Best linear unbiased estimation algorithm with Doppler measurements in spherical coordinates

In an active radar-tracking system,the target-motion model is usually modeled in the Cartesian coordinates,while the radar measurement usually is obtained in polar/spherical coordinates.Therefore the target-tracking problem in the Cartesian coordinates becomes a nonlinear state estimation problem.A number of measurement-conversion techniques,which are based on position measurements,are widely used such that the Kalman filter can be used in the Cartesian coordinates.However,they have fundamental limitations to result in filtering performance degradation.In fact,in addition to position measurements,the Doppler measurement or range rate,containing information of target velocity,has the potential capability to improve the tracking performance.A filter is proposed that can use converted Doppler measurements（i.e.the product of the range measurements and Doppler measurements） in the Cartesian coordinates.The novel filter is theoretically optimal in the rule of the best linear unbiased estimation among all linear unbiased filters in the Cartesian coordinates,and is free of the fundamental limitations of the measurement-conversion approach.Based on simulation experiments,an approximate,recursive implementation of the novel filter is compared with those obtained by four state-of-the-art conversion techniques recently.Simulation results demonstrate the effectiveness of the proposed filter.

Real time remaining useful life prediction based on nonlinear Wiener based degradation processes with measurement errors

Real time remaining useful life(RUL) prediction based on condition monitoring is an essential part in condition based maintenance(CBM). In the current methods about the real time RUL prediction of the nonlinear degradation process, the measurement error is not considered and forecasting uncertainty is large. Therefore, an approximate analytical RUL distribution in a closed-form of a nonlinear Wiener based degradation process with measurement errors was proposed. The maximum likelihood estimation approach was used to estimate the unknown fixed parameters in the proposed model. When the newly observed data are available, the random parameter is updated by the Bayesian method to make the estimation adapt to the item's individual characteristic and reduce the uncertainty of the estimation. The simulation results show that considering measurement errors in the degradation process can significantly improve the accuracy of real time RUL prediction.

Robot Vision System for Coordinate Measurement of Feature Points on Large Scale Automobile Part

In this paper,we present a robot vision based system for coordinate measurement of feature points on large scale automobile parts.Our system consists of an industrial 6-DOF robot mounted with a CCD camera and a PC.The system controls the robot into the area of feature points.The images of measuring feature points are acquired by the camera mounted on the robot.3D positions of the feature points are obtained from a model based pose estimation that applies to the images.The measured positions of all feature points are then transformed to the reference coordinate of feature points whose positions are obtained from the coordinate measuring machine（CMM）.Finally,the point-to-point distances between the measured feature points and the reference feature points are calculated and reported.The results show that the root mean square error（RMSE） of measure values obtained by our system is less than 0.5 mm.Our system is adequate for automobile assembly and can perform faster than conventional methods.

A Cost-benefit Measuring Model of Green Products in Manufacturing Industry

The paper builds up a cost-benefit measuring model of green products in manufacturing industry throughout its full life cycle, which can quantify green products＇ cost and benefit completely and correctly under the circumstance of satisfying enterprise, customer, environment and society. It also puts forth an operable method to estimate social benefit by opportunity cost and establishes a profit maximization-programming model. The model can be applied to justify whether some kinds of green products should be developed and produced.

Theoretical analysis and verification of uncertainty of measurement on a cantilever coordinate measuring machine

A cantilever coordinate measuring machine(CCMM)is proposed according to the in-situ measurement requirement of workpieces with complex structures limited by the finite space of the5-axes computerized numerical control(CNC)processing site.Factors affecting uncertainty of measurement(UM)are classified and analyzed on the basis of uncertainty evaluation criteria,and the estimation technique of UM for measuring systems is presented.UM of the CCMM is estimated from the factors such as temperature,error motions as well as the mechanism deformations.Measurement results show that the actual measurement error is smaller than that of measurement requirement.

Weighted estimating equation： modified GEE in longitudinal data analysis

The method of generalized estimating equations （GEE） introduced by K. Y. Liang and S. L. Zeger has been widely used to analyze longitudinal data. Recently, this method has been criticized for a failure to protect against misspecification of working correlation models, which in some cases leads to loss of efficiency or infeasibility of solutions. In this paper, we present a new method named as ＇weighted estimating equations （WEE）＇ for estimating the correlation parameters. The new estimates of correlation parameters are obtained as the solutions of these weighted estimating equations. For some commonly assumed correlation structures, we show that there exists a unique feasible solution to these weighted estimating equations regardless the correlation structure is correctly specified or not. The new feasible estimates of correlation parameters are consistent when the working correlation structure is correctly specified. Simulation results suggest that the new method works well in finite samples.

A Local Tb Theorem for Square Functions and Parabolic Layer Potentials

In this paper,we give a locally parabolic version of Tb theorem for a class of vector-valued operators with off-diagonal decay in L^(2) and certain quasi-orthogonality on a subspace of L^(2),in which the testing functions themselves are also vector-valued.As an application,we establish the boundedness of layer potentials related to parabolic operators in divergence form,defined in the upper half-space Rn+2+:={(x,t,λ)∈R^(n+1)×(0,∞)},with uniformly complex elliptic,L^(∞),t,λ-independent coefficients,and satisfying the De Giorgi/Nash estimates.

Measure Estimates of Nodal Sets of Polyharmonic Functions

This paper deals with the function u which satisfies△k_u = 0, where k≥2 is an integer. Such a function u is called a polyharmonic function. The author gives an upper bound of the measure of the nodal set of u, and shows some growth property of u.

Measurement and estimation of free field to eardrumtransfer function for virtual acoustic space research

Free field to Eardrum Thansfer Function (FETF) is one of the major factors influencing the identification of the sound source direction. FETF can be employed to generate a Virtual Acoustic Space (VAS) by computer and other equlpment. In this paper the methods to improve the measurement and estimation of FETF are approached. Least-mean-squares (LMS)method is much better than empirical FFT method. This paper also gives a sample description of excitation signals for measuring the impulse response of FETF.

A New Monocular Vision Measurement Method to Estimate 3D Positions of Objects on Floor

A new visual measurement method is proposed to estimate three-dimensional （3D） position of the object on the floor based on a single camera. The camera fixed on a robot is in an inclined position with respect to the floor. A measurement model with the camera＇s extrinsic parameters such as the height and pitch angle is described. Single image of a chessboard pattern placed on the floor is enough to calibrate the camera＇s extrinsic parameters after the camera＇s intrinsic parameters are calibrated. Then the position of object on the floor can be computed with the measurement model. Furthermore, the height of object can be calculated with the paired-points in the vertical line sharing the same position on the floor. Compared to the conventional method used to estimate the positions on the plane, this method can obtain the 3D positions. The indoor experiment testifies the accuracy and validity of the proposed method.