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Tire Radii Estimation Using a Marginalized Particle Filter

Christian Lundquist, Rickard Karlsson, Emre Ozkan, Fredrik Gustafsson
2014 IEEE transactions on intelligent transportation systems (Print)  
The novelty lies in a Bayesian approach to estimate online both the state vector and the parameters representing the process noise statistics using a marginalized particle filter.  ...  The proposed marginalized particle filter approach outperforms common Kalman filter based methods used for joint state and parameter estimation when compared with respect to accuracy and robustness.  ...  The authors would like to thank Kristoffer Lundahl, at the vehicular systems division at Linköpings University, for assisting with the data collection and Nira Dynamics for providing data used for estimation  ... 
doi:10.1109/tits.2013.2284930 fatcat:uxo4aclzsrdibnynr4nyrgool4

A Bayesian approach to jointly estimate tire radii and vehicle trajectory

Emre Ozkan, Christian Lundquist, Fredrik Gustafsson
2011 2011 14th International IEEE Conference on Intelligent Transportation Systems (ITSC)  
The novelty lies in a Bayesian approach to estimate online the time-varying radii and noise parameters using a marginalized particle filter, where no model approximations are needed such as in previously  ...  High-precision estimation of vehicle tire radii is considered, based on measurements on individual wheel speeds and absolute position from a global navigation satellite system (GNSS).  ...  The inference will be done by using marginalized particle filters [11] where the unknown noise parameters are marginalized out in relevant steps.  ... 
doi:10.1109/itsc.2011.6082980 dblp:conf/itsc/OzkanLG11 fatcat:mnifgrqejrbh5gj57jzfbymxcy

Marginalized adaptive particle filtering for nonlinear models with unknown time-varying noise parameters

Emre Özkan, Václav Šmídl, Saikat Saha, Christian Lundquist, Fredrik Gustafsson
2013 Automatica  
For nonlinear models, we provide a Bayesian solution for the estimation of the noise distributions in the exponential family, leading to a marginalized adaptive particle filter (MAPF) where the noise parameters  ...  We illustrate the MAPF on first a standard example, and then on a tire radius estimation problem on real data.  ...  The true tire radii difference is calculated by computing the effective tire radii using the data collected during a long and straight segment of the road.  ... 
doi:10.1016/j.automatica.2013.02.046 fatcat:ysskbtnlnzbc5hihmwcbneimi4

Identification of Vehicle Dynamics Parameters Using Simulation-based Inference [article]

Ali Boyali, Simon Thompson, David Robert Wong
2021 arXiv   pre-print
Identifying tire and vehicle parameters is an essential step in designing control and planning algorithms for autonomous vehicles.  ...  This paper proposes a new method: Simulation-Based Inference (SBI), a modern interpretation of Approximate Bayesian Computation methods (ABC) for parameter identification.  ...  Other methods use filtering theory, such as the Kalman and particle filters and related Sequential Monte Carlo algorithms.  ... 
arXiv:2108.12114v1 fatcat:5lh23uh7qzaozek5h7uf54hjly

Dead reckoning using time series regression models

João B. Pinto Neto, Nathalie Mitton, Miguel Elias M. Campista, Luís Henrique M. K. Costa
2018 Proceedings of the 4th ACM MobiHoc Workshop on Experiences with the Design and Implementation of Smart Objects - SMARTOBJECTS '18  
TedriS uses Time Series Regression Models (TSRM) and the data from the rear wheel speed sensor of the vehicle to estimate the absolute position.  ...  We analyze TedriS using traces collected at the campus of Federal University of Rio de Janeiro (UFRJ), Brazil, and with indoor experiments with a robot.  ...  A particle filter is responsible to estimate the location, using data provided by the IMU while the vehicle drives in the same lane. [17] introduced a Wavelet Neural Network (WNN) based DR systems.  ... 
doi:10.1145/3213299.3213305 dblp:conf/mobihoc/NetoMCC18 fatcat:wdocfjdfkbhnxnyde26kxypsr4

The surface properties of nanoparticles determine the agglomeration state and the size of the particles under physiological conditions

Christoph Bantz, Olga Koshkina, Thomas Lang, Hans-Joachim Galla, C James Kirkpatrick, Roland H Stauber, Michael Maskos
2014 Beilstein Journal of Nanotechnology  
The investigated particle systems were (i) negatively charged silica particles and (ii) poly(organosiloxane) particles offering variable surface modification opportunities (positively charged, polymer  ...  Thus, the biological identity of a nanomaterial is clearly influenced by differentiating surface properties.  ...  "Simple" (non-modified) silica particles have been widely used for decades as additives in the tire and construction industry, in cosmetics, and even in food [51] .  ... 
doi:10.3762/bjnano.5.188 pmid:25383289 pmcid:PMC4222438 fatcat:b5hkimwibfepxgwzrbgyjkewd4

Downloadable Full Issue

2020 Hungarian Journal of Industry and Chemistry  
The estimation algorithm uses an extended Kalman filter designed for a simplified version of the single track model.  ...  ) fluids that are non-conducting solid particles suspended in a liquid that has a dielectric constant different from that of the ER particles.  ...  This is the a priori estimate of the particle filter.  ... 
doi:10.33927/931 fatcat:pgjn46w74vb5djx3koev7lnsty

Slip-aware Motion Estimation for Off-road Mobile Robots via Multi-Innovation Unscented Kalman Filter

