Open Access. Powered by Scholars. Published by Universities.®
- Institution
-
- China Simulation Federation (3880)
- TÜBİTAK (3106)
- Wright State University (1960)
- Old Dominion University (937)
- Singapore Management University (884)
-
- Washington University in St. Louis (730)
- Embry-Riddle Aeronautical University (590)
- Air Force Institute of Technology (443)
- Missouri University of Science and Technology (440)
- Neutrosophic Systems with Applications (375)
- University of Nebraska - Lincoln (274)
- Chulalongkorn University (235)
- University of Central Florida (188)
- Portland State University (158)
- University of Nevada, Las Vegas (152)
- University of Arkansas, Fayetteville (149)
- University of South Carolina (125)
- Purdue University (118)
- Chapman University (114)
- University for Business and Technology in Kosovo (114)
- University of Kentucky (111)
- University of South Florida (104)
- Technological University Dublin (100)
- California Polytechnic State University, San Luis Obispo (79)
- University of New Haven (77)
- University of Dar es Salaam (74)
- New Jersey Institute of Technology (63)
- Michigan Technological University (61)
- University of Texas at El Paso (59)
- University of Malaya (56)
- Keyword
-
- Machine learning (392)
- Computer Science (351)
- Deep learning (301)
- Department of Computer Science and Engineering (285)
- Engineering (253)
-
- Simulation (216)
- Machine Learning (185)
- Artificial intelligence (169)
- Optimization (164)
- Technical writing (158)
- College of Engineering and Computer Science (157)
- Newsletters (157)
- Science news (157)
- Classification (130)
- Genetic algorithm (120)
- Cybersecurity (115)
- Security (108)
- Reinforcement learning (102)
- Computer Engineering (101)
- Computer vision (101)
- Deep Learning (101)
- Neural networks (99)
- Artificial Intelligence (92)
- Path planning (91)
- Particle swarm optimization (88)
- Algorithms (85)
- Clustering (79)
- Image processing (78)
- Robotics (78)
- Virtual reality (77)
- Publication Year
- Publication
-
- Journal of System Simulation (3880)
- Turkish Journal of Electrical Engineering and Computer Sciences (3106)
- Computer Science & Engineering Syllabi (1312)
- Research Collection School Of Computing and Information Systems (857)
- All Computer Science and Engineering Research (683)
-
- Theses and Dissertations (503)
- Neutrosophic Systems with Applications (375)
- Browse all Theses and Dissertations (308)
- Journal of Digital Forensics, Security and Law (300)
- Electrical and Computer Engineering Faculty Research & Creative Works (282)
- Electronic Theses and Dissertations (249)
- Chulalongkorn University Theses and Dissertations (Chula ETD) (235)
- Electrical & Computer Engineering Theses & Dissertations (217)
- Computer Science and Engineering Faculty Publications (184)
- Annual ADFSL Conference on Digital Forensics, Security and Law (174)
- BITs and PCs Newsletter (157)
- School of Computing: Dissertations, Theses, and Student Research (154)
- Faculty Publications (150)
- Electrical & Computer Engineering Faculty Publications (137)
- Dissertations (121)
- Computer Science Faculty Publications (107)
- USF Tampa Graduate Theses and Dissertations (94)
- Computer Science Faculty Publications and Presentations (83)
- Engineering Faculty Articles and Research (81)
- UBT International Conference (73)
- Electrical & Computer Engineering and Computer Science Faculty Publications (71)
- Graduate Theses and Dissertations (69)
- Tanzania Journal of Engineering and Technology (TJET) (69)
- UNLV Theses, Dissertations, Professional Papers, and Capstones (64)
- Doctoral Dissertations (59)
- Publication Type
Articles 15751 - 15780 of 17307
Full-Text Articles in Engineering
Creating Software [Sic] Environments On An M-Node Beowulf Cluster To Execute Discrete-Event Simulations, Jermaine Fitz-Gerald Headley
Creating Software [Sic] Environments On An M-Node Beowulf Cluster To Execute Discrete-Event Simulations, Jermaine Fitz-Gerald Headley
Electrical & Computer Engineering Theses & Dissertations
This thesis describes the development of a software tool that facilitates the creation of software environments that make a simulation tool execute k replications of an application program on several nodes of an M-node Beowulf cluster. It is assumed that each cluster-node consists of p processors. The p processors that are contained in the master cluster-node are termed master processors, and the p processors that are contained in a slave cluster-node are termed slave processors. The slave processors are used to execute the replications, while the master processors are dedicated to schedule the replications and process other housekeeping chores. For …
Rapid Prototyping For The Design Of Virtual Worlds, Prabhu V. Krishnan
Rapid Prototyping For The Design Of Virtual Worlds, Prabhu V. Krishnan
Electrical & Computer Engineering Theses & Dissertations
Development of Virtual Reality (VR) applications is challenging where application developers are required to have expertise in the target VR technologies along with the problem domain expertise. New VR technologies impose a significant learning curve to even the most experienced VR developer. The proposed solution relies on synthesis to automate the migration of a VR application to a new unfamiliar VR platform/technology. To solve the problem, the Common Scene Definition Framework (CSDF) was developed, that serves as a superset/model representation of the target virtual world. Input modules were developed to populate the framework with the capabilities of the virtual world …
