RESUMO

The focus of this work is the extension of nonlinear state estimation methods to gas-lifted systems. The extended Kalman filter (EKF), unscented Kalman filter (UKF) and particle filter (PF) were used to estimate the nonlinear states. Brief descriptions of the filters were first presented starting from the linear Kalman filter. Hypothesis tests on the expectation of the residuals were performed to show how close to optimal the estimation methods are and it showed the UKF estimates to be slightly better than EKF while PF performs the worst. The PF has poor accuracy using residual visualisation, hypothesis test and the root mean squared error (RMSE) values of the residuals. The gas-lifted system exhibits casing heading instability where the states show oscillatory behaviour depending on the value of the input but the results here do not change in a known way for each filter as the input is changed from the non-oscillatory region to the oscillatory region. Therefore, for this noise distribution and model assumption, either the EKF or UKF can be used for nonlinear state estimation with UKF better preferred if computational cost is not considered when control solutions are used in gas-lifted system.

RESUMO

Indoor location estimation is crucial to provide context-based assistance in home environments. In this study, a method for simultaneous indoor pedestrian localization and house mapping is proposed and evaluated. The method fuses a person's movement data from an Inertial Measurement Unit (IMU) with proximity and activity-related data from Bluetooth Low-Energy (BLE) beacons deployed in the indoor environment. The person's and beacons' localization is performed simultaneously using a combination of particle and Kalman Filters. We evaluated the method using data from eight participants who performed different activities in an indoor environment. As a result, the average participant's localization error was 1.05 ± 0.44 m, and the average beacons' localization error was 0.82 ± 0.24 m. The proposed method is able to construct a map of the indoor environment by localizing the BLE beacons and simultaneously locating the person. The results obtained demonstrate that the proposed method could point to a promising roadmap towards the development of simultaneous localization and home mapping system based only on one IMU and a few BLE beacons. To the best of our knowledge, this is the first method that includes the beacons' data movement as activity-related events in a method for pedestrian Simultaneous Localization and Mapping (SLAM).

RESUMO

Indoor navigation systems offer many application possibilities for people who need information about the scenery and the possible fixed and mobile obstacles placed along the paths. In these systems, the main factors considered for their construction and evaluation are the level of accuracy and the delivery time of the information. However, it is necessary to notice obstacles placed above the user's waistline to avoid accidents and collisions. In this paper, different methodologies are associated to define a hybrid navigation model called iterative pedestrian dead reckoning (i-PDR). i-PDR combines the PDR algorithm with a Kalman linear filter to correct the location, reducing the system's margin of error iteratively. Obstacle perception was addressed through the use of stereo vision combined with a musical sounding scheme and spoken instructions that covered an angle of 120 degrees in front of the user. The results obtained in the margin of error and the maximum processing time are 0.70 m and 0.09 s, respectively, with obstacles at ground level and suspended with an accuracy equivalent to 90%.

RESUMO

Disease incidence reported directly within health systems frequently reflects a partial observation relative to the true incidence in the population. State-space models present a general framework for inferring both the dynamics of infectious disease processes and the unobserved burden of disease in the population. Here, we present a state-space model of measles transmission and vaccine-based interventions at the country-level and a particle filter-based estimation procedure. Our dynamic transmission model builds on previous work by incorporating population age-structure to allow explicit representation of age-targeted vaccine interventions. We illustrate the performance of estimators of model parameters and predictions of unobserved states on simulated data from two dynamic models: one on the annual time-scale of observations and one on the biweekly time-scale of the epidemiological dynamics. We show that our model results in approximately unbiased estimates of unobserved burden and the underreporting rate. We further illustrate the performance of the fitted model for prediction of future disease burden in the next one to 15 years.

