Distributing the Kalman Filter for Large-Scale Systems

This paper derives a \emph{distributed} Kalman filter to estimate a sparsely connected, large-scale, $n-$dimensional, dynamical system monitored by a network of $N$ sensors. Local Kalman filters are implemented on the ($n_l-$dimensional, where $n_l\ll n$) sub-systems that are obtained after spatially decomposing the large-scale system. The resulting sub-systems overlap, which along with an assimilation procedure on the local Kalman filters, preserve an $L$th order Gauss-Markovian structure of the centralized error processes. The information loss due to the $L$th order Gauss-Markovian approximation is controllable as it can be characterized by a divergence that decreases as $L\uparrow$. The order of the approximation, $L$, leads to a lower bound on the dimension of the sub-systems, hence, providing a criterion for sub-system selection. The assimilation procedure is carried out on the local error covariances with a distributed iterate collapse inversion (DICI) algorithm that we introduce. The DICI algorithm computes the (approximated) centralized Riccati and Lyapunov equations iteratively with only local communication and low-order computation. We fuse the observations that are common among the local Kalman filters using bipartite fusion graphs and consensus averaging algorithms. The proposed algorithm achieves full distribution of the Kalman filter that is coherent with the centralized Kalman filter with an $L$th order Gaussian-Markovian structure on the centralized error processes. Nowhere storage, communication, or computation of $n-$dimensional vectors and matrices is needed; only $n_l \ll n$ dimensional vectors and matrices are communicated or used in the computation at the sensors

DILAND: An Algorithm for Distributed Sensor Localization with Noisy Distance Measurements

In this correspondence, we present an algorithm for distributed sensor localization with noisy distance measurements (DILAND) that extends and makes the DLRE more robust. DLRE is a distributed sensor localization algorithm in $\mathbb{R}^m$ $(m\geq1)$ introduced in \cite{usman_loctsp:08}. DILAND operates when (i) the communication among the sensors is noisy; (ii) the communication links in the network may fail with a non-zero probability; and (iii) the measurements performed to compute distances among the sensors are corrupted with noise. The sensors (which do not know their locations) lie in the convex hull of at least $m+1$ anchors (nodes that know their own locations.) Under minimal assumptions on the connectivity and triangulation of each sensor in the network, this correspondence shows that, under the broad random phenomena described above, DILAND converges almost surely (a.s.) to the exact sensor locations.Comment: Submitted to the IEEE Transactions on Signal Processing. Initial submission on May 2009. 12 page

Enhancing National Integration and Inter-Group Relations in Post-Colonial Nigeria State through Federal Character: An Analytical Discourse.

The geo-political entity defined as Nigeria remained the most enduring hangover of the British colonialism Before the 1914 popular amalgamation of the northern and southern protectorates each of the over 250 ethnic groups that make up Nigerian State existed to some extent independently and distinctively in culture and tradition but not that they were not interacting with one another in favourable term What happened in the 1914 episode of the northern and southern unification was reminiscence of a marriage which may not be so pleasant but cannot be easily divorced Consequently the British displayed their political craft by introducing federalism Still the 1914 exercise it did not bring to bear the desired integration and inter-group relations Arising from the problems inherent with federalism or federal arrangement Federal Character Principle was introduced as a therapy The degree to which the policy has achieved its fundamental historic objectives in terms of nation building and inter-group relations casts serious doubt on scholarship and therefore demands analytical academic exploration The relevance of this study is anchored on the understanding of why despite the rich content of the policy of Federal Character as fulcrum national integration and expected objective of inter-group relations has not been adequately achieved The problematic this raises is that are there some issues with its operation and application This study identifies issues and options that may facilitate national integration and inter-group relations in Nigeria within the context of Federal Character Policy The cardinal issues raises among others are the confusion of citizenship and indigeneship in Nigerian constitution northsouth dichotomy challenges of mass mobilisation the increasing lacuna between the ruling class the mass etc Using structural plurality theory the paper advocates for value re-orientation patriotism honesty and fairness credible population censuse

Yoruba Community in Gusau, North West Nigeria: A Success Story of Cordial Inter Ethnic Relations.