Development Of Integrated Process Simulation System Model For Spent Fuel Treatment Facility (Sftf) Design: Quarterly Progress Report January 1-March 31, 2005, Yitung Chen, Sean Hsieh
Development Of Integrated Process Simulation System Model For Spent Fuel Treatment Facility (Sftf) Design: Quarterly Progress Report January 1-March 31, 2005, Yitung Chen, Sean Hsieh
Separations Campaign (TRP)
The Advanced Fuel Cycle Initiative (AFCI) and Transmutation Research Program-University Participation Program (TRP-UPP) supported by Department of Energy of the United States have been developing many important technologies for the transmutation of nuclear waste to address long-term disposal issues. While successfully embedding AMUSE module into a dedicated System Engineering Model (TRPSEMPro), developed by the Nevada Center for Advanced Computational Methods (NCACM) at the University of Nevada-Las Vegas collaborating with Argonne National Laboratory (ANL), ANL is interested in further simulating the Light Water Reactor (LWR) Spent Fuel Treatment Facility (SFTF) combining commercial process simulation and analysis packages and core calculation of …
Wright State University College Of Engineering And Computer Science Bits And Pcs Newsletter, Volume 21, Number 6, March 2005, College Of Engineering And Computer Science, Wright State University
Wright State University College Of Engineering And Computer Science Bits And Pcs Newsletter, Volume 21, Number 6, March 2005, College Of Engineering And Computer Science, Wright State University
BITs and PCs Newsletter
An eight page newsletter created by the Wright State University College of Engineering and Computer Science that addresses the current affairs of the college.
Determination Of Structure From Motion Using Aerial Imagery, Paul R. Graham
Determination Of Structure From Motion Using Aerial Imagery, Paul R. Graham
Theses and Dissertations
The structure from motion process creates three-dimensional models from a sequence of images. Until recently, most research in this field has been restricted to land-based imagery. This research examines the current methods of land-based structure from motion and evaluates their performance for aerial imagery. Current structure from motion algorithms search the initial image for features to track though the subsequent images. These features are used to create point correspondences between the two images. The correspondences are used to estimate the motion of the camera and then the three-dimensional structure of the scene. This research tests current algorithms using synthetic data …
Accelerating Missile Threat Engagement Simulations Using Personal Computer Graphics Cards, Sean E. Jeffers
Accelerating Missile Threat Engagement Simulations Using Personal Computer Graphics Cards, Sean E. Jeffers
Theses and Dissertations
The 453rd Electronic Warfare Squadron supports on-going military operations by providing battlefield commanders with aircraft ingress and egress routes that minimize the risk of shoulder or ground-fired missile attacks on our aircraft. To determine these routes, the 453rd simulates engagements between ground-to-air missiles and allied aircraft to determine the probability of a successful attack. The simulations are computationally expensive, often requiring two-hours for a single 10-second missile engagement. Hundreds of simulations are needed to perform a complete risk assessment which includes evaluating the effectiveness of countermeasures such as flares, chaff, jammers, and missile warning systems. Thus, the need for faster …
Passwords: A Survey On Usage And Policy, Kurt W. Martinson
Passwords: A Survey On Usage And Policy, Kurt W. Martinson
Theses and Dissertations
Computer password use is on the rise. Passwords have become one of the primary authentication methods used today. It is because of their high use that organizations have started to place parameters on passwords. Are password restrictions a nuisance? What are some of the consequences that result as organizations place the burden of their computer security on passwords? This thesis analyzes the results of a survey instrument that was used to determine if individuals are using similar techniques or patterns when choosing or remembering their passwords. It also looks at how individuals feel about using passwords. In addition, the authors …
Wright State University College Of Engineering And Computer Science Bits And Pcs Newsletter, Volume 21, Number 5, February 2005, College Of Engineering And Computer Science, Wright State University
Wright State University College Of Engineering And Computer Science Bits And Pcs Newsletter, Volume 21, Number 5, February 2005, College Of Engineering And Computer Science, Wright State University
BITs and PCs Newsletter
A six page newsletter created by the Wright State University College of Engineering and Computer Science that addresses the current affairs of the college.
