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The purpose of this paper is to apply the Steady State Kalman Filter for temperature measurements of tissues via magnetic resonance thermometry. Instead of using classical direct inversion, a methodology is proposed that couples the magnetic resonance thermometry with the bioheat transfer problem and the local temperatures can be identified through the solution of a state estimation problem.

Heat transfer in the tissues is given by Pennes’ bioheat transfer model, while the Proton Resonance Frequency (PRF)-Shift technique is used for the magnetic resonance thermometry. The problem of measuring the transient temperature field of tissues is recast as a state estimation problem and is solved through the Steady-State Kalman filter. Noisy synthetic measurements are used for testing the proposed methodology.

The proposed approach is more accurate for recovering the local transient temperatures from the noisy PRF-Shift measurements than the direct data inversion. The methodology used here can be applied in real time due to the reduced computational cost. Idealized test cases are examined that include the actual geometry of a forearm.

The solution of the state estimation problem recovers the temperature variations in the region more accurately than the direct inversion. Besides that, the estimation of the temperature field in the region was possible with the solution of the state estimation problem via the Steady-State Kalman filter, but not with the direct inversion.

The recursive equations of the Steady-State Kalman filter can be calculated in computational times smaller than the supposed physical times, thus demonstrating that the present approach can be used for real-time applications, such as in control of the heating source in the hyperthermia treatment of cancer.

The original and novel contributions of the manuscript include: formulation of the PRF-Shift thermometry as a state estimation problem, which results in reduced uncertainties of the temperature variation as compared to the classical direct inversion; estimation of the actual temperature in the region with the solution of the state estimation problem, which is not possible with the direct inversion that is limited to the identification of the temperature variation; solution of the state estimation problem with the Steady-State Kalman filter, which allows for fast computations and real-time calculations.

The purpose of this paper is to estimate aerodynamic parameters accurately from flight data in the presence of unknown noise characteristics.

The introduced adaptive filter scheme is composed of two parallel UKFs. At every time‐step, the master UKF estimates the states and parameters using the noise covariance obtained by the slave UKF, while the slave UKF estimates the noise covariance using the innovations generated by the master UKF. This real time innovation‐based adaptive unscented Kalman filter (UKF) is used to estimate aerodynamic parameters of aircraft in uncertain environment where noise characteristics are drastically changing.

The investigations are initially made on simulated flight data with moderate to high level of process noise and it is shown that all the aerodynamic parameter estimates are accurate. Results are analyzed based on Monte Carlo simulation with 4000 realizations. The efficacy of adaptive UKF in comparison with the other standard Kalman filters on the estimation of accurate flight stability and control derivatives from flight test data in the presence of noise, are also evaluated. It is found that adaptive UKF successfully attains better aerodynamic parameter estimation under the same condition of process noise intensity changes.

The presence of process noise complicates parameter estimation severely. Since the non‐measurable process noise makes the system stochastic, consequently, it requires a suitable state estimator to propagate the states for online estimation of aircraft aerodynamic parameters from flight data.

This is the first paper highlighting the process noise intensity change on real time estimation of flight stability and control parameters using adaptive unscented Kalman filter.

The purpose of this paper is to propose an extended Kalman particle filter (EPF) approach for dynamic state estimation of synchronous machine using the phasor measurement unit’s measurements.

EPF combines the extended Kalman filter (EKF) with the particle filter (PF) to accurately estimate the dynamic states of synchronous machine. EKF is used to make particles of PF transfer to the likelihood distribution from the previous distribution. Therefore, the sample impoverishment in the implementation of PF is able to be avoided.

The proposed method is capable of estimating the dynamic states of synchronous machine with high accuracy. The real-time capability of this method is also acceptable.

The effectiveness of the proposed approach is tested on IEEE 30-bus system.

Introducing EKF into PF, EPF is proposed to estimate the dynamic states of synchronous machine. The accuracy of a dynamic state estimation is increased.

The purpose of this paper is to improve performance in the estimation of velocity and flux in the sensorless control of induction motors (IMs) over a wide speed range, including low and zero speed.

