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

PROCESSING OF TRIGLYCERIDES TO DIESEL RANGE HYDROCARBON FUELS: EASILY PRACTICABLE SMALL SCALE APPROACH

Lipid fraction of biomass has been identified as carbon neutral substitution to fuels from fossil sources in the transportation sector. Although, the diesel engine, invented by Rudolph Diesel over a century ago first ran on peanut oil, the current combustion engines are designed to run on hydrocarbon fuels derived from petroleum. Therefore, a substitute for diesel fuel from renewable source will need to have identical or closely similar properties. The most popular of the existing technology for processing vegetable or animal oils is based on the conversion of the triglycerides constituents to fatty acids methyl esters (FAME). FAME technology does not produce diesel fuel with identical properties as petro-diesel. Other alternative processing routes are dilution of the vegetable oils, emulsification, pyrolysis and hydrotreating. These routes are discussed in this paper. Appropriate technologies for small scale production of diesel range hydrocarbon fuel from vegetable oil without the need for co-reactants such methanol or hydrogen as part of the feedstock is emphased. Also alternative catalyst systems in place of the expensive precious metal supported catalysts are suggested

Islam Rahmah dan Wasathiyah (Paradigma Keberislaman Inklusif, Toleran dan Damai)

.Islamic doctrines that brings mercy for the worlds (rahmatan lil'alamien) and itsadherents as moderate people (ummatan wasathan) as well as the best people is thebasis for the realization of the attitudes and behavior of Islam which is humanist,inclusive, tolerant and peaceful. In the context Indonesia that it is pluralistic society inthe field of customs, language, culture and even religion, Islam people (muslim) as themajority must perform as best people who are capable as grace and a paste for theplurality of Indonesian and to lead them for reaching prosperity for all mankind

Dampak Aktivitas Swalayan Grand Hero terhadap Kinerja Ruas Jalan Basuki Rahmat di Kota Palu

One of the few supermakets in Palu city which considerably crowded is Grand Hero Supermarket. This Supermarket was located on the Basuki Rahmat street. Because this road is an arterial road with highly traffic volume at certain hours, so the Grand Hero Supermarket activity will affect the performance of the road. At peak hours, many vehicles are in and out from the supermaket, disrupting theperformance of BasukiRahmat road. The aim of this research is to understand the existing condition of the Basuki Rahmat street performance with or without the activity of Grand Hero Supermaket. This research was conducted by surveying the volume of the street, side friction and travel time. The survey was carried on Wednesday 04-06-2015 and Saturday 6-06 2015. The analysis was conducted by using Manual Kapasitas Jalan Indonesia 1997 method. The results show that the performance of JalanBasuki Rahmat with no Grand Hero Supermarket\u27s activity has a degree of saturation 0.35. Grand Hero Supermarket with activity would increase the degree of saturation that is 0.43 that increases 22.86%. The speed of light vehicles by MKJI is 42.84 km / h. With the Grand Hero Supermarket activity, the speed of light vehicle decreased from 27.76 km/ h to 23.74 km / h or there are speed reductions of 14.49%. The level of service with the Grand Hero Supermarket activity was at B condition with DS rate of 0,4

Incidence and antibiotic susceptibility profile of bacteria from door handles in Faculty of Science complex, Sokoto State University Sokoto

The incidence and antibiotic susceptibility profile of bacteria from door handles were studied to X-ray the public health implication of bacterial infections in the complex. Eleven genera were identified: Staphylococcus aureus, Staphylococcus intermidis, Streptococcus pneumonia, Listeria monocytogenes, Staphylococcus cohinii, and Streptococcus pyogenes, Staphylococcus epidermidis, Staphylococcus chromogenes, Staphylococcus capitis, Escherichia coli, Pseudomonas aeruginosa. The antibiotic susceptibility pattern revealed that Gentamycin exhibited the highest zone of inhibition to all isolates, followed by ciprofloxacin, oflaxacin, nitrofurantoin and Ampicillin. The frequency of bacterial isolates showed that Staphylococcus aureus had the highest percentage of 30%, followed by Escherichia coli (12.5%), Streptococcus pyogenes (10.0%). Streptococcus pneumonia, Staphylococcus cohinii, and Staphylococcus capitis each had (7.5%); the least was Listeria monocytogenes and Staphylococcus intermidis (2.5%). Finally, the public health implications of the isolates were discussed

Mapping Of Long Line Fishing Ground In The Fishing Port Of The Ocean (Pps) Bungus Districts Teluk Kabung Padang Province West Sumatera

The purpose of this study is to determine the area tishi tor long line with a heat map setting in western Sumatra in 2015. The method used in this study is a survey method. The results of this study indicate the location of long line fishing ground is in the zone of archipelagic waters, depths, territorial sea, contiguous zone, ZEE and the high seas. seen from the results of catching the most is the transitional season II in the amount of 47. 232 kg while the catch at least the first transitional season that is equal to 17. 783 kg. significant correlation level with the coordinates of the catch and the more extensive range area of the arrest, the greater the results obtained fishermen. Poot arrest hos point fewest arrests West season with one point while most is the transition season 2 is two points hotspots with a radius of 0.2

Variability Spatial and Temporal Sea Surface Temperature and Chlorophyll-a Concentration Using Aqua Modis Imagery Satellite at West Sumatera Aquatic

Sea Surface Temperature (SST) and chlorophyll-a factor were often used in determining fishing ground area. This research aimed to know variability spatial and temporal SST and chlorophyll-a at west sumatera aquatic. This research use the data of SST and chlorophyll recorded by satelite of aqua modis with spatial resolution 4 km and temporal resolution monthly data. The high mean value of SST was found on first switchover season with value 30,330C and the low mean value of SST was found on west season and second switchover season with value 29,630C. The high mean value of chlorophyll-a was found on second switchover season with value 0,16 mg/m3 and the low mean value of chlorophyll-a was found on east season with value 0,13 mg/m3

Acid resistance of palm oil fuel ash and metakaolin ternary blend cement mortar

This paper examines the effects of blend of Palm Oil fuel ash (POFA) and Metakaolin (MK) on the resistance of cement mortar to sulphuric acid (H2SO4) attack. Tests were conducted on POFA and MK ternary blended cement mortar immersed in a 3% H2SO4 solution for up 180 d. Binaries of POFA/cement and MK/cement as well as plain ordinary Portland cement (OPC) mortar was also tested for comparison. The parameters measured include residual compressive strength and residual mass. Additionally, the microstructures of the specimens were analysed using the X-ray diffraction and Fourier transformed infrared techniques. The residual compressive strengths of the mortar specimens for plain OPC, binary blend of POFA and cement, binary blend of MK and cement, and ternary blend of POFA, MK and cement after 180 d of immersion in the acid solution were 25, 30, 33, and 32%, respectively. Moreover, the corresponding residual masses of the specimens were 39, 52, 58, and 54%. Accordingly, the ternary blended mortar performed better in resisting H2SO4 attack than the plain OPC and binary blend of POFA/cement mortars