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Towards estimation in the Sense of the Least Sum of Absolute Errors

IFAC Proceedings Volumes 1998年第20期31卷 605-610页

作者： Krzysztof B. Janiszowski Institute of Industrial Automatic Control Warsaw Technical University 02 - 525 Warsaw ul. Narbutta 87 Poland

This paper presents an attempt to introduce an estimation algorithm that can lead to estimates of coefficients of a parametric model, close to the values detennined by the Least Sum of Absolute errors of the model output. Examples of LSA-estimation application presented here show specific and interesting features. This estimation is quite insensitive to instantaneous, even very powerful and non-symmetric disturbances. A theorem for the derivation the LSA-estimation algorithm, as a special modification of the weighted Least Sum of Square estimation is presented. Application of the LSA-algorithm and a comparison with LSS-estimation results is presented on examples of static and dynamic models of linear plants.

关键词： Absolute error criterion estimation algorithms recursive scheme

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Prospects of simultaneous localization and mapping algorithms application in imagery intelligence 12

Prospects of simultaneous localization and mapping algorithm...

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12th Conference on Reconnaissance and Electronic Warfare Systems (CREWS)

作者： Slowak, Pawel Kaniewski, Piotr Mil Univ Technol Ul Gen Witolda Urbanowicza 2 PL-00908 Warsaw Poland

ISBN: (数字)9781510627864

ISBN: (纸本)9781510627864

The article contains an analysis of potential prospects of simultaneous localization and mapping (SLAM) algorithms application in imagery intelligence (IMINT). The first part of the paper presents a detailed description of the SLAM problem. Diverse solutions to the simultaneous localization and mapping problem and related research over the years are presented. The most promising of SLAM approaches are pointed out. To facilitate SLAM analysis, the problem is partitioned into three parts. First, various SLAM estimation techniques are characterized. A mathematical theory behind the usage of parametric filters, non-parametric filters, and least squares method is presented. Further, differences between SLAM algorithms are described in terms of various sensors used on-board SLAM platforms for the examination of the environment. The examination is commonly addressed as landmark extraction. A separate part of the paper discusses the image processing in SLAM. The last part of the SLAM analysis is dedicated to various approaches to map presentation. Further, the properties of SLAM techniques are characterized in terms of their potential benefits to IMINT. Prospects of increased efficiency, accuracy and safety of intelligence gathering process are discussed.

关键词： SLAM intelligence UAV image processing estimation algorithms

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Robot Localisation based on Phase Measures of backscattered UHF-RFID Signals

Robot Localisation based on Phase Measures of backscattered ...

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IEEE International Instrumentation and Measurement Technology Conference (I2MTC)

作者： Magnago, V Palopoli, L. Fontanelli, D. Macii, D. Motroni, A. Nepa, P. Buffi, A. Tellini, B. Univ Trento Dept Infonnat Engn & Comp Sci Trento Italy Univ Trento Dept Ind Engn Trento Italy Univ Pisa Dept Informat Engn Pisa Italy Univ Pisa Dept Energy Syst Terr & Construct Engn Pisa Italy

ISBN: (纸本)9781538634608

Indoor localisation is currently regarded as one of the most useful services offered to human beings and robotics agents, as it can support a variety of applications. Among all the possible sensing solutions developed to address this problem (which is usually made challenging by the complex, heterogeneous and crowded nature of indoor environments), RFID systems based on passive tags are very promising due to their relatively low cost and the ease of deployment. In this paper, a theoretical analysis of the localisation problem using Ultra High Frequency (UHF) RFID tags for mobile robots is considered. The feasibility of the proposed approach is demonstrated by analysing the local nonlinear observability of the system at hand, despite the inherent ambiguity of the phase of backscattered RF signals, which can be measured by a system installed on the moving agent. The validity of the analysis and the practicality of this localisation approach is further confirmed by using a position tracking estimator based on an Unscented Kalman Filter (UKF).

关键词： RFID localisation estimation algorithms observability analysis

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Dynamic model for a water distribution network: application to leak diagnosis and quality monitoring 21st

Dynamic model for a water distribution network: application ...