Assuntos

RESUMO

BACKGROUND: One of the challenges faced during the hyperthermia treatment of cancer is to monitor the temperature distribution in the region of interest. The main objective of this work was to accurately estimate the transient temperature distribution in the heated region, by using a stochastic heat transfer model and temperature measurements. METHODS: Experiments involved the laser heating of a cylindrical phantom, partially loaded with iron oxide nanoparticles. The nanoparticles were manufactured and characterized in this work. The solution of the state estimation problem was obtained with an algorithm of the Particle Filter method, which allowed for simultaneous estimation of state variables and model parameters. Measurements of one single sensor were used for the estimation procedure, which is highly desirable for practical applications in order to avoid patient discomfort. RESULTS: Despite the large uncertainties assumed for the model parameters and for the coupled radiation-conduction model, discrepancies between estimated temperatures and internal measurements were smaller than 0.7 °C. In addition, the estimated fluence rate distribution was physically meaningful. Maximum discrepancies between the prior means and the estimated means were of 2% for thermal conductivity and heat transfer coefficient, 4% for the volumetric heat capacity and 3% for the irradiance. CONCLUSIONS: This article demonstrated that the Particle Filter method can be used to accurately predict the temperatures in regions where measurements are not available. The present technique has potential applications in hyperthermia treatments as an observer for active control strategies, as well as to plan personalized heating protocols.

Assuntos

RESUMO

ABSTRACT The robustness and speed of image classification is still a challenging task in satellite image processing. This paper introduces a novel image classification technique that uses the particle filter framework (PFF)-based optimisation technique for satellite image classification. The framework uses a template-matching algorithm, comprising fast marching algorithm (FMA) and level set method (LSM)-based segmentation which assists in creating the initial templates for comparison with other test images. The created templates are trained and used as inputs for the optimisation. The optimisation technique used in this proposed work is multikernel sparse representation (MKSR). The combined execution of FMA, LSM, PFF and MKSR approaches has resulted in a substantial reduction in processing time for various classes in a satellite image which is small when compared with Support Vector Machine (SVM) and Independent Component Discrimination Analysis (ICDA)based image classifications obtained for comparison purposes. This study aims to improve the robustness of image classification based on overall accuracy (OA) and kappa coefficient. The variation of OA with this technique, between different classes of a satellite image, is only10%, whereas that with the SVM and ICDA techniques is more than 50%.

RESUMO

Cancer is characterized by the uncontrolled growth of cells with the ability of invading local organs and/or tissues and of spreading to other sites. Several kinds of mathematical models have been proposed in the literature, involving different levels of refinement, for the evolution of tumors and their interactions with chemotherapy drugs. In this article, we present the solution of a state estimation problem for tumor size evolution. A system of nonlinear ordinary differential equations is used as the state evolution model, which involves as state variables the numbers of tumor, normal and angiogenic cells, as well as the masses of the chemotherapy and anti-angiogenic drugs in the body. Measurements of the numbers of tumor and normal cells are considered available for the inverse analysis. Parameters appearing in the formulation of the state evolution model are treated as Gaussian random variables and their uncertainties are taken into account in the estimation of the state variables, by using an algorithm based on the auxiliary sampling importance resampling particle filter. Test cases are examined in the article dealing with a chemotherapy protocol for pancreatic cancer.

Assuntos

RESUMO

Gliding ants avoid predatory attacks and potentially mortal consequences of dislodgement from rainforest canopy substrates by directing their aerial descent towards nearby tree trunks. The ecologically relevant measure of performance for gliding ants is the ratio of net horizontal to vertical distance traveled over the course of a gliding trajectory, or glide index. To study variation in glide index, we measured three-dimensional trajectories of Cephalotes atratus ants gliding in natural rainforest habitats. We determined that righting phase duration, glide angle, and path directness all significantly influence variation in glide index. Unsuccessful landing attempts result in the ant bouncing off its target and being forced to make a second landing attempt. Our results indicate that ants are not passive gliders and that they exert active control over the aerodynamic forces they experience during their descent, despite their apparent lack of specialized control surfaces.

Assuntos