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Books/Monographs Desai, Y. M., Eldho, T. I., and Shah, A. H. Finite Element Analysis (for Anna University), Adarsh, S. and Janga Reddy, M. Pearson Publishers, 2013. Optimal Design of Irrigation Canals, LAP Lambert Academic Publishing (ISBN 978-3-659-33051-3), Eldho T.I. Germany, 2013. Sustainable Water Resources Management – Theory & Practice (ed. T.I. Eldho), Monograph for CEP/QIP Adinarayana, J. Course, IIT Bombay, June-July 2012. A Chapter on “Development of Information System for Integrated Watershed Management using Remote Modelling Techniques for Water Resources Sensing and GIS”, by P D Aher, J Adinarayana, S D Management (ed. T.I. Eldho), Monograph for CEP/QIP Gorantiwar and S A Sawant in Advancement in Remote Course, IIT Bombay, June-July 2012. Sensing for Terrestrial and Atmospheric Applications, Eds. Srivastava P K, Mukherjee S, Gupta M and Islam Advances in Water Resources & Computer Modeling T, Springer verlag (2013) (ed. T.I. Eldho), Monograph for CEP/QIP Course, IIT Bombay, June-July 2012. A Chapter on “Data Mining and Knowledge Discovery in Groundnut Pest/Disease Precision Protection” by Eldho T.I., and Desai, Y.M. A. K. Tripathy, J. Adinarayana, S. N. Merchant, U. B. Finite Element Method & Applications in Civil Desai, S. Ninomiya, M. Hirafuji and T. Kiura (2013). in Engineering (eds. T.I. Eldho and Y.M. Desai), Lecture- Geospatial Technology in natural resources notes for CEP/QIP Course, IIT Bombay, July 2012. management (Eds. Soam et al.), New India Publishing Agency (ISBN:9789381450802), Delhi, pp. 81-116. Gaur G. Ray and Bachwal Lavanya Residential Interior Design for the Elderly: A Guide Arceivala, S. J. and Asolekar, S. R. Book on ergonomic dimensional references for “Environmental Studies: A Practitioners Approach”, designing home interior, Published by Shroff Tata McGraw Hill Education (India) Pvt. Ltd., New Publishers & Distributors Pvt. Ltd, Mumbai, ISBN Delhi, 2012. 13:978-93-5023-633-8., 2012 Bandyopadhyay, B., Janardhanan, S., and Spurgeon, Kulkarni, Malhar K. Sarah (Eds.) “Devadattiyam:Essays in honour of Prof. Johannes Advances in Sliding Mode Control, Vol.440, Lecture Bronkhorst”, in Johannes Bronkhorst Felicitation notes in Control and Information Sciences, 379p., Volume, Peter Lang, Switzerland, edited along with Springer Verlag, 2013, ISBN: 978-3-642-36985-8. F.Voegli, D.Feller et al., 2012, ISSN1661-755X ISBN 978- 0343-0682-9hb, 2012. Bastia, R. and Radhakrishna, M. A Reference Book on Basin Evolution and Petroleum Manik, D. N. Prospectivity of the Continental Margins of India, in Control Systems, Manik D.N., Cengage Publishers, New Developments in Petroleum Science Series, Vol. 59, Delhi, September 2012 Elsevier Publications, U.K. Nagarajan, R. Chakravarthy, B. K. Natural and Man-made disaster assessment An Innovation by Design - Story of a post box, published Introduction, Ms. Capital Publishing Company, New by Springer New Delhi Heidelberg New York Dordrecht Delhi, 2013, pp.560. London, ISBN 978-81-322-0900-3, March 2013. 