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21st IFAC World Congress on Automatic Control - Meeting Societal Challenges

作者： Delgado-Aguinaga, J. A. Becerra-Lopez, F., I Torres, L. Besancon, G. Puig, V Magana, M. R. Jimenez Univ Valle Mexico CIIDETEC Mexico City DF Mexico Univ Guadalajara CUCEI Guadalajara Jalisco Mexico Univ Nacl Autonoma Mexico Inst Ingn Mexico City DF Mexico Univ Grenoble Alpes GIPSA Lab Grenoble INP CNRS Grenoble France CSIC UPC Inst Robot & Informat Ind Barcelona Spain Univ Nacl Autonoma Mexico Fac Estudios Super Aragon Mexico City DF Mexico

This paper presents a model based on the rigid water column (RWC) theory to describe the flow and the decay of chlorine in water distribution networks (WDNs), which can be used for developing tools to diagnose leaks and estimate chlorine concentrations. The model includes the continuity equation for each node of the network such that i) the relation of the flow rates entering and leaving the nodes is explicit, and ii) the computation of pressures and flow rates can be simultaneously done. The chlorine decay in each node and in each pipeline section of the WDN is predicted from the computed flow rates by using the third order accurate Warming-Kutler-Lomax (WKL) method. At the end of this paper, it is shown that the chlorine decay rate is well predicted by using the WKL method according to a comparison with simulations results obtained by using the EPANET-MSX software. Furthermore, it is shown that several single leak-diagnosis scenarios can be successfully solved by using an improved sensitivity matrix method together with the proposed model. Copyright (C) 2020 The Authors.

关键词： Fault diagnosis Water pollution Networks Pipelines estimation algorithms

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On the Configuration-LP of the Restricted Assignment Problem 28

On the Configuration-LP of the Restricted Assignment Problem

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28th Annual ACM-SIAM Symposium on Discrete algorithms (SODA)

作者： Jansen, Klaus Rohwedder, Larts Univ Kiel Dept Comp Sci D-24118 Kiel Germany

ISBN: (纸本)9781611974782

We consider the classical problem of SCHEDULING ON UN-RELATED MACHINES. In this problem a set of jobs is to be distributed among a set of machines and the maximum load (makespan) is to be minimized. The processing time p(ij) of a job j depends on the machine i it is assigned to. Lenstra, Shmoys and Tardos gave a polynomial time 2-approximation for this problem [8]. In this paper we focus on a prominent special case, the RESTRICTED ASSIGNMENT problem, in which p(ij) is an element of {p(j), infinity}. The configuration-LP is a linear programming relaxation for the RESTRICTED ASSIGNMENT problem. It was shown by Svensson that the multiplicative gap between integral and fractional solution, the integrality gap, is at most 2 - 1/17 approximate to 1.9412 [11]. In this paper we significantly simplify his proof and achieve a bound of 2 - 1/6 approximate to 1.8333. As a direct consequence this provides a polynomial (2 - 1/6 + is an element of)-estimation algorithm for the RESTRICTED ASSIGNMENT problem by approximating the configuration-LP. The best lower bound known for the integrality gap is 1.5 and no estimation algorithm with a guarantee better than 1.5 exists unless P = NP.

关键词： estimation algorithms scheduling local search linear programming integrality gap

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Sensorless oil drowned pump drive

Sensorless oil drowned pump drive

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IEEE International Symposium on Industrial Electronics

作者： Ryvkin, S Izosimov, D Sarychev, A Raskin, L Aksarin, D Vidumkin, E Cernat, M Inst Control Sci Lab Adapt Control Dynam Objects Moscow Russia

ISBN: (纸本)0780387384

This work presents the digitally controlled sensorless drive applied to a drowned pump. The developed drive provides the high function quality and high reliability. The drive architecture from the reliability viewpoint is described and analyzed. The new control and estimation algorithms that have been used are briefly presented. The construction of the used voltage source inverter and control is examined. The results of the drive simulation, confirming high dynamic accuracy and in addition simplification of the digital control and reduction of the required controller computing capacity are presented.

关键词： digital control electric machine analysis computing invertors machine control motor drives pumps reliability controller computing capacity estimation algorithms sensorless drive digital control sensorless oil drowned pump drive voltage source inverter voltage source inverter Inventors MACHINE TOOL CONTROL Pumps motor drives Numerical controls Drowning Sensors Automobile driving DRIVES

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A RANSAC-based Fast Road Line Detection Algorithm for High-speed Wheeled Vehicles

A RANSAC-based Fast Road Line Detection Algorithm for High-s...

