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A Distributed Implementation of Steady-State Kalman Filter

IEEE TRANSACTIONS ON AUTOMATIC CONTROL 2023年第4期68卷 2490-2497页

作者： Yan, Jiaqi Yang, Xu Mo, Yilin You, Keyou Tsinghua Univ Dept Automat BNRist Beijing 100084 Peoples R China

This article studies the distributed state estimation in sensor network, where m sensors are deployed to infer the n-dimensional state of a linear time-invariant Gaussian system. By a lossless decomposition of the optimal steady-state Kalman filter, we show that the problem of distributed estimation can be reformulated as that of the synchronization of homogeneous linear systems. Based on such decomposition, a distributed estimator is proposed, where each sensor node runs a local filter using only its own measurement, alongside with a consensus algorithm to fuse the local estimate of every node. We prove that the average of local estimates from all sensors coincides with the optimal Kalman estimate, and under certain condition on the graph Laplacian matrix and the system matrix, the covariance of local estimation error is bounded and the asymptotic error covariance is derived. As a result, the distributed estimator is stable for each single node. We further show that the proposed algorithm has a low message complexity of min(m, n). Numerical examples are provided in the end to illustrate the efficiency of the proposed algorithm.

关键词： Kalman filters Linear systems Estimation Synchronization Steady-state Robot sensing systems filtering algorithms Consensus algorithm distributed estimation Kalman filter linear system synchronization

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Improving Visual Object Tracking Using General UFIR and Kalman Filters Under Disturbances in Bounding Boxes

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IEEE ACCESS 2023年 11卷 57905-57915页

作者： Pale-Ramon, Eli G. Morales-Mendoza, Luis J. Gonzalez-Lee, Mario Ibarra-Manzano, Oscar G. Ortega-Contreras, Jorge A. Shmaliy, Yuriy S. Univ Guanajuato Dept Elect Engn Salamanca 36885 Guanajuato Mexico Univ Veracruzana Elect & Telecommun Engn Fac Poza Rica 93380 Veracruz Mexico

A well-known problem of visual object tracking is the difficulty of accurately estimating the object trajectory under conditions of environmental disturbances in the bounding box (BB) of a video camera. In this paper, we consider BB variations as Gaussian-Markov colored measurement noise (CMN). In order to perform accurate tracking in the presence of CMN, we use measurement differencing and develop a robust general unbiased finite impulse response (GUFIR) filter and use the general Kalman filter (GKF) as a benchmark. The GUFIR and GKF algorithms are tested by the "Car4"benchmark. It is shown that, in terms of the tracking precision and under the heavy disturbance with the 0.65 = ? = 0.95 coloredness factor, the best tracking performance is achieved using the robust GUFIR filter. When ? < 0.6, the GUFIR and GKF algorithms perform near equally. In the extreme point of ? = 1.0, where the Gauss-Markov CMN loses the stationarity, both algorithms provide zero precision and become inefficient. In general, it is concluded that the GUFIR filter, which ignores any zero mean disturbance and initial values, is much more suitable for applications in visual object tracking than Kalman-like algorithms relying on complete object information.

关键词： Visualization Object tracking filtering algorithms Cameras Trajectory Finite impulse response filters Target tracking Visual object tracking bounding box environmental disturbance colored measurement noise general UFIR filter general Kalman filter precision

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Comparison Between UKF and EKF in Sensorless Synchronous Reluctance Motor Drives

IEEE OPEN JOURNAL OF POWER ELECTRONICS

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IEEE OPEN JOURNAL OF POWER ELECTRONICS 2024年 5卷 1562-1572页

作者： Rigon, Saverio Haus, Benedikt Mercorelli, Paolo Zigliotto, Mauro Univ Padua Dept Management & Engn I-36100 Vicenza Italy Leuphana Univ Luneburg Inst Prod Technol & Syst IPTS D-21335 Luneburg Germany

The reduction of the human environmental footprint can be achieved through the use of more efficient motors, such as synchronous reluctance motors (SynRMs). Known for their affordability, SynRMs are increasingly employed in sensorless AC drives. This paper presents a critical comparison of sensorless algorithms based on two nonlinear Kalman Filters (Unscented and Extended). The objective is to highlight the theoretical and practical advantages and drawbacks of each method when applied to the speed control of a SynRM, culminating in a definitive decision on the best choice. The magnetic model of the SynRM is much more nonlinear than that of induction motors, which are predominantly addressed in existing literature. This study aims to fill the gap by answering the question: "Is the extended Kalman filter still the best choice even in the case of nonlinear electric motors?" The answer comes through a large batch of experiments, including speed and load torque tests, zero-speed standstill starts, parameter sensitivity, and evaluation of computational burdens for both Kalman filter algorithms.

