Online Observability-Constrained Motion Suggestion via Efficient Motion Primitive-Based Observability Analysis

An active perception methodology is proposed to locally predict the observability condition in a reasonable horizon and suggest an observability-constrained motion direction for the next step to ensure an accurate and consistent state estimation performance of vision-based navigation systems. The methodology leverages an efficient EOG-based observability analysis and a motion primitive-based path sampling technique to realize the local observability prediction with a real-time performance. The observability conditions of potential motion trajectories are evaluated,and an informed motion direction is selected to ensure the observability efficiency for the state estimation system. The proposed approach is specialized to a representative optimizationbased monocular vision-based state estimation formulation and demonstrated through simulation and experiments to evaluate the ability of estimation degradation prediction and efficacy of motion direction suggestion.

Ambiguity Resolution in Direction of Arrival Estimation with Linear Antenna Arrays Using Differential Geometry

Linear antenna arrays(LAs)can be used to accurately predict the direction of arrival(DOAs)of various targets of interest in a given area.However,under certain conditions,LA suffers from the problem of ambiguities among the angles of targets,which may result inmisinterpretation of such targets.In order to cope up with such ambiguities,various techniques have been proposed.Unfortunately,none of them fully resolved such a problem because of rank deficiency and high computational cost.We aimed to resolve such a problem by proposing an algorithm using differential geometry.The proposed algorithm uses a specially designed doublet antenna array,which is made up of two individual linear arrays.Two angle observation models,ambiguous observation model(AOM)and estimated observation model(EOM),are derived for each individual array.The ambiguous set of angles is contained in the AOM,which is obtained from the corresponding array elements using differential geometry.The EOM for each array,on the other hand,contains estimated angles of all sources impinging signals on each array,as calculated by a direction-finding algorithm such as the genetic algorithm.The algorithm then contrasts the EOM of each array with its AOM,selecting the output of that array whose EOM has the minimum correlation with its corresponding AOM.In comparison to existing techniques,the proposed algorithm improves estimation accuracy and has greater precision in antenna aperture selection,resulting in improved resolution capabilities and the potential to be used more widely in practical scenarios.The simulation results using MATLAB authenticates the effectiveness of the proposed algorithm.

A Modified-Simplified MPPT Technique for Three-Phase Single-State Grid-Connected PV Systems

Nowadays,the single state inverter for the grid-connected photovoltaic(PV)systems is becoming more and more popular as they can reduce circuit complexity resulting in less power losses of the inverter.This paper focuses on the use of model predictive control(MPC)to control a 3-phase and 2-level single-state grid-connected inverter in order to regulate the PV maximum power point(MPP).The algorithm of MPC scheme was done to measure the simultaneous current signal including predicting the next sampling current flow.The reference current(Id∗)was used to control the distribution of electrical power from the solar cell to the grid.To be able to control the maximum power point tracking(MPPT)when the sunlight suddenly changes,so that a developing MPPT based on estimation current perturbation and observation(ECP&O-MPPT)technique was used to control the reference current.This concept was experimented by using MATLAB/Simulink software package.The proposed technique was tested and compared with the old technique.The simulation results showed that the developed MPPT technique can track the MPP faster when the light changes rapidly under 1,000W/m2,25℃ standard climatic conditions.The MPPT time was 0.015 s.The total harmonic distortion(THD)was 2.17%and the power factor was 1.

Reliability of the Estimation of the Take of Split Thickness Graft by the Observation Method

Introduction: Split thickness skin grafts are frequently employed to provide biological cover for extensive wounds. The take of the skin graft is traditionally estimated by observation and recorded as a percentage. The intent of this study was to ascertain the reliability of the observation method in comparison with the Image J digital programme. Materials and Methods: The study was a longitudinal study conducted on the wards of the National Reconstructive Plastic Surgery and Burns Centre (NRPSBC) at the Korle Bu Teaching Hospital (KBTH) on patients who were admitted during the period of the study with wounds who received split skin grafts. Image J®, an image analysis program, was employed in the calculation of the take of the grafts. These were compared to values obtained by estimation by observation. Results: There was no statistically significant difference between the estimation of graft take, made by observation and using Image J® digital programme. Conclusion: The estimation of graft take by observation is an acceptable practice.

Time-varying latent model for longitudinal data with informative observation and terminal event times

Longitudinal data often occur in follow-up studies, and in many situations, there may exist informative observation times and a dependent terminal event such as death that stops the follow-up. We propose a semiparametric mixed effect model with time-varying latent effects in the analysis of longitudinal data with informative observation times and a dependent terminal event. Estimating equation approaches are developed for parameter estimation, and asymptotic properties of the resulting estimators are established. The finite sample behavior of the proposed estimators is evaluated through simulation studies, and an application to a bladder cancer study is provided.