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11.
Yingcai Bi Menglu Lan Jiaxin Li Shupeng Lai Ben M. Chen 《Asian journal of control》2019,21(4):1732-1744
Micro Aerial Vehicles (MAVs) have great potentials to be applied for indoor search and rescue missions. In this paper, we propose a modular lightweight design of an autonomous MAV with integrated hardware and software. The MAV is equipped with the 2D laser scanner, camera, mission computer and flight controller, running all the computation onboard in real time. The onboard perception system includes a laser‐based SLAM module and a custom‐designed visual detection module. A dual Kalman filter design provides robust state estimation by multiple sensor fusion. Specifically, the fusion module provides robust altitude measurement in the circumstance of surface changing. In addition, indoor‐outdoor transition is explicitly handled by the fusion module. In order to efficiently navigate through obstacles and adapt to multiple tasks, a task tree‐based mission planning method is seamlessly integrated with path planning and control modules. The MAV is capable of searching and rescuing victims from unknown indoor environments effectively. It was validated by our award‐winning performance at the 2017 International Micro Air Vehicle Competition (IMAV 2017), held in Toulouse, France. The performance video is available on https://youtu.be/8H19ppS_VXM . 相似文献
12.
In this letter, we address the problem of Direction of Arrival (DOA) estimation with nonuniform linear array in the context of sparse Bayesian learning (SBL) framework. The nonuniform array output is deemed as an incomplete-data observation, and a hypothetical uniform linear array output is treated as an unavailable complete-data observation. Then the Expectation-Maximization (EM) criterion is directly utilized to iteratively maximize the expected value of the complete-data log likelihood under the posterior distribution of the latent variable. The novelties of the proposed method lie in its capability of interpolating the actual received data to a virtual uniform linear array, therefore extending the achievable array aperture. Simulation results manifests the superiority of the proposed method over off-the-shelf algorithms, specially on circumstances such as low SNR, insufficient snapshots, and spatially adjacent sources. 相似文献
13.
为提高稀疏表示跟踪模型性能,提出一种分段加权的反向稀疏跟踪算法,将跟踪问题转化为在贝叶斯框架下寻找概率最高的候选对象问题,构造不同的分段权重函数来分别度量候选目标与正负模板的判别特征系数。通过池化来降低跟踪结果的不确定性干扰,选择正负模板加权系数差值最大的候选表示作为跟踪结果。实验表明,在光照变化、遮挡、快速运动、运动模糊情况下,所提出的算法可以确保跟踪结果的准确性和鲁棒性。 相似文献
14.
Miroslav Kárný Marko Ruman 《International Journal of Adaptive Control and Signal Processing》2021,35(5):660-675
Any knowledge extraction relies (possibly implicitly) on a hypothesis about the modelled-data dependence. The extracted knowledge ultimately serves to a decision-making (DM). DM always faces uncertainty and this makes probabilistic modelling adequate. The inspected black-box modeling deals with “universal” approximators of the relevant probabilistic model. Finite mixtures with components in the exponential family are often exploited. Their attractiveness stems from their flexibility, the cluster interpretability of components and the existence of algorithms for processing high-dimensional data streams. They are even used in dynamic cases with mutually dependent data records while regression and auto-regression mixture components serve to the dependence modeling. These dynamic models, however, mostly assume data-independent component weights, that is, memoryless transitions between dynamic mixture components. Such mixtures are not universal approximators of dynamic probabilistic models. Formally, this follows from the fact that the set of finite probabilistic mixtures is not closed with respect to the conditioning, which is the key estimation and predictive operation. The paper overcomes this drawback by using ratios of finite mixtures as universally approximating dynamic parametric models. The paper motivates them, elaborates their approximate Bayesian recursive estimation and reveals their application potential. 相似文献
15.
