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Generalized Filtering
Generalized filtering is a generic Bayesian filtering scheme for nonlinear state-space models. It is based on a variational principle of least action, formulated in generalized coordinates of motion. Note that "generalized coordinates of motion" are related to—but distinct from—generalized coordinates as used in (multibody) dynamical systems analysis. Generalized filtering furnishes posterior densities over hidden states (and parameters) generating observed data using a generalized gradient descent on variational free energy, under the Laplace assumption. Unlike classical (e.g. Kalman-Bucy or particle) filtering, generalized filtering eschews Markovian assumptions about random fluctuations. Furthermore, it operates online, assimilating data to approximate the posterior density over unknown quantities, without the need for a backward pass. Special cases include variational filtering, dynamic expectation maximization and generalized predictive coding. Definition Definition: ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Recursive Bayesian Estimation
In probability theory, statistics, and machine learning, recursive Bayesian estimation, also known as a Bayes filter, is a general probabilistic approach for estimating an unknown probability density function (PDF) recursively over time using incoming measurements and a mathematical process model. The process relies heavily upon mathematical concepts and models that are theorized within a study of prior and posterior probabilities known as Bayesian statistics. In robotics A Bayes filter is an algorithm used in computer science for calculating the probabilities of multiple beliefs to allow a robot to infer its position and orientation. Essentially, Bayes filters allow robots to continuously update their most likely position within a coordinate system, based on the most recently acquired sensor data. This is a recursive algorithm. It consists of two parts: prediction and innovation. If the variables are normally distributed and the transitions are linear, the Bayes filter becomes ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Stochastic Processes
In probability theory and related fields, a stochastic () or random process is a mathematical object usually defined as a family of random variables in a probability space, where the index of the family often has the interpretation of time. Stochastic processes are widely used as mathematical models of systems and phenomena that appear to vary in a random manner. Examples include the growth of a bacterial population, an electrical current fluctuating due to thermal noise, or the movement of a gas molecule. Stochastic processes have applications in many disciplines such as biology, chemistry, ecology, neuroscience, physics, image processing, signal processing, control theory, information theory, computer science, and telecommunications. Furthermore, seemingly random changes in financial markets have motivated the extensive use of stochastic processes in finance. Applications and the study of phenomena have in turn inspired the proposal of new stochastic processes. Examples of su ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Nonlinear Filters
In mathematics and science, a nonlinear system (or a non-linear system) is a system in which the change of the output is not proportional to the change of the input. Nonlinear problems are of interest to engineers, biologists, physicists, mathematicians, and many other scientists since most systems are inherently nonlinear in nature. Nonlinear dynamical systems, describing changes in variables over time, may appear chaotic, unpredictable, or counterintuitive, contrasting with much simpler linear systems. Typically, the behavior of a nonlinear system is described in mathematics by a nonlinear system of equations, which is a set of simultaneous equations in which the unknowns (or the unknown functions in the case of differential equations) appear as variables of a polynomial of degree higher than one or in the argument of a function which is not a polynomial of degree one. In other words, in a nonlinear system of equations, the equation(s) to be solved cannot be written as a line ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Control Theory
Control theory is a field of control engineering and applied mathematics that deals with the control system, control of dynamical systems in engineered processes and machines. The objective is to develop a model or algorithm governing the application of system inputs to drive the system to a desired state, while minimizing any ''delay'', ''overshoot'', or ''steady-state error'' and ensuring a level of control Stability theory, stability; often with the aim to achieve a degree of Optimal control, optimality. To do this, a controller with the requisite corrective behavior is required. This controller monitors the controlled process variable (PV), and compares it with the reference or Setpoint (control system), set point (SP). The difference between actual and desired value of the process variable, called the ''error'' signal, or SP-PV error, is applied as feedback to generate a control action to bring the controlled process variable to the same value as the set point. Other aspects ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Systems Theory
Systems theory is the Transdisciplinarity, transdisciplinary study of systems, i.e. cohesive groups of interrelated, interdependent components that can be natural or artificial. Every system has causal boundaries, is influenced by its context, defined by its structure, function and role, and expressed through its relations with other systems. A system is "more than the sum of its parts" when it expresses synergy or emergent behavior. Changing one component of a system may affect other components or the whole system. It may be possible to predict these changes in patterns of behavior. For systems that learn and adapt, the growth and the degree of adaptation depend upon how well the system is engaged with its environment and other contexts influencing its organization. Some systems support other systems, maintaining the other system to prevent failure. The goals of systems theory are to model a system's dynamics, Theory of constraints, constraints, conditions, and relations; and to ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Bayesian Estimation
