates of aerosol optical depth at a wavelength of 550 nm, aerosol effective radius and surface reflectance at 550 nm. The aerosol retrieval component of ORAC has several incarnations - this paper addresses the version which operates in conjunction with the cloud retrieval component of ORAC (described by Watts et al., 1998), as applied in producing the Global Retrieval of ATSR Cloud Parameters and Evaluation (GRAPE) data-set. The algorithm is described in detail and its performance examined. This includes a discussion of errors resulting from the formulation of the forward model, sensitivity of the retrieval to the measurements and a priori constraints, and errors resulting from assumptions made about the atmospheric/surface state.

Integration of a Decentralized Linear-Quadratic-Gaussian Control into GSFC's Universal 3-D Autonomous Formation Flying Algorithm

NASA Technical Reports Server (NTRS)

Folta, David C.; Carpenter, J. Russell

1999-01-01

A decentralized control is investigated for applicability to the autonomous formation flying control algorithm developed by GSFC for the New Millenium Program Earth Observer-1 (EO-1) mission. This decentralized framework has the following characteristics: The approach is non-hierarchical, and coordination by a central supervisor is not required; Detected failures degrade the system performance gracefully; Each node in the decentralized network processes only its own measurement data, in parallel with the other nodes; Although the total computational burden over the entire network is greater than it would be for a single, centralized controller, fewer computations are required locally at each node; Requirements for data transmission between nodes are limited to only the dimension of the control vector, at the cost of maintaining a local additional data vector. The data vector compresses all past measurement history from all the nodes into a single vector of the dimension of the state; and The approach is optimal with respect to standard cost functions. The current approach is valid for linear time-invariant systems only. Similar to the GSFC formation flying algorithm, the extension to linear LQG time-varying systems requires that each node propagate its filter covariance forward (navigation) and controller Riccati matrix backward (guidance) at each time step. Extension of the GSFC algorithm to non-linear systems can also be accomplished via linearization about a reference trajectory in the standard fashion, or linearization about the current state estimate as with the extended Kalman filter. To investigate the feasibility of the decentralized integration with the GSFC algorithm, an existing centralized LQG design for a single spacecraft orbit control problem is adapted to the decentralized framework while using the GSFC algorithm's state transition matrices and framework. The existing GSFC design uses both reference trajectories of each spacecraft in formation and by appropriate choice of coordinates and simplified measurement modeling is formulated as a linear time-invariant system. Results for improvements to the GSFC algorithm and a multiple satellite formation will be addressed. The goal of this investigation is to progressively relax the assumptions that result in linear time-invariance, ultimately to the point of linearization of the non-linear dynamics about the current state estimate as in the extended Kalman filter. An assessment will then be made about the feasibility of the decentralized approach to the realistic formation flying application of the EO-1/Landsat 7 formation flying experiment.

On-board attitude determination for the Explorer Platform satellite

NASA Technical Reports Server (NTRS)

Jayaraman, C.; Class, B.

1992-01-01

This paper describes the attitude determination algorithm for the Explorer Platform satellite. The algorithm, which is baselined on the Landsat code, is a six-element linear quadratic state estimation processor, in the form of a Kalman filter augmented by an adaptive filter process. Improvements to the original Landsat algorithm were required to meet mission pointing requirements. These consisted of a more efficient sensor processing algorithm and the addition of an adaptive filter which acts as a check on the Kalman filter during satellite slew maneuvers. A 1750A processor will be flown on board the satellite for the first time as a coprocessor (COP) in addition to the NASA Standard Spacecraft Computer. The attitude determination algorithm, which will be resident in the COP's memory, will make full use of its improved processing capabilities to meet mission requirements. Additional benefits were gained by writing the attitude determination code in Ada.

Real-Time Robust Tracking for Motion Blur and Fast Motion via Correlation Filters

PubMed Central

Xu, Lingyun; Luo, Haibo; Hui, Bin; Chang, Zheng

2016-01-01

Visual tracking has extensive applications in intelligent monitoring and guidance systems. Among state-of-the-art tracking algorithms, Correlation Filter methods perform favorably in robustness, accuracy and speed. However, it also has shortcomings when dealing with pervasive target scale variation, motion blur and fast motion. In this paper we proposed a new real-time robust scheme based on Kernelized Correlation Filter (KCF) to significantly improve performance on motion blur and fast motion. By fusing KCF and STC trackers, our algorithm also solve the estimation of scale variation in many scenarios. We theoretically analyze the problem for CFs towards motions and utilize the point sharpness function of the target patch to evaluate the motion state of target. Then we set up an efficient scheme to handle the motion and scale variation without much time consuming. Our algorithm preserves the properties of KCF besides the ability to handle special scenarios. In the end extensive experimental results on benchmark of VOT datasets show our algorithm performs advantageously competed with the top-rank trackers. PMID:27618046

Quantum Linear System Algorithm for Dense Matrices

NASA Astrophysics Data System (ADS)

Wossnig, Leonard; Zhao, Zhikuan; Prakash, Anupam

2018-02-01

Solving linear systems of equations is a frequently encountered problem in machine learning and optimization. Given a matrix A and a vector b the task is to find the vector x such that A x =b . We describe a quantum algorithm that achieves a sparsity-independent runtime scaling of O (κ2√{n }polylog(n )/ɛ ) for an n ×n dimensional A with bounded spectral norm, where κ denotes the condition number of A , and ɛ is the desired precision parameter. This amounts to a polynomial improvement over known quantum linear system algorithms when applied to dense matrices, and poses a new state of the art for solving dense linear systems on a quantum computer. Furthermore, an exponential improvement is achievable if the rank of A is polylogarithmic in the matrix dimension. Our algorithm is built upon a singular value estimation subroutine, which makes use of a memory architecture that allows for efficient preparation of quantum states that correspond to the rows of A and the vector of Euclidean norms of the rows of A .

A Semi-Automated Machine Learning Algorithm for Tree Cover Delineation from 1-m Naip Imagery Using a High Performance Computing Architecture

NASA Astrophysics Data System (ADS)

Basu, S.; Ganguly, S.; Nemani, R. R.; Mukhopadhyay, S.; Milesi, C.; Votava, P.; Michaelis, A.; Zhang, G.; Cook, B. D.; Saatchi, S. S.; Boyda, E.

2014-12-01

Accurate tree cover delineation is a useful instrument in the derivation of Above Ground Biomass (AGB) density estimates from Very High Resolution (VHR) satellite imagery data. Numerous algorithms have been designed to perform tree cover delineation in high to coarse resolution satellite imagery, but most of them do not scale to terabytes of data, typical in these VHR datasets. In this paper, we present an automated probabilistic framework for the segmentation and classification of 1-m VHR data as obtained from the National Agriculture Imagery Program (NAIP) for deriving tree cover estimates for the whole of Continental United States, using a High Performance Computing Architecture. The results from the classification and segmentation algorithms are then consolidated into a structured prediction framework using a discriminative undirected probabilistic graphical model based on Conditional Random Field (CRF), which helps in capturing the higher order contextual dependencies between neighboring pixels. Once the final probability maps are generated, the framework is updated and re-trained by incorporating expert knowledge through the relabeling of misclassified image patches. This leads to a significant improvement in the true positive rates and reduction in false positive rates. The tree cover maps were generated for the state of California, which covers a total of 11,095 NAIP tiles and spans a total geographical area of 163,696 sq. miles. Our framework produced correct detection rates of around 85% for fragmented forests and 70% for urban tree cover areas, with false positive rates lower than 3% for both regions. Comparative studies with the National Land Cover Data (NLCD) algorithm and the LiDAR high-resolution canopy height model shows the effectiveness of our algorithm in generating accurate high-resolution tree cover maps.

The AMSR2 Satellite-based Microwave Snow Algorithm (SMSA) to estimate regional to global snow depth and snow water equivalent

NASA Astrophysics Data System (ADS)

Kelly, R. E. J.; Saberi, N.; Li, Q.

2017-12-01

With moderate to high spatial resolution (<1 km) regional to global snow water equivalent (SWE) observation approaches yet to be fully scoped and developed, the long-term satellite passive microwave record remains an important tool for cryosphere-climate diagnostics. A new satellite microwave remote sensing approach is described for estimating snow depth (SD) and snow water equivalent (SWE). The algorithm, called the Satellite-based Microwave Snow Algorithm (SMSA), uses Advanced Microwave Scanning Radiometer - 2 (AMSR2) observations aboard the Global Change Observation Mission - Water mission launched by the Japan Aerospace Exploration Agency in 2012. The approach is unique since it leverages observed brightness temperatures (Tb) with static ancillary data to parameterize a physically-based retrieval without requiring parameter constraints from in situ snow depth observations or historical snow depth climatology. After screening snow from non-snow surface targets (water bodies [including freeze/thaw state], rainfall, high altitude plateau regions [e.g. Tibetan plateau]), moderate and shallow snow depths are estimated by minimizing the difference between Dense Media Radiative Transfer model estimates (Tsang et al., 2000; Picard et al., 2011) and AMSR2 Tb observations to retrieve SWE and SD. Parameterization of the model combines a parsimonious snow grain size and density approach originally developed by Kelly et al. (2003). Evaluation of the SMSA performance is achieved using in situ snow depth data from a variety of standard and experiment data sources. Results presented from winter seasons 2012-13 to 2016-17 illustrate the improved performance of the new approach in comparison with the baseline AMSR2 algorithm estimates and approach the performance of the model assimilation-based approach of GlobSnow. Given the variation in estimation power of SWE by different land surface/climate models and selected satellite-derived passive microwave approaches, SMSA provides SWE estimates that are independent of real or near real-time in situ and model data.

Development and comparisons of wind retrieval algorithms for small unmanned aerial systems

NASA Astrophysics Data System (ADS)

Bonin, T. A.; Chilson, P. B.; Zielke, B. S.; Klein, P. M.; Leeman, J. R.

2012-12-01

Recently, there has been an increase in use of Unmanned Aerial Systems (UASs) as platforms for conducting fundamental and applied research in the lower atmosphere due to their relatively low cost and ability to collect samples with high spatial and temporal resolution. Concurrent with this development comes the need for accurate instrumentation and measurement methods suitable for small meteorological UASs. Moreover, the instrumentation to be integrated into such platforms must be small and lightweight. Whereas thermodynamic variables can be easily measured using well aspirated sensors onboard, it is much more challenging to accurately measure the wind with a UAS. Several algorithms have been developed that incorporate GPS observations as a means of estimating the horizontal wind vector, with each algorithm exhibiting its own particular strengths and weaknesses. In the present study, the performance of three such GPS-based wind-retrieval algorithms has been investigated and compared with wind estimates from rawinsonde and sodar observations. Each of the algorithms considered agreed well with the wind measurements from sounding and sodar data. Through the integration of UAS-retrieved profiles of thermodynamic and kinematic parameters, one can investigate the static and dynamic stability of the atmosphere and relate them to the state of the boundary layer across a variety of times and locations, which might be difficult to access using conventional instrumentation.

