The Kalman filter(KF) is one of the most widely used methods for tracking and estimation due to its simplicity, optimality, tractability and robustness. However, the application of the KF to nonlinear systems can be difficult. The most common approach is to use the Extended Kalman Filter (EKF) which simply linearises all nonlinear models so that the traditional linear Kalman filter can be applied. Although the EKF (in its many forms) is a widely used filtering strategy, over thirty years of experience with it has led to a general consensus within the tracking and control community that it is difficult to implement, difficult to tune, and only reliable for systems which are almost linear on the time scale of the update intervals. In this paper a new linear estimator is developed and demonstrated. Using the principle that a set of discretely sampled points can be used to parameterise mean and covariance, the estimator yields performance equivalent to the KF for linear systems yet general...

We study the weakest conglomerable model that is implied by desirability or probability assessments: the conglomerable natural extension. We show that taking the natural extension of the assessments while imposing conglomerability—the procedure adopted in Walley’s theory—does not yield, in general

existing notions, such as strong independence, satisfy our definition. Moreover, there always is a least-committal independent model, for which we provide an explicit formula: the independent natural extension. Our central result is that the independent natural extension satisfies so-called marginalisation

In recent years research in the planning community has moved increasingly towards application of planners to realistic problems involving both time and many types of resources. For example, interest in planning demonstrated by the space research community has inspired work in observation scheduling, planetary rover exploration and spacecraft control domains. Other temporal and resource-intensive domains including logistics planning, plant control and manufacturing have also helped to focus the community on the modelling and reasoning issues that must be confronted to make planning technology meet the challenges of application. The international planning competitions have acted as an important motivating force behind the progress that has been made in planning since 1998. The third competition (held in 2002) set the planning community the challenge of handling time and numeric resources. This necessitated the development of a modelling language capable of expressing temporal and numeric properties of planning domains. In this paper we describe the language, PDDL2.1, that was used in the competition. We describe the syntax of the language, its formal semantics and the validation of concurrent plans. We observe that PDDL2.1 has considerable modelling power — exceeding the capabilities of current planning technology — and presents a number of important challenges to the research community.

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With the introduction of the H.264/AVC video coding standard, significant improvements have recently been demonstrated in video compression capability. The Joint Video Team of the ITU-T VCEG and the ISO/IEC MPEG has now also standardized a Scalable Video Coding (SVC) extension of the H.264/AVC

Categorizations which humans make of the concrete world are not arbitrary but highly determined. In taxonomies of concrete objects, there is one level of abstraction at which the most basic category cuts are made. Basic categories are those which carry the most information, possess the highest category cue validity, and are, thus, the most differentiated from one another. The four experiments of Part I define basic objects by demonstrating that in taxonomies of common concrete nouns in English based on class inclusion, basic objects are the most inclusive categories whose members: (a) possess significant numbers of attributes in common, (b) have motor programs which are similar to one another, (c) have similar shapes, and (d) can be identified from averaged shapes of members of the class. The eight experiments of Part II explore implications of the structure of categories. Basic objects are shown to be the most inclusive categories for which a concrete image of the category as a whole can be formed, to be the first categorizations made during perception of the environment, to be the earliest categories sorted and earliest named by children, and to be the categories

Ambiguity resolution is a central problem in language comprehension. Lexical and syntactic ambiguities are standardly assumed to involve different types of knowledge representations and be resolved by different mechanisms. An alternative account is provided in which both types of ambiguity derive from aspects of lexical representation and are resolved by the same processing mechanisms. Reinterpreting syntactic ambiguity resolution as a form of lexical ambiguity resolution obviates the need for special parsing principles to account for syntactic interpretation preferences, reconciles a number of apparently conflicting results concerning the roles of lexical and contextual information in sentence processing, explains differences among ambiguities in terms of ease of resolution, and provides a more unified account of language comprehension than was previously available. One of the principal goals for a theory of language compre- third section we consider processing issues: how information is hension is to explain how the reader or listener copes with a processed within the mental lexicon and how contextual inforpervasive ambiguity problem. Languages are structured at mation can influence processing. The central processing mechmultiple levels simultaneously, including lexical, phonological, anism we invoke is the constraint satisfaction process that has morphological, syntactic, and text or discourse levels. At any been realized in interactive-activation models (e.g., Elman &

various limitations of current recommendation methods and discusses possible extensions that can improve recommendation capabilities and make recommender systems applicable to an even broader range of applications. These extensions include, among others, an improvement of understanding of users and items

For each real number fi ? 1 the fi-transformation is defined by T fi x = fix(mod1). In this paper the natural extension T fi of the ergodic system underlying T fi is explicitly given. Furthermore, it is shown that a certain induced system of this natural extension is Bernoulli. Since T fi is weakly