scattering and inadequacy of lighting result in the inferi- ority compared with acoustic sensors. The underwater camera model is studied in [24] and a stereo camera system is proposed to understand the accurate size or length and area of shooting subjects. In [25], motion control for an AUV is implemented by processing and ana- lyzing acquired information from mounted camera. Motion control is achieved by recognizing color and tracking shapes of objects but these shapes have to be predefined. Feature- based approaches fro underwater SLAM have also been done. In [26], the AUV navigation and localization system improves trajectory estimation detecting and matching the non-time-consecutive images to close a loop. A framework that can obtain a two-dimensional mosaic with minimum image matching attempts and simultaneously get the best possible trajectory estimation by exploring the contribution of the image pairs matching to the whole system is presented. III. SIMULTANEOUS LOCALIZATION AND MAPPING SLAM has been well developed during the last decade. It can be used to construct a map in unknown environments and keep localizing itself within it. Some of most popular categories of SLAM approaches are described here. 1) EKF-SLAM: EKF-SLAM utilizes the extended Kalman filter (EKF) for SLAM. EKF-SLAM uses Taylor expansion to linearize the system model and achieves data association using the maximum likelihood algorithm. Recursive predict-update cycle is applied to estimate robot pose…
When the state equation of a model is an autoregressive process with unknown constant coefficients, EnKF can be easily modified to include Monte Carlo estimation of the constant coefficients. We recall that the standard particle filtering method suffers from weight degeneracy especially when the estimation includes static parameters. EnKF, however, does not suffer from degeneracy and provides a good estimate of the coefficients by integrating a sample minimum mean square estimate (MMSE) of the…
the inverse filters exploited the harmonicity characteristics of the speech signal and estimated the filter coefficients in two distinct methods - one method estimated the average filter that transformed reverberant signals into harmonic signals, while the other method used a minimum mean squared error criterion that evaluated the quasi-periodicity of target signals. HERB algorithms take relatively longer time to converge, which also makes them difficult to use in real time processing. Linear…
% SLAM2D A 2D EKF?SLAM algorithm with simulation and graphics. % SIMULATOR W = cloister(-4,4,-4,4,7); % set of external landmarks N = size(W,2); % N: number of landmarks R = [0;-2;0]; % R: robot pose [x ; y ; alpha] U = [0.1; 0.05]; % fixing advance and turn increments creates a circle Y = zeros(2, N); % Y: measurements of all landmarks % ESTIMATOR x = zeros(numel(R)+numel(W), 1); % x: state vector 's mean P = zeros(numel(x),numel(x)); % P: state vector 's covariances matrix q = [.01;.02]; %…
The model successfully captures the dependence structure in the data and the residuals should look independent. c. Final ARMA Model for Detrended GDP Based on the above we decided to improve the model by removing the offsetting lag in AR, and adding up to 3 lags in MA after running numerous ARMA models with increasing lags. ARMA (1, 3) turned out to be one of the best models with the estimation: (Eq 3.3) The results are: ARMAout1 = Estimate RobustSE tStat…
The impact on the organization by overhauling our corporate training with a MOOC will be of minimal to medium disruption. Compared to other systems, corporate training systems are unique in that they are not essential to daily operations yet are extremely useful. This is especially so for Aman Resorts because the already used training system will not be removed or taken offline until all useful features are transferred to the MOOC format. For Aman Resorts, disruption to usual business operations…
pessimistic estimation. We are confident our revenue will exceed our expenses by the second year, both optimistically and pessimistically, which is when we can start paying back our loans. For funding, each of the owners has agreed to contribute $5000 each, which in turn will provide each owner with 20% ownership of the company. We will be applying for grants, as well as a $25,000 velocity start up fund. The difference will be covered through incurred debt, which will be paid back within xx…
CHAPTER 3 THE FRAMEWORKS 3.1 Theoretical Framework Studies conducted in the past have contributed principles related to the estimation of the Hurst Exponent. The theories present in this research provide the foundation for estimating the Hurst exponent. 3.1.1. Brownian Motion theory This theory was first coined by Robert Brown. It was primarily referred as the random motion observed under microscope of pollen immersed in water. In addition to that, Albert Einstein mentioned that this…
Weber had already established a democratic code of regulation that prevent higher levels from taking advantage of their subordinates, but he also firmly believed that competence must be rewarded. In order for an organization to carry on it’s personnel need to be content. There are extreme similarities with both management theories here. They both recognize the value of their personnel. Employees that are treated as a resource will not perform at their maximum potential and eventually separate…
in the public school system, they drastically vary in viewpoints. The aim of creation science is to provide an explanation for the Book of Genesis and to disprove some scientific theories such as evolution. Multiple claims concerning life and the creation of the world have been postulated as well. These claims include the sudden creation of the universe, energy, and…