215 Nataraj, N. Chapters in Books Mathematical Modelling and Applications to Industrial Problems a special issue of International Adekola, O., Stamp, J.D., Majozi, T., Garg, A., and Journal of Numerical Analysis and Modelling, Series Bandyopadhyay, S. B, Volume 3, Number 3, 2012. “A Unified Approach for the Optimization of Energy and Water in Multipurpose Batch Plants”, Computer Panda, R. K. Aided Chemical Engineering, Vol. 31, pp. 1382-6. Ernest Sosa, “Knowing Full Well”, Indian Journal of Analytic Philosophy, Vol. V, No. 2, March 2012, pp.110- Asolekar S.R., Kalbar P.P., Chaturvedi, M.K.M., and 114. Maillacheruvu, K. “Rejuvenation of Rivers and Lake in India: Balancing Rastogi A K, Jha, N., and Choudhary, P. Societal Priorities with Technological Possibilities” AEM Application in Groundwater Hydrology and in Volume 4 - Sustainability of Water Quality, Ed. Jerald FEM Simulation of RC Well, LAP Lambert Academic Schnoor in Comprehensive Water Quality and Publishing (ISBN 978-3-659-15590-1), Germany, 2012. Purification. Edited by Satinder Ahuj [Accepted, Elsevier Publication], (2013) Ravi, B. Casting Simulation Case Studies. Kolkata: Institute Bandyopadhyay, S. of Indian Foundrymen, 2012. “A Novel Design Procedure for Solar Thermal System”, in Recent Advances in Sustainable Process Design Ravi, B., and Abhilash, E. and Optimization (ISBN: 981-4271-95-0), eds. D. C. Y. Aerospace Casting Technology. IIT Bombay: National Foo, M. M. El-Halwagi, and R. R. Tan, World Scientific Centre for Aerospace Innovation and Research, 2012. Pub. Co. Pte. Ltd., Singapore, 2012, pp. 561-576. Sabnani Nina Banerjee, R. Co-editor and author of one chapter in the E-book The “Energy End Use: Industry”, in Global Energy Many Facets of Storytelling, published by Inter- Assessment - Toward a Sustainable Future, Cambridge Disciplinary Press, Oxford, UK, ISBN:978-1-84888-166- University Press, Cambridge, UK and New York, USA 2, 2013. and the International Institute for Applied Systems Analysis, Laxenburg, Austria, 2012, pp. 513-574. Designed, illustrated and written following books for children, Its all the Same, Written and Designed for Bhat, P. R. Tulika Books 2013 “Dimensions of Culture: A Conceptual Analysis” in Philosophy of Cultures: A Contemporary Counting on Moru, Illustrated for Pratham Books, 2013 Understanding, (Vanlalnghak & L. Lenka Eds), Akansha Publishing House, New Delhi, 2013. pp. 80- My Godri Anthology, Illustrated for Bookworm Goa, 113. 2013 “Human Autonomy and Ramchandra Gandhi” in Sane, S.S. Ramchandra Gandhi: The Man and His Philosophy, Combinatorial Techniques, TRIM Series (Texts and Edited by A. Raghuramaraju, Routledge, London, 2013, Readings in Mathematics), Number 64, Hidustan Book Pp. 85-117. Agency, New Delhi, January 2013. “Linguistic Representation: A Philosophical View” in Shimjith, S.R., Tiwari, A.P., and Bandyopadhyay, B. Linguistic Representation: The Road Ahead, Edited Modeling and Control of a large Nuclear Reactor, by R. C. Pradhan, D K Agencies pvt. Ltd., 2012. Vol. 431, Lecture Notes in Control and Information Sciences, 138p., Springer Verlag, 2013, ISBN: 978-3-642- Bhatnagar, S., Borkar, V.S., Prashanth, L.A. 30588-7. “Adaptive Feature Pursuit: Online adaptation of features in reinforcement learning”, in Reinforcement Singh, Ramesh K., and Srivastava, A. Learning and Approximate Dynamic Programming “Engineering Applications of Lasers”, Manuscript for Feedback Control (F. Lewis and D. Liu, eds.), IEEE under preparation to be published by CRC press Press, 2012. Tim Bunnell, D. Parthasarathy, and Eric Thompson “Hamiltonian cycle problem and Markov chains”, with ed. V. Ejov, J. A. Filar, G. Nguyen), Springer Verlag, New Cleavage, Connection and Conflict: Rural, Urban and York, 2012. Contemporary, ARI-Springer Asia Series, Springer, 2013. 