Fuzzy interacting multiple model H∞ particle filter algorithm based on current statistical model

In this paper, fuzzy theory and interacting multiple model are introduced into H∞ filter-based particle filter to propose a new fuzzy interacting multiple model H∞ particle filter based on current statistical model. Each model uses H∞ particle filter algorithm for filtering, in which the current statistical model can describe the maneuver of target accurately and H∞ filter can deal with the nonlinear system effectively. Aiming at the problem of large amount of probability calculation in interacting multiple model by using combination calculation method, our approach calculates each model matching probability through the fuzzy theory, which can not only reduce the calculation amount, but also improve the state estimation accuracy to some extent. The simulation results show that the proposed algorithm can be more accurate and robust to track maneuvering target

EPR Paradox,Locality and Completeness of Quantum Theory

The quantum theory (QT) and new stochastic approaches have no deterministic prediction for a single measurement or for a single time -series of events observed for a trapped ion, electron or any other individual physical system. The predictions of QT being of probabilistic character apply to the statistical distribution of the results obtained in various experiments. The probability distribution is not an attribute of a dice but it is a characteristic of a whole random experiment : '' rolling a dice''. and statistical long range correlations between two random variables X and Y are not a proof of any causal relation between these variable. Moreover any probabilistic model used to describe a random experiment is consistent only with a specific protocol telling how the random experiment has to be performed.In this sense the quantum theory is a statistical and contextual theory of phenomena. In this paper we discuss these important topics in some detail. Besides we discuss in historical perspective various prerequisites used in the proofs of Bell and CHSH inequalities concluding that the violation of these inequalities in spin polarization correlation experiments is neither a proof of the completeness of QT nor of its nonlocality. The question whether QT is predictably complete is still open and it should be answered by a careful and unconventional analysis of the experimental data. It is sufficient to analyze more in detail the existing experimental data by using various non-parametric purity tests and other specific statistical tools invented to study the fine structure of the time-series. The correct understanding of statistical and contextual character of QT has far reaching consequences for the quantum information and quantum computing.Comment: 16 pages, 59 references,the contribution to the conference QTRF-4 held in Vaxjo, Sweden, 11-16 june 2007. To be published in the Proceeding

A new fuzzy based algorithm for solving stereo vagueness in detecting and tracking people

This paper describes a system capable of detecting and tracking various people using a new approach based on colour, stereo vision and fuzzy logic. Initially, in the people detection phase, two fuzzy systems are used to filter out false positives of a face detector. Then, in the tracking phase, a new fuzzy logic based particle filter (FLPF) is proposed to fuse stereo and colour information assigning different confidence levels to each of these information sources. Information regarding depth and occlusion is used to create these confidence levels. This way, the system is able to keep track of people, in the reference camera image, even when either stereo information or colour information is confusing or not reliable. To carry out the tracking, the new FLPF is used, so that several particles are generated while several fuzzy systems compute the possibility that some of the generated particles correspond to the new position of people. Our technique outperforms two well known tracking approaches, one based on the method from Nummiaro et al. [1] and other based on the Kalman/meanshift tracker method in Comaniciu and Ramesh [2]. All these approaches were tested using several colour-with-distance sequences simulating real life scenarios. The results show that our system is able to keep track of people in most of the situations where other trackers fail, as well as to determine the size of their projections in the camera image. In addition, the method is fast enough for real time applications.FCT Scholarship SFRH/BD/22359/2005POPH/FSE (Programa Operacional Potencial Humano do Fundo Social Europeu)Spanish MCI Project TIN2007-66367Andalusian Regional Government project P09-TIC-0481

Practical Moving Target Detection in Maritime Environments Using Fuzzy Multi-sensor Data Fusion

As autonomous ships become the future trend for maritime transportation, it is of importance to develop intelligent autonomous navigation systems to ensure the navigation safety of ships. Among the three core components (sensing, planning and control modules) of the system, an accurate detection of target ships’ navigation information is critical. Within a typical maritime environment, the existence of sensor noises as well as the influences generated by varying environment conditions largely limit the reliability of using a single sensor for environment awareness. It is therefore vital to use multiple sensors together with a multi-sensor data fusion technology to improve the detection performance. In this paper, a fuzzy logic-based multi-sensor data fusion algorithm for moving target ships detection has been proposed and designed using both AIS and radar information. A two-stage fuzzy logic association method has been particularly developed and integrated with Kalman filtering to achieve a computationally efficient performance. The effectiveness of the proposed algorithm has been tested and validated in simulations where multiple target ships are transiting with complex movements