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Articles 1 - 7 of 7
Full-Text Articles in Physical Sciences and Mathematics
Decentralized Riemannian Particle Filtering With Applications To Multi-Agent Localization, Martin J. Eilders
Decentralized Riemannian Particle Filtering With Applications To Multi-Agent Localization, Martin J. Eilders
Theses and Dissertations
The primary focus of this research is to develop consistent nonlinear decentralized particle filtering approaches to the problem of multiple agent localization. A key aspect in our development is the use of Riemannian geometry to exploit the inherently non-Euclidean characteristics that are typical when considering multiple agent localization scenarios. A decentralized formulation is considered due to the practical advantages it provides over centralized fusion architectures. Inspiration is taken from the relatively new field of information geometry and the more established research field of computer vision. Differential geometric tools such as manifolds, geodesics, tangent spaces, exponential, and logarithmic mappings are used …
Enhancing Trust In The Smart Grid By Applying A Modified Exponentially Weighted Averages Algorithm, Andrew T. Kasperek
Enhancing Trust In The Smart Grid By Applying A Modified Exponentially Weighted Averages Algorithm, Andrew T. Kasperek
Theses and Dissertations
The main contribution of this thesis is the development and application of a modified Exponentially Weighted Moving Algorithm (EWMA) algorithm, and its ability to robustly function in the face varying numbers of bad (malicious or malfunctioning) Special Protection System (SPS) nodes. Simulation results support the use of the proposed modified EWMA reputation based trust module in SPSs within a smart grid environment. This modification results in the ability to easily maintain the system above the minimum acceptable frequency of 58.8 Hz at the 95% confidence interval, when challenged with test cases containing 5, 10 and 15 bad node test cases …
Cross Hallway Detection And Indoor Localization Using Flash Laser Detection And Ranging, Istvan M. Prileszky
Cross Hallway Detection And Indoor Localization Using Flash Laser Detection And Ranging, Istvan M. Prileszky
Theses and Dissertations
A flash LADAR is investigated as a source of navigation information to support cross-hallway detection and relative localization. To accomplish this, a dynamic, flexible simulation was developed that simulated the LADAR and the noise of a LADAR system. Using simulated LADAR data, algorithms were developed that were shown to be effective at detecting cross hallways in simulated ideal environments and in simulated environments with noise. Relative position was determined in the same situations. A SwissRanger SR4000 flash LADAR was then used to collect real data and to verify algorithm performance in real environments. Hallway detection was shown to be possible …
Resource Provisioning In Large-Scale Self-Organizing Distributed Systems, M. Brent Reynolds
Resource Provisioning In Large-Scale Self-Organizing Distributed Systems, M. Brent Reynolds
Theses and Dissertations
This dissertation researches the mathematical translation of resource provisioning policy into mathematical terms and parameters to solve the on-line service placement problem. A norm called the Provisioning Norm is introduced. Theorems presented in the work show the Provisioning Norm utility function and greedy, random, local search effectively and efficiently solve the on-line problem. Caching of placements is shown to reduce the cost of change but does not improve response time performance. The use of feedback control theory is shown to be effective at significantly improving performance but increases the cost of change. The theoretical results are verified using a decentralized, …
A Dempster-Shafer Method For Multi-Sensor Fusion, Bethany G. Foley
A Dempster-Shafer Method For Multi-Sensor Fusion, Bethany G. Foley
Theses and Dissertations
The Dempster-Shafer Theory, a generalization of the Bayesian theory, is based on the idea of belief and as such can handle ignorance. When all of the required information is available, many data fusion methods provide a solid approach. Yet, most do not have a good way of dealing with ignorance. In the absence of information, these methods must then make assumptions about the sensor data. However, the real data may not fit well within the assumed model. Consequently, the results are often unsatisfactory and inconsistent. The Dempster-Shafer Theory is not hindered by incomplete models or by the lack of prior …
Context Aware Routing Management Architecture For Airborne Networks, Joan A. Betances
Context Aware Routing Management Architecture For Airborne Networks, Joan A. Betances
Theses and Dissertations
This thesis advocates the use of Kalman filters in conjunction with network topology information derived from the Air Tasking Order (ATO) during the planning phase for military missions. This approach is the basis for an algorithm that implements network controls that optimize network performance for Mobile Ad hoc Networks (MANET). The trajectories of relevant nodes (airborne platforms) participating in the MANET can be forecasted by parsing key information contained in the ATO. This information is used to develop optimum network routes that can significantly improve MANET performance. Improved MANET performance in the battlefield enables decision makers to access information from …
Covariance Analysis Of Vision Aided Navigation By Bootstrapping, Andrew L. Relyea
Covariance Analysis Of Vision Aided Navigation By Bootstrapping, Andrew L. Relyea
Theses and Dissertations
Inertial Navigation System (INS) aiding using bearing measurements taken over time of stationary ground features is investigated. A cross country flight, in two and three dimensional space, is considered, as well as a vertical drop in three dimensional space. The objective is to quantify the temporal development of the uncertainty in the navigation states of an aircraft INS which is aided by taking bearing measurements of ground objects which have been geolocated using ownship position. It is shown that during wings level flight at constant speed and a fixed altitude, an aircraft that tracks ground objects and over time sequentially …