Robust finite-horizon Kalman filtering for uncertain discrete-time systems

In this note, we propose a design for a robust finite-horizon Kalman filtering for discrete-time systems suffering from uncertainties in the modeling parameters and uncertainties in the observations process (missing measurements). The system parameter uncertainties are expected in the state, output and white noise covariance matrices. We find the upper-bound on the estimation error covariance and we minimize the proposed upper-bound.

Tracking single bubble in Hall-Héroult aluminium cell : an experimental and numerical study

In simulations of the hydrodynamics of the multiphase flow in gas– liquid systems with finite sizes of bubbles, the important thing is to compute explicitly the time evolution of the gas–liquid interface in many engineering applications. The most commonly used methods representing this approach are: the volume of fluid and the phase field methods. The later has gained significant interest because of its capability of performing numerical computations on a fixed Cartesian grid without having to parametrise these objects (Eulerian approach) and at the same time it allows to follow the interface ( for example bubble’s shape) that change the topology. In this paper, both numerical (phase field method) and experimental results for the bubble shapes underneath a downward facing plane is presented. Experiments are carried out to see the bubble sliding motion underneath a horizontal and inclined anode. It is assumed that the bubble formed under the anode surface is deformed (flattened) due to buoyant field before it goes around the anode corner. The bubble elongates to form a tail-like shape. The change in shape of the bubble is almost instantaneous and has a significant effect on the localised hydrodynamics around the bubble, which could influence the dynamics of the flow patterns in the Hall–Héroult cell. This deformation is the main cause of the bubble wake and the induced flow field in the aluminium cell. Various parameters such as bubble size, deformation and its sliding mechanism at different surface tensions are discussed and compared with experimental results.

Tracking of maternal self-efficacy for limiting young children's television viewing and associations with children's television viewing time: a longitudinal analysis over 15-months

BACKGROUND: Mothers' self-efficacy for limiting their children's television viewing is an important correlate of this behaviour in young children. However, no studies have examined how maternal self-efficacy changes over time, which is potentially important during periods of rapid child development. This study examined tracking of maternal self-efficacy for limiting young children's television viewing over 15-months and associations with children's television viewing time. METHODS: In 2008 and 2010, mothers (n = 404) from the Melbourne InFANT Program self-reported their self-efficacy for limiting their child's television viewing at 4- and 19-months of age. Tertiles of self-efficacy were created at each time and categorised into: persistently high, persistently low, increasing or decreasing self-efficacy. Weighted kappa and multinomial logistic regression examined tracking and demographic and behavioural predictors of change in self-efficacy. A linear regression model examined associations between tracking categories and children's television viewing time. RESULTS: Tracking of maternal self-efficacy for limiting children's television viewing was low (kappa = 0.23, p < 0.001). Mothers who had persistently high or increasing self-efficacy had children with lower television viewing time at 19-months (β = -35.5; 95 % CI = -54.4,-16.6 and β = 37.0; 95 % CI = -54.4,-19.7, respectively). Mothers of children with difficult temperaments were less likely to have persistently high self-efficacy. Mothers who met adult physical activity guidelines had 2.5 greater odds of increasing self-efficacy. CONCLUSIONS: Interventions to increase and maintain maternal self-efficacy for limiting children's television viewing time may result in lower rates of this behaviour amongst toddlers. Maternal and child characteristics may need to be considered when tailoring interventions.

Labeled random finite sets and the bayes multi-target tracking filter

An analytic solution to the multi-target Bayes recursion known as the δ-Generalized Labeled Multi-Bernoulli ( δ-GLMB) filter has been recently proposed by Vo and Vo in [“Labeled Random Finite Sets and Multi-Object Conjugate Priors,” IEEE Trans. Signal Process., vol. 61, no. 13, pp. 3460-3475, 2014]. As a sequel to that paper, the present paper details efficient implementations of the δ-GLMB multi-target tracking filter. Each iteration of this filter involves an update operation and a prediction operation, both of which result in weighted sums of multi-target exponentials with intractably large number of terms. To truncate these sums, the ranked assignment and K-th shortest path algorithms are used in the update and prediction, respectively, to determine the most significant terms without exhaustively computing all of the terms. In addition, using tools derived from the same framework, such as probability hypothesis density filtering, we present inexpensive (relative to the δ-GLMB filter) look-ahead strategies to reduce the number of computations. Characterization of the L1-error in the multi-target density arising from the truncation is presented.