Comparison and application of wind retrieval algorithms for small unmanned aerial systems

NASA Astrophysics Data System (ADS)

Bonin, T. A.; Chilson, P. B.; Zielke, B. S.; Klein, P. M.; Leeman, J. R.

2013-07-01

Recently, there has been an increase in use of Unmanned Aerial Systems (UASs) as platforms for conducting fundamental and applied research in the lower atmosphere due to their relatively low cost and ability to collect samples with high spatial and temporal resolution. Concurrent with this development comes the need for accurate instrumentation and measurement methods suitable for small meteorological UASs. Moreover, the instrumentation to be integrated into such platforms must be small and lightweight. Whereas thermodynamic variables can be easily measured using well-aspirated sensors onboard, it is much more challenging to accurately measure the wind with a UAS. Several algorithms have been developed that incorporate GPS observations as a means of estimating the horizontal wind vector, with each algorithm exhibiting its own particular strengths and weaknesses. In the present study, the performance of three such GPS-based wind-retrieval algorithms has been investigated and compared with wind estimates from rawinsonde and sodar observations. Each of the algorithms considered agreed well with the wind measurements from sounding and sodar data. Through the integration of UAS-retrieved profiles of thermodynamic and kinematic parameters, one can investigate the static and dynamic stability of the atmosphere and relate them to the state of the boundary layer across a variety of times and locations, which might be difficult to access using conventional instrumentation.

On three dimensional object recognition and pose-determination: An abstraction based approach. Ph.D. Thesis - Michigan Univ. Final Report

NASA Technical Reports Server (NTRS)

Quek, Kok How Francis

1990-01-01

A method of computing reliable Gaussian and mean curvature sign-map descriptors from the polynomial approximation of surfaces was demonstrated. Such descriptors which are invariant under perspective variation are suitable for hypothesis generation. A means for determining the pose of constructed geometric forms whose algebraic surface descriptors are nonlinear in terms of their orienting parameters was developed. This was done by means of linear functions which are capable of approximating nonlinear forms and determining their parameters. It was shown that biquadratic surfaces are suitable companion linear forms for cylindrical approximation and parameter estimation. The estimates provided the initial parametric approximations necessary for a nonlinear regression stage to fine tune the estimates by fitting the actual nonlinear form to the data. A hypothesis-based split-merge algorithm for extraction and pose determination of cylinders and planes which merge smoothly into other surfaces was developed. It was shown that all split-merge algorithms are hypothesis-based. A finite-state algorithm for the extraction of the boundaries of run-length regions was developed. The computation takes advantage of the run list topology and boundary direction constraints implicit in the run-length encoding.

Optimal Attack Strategies Subject to Detection Constraints Against Cyber-Physical Systems

DOE Office of Scientific and Technical Information (OSTI.GOV)

Chen, Yuan; Kar, Soummya; Moura, Jose M. F.

This paper studies an attacker against a cyberphysical system (CPS) whose goal is to move the state of a CPS to a target state while ensuring that his or her probability of being detected does not exceed a given bound. The attacker’s probability of being detected is related to the nonnegative bias induced by his or her attack on the CPS’s detection statistic. We formulate a linear quadratic cost function that captures the attacker’s control goal and establish constraints on the induced bias that reflect the attacker’s detection-avoidance objectives. When the attacker is constrained to be detected at the false-alarmmore » rate of the detector, we show that the optimal attack strategy reduces to a linear feedback of the attacker’s state estimate. In the case that the attacker’s bias is upper bounded by a positive constant, we provide two algorithms – an optimal algorithm and a sub-optimal, less computationally intensive algorithm – to find suitable attack sequences. Lastly, we illustrate our attack strategies in numerical examples based on a remotely-controlled helicopter under attack.« less

Nonlinear automatic landing control of unmanned aerial vehicles on moving platforms via a 3D laser radar

DOE Office of Scientific and Technical Information (OSTI.GOV)

Hervas, Jaime Rubio; Tang, Hui; Reyhanoglu, Mahmut

2014-12-10

This paper presents a motion tracking and control system for automatically landing Unmanned Aerial Vehicles (UAVs) on an oscillating platform using Laser Radar (LADAR) observations. The system itself is assumed to be mounted on a ship deck. A full nonlinear mathematical model is first introduced for the UAV. The ship motion is characterized by a Fourier transform based method which includes a realistic characterization of the sea waves. LADAR observation models are introduced and an algorithm to process those observations for yielding the relative state between the vessel and the UAV is presented, from which the UAV's state relative tomore » an inertial frame can be obtained and used for feedback purposes. A sliding mode control algorithm is derived for tracking a landing trajectory defined by a set of desired waypoints. An extended Kalman filter (EKF) is proposed to account for process and observation noises in the design of a state estimator. The effectiveness of the control algorithm is illustrated through a simulation example.« less

Optimal Attack Strategies Subject to Detection Constraints Against Cyber-Physical Systems

DOE PAGES

Chen, Yuan; Kar, Soummya; Moura, Jose M. F.

2017-03-31

This paper studies an attacker against a cyberphysical system (CPS) whose goal is to move the state of a CPS to a target state while ensuring that his or her probability of being detected does not exceed a given bound. The attacker’s probability of being detected is related to the nonnegative bias induced by his or her attack on the CPS’s detection statistic. We formulate a linear quadratic cost function that captures the attacker’s control goal and establish constraints on the induced bias that reflect the attacker’s detection-avoidance objectives. When the attacker is constrained to be detected at the false-alarmmore » rate of the detector, we show that the optimal attack strategy reduces to a linear feedback of the attacker’s state estimate. In the case that the attacker’s bias is upper bounded by a positive constant, we provide two algorithms – an optimal algorithm and a sub-optimal, less computationally intensive algorithm – to find suitable attack sequences. Lastly, we illustrate our attack strategies in numerical examples based on a remotely-controlled helicopter under attack.« less

Rare event simulation in radiation transport

DOE Office of Scientific and Technical Information (OSTI.GOV)

Kollman, Craig

1993-10-01

This dissertation studies methods for estimating extremely small probabilities by Monte Carlo simulation. Problems in radiation transport typically involve estimating very rare events or the expected value of a random variable which is with overwhelming probability equal to zero. These problems often have high dimensional state spaces and irregular geometries so that analytic solutions are not possible. Monte Carlo simulation must be used to estimate the radiation dosage being transported to a particular location. If the area is well shielded the probability of any one particular particle getting through is very small. Because of the large number of particles involved,more » even a tiny fraction penetrating the shield may represent an unacceptable level of radiation. It therefore becomes critical to be able to accurately estimate this extremely small probability. Importance sampling is a well known technique for improving the efficiency of rare event calculations. Here, a new set of probabilities is used in the simulation runs. The results are multiple by the likelihood ratio between the true and simulated probabilities so as to keep the estimator unbiased. The variance of the resulting estimator is very sensitive to which new set of transition probabilities are chosen. It is shown that a zero variance estimator does exist, but that its computation requires exact knowledge of the solution. A simple random walk with an associated killing model for the scatter of neutrons is introduced. Large deviation results for optimal importance sampling in random walks are extended to the case where killing is present. An adaptive ``learning`` algorithm for implementing importance sampling is given for more general Markov chain models of neutron scatter. For finite state spaces this algorithm is shown to give with probability one, a sequence of estimates converging exponentially fast to the true solution.« less

Highlights of TOMS Version 9 Total Ozone Algorithm

NASA Technical Reports Server (NTRS)

Bhartia, Pawan; Haffner, David

2012-01-01

The fundamental basis of TOMS total ozone algorithm was developed some 45 years ago by Dave and Mateer. It was designed to estimate total ozone from satellite measurements of the backscattered UV radiances at few discrete wavelengths in the Huggins ozone absorption band (310-340 nm). Over the years, as the need for higher accuracy in measuring total ozone from space has increased, several improvements to the basic algorithms have been made. They include: better correction for the effects of aerosols and clouds, an improved method to account for the variation in shape of ozone profiles with season, latitude, and total ozone, and a multi-wavelength correction for remaining profile shape errors. These improvements have made it possible to retrieve total ozone with just 3 spectral channels of moderate spectral resolution (approx. 1 nm) with accuracy comparable to state-of-the-art spectral fitting algorithms like DOAS that require high spectral resolution measurements at large number of wavelengths. One of the deficiencies of the TOMS algorithm has been that it doesn't provide an error estimate. This is a particular problem in high latitudes when the profile shape errors become significant and vary with latitude, season, total ozone, and instrument viewing geometry. The primary objective of the TOMS V9 algorithm is to account for these effects in estimating the error bars. This is done by a straightforward implementation of the Rodgers optimum estimation method using a priori ozone profiles and their error covariances matrices constructed using Aura MLS and ozonesonde data. The algorithm produces a vertical ozone profile that contains 1-2.5 pieces of information (degrees of freedom of signal) depending upon solar zenith angle (SZA). The profile is integrated to obtain the total column. We provide information that shows the altitude range in which the profile is best determined by the measurements. One can use this information in data assimilation and analysis. A side benefit of this algorithm is that it is considerably simpler than the present algorithm that uses a database of 1512 profiles to retrieve total ozone. These profiles are tedious to construct and modify. Though conceptually similar to the SBUV V8 algorithm that was developed about a decade ago, the SBUV and TOMS V9 algorithms differ in detail. The TOMS algorithm uses 3 wavelengths to retrieve the profile while the SBUV algorithm uses 6-9 wavelengths, so TOMS provides less profile information. However both algorithms have comparable total ozone information and TOMS V9 can be easily adapted to use additional wavelengths from instruments like GOME, OMI and OMPS to provide better profile information at smaller SZAs. The other significant difference between the two algorithms is that while the SBUV algorithm has been optimized for deriving monthly zonal means by making an appropriate choice of the a priori error covariance matrix, the TOMS algorithm has been optimized for tracking short-term variability using month and latitude dependent covariance matrices.

Hyper-X Post-Flight Trajectory Reconstruction

NASA Technical Reports Server (NTRS)

Karlgaard, Christopher D.; Tartabini, Paul V.; Blanchard, RobertC.; Kirsch, Michael; Toniolo, Matthew D.

