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We discuss and extend two approaches to target detection and motion parameter estimation in a very low observable (VLO) underwater multipath environment. The maximum likelihood probabilistic data association (ML-PDA) algorithm considers all possible path-measurement hypotheses, whereas the maximum likelihood probabilistic multiple hypothesis tracker (ML-PMHT) assumes independence among the returns' origins leading to a simpler likelihood formulation. In particular, we present a recursive form of the multipath ML-PDA algorithm for improved computational efficiency and a generative multipath ML-PMHT algorithm that accounts for the prior probability distribution of the number of received measurements. By simulation of an active sonar tracking scenario, we show that while the two algorithms perform similarly for few returns, the added fidelity of the ML-PDA outperforms the ML-PMHT in parameter estimation as returns accumulate over multiple scans and dimensions. However, the computational cost of the ML-PDA discourages its use beyond simple scenarios. This cost, coupled with the comparable detection performance of the two algorithms, suggests that the simpler ML-PMHT is the better choice for practical use. We also show how both the ML-PDA and ML-PMHT can be applied to realistic ocean environments using ocean acoustic modeling software. This article is an extension of previous work on comparing the standard versions of the ML-PDA and ML-PMHT algorithms.

Power electronics (PE) and high-frequency switching circuits are key to superior performance of electric vehicles. It is vital to monitor the condition of the PE components in real-time for safety and reliability. In this article, we propose two anomaly detection methods based on a combination of data preprocessing to suppress noise and outliers, multivariate regression models to predict signals of interest under nominal operation, and sequential analysis of residuals. In particular, the methods utilize median filtering to extract on-state medians in each switching cycle in nonlinear autoregressive exogenous neural network models or filtered on-state data in partial least squares-based models to represent the nominal circuit behavior. Optimal and approximate dynamic programming-based feature selection methods are developed to select the most informative signals or their transformations. Predictions from the learned models are used to generate the residuals for anomaly detection by Page's cumulative sum test. The proposed models and anomaly detection methods are validated on three accelerated aging experimental datasets, comprised of 60 power mosfet devices with low-frequency and high-frequency switching under disparate operating conditions. Due to the simplicity and efficiency of the data-driven anomaly detection schemes, the proposed methods can potentially be embedded in real-time digital platforms.

The use of estimation techniques on stochastic models to solve control problems is an emerging paradigm that falls under the rubric of Active Inference (AI) and Control as Inference (CAI). In this work, we use probability propagation on factor graphs to show that various algorithms proposed in the literature can be seen as specific composition rules in a factor graph. We show how this unified approach, presented both in probability space and in log of the probability space, provides a very general framework that includes the Sum-product, the Max-product, Dynamic programming and mixed Reward/Entropy criteria-based algorithms. The framework also expands algorithmic design options that lead to new smoother or sharper policy distributions. We propose original recursions such as: a generalized Sum/Max-product algorithm, a Smooth Dynamic programming algorithm and a modified versions of the Reward/Entropy algorithm. The discussion is carried over with reference to a path planning problem where the recursions that arise from various cost functions, although they may appear similar in scope, bear noticeable differences. We provide a comprehensive table of composition rules and a comparison through simulations, first on a synthetic small grid with a single goal with obstacles, and then on a grid extrapolated from a real-world scene with multiple goals and a semantic map.