Robust real-time bio-kinematic movement tracking using multiple kinects for tele-rehabilitation

This paper investigates the robust and accurate capture of human joint poses and bio-kinematic movements for exercise monitoring in real-time tele-rehabilitation applications. Recently developed model-based estimation ideas are used to improve the accuracy, robustness, and real-time characteristics considered vital for applications, where affordability and domestic use are the primary focus. We use the spatial diversity of the arbitrarily positioned Microsoft Kinect receivers to improve the reliability and promote the uptake of the concept. The skeleton-based information is fused to enhance accuracy and robustness, critical for biomedical applications. A specific version of a robust Kalman filter (KF) in a linear framework is employed to ensure superior estimator convergence and real-time use, compared to other commonly used filters. The algorithmic development was conducted in a generic form and computer simulations were conducted to verify our assertions. Hardware implementations were carried out to test the viability of the proposed state estimator in terms of the core requirements of reliability, accuracy, and real-time use. Performance of the overall system implemented in an information fusion context was evaluated against the commercially available and industry standard Vicon system for different exercise routines, producing comparable results with much less infrastructure and financial investment.

New finite-sum inequalities with applications to stability of discrete time-delay systems

This paper is concerned with the problem of stability analysis of discrete time-delay systems. New finite-sum inequalities, which encompass the ones based on Abel lemma or Wirtinger type inequality, are first proposed. The potential capability of the newly derived inequalities is then demonstrated by establishing less conservative stability conditions for some classes of linear discrete-time systems with delay. The derived stability criteria are theoretically and numerically proved to be less conservative than existing results.

Tracking the nomadic life of the eductional researcher: what future for feminist public intellecturals and the performative university?

Is the idea of the liberal university dead, has the postmodern university any chance of being emancipatory, has the theory–practice divide merely collapsed in an era of 'new knowledge work', or has the university just become one aspect of market states and global capitalism? Knowledge-based economies locate universities as central to the commodification and management of knowledge, while at the same time the legitimacy of the university and the academic as knowledge producers is challenged by postmodernist, feminist, post-colonial and indigenous claims within a wider trend towards the 'democratisation of knowledge' and a new educational instrumentalism and opportunism. What becomes of the educational researcher, and indeed their professional organisations, in this changing socio-political and economic scenario? Is our role one of policy service, policy critique, technical expert or public intellectual? In particular what place is there for feminist public intellectuals in a so-called era of post feminism and public–private convergence? The paper draws on feminist and critical perspectives to mount a case for the importance of the public intellectual in the performative postmodern university.

Robust extended kalman filter applied to location tracking and trajectory prediction for PCS networks

Provisioning of real-time multimedia sessions over wireless cellular network poses unique challenges due to frequent handoff and rerouting of a connection. For this reason, the wireless networks with cellular architecture require efficient user mobility estimation and prediction. This paper proposes using robust extended Kalman filter (REKF) as a location heading altitude estimator of mobile user for next cell prediction in order to improve the connection reliability and bandwidth efficiency of the underlying system. Through analysis we demonstrate that our algorithm reduces the system complexity (compared to existing approach using pattern matching and Kalman filter) as it requires only two base station measurements or only the measurement from the closest base station. Further, the technique is robust against system uncertainties due to inherent deterministic nature in the mobility model and more effective in comparison with the standard Kalman filter.