2004-01-01

This paper discusses the formulation and development of a trajectory reconstruction tool for the NASA X{43A/Hyper{X high speed research vehicle, and its implementation for the reconstruction and analysis of ight test data. Extended Kalman ltering techniques are employed to reconstruct the trajectory of the vehicle, based upon numerical integration of inertial measurement data along with redundant measurements of the vehicle state. The equations of motion are formulated in order to include the effects of several systematic error sources, whose values may also be estimated by the ltering routines. Additionally, smoothing algorithms have been implemented in which the nal value of the state (or an augmented state that includes other systematic error parameters to be estimated) and covariance are propagated back to the initial time to generate the best-estimated trajectory, based upon all available data. The methods are applied to the problem of reconstructing the trajectory of the Hyper-X vehicle from ight data.

Structure Assembly by a Heterogeneous Team of Robots Using State Estimation, Generalized Joints, and Mobile Parallel Manipulators

NASA Technical Reports Server (NTRS)

Komendera, Erik E.; Adhikari, Shaurav; Glassner, Samantha; Kishen, Ashwin; Quartaro, Amy

2017-01-01

Autonomous robotic assembly by mobile field robots has seen significant advances in recent decades, yet practicality remains elusive. Identified challenges include better use of state estimation to and reasoning with uncertainty, spreading out tasks to specialized robots, and implementing representative joining methods. This paper proposes replacing 1) self-correcting mechanical linkages with generalized joints for improved applicability, 2) assembly serial manipulators with parallel manipulators for higher precision and stability, and 3) all-in-one robots with a heterogeneous team of specialized robots for agent simplicity. This paper then describes a general assembly algorithm utilizing state estimation. Finally, these concepts are tested in the context of solar array assembly, requiring a team of robots to assemble, bond, and deploy a set of solar panel mockups to a backbone truss to an accuracy not built into the parts. This paper presents the results of these tests.

Connecting Satellite-Based Precipitation Estimates to Users

NASA Technical Reports Server (NTRS)

Huffman, George J.; Bolvin, David T.; Nelkin, Eric

2018-01-01

Beginning in 1997, the Merged Precipitation Group at NASA Goddard has distributed gridded global precipitation products built by combining satellite and surface gauge data. This started with the Global Precipitation Climatology Project (GPCP), then the Tropical Rainfall Measuring Mission (TRMM) Multi-satellite Precipitation Analysis (TMPA), and recently the Integrated Multi-satellitE Retrievals for the Global Precipitation Measurement (GPM) mission (IMERG). This 20+-year (and on-going) activity has yielded an important set of insights and lessons learned for making state-of-the-art precipitation data accessible to the diverse communities of users. Merged-data products critically depend on the input sensors and the retrieval algorithms providing accurate, reliable estimates, but it is also important to provide ancillary information that helps users determine suitability for their application. We typically provide fields of estimated random error, and recently reintroduced the quality index concept at user request. Also at user request we have added a (diagnostic) field of estimated precipitation phase. Over time, increasingly more ancillary fields have been introduced for intermediate products that give expert users insight into the detailed performance of the combination algorithm, such as individual merged microwave and microwave-calibrated infrared estimates, the contributing microwave sensor types, and the relative influence of the infrared estimate.

Scalar and Vector Spherical Harmonics for Assimilation of Global Datasets in the Ionosphere and Thermosphere

NASA Astrophysics Data System (ADS)

Miladinovich, D.; Datta-Barua, S.; Bust, G. S.; Ramirez, U.

2017-12-01

Understanding physical processes during storm time in the ionosphere-thermosphere (IT) system is limited, in part, due to the inability to obtain accurate estimates of IT states on a global scale. One reason for this inability is the sparsity of spatially distributed high quality data sets. Data assimilation is showing promise toward enabling global estimates by blending high quality observational data sets with established climate models. We are continuing development of an algorithm called Estimating Model Parameters for Ionospheric Reverse Engineering (EMPIRE) to enable assimilation of global datasets for storm time estimates of IT drivers. EMPIRE is a data assimilation algorithm that uses a Kalman filtering routine to ingest model and observational data. The EMPIRE algorithm is based on spherical harmonics which provide a spherically symmetric, smooth, continuous, and orthonormal set of basis functions suitable for a spherical domain such as Earth's IT region (200-600 km altitude). Once the basis function coefficients are determined, the newly fitted function represents the disagreement between observational measurements and models. We apply spherical harmonics to study the March 17, 2015 storm. Data sources include Fabry-Perot interferometer neutral wind measurements and global Ionospheric Data Assimilation 4 Dimensional (IDA4D) assimilated total electron content (TEC). Models include Weimer 2000 electric potential, International Geomagnetic Reference Field (IGRF) magnetic field, and Horizontal Wind Model 2014 (HWM14) neutral winds. We present the EMPIRE assimilation results of Earth's electric potential and thermospheric winds. We also compare EMPIRE storm time E cross B ion drift estimates to measured drifts produced from the Super Dual Auroral Radar Network (SuperDARN) and Active Magnetosphere and Planetary Electrodynamics Response Experiment (AMPERE) measurement datasets. The analysis from these results will enable the generation of globally assimilated storm time IT state estimates for future studies. In particular, the ability to provide data assimilated estimation of the drivers of the IT system from high to low latitudes is a critical step toward forecasting the influence of geomagnetic storms on the near Earth space environment.

Search-free license plate localization based on saliency and local variance estimation

NASA Astrophysics Data System (ADS)

Safaei, Amin; Tang, H. L.; Sanei, S.

2015-02-01

In recent years, the performance and accuracy of automatic license plate number recognition (ALPR) systems have greatly improved, however the increasing number of applications for such systems have made ALPR research more challenging than ever. The inherent computational complexity of search dependent algorithms remains a major problem for current ALPR systems. This paper proposes a novel search-free method of localization based on the estimation of saliency and local variance. Gabor functions are then used to validate the choice of candidate license plate. The algorithm was applied to three image datasets with different levels of complexity and the results compared with a number of benchmark methods, particularly in terms of speed. The proposed method outperforms the state of the art methods and can be used for real time applications.

Application of independent component analysis for speech-music separation using an efficient score function estimation

NASA Astrophysics Data System (ADS)

Pishravian, Arash; Aghabozorgi Sahaf, Masoud Reza

2012-12-01

In this paper speech-music separation using Blind Source Separation is discussed. The separating algorithm is based on the mutual information minimization where the natural gradient algorithm is used for minimization. In order to do that, score function estimation from observation signals (combination of speech and music) samples is needed. The accuracy and the speed of the mentioned estimation will affect on the quality of the separated signals and the processing time of the algorithm. The score function estimation in the presented algorithm is based on Gaussian mixture based kernel density estimation method. The experimental results of the presented algorithm on the speech-music separation and comparing to the separating algorithm which is based on the Minimum Mean Square Error estimator, indicate that it can cause better performance and less processing time

Robust fundamental frequency estimation in sustained vowels: Detailed algorithmic comparisons and information fusion with adaptive Kalman filtering

PubMed Central

Tsanas, Athanasios; Zañartu, Matías; Little, Max A.; Fox, Cynthia; Ramig, Lorraine O.; Clifford, Gari D.

2014-01-01

There has been consistent interest among speech signal processing researchers in the accurate estimation of the fundamental frequency (F0) of speech signals. This study examines ten F0 estimation algorithms (some well-established and some proposed more recently) to determine which of these algorithms is, on average, better able to estimate F0 in the sustained vowel /a/. Moreover, a robust method for adaptively weighting the estimates of individual F0 estimation algorithms based on quality and performance measures is proposed, using an adaptive Kalman filter (KF) framework. The accuracy of the algorithms is validated using (a) a database of 117 synthetic realistic phonations obtained using a sophisticated physiological model of speech production and (b) a database of 65 recordings of human phonations where the glottal cycles are calculated from electroglottograph signals. On average, the sawtooth waveform inspired pitch estimator and the nearly defect-free algorithms provided the best individual F0 estimates, and the proposed KF approach resulted in a ∼16% improvement in accuracy over the best single F0 estimation algorithm. These findings may be useful in speech signal processing applications where sustained vowels are used to assess vocal quality, when very accurate F0 estimation is required. PMID:24815269

Machine Learning Methods for Attack Detection in the Smart Grid.

PubMed

Ozay, Mete; Esnaola, Inaki; Yarman Vural, Fatos Tunay; Kulkarni, Sanjeev R; Poor, H Vincent

2016-08-01

Attack detection problems in the smart grid are posed as statistical learning problems for different attack scenarios in which the measurements are observed in batch or online settings. In this approach, machine learning algorithms are used to classify measurements as being either secure or attacked. An attack detection framework is provided to exploit any available prior knowledge about the system and surmount constraints arising from the sparse structure of the problem in the proposed approach. Well-known batch and online learning algorithms (supervised and semisupervised) are employed with decision- and feature-level fusion to model the attack detection problem. The relationships between statistical and geometric properties of attack vectors employed in the attack scenarios and learning algorithms are analyzed to detect unobservable attacks using statistical learning methods. The proposed algorithms are examined on various IEEE test systems. Experimental analyses show that machine learning algorithms can detect attacks with performances higher than attack detection algorithms that employ state vector estimation methods in the proposed attack detection framework.

A Modified Triples Algorithm for Flush Air Data Systems that Allows a Variety of Pressure Port Configurations

NASA Technical Reports Server (NTRS)

Millman, Daniel R.

2017-01-01

Air Data Systems (FADS) are becoming more prevalent on re-entry vehicles, as evi- denced by the Mars Science Laboratory and the Orion Multipurpose Crew Vehicle. A FADS consists of flush-mounted pressure transducers located at various locations on the fore-body of a flight vehicle or the heat shield of a re-entry capsule. A pressure model converts the pressure readings into useful air data quantities. Two algorithms for converting pressure readings to air data have become predominant- the iterative Least Squares State Estimator (LSSE) and the Triples Algorithm. What follows herein is a new algorithm that takes advantage of the best features of both the Triples Algorithm and the LSSE. This approach employs the potential flow model and strategic differencing of the Triples Algorithm to obtain the defective flight angles; however, the requirements on port placement are far less restrictive, allowing for configurations that are considered optimal for a FADS.

Evolutionary Fuzzy Block-Matching-Based Camera Raw Image Denoising.

