Reliable Non-Linear State Estimation Involving Time Uncertainties

This paper presents a new approach to bounded-error state estimation involving time uncertainties. For a given bounded observation of a continuous-time non-linear system, it is assumed that neither the values of the observed data nor their acquisition instants are known exactly. For systems described by state-space equations, we prove theoretically and demonstrate by simulations that the proposed constraint propagation approach enables the computation of bounding sets for the systems’ state vectors that are consistent with the uncertain measurements. The bounding property of the method is guaranteed even if the system is strongly non-linear. Compared with other existing constraint propagation approaches, the originality of the method stems from our definition and use of bounding tubes which enable to enclose the set of all feasible trajectories inside sets. This method makes it possible to build specific operators for the propagation of time uncertainties through the whole trajectory. The efficiency of the approach is illustrated on two examples: the dynamic localization of a mobile robot and the correction of a drifting clock

On general systems with network-enhanced complexities

In recent years, the study of networked control systems (NCSs) has gradually become an active research area due to the advantages of using networked media in many aspects such as the ease of maintenance and installation, the large flexibility and the low cost. It is well known that the devices in networks are mutually connected via communication cables that are of limited capacity. Therefore, some network-induced phenomena have inevitably emerged in the areas of signal processing and control engineering. These phenomena include, but are not limited to, network-induced communication delays, missing data, signal quantization, saturations, and channel fading. It is of great importance to understand how these phenomena influence the closed-loop stability and performance properties

A semidefinite relaxation procedure for fault-tolerant observer design

A fault-tolerant observer design methodology is proposed. The aim is to guarantee a minimum level of closed-loop performance under all possible sensor fault combinations while optimizing performance under the nominal, fault-free condition. A novel approach is proposed to tackle the combinatorial nature of the problem, which is computationally intractable even for a moderate number of sensors, by recasting the problem as a robust performance problem, where the uncertainty set is composed of all combinations of a set of binary variables. A procedure based on an elimination lemma and an extension of a semidefinite relaxation procedure for binary variables is then used to derive sufficient conditions (necessary and sufficient in the case of one binary variable) for the solution of the problem which significantly reduces the number of matrix inequalities needed to solve the problem. The procedure is illustrated by considering a fault-tolerant observer switching scheme in which the observer outputs track the actual sensor fault condition. A numerical example from an electric power application is presented to illustrate the effectiveness of the design

Second-Order Fault Tolerant Extended Kalman Filter for Discrete Time Nonlinear Systems

As missing sensor data may severely degrade the overall system performance and stability, reliable state estimation is of great importance in modern data-intensive control, computing, and power systems applications. Aiming at providing a more robust and resilient state estimation technique, this paper presents a novel second-order fault-tolerant extended Kalman filter estimation framework for discrete-time stochastic nonlinear systems under sensor failures, bounded observer-gain perturbation, extraneous noise, and external disturbances condition. The failure mechanism of multiple sensors is assumed to be independent of each other with various malfunction rates. The proposed approach is a locally unbiased, minimum estimation error covariance based nonlinear observer designed for dynamic state estimation under these conditions. It has been successfully applied to a benchmark target-trajectory tracking application. Computer simulation studies have demonstrated that the proposed second-order fault-tolerant extended Kalman filter provides more accurate estimation results, in comparison with traditional first- and second-order extended Kalman filter. Experimental results have demonstrated that the proposed second-order fault-tolerant extended Kalman filter can serve as a powerful alternative to the existing nonlinear estimation approaches

Astroinformatics of galaxies and quasars: a new general method for photometric redshifts estimation

With the availability of the huge amounts of data produced by current and future large multi-band photometric surveys, photometric redshifts have become a crucial tool for extragalactic astronomy and cosmology. In this paper we present a novel method, called Weak Gated Experts (WGE), which allows to derive photometric redshifts through a combination of data mining techniques. \noindent The WGE, like many other machine learning techniques, is based on the exploitation of a spectroscopic knowledge base composed by sources for which a spectroscopic value of the redshift is available. This method achieves a variance \sigma^2(\Delta z)=2.3x10^{-4} (\sigma^2(\Delta z) =0.08), where \Delta z = z_{phot} - z_{spec}) for the reconstruction of the photometric redshifts for the optical galaxies from the SDSS and for the optical quasars respectively, while the Root Mean Square (RMS) of the \Delta z variable distributions for the two experiments is respectively equal to 0.021 and 0.35. The WGE provides also a mechanism for the estimation of the accuracy of each photometric redshift. We also present and discuss the catalogs obtained for the optical SDSS galaxies, for the optical candidate quasars extracted from the DR7 SDSS photometric dataset {The sample of SDSS sources on which the accuracy of the reconstruction has been assessed is composed of bright sources, for a subset of which spectroscopic redshifts have been measured.}, and for optical SDSS candidate quasars observed by GALEX in the UV range. The WGE method exploits the new technological paradigm provided by the Virtual Observatory and the emerging field of Astroinformatics.Comment: 36 pages, 22 figures and 8 table

Calibration and Sensitivity Analysis of a Stereo Vision-Based Driver Assistance System

Az http://intechweb.org/ alatti "Books" fül alatt kell rákeresni a "Stereo Vision" címre és az 1. fejezetre