Perhaps the fact that Nigeria was artificially created explains why inter-relations between different ethnic and cultural groups in most of the major cities in the country is characterized by constant discord In Jos the capital of Plateau state for example the relation between the Hausa and Birom has for long been characterized by hostilities In Kano Hausa and Igbo relations has most of the time than not been that of suspicion and antagonism This same story of hostile inter-relation characterized Yoruba-Hausa relations in Lagos and Ibadan However the situation in Gusau our area of study in the present Zamfara State has been different since the early years of the Yoruba settlement in the town The indigenous Hausa communities have been co-existing cordially with the Yoruba migrant to the extent of close marital and strong economic inter-dependenc

Gender Equality and Economic Development

The purpose of this research was to study the effect of gender equality, both in education and work, on the economic development of Indonesia, directly and indirectly. The impact of gender equality in education will be studied by education level. Analysis of the comparison among the level of education is aimed to find out level of adequate education for woman so as to encourage the economic development. Sources of data in this study is a publication issued by BPS, namely Indikator Kesejahteraan Rakyat, Statistik Ketenagakerjaan, Statistik Indonesia, and National Economic and Social Survey of 2012. This study applies multiple regression models to test hypotheses and data analysis. Ratio NER of girls to boys in junior high school has a negative effect on the per capita income, mean year school of population and urbanization. Meanwhile, Ratio NER in senior high school has a positive relationship even though no significant on per capita income, mean year school of population and urbanization. This research concluded that Indonesia don’t ever dreamed could be a developed country if it is not able to provide greater opportunities for girls to attend school at least until the senior high school level. The success of the Program WAJAR 12 Tahun is one of the keys for the purpose.     Keywords: Gender Equality, Ratio NER, Per Capita Income, Education, Wor

Reduction of tsunami inundation energy by the modification of coastal topography based on local wisdom

Local wisdoms such as a tradition, land-use system and etc. had sometimes mitigated tsunami damages in Indonesia. The effective use of those local wisdoms is strongly desired especially in developing countries, because it is quite difficult for those countries to allocate enough budgets for constructing hard type countermeasures against tsunami. Among local wisdoms against tsunami hazard, this study evaluates the efficiency of a hollow topography which can be seen on the beach along Lampon village in Indonesia. Artificial hollows are arrayed on the beach as one of the local wisdoms in Lampon village to reduce the intensity of inundated tsunami flow. Hollow topography means a low ground that is locally dug by residential people as one of the countermeasures based on the local wisdom. The numerical simulation of tsunami inundation is conducted to evaluate the efficiency of this hollow topography. Furthermore, this study evaluates the efficiency of some contrivances, such a combination of vegetation area and a multiple-use of hollow and embankment topography, in order to enhance the performance of countermeasure based on the local wisdom. This study is also described the GIS analysis for spatial planning based on the result of numerical simulation

Pemanfaatan Buah Nipah (Nypa Fruticans) Sebagai Bahan Baku Pembuatan Selai

The aim of this research was to determine the best ratio of sugar and fruit flesh of nipa palm suitable into a made of palm jam. This research was conducted by using a Completely Randomized Design Experiment, with four treatments and four repetitions. Treatments for a made of jam were N1 (fruit flesh of nipa palm 80% and sugar 20%), N2 (fruit flesh of nipa palm 70% and sugar 30%), N3(fruit flesh of nipa palm 60% and sugar 40%) and N4 (fruit flesh of nipa palm 50% and sugar 50%). The collected data was analyzed statistically by using ANOVA and DMRT in the 5% level. The best ratio of fruit flesh of nipa palm and sugar was N3 jam (fruit flesh of nipa palm 60% and sugar 40%) with moisture contens of 24.81%, ash 0.84%, total sugar 52.92% and viscosity 80.77%. The sensory test assessment of the chosen jam had a grey-yellow colored, palm aromatic, sweet tasted, unsticky textured and liked by panelist

Perbandingan Aktivitas Antibakteri antara Lactobacillus Casei Subsp. Casei R-68 dan Lactobacillus Casei Komersil terhadap Staphylococcus Aureus Fncc-15 dan Escherichia Coli Fncc-19

The purpose of the study was to compare the antibacterial activity of Lactobacillus casei subsp. casei R-68 and Lactobacillus casei commercial against Staphylococcus aureus FNCC-15 and Escherichia coli FNCC-19. The research was carried out experimentally by testing isolates of Lactobacillus casei subsp. casei R-68 and Lactobacillus casei commercial in a petri dish that already contains pathogenic bacteria. Antibacterial activity was tested using the well diffusion method, the data obtained were analyzed descriptively. The results showed that Lactobacillus casei subsp. casei R-68 has the ability to inhibit pathogenic bacteria by inhibition smaller than Lactobacillus casei commercial. The average inhibition zone diameter of lactic acid bacteria isolates against Staphylococcus aureus FNCC-15 ranged from 7.40 to 8.10 mm and Escherichia coli ranged from 9.80 to 10.23 mm