PubMed

Yang, Chin-Chang; Guo, Shu-Mei; Tsai, Jason Sheng-Hong

2017-09-01

An evolutionary fuzzy block-matching-based image denoising algorithm is proposed to remove noise from a camera raw image. Recently, a variance stabilization transform is widely used to stabilize the noise variance, so that a Gaussian denoising algorithm can be used to remove the signal-dependent noise in camera sensors. However, in the stabilized domain, the existed denoising algorithm may blur too much detail. To provide a better estimate of the noise-free signal, a new block-matching approach is proposed to find similar blocks by the use of a type-2 fuzzy logic system (FLS). Then, these similar blocks are averaged with the weightings which are determined by the FLS. Finally, an efficient differential evolution is used to further improve the performance of the proposed denoising algorithm. The experimental results show that the proposed denoising algorithm effectively improves the performance of image denoising. Furthermore, the average performance of the proposed method is better than those of two state-of-the-art image denoising algorithms in subjective and objective measures.

ADMIT: a toolbox for guaranteed model invalidation, estimation and qualitative–quantitative modeling

PubMed Central

Streif, Stefan; Savchenko, Anton; Rumschinski, Philipp; Borchers, Steffen; Findeisen, Rolf

2012-01-01

Summary: Often competing hypotheses for biochemical networks exist in the form of different mathematical models with unknown parameters. Considering available experimental data, it is then desired to reject model hypotheses that are inconsistent with the data, or to estimate the unknown parameters. However, these tasks are complicated because experimental data are typically sparse, uncertain, and are frequently only available in form of qualitative if–then observations. ADMIT (Analysis, Design and Model Invalidation Toolbox) is a MatLabTM-based tool for guaranteed model invalidation, state and parameter estimation. The toolbox allows the integration of quantitative measurement data, a priori knowledge of parameters and states, and qualitative information on the dynamic or steady-state behavior. A constraint satisfaction problem is automatically generated and algorithms are implemented for solving the desired estimation, invalidation or analysis tasks. The implemented methods built on convex relaxation and optimization and therefore provide guaranteed estimation results and certificates for invalidity. Availability: ADMIT, tutorials and illustrative examples are available free of charge for non-commercial use at http://ifatwww.et.uni-magdeburg.de/syst/ADMIT/ Contact: stefan.streif@ovgu.de PMID:22451270

ADMIT: a toolbox for guaranteed model invalidation, estimation and qualitative-quantitative modeling.

PubMed

Streif, Stefan; Savchenko, Anton; Rumschinski, Philipp; Borchers, Steffen; Findeisen, Rolf

2012-05-01

Often competing hypotheses for biochemical networks exist in the form of different mathematical models with unknown parameters. Considering available experimental data, it is then desired to reject model hypotheses that are inconsistent with the data, or to estimate the unknown parameters. However, these tasks are complicated because experimental data are typically sparse, uncertain, and are frequently only available in form of qualitative if-then observations. ADMIT (Analysis, Design and Model Invalidation Toolbox) is a MatLab(TM)-based tool for guaranteed model invalidation, state and parameter estimation. The toolbox allows the integration of quantitative measurement data, a priori knowledge of parameters and states, and qualitative information on the dynamic or steady-state behavior. A constraint satisfaction problem is automatically generated and algorithms are implemented for solving the desired estimation, invalidation or analysis tasks. The implemented methods built on convex relaxation and optimization and therefore provide guaranteed estimation results and certificates for invalidity. ADMIT, tutorials and illustrative examples are available free of charge for non-commercial use at http://ifatwww.et.uni-magdeburg.de/syst/ADMIT/

Variable is better than invariable: sparse VSS-NLMS algorithms with application to adaptive MIMO channel estimation.

PubMed

Gui, Guan; Chen, Zhang-xin; Xu, Li; Wan, Qun; Huang, Jiyan; Adachi, Fumiyuki

2014-01-01

Channel estimation problem is one of the key technical issues in sparse frequency-selective fading multiple-input multiple-output (MIMO) communication systems using orthogonal frequency division multiplexing (OFDM) scheme. To estimate sparse MIMO channels, sparse invariable step-size normalized least mean square (ISS-NLMS) algorithms were applied to adaptive sparse channel estimation (ACSE). It is well known that step-size is a critical parameter which controls three aspects: algorithm stability, estimation performance, and computational cost. However, traditional methods are vulnerable to cause estimation performance loss because ISS cannot balance the three aspects simultaneously. In this paper, we propose two stable sparse variable step-size NLMS (VSS-NLMS) algorithms to improve the accuracy of MIMO channel estimators. First, ASCE is formulated in MIMO-OFDM systems. Second, different sparse penalties are introduced to VSS-NLMS algorithm for ASCE. In addition, difference between sparse ISS-NLMS algorithms and sparse VSS-NLMS ones is explained and their lower bounds are also derived. At last, to verify the effectiveness of the proposed algorithms for ASCE, several selected simulation results are shown to prove that the proposed sparse VSS-NLMS algorithms can achieve better estimation performance than the conventional methods via mean square error (MSE) and bit error rate (BER) metrics.

Variable Is Better Than Invariable: Sparse VSS-NLMS Algorithms with Application to Adaptive MIMO Channel Estimation

PubMed Central

Gui, Guan; Chen, Zhang-xin; Xu, Li; Wan, Qun; Huang, Jiyan; Adachi, Fumiyuki

2014-01-01

Channel estimation problem is one of the key technical issues in sparse frequency-selective fading multiple-input multiple-output (MIMO) communication systems using orthogonal frequency division multiplexing (OFDM) scheme. To estimate sparse MIMO channels, sparse invariable step-size normalized least mean square (ISS-NLMS) algorithms were applied to adaptive sparse channel estimation (ACSE). It is well known that step-size is a critical parameter which controls three aspects: algorithm stability, estimation performance, and computational cost. However, traditional methods are vulnerable to cause estimation performance loss because ISS cannot balance the three aspects simultaneously. In this paper, we propose two stable sparse variable step-size NLMS (VSS-NLMS) algorithms to improve the accuracy of MIMO channel estimators. First, ASCE is formulated in MIMO-OFDM systems. Second, different sparse penalties are introduced to VSS-NLMS algorithm for ASCE. In addition, difference between sparse ISS-NLMS algorithms and sparse VSS-NLMS ones is explained and their lower bounds are also derived. At last, to verify the effectiveness of the proposed algorithms for ASCE, several selected simulation results are shown to prove that the proposed sparse VSS-NLMS algorithms can achieve better estimation performance than the conventional methods via mean square error (MSE) and bit error rate (BER) metrics. PMID:25089286

An Empirical State Error Covariance Matrix for Batch State Estimation

NASA Technical Reports Server (NTRS)

Frisbee, Joseph H., Jr.

2011-01-01

State estimation techniques serve effectively to provide mean state estimates. However, the state error covariance matrices provided as part of these techniques suffer from some degree of lack of confidence in their ability to adequately describe the uncertainty in the estimated states. A specific problem with the traditional form of state error covariance matrices is that they represent only a mapping of the assumed observation error characteristics into the state space. Any errors that arise from other sources (environment modeling, precision, etc.) are not directly represented in a traditional, theoretical state error covariance matrix. Consider that an actual observation contains only measurement error and that an estimated observation contains all other errors, known and unknown. It then follows that a measurement residual (the difference between expected and observed measurements) contains all errors for that measurement. Therefore, a direct and appropriate inclusion of the actual measurement residuals in the state error covariance matrix will result in an empirical state error covariance matrix. This empirical state error covariance matrix will fully account for the error in the state estimate. By way of a literal reinterpretation of the equations involved in the weighted least squares estimation algorithm, it is possible to arrive at an appropriate, and formally correct, empirical state error covariance matrix. The first specific step of the method is to use the average form of the weighted measurement residual variance performance index rather than its usual total weighted residual form. Next it is helpful to interpret the solution to the normal equations as the average of a collection of sample vectors drawn from a hypothetical parent population. From here, using a standard statistical analysis approach, it directly follows as to how to determine the standard empirical state error covariance matrix. This matrix will contain the total uncertainty in the state estimate, regardless as to the source of the uncertainty. Also, in its most straight forward form, the technique only requires supplemental calculations to be added to existing batch algorithms. The generation of this direct, empirical form of the state error covariance matrix is independent of the dimensionality of the observations. Mixed degrees of freedom for an observation set are allowed. As is the case with any simple, empirical sample variance problems, the presented approach offers an opportunity (at least in the case of weighted least squares) to investigate confidence interval estimates for the error covariance matrix elements. The diagonal or variance terms of the error covariance matrix have a particularly simple form to associate with either a multiple degree of freedom chi-square distribution (more approximate) or with a gamma distribution (less approximate). The off diagonal or covariance terms of the matrix are less clear in their statistical behavior. However, the off diagonal covariance matrix elements still lend themselves to standard confidence interval error analysis. The distributional forms associated with the off diagonal terms are more varied and, perhaps, more approximate than those associated with the diagonal terms. Using a simple weighted least squares sample problem, results obtained through use of the proposed technique are presented. The example consists of a simple, two observer, triangulation problem with range only measurements. Variations of this problem reflect an ideal case (perfect knowledge of the range errors) and a mismodeled case (incorrect knowledge of the range errors).

Improvements to the swath-level near-surface atmospheric state parameter retrievals within the NRL Ocean Surface Flux System (NFLUX)

NASA Astrophysics Data System (ADS)

May, J. C.; Rowley, C. D.; Meyer, H.

2017-12-01

The Naval Research Laboratory (NRL) Ocean Surface Flux System (NFLUX) is an end-to-end data processing and assimilation system used to provide near-real-time satellite-based surface heat flux fields over the global ocean. The first component of NFLUX produces near-real-time swath-level estimates of surface state parameters and downwelling radiative fluxes. The focus here will be on the satellite swath-level state parameter retrievals, namely surface air temperature, surface specific humidity, and surface scalar wind speed over the ocean. Swath-level state parameter retrievals are produced from satellite sensor data records (SDRs) from four passive microwave sensors onboard 10 platforms: the Special Sensor Microwave Imager/Sounder (SSMIS) sensor onboard the DMSP F16, F17, and F18 platforms; the Advanced Microwave Sounding Unit-A (AMSU-A) sensor onboard the NOAA-15, NOAA-18, NOAA-19, Metop-A, and Metop-B platforms; the Advanced Technology Microwave Sounder (ATMS) sensor onboard the S-NPP platform; and the Advanced Microwave Scannin Radiometer 2 (AMSR2) sensor onboard the GCOM-W1 platform. The satellite SDRs are translated into state parameter estimates using multiple polynomial regression algorithms. The coefficients to the algorithms are obtained using a bootstrapping technique with all available brightness temperature channels for a given sensor, in addition to a SST field. For each retrieved parameter for each sensor-platform combination, unique algorithms are developed for ascending and descending orbits, as well as clear vs cloudy conditions. Each of the sensors produces surface air temperature and surface specific humidity retrievals. The SSMIS and AMSR2 sensors also produce surface scalar wind speed retrievals. Improvement is seen in the SSMIS retrievals when separate algorithms are used for the even and odd scans, with the odd scans performing better than the even scans. Currently, NFLUX treats all SSMIS scans as even scans. Additional improvement in all of the surface retrievals comes from using a 3-hourly SST field, as opposed to a daily SST field.