Application of radial return mapping algorithm for finite strain elastoplasticity in a hybrid finite element and particle-in-cell model

The radial return mapping algorithm within the computational context of a hybrid Finite Element and Particle-In-Cell (FE/PIC) method is constructed to allow a fluid flow FE/PIC code to be applied solid mechanic problems with large displacements and large deformations. The FE/PIC method retains the robustness of an Eulerian mesh and enables tracking of material deformation by a set of Lagrangian particles or material points. In the FE/PIC approach the particle velocities are interpolated from nodal velocities and then the particle position is updated using a suitable integration scheme, such as the 4th order Runge-Kutta scheme[1]. The strain increments are obtained from gradients of the nodal velocities at the material point positions, which are then used to evaluate the stress increment and update history variables. To obtain the stress increment from the strain increment, the nonlinear constitutive equations are solved in an incremental iterative integration scheme based on a radial return mapping algorithm[2]. A plane stress extension of a rectangular shape J2 elastoplastic material with isotropic, kinematic and combined hardening is performed as an example and for validation of the enhanced FE/PIC method. It is shown that the method is suitable for analysis of problems in crystal plasticity and metal forming. The method is specifically suitable for simulation of neighbouring microstructural phases with different constitutive equations in a multiscale material modelling framework.

Visual tracking of vehicles using multiresolution analysis and neural network

This paper describes the procedure for detection and tracking of a vehicle from an on-road image sequence taken by a monocular video capturing device in real time. The main objective of such a visual tracking system is to closely follow objects in each frame of a video stream, such that the object position as well as other geometric information are always known. In the tracking system described, the video capturing device is also moving. It is a challenge to detect and track a moving vehicle under a constantly changing environment coupled to real time video processing. The system suggested is robust to implement under different illuminating conditions by using the monocular video capturing device. The vehicle tracking algorithm is one of the most important modules in an autonomous vehicle system, not only it should be very accurate but also must have the safety of other vehicles, pedestrians, and the moving vehicle itself. In order to achieve this an algorithm of multi resolution technique based on Haar basis functions were used for the wavelet transform, where a combination of classification was carried out with the multilayer feed forward neural network. The classification is done in a reduced dimensional space, where principle component analysis (PCA) dimensional reduction technique has been applied to make the classification process much more efficient. The results show the effectiveness of the proposed methodology.

Tracking multiple mobile agents with single frequency continuous wave radar

In this paper, a novel concept to determine the velocity and the location information of multiple mobile agents using Doppler radar has been introduced. Also, an expression for the minimum number of inline sensors needed to guarantee this estimation for n number of mobile agents has been obtained. Current methods use the time derivative of the displacement of adjacent position measurements to find the velocities of agents. This method is error prone, particularly, if the agents are accelerating. In our approach we incorporate direction-of-arrival (DOA) radar which tracks the location and the velocity of each and every agent in each measurement step.

Tracking of sedentary behaviours of young people : a systematic review

Objective : To review the empirical evidence concerning the strength of tracking of sedentary behaviours from childhood and adolescence.

Methods : Published English language studies were located from computerised and manual searches in 2009. Included studies were prospective, longitudinal studies with at least one sedentary behaviour for at least two time-points, with tracking coefficients reported, and included children (aged 3–11 years) and adolescents (12–18 years) at baseline.

Results : Based on data from 21 independent samples, tracking coefficients (r) ranged from 0.08 (over 16 years) to 0.73 (over 2 years) for TV viewing, from 0.18 (boys over 3 years) to 0.52 (over 2 years) for electronic game/computer use, from 0.16 (girls over 4 years) to 0.65 (boys over 2 years) for total screen time, and from −0.15 (boys over 2 years) to 0.48 (over 1 year) for total sedentary time. Study follow-up periods ranged from 1 to up to 27 years, and tracking coefficients tended to be higher with shorter follow-ups.

Conclusions : Sedentary behaviours track at moderate levels from childhood or adolescence. Data suggest that sedentary behaviours may form the foundation for such behaviours in the future and some may track slightly better than physical activity.