Temperature and frequency dependent variations of stator (R_s) and rotor (R′_r) resistances are very effective on estimation performance in sensorless control over a wide speed range. To this aim, an extended Kalman filter (EKF) is designed, which estimates the stator resistance, R_s, load torque, t_L, velocity and flux. To provide robustness against R′_r variations, the extended model is also continuously updated with R′_r values from a look‐up table, built via EKF estimation.

As demonstrated by the experimental results, the estimated states and parameters undergo a very short transient and attain their steady‐state values accurately, with no need for signal injection due to the inherent noise introduced by EKF.

The value of this study is in the development of an EKF‐based scheme, which solves the R_s−R′_r estimation problem in IM sensorless control. The successful experimental results obtained with the combined EKF and look‐up table approach also offer a solution to all EKF‐based estimation schemes which involve a high number of estimated parameters, hence, compromising estimation accuracy.

The sensorless external force estimation of robot manipulator can be helpful for reducing the cost and complexity of the robot system. However, the complex friction phenomenon of the robot joint and uncertainty of robot model and signal noise significantly decrease the estimation accuracy. This study aims to investigate the friction modeling and the noise rejection of the external force estimation.

A LuGre-linear-hybrid (LuGre-L) friction model that combines the dynamic friction characteristics of the robot joint and static friction of the drive motor is proposed to improve the modeling accuracy of robot friction. The square root cubature Kalman filter (SCKF) is improved by integrating a Sage Window outer layer and a nonlinear disturbance observer (NDOB) inner layer. In the outer layer, Sage Window is integrated in the square root Kalman filter (W-SCKF) to dynamically adjust noise statistics. NDOB is applied as the inner layer of W-SCKF (NDOB-WSCKF) to obtain the uncertain state variables of the state model.

A peg-in-hole contact experiment conducted on a real robot demonstrates that the average accuracy of the estimated joint torque based on LuGre-L is improved by 4.9% in contrast to the LuGre model. Based on the proposed NDOB-WSCKF, the average estimation accuracy of the external joint torque can reach up to 92.1%, which is improved by 4%–15.3% in contrast to other estimation methods (SCKF and NDOB).

A LuGre-L friction model is proposed to handle the coupling of static and dynamic friction characteristics for the robot manipulator. An improved SCKF is applied to estimate the external force of the robot manipulator. To improve the noise rejection ability of the estimation method and make it more resistant to unmodeled state variable, SCKF is improved by integrating a Sage Window and NDOB, and a NDOB-WSCKF external force estimator is developed. Validation results demonstrate that the accuracy of the robot dynamics model and the estimated external force is improved by the proposed method.

The purpose of this paper is to consider the stochastic differential equation of the RL electrical circuit as the dynamic model of a state space system when the current in the circuit is hidden and corrupted by the measurement noise. Estimation of the corrupted current and the values of missing or unknown parameters (resistance, the observed current variance in the measurement model, the mean and variance of the current prior distribution) which are the main concern in electrical engineering is considered.

Optimal filtering is proposed for estimation of the hidden current from the noisy observations. Also, the problem of analyzing this model based on estimation of the unknown parameters is addressed from the likelihood‐based and Bayesian perspective.

Computational techniques for parameter estimation are carried out by the Maximum likelihood (ML) approach using Expectation‐Maximization type optimization and Bayesian Monte Carlo perspective using Metropolis‐Hastings scheme. The explicit formulas for the ML estimator are obtained and it is shown that the smoothers, the filters and the predictions for the current have the best confidence intervals, respectively. Some numerical simulation examples which are performed by R programming software are considered to show the efficiency and applicability of the proposed approaches. Results show an excellent estimation of the parameters based on these approaches.

Due to the fact that in an empirical situation of electrical engineering, observing the current in the circuit regardless of the measurement noise and knowing the exact value of the parameters are unrealistic assumptions, this paper can be used in various types of real time projects.

To the best of the authors' information, the problem of analyzing the state space model of RL electrical circuit has not been studied before. Furthermore, the estimation of the hidden current as the state of the system and estimation of the unknown parameters of the model via both ML and Bayesian approaches have been investigated for the first time in the present study.

Brazil’s regional inequality is an important topic due to the large and persistent differences in development between states and the high levels of inequality in the country. These variations in development can potentially render survey data inaccurate since the significance of capital income varies across the states. Besides, previous studies incorporating tax and national accounts data globally have mainly focused on measuring the income distribution at the country-level. This approach can limit the understanding of inequality, especially when considering large countries such as Brazil.