关键词： Mathematical models Magnetic separation Kalman filters Motors Magnetic flux Couplings Reluctance motors filtering algorithms Computational modeling Vectors Kalman filter extended kalman filter sensorless unscented kalman filter synchronous reluctance motor (SynRM) AC machines

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TWOR: Improving Modeling and Self-Localization in RFID-Tag Networks Under Colored Noise

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IEEE ACCESS 2023年 11卷 25583-25592页

作者： Ortega-Contreras, Jorge A. A. Andrade-Lucio, Jose A. A. Ibarra-Manzano, Oscar G. G. Shmaliy, Yuriy S. S. Univ Guanajuato Dept Elect Engn Salamanca 36855 Guanajuato Mexico

This paper discusses the three-wheeled omnidirectional robot (TWOR) self-localization in radio frequency identification (RFID) tag environments. The nonlinear TWOR model is significantly improved by using geometric interpretation and incremental time representation in discrete time. The TWOR position and heading are self-estimated using distance measurements to RFID tags and a digital gyroscope in the presence of typical colored measurement noise (CMN). The extended unbiased finite impulse response (EFIR) is developed along with the extended Kalman filter (EKF) and their versions, cEKF and cEFIR, modified for Gauss-Markov CMN. A particle filter is used as a benchmark. It is shown that the cEFIR filter is more robust than the cEKF and almost as robust as the particle filter, although the latter is less accurate in real time.

关键词： Kalman filters Robot kinematics filtering algorithms Mathematical models RFID tags Kinematics Autoregressive processes Finite impulse response filters TWOR modeling self-localization colored noise extended unbiased FIR filter extended Kalman filter

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Stability Guaranteed Active Noise Control: algorithms and Applications

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IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY 2023年第4期31卷 1720-1732页

作者： Tang, Yu Zhang, Hongwei Zhang, Yuting Southwest Jiaotong Univ Sch Elect Engn Key Lab Magnet Suspens Technol & Maglev Vehicle Minist Educ Chengdu 611756 Peoples R China Harbin Inst Technol Sch Mech Engn & Automation Shenzhen 518055 Peoples R China

Stability of the controller, robust stability of the active noise control (ANC) system, and limited output power of the hardware control board or actuators are crucial issues for ANC applications. Violation of these requirements results in output saturation, and hence nonlinear distortion by overloading the actuators. As a consequence, noise reduction performance of an ANC system will be dramatically degraded. A novel frequency-weighted leaky filtered-x least-mean-square (FxLMS) algorithm is developed in this article to fulfill these requirements. The proposed algorithm is an improvement of the traditional leaky FxLMS algorithm, where a frequency-weighted matrix is designed to replace the corresponding scalar weight. The frequency-weighted matrix, which is achieved by solving a constrained optimization problem, consists of $\it N$ frequency-weighted factors. By the frequency-weighted factors, the frequency response of the control filter is only suppressed at specific frequencies where the requirements on stability and/or limited output power are violated. Thus, the proposed control algorithm achieves better noise reduction performance than the traditional leaky FxLMS algorithm, which unnecessarily suppresses the control filter at all the frequencies. Simulations and experiments are carried out in a duct ANC system to verify the effectiveness of the proposed algorithm for both the feedforward and feedback ANC systems.

关键词： Feedforward systems Frequency control Noise reduction Acoustics Actuators filtering algorithms Control systems Active noise control (ANC) constrained optimization leaky FxLMS algorithm output saturation stability

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Super-Resolution With Binary Priors: Theory and algorithms

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IEEE TRANSACTIONS ON SIGNAL PROCESSING 2023年 71卷 3213-3228页

作者： Sarangi, Pulak Hattori, Ryoma Komiyama, Takaki Pal, Piya Univ Calif San Diego Elect & Comp Engn La Jolla CA 92092 USA Univ Calif San Diego Ctr Neural Circuits & Behav Neurobiol Sect Dept Neurosci La Jolla CA 92092 USA Univ Calif Halicioglu Data Sci Inst San Diego CA 92092 USA

