7,200 research outputs found
Harbinger and Cathedrals
Fiction by Elena DeCook and Photography by Richard Sh
Estimation Schemes for Networked Control Systems Using UDP-Like Communication
In this work we consider a class of networked control systems (NCS) when the control signal is sent to the plant via a UDP-like communication protocol, the controller sends a communication packet to the plant across a lossy network but the controller does not receive any acknowledgement signal indicating the status of reception/delivery of the control packet. Standard observer based estimators assume the estimator has knowledge of what control signal is applied to the plant, but under the UDP-like communication scheme the estimator does not know what control is applied. Continuing previous work, we present a simple estimation algorithm consisting of a state estimator and mode observer. For single input systems we can add an extra control signal that guarantees recovery of the fate of the control packet. Using a modified state feedback with the added input we can guarantee the estimation error is bounded as is the expected value of the state. This extra input is removed and sufficient conditions on the system properties are given to assure the estimation remain bounded. Comparisons are made between the algorithm presented and the method of unknown input observer. Simulations are provided to demonstrate the algorithm
Kalman Filtering Over A Packet Dropping Network: A Probabilistic Approach
We consider the problem of state estimation of a discrete time process over a packet dropping network. Previous pioneering work on Kalman filtering with intermittent observations is concerned with the asymptotic behavior of E[P_k], i.e., the expected value of the error covariance, for a given packet arrival rate. We consider a different performance metric, Pr[P_k ≤ M], i.e., the probability that P_k is bounded by a given M, and we derive lower and upper bounds on Pr[P_k ≤ M]. We are also able to recover the results in the literature when using Pr[P_k ≤ M] as a metric for scalar systems. Examples are provided to illustrate the theory developed in the paper
Non-Local Compressive Sensing Based SAR Tomography
Tomographic SAR (TomoSAR) inversion of urban areas is an inherently sparse
reconstruction problem and, hence, can be solved using compressive sensing (CS)
algorithms. This paper proposes solutions for two notorious problems in this
field: 1) TomoSAR requires a high number of data sets, which makes the
technique expensive. However, it can be shown that the number of acquisitions
and the signal-to-noise ratio (SNR) can be traded off against each other,
because it is asymptotically only the product of the number of acquisitions and
SNR that determines the reconstruction quality. We propose to increase SNR by
integrating non-local estimation into the inversion and show that a reasonable
reconstruction of buildings from only seven interferograms is feasible. 2)
CS-based inversion is computationally expensive and therefore barely suitable
for large-scale applications. We introduce a new fast and accurate algorithm
for solving the non-local L1-L2-minimization problem, central to CS-based
reconstruction algorithms. The applicability of the algorithm is demonstrated
using simulated data and TerraSAR-X high-resolution spotlight images over an
area in Munich, Germany.Comment: 10 page
Kalman Filtering Over a Packet-Dropping Network: A Probabilistic Perspective
We consider the problem of state estimation of a discrete time process over a packet-dropping network. Previous work on Kalman filtering with intermittent observations is concerned with the asymptotic behavior of E[P_k], i.e., the expected value of the error covariance, for a given packet arrival rate. We consider a different performance metric, Pr[P_k ≤ M], i.e., the probability that P_k is bounded by a given M. We consider two scenarios in the paper. In the first scenario, when the sensor sends its measurement data to the remote estimator via a packet-dropping network, we derive lower and upper bounds on Pr[P_k ≤ M]. In the second scenario, when the sensor preprocesses the measurement data and sends its local state estimate to the estimator, we show that the previously derived lower and upper bounds are equal to each other, hence we are able to provide a closed form expression for Pr[P_k ≤ M]. We also recover the results in the literature when using Pr[P_k ≤ M] as a metric for scalar systems. Examples are provided to illustrate the theory developed in the paper
Root optimization of polynomials in the number field sieve
The general number field sieve (GNFS) is the most efficient algorithm known
for factoring large integers. It consists of several stages, the first one
being polynomial selection. The quality of the chosen polynomials in polynomial
selection can be modelled in terms of size and root properties. In this paper,
we describe some algorithms for selecting polynomials with very good root
properties.Comment: 16 pages, 18 reference
An Estimation Algorithm for a Class of Networked Control Systems Using UDP-Like Communication Schemes
In this work we consider a class of networked control systems (NCS) when the control signal is sent to the plant via a UDP-like communication protocol. In this case the controller sends a communication packet to the plant across a lossy network, but the controller does not receive any acknowledgement signal indicating the status of the control packet. Standard observer based estimators assume the estimator has knowledge of what control signal is applied to the plant. Under the UDP-like protocol the controller/estimator does not have explicit knowledge whether the control signals have been applied to the plant or not. We present a simple estimation and control algorithm that consists of a state and mode observer as well as a constraint on the control signal sent to the plant. For the class of systems considered, discrete time LTI plants where at least one of the states that is directly affected by the input is also part of the measurement vector, the estimator is able to recover the fate of the control packet from the measurement at the next timestep and exhibit better performance than other naive schemes. For single-input-single-output (SISO) systems we are able to show convergence properties of the estimation error and closed loop stability. Simulations are provided to demonstrate the algorithm and show its effectiveness
Kalman Filtering with Uncertain Process and Measurement Noise Covariances with Application to State Estimation in Sensor Networks
Distributed state estimation under uncertain process
and measurement noise covariances is considered. An
algorithm based on sensor fusion using Kalman filtering is
investigated. It is shown that if the covariances are decomposed into a known nominal covariance plus an uncertainty term, then the uncertainty of the actual estimation error covariance for the Kalman filter grows linearly with the size of the uncertainty term. This result is extended to the sensor fusion scheme to give an upper bound on the actual error covariance for the fused state estimate. Examples are provided to illustrate how the theory can be applied in practice
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