### TABLE VI SUMMARY OF THE DISCRETE EXTENDED KALMAN FILTER

### TABLE IV SUMMARY OF THE CONTINUOUS-DISCRETE EXTENDED KALMAN FILTER

### Table 3.2 Discrete Kalman filter measurement update equations

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### Table 3.1 Discrete Kalman filter time update equations

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### Table 1 Kalman filtering algorithm

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"... In PAGE 13: ... 6 (a), (b), (c) and (d), respectively. Next, we applied the proposed Kalman filter given in Table1 to exponential samples and obtain the predicted and smoothed states. In Fig.... ..."

### Table 4: Kalman Filter Results

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"... In PAGE 6: ...Table 4: Kalman Filter Results We have used 3 special FUs in the kalman update function and 2 special FUs in the predict state function, the perfor- mance is better in the case of latter because there were more operations that could be mapped to these special FUs than the former case. As can be observed from Table4 , the num- ber of cycles have come down to less than half in the pre- dict state function, which implies a fairly large performance gain. 6.... ..."

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### Table 4: Kalman Filter Results

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"... In PAGE 6: ...state function, the perfor- mance is better in the case of latter because there were more operations that could be mapped to these special FUs than the former case. As can be observed from Table4 , the num- ber of .cycles have come down to less than half in the pre- dict .... ..."

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### Table 3: Kalman Filter AFUs

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### Table 4: Kalman Filter Results

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### Table 3: Kalman Filter AFUs

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"... In PAGE 6: ... In all, we introduced 5 MISOs with load/store to handle the various operations. The description of each AFU is shown in Table3 . The semantics are speci ed in the form of desti- nation as a function of sources, where si represents the ith source of the AFU an di represents the ith destination of the AFU.... ..."

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