Specification Of A Common Framework For Characterizing Alignment, Paolo Bouquet, Marc Ehrig, Jerome Euzenat, Enrico Franconi, Pascal Hitzler, Markus Krotzsch, Luciano Serafini, Giorgos Stamu, York Sure, Sergio Tessaris
Specification Of A Common Framework For Characterizing Alignment, Paolo Bouquet, Marc Ehrig, Jerome Euzenat, Enrico Franconi, Pascal Hitzler, Markus Krotzsch, Luciano Serafini, Giorgos Stamu, York Sure, Sergio Tessaris
Computer Science and Engineering Faculty Publications
Definition of a common framework for characterizing alignment of heterogeneous information. This report describes various approaches towards this goal and shows the relations between them. It also provides a description of the alignment sructure and process.
Reinforcement Learning-Based Output Feedback Control Of Nonlinear Systems With Input Constraints, Pingan He, Jagannathan Sarangapani
Reinforcement Learning-Based Output Feedback Control Of Nonlinear Systems With Input Constraints, Pingan He, Jagannathan Sarangapani
Electrical and Computer Engineering Faculty Research & Creative Works
A novel neural network (NN) -based output feedback controller with magnitude constraints is designed to deliver a desired tracking performance for a class of multi-input-multi-output (MIMO) discrete-time strict feedback nonlinear systems. Reinforcement learning in discrete time is proposed for the output feedback controller, which uses three NN: 1) a NN observer to estimate the system states with the input-output data; 2) a critic NN to approximate certain strategic utility function; and 3) an action NN to minimize both the strategic utility function and the unknown dynamics estimation errors. The magnitude constraints are manifested as saturation nonlinearities in the output feedback …
The Value Of Mobile Applications: A Utility Company Study, Fiona Fui-Hoon Nah, Keng Siau, Hong Sheng
The Value Of Mobile Applications: A Utility Company Study, Fiona Fui-Hoon Nah, Keng Siau, Hong Sheng
Research Collection School Of Computing and Information Systems
The value proposition of mobile applications i.e. the net value of the benefits and costs associated with the adoption and adaptation of mobile applications is discussed. A means-ends network that depicts the fundamental relationships among the objectives such as efficiency, effectiveness, customer satisfaction, security, cost, and employee acceptance, was developed. The network is useful to researchers as it highlights the issues, concerns, and values of mobile applications. The network help the managers and practitioners to achieve their companies' objectives of implementing mobile and wireless applications.