216 Chakraborty Supratik “An announcement of the Key Word In Context index Proceedings of the 10th International Symposium on of the Prakirna Prakasa of Helaraja on the Automated Technologies for Verification and Analysis Jatisamuddesa of the Vakyapadiya”, with Chaitali (ATVA), 2012 (published as Lecture Notes in Computer Dangarikar, in Sabdabrahma, Wisdom Indologica, Prof. Science by Springer). A.C. Sarangi Felicitation Volume, edited by Dr. Radhamadhab Dash and Dr. Subhash Chandra Das, Das, D. and Dutta, P. Pratibha Prakashan, ISBN 978-81-7702-207-0, Delhi, “Simulation study of an integrated reverse logistics in 2013, pp.238-244. fuzzy environment”, Lecture Notes in Electrical Engineering, Springer, Vol. 186, 2013, pp.151-165. “The arrival of Navya Nyaya Techniques in Varanasi”, with Johannes Bronkhorst and Bogdan Diaconescu, Eric C Thompson, Tim Bunnell, and D. Parthasarathy An Indian Ending, Rediscovering the Grandeur of “Place, Society and Politics Across Urban and Rural Indian Heritage for a Sustainable Future, essays in Asia” in Tim Bunnell, D.Parthasarathy, and Eric honour of Prof. John Vattanky SJ, edited by Kuruvilla Thompson, Cleavage, Connection and Conflict: Pandikattu SJ and Binoy Pichalakkattu SJ, Serial Rural, Urban and Contemporary, ARI-Springer Asia Publishers, Delhi, ISBN: 978-81-8381-593-6, 2013, pp. Series, Springer, 2013, pp. 1-14. 73-109. Gharote, M., Patil, R.J., Lodha, S. Kulkarni, S.V., and Khaparde, S.A. “Trainees assignment problem in Information “Transformer Engineering: Design, Technology, and Technology (IT) service organizations”. In Lecture Diagnostics”, Second Edition, CRC Press (Taylor & Notes in Management Science , ed. Luangpaiboon, P., Francis Group), New York, September 2012, 746 pages Moz, M.. Tadbir Operational Research Group Limited, 2012. pp. 46-54. Momaya, K. S. and Gupta, R. “Economic competitiveness and disruptive innovation: Gogoi, M., Jaiswal, M. K., Banerjee, R., and Bahadur Exploring the macro and micro contexts in China and D. India”, in Lee P. P. (ed.), Disruptive Innovation in “Magnetic liposomes and hydrogels towards cancer Chinese and Indian Businesses: The Strategic therapy,” in Introduction to Magnetic Nanoparticles Implications for Local Entrepreneurs and Global from Fabrication to Clinical Applications, Thanh, Incumbents, Vol. 97, Routledge, 2013, pp. 33-49. NTK (Ed.), CRC Press London, 2012, 479-4980. Mukhopadhyay, A. Gururajan, M P., Mira Mitra, Amol, S.B., “Ultra-High Temperature Ceramics: Processing, Chandrasekhar, E. Properties and Applications”, (co-authors: Raju, G. B., “Phase Field Modelling of the Evolution of Solid-Solid and Basu, B.): in MAX Phases and Ultra-High and Solid-Liquid Boundaries: Fourier and Wavelet Temperature Ceramics for Extreme Environments,
