In order to achieve higher accuracy in nonlinear/non-Gaussian state estimation, this paper proposes a new unscented Kalman filter (UKF). It uses a deterministic sampling approach. We choose the unscented transformatio...In order to achieve higher accuracy in nonlinear/non-Gaussian state estimation, this paper proposes a new unscented Kalman filter (UKF). It uses a deterministic sampling approach. We choose the unscented transformation (UT) scaling parameters α=0.85, β=2, l=0 to construct 2n + 1 sigma points. These sigma points completely capture the mean and covariance of the Gaussian random variables of the nonlinear system Yi=F(Xi). Simulation results show that the posterior mean and covariance of the sigma points can achieve the accuracy of the third-order Taylor series expansion after having propagated through the true nonlinear system Yi=F(Xi). Extended Kalman filter (EKF) only can achieve the first-order accuracy. The computational complexity of UKF is the same level as that of EKF. UKF can yield better performance and higher accuracy than EKF.展开更多
This paper reviews and adds to previous arguments for the thesis that Karl Popper was mistaken to have rejected hypothetico-deductive confirmation. By turning from the positive idea of verification to the negative ide...This paper reviews and adds to previous arguments for the thesis that Karl Popper was mistaken to have rejected hypothetico-deductive confirmation. By turning from the positive idea of verification to the negative idea of criticism, Popper believed that he had turned his back on induction. He believed he had ＂solved＂ the ＂problem of induction＂ by providing a non-inductive account of corroboration. Popper used the term ＂corroboration＂ rather than confirmation which he believed was too closely allied to the notion of the inductive or probabilistic support that a theory can receive from evidence. Wesley Salmon＇s （1967） ＂concept of confirming evidence＂ and Clark Glymour＇s （1980） ＂bootstrap conception of evidence for theory＂ both defended respectively the thesis that passed tests can be confirmed by evidence or warranted by the degree of probability. Using a sequence of symbols in logical form or analysis, I shall further defend the concept to hypothetico-deductive confirmation in order to show that the known weaknesses of Popper＇s critical rationalism are remediable, once the notion of evidence for theories is brought back into consideration.展开更多
In 1980, Giancarlo de Carlo wrote in the Perspecta： Yale Journal, ＂An Architecture of the Participation＂. Carlo, proposed a sequence of procedures： the problem definition, the solution and the results evaluation, ...In 1980, Giancarlo de Carlo wrote in the Perspecta： Yale Journal, ＂An Architecture of the Participation＂. Carlo, proposed a sequence of procedures： the problem definition, the solution and the results evaluation, in all the three steps, the social communities should be integrated in as part of a share and dynamic process. This text corresponds to a new way of understanding the importance of the social communities in the architecture definition. From de Carlo＇s text, the main goal of this paper is to present the results of an intervention in public space renewal of the Lagarteiro neighborhood （in Oporto city） and the relation of this process with the participation of the resident population. The urban context of Lagarteiro＇s neighborhood presented before the intervention the typical and classic signs of disqualification of environmental and urban peripheral areas of resettlement. The term ＂disadvantaged areas＂ is associated with these areas in urban or peri-urban case, was framed in a specific Portuguese policy, called Initiative Critical Neighborhoods. Being a recent intervention, the renewal of the public space in Lagarteiro is a complete case study that allows comprehending the participation phenomenon in nowadays, at the same time that seduces a reflexion about technical and architectural solutions for ＂critical＂ neighborhood.展开更多
文摘In order to achieve higher accuracy in nonlinear/non-Gaussian state estimation, this paper proposes a new unscented Kalman filter (UKF). It uses a deterministic sampling approach. We choose the unscented transformation (UT) scaling parameters α=0.85, β=2, l=0 to construct 2n + 1 sigma points. These sigma points completely capture the mean and covariance of the Gaussian random variables of the nonlinear system Yi=F(Xi). Simulation results show that the posterior mean and covariance of the sigma points can achieve the accuracy of the third-order Taylor series expansion after having propagated through the true nonlinear system Yi=F(Xi). Extended Kalman filter (EKF) only can achieve the first-order accuracy. The computational complexity of UKF is the same level as that of EKF. UKF can yield better performance and higher accuracy than EKF.
文摘This paper reviews and adds to previous arguments for the thesis that Karl Popper was mistaken to have rejected hypothetico-deductive confirmation. By turning from the positive idea of verification to the negative idea of criticism, Popper believed that he had turned his back on induction. He believed he had ＂solved＂ the ＂problem of induction＂ by providing a non-inductive account of corroboration. Popper used the term ＂corroboration＂ rather than confirmation which he believed was too closely allied to the notion of the inductive or probabilistic support that a theory can receive from evidence. Wesley Salmon＇s （1967） ＂concept of confirming evidence＂ and Clark Glymour＇s （1980） ＂bootstrap conception of evidence for theory＂ both defended respectively the thesis that passed tests can be confirmed by evidence or warranted by the degree of probability. Using a sequence of symbols in logical form or analysis, I shall further defend the concept to hypothetico-deductive confirmation in order to show that the known weaknesses of Popper＇s critical rationalism are remediable, once the notion of evidence for theories is brought back into consideration.
文摘In 1980, Giancarlo de Carlo wrote in the Perspecta： Yale Journal, ＂An Architecture of the Participation＂. Carlo, proposed a sequence of procedures： the problem definition, the solution and the results evaluation, in all the three steps, the social communities should be integrated in as part of a share and dynamic process. This text corresponds to a new way of understanding the importance of the social communities in the architecture definition. From de Carlo＇s text, the main goal of this paper is to present the results of an intervention in public space renewal of the Lagarteiro neighborhood （in Oporto city） and the relation of this process with the participation of the resident population. The urban context of Lagarteiro＇s neighborhood presented before the intervention the typical and classic signs of disqualification of environmental and urban peripheral areas of resettlement. The term ＂disadvantaged areas＂ is associated with these areas in urban or peri-urban case, was framed in a specific Portuguese policy, called Initiative Critical Neighborhoods. Being a recent intervention, the renewal of the public space in Lagarteiro is a complete case study that allows comprehending the participation phenomenon in nowadays, at the same time that seduces a reflexion about technical and architectural solutions for ＂critical＂ neighborhood.