Engineering description of the ascent/descent bet product

NASA Technical Reports Server (NTRS)

Seacord, A. W., II

1986-01-01

The Ascent/Descent output product is produced in the OPIP routine from three files which constitute its input. One of these, OPIP.IN, contains mission specific parameters. Meteorological data, such as atmospheric wind velocities, temperatures, and density, are obtained from the second file, the Corrected Meteorological Data File (METDATA). The third file is the TRJATTDATA file which contains the time-tagged state vectors that combine trajectory information from the Best Estimate of Trajectory (BET) filter, LBRET5, and Best Estimate of Attitude (BEA) derived from IMU telemetry. Each term in the two output data files (BETDATA and the Navigation Block, or NAVBLK) are defined. The description of the BETDATA file includes an outline of the algorithm used to calculate each term. To facilitate describing the algorithms, a nomenclature is defined. The description of the nomenclature includes a definition of the coordinate systems used. The NAVBLK file contains navigation input parameters. Each term in NAVBLK is defined and its source is listed. The production of NAVBLK requires only two computational algorithms. These two algorithms, which compute the terms DELTA and RSUBO, are described. Finally, the distribution of data in the NAVBLK records is listed.

Improved Methodology for Surface and Atmospheric Soundings, Error Estimates, and Quality Control Procedures: the AIRS Science Team Version-6 Retrieval Algorithm

NASA Technical Reports Server (NTRS)

Susskind, Joel; Blaisdell, John; Iredell, Lena

2014-01-01

The AIRS Science Team Version-6 AIRS/AMSU retrieval algorithm is now operational at the Goddard DISC. AIRS Version-6 level-2 products are generated near real-time at the Goddard DISC and all level-2 and level-3 products are available starting from September 2002. This paper describes some of the significant improvements in retrieval methodology contained in the Version-6 retrieval algorithm compared to that previously used in Version-5. In particular, the AIRS Science Team made major improvements with regard to the algorithms used to 1) derive surface skin temperature and surface spectral emissivity; 2) generate the initial state used to start the cloud clearing and retrieval procedures; and 3) derive error estimates and use them for Quality Control. Significant improvements have also been made in the generation of cloud parameters. In addition to the basic AIRS/AMSU mode, Version-6 also operates in an AIRS Only (AO) mode which produces results almost as good as those of the full AIRS/AMSU mode. This paper also demonstrates the improvements of some AIRS Version-6 and Version-6 AO products compared to those obtained using Version-5.

Decoding and modelling of time series count data using Poisson hidden Markov model and Markov ordinal logistic regression models.

PubMed

Sebastian, Tunny; Jeyaseelan, Visalakshi; Jeyaseelan, Lakshmanan; Anandan, Shalini; George, Sebastian; Bangdiwala, Shrikant I

2018-01-01

Hidden Markov models are stochastic models in which the observations are assumed to follow a mixture distribution, but the parameters of the components are governed by a Markov chain which is unobservable. The issues related to the estimation of Poisson-hidden Markov models in which the observations are coming from mixture of Poisson distributions and the parameters of the component Poisson distributions are governed by an m-state Markov chain with an unknown transition probability matrix are explained here. These methods were applied to the data on Vibrio cholerae counts reported every month for 11-year span at Christian Medical College, Vellore, India. Using Viterbi algorithm, the best estimate of the state sequence was obtained and hence the transition probability matrix. The mean passage time between the states were estimated. The 95% confidence interval for the mean passage time was estimated via Monte Carlo simulation. The three hidden states of the estimated Markov chain are labelled as 'Low', 'Moderate' and 'High' with the mean counts of 1.4, 6.6 and 20.2 and the estimated average duration of stay of 3, 3 and 4 months, respectively. Environmental risk factors were studied using Markov ordinal logistic regression analysis. No significant association was found between disease severity levels and climate components.

Rotorcraft system identification techniques for handling qualities and stability and control evaluation

NASA Technical Reports Server (NTRS)

Hall, W. E., Jr.; Gupta, N. K.; Hansen, R. S.

1978-01-01

An integrated approach to rotorcraft system identification is described. This approach consists of sequential application of (1) data filtering to estimate states of the system and sensor errors, (2) model structure estimation to isolate significant model effects, and (3) parameter identification to quantify the coefficient of the model. An input design algorithm is described which can be used to design control inputs which maximize parameter estimation accuracy. Details of each aspect of the rotorcraft identification approach are given. Examples of both simulated and actual flight data processing are given to illustrate each phase of processing. The procedure is shown to provide means of calibrating sensor errors in flight data, quantifying high order state variable models from the flight data, and consequently computing related stability and control design models.

Modeling, Real-Time Estimation, and Identification of UWB Indoor Wireless Channels

DOE PAGES

Olama, Mohammed M.; Djouadi, Seddik M.; Li, Yanyan; ...

2013-01-01

Stochastic differential equations (SDEs) are used to model ultrawideband (UWB) indoor wireless channels. We show that the impulse responses for time-varying indoor wireless channels can be approximated in a mean-square sense as close as desired by impulse responses that can be realized by SDEs. The state variables represent the inphase and quadrature components of the UWB channel. The expected maximization and extended Kalman filter are employed to recursively identify and estimate the channel parameters and states, respectively, from online received signal strength measured data. Both resolvable and nonresolvable multipath received signals are considered and represented as small-scaled Nakagami fading. Themore » proposed models together with the estimation algorithm are tested using UWB indoor measurement data demonstrating the method’s viability and the results are presented.« less

Algorithms for Brownian first-passage-time estimation

NASA Astrophysics Data System (ADS)

Adib, Artur B.

2009-09-01

A class of algorithms in discrete space and continuous time for Brownian first-passage-time estimation is considered. A simple algorithm is derived that yields exact mean first-passage times (MFPTs) for linear potentials in one dimension, regardless of the lattice spacing. When applied to nonlinear potentials and/or higher spatial dimensions, numerical evidence suggests that this algorithm yields MFPT estimates that either outperform or rival Langevin-based (discrete time and continuous space) estimates.

Personalized recommendation based on unbiased consistence

NASA Astrophysics Data System (ADS)

Zhu, Xuzhen; Tian, Hui; Zhang, Ping; Hu, Zheng; Zhou, Tao

2015-08-01

Recently, in physical dynamics, mass-diffusion-based recommendation algorithms on bipartite network provide an efficient solution by automatically pushing possible relevant items to users according to their past preferences. However, traditional mass-diffusion-based algorithms just focus on unidirectional mass diffusion from objects having been collected to those which should be recommended, resulting in a biased causal similarity estimation and not-so-good performance. In this letter, we argue that in many cases, a user's interests are stable, and thus bidirectional mass diffusion abilities, no matter originated from objects having been collected or from those which should be recommended, should be consistently powerful, showing unbiased consistence. We further propose a consistence-based mass diffusion algorithm via bidirectional diffusion against biased causality, outperforming the state-of-the-art recommendation algorithms in disparate real data sets, including Netflix, MovieLens, Amazon and Rate Your Music.

A fast and accurate frequency estimation algorithm for sinusoidal signal with harmonic components

NASA Astrophysics Data System (ADS)

Hu, Jinghua; Pan, Mengchun; Zeng, Zhidun; Hu, Jiafei; Chen, Dixiang; Tian, Wugang; Zhao, Jianqiang; Du, Qingfa

2016-10-01

Frequency estimation is a fundamental problem in many applications, such as traditional vibration measurement, power system supervision, and microelectromechanical system sensors control. In this paper, a fast and accurate frequency estimation algorithm is proposed to deal with low efficiency problem in traditional methods. The proposed algorithm consists of coarse and fine frequency estimation steps, and we demonstrate that it is more efficient than conventional searching methods to achieve coarse frequency estimation (location peak of FFT amplitude) by applying modified zero-crossing technique. Thus, the proposed estimation algorithm requires less hardware and software sources and can achieve even higher efficiency when the experimental data increase. Experimental results with modulated magnetic signal show that the root mean square error of frequency estimation is below 0.032 Hz with the proposed algorithm, which has lower computational complexity and better global performance than conventional frequency estimation methods.

An Efficient Distributed Compressed Sensing Algorithm for Decentralized Sensor Network.

PubMed

Liu, Jing; Huang, Kaiyu; Zhang, Guoxian

2017-04-20

We consider the joint sparsity Model 1 (JSM-1) in a decentralized scenario, where a number of sensors are connected through a network and there is no fusion center. A novel algorithm, named distributed compact sensing matrix pursuit (DCSMP), is proposed to exploit the computational and communication capabilities of the sensor nodes. In contrast to the conventional distributed compressed sensing algorithms adopting a random sensing matrix, the proposed algorithm focuses on the deterministic sensing matrices built directly on the real acquisition systems. The proposed DCSMP algorithm can be divided into two independent parts, the common and innovation support set estimation processes. The goal of the common support set estimation process is to obtain an estimated common support set by fusing the candidate support set information from an individual node and its neighboring nodes. In the following innovation support set estimation process, the measurement vector is projected into a subspace that is perpendicular to the subspace spanned by the columns indexed by the estimated common support set, to remove the impact of the estimated common support set. We can then search the innovation support set using an orthogonal matching pursuit (OMP) algorithm based on the projected measurement vector and projected sensing matrix. In the proposed DCSMP algorithm, the process of estimating the common component/support set is decoupled with that of estimating the innovation component/support set. Thus, the inaccurately estimated common support set will have no impact on estimating the innovation support set. It is proven that under the condition the estimated common support set contains the true common support set, the proposed algorithm can find the true innovation set correctly. Moreover, since the innovation support set estimation process is independent of the common support set estimation process, there is no requirement for the cardinality of both sets; thus, the proposed DCSMP algorithm is capable of tackling the unknown sparsity problem successfully.

