The Kalman filter is the optimal minimum-variance state estimator for linear dynamic systems with Gaussian noise. In addition, the Kalman filter is the optimal linear state estimator for linear dynamic systems with non-Gaussian noise. For nonlinear systems various modifications of the Kalman filter (e.g., the extended Kalman filter, the unscented Kalman filter, and the particle filter) have bee...

Optimal control under state constraints has brought new mathematical challenges that have led to new techniques and new theories. We survey some recent results related to issues of regularity of optimal trajectories, optimal controls and the value function, and discuss optimal synthesis and necessary optimality conditions. We also show how abstract inverse mapping theorems of set-valued analysi...

A new distinction between two kinds of state constraints is introduced and proved important for solving the Ramiication Problem in Reasoning about Actions. Steady constraints never, not even for an instant, cease to being in force. As such they give rise to truly instantaneous indirect eeects of actions. Stabilizing state constraints, on the other hand, may be suspended for a short period of ti...

the study evaluated the major constraints hampering the effective functioning of the nigerian agricultural cooperative and rural development bank (nacrdb) in kogi state, nigeria. using the food crop farmers as a case study, a multi-stage random sampling technique was used to select three agricultural zone in kogi state ( zone a, b, and c).primary data were collected through the use of structure...

We propose a position-based approach for largescale simulations of rigid bodies at interactive frame-rates. Our method solves positional constraints between rigid bodies and therefore integrates nicely with other position-based methods. Interaction of particles and rigid bodies through common constraints enables two-way coupling with deformables. The method exhibits exceptional performance and ...

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We hypothesise that all electroweak symmetry breaking terms such as fermion masses and the W and Z gauge boson masses arise radiatively from just one explicit symmetry breaking term in the Lagrangian. Our hypothesis is motivated by the lack of experimental support and the lack of predictivity of the standard symmetry breaking scenario. We construct a simple model which illustrates our ideas. We...