In estimation theory and decision theory, a Bayes estimator or a Bayes action is an estimator or decision rule that minimizes the posterior probability, posterior expected value of a loss function (i.e., the posterior expected loss). Equivalently, it maximizes the posterior expectation of a utility function. An alternative way of formulating an estimator within Bayesian statistics is maximum a posteriori estimation. Definition Suppose an unknown parameter \theta is known to have a prior distribution \pi. Let \widehat = \widehat(x) be an estimator of \theta (based on some measurements ''x''), and let L(\theta,\widehat) be a loss function, such as squared error. The Bayes risk of \widehat is defined as E_\pi(L(\theta, \widehat)), where the Expected value, expectation is taken over the probability distribution of \theta: this defines the risk function as a function of \widehat. An estimator \widehat is said to be a ''Bayes estimator'' if it minimizes the Bayes risk among all estimat ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
System Identification
The field of system identification uses statistical methods to build mathematical models of dynamical systems from measured data. System identification also includes the optimal design#System identification and stochastic approximation, optimal design of experiments for efficiently generating informative data for regression analysis, fitting such models as well as model reduction. A common approach is to start from measurements of the behavior of the system and the external influences (inputs to the system) and try to determine a mathematical relation between them without going into many details of what is actually happening inside the system; this approach is called Black box (systems), black box system identification. Overview A dynamic mathematical model in this context is a mathematical description of the dynamic behavior of a system or process in either the time or frequency domain. Examples include: * physical system, physical processes such as the movement of a falling bo ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Optimal Control
Optimal control theory is a branch of control theory that deals with finding a control for a dynamical system over a period of time such that an objective function is optimized. It has numerous applications in science, engineering and operations research. For example, the dynamical system might be a spacecraft with controls corresponding to rocket thrusters, and the objective might be to reach the Moon with minimum fuel expenditure. Or the dynamical system could be a nation's economy, with the objective to minimize unemployment; the controls in this case could be fiscal and monetary policy. A dynamical system may also be introduced to embed operations research problems within the framework of optimal control theory. Optimal control is an extension of the calculus of variations, and is a mathematical optimization method for deriving control policies. The method is largely due to the work of Lev Pontryagin and Richard Bellman in the 1950s, after contributions to calculus of v ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Linear Predictive Coding
Linear predictive coding (LPC) is a method used mostly in audio signal processing and speech processing for representing the spectral envelope of a digital signal of speech in compressed form, using the information of a linear predictive model. LPC is the most widely used method in speech coding and speech synthesis. It is a powerful speech analysis technique, and a useful method for encoding good quality speech at a low bit rate. Overview LPC starts with the assumption that a speech signal is produced by a buzzer at the end of a tube (for voiced sounds), with occasional added hissing and popping sounds (for voiceless sounds such as sibilants and plosives). Although apparently crude, this Source–filter model is actually a close approximation of the reality of speech production. The glottis (the space between the vocal folds) produces the buzz, which is characterized by its intensity (loudness) and frequency (pitch). The vocal tract (the throat and mouth) forms the tube, whi ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Dynamic Bayesian Network
A dynamic Bayesian network (DBN) is a Bayesian network (BN) which relates variables to each other over adjacent time steps. History A dynamic Bayesian network (DBN) is often called a "two-timeslice" BN (2TBN) because it says that at any point in time T, the value of a variable can be calculated from the internal regressors and the immediate prior value (time T-1). DBNs were developed by Paul Dagum in the early 1990s at Stanford University's Section on Medical Informatics. Dagum developed DBNs to unify and extend traditional linear state-space models such as Kalman filters, linear and normal forecasting models such as ARMA and simple dependency models such as hidden Markov models into a general probabilistic representation and inference mechanism for arbitrary nonlinear and non-normal time-dependent domains. Today, DBNs are common in robotics, and have shown potential for a wide range of data mining applications. For example, they have been used in speech recognition, digi ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Dynamic Causal Modelling
Dynamic causal modeling (DCM) is a framework for specifying models, fitting them to data and comparing their evidence using Bayes factor, Bayesian model comparison. It uses nonlinear State space, state-space models in continuous time, specified using Stochastic differential equation, stochastic or ordinary differential equations. DCM was initially developed for testing hypotheses about Dynamical system, neural dynamics. In this setting, differential equations describe the interaction of neural populations, which directly or indirectly give rise to functional neuroimaging data e.g., functional magnetic resonance imaging (fMRI), magnetoencephalography (MEG) or electroencephalography (EEG). Parameters in these models quantify the directed influences or effective connectivity among neuronal populations, which are estimated from the data using Bayesian inference, Bayesian statistical methods. Procedure DCM is typically used to estimate the coupling among brain regions and the changes i ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Linear Predictive Coding
Linear predictive coding (LPC) is a method used mostly in audio signal processing and speech processing for representing the spectral envelope of a digital signal of speech in compressed form, using the information of a linear predictive model. LPC is the most widely used method in speech coding and speech synthesis. It is a powerful speech analysis technique, and a useful method for encoding good quality speech at a low bit rate. Overview LPC starts with the assumption that a speech signal is produced by a buzzer at the end of a tube (for voiced sounds), with occasional added hissing and popping sounds (for voiceless sounds such as sibilants and plosives). Although apparently crude, this Source–filter model is actually a close approximation of the reality of speech production. The glottis (the space between the vocal folds) produces the buzz, which is characterized by its intensity (loudness) and frequency (pitch). The vocal tract (the throat and mouth) forms the tube, whi ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