Rainfall estimation from soil moisture data: crash test for SM2RAIN algorithm

NASA Astrophysics Data System (ADS)

Brocca, Luca; Albergel, Clement; Massari, Christian; Ciabatta, Luca; Moramarco, Tommaso; de Rosnay, Patricia

2015-04-01

Soil moisture governs the partitioning of mass and energy fluxes between the land surface and the atmosphere and, hence, it represents a key variable for many applications in hydrology and earth science. In recent years, it was demonstrated that soil moisture observations from ground and satellite sensors contain important information useful for improving rainfall estimation. Indeed, soil moisture data have been used for correcting rainfall estimates from state-of-the-art satellite sensors (e.g. Crow et al., 2011), and also for improving flood prediction through a dual data assimilation approach (e.g. Massari et al., 2014; Chen et al., 2014). Brocca et al. (2013; 2014) developed a simple algorithm, called SM2RAIN, which allows estimating rainfall directly from soil moisture data. SM2RAIN has been applied successfully to in situ and satellite observations. Specifically, by using three satellite soil moisture products from ASCAT (Advanced SCATterometer), AMSR-E (Advanced Microwave Scanning Radiometer for Earth Observation) and SMOS (Soil Moisture and Ocean Salinity); it was found that the SM2RAIN-derived rainfall products are as accurate as state-of-the-art products, e.g., the real-time version of the TRMM (Tropical Rainfall Measuring Mission) product. Notwithstanding these promising results, a detailed study investigating the physical basis of the SM2RAIN algorithm, its range of applicability and its limitations on a global scale has still to be carried out. In this study, we carried out a crash test for SM2RAIN algorithm on a global scale by performing a synthetic experiment. Specifically, modelled soil moisture data are obtained from HTESSEL model (Hydrology Tiled ECMWF Scheme for Surface Exchanges over Land) forced by ERA-Interim near-surface meteorology. Afterwards, the modelled soil moisture data are used as input into SM2RAIN algorithm for testing weather or not the resulting rainfall estimates are able to reproduce ERA-Interim rainfall data. Correlation, root mean square differences and categorical scores were used to evaluate the goodness of the results. This analysis wants to draw global picture of the performance of SM2RAIN algorithm in absence of errors in soil moisture and rainfall data. First preliminary results over Europe have shown that SM2RAIN performs particularly well over southern Europe (e.g., Spain, Italy and Greece) while its performances diminish by moving towards Northern latitudes (Scandinavia) and over Alps. The results on a global scale will be shown and discussed at the conference session. REFERENCES Brocca, L., Melone, F., Moramarco, T., Wagner, W. (2013). A new method for rainfall estimation through soil moisture observations. Geophysical Research Letters, 40(5), 853-858. Brocca, L., Ciabatta, L., Massari, C., Moramarco, T., Hahn, S., Hasenauer, S., Kidd, R., Dorigo, W., Wagner, W., Levizzani, V. (2014). Soil as a natural rain gauge: estimating global rainfall from satellite soil moisture data. Journal of Geophysical Research, 119(9), 5128-5141. Chen F, Crow WT, Ryu D. (2014) Dual forcing and state correction via soil moisture assimilation for improved rainfall-runoff modeling. J Hydrometeor, 15, 1832-1848. Crow, W.T., van den Berg, M.J., Huffman, G.J., Pellarin, T. (2011). Correcting rainfall using satellite-based surface soil moisture retrievals: the soil moisture analysis rainfall tool (SMART). Water Resour Res, 47, W08521. Dee, D. P.,et al. (2011). The ERA-Interim reanalysis: configuration and performance of the data assimilation system. Q. J. Roy. Meteorol. Soc., 137, 553-597 Massari, C., Brocca, L., Moramarco, T., Tramblay, Y., Didon Lescot, J.-F. (2014). Potential of soil moisture observations in flood modelling: estimating initial conditions and correcting rainfall. Advances in Water Resources, 74, 44-53.

Bayesian Estimation of Multidimensional Item Response Models. A Comparison of Analytic and Simulation Algorithms

ERIC Educational Resources Information Center

Martin-Fernandez, Manuel; Revuelta, Javier

2017-01-01

This study compares the performance of two estimation algorithms of new usage, the Metropolis-Hastings Robins-Monro (MHRM) and the Hamiltonian MCMC (HMC), with two consolidated algorithms in the psychometric literature, the marginal likelihood via EM algorithm (MML-EM) and the Markov chain Monte Carlo (MCMC), in the estimation of multidimensional…

Adaptively biased sequential importance sampling for rare events in reaction networks with comparison to exact solutions from finite buffer dCME method

PubMed Central

Cao, Youfang; Liang, Jie

2013-01-01

Critical events that occur rarely in biological processes are of great importance, but are challenging to study using Monte Carlo simulation. By introducing biases to reaction selection and reaction rates, weighted stochastic simulation algorithms based on importance sampling allow rare events to be sampled more effectively. However, existing methods do not address the important issue of barrier crossing, which often arises from multistable networks and systems with complex probability landscape. In addition, the proliferation of parameters and the associated computing cost pose significant problems. Here we introduce a general theoretical framework for obtaining optimized biases in sampling individual reactions for estimating probabilities of rare events. We further describe a practical algorithm called adaptively biased sequential importance sampling (ABSIS) method for efficient probability estimation. By adopting a look-ahead strategy and by enumerating short paths from the current state, we estimate the reaction-specific and state-specific forward and backward moving probabilities of the system, which are then used to bias reaction selections. The ABSIS algorithm can automatically detect barrier-crossing regions, and can adjust bias adaptively at different steps of the sampling process, with bias determined by the outcome of exhaustively generated short paths. In addition, there are only two bias parameters to be determined, regardless of the number of the reactions and the complexity of the network. We have applied the ABSIS method to four biochemical networks: the birth-death process, the reversible isomerization, the bistable Schlögl model, and the enzymatic futile cycle model. For comparison, we have also applied the finite buffer discrete chemical master equation (dCME) method recently developed to obtain exact numerical solutions of the underlying discrete chemical master equations of these problems. This allows us to assess sampling results objectively by comparing simulation results with true answers. Overall, ABSIS can accurately and efficiently estimate rare event probabilities for all examples, often with smaller variance than other importance sampling algorithms. The ABSIS method is general and can be applied to study rare events of other stochastic networks with complex probability landscape. PMID:23862966

Adaptively biased sequential importance sampling for rare events in reaction networks with comparison to exact solutions from finite buffer dCME method

NASA Astrophysics Data System (ADS)

Cao, Youfang; Liang, Jie

2013-07-01

Critical events that occur rarely in biological processes are of great importance, but are challenging to study using Monte Carlo simulation. By introducing biases to reaction selection and reaction rates, weighted stochastic simulation algorithms based on importance sampling allow rare events to be sampled more effectively. However, existing methods do not address the important issue of barrier crossing, which often arises from multistable networks and systems with complex probability landscape. In addition, the proliferation of parameters and the associated computing cost pose significant problems. Here we introduce a general theoretical framework for obtaining optimized biases in sampling individual reactions for estimating probabilities of rare events. We further describe a practical algorithm called adaptively biased sequential importance sampling (ABSIS) method for efficient probability estimation. By adopting a look-ahead strategy and by enumerating short paths from the current state, we estimate the reaction-specific and state-specific forward and backward moving probabilities of the system, which are then used to bias reaction selections. The ABSIS algorithm can automatically detect barrier-crossing regions, and can adjust bias adaptively at different steps of the sampling process, with bias determined by the outcome of exhaustively generated short paths. In addition, there are only two bias parameters to be determined, regardless of the number of the reactions and the complexity of the network. We have applied the ABSIS method to four biochemical networks: the birth-death process, the reversible isomerization, the bistable Schlögl model, and the enzymatic futile cycle model. For comparison, we have also applied the finite buffer discrete chemical master equation (dCME) method recently developed to obtain exact numerical solutions of the underlying discrete chemical master equations of these problems. This allows us to assess sampling results objectively by comparing simulation results with true answers. Overall, ABSIS can accurately and efficiently estimate rare event probabilities for all examples, often with smaller variance than other importance sampling algorithms. The ABSIS method is general and can be applied to study rare events of other stochastic networks with complex probability landscape.

Adaptively biased sequential importance sampling for rare events in reaction networks with comparison to exact solutions from finite buffer dCME method.

PubMed

Cao, Youfang; Liang, Jie

2013-07-14

Critical events that occur rarely in biological processes are of great importance, but are challenging to study using Monte Carlo simulation. By introducing biases to reaction selection and reaction rates, weighted stochastic simulation algorithms based on importance sampling allow rare events to be sampled more effectively. However, existing methods do not address the important issue of barrier crossing, which often arises from multistable networks and systems with complex probability landscape. In addition, the proliferation of parameters and the associated computing cost pose significant problems. Here we introduce a general theoretical framework for obtaining optimized biases in sampling individual reactions for estimating probabilities of rare events. We further describe a practical algorithm called adaptively biased sequential importance sampling (ABSIS) method for efficient probability estimation. By adopting a look-ahead strategy and by enumerating short paths from the current state, we estimate the reaction-specific and state-specific forward and backward moving probabilities of the system, which are then used to bias reaction selections. The ABSIS algorithm can automatically detect barrier-crossing regions, and can adjust bias adaptively at different steps of the sampling process, with bias determined by the outcome of exhaustively generated short paths. In addition, there are only two bias parameters to be determined, regardless of the number of the reactions and the complexity of the network. We have applied the ABSIS method to four biochemical networks: the birth-death process, the reversible isomerization, the bistable Schlögl model, and the enzymatic futile cycle model. For comparison, we have also applied the finite buffer discrete chemical master equation (dCME) method recently developed to obtain exact numerical solutions of the underlying discrete chemical master equations of these problems. This allows us to assess sampling results objectively by comparing simulation results with true answers. Overall, ABSIS can accurately and efficiently estimate rare event probabilities for all examples, often with smaller variance than other importance sampling algorithms. The ABSIS method is general and can be applied to study rare events of other stochastic networks with complex probability landscape.

Estimating summary statistics for electronic health record laboratory data for use in high-throughput phenotyping algorithms

PubMed Central

Elhadad, N.; Claassen, J.; Perotte, R.; Goldstein, A.; Hripcsak, G.