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    VOL. 22 No. IV OCTOBER 1985 THE MOUNTAIN PATH Editorial Board (A QUARTERLY) Sri K.K. Nambiar Mrs. Lucy Cornelssen "Arunachala! Thou dost root out the ego of those who meditate on Thee in the Smt. Shanta Rungachary heart. Oh Arunachala!" Dr. K. Subrahmaniam — The Marital Garland of Letters, verse 1 Sri A.R. Natarajan Vol. 22 OCTOBER 1985 No. 4 Publisher T.N. Venkataraman CONTENTS President, Board of Trustees, Page Sri Ramanasramam EDITORIAL: Ramana's Fate Tiruvannamalai — A.R. Natarajan ... 225 Two Decades of The Mountain Path . 228 Managing Editor Surrender V. Canesan — David Godman ... 231 A Guided Tour of Heaven II Letters and remittances should —• Douglas Harding . 235 be sent to : A Station Passed Through (Chapter II) The Managing Editor, — Arthur Osborne . 239 ''THE MOUNTAIN PATH", The Speciality of Ramana and His Teachings Sri Ramanasramam, P.O., — Prof. N.R. Krishnamoorthy Iyer . 241 Tiruvannamalai—606^603 S. India. Morality and Self Knowledge: in the light of the Life and the Teachings of Bhagavan Sri Ramana Annual Subscription — Michael lames . 242 How I Came to Bhagavan Sri Ramana INDIA Rs. 15 — Gobindram H. Daswani ... 250 FOREIGN £4.00 $8.00 Sri Bhagavan's Introduction to Vivekachudamani Life Subscription — Jr. by Sadhu Om and Michael lames . 252 Subramania Bharati: A God-Centred Poet Rs.150 £35.00 $70 — Dr. K. Subrahmanian . 259 Noble Ramana Single Copy — V. Ganesan . 261 Rs.4.00 £1.20 $2.50 Some Impressions of Sri Ramana Maharshi — Swami Ritajananda . 267 IA Precious Relic . 269 I'Turiya' — The Natural State Is it true Silence to rest — N.N.
  • Introduction to the Kalman Filter and Tuning Its Statistics for Near Optimal Estimates and Cramer Rao Bound

    Introduction to the Kalman Filter and Tuning Its Statistics for Near Optimal Estimates and Cramer Rao Bound

    Introduction to the Kalman Filter and Tuning its Statistics for Near Optimal Estimates and Cramer Rao Bound by Shyam Mohan M, Naren Naik, R.M.O. Gemson, M.R. Ananthasayanam Technical Report : TR/EE2015/401 arXiv:1503.04313v1 [stat.ME] 14 Mar 2015 DEPARTMENT OF ELECTRICAL ENGINEERING INDIAN INSTITUTE OF TECHNOLOGY KANPUR FEBRUARY 2015 Introduction to the Kalman Filter and Tuning its Statistics for Near Optimal Estimates and Cramer Rao Bound by Shyam Mohan M1, Naren Naik2, R.M.O. Gemson3, M.R. Ananthasayanam4 1Formerly Post Graduate Student, IIT, Kanpur, India 2Professor, Department of Electrical Engineering, IIT, Kanpur, India 3Formerly Additional General Manager, HAL, Bangalore, India 4Formerly Professor, Department of Aerospace Engineering, IISc, Banglore Technical Report : TR/EE2015/401 DEPARTMENT OF ELECTRICAL ENGINEERING INDIAN INSTITUTE OF TECHNOLOGY KANPUR FEBRUARY 2015 ABSTRACT This report provides a brief historical evolution of the concepts in the Kalman filtering theory since ancient times to the present. A brief description of the filter equations its aesthetics, beauty, truth, fascinating perspectives and competence are described. For a Kalman filter design to provide optimal estimates tuning of its statistics namely initial state and covariance, unknown parameters, and state and measurement noise covariances is important. The earlier tuning approaches are reviewed. The present approach is a reference recursive recipe based on multiple filter passes through the data without any optimization to reach a ‘statistical equilibrium’ solution. It utilizes the a priori, a pos- teriori, and smoothed states, their corresponding predicted measurements and the actual measurements help to balance the measurement equation and similarly the state equation to help form a generalized likelihood cost function.