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IEEE International Instrumentation and Measurement Technology Conference (I2MTC)

作者： Fontanelli, D. Cappelletti, M. Macii, D. Univ Trento DISI Dept Informat Engn & Comp Sci I-38123 Trento Italy

ISBN: (纸本)9781424479351

Real-time trajectory tracking and control is a well-known problem in robotics which has recently become very interesting also for automotive industry, due to the need for constantly improving car comfort and safety. While several solutions for vehicle trajectory control already exist, assuring fast, accurate and reliable tracking using low-cost devices is still a challenging problem. In this paper an effective road line detection system is described. The proposed technique relies on the so-called RANSAC algorithm applied to the images collected by a high frame rate video camera. The main advantage of the proposed solution is the low computational burden, which is compatible for real-time trajectory monitoring even when a vehicle is travelling at high speed.

关键词： Smart sensors vision sensors estimation algorithms image processing automotive autonomous vehicles

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Estimating Edge-Local Triangle Count Heavy Hitters in Edge-Linear Time and Almost-Vertex-Linear Space

Estimating Edge-Local Triangle Count Heavy Hitters in Edge-L...

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IEEE High Performance Extreme Computing Conference (HPEC)

作者： Priest, Benjamin W. Pearce, Roger Sanders, Geoffrey Dartmouth Coll Thayer Sch Engn Hanover NH 03755 USA Lawrence Livermore Natl Lab Ctr Appl Sci Comp Livermore CA USA

ISBN: (纸本)9781538659892

We describe a methodology for estimating edge-local triangle counts using cardinality approximation sketches. While the approach does not guarantee relative error bounds, we will show that it preserves triangle count heavy hitters - the edges incident upon the largest number of triangles - well in practice. Furthermore, we provide empirical evidence that the sum of edge-local estimations yield reasonable estimates of the global triangle count for free. In this paper we describe a two-pass algorithm for estimating edge-local triangle count heavy hitters. The algorithm requires time linear in the number of edges, memory almost linear in the number of vertices, and is easy to parallelize. We provide results on dozens of real-world and synthetic graphs.

关键词： graphs triangle counting sublinear algorithms estimation algorithms

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Real time estimation of Supersonic Projectile Roll Angle using Magnetometers: In-lab Experimental Validation

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IFAC Proceedings Volumes 2009年第5期42卷 123-127页

作者： S. Changey E. Pecheur P. Wey French-German Research Institute of Saint-Louis (ISL) P.O. Box 70034 68301 Saint-Louis France

The goal of ISL's project GSP (Guided Supersonic Projectile) is to change the flight path of an air-defence projectile in order to correct the aim error due to the target manoeuvres. The originality of the concept is based on pyrotechnical actuators and onboard sensors which control the angular motion of the projectile. First of all, the control of the actuators requires the precise control of the roll angle of the projectile. To estimate the roll angle of the projectile, two magnetometers are embedded in the projectile to measure the projection of the earth magnetic field along radials axes of the projectiles. Then, an extended Kalman filter is used to compute the roll angle estimation. As the rolling frequency of the GSP is about 22 Hz, it is easy to test the navigation algorithm in laboratory. Two magnetometers and a LED are rotated using an electrical engine; then an electronic station based on a DSP runs an extended Kalman filter and runs a guidance algorithm to compute the trigger times of the LED. By using a high speed camera, we can observe and improve the accuracy of the method.

关键词： Extended Kalman filters estimation algorithms Real-time systems Guidance systems Navigation systems Embedded systems Angular position Automated guided vehicles

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estimation of Plant Growth in Rice Field Based on Remote Sensing

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IFAC Proceedings Volumes 2001年第28期34卷 95-100页

作者： Masanori Matsuda Shouichi Osawa Nobuhiko Nakamura Hideharu Maruyama Yukio Hosaka Daisuke Matsuura Kazufumi Kaneda Hideo Yamashita Grain Research Institute Satake Corporation 2-30 Saijo-Nishihon-machi Higashi-Hiroshima-shi Hiroshima 739-8602 Japan Graduate School of Engineering Hiroshima University 1-4-1 Kagamiyama Higashi-Hiroshima-shi Hiroshima 739-8527 Japan

In this paper, an estimation system of rice plant nitrogen contents in the whole rice field is discussed for a precision farming by using the remote sensing image. These images are taken at a panicle formation stage and a reduction division stage from a boundary of the rice field. These bird’s-eye view images are transformed to top views of a parallel projection to ease mapping. On parallel projected images, some combinations of two spectral images have significant correlation with the nitrogen contents. On the other hand, Hue and Saturation transformed from RGB color image have correlation with the nitrogen contents.

关键词： Farming Plant Quality Control Precision Measurement Image Analysis estimation algorithms Digital Images Spectral Analysis

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