An analysis of the parametrization by data driven local coordinates for multivariable linear systems

In this paper, we study a novel parametrization for state-space systems, namely data driven local coordinates (DDLC) which have recently been introduced and applied. Even though DDLC has meanwhile become the default parametrization used in the system identification toolbox of the software package MATLAB, an analysis of properties of DDLC, which are relevant to identification, has not been performed up to now. In this paper, we provide insights into the geometry and topology of the DDLC construction and show a number of results which are important for actual identification such as maximum likelihood-type estimation.     

Impact of a satellite-derived leaf area index monthly climatology in a global numerical weather prediction model

The leaf area index (LAI), defined as the one-sided green leaf area per unit ground area, is used in many numerical weather prediction (NWP) models as an indicator of the vegetation development state, which is of paramount importance to characterize land evaporation, photosynthesis, and carbon-uptake processes. LAI is often simply represented by lookup tables, dependent on the vegetation type and seasons. However, global LAI datasets derived from remote sensing observations have more recently become available. These products are based on sensors such as the Advanced Very High Resolution Radiometer (AVHRR) or the Moderate Resolution Imaging Spectroradiometer (MODIS), onboard polar orbiting satellites that can cover the entire globe within typically 3 days and with a spatial resolution of the order of 1 km.

We examine the meteorological impact of satellite-derived LAI products on near-surface air temperature and humidity, which comes both from the stomatal transpiration of leaves and from the intercepted water on the surface of leaves, re-evaporating into the atmosphere.

Two distinct monthly LAI climatology datasets derived respectively from AVHRR and MODIS sensors are tested. A set of forecasts and data assimilation experiments with the integrated forecasting system of the European Centre for Medium-range Weather Forecasts is performed with the monthly LAI climatology datasets as opposed to a vegetation-dependent constant LAI. The monthly LAI is shown to improve the forecasts of near-surface (screen-level) air temperature and relative humidity through its effect on evapotranspiration, with the largest impact obtained over needleleaf forests, crops, and grassland. At longer time-scales, the introduction of the monthly LAI is shown to have a positive impact on the model climate particularly during the boreal spring, where the LAI climatology has a large seasonal cycle.     

Mining frequent generators and closures in data streams with FGC-Stream

Knowledge and Information Systems - Mining frequent itemsets (FIs) from data streams is a challenging task due to the limited resources available w.r.t. the typically large size of the result and...     

High gain observer for a class of nonlinear systems with coupled structure and sampled output measurements: application to a quadrotor

This paper proposes a new high gain observer for a class of non-uniformly observable nonlinear systems with coupled structure driven by sampled outputs. The considered class of systems is particularly constituted by several subsystems where each subsystem is associated to a subset of the output variables. The observer design is carried out through two steps. First, a high-gain observer is proposed in the continuous-time output case under the assumption that an adequate persistent excitation condition is satisfied by each subsystem. Then, the proposed observer is redesigned to handle the case of sampled outputs leading thereby to a continuous-discrete time observer. The latter property is achieved thanks to the approach pursued along the convergence analysis. The effectiveness of the proposed observer is emphasised in a realistic simulation framework involving a mathematical model of a quadrotor which is diffeomorphic to the proposed class of considered systems.     

Advanced methods for the estimation of an unknown projection from a map

This article presents three new methods (M5, M6, M7) for the estimation of an unknown map projection and its parameters. Such an analysis is beneficial and interesting for historic, old, or current maps without information about the map projection; it could improve their georeference. The location similarity approach takes into account the residuals on the corresponding features; the minimum is found using the non-linear least squares. For the shape similarity approach, the minimized objective function ? takes into account the spatial distribution of the features, together with the shapes of the meridians, parallels and other 0D-2D elements. Due to the non-convexity and discontinuity, its global minimum is determined using the global optimization, represented by the differential evolution. The constant values of projection φ _k , λ _k , φ ₁, λ ₀, and map constants R,ΔX,ΔY, α (in relation to which the methods are invariant) are estimated. All methods are compared and the results are presented for the synthetic data as well as for 8 early maps from the Map Collection of the Charles University and the David Rumsay Map Collection. The proposed algorithms have been implemented in the new version of the detectproj software.     

A Novel Trajectory Generation Method for Robot Control

This paper presents a novel trajectory generator based on Dynamic Movement Primitives (DMP). The key ideas from the original DMP formalism are extracted, reformulated and extended from a control theoretical viewpoint. This method can generate smooth trajectories, satisfy position- and velocity boundary conditions at start- and endpoint with high precision, and follow accurately geometrical paths as desired. Paths can be complex and processed as a whole, and smooth transitions can be generated automatically. Performance is analyzed for several cases and a comparison with a spline-based trajectory generation method is provided. Results are comparable and, thus, this novel trajectory generating technology appears to be a viable alternative to the existing solutions not only for service robotics but possibly also in industry.     

A hybrid tactile sensor-based obstacle overcoming method for hexapod walking robots

Intelligent Service Robotics - Walking robots are considered as a promising solution for locomotion across irregular or rough terrain. While wheeled or tracked robots require flat surface like...     

A novel aggregation method for Pythagorean fuzzy multiple attribute group decision making

As an extension of fuzzy set, a Pythagorean fuzzy set has recently been developed to model imprecise and ambiguous information in practical group decision‐making problems. The aim of this paper is to introduce a novel aggregation method for the Pythagorean fuzzy set and analyze possibilities for its application in solving multiple attribute decision‐making problems. More specifically, a new Pythagorean fuzzy aggregation operator called the Pythagorean fuzzy induced ordered weighted averaging‐weighted average (PFIOWAWA) operator is developed. This operator inherits main characteristics of both ordered weighted average operator and induced ordered weighted average to aggregate the Pythagorean fuzzy information. Some of main properties and particular cases of the PFIOWAWA operator are studied. A method based on the proposed operator for multiple attribute group decision making is developed. Finally, we present a numerical example of selection of research and development projects to illustrate applicability of the new approach in a multiple attribute group decision‐making problem.     

Navigation Aided Image Processing in UAV Surveillance: Preliminary Results and Design of an Airborne Experimental System

This paper describes an airborne reconfigurable measurement system being developed at Swedish Defence Research Agency (FOI), Sensor Technology, Sweden. An image processing oriented sensor management architecture for UAV (unmanned aerial vehicles) IR/EO-surveillance is presented. Some preliminary results of navigation aided image processing in UAV applications are demonstrated, such as SLAM (simultaneous localization and mapping), structure from motion and geolocation, target tracking, and detection of moving objects. The design goal of the measurement system is to emulate a UAV-mounted sensor gimbal using a stand-alone system. The minimal configuration of the system consists of a gyro-stabilized gimbal with IR and CCD sensors and an integrated high-performance navigation system. The navigation system combines dGPS real-time kinematics (RTK) data with data from an inertial measurement unit (IMU) mounted with reference to the optical sensors. The gimbal is to be used as an experimental georeferenced sensor platform, using a choice of carriers, to produce military relevant image sequences for studies of image processing and sensor control on moving surveillance and reconnaissance platforms. Furthermore, a high resolution synthetic environment, developed for sensor simulations in the visual and infrared wavelengths, is presented. © 2004 Wiley Periodicals, Inc.