Smartacking: Improving Tcp Performance From The Receiving End, Daniel K. Blandford, Sally A. Goldman, Sergey Gorinsky, Yan Zhou, Daniel R. Dooly
Smartacking: Improving Tcp Performance From The Receiving End, Daniel K. Blandford, Sally A. Goldman, Sergey Gorinsky, Yan Zhou, Daniel R. Dooly
All Computer Science and Engineering Research
We present smartacking, a technique that improves performance of Transmission Control Protocol (TCP) via adaptive generation of acknowledgments (ACKs) at the receiver. When the bottleneck link is underutilized, the receiver transmits an ACK for each delivered data segment and thereby allows the connection to acquire the available capacity promptly. When the bottleneck link is at its capacity, the smartacking receiver sends ACKs with a lower frequency reducing the control traffic overhead and slowing down the congestion window growth to utilize the network capacity more effectively. To promote quick deployment of the technique, our primary implementation of smartacking modifies only the …
Computer-Simulation-Assisted Lean Manufacturing Training, Luoding Wang
Computer-Simulation-Assisted Lean Manufacturing Training, Luoding Wang
Theses and Dissertations
This thesis assesses the potential of using computer simulation to aid existing lean manufacturing training methods such as lecture and live simulation. An investigation of this possibility was carried out in conjunction with UMEP's Lean 101 class. In the study, two experimental computer simulation models demonstrating the push and pull production scenarios were constructed using ProModel software. Simulation models were equipped with a Visual Basic interface to aid trainees to manipulate the model via ActiveX. Constructed computer simulation was compared with live simulation to answer these research questions: 1. Was computer simulation able to teach additional lean concepts not covered …
Robust Control Techniques For State Tracking In The Presence Of Variable Time Delays, Jarrett Goodell, Marc Compere, Miguel Simon, Wilford Smith, Ronnie Wright, Mark Brudnak
Robust Control Techniques For State Tracking In The Presence Of Variable Time Delays, Jarrett Goodell, Marc Compere, Miguel Simon, Wilford Smith, Ronnie Wright, Mark Brudnak
Publications
In this paper, a distributed driver-in-the-Ioop and hardware-in-the-Ioop simulator is described with a driver on a motion simulator at the U.S. Army TARDEC Ground Vehicle Simulation Laboratory (GVSL). Realistic power system response is achieved by linking the driver in the GVSL with a full-sized hybrid electric power system located 2,450 miles away at the TARDEC Power and Energy Systems Integration Laboratory (P&E SIL), which is developed and maintained by Science Applications International Corporation (SAIC). The goal is to close the loop between the GVSL and P&E SIL over the Internet to provide a realistic driving experience in addition to realistic …
Non-Verbal Communication With Autistic Children Using Digital Libraries, Gondy A. Leroy, John Huang '05, Serena Chuang '05, Marjorie H. Charlop
Non-Verbal Communication With Autistic Children Using Digital Libraries, Gondy A. Leroy, John Huang '05, Serena Chuang '05, Marjorie H. Charlop
CGU Faculty Publications and Research
Autism spectrum disorder (ASD) has become one of the most prevalent mental disorders over the last few years and its prevalence is still growing. The disorder is characterized by a wide variety of symptoms such as lack of social behavior, extreme withdrawal, and problems communicating. Because of the diversity in symptoms and the wide variety in severity for those, each autistic child has different needs and requires individualized therapy. This leads to long waiting lists for therapy.
Dlpconvert: Converting Owl Dlp Statements To Logic Programs, Boris Motik, Denny Vrandecic, Pascal Hitzler, York Sure, Rudi Studer
Dlpconvert: Converting Owl Dlp Statements To Logic Programs, Boris Motik, Denny Vrandecic, Pascal Hitzler, York Sure, Rudi Studer
Computer Science and Engineering Faculty Publications
In the past few years, the W3C has been establishing standards for the fundamental building blocks of the Semantic Web. With RDF a common data model has been provided. A major step was the introduction of the ontology definition languages RDFS—offering very basic semantics—and the Web Ontology Language OWL As these standards are still very new, only a limited support of tools for inferencing and querying exists. Still, the availability of such tools will be crucial for the development of the Semantic Web.
