Conditional Posterior Cramer-Rao Lower Bound and Distributed Target Tracking in Sensor Networks

Sequential Bayesian estimation is the process of recursively estimating the state of a dynamical system observed in the presence of noise. Posterior Cramer-Rao lower bound (PCRLB) sets a performance limit onany Bayesian estimator for the given dynamical system. The PCRLBdoes not fully utilize the existing measurement information to give anindication of the mean squared error (MSE) of the estimator in the future. In many practical applications, we are more concerned with the value of the bound in the future than in the past. PCRLB is an offline bound, because it averages out the very useful measurement information, which makes it an off-line bound determined only by the system dynamical model, system measurement model and the prior knowledge of the system state at the initial time. This dissertation studies the sequential Bayesian estimation problem and then introduces the notation of conditional PCRLB, which utilizes the existing measurement information up to the current time, and sets the limit on the MSE of any Bayesian estimators at the next time step. This work has two emphases: firstly, we give the mathematically rigorous formulation of the conditional PCRLB as well as the approximate recursive version of conditional PCRLB for nonlinear, possibly non-Gaussian dynamical systems. Secondly, we apply particle filter techniques to compute the numerical values of the conditional PCRLB approximately, which overcomes the integration problems introduced by nonlinear/non-Gaussian systems. Further, we explore several possible applications of the proposed bound to find algorithms that provide improved performance. The primary problem of interest is the sensor selection problem for target tracking in sensor networks. Comparisons are also made between the performance of sensor selection algorithm based on the proposed bound and the existing approaches, such as information driven, nearest neighbor, and PCRLB with renewal strategy, to demonstrate the superior performances of the proposed approach. This dissertation also presents a bandwidth-efficient algorithm for tracking a target in sensor networks using distributed particle filters. This algorithm distributes the computation burden for target tracking over the sensor nodes. Each sensor node transmits a compressed local tracking result to the fusion center by a modified expectationmaximization (EM) algorithm to save the communication bandwidth. The fusion center incorporates the compressed tracking results to give the estimate of the target state. Finally, the target tracking problem in heterogeneous sensor networks is investigated extensively. Extended Kalman Filter and particle filter techniques are implemented and compared for tracking a maneuvering

Service Region Design for Urban Electric Vehicle Sharing Systems

Emerging collaborative consumption business models have shown promise in terms of both generating business opportunities and enhancing the efficient use of resources. In the transportation domain, car sharing models are being adopted on a mass scale in major metropolitan areas worldwide. This mode of servicized mobility bridges the resource efficiency of public transit and the flexibility of personal transportation. Beyond the significant potential to reduce car ownership, car sharing shows promise in supporting the adoption of fuel- efficient vehicles, such as electric vehicles (EVs), due to these vehicles special cost structure with high purchase but low operating costs. Recently, key players in the car sharing business, such as Autolib, Car2Go and DriveNow, have begun to employ EVs in an operations model that accommodates one-way trips. On the one hand (and particularly in free-floating car sharing), the one-way model results in significant improvements in coverage of travel needs and therefore in adoption potential compared with the conventional round-trip-only model (advocated by ZipCar, for example). On the other hand, this model poses tremendous planning and operational challenges. In this work, we study the planning problem faced by service providers in designing a geographical service region in which to operate the service. This decision entails trade-offs between maximizing customer catchment by covering travel needs and controlling fleet operations costs. We develop a mathematical programming model that incorporates details of both customer adoption behavior and fleet management (including EV repositioning and charging) under imbalanced travel patterns. To address inherent planning uncertainty with regard to adoption patterns, we employ a distributionally robust optimization framework that informs robust decisions to overcome possible ambiguity (or lacking) of data. Mathematically, the problem can be approximated by a mixed integer second-order cone program, which is computationally tractable with practical scale data. Applying this approach to the case of Car2Go’s service with real operations data, we address a number of planning questions and suggest that there is potential for the future development of this service

Ethyl 3′-cyano-1′-methyl-2-oxo-4′-phenylspiro­[acenaphthene-1,2′-pyrrolidine]-3′-carboxyl­ate

In the title compound, C26H22N2O3, the acenaphthen-1-one ring system is nearly planar and the pyrrolidine ring adopts a distorted envelope conformation. An inter­molecular C—H⋯O hydrogen bond stabilizes the crystal structure

N,N-Dimethyl-4-[5-(5-methyl-1-phenyl-1H-pyrazol-4-yl)-1,3,4-oxadiazol-2-yl]aniline

In the mol­ecule of the title compound, C20H19N5O, the pyrazole and oxadiazole rings are not completely conjugated, the dihedral angle between them being 7.97 (6)°. The pyrazole and oxadiazole rings form dihedral angles of 42.74 (6) and 4.35 (5)° with the attached phenyl and benzene rings, respectively