In the winter of the eleventh year of King Zhuang of the Zhou Dynasty (686 BC), the land of Beiqiu in the State of Qi. After days of cloudy skies and chilly winds, the desolate mountain road was empty and deserted. It was already dusk when a flock of crows returned from the wilderness and disappeared into the deep forest beside the road. Suddenly the crows were startled and flew all over the sky. The forest steeply appeared countless halberds, gorges, spears, axes, in the dark clouds flashing hideous and bizarre light, straight to the end of the mountain road, a tall Palace forced over.
This book focuses on the basic theory and methods of multisensor data fusion state estimation and its application. It consists of four parts with 12 chapters. In Part I, the basic framework and methods of multisensor optimal estimation and the basic concepts of Kalman filtering are briefly and systematically introduced. In Part II, the data fusion state estimation algorithms under networked environment are introduced. Part III consists of three chapters, in which the fusion estimation algorithms under event-triggered mechanisms are introduced. Part IV consists of two chapters, in which fusion estimation for systems with non-Gaussian but heavy-tailed noises are introduced. The book is primarily intended for researchers and engineers in the field of data fusion and state estimation. It also benefits for both graduate and undergraduate students who are interested in target tracking, navigation, networked control, etc.
Using Inner Mongolian cases, this book explains the attenuation of inter-ethnic solidarity in the critical period of Chinese imperial transformation (1900-1930). It engages the key issues related to imperial organization, elite politics, and ethnic relationship. The book will attract a large audience in comparative sociology, empire and ethnic studies.
This book addresses a key technology for digital information processing: Kalman filtering, which is generally considered to be one of the greatest discoveries of the 20th century. It introduces readers to issues concerning various uncertainties in a single plant, and to corresponding solutions based on adaptive estimation. Further, it discusses in detail the issues that arise when Kalman filtering technology is applied in multi-sensor systems and/or multi-agent systems, especially when various sensors are used in systems like intelligent robots, autonomous cars, smart homes, smart buildings, etc., requiring multi-sensor information fusion techniques. Furthermore, when multiple agents (subsystems) interact with one another, it produces coupling uncertainties, a challenging issue that is addressed here with the aid of novel decentralized adaptive filtering techniques.Overall, the book’s goal is to provide readers with a comprehensive investigation into the challenging problem of making Kalman filtering work well in the presence of various uncertainties and/or for multiple sensors/components. State-of-art techniques are introduced, together with a wealth of novel findings. As such, it can be a good reference book for researchers whose work involves filtering and applications; yet it can also serve as a postgraduate textbook for students in mathematics, engineering, automation, and related fields.To read this book, only a basic grasp of linear algebra and probability theory is needed, though experience with least squares, navigation, robotics, etc. would definitely be a plus.
Advanced Control of Wheeled Inverted Pendulum Systems is an orderly presentation of recent ideas for overcoming the complications inherent in the control of wheeled inverted pendulum (WIP) systems, in the presence of uncertain dynamics, nonholonomic kinematic constraints as well as underactuated configurations. The text leads the reader in a theoretical exploration of problems in kinematics, dynamics modeling, advanced control design techniques and trajectory generation for WIPs. An important concern is how to deal with various uncertainties associated with the nominal model, WIPs being characterized by unstable balance and unmodelled dynamics and being subject to time-varying external disturbances for which accurate models are hard to come by. The book is self-contained, supplying the reader with everything from mathematical preliminaries and the basic Lagrange-Euler-based derivation of dynamics equations to various advanced motion control and force control approaches as well as trajectory generation method. Although primarily intended for researchers in robotic control, Advanced Control of Wheeled Inverted Pendulum Systems will also be useful reading for graduate students studying nonlinear systems more generally.
Denver in the Gilded Age may have been an economic boomtown, but it was also a powder keg waiting to explode. When that inevitable eruption occurred—in the Anti-Chinese Riot of 1880—it was sparked by white resentment at the growing encroachment of Chinese immigrants who had crossed the Pacific Ocean and journeyed overland in response to an expanding labor market. Liping Zhu’s book provides the first detailed account of this momentous conflagration and carefully delineates the story of how anti-Chinese nativism in the nineteenth century grew from a regional political concern to a full-fledged national issue. Zhu tells a complex tale about race, class, and politics. He reconstructs the drama of the riot—with Denver’s Rocky Mountain News fanning the flames by labeling the Chinese “the pest of the Pacific”—and relates how white mobs ransacked Chinatown while other citizens took pains to protect their Asian neighbors. Occurring two days before the national election, it had a decisive impact on sectional political alignments that would undercut the nation’s promise of equal rights for all peoples made after the Civil War and would have repercussions lasting well into the next century. By examining the relationship between the anti-Chinese movement and the rise of the West, this work sheds new light on our understanding of racial politics and sectionalism in the post-Reconstruction era. As the West’s newfound political muscle threatened Republican hegemony in national politics, many Republican legislators compromised their commitment to equal rights and unfettered immigration by joining Democrats to pass the noxious 1882 Chinese Exclusion Act—which was not repealed until 1943 and only earned congressional apologies in 2011 and 2012. The Denver Anti-Chinese Riot strikes at the core of the national debate over race and region in the late nineteenth century as it demonstrates a correlation between the national retreat from the campaign for racial equality and the rise of the American West to national political prominence. Thanks to Zhu’s powerful narrative, this once overlooked event now has a place in the saga of American history—and serves as a potent reminder that in the real world of bare-knuckle politics, competing for votes often trumps fidelity to principle.
In the second year of Xining of Emperor Shenzong of Song Dynasty (1069), in the second half of February, the rain fell for more than three days, wetting Bianliang, the capital of Song Dynasty. Several rows of willows along the banks of the Dragon River swayed in the rain; dozens of flying bridges on the Bian River, Cai River, Wuzhang River
This cutting-edge book presents the theory and practice of the Graph Model for Conflict Resolution (GMCR), which is used for strategically investigating disputes in any field to enable informed decision making. It clearly explains how GMCR can determine what is the best a particular decision maker (DM) can independently achieve in dynamic interaction with others. Moves and counter-moves follow various stability definitions reflecting human behavior under conflict. The book defines a wide range of preference structures to represent a DM’s comparisons of states or scenarios: equally preferred, more or less preferred; unknown; degrees of strength of preference; and hybrid. It vividly describes how GMCR can ascertain whether a DM can fare even better by cooperating with others in a coalition. The book portrays how a conflict can evolve from the status quo to a desirable resolution, and provides a universal design for a decision support system to implement the innovative decision technologies using the matrix formulation of GMCR. Further, it illustrates the key ideas using real-world conflicts and supplies problems at the end of each chapter. As such, this highly instructive book benefits teachers, mentors, students and practitioners in any area where conflict arises.
As Web service technologies have matured in recent years, an increasing number of geospatial Web services designed to deal with spatial information over the network have emerged. Geospatial Web Services: Advances in Information Interoperability provides relevant theoretical frameworks and the latest empirical research findings and applications in the area. This book highlights the strategic role of geospatial Web services in a distributed heterogeneous environment and the life cycle of geospatial Web services for building interoperable geospatial applications.
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