Literature Survey Of Wind Turbine Aeroelastic Stability, Scott M. Larwood
Literature Survey Of Wind Turbine Aeroelastic Stability, Scott M. Larwood
All Faculty Reports - School of Engineering and Computer Science
A literature survey of wind turbine aeroelastic stability is presented. The subject received early interest as the emergent wind industry looked to lessons from the helicopter industry. There has not been a utility-scale turbine with flutter problems, but there is a concern over the behavior of larger, more flexible turbines. Blades of innovative design with bend-twist coupling and tip sweep are also a concern. Much of the aerodynamic modeling was formulated in the 1930s by Theodorsen. Modern authors have developed finite element structural models for eigenvalue solutions to the stability models. Calculations for a 1.5 MW turbine blade with bend-twist …
Transform Based And Search Aware Text Compression Schemes And Compressed Domain Text Retrieval, Nan Zhang
Transform Based And Search Aware Text Compression Schemes And Compressed Domain Text Retrieval, Nan Zhang
Electronic Theses and Dissertations
In recent times, we have witnessed an unprecedented growth of textual information via the Internet, digital libraries and archival text in many applications. While a good fraction of this information is of transient interest, useful information of archival value will continue to accumulate. We need ways to manage, organize and transport this data from one point to the other on data communications links with limited bandwidth. We must also have means to speedily find the information we need from this huge mass of data. Sometimes, a single site may also contain large collections of data such as a library database, …
Software Development Project Risk Management: A Literature Review, Kevin Macg. Adams, C. Ariel Pinto
Software Development Project Risk Management: A Literature Review, Kevin Macg. Adams, C. Ariel Pinto
Engineering Management & Systems Engineering Faculty Publications
The rapid and unprecedented growth in software has brought with it some of the most spectacular and costly project failures in modern history. How risk management is presented in the scholarly journals may give insight into the risk management methods and techniques in use on software development projects. This paper provides a glimpse into the risk management methods, methodologies and techniques available to those who are responsible for software development projects by conducting a non-experimental content analysis. The findings reveal that risk management has not received sufficient attention and does not appear to be widely accepted within the software engineering …
Scene Monitoring With A Forest Of Cooperative Sensors, Omar Javed
Scene Monitoring With A Forest Of Cooperative Sensors, Omar Javed
Electronic Theses and Dissertations
In this dissertation, we present vision based scene interpretation methods for monitoring of people and vehicles, in real-time, within a busy environment using a forest of co-operative electro-optical (EO) sensors. We have developed novel video understanding algorithms with learning capability, to detect and categorize people and vehicles, track them with in a camera and hand-off this information across multiple networked cameras for multi-camera tracking. The ability to learn prevents the need for extensive manual intervention, site models and camera calibration, and provides adaptability to changing environmental conditions. For object detection and categorization in the video stream, a two step detection …
Enhancing Message Privacy In Wired Equivalent Privacy., Darshan Purandare
Enhancing Message Privacy In Wired Equivalent Privacy., Darshan Purandare
Electronic Theses and Dissertations
The 802.11 standard defines the Wired Equivalent Privacy (WEP) and encapsulation of data frames. It is intended to provide data privacy to the level of a wired network. WEP suffered threat of attacks from hackers owing to certain security shortcomings in the WEP protocol. Lately, many new protocols like WiFi Protected Access (WPA), WPA2, Robust Secure Network (RSN) and 802.11i have come into being, yet their implementation is fairly limited. Despite its shortcomings one cannot undermine the importance of WEP as it still remains the most widely used system and we chose to address certain security issues and propose some …
Qos In Cognitive Packet Networks: Adaptive Routing, Flow And Congestion Control, Pu Su
Qos In Cognitive Packet Networks: Adaptive Routing, Flow And Congestion Control, Pu Su
Electronic Theses and Dissertations
With the emergence of various applications that have different Quality of Service (QoS) requirements, the capability of a network to support QoS becomes more and more important and necessary. This dissertation explores QoS in Cognitive Packet Networks (CPN) by using adaptive routing, flow and congestion control. We present a detailed description and analysis of our proposed routing algorithms based on single and multiple QoS constraints. An online estimation of packet loss rate over a path is introduced. We implement and evaluate the adaptive routing scheme in an experimental CPN test-bed. Our experiments support our claims that the users can achieve …
Resource Allocation Schemes And Performance Evaluation Models For Wavelength Division Multiplexed Optical Networks, Mounire El Houmaidi
Resource Allocation Schemes And Performance Evaluation Models For Wavelength Division Multiplexed Optical Networks, Mounire El Houmaidi
Electronic Theses and Dissertations
Wavelength division multiplexed (WDM) optical networks are rapidly becoming the technology of choice in network infrastructure and next-generation Internet architectures. WDM networks have the potential to provide unprecedented bandwidth, reduce processing cost, achieve protocol transparency, and enable efficient failure handling. This dissertation addresses the important issues of improving the performance and enhancing the reliability of WDM networks as well as modeling and evaluating the performance of these networks. Optical wavelength conversion is one of the emerging WDM enabling technologies that can significantly improve bandwidth utilization in optical networks. A new approach for the sparse placement of full wavelength converters based …
Methods For Approximate Reasoning, Perry Groot, Pascal Hitzler, Ian Horrocks, Boris Motik, Jeff Z. Pan, Heiner Stuckenschmidt, Daniele Turi, Holger Wache
Methods For Approximate Reasoning, Perry Groot, Pascal Hitzler, Ian Horrocks, Boris Motik, Jeff Z. Pan, Heiner Stuckenschmidt, Daniele Turi, Holger Wache
Computer Science and Engineering Faculty Publications
This deliverable shows examples about approximating symbolic inference engines in a Semantic Web environment. Approaches of language weakening, knowledge compilation, and approximated deduction are presented. The last one is evaluated in practical applications with mixed results.
