8,990 research outputs found
Fast Real-Time DC State Estimation in Electric Power Systems Using Belief Propagation
We propose a fast real-time state estimator based on the belief propagation
algorithm for the power system state estimation. The proposed estimator is easy
to distribute and parallelize, thus alleviating computational limitations and
allowing for processing measurements in real time. The presented algorithm may
run as a continuous process, with each new measurement being seamlessly
processed by the distributed state estimator. In contrast to the matrix-based
state estimation methods, the belief propagation approach is robust to
ill-conditioned scenarios caused by significant differences between measurement
variances, thus resulting in a solution that eliminates observability analysis.
Using the DC model, we numerically demonstrate the performance of the state
estimator in a realistic real-time system model with asynchronous measurements.
We note that the extension to the AC state estimation is possible within the
same framework.Comment: 6 pages; 7 figures; submitted in the IEEE International Conference on
Smart Grid Communications (SmartGridComm 2017
Asymptotic Analysis of MAP Estimation via the Replica Method and Applications to Compressed Sensing
The replica method is a non-rigorous but well-known technique from
statistical physics used in the asymptotic analysis of large, random, nonlinear
problems. This paper applies the replica method, under the assumption of
replica symmetry, to study estimators that are maximum a posteriori (MAP) under
a postulated prior distribution. It is shown that with random linear
measurements and Gaussian noise, the replica-symmetric prediction of the
asymptotic behavior of the postulated MAP estimate of an n-dimensional vector
"decouples" as n scalar postulated MAP estimators. The result is based on
applying a hardening argument to the replica analysis of postulated posterior
mean estimators of Tanaka and of Guo and Verdu.
The replica-symmetric postulated MAP analysis can be readily applied to many
estimators used in compressed sensing, including basis pursuit, lasso, linear
estimation with thresholding, and zero norm-regularized estimation. In the case
of lasso estimation the scalar estimator reduces to a soft-thresholding
operator, and for zero norm-regularized estimation it reduces to a
hard-threshold. Among other benefits, the replica method provides a
computationally-tractable method for precisely predicting various performance
metrics including mean-squared error and sparsity pattern recovery probability.Comment: 22 pages; added details on the replica symmetry assumptio
An Iterative Receiver for OFDM With Sparsity-Based Parametric Channel Estimation
In this work we design a receiver that iteratively passes soft information
between the channel estimation and data decoding stages. The receiver
incorporates sparsity-based parametric channel estimation. State-of-the-art
sparsity-based iterative receivers simplify the channel estimation problem by
restricting the multipath delays to a grid. Our receiver does not impose such a
restriction. As a result it does not suffer from the leakage effect, which
destroys sparsity. Communication at near capacity rates in high SNR requires a
large modulation order. Due to the close proximity of modulation symbols in
such systems, the grid-based approximation is of insufficient accuracy. We show
numerically that a state-of-the-art iterative receiver with grid-based sparse
channel estimation exhibits a bit-error-rate floor in the high SNR regime. On
the contrary, our receiver performs very close to the perfect channel state
information bound for all SNR values. We also demonstrate both theoretically
and numerically that parametric channel estimation works well in dense
channels, i.e., when the number of multipath components is large and each
individual component cannot be resolved.Comment: Major revision, accepted for IEEE Transactions on Signal Processin
Convergence analysis of the information matrix in Gaussian belief propagation
Gaussian belief propagation (BP) has been widely used for distributed
estimation in large-scale networks such as the smart grid, communication
networks, and social networks, where local measurements/observations are
scattered over a wide geographical area. However, the convergence of Gaus- sian
BP is still an open issue. In this paper, we consider the convergence of
Gaussian BP, focusing in particular on the convergence of the information
matrix. We show analytically that the exchanged message information matrix
converges for arbitrary positive semidefinite initial value, and its dis- tance
to the unique positive definite limit matrix decreases exponentially fast.Comment: arXiv admin note: substantial text overlap with arXiv:1611.0201
Sampling-based Motion Planning for Active Multirotor System Identification
This paper reports on an algorithm for planning trajectories that allow a
multirotor micro aerial vehicle (MAV) to quickly identify a set of unknown
parameters. In many problems like self calibration or model parameter
identification some states are only observable under a specific motion. These
motions are often hard to find, especially for inexperienced users. Therefore,
we consider system model identification in an active setting, where the vehicle
autonomously decides what actions to take in order to quickly identify the
model. Our algorithm approximates the belief dynamics of the system around a
candidate trajectory using an extended Kalman filter (EKF). It uses
sampling-based motion planning to explore the space of possible beliefs and
find a maximally informative trajectory within a user-defined budget. We
validate our method in simulation and on a real system showing the feasibility
and repeatability of the proposed approach. Our planner creates trajectories
which reduce model parameter convergence time and uncertainty by a factor of
four.Comment: Published at ICRA 2017. Video available at
https://www.youtube.com/watch?v=xtqrWbgep5
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