This article theoretically and empirically analyzes backtesting portfolio value-at-risk (VaR) with estimation risk in an intrinsically multi-variate framework. It particularly takes into account the estimation of portfolio weights in forecasting portfolio VaR and its impact on backtesting. It shows that the estimation risk from estimating portfolio weights and that from estimating the multi-variate dynamic model make the existing methods in a univariate framework inapplicable. It proposes a general theory to quantify estimation risk applicable to the present problem and suggests practitioners a simple but effective way to implement valid inference to overcome the effect of estimation risk in backtesting portfolio VaR. In particular, we apply our theory to the efficient mean-variance-skewness portfolio for a multi-variate generalized autoregressive conditional heteroscedasticity model with multi-variate general hyperbolic distributed innovations. Some Monte Carlo simulations and an empirical application demonstrate the merits of our method. 相似文献
16.
This paper is concerned with the problem of joint input and state estimation for linear stochastic systems with direct feedthrough. Based on the fact that each unknown input between any two time steps is always bounded, a novel improved algorithm is proposed. Compared with existing results, this algorithm can effectively enhance estimation accuracy. Moreover, the stability of the algorithm is also discussed. Finally, an illustrative example is given to demonstrate the effectiveness of the proposed approach. 相似文献
17.
Crowdsourcing technology offers exciting possibilities for local governments. Specifically, citizens are increasingly taking part in reporting and discussing issues related to their neighborhood and problems they encounter on a daily basis, such as overflowing trash-bins, broken footpaths and lifts, illegal graffiti, and potholes. Pervasive citizen participation enables local governments to respond more efficiently to these urban issues. This interaction between citizens and municipalities is largely promoted by civic engagement platforms, such as See-Click-Fix, FixMyStreet, CitySourced, and OpenIDEO, which allow citizens to report urban issues by entering free text describing what needs to be done, fixed or changed. In order to develop appropriate action plans and priorities, government officials need to figure out how urgent are the reported issues. In this paper we propose to estimate the urgency of urban issues by mining different emotions that are implicit in the text describing the issue. More specifically, a reported issue is first categorized according to the emotions expressed in it, and then the corresponding emotion scores are combined in order to produce a final urgency level for the reported issue. Our experiments use the SeeClickFix hackathon data and diverse emotion classification algorithms. They indicate that (i) emotions can be categorized efficiently with supervised learning algorithms, and (ii) the use of citizen emotions leads to accurate urgency estimates. Further, using additional features such as the type of issue or its author leads to no further accuracy gains. 相似文献
18.
Amer Ibrahim Al-Omari Ibrahim M. Almanjahie Amal S. Hassan Heba F. Nagy 《计算机、材料和连续体(英文)》2020,64(2):835-857
In reliability analysis, the stress-strength model is often used to describe the life of
a component which has a random strength (X) and is subjected to a random stress (Y). In this
paper, we considered the problem of estimating the reliability R=P [Y<X] when the
distributions of both stress and strength are independent and follow exponentiated Pareto
distribution. The maximum likelihood estimator of the stress strength reliability is calculated
under simple random sample, ranked set sampling and median ranked set sampling methods.
Four different reliability estimators under median ranked set sampling are derived. Two
estimators are obtained when both strength and stress have an odd or an even set size. The
two other estimators are obtained when the strength has an odd size and the stress has an
even set size and vice versa. The performances of the suggested estimators are compared
with their competitors under simple random sample via a simulation study. The simulation
study revealed that the stress strength reliability estimates based on ranked set sampling and
median ranked set sampling are more efficient than their competitors via simple random
sample. In general, the stress strength reliability estimates based on median ranked set
sampling are smaller than the corresponding estimates under ranked set sampling and simple
random sample methods. 相似文献
19.
20.
介绍一种用于经纬仪引导数据的处理方法。该方法利用参数估计法对引导数据进行融合,弥补了常规方法的不足。对经纬仪引导数据进行处理,结果表明,该方法可显著提高经纬仪的引导精度,引导误差小于0.50m。 相似文献