The problem of super-resolution is concerned with the reconstruction of temporally/spatially localized events (or spikes) from samples of their convolution with a low-pass filter. Distinct from prior works which exploit sparsity in appropriate domains in order to solve the resulting ill-posed problem, this paper explores the role of binary priors in super-resolution, where the spike (or source) amplitudes are assumed to be binary-valued. Our study is inspired by the problem of neural spike deconvolution, but also applies to other applications such as symbol detection in hybrid millimeter wave communication systems. This paper makes several theoretical and algorithmic contributions to enable binary super-resolution with very few measurements. Our results show that binary constraints offer much stronger identifiability guarantees than sparsity, allowing us to operate in "extreme compression" regimes, where the number of measurements can be significantly smaller than the sparsity level of the spikes. To ensure exact recovery in this "extreme compression" regime, it becomes necessary to design algorithms that exactly enforce binary constraints without relaxation. In order to overcome the ensuing computational challenges, we consider a first order auto-regressive filter (which appears in neural spike deconvolution), and exploit its special structure. This results in a novel formulation of the super-resolution binary spike recovery in terms of binary search in one dimension. We perform numerical experiments that validate our theory and also show the benefits of binary constraints in neural spike deconvolution from real calcium imaging datasets.

关键词： Superresolution Deconvolution filtering algorithms Calcium Low-pass filters IIR filters Signal processing algorithms Beta-expansions binary compressed sensing sparsity binary search spike deconvolution super-resolution

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A New Virtual Tracking Sub-Algorithm Based Hybrid Active Control System for Narrowband Noise With Impulsive Interference

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IEEE-ACM TRANSACTIONS ON AUDIO SPEECH AND LANGUAGE PROCESSING 2023年 31卷 915-926页

作者： Zhu, Wenzhao Luo, Lei Sun, Jinwei Christensen, Mads Graesboll Yanshan Univ Sch Elect Engn Qinhuangdao 066004 Peoples R China Chongqing Univ Key Lab Optoelect Technol & Syst Educ Minist China Chongqing 400044 Peoples R China Harbin Inst Technol Sch Instrumentat Sci & Engn Harbin 150001 Peoples R China Aalborg Univ Dept Architecture Design & Media Technol Audio Anal Lab DK-9000 Aalborg Denmark

Mechanical noise is usually a mixture of narrowband and impulsive noise which needs complex active noise control (ANC) algorithms to improve the de-noising performance. But the ANC algorithm with a high computation load will reduce the real-time performance of an ANC system, thus decreasing the attenuation performance and even leading to divergence. To alleviate this contradiction in narrowband ANC systems, a new virtual filtered-x L0 norm discrete Fourier cancellation (FxL0DFC) based hybrid FxNLMS(filtered-x normalized least mean square)-FxDFC framework is proposed to decrease the total computing load and keep good attenuation performance. For a fast-changing noise, the FxNLMS algorithm is employed. The new virtual FxL0DFC algorithm serves to prepare parameters for steady-state, and when this happens, the FxDFC algorithm with the parameters provided by FxL0DFC is applied. Compared to using the FxNLMS algorithm to attenuate narrowband periodical noise, the FxDFC algorithm has nearly the same tracking performance while having a low computational load. As a result, the FxL0DFC-based FxNLMS-FxDFC algorithm leads to a reduction of the total computational load. Moreover, the proposed method performs excellently in terms of tracking in simulations and experiments on actual data, particularly in environments with rapid power changes and impulsive noise.

关键词： Adaptive filters Narrowband Attenuation Switches filtering algorithms Band-pass filters Interference Active noise control narrowband noise with impulsive interference virtual FxL0DFC hybrid FxNLMS-FxDFC

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PISketch: Finding Persistent and Infrequent Flows

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IEEE-ACM TRANSACTIONS ON NETWORKING 2023年第6期31卷 3191-3206页

作者： Fan, Zhuochen Hu, Zhoujing Wu, Yuhan Guo, Jiarui Wang, Sha Liu, Wenrui Yang, Tong Tu, Yaofeng Uhlig, Steve Peking Univ Sch Comp Sci Natl Key Lab Multimedia Informat Proc Beijing 100871 Peoples R China Natl Univ Def Technol Coll Comp Changsha 410073 Peoples R China ZTE Nanjing Res & Dev Ctr Nanjing 210012 Peoples R China Queen Mary Univ London Sch Elect Engn & Comp Sci London E1 4NS England

