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Backward Darts and the Subsequent Scattered Discharges Occurring Along Lightning Positive Leader Branches

Journal of Geophysical Research: Atmospheres, Volume 131, Issue 10, 28 May 2026.
Abstract We used the LOw‐Frequency ARray (LOFAR) to identify two new types of lightning discharges occurring along the tracks of earlier positive leaders. The first is a kind of intracloud dart leader that we call a “backward dart” whose behavior appears counterintuitive given the positive polarity of the channel, as they are negative dart leaders that
Bin Wu, Brian M. Hare, Olaf Scholten, Ningyu Liu, Joe Dwyer, Steve Cummer, Marten Lourens, Chris Sterpka, Paulina Turekova   +8 more
wiley   +1 more source

Energy-efficient path planning for Robotic Bulkhead Inspection using Residual-Enhanced UKF and Hierarchical MPC. [PDF]

PLoS One
Wang J, Li L, Gao R, Yang L.
europepmc   +1 more source

Composite filter-based detection of rock joints from drilling parameters. [PDF]

Sci Rep
Tong J, Zhang Y, Huang H, Xiong J, Luo Y.   +4 more
europepmc   +1 more source

Object tracking algorithm based on deformable attention mechanism. [PDF]

Sci Rep
Liu Q, Yu N, Cheng J.
europepmc   +1 more source

A hierarchical lateral stability control strategy of distributed drive electric vehicles based on extended Kalman filter and integral terminal sliding mode control. [PDF]

PLoS One
Wang J, Zhao Y, Gao W, Deng Z.
europepmc   +1 more source

Simultaneous State and Parameter Estimation Methods Based on Kalman Filters and Luenberger Observers: A Tutorial & Review. [PDF]

Sensors (Basel)
Chebbi A, Franchek MA, Grigoriadis K.
europepmc   +1 more source

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Robust extended Kalman filtering

IEEE Transactions on Signal Processing, 1999
Summary: Linearization errors inherent in the specification of an extended Kalman filter (EKF) can severely degrade its performance. This correspondence presents a new approach to the robust design of a discrete-time EKF by application of the robust linear design methods based on the \(H_\infty\) norm minimization criterion.
Garry A Einicke, L B White
exaly   +3 more sources