A radiolocation/navigation system is considered in which mobile nodes use ultra-wideband (UWB) radios to obtain inter-node ranges via round-trip travel time (RTT). Each node is also assumed to contain an inertial meas...
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A radiolocation/navigation system is considered in which mobile nodes use ultra-wideband (UWB) radios to obtain inter-node ranges via round-trip travel time (RTT). Each node is also assumed to contain an inertial measurement unit (IMU) which generates 2D position estimates subject to Gaussian drift and additive noise errors. The key problem in such a system is obtaining 2 or 3-D position estimates from the nonlinear UWB range measurements and fusing the resulting UWB and IMU estimates. The system presented uses a Steepest Descent Random Start (SDRS) algorithm to solve the nonlinear positioning problem. It is shown that SDRS is a stable algorithim under a realistic communications reciprocity assumption. The SDRS estimates are then treated as measurements by the navigation Kalman filter. The navigation filter also processes separate IMU-derived position estimates to update node position/velocity. Simulation results for an urban corridor are given showing
The online synthesis of stylized interactive movements with high levels of realism is a difficult problem in computer graphics. We present a new approach for the learning of structured dynamical models for the synthes...
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The envelope constrained filter (ECF) is a useful approach to filter design. The authors of the original concept have proposed algorithms for solving the ECF design problem as well. These algorithms use the tools of n...
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A pipe made of composite material is considered. Two approaches are proposed. The first is based on the averaging method. In this case, an effective model is a model of a hollow circular cylinder. In the second approa...
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Developments in optimization theory, including emphasis on large problems and on interior-point methods for linear programming, have begun to appear in production software. Here is a reference tool that includes discu...
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ISBN:
(数字)9781611970951
ISBN:
(纸本)9780898713220
Developments in optimization theory, including emphasis on large problems and on interior-point methods for linear programming, have begun to appear in production software. Here is a reference tool that includes discussions of these areas and names software packages that incorporate the results of theoretical research. After an introduction to the major problem areas in optimization and an outline of the algorithms used to solve them, a data sheet is presented for each of the 75 software packages and libraries in the authors' survey. These include information on the capabilities of the packages, how to obtain them, and addresses for further information.
Standard optimization paradigms are addressed — linear, quadratic, and nonlinear programming; network optimization; unconstrained and bound-constrained optimization; least-squares problems; nonlinear equations; and integer programming. The most practical algorithms for the major fields of numerical optimization are outlined, and the software packages in which they are implemented are described.
This format will aid current and potential users of optimization software in classifying the optimization problem to be solved, determining appropriate algorithms, and obtaining the software that implements those algorithms. Readers need only a basic knowledge of vector calculus and linear algebra to understand this book.
This paper proposes an intelligent obstacle avoidance method in unmanned driving. This method first establishes a simplified model for the obstacle avoidance problem in unmanned driving, and constrains the car from ki...
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The ability to make good and timely decisions is an essential skill for all Engineering Managers. Basing management decisions on tribal knowledge or ?gut? feelings is no longer acceptable. Where possible, the decision...
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ISBN:
(纸本)9781605607139
The ability to make good and timely decisions is an essential skill for all Engineering Managers. Basing management decisions on tribal knowledge or ?gut? feelings is no longer acceptable. Where possible, the decision making process must be assisted via quantitative methods. There are a variety of complex quantitative methods for decision-making. A few examples are linear programming, non-linear programming, probability theory, multivariable optimization, multidisciplinary optimization, Pareto analysis, decision trees, and Monte Carlo simulation. As such, queuing theory (the topic of this paper) is a subset of probability theory. Specifically, queuing theory is the mathematical study of waiting lines (queues). The theory enables mathematical analysis of several related processes, including arriving at the (back of the) queue, waiting in the queue (essentially a storage process), and being served by the server(s) at the front of the queue. The theory permits the derivation and calculation of several performance measures including the average waiting time in the queue or the system, the expected number waiting or receiving service, and the probability of encountering the system in certain states such as empty, full, having an available server, or having to wait a certain time to be served (utilization). One can even derive the probability that a customer will exit the queue (balk). Queuing analysis is the direct application of queuing theory. Despite its complex origin, queuing analysis yields quick and accurate forecasts of resource needs based on nothing more than a working knowledge of flow and service rates. Queuing analysis can occur on single lines and multiple lines, both in parallel and in series. In manufacturing, the output of one queue is often the input for the next. The paper will show how queuing analysis aids decision making. In particular, resource allocation decisions based on flow, service, and utilization rates.
The increasing demand for reliable high-speed connectivity in remote and disaster-stricken areas presents significant challenges for traditional terrestrial networks. Non-Terrestrial Networks (NTNs), consisting of Hig...
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Precise segmentation of anatomical structures is critical for medical image analysis. Traditional techniques that use active contours or snakes require accurate initialization and parameter optimization, which are tim...
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Hydropower generation is one of the significant reservoir operations, especially in a large multi-purpose reservoir and optimizing the hydropower generation is complex but necessary task. Deriving optimal operation ru...
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