Finding persistent and low-active activity periods is very helpful in practice, for example to detect intrusion activities. Most of the literature focuses on finding persistent flows or frequent flows. No previous work is able to find persistent and infrequent flows. In this paper, we propose a novel sketch data structure, PISketch, to find persistent and infrequent flows in real time. The key idea of is to define a weight and its Reward and Penalty System for each flow to combine and balance the information of both persistency and infrequency, and to keep high-weighted flows in a limited space through a strategy. We implement PISketch on P4, FPGA, and CPU platforms, and compare the performance of PISketch with two strawman solutions (On-Off + CM sketch, and PIE + CM sketch), in terms of finding persistent and infrequent flows. Our experimental results demonstrate the advantage of PISketch, by comparing it to two strawman solutions: 1) The F1 Score of is around 22.1% and 57.6% higher than two strawman solutions, respectively;2) The Average Relative Error (ARE) of is around 820.9 (up to 1188.8) and 126.2 (up to 265.6) times lower than two strawman solutions, respectively;3) The insertion throughput of is around 1.23 and 16.5 times higher than two strawman solutions, respectively. Moreover, we implement two concrete cases of PISketch through end-to-end experiments. All of our codes are available at GitHub.

关键词： Random access memory Field programmable gate arrays Frequency estimation filtering algorithms Fans Data structures Codes Data streams persistent flows infrequent flows advanced persistent threats sketch weight P4 FPGA

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A Modified DFT-Based Phasor Estimation Algorithm Using an FIR Notch Filter

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IEEE TRANSACTIONS ON POWER DELIVERY 2023年第2期38卷 1308-1315页

作者： Afrandideh, Saeed Shahid Beheshti Univ Dept Elect Engn Tehran *** Iran

Accurate and fast extraction of the fundamental parameters of fault signals is a critical issue in the overall performance of protective relays. The decaying DC terms (DDTs) in the fault current challenge the discrete Fourier transform (DFT), the reference algorithm for phasor estimation. To meet this challenge, a new modification for half and full-cycle DFT algorithms is proposed in this paper. In the first step, a finite impulse response (FIR) notch filter designed for fundamental frequency is applied to the output of the DFT algorithm. After that, the outcome of the FIR notch filter and its complex conjugate make it possible to extract error terms. Finally, the estimated phasors are emptied from DDTs error. The ability of the proposed method for estimating phasor and tolerating disturbances was assessed using practical simulated signals. The results perform that the proposed method is much more robust, accurate, and faster than previous methods and enhances the efficiency of the DFT algorithm faced by multiple DDTs.

关键词： Power harmonic filters Discrete Fourier transforms Finite impulse response filters filtering algorithms Estimation Harmonic analysis Low-pass filters Discrete fourier transform (DFT) phasor estimation fault current decaying DC term (DDT) FIR filter power system protection

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Optimization of Mismatched Filters With Asymmetric Side-Lobe Shape for Short-Range MIMO Radars

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IEEE ACCESS 2023年 11卷 48860-48867页

作者： Karamazov, Simeon Bezousek, Pavel Univ Pardubice Fac Elect Engn & Informat Pardubice 53210 Czech Republic

This paper presents the design of signal compression and separation filters with asymmetric responses for multiple-input multiple-output (MIMO) radars that use pulses longer than the maximum return time of the reflected signal. Such radars suffer from direct penetration of the transmitted signal to the receiver, appearing as a very strong stationary reflection in the zero range. After pulse compression, the far-side lobes of this crosstalk may compete with the reflections of distant weak targets and limit the maximum radar range. Hence, in addition to the maximum suppression of the direct transmitted signal penetration to the receiver, the far-side lobe reduction of this crosstalk with positive time lags is desirable. Asymmetric response filters allow optimization to be focused on the region where the maximum suppression of crosstalk between the transmitted signal and the receiver is desired. Extreme suppression was achieved by applying lower demand in other areas and other parameters. In this paper, the problem is described in more detail along with the mathematical apparatus by which asymmetric filter outputs can be achieved.

关键词： Radar Crosstalk Reflection Matched filters filtering algorithms Power filters Finite impulse response filters MIMO radar mismatched filter peak to average power ratio separation filter side lobe signal envelope signal-to-noise ratio

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