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For manifolds with topologies that strongly differ from the standard topology of Rn, using common filters created for linear domains can yield misleading results. While there is a lot of ongoing research on estimation on the unit circle, higher-dimensional problems particularly pose a challenge. One important generalization of the unit circle is the unit hypersphere. In this paper, we propose a recursive...
The paper presents an approach for tracking a variable number of objects by using a multi-layer particle filter combined with an extended Expectation Maximization (EM) clustering. The approach works on basis of binary foreground images coming from previous background subtraction. The multi-layer particle filter is an improvement of a conventional particle filter approach. It uses an introduced adaptive...
This paper proposes a novel simple adaptive and online approach to estimate the state of charge (SOC) in Lithium Ion (Li-Ion) batteries based on a new model parameter identification method. First, a novel discrete model for the Li-ion battery is developed. This model is the key step in the development of the proposed parameter estimation algorithm. The estimated parameters are used for on-line calculation...
Within the context of road estimation, the present paper addresses the problem of the fusion of several sources with different reliabilities. Thereby, reliability represents a higher-level uncertainty. This problem arises in automated driving and ADAS due to changing environmental conditions, e.g., road type or visibility of lane markings. Thus, we present an online sensor reliability assessment and...
In robotics, non-linear least squares estimation is a common technique for simultaneous localization and mapping. One of the remaining challenges are measurement outliers leading to inconsistency or even divergence within the optimization process. Recently, several approaches for robust state estimation dealing with outliers inside the optimization back-end were presented, but all of them include...
It is difficult for managers to do real-time traffic estimation under urban road network because of the incompletion of information collection and the complexity of road network. This paper will improve the precision of data expansion algorithm presented by Lederman R and Wynter L. (2011) using Kalman Filter during real-time estimation. Computation is composed of a heavyweight offline calibration...
In recent years there have been many proposals for automated applications in vegetable harvesting. There are two major challenges: estimation of yield and harvesting of fruit trees. This research proposes a new algorithm that allows accurate counting of the number of fruits on a tree to accurately estimate the output of a dragon fruit. The algorithm consists of the following main steps: image segmentation,...
Model-based software estimation uses algorithms and past project data to make predictions for new projects. This paper presents a comparative assessment of four modeling approaches, including the original COCOMO, COCOMO calibration, k-Nearest Neighbors, and a combination of COCOMO calibration and k-Nearest Neighbors. Our results indicate that using kNN to select the nearest projects and calibrating...
This work investigates the anonymous tag cardinality estimation problem in radio frequency identification systems with frame slotted aloha-based protocol. Each tag, instead of sending its identity upon receiving the reader's request, randomly responds by only one bit in one of the time slots of the frame due to privacy and security. As a result, each slot with no response is observed as in an empty...
Background: Software effort estimates are necessary and critical at an early phase for decision makers to establish initial budgets, and in a government context to select the most competitive bidder for a contract. The challenge is that estimated software requirements is the only size information available at this stage, compounded with the newly increasing adoption of agile processes in the US DoD...
What would have happened if I did not have any code smell? This is an interesting question that no previous study, to the best of our knowledge, has tried to answer. In this paper, we present a method for implementing a what-if scenario analysis estimating the number of defective files in the absence of smells. Our industrial case study shows that 20% of the total defective files were likely avoidable...
In this paper, the problem of H∞ sliding mode control for discrete-time singular systems with time-varying delay is studied. A new type of sliding mode surface involving the singular matrix E is proposed firstly, based on which, a less conservative condition is obtained to guarantee the ideal sliding mode dynamics of the singular system to be admissible with a γ-Ievel disturbance attenuation of the...
This paper formulates and studies the problem of distributed filtering based on randomized gossip strategy in order to estimate the state of a dynamic system via all sensors in a network. First we introduce the randomized gossip algorithm by which the fastest averaging strategy can be obtained for a network with an arbitrary topology. Then we combine the randomized gossip algorithm with the information...
In this paper, we represent a terrain inference method based on vibration features. Autonomous navigation in unstructured environments is a challenging problem. Especially, the detailed interpretation of terrain in unstructured environments is necessary to set an efficient navigation trajectory. As the vibration features are obtained from interactions between the robot and terrain, terrain inference...
The accuracy provided by traditional sampling-based monitoring approaches, such as NetFlow, is increasingly being considered insufficient to meet the requirements of today's networks. By summarizing all traffic for specific statistics of interest, sketch-based alternatives have been shown to achieve higher levels of accuracy for the same cost. Existing switches, however, lack the necessary capability...
We consider tracking of a target with elliptical nonlinear constraints on its motion dynamics. The state estimates are generated by sensors and sent over long-haul links to a remote fusion center for fusion. We show that the constraints can be projected onto the known ellipse and hence incorporated into the estimation and fusion process. In particular, two methods based on (i) direct connection to...
Recently, due to wide observable range as well as low power consumption, the usage of high frequency radars has been expanded to ship detection for both harbor management and national security. However, range and angular resolutions are typically low in high frequency radars due to environmental and physical constraints. Thus, a target location detected on a high frequency radar system is far away...
In clinical research, computing sample size is important. A cross-over design (CD) is widely used for comparing treatment groups such as active treatment and control groups. In the analysis of multi-omics data such as metabolomics data, we often adopt the CD to identify biomarkers that have treatment effects. In this study, we propose a new method to compute the sample size of CDs with multiple treatment...
Recently, Electroencephalogram (EEG) has become increasingly important in the role of psychiatric diagnosis and emotion recognition. However, many irrelevant features make it difficult to identify patterns accurately. Obtaining valid features from electroencephalogram can improve the classification and generalization performance. In this paper, an improved normalized mutual information feature selection...
Randomized experiments have been critical tools of decision making for decades. However, subjects can show significant heterogeneity in response to treatments in many important applications. Therefore it is not enough to simply know which treatment is optimal for the entire population. What we need is a model that correctly customize treatment assignment base on subject characteristics. The problem...
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