2018-01-01

We study the question of how to represent or summarize raw laboratory data taken from an electronic health record (EHR) using parametric model selection to reduce or cope with biases induced through clinical care. It has been previously demonstrated that the health care process (Hripcsak and Albers, 2012, 2013), as defined by measurement context (Hripcsak and Albers, 2013; Albers et al., 2012) and measurement patterns (Albers and Hripcsak, 2010, 2012), can influence how EHR data are distributed statistically (Kohane and Weber, 2013; Pivovarov et al., 2014). We construct an algorithm, PopKLD, which is based on information criterion model selection (Burnham and Anderson, 2002; Claeskens and Hjort, 2008), is intended to reduce and cope with health care process biases and to produce an intuitively understandable continuous summary. The PopKLD algorithm can be automated and is designed to be applicable in high-throughput settings; for example, the output of the PopKLD algorithm can be used as input for phenotyping algorithms. Moreover, we develop the PopKLD-CAT algorithm that transforms the continuous PopKLD summary into a categorical summary useful for applications that require categorical data such as topic modeling. We evaluate our methodology in two ways. First, we apply the method to laboratory data collected in two different health care contexts, primary versus intensive care. We show that the PopKLD preserves known physiologic features in the data that are lost when summarizing the data using more common laboratory data summaries such as mean and standard deviation. Second, for three disease-laboratory measurement pairs, we perform a phenotyping task: we use the PopKLD and PopKLD-CAT algorithms to define high and low values of the laboratory variable that are used for defining a disease state. We then compare the relationship between the PopKLD-CAT summary disease predictions and the same predictions using empirically estimated mean and standard deviation to a gold standard generated by clinical review of patient records. We find that the PopKLD laboratory data summary is substantially better at predicting disease state. The PopKLD or PopKLD-CAT algorithms are not meant to be used as phenotyping algorithms, but we use the phenotyping task to show what information can be gained when using a more informative laboratory data summary. In the process of evaluation our method we show that the different clinical contexts and laboratory measurements necessitate different statistical summaries. Similarly, leveraging the principle of maximum entropy we argue that while some laboratory data only have sufficient information to estimate a mean and standard deviation, other laboratory data captured in an EHR contain substantially more information than can be captured in higher-parameter models. PMID:29369797

Estimating summary statistics for electronic health record laboratory data for use in high-throughput phenotyping algorithms.

PubMed

Albers, D J; Elhadad, N; Claassen, J; Perotte, R; Goldstein, A; Hripcsak, G

2018-02-01

We study the question of how to represent or summarize raw laboratory data taken from an electronic health record (EHR) using parametric model selection to reduce or cope with biases induced through clinical care. It has been previously demonstrated that the health care process (Hripcsak and Albers, 2012, 2013), as defined by measurement context (Hripcsak and Albers, 2013; Albers et al., 2012) and measurement patterns (Albers and Hripcsak, 2010, 2012), can influence how EHR data are distributed statistically (Kohane and Weber, 2013; Pivovarov et al., 2014). We construct an algorithm, PopKLD, which is based on information criterion model selection (Burnham and Anderson, 2002; Claeskens and Hjort, 2008), is intended to reduce and cope with health care process biases and to produce an intuitively understandable continuous summary. The PopKLD algorithm can be automated and is designed to be applicable in high-throughput settings; for example, the output of the PopKLD algorithm can be used as input for phenotyping algorithms. Moreover, we develop the PopKLD-CAT algorithm that transforms the continuous PopKLD summary into a categorical summary useful for applications that require categorical data such as topic modeling. We evaluate our methodology in two ways. First, we apply the method to laboratory data collected in two different health care contexts, primary versus intensive care. We show that the PopKLD preserves known physiologic features in the data that are lost when summarizing the data using more common laboratory data summaries such as mean and standard deviation. Second, for three disease-laboratory measurement pairs, we perform a phenotyping task: we use the PopKLD and PopKLD-CAT algorithms to define high and low values of the laboratory variable that are used for defining a disease state. We then compare the relationship between the PopKLD-CAT summary disease predictions and the same predictions using empirically estimated mean and standard deviation to a gold standard generated by clinical review of patient records. We find that the PopKLD laboratory data summary is substantially better at predicting disease state. The PopKLD or PopKLD-CAT algorithms are not meant to be used as phenotyping algorithms, but we use the phenotyping task to show what information can be gained when using a more informative laboratory data summary. In the process of evaluation our method we show that the different clinical contexts and laboratory measurements necessitate different statistical summaries. Similarly, leveraging the principle of maximum entropy we argue that while some laboratory data only have sufficient information to estimate a mean and standard deviation, other laboratory data captured in an EHR contain substantially more information than can be captured in higher-parameter models. Copyright © 2018 The Authors. Published by Elsevier Inc. All rights reserved.

Non-invasive Fetal ECG Signal Quality Assessment for Multichannel Heart Rate Estimation.

PubMed

Andreotti, Fernando; Graser, Felix; Malberg, Hagen; Zaunseder, Sebastian

2017-12-01

The noninvasive fetal ECG (NI-FECG) from abdominal recordings offers novel prospects for prenatal monitoring. However, NI-FECG signals are corrupted by various nonstationary noise sources, making the processing of abdominal recordings a challenging task. In this paper, we present an online approach that dynamically assess the quality of NI-FECG to improve fetal heart rate (FHR) estimation. Using a naive Bayes classifier, state-of-the-art and novel signal quality indices (SQIs), and an existing adaptive Kalman filter, FHR estimation was improved. For the purpose of training and validating the proposed methods, a large annotated private clinical dataset was used. The suggested classification scheme demonstrated an accuracy of Krippendorff's alpha in determining the overall quality of NI-FECG signals. The proposed Kalman filter outperformed alternative methods for FHR estimation achieving accuracy. The proposed algorithm was able to reliably reflect changes of signal quality and can be used in improving FHR estimation. NI-ECG signal quality estimation and multichannel information fusion are largely unexplored topics. Based on previous works, multichannel FHR estimation is a field that could strongly benefit from such methods. The developed SQI algorithms as well as resulting classifier were made available under a GNU GPL open-source license and contributed to the FECGSYN toolbox.

Using Behavioral Risk Factor Surveillance System data to estimate the percent of the population meeting USDA Food Patterns fruit and vegetable intake recommendations

PubMed Central

Moore, Latetia V; Dodd, Kevin W; Thompson, Frances E; Grimm, Kirsten A; Kim, Sonia A; Scanlon, Kelley S

2015-01-01

Most Americans do not eat enough fruits and vegetables with significant variation by state. State-level self-reported frequency of fruit and vegetable consumption is available from the Centers for Disease Control and Prevention’s Behavioral Risk Factor Surveillance System (BRFSS). However, BRFSS cannot be used to directly compare states’ progress towards national goals because of incongruence in units used to measure intake and because distributions from frequency data are not reflective of usual intake. To help states track progress, we developed scoring algorithms from external data and applied them to 2011 BRFSS data to estimate the percent of each state’s adult population meeting United States Department of Agriculture Food Patterns fruit and vegetable intake recommendations. We used 24 hour dietary recall data from the 2007–2010 National Health and Nutrition Examination Survey to fit sex- and age-specific models that estimate probabilities of meeting recommendations as functions of reported consumption frequency, race/ethnicity, and poverty-income ratio adjusting for intra-individual variation. Regression parameters derived from these models were applied to BRFSS to estimate percent meeting recommendations. We estimate that 7–18% of state populations met fruit recommendations and 5–12% met vegetable recommendations. Our method provides a new tool for states to track progress towards meeting dietary recommendations. PMID:25935424

Direction of Arrival Estimation Using a Reconfigurable Array

DTIC Science & Technology

2005-05-06

civilian world. Keywords: Direction-of-arrival Estimation MUSIC algorithm Reconfigurable Array Experimental Created by Neevia Personal...14. SUBJECT TERMS: Direction-of-arrival ; Estimation ; MUSIC algorithm ; Reconfigurable ; Array ; Experimental 16. PRICE CODE 17...9 1.5 MuSiC Algorithm

Quaternion Averaging

NASA Technical Reports Server (NTRS)

Markley, F. Landis; Cheng, Yang; Crassidis, John L.; Oshman, Yaakov

2007-01-01

Many applications require an algorithm that averages quaternions in an optimal manner. For example, when combining the quaternion outputs of multiple star trackers having this output capability, it is desirable to properly average the quaternions without recomputing the attitude from the the raw star tracker data. Other applications requiring some sort of optimal quaternion averaging include particle filtering and multiple-model adaptive estimation, where weighted quaternions are used to determine the quaternion estimate. For spacecraft attitude estimation applications, derives an optimal averaging scheme to compute the average of a set of weighted attitude matrices using the singular value decomposition method. Focusing on a 4-dimensional quaternion Gaussian distribution on the unit hypersphere, provides an approach to computing the average quaternion by minimizing a quaternion cost function that is equivalent to the attitude matrix cost function Motivated by and extending its results, this Note derives an algorithm that deterniines an optimal average quaternion from a set of scalar- or matrix-weighted quaternions. Rirthermore, a sufficient condition for the uniqueness of the average quaternion, and the equivalence of the mininiization problem, stated herein, to maximum likelihood estimation, are shown.

Cooperative Robot Localization Using Event-Triggered Estimation

NASA Astrophysics Data System (ADS)

Iglesias Echevarria, David I.

It is known that multiple robot systems that need to cooperate to perform certain activities or tasks incur in high energy costs that hinder their autonomous functioning and limit the benefits provided to humans by these kinds of platforms. This work presents a communications-based method for cooperative robot localization. Implementing concepts from event-triggered estimation, used with success in the field of wireless sensor networks but rarely to do robot localization, agents are able to only send measurements to their neighbors when the expected novelty in this information is high. Since all agents know the condition that triggers a measurement to be sent or not, the lack of a measurement is therefore informative and fused into state estimates. In the case agents do not receive either direct nor indirect measurements of all others, the agents employ a covariance intersection fusion rule in order to keep the local covariance error metric bounded. A comprehensive analysis of the proposed algorithm and its estimation performance in a variety of scenarios is performed, and the algorithm is compared to similar cooperative localization approaches. Extensive simulations are performed that illustrate the effectiveness of this method.