The methodology used to construct these estimates follows the guidelines of the Distributional National Accounts, whose core goal is to provide income distribution measures consistent with macroeconomic aggregates and harmonized across countries and time. The procedure has three main steps: first, it corrects the survey’s underrepresentation of top incomes using tax data. Then, it accounts for national income items not included in the survey or tax data, such as imputed rents and undistributed profits. Finally, it ensures that all components match the national income.

Compared to survey-based estimations, the results reveal a new angle on the state-level inequality. This study indicates that Amazonas, Rio de Janeiro and São Paulo have a more concentrated income distribution. The top 1\% of earners in these states receives around 28\% of total pre-tax income, while the top 10\% receive nearly 60\%. On the other end, Amapá (AP), Acre (AC), Rondônia (RO) and Santa Catarina (SC) are the states where the income distribution is less concentrated. There were no significant changes in the income distribution across the states during the period analyzed.

This study combines survey, tax and national accounts data to construct new estimates of Brazil’s state-level income distribution from 2006 to 2019. Previous results only considered income captured in surveys, which usually misses a significant part of capital incomes. This limitation may bias comparisons as capital income has different importance across the states. The new estimates represent the income of top groups more accurately, account for the entire national income and enable to compare regional inequality levels consistently with other countries.

This paper aims to propose an 18th-order nonlinear model for doubly fed induction generator (DFIG) wind turbines. Based on the proposed model, which is more complete than the models previously developed, an extended Kalman filter (EKF) is used to estimate the DFIG state variables.

State estimation is a popular approach in power system control and monitoring because of minimizing measurement noise level and obtaining non-measured state variables. To estimate all state variables of DFIG wind turbine, it is necessary to develop a model that considers all state variables. So, an 18th-order nonlinear model is proposed for DFIG wind turbines. EKF is used to estimate the DFIG state variables based on the proposed model.

An 18th-order nonlinear model is proposed for DFIG wind turbines. Furthermore, based on the proposed model, its state variables are estimated. Simulation studies are done in four cases to verify the ability of the proposed model in the estimation of state variables under noisy, wind speed variation and fault condition. The results demonstrate priority of the proposed model in the estimation of DFIG state variables.

Evaluating DFIG model to estimate its state variables precisely.

The operation state of lithium-ion battery for vehicle is unknown and the remaining life is uncertain. In order to improve the performance of battery state prediction, in this paper, a joint estimation method of state of charge (SOC) and state of health (SOH) for lithium-ion batteries based on multi-scale theory is designed.

In this paper, a joint estimation method of SOC and SOH for lithium-ion batteries based on multi-scale theory is designed. The venin equivalent circuit model and fast static calibration method are used to fit the relationship between open-circuit voltage and SOC, and the resistance and capacitance parameters in the model are identified based on exponential fitting method. A battery capacity model for SOH estimation is established. A multi-time scale EKF filtering algorithm is used to estimate the SOC and SOH of lithium-ion batteries.

The SOC and SOH changes in dynamic operation of lithium-ion batteries are accurately predicted so that batteries can be recycled more effectively in the whole vehicle process.

A joint estimation method of SOC and SOH for lithium-ion batteries based on multi-scale theory is accurately predicted and can be recycled more effectively in the whole vehicle process.

The purpose of this paper is to present a Rao–Blackwellized particle filter (RBPF) approach for the visual simultaneous localization and mapping (SLAM) of small unmanned aerial vehicles (UAVs).

Measurements from inertial measurement unit, barometric altimeter and monocular camera are fused to estimate the state of the vehicle while building a feature map. In this SLAM framework, an extra factorization method is proposed to partition the vehicle model into subspaces as the internal and external states. The internal state is estimated by an extended Kalman filter (EKF). A particle filter is employed for the external state estimation and parallel EKFs are for the map management.

Simulation results indicate that the proposed approach is more stable and accurate than other existing marginalized particle filter-based SLAM algorithms. Experiments are also carried out to verify the effectiveness of this SLAM method by comparing with a referential global positioning system/inertial navigation system.

The main contribution of this paper is the theoretical derivation and experimental application of the Rao–Blackwellized visual SLAM algorithm with vehicle model partition for small UAVs.