Fangxu Liu, Xueyuan Li, Shihua Yuan, Wei Lan
2020 IEEE Access  
INDEX TERMS ICR kinematics, slippage estimation, skid-steered mobile robot, multi-innovation, unscented Kalman filter. 43482 This work is licensed under a Creative Commons Attribution 4.0 License.  ...  More specifically, a Multi-Innovation Unscented Kalman Filter (MI-UKF) is developed to fusing different sensors' data.  ...  Particle filter always results in high computational burden and its accuracy highly depends on the number of particles [28] .  ... 
doi:10.1109/access.2020.2977889 fatcat:7lnqpb4pxrhghf2atqjopb3lzm

On particulate characterization in a heavy-duty diesel engine by time-resolved laser-induced incandescence

B. Bougie, L.C. Ganippa, N.J. Dam, J.J. ter Meulen
2006 Applied physics B  
A trend line for particle size as a function of crank angle is included. Uncertainties estimated as ± 30%.  ...  Time-resolved laser-induced incandescence was used to estimate primary particle size distributions inside the combustion chamber of a heavy-duty Diesel engine as a function of the crank angle, for two  ...  A.l Annealing The effect of annealing to a more structured soot particle is considered in the model by in which N a is Avogadro's constant and AH linilj (=-1.9-10 4 J/mol) is the estimated enthalpy for  ... 
doi:10.1007/s00340-006-2195-0 fatcat:gywfsvrfvrcdbct4j4wrfztkla

THE DYNAMICAL STATE OF THE GLOBULAR CLUSTER M10 (NGC 6254)

G. Beccari, M. Pasquato, G. De Marchi, E. Dalessandro, M. Trenti, M. Gill
2010 Astrophysical Journal  
A set of direct N-body simulations of GCs, with and without an IMBH of mass 1% of the total cluster mass, comprising different initial mass functions (IMFs) and primordial binary fractions, was used to  ...  Unfortunately, the present observational uncertainty on the binary fraction in M10 does not allow us to confirm the presence of an IMBH in the cluster, since an IMBH, a dynamically non-negligible binary  ...  These new runs have a Miller & Scalo (1979) IMF and 3.2 · 10 4 particles.  ... 
doi:10.1088/0004-637x/713/1/194 fatcat:pqb3p35wfvflfnctbag75olu54

National Ambient Air Quality Standards [chapter]

Calvin R. Brunner
1985 Hazardous Air Emissions from Incineration  
OMB Circular A-4 also requires both a benefit-cost, and a cost-effectiveness analysis for rules where health is the primary effect. Within this RIA we provide a benefit-cost analysis.  ...  protects public health with "an adequate margin of safety." As interpreted by the Agency and the courts, the Act requires EPA to create standards based on health considerations only.  ...  Fabric filters: The estimated cost increase for fabric filters reflects an upgrade of fabric filter bags and an increase in the number of bags used by each fabric filter. o Pulse-Jet: Capital costs increased  ... 
doi:10.1007/978-1-4613-2539-0_3 fatcat:dwjwg4fwmnd63e45zhvwbvgkfy

Quenching star formation in cluster galaxies

Dan S. Taranu, Michael J. Hudson, Michael L. Balogh, Russell J. Smith, Chris Power, Kyle A. Oman, Brad Krane
2014 Monthly notices of the Royal Astronomical Society  
the virial radius of a cluster.  ...  Finally, we have examined models with short quenching timescales of 1 Gyr, but a long delay time of 3 Gyr prior to quenching.  ...  Observational data used in this paper are available as raw imaging data from the NOAO data archives, and as parameters tabulated in the cited references.  ... 
doi:10.1093/mnras/stu389 fatcat:w357npjdgrhvhameznjtr247xm

Particle-Laden Flows [chapter]

S Balachandar
2012 Handbook of Environmental Fluid Dynamics, Volume One  
and is usually neglected or estimated using models of particles in chaotic fields.  ...  Additionally, we can use them to estimate the energy dissipation rate ε of the flow.  ...  Particle-laden flows surround us. From dust particles suspended in the air we breathe to the clouds that cover the sky, particle-fluid suspensions are ubiquitous.  ... 
doi:10.1201/b14241-37 fatcat:djgzep5lgrfy3bcgzmq5sbje3q

Airborne hyperspectral observations of surface and cloud directional reflectivity using a commercial digital camera

A. Ehrlich, E. Bierwirth, M. Wendisch, A. Herber, J.-F. Gayet
2012 Atmospheric Chemistry and Physics  
</strong> Spectral radiance measurements by a digital single-lens reflex camera were used to derive the directional reflectivity of clouds and different surfaces in the Arctic.  ...  For measurements above heterogeneous stratocumulus clouds, the required number of images to obtain a mean HDRF that clearly exhibits the cloudbow has been estimated at about 50 images (10 min flight time  ...  ., 12, 3493-3510, 2012 www.atmos-chem-phys.net/12/3493/2012/ A. Ehrlich et al.: Bidirectional reflectivity observations using a digital camera 3509 for their excellent job.  ... 
doi:10.5194/acp-12-3493-2012 fatcat:mwa67i7zwfgytfmxwnuumdfydu

Intelligent Video Systems and Analytics: A Survey

Honghai Liu, Shengyong Chen, Naoyuki Kubota
2013 IEEE Transactions on Industrial Informatics  
Naoyuki Kubota (S'95-A'97-M'01) received the B.Sc. degree  ...  Research directions are outlined with a focus on what is essential to achieve the goals of intelligent video systems and analytics.  ...  An automatic particle filtering algorithm is used in [50] to track the vehicle and monitor its illegal lane changes. Li et al.  ... 
doi:10.1109/tii.2013.2255616 fatcat:53jmubicdrgp7fg3w7zdipd3le
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