Online technique for detecting state of onboard fiber optic gyroscope

DOE Office of Scientific and Technical Information (OSTI.GOV)

Miao, Zhiyong; He, Kunpeng, E-mail: pengkhe@126.com; Pang, Shuwan

2015-02-15

Although angle random walk (ARW) of fiber optic gyroscope (FOG) has been well modeled and identified before being integrated into the high-accuracy attitude control system of satellite, aging and unexpected failures can affect the performance of FOG after launch, resulting in the variation of ARW coefficient. Therefore, the ARW coefficient can be regarded as an indicator of “state of health” for FOG diagnosis in some sense. The Allan variance method can be used to estimate ARW coefficient of FOG, however, it requires a large amount of data to be stored. Moreover, the procedure of drawing slope lines for estimation ismore » painful. To overcome the barriers, a weighted state-space model that directly models the ARW to obtain a nonlinear state-space model was established for FOG. Then, a neural extended-Kalman filter algorithm was implemented to estimate and track the variation of ARW in real time. The results of experiment show that the proposed approach is valid to detect the state of FOG. Moreover, the proposed technique effectively avoids the storage of data.« less

Differences in estimating terrestrial water flux from three satellite-based Priestley-Taylor algorithms

NASA Astrophysics Data System (ADS)

Yao, Yunjun; Liang, Shunlin; Yu, Jian; Zhao, Shaohua; Lin, Yi; Jia, Kun; Zhang, Xiaotong; Cheng, Jie; Xie, Xianhong; Sun, Liang; Wang, Xuanyu; Zhang, Lilin

2017-04-01

Accurate estimates of terrestrial latent heat of evaporation (LE) for different biomes are essential to assess energy, water and carbon cycles. Different satellite- based Priestley-Taylor (PT) algorithms have been developed to estimate LE in different biomes. However, there are still large uncertainties in LE estimates for different PT algorithms. In this study, we evaluated differences in estimating terrestrial water flux in different biomes from three satellite-based PT algorithms using ground-observed data from eight eddy covariance (EC) flux towers of China. The results reveal that large differences in daily LE estimates exist based on EC measurements using three PT algorithms among eight ecosystem types. At the forest (CBS) site, all algorithms demonstrate high performance with low root mean square error (RMSE) (less than 16 W/m2) and high squared correlation coefficient (R2) (more than 0.9). At the village (HHV) site, the ATI-PT algorithm has the lowest RMSE (13.9 W/m2), with bias of 2.7 W/m2 and R2 of 0.66. At the irrigated crop (HHM) site, almost all models algorithms underestimate LE, indicating these algorithms may not capture wet soil evaporation by parameterization of the soil moisture. In contrast, the SM-PT algorithm shows high values of R2 (comparable to those of ATI-PT and VPD-PT) at most other (grass, wetland, desert and Gobi) biomes. There are no obvious differences in seasonal LE estimation using MODIS NDVI and LAI at most sites. However, all meteorological or satellite-based water-related parameters used in the PT algorithm have uncertainties for optimizing water constraints. This analysis highlights the need to improve PT algorithms with regard to water constraints.

Analysis of estimation algorithms for CDTI and CAS applications

NASA Technical Reports Server (NTRS)

Goka, T.

1985-01-01

Estimation algorithms for Cockpit Display of Traffic Information (CDTI) and Collision Avoidance System (CAS) applications were analyzed and/or developed. The algorithms are based on actual or projected operational and performance characteristics of an Enhanced TCAS II traffic sensor developed by Bendix and the Federal Aviation Administration. Three algorithm areas are examined and discussed. These are horizontal x and y, range and altitude estimation algorithms. Raw estimation errors are quantified using Monte Carlo simulations developed for each application; the raw errors are then used to infer impacts on the CDTI and CAS applications. Applications of smoothing algorithms to CDTI problems are also discussed briefly. Technical conclusions are summarized based on the analysis of simulation results.

Validation of the alternating conditional estimation algorithm for estimation of flexible extensions of Cox's proportional hazards model with nonlinear constraints on the parameters.

PubMed

Wynant, Willy; Abrahamowicz, Michal

2016-11-01

Standard optimization algorithms for maximizing likelihood may not be applicable to the estimation of those flexible multivariable models that are nonlinear in their parameters. For applications where the model's structure permits separating estimation of mutually exclusive subsets of parameters into distinct steps, we propose the alternating conditional estimation (ACE) algorithm. We validate the algorithm, in simulations, for estimation of two flexible extensions of Cox's proportional hazards model where the standard maximum partial likelihood estimation does not apply, with simultaneous modeling of (1) nonlinear and time-dependent effects of continuous covariates on the hazard, and (2) nonlinear interaction and main effects of the same variable. We also apply the algorithm in real-life analyses to estimate nonlinear and time-dependent effects of prognostic factors for mortality in colon cancer. Analyses of both simulated and real-life data illustrate good statistical properties of the ACE algorithm and its ability to yield new potentially useful insights about the data structure. © 2016 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Dual Accelerometer Usage Strategy for Onboard Space Navigation

NASA Technical Reports Server (NTRS)

Zanetti, Renato; D'Souza, Chris

2012-01-01

This work introduces a dual accelerometer usage strategy for onboard space navigation. In the proposed algorithm the accelerometer is used to propagate the state when its value exceeds a threshold and it is used to estimate its errors otherwise. Numerical examples and comparison to other accelerometer usage schemes are presented to validate the proposed approach.

A Design Study of Onboard Navigation and Guidance During Aerocapture at Mars. M.S. Thesis

NASA Technical Reports Server (NTRS)

Fuhry, Douglas Paul

1988-01-01

The navigation and guidance of a high lift-to-drag ratio sample return vehicle during aerocapture at Mars are investigated. Emphasis is placed on integrated systems design, with guidance algorithm synthesis and analysis based on vehicle state and atmospheric density uncertainty estimates provided by the navigation system. The latter utilizes a Kalman filter for state vector estimation, with useful update information obtained through radar altimeter measurements and density altitude measurements based on IMU-measured drag acceleration. A three-phase guidance algorithm, featuring constant bank numeric predictor/corrector atmospheric capture and exit phases and an extended constant altitude cruise phase, is developed to provide controlled capture and depletion of orbital energy, orbital plane control, and exit apoapsis control. Integrated navigation and guidance systems performance are analyzed using a four degree-of-freedom computer simulation. The simulation environment includes an atmospheric density model with spatially correlated perturbations to provide realistic variations over the vehicle trajectory. Navigation filter initial conditions for the analysis are based on planetary approach optical navigation results. Results from a selection of test cases are presented to give insight into systems performance.

Visual navigation using edge curve matching for pinpoint planetary landing

NASA Astrophysics Data System (ADS)

Cui, Pingyuan; Gao, Xizhen; Zhu, Shengying; Shao, Wei

2018-05-01

Pinpoint landing is challenging for future Mars and asteroid exploration missions. Vision-based navigation scheme based on feature detection and matching is practical and can achieve the required precision. However, existing algorithms are computationally prohibitive and utilize poor-performance measurements, which pose great challenges for the application of visual navigation. This paper proposes an innovative visual navigation scheme using crater edge curves during descent and landing phase. In the algorithm, the edge curves of the craters tracked from two sequential images are utilized to determine the relative attitude and position of the lander through a normalized method. Then, considering error accumulation of relative navigation, a method is developed. That is to integrate the crater-based relative navigation method with crater-based absolute navigation method that identifies craters using a georeferenced database for continuous estimation of absolute states. In addition, expressions of the relative state estimate bias are derived. Novel necessary and sufficient observability criteria based on error analysis are provided to improve the navigation performance, which hold true for similar navigation systems. Simulation results demonstrate the effectiveness and high accuracy of the proposed navigation method.

A closed-form solution to tensor voting: theory and applications.

PubMed

Wu, Tai-Pang; Yeung, Sai-Kit; Jia, Jiaya; Tang, Chi-Keung; Medioni, Gérard

2012-08-01

We prove a closed-form solution to tensor voting (CFTV): Given a point set in any dimensions, our closed-form solution provides an exact, continuous, and efficient algorithm for computing a structure-aware tensor that simultaneously achieves salient structure detection and outlier attenuation. Using CFTV, we prove the convergence of tensor voting on a Markov random field (MRF), thus termed as MRFTV, where the structure-aware tensor at each input site reaches a stationary state upon convergence in structure propagation. We then embed structure-aware tensor into expectation maximization (EM) for optimizing a single linear structure to achieve efficient and robust parameter estimation. Specifically, our EMTV algorithm optimizes both the tensor and fitting parameters and does not require random sampling consensus typically used in existing robust statistical techniques. We performed quantitative evaluation on its accuracy and robustness, showing that EMTV performs better than the original TV and other state-of-the-art techniques in fundamental matrix estimation for multiview stereo matching. The extensions of CFTV and EMTV for extracting multiple and nonlinear structures are underway.

Particle filtering based structural assessment with acoustic emission sensing

NASA Astrophysics Data System (ADS)

Yan, Wuzhao; Abdelrahman, Marwa; Zhang, Bin; Ziehl, Paul

2017-02-01

Nuclear structures are designed to withstand severe loading events under various stresses. Over time, aging of structural systems constructed with concrete and steel will occur. This deterioration may reduce service life of nuclear facilities and/or lead to unnecessary or untimely repairs. Therefore, online monitoring of structures in nuclear power plants and waste storage has drawn significant attention in recent years. Of many existing non-destructive evaluation and structural monitoring approaches, acoustic emission is promising for assessment of structural damage because it is non-intrusive and is sensitive to corrosion and crack growth in reinforced concrete elements. To provide a rapid, actionable, and graphical means for interpretation Intensity Analysis plots have been developed. This approach provides a means for classification of damage. Since the acoustic emission measurement is only an indirect indicator of structural damage, potentially corrupted by non-genuine data, it is more suitable to estimate the states of corrosion and cracking in a Bayesian estimation framework. In this paper, we will utilize the accelerated corrosion data from a specimen at the University of South Carolina to develop a particle filtering-based diagnosis and prognosis algorithm. Promising features of the proposed algorithm are described in terms of corrosion state estimation and prediction of degradation over time to a predefined threshold.

Preliminary evaluation of the Environmental Research Institute of Michigan crop calendar shift algorithm for estimation of spring wheat development stage. [North Dakota, South Dakota, Montana, and Minnesota

NASA Technical Reports Server (NTRS)

Phinney, D. E. (Principal Investigator)

1980-01-01

An algorithm for estimating spectral crop calendar shifts of spring small grains was applied to 1978 spring wheat fields. The algorithm provides estimates of the date of peak spectral response by maximizing the cross correlation between a reference profile and the observed multitemporal pattern of Kauth-Thomas greenness for a field. A methodology was developed for estimation of crop development stage from the date of peak spectral response. Evaluation studies showed that the algorithm provided stable estimates with no geographical bias. Crop development stage estimates had a root mean square error near 10 days. The algorithm was recommended for comparative testing against other models which are candidates for use in AgRISTARS experiments.