Visualizing Very Large-Scale Vascular Structures Interactively, Thomas Wischgoll, Joerg Meyer, Benjamin Kaimovitz, Yoram Lanir, Ghassan S. Kassab
Visualizing Very Large-Scale Vascular Structures Interactively, Thomas Wischgoll, Joerg Meyer, Benjamin Kaimovitz, Yoram Lanir, Ghassan S. Kassab
Computer Science and Engineering Faculty Publications
No abstract provided.
An Explorational Exhibit Of A Pig's Heart, Thomas Wischgoll, Joerg Meyer
An Explorational Exhibit Of A Pig's Heart, Thomas Wischgoll, Joerg Meyer
Computer Science and Engineering Faculty Publications
No abstract provided.
Robust Temporal Constraint Networks, Hoong Chuin Lau, Thomas Ou, Melvyn Sim
Robust Temporal Constraint Networks, Hoong Chuin Lau, Thomas Ou, Melvyn Sim
Research Collection School Of Computing and Information Systems
In this paper, we propose the Robust Temporal Constraint Network (RTCN) model for simple temporal constraint networks where activity durations are bounded by random variables. The problem is to determine whether such temporal network can be executed with failure probability less than a given 0 ≤ E ≤ 1 for each possible instantiation of the random variables, and if so. how one might find a feasible schedule with each given instantiation. The advantage of our model is that one can vary the value of ∊ to control the level of conservativeness of the solution. We present a computationally tractable and …
Numerical Modelling Of Sediments In Cork Harbour, Jérémy Pingon
Numerical Modelling Of Sediments In Cork Harbour, Jérémy Pingon
Theses
In recent years there have been considerable developments in the new and emerging field of hydroinformatics. This relatively new discipline is concerned with the application of computer and networking technology for the planning, management and protection of water bodies.
Environmental issues in estuaries require accurate and detailed knowledge of cohesive sediment transport processes to assess different issues including water quality, pollutant dispersion, and dredging and maintenance of navigation channels.
This thesis presents a review of the main sediment properties and processes required for modelling the behaviour and transport of sediments. It also introduces a new approach to sediment properties using …
Predictive Congestion Control Mac Protocol For Wireless Sensor Networks, Maciej Jan Zawodniok, Jagannathan Sarangapani
Predictive Congestion Control Mac Protocol For Wireless Sensor Networks, Maciej Jan Zawodniok, Jagannathan Sarangapani
Electrical and Computer Engineering Faculty Research & Creative Works
Available congestion control schemes, for example transport control protocol (TCP), when applied to wireless networks results in a large number of packet drops, unfairness with a significant amount of wasted energy due to retransmissions. To fully utilize the hop by hop feedback information, a suite of novel, decentralized, predictive congestion control schemes are proposed for wireless sensor networks in concert with distributed power control (DPC). Besides providing energy efficient solution, embedded channel estimator in DPC predicts the channel quality. By using the channel quality and node queue utilizations, the onset of network congestion is predicted and congestion control is initiated. …
A Multi-Hypothesis Approach For Salient Object Tracking In Visual Surveillance, Filiz Bunyak, Ilker Ersoy, S. R. Subramanya
A Multi-Hypothesis Approach For Salient Object Tracking In Visual Surveillance, Filiz Bunyak, Ilker Ersoy, S. R. Subramanya
Electrical and Computer Engineering Faculty Research & Creative Works
In this paper, a multiple object tracking method for visual surveillance applications is presented. Moving objects are detected by adaptive background subtraction and tracked by using a multi-hypothesis testing approach. Object matching between frames is done based on proximity and appearance similarity. a new confidence measure is assigned to each possible match. This information is arranged into a graph structure where vertices represent blobs in consecutive frames and edges represent match confidence values. This graph is later used to prune and refine trajectories to obtain the salient object trajectories. Occlusions are handled through position prediction using Kalman filter and robust …