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core 1 2 in diameter and 10 (The iron core concentrates the flux lines by offering a lower reluctance path than air) Wind the fine insulated magnet wire carefully on the iron core to avoid kinks and breakage Tape the ends of the winding temporarily to the core and carefully solder hook-up wire at each end to form permanent terminals The terminals can be secured to the core with room-temperature vulcanizing (RTV) adhesive to relieve any strains that might develop in the fine magnet wire In the prototype, the sensing circuit board, coil, and battery pack, consisting of two C cells were housed in a case made from standard diameter PVC water pipe cut to a length that will accommodate all of those elements as shown in Figures 20-6 The covers for the sensing head housing are PCV end-caps that press-fit over the 23 8 outside diameter of the pipe The upper cap is a simple cup, but the lower cap is a sleeve with a threaded insert at its end Drill a hole in the square base of the threaded insert for jack J1 and fasten it with a ring nut Then close the cover on the empty pipe and drill two pilot holes 180 apart in the sleeve for self-tapping screws to clamp the cap in position after the sensor head is assembled Cut about a 6 length of RG-174/U coaxial cable, strip both ends and solder the inner conductor of one end to the jack terminal and its shield to the jack lug Solder the inner conductor and shield of the other end to the sensor circuit board Attach the coil to the sensor circuit board with about a 6 length of RG-174/U coaxial cable as shown Connect the inner conductor to one terminal and the shield to the other and solder both in position The prototype includes a twin C cell holder that, with cells in position, has a maximum width dimension of.

The numeral 0 serves as a placeholder when writing numerals to represent large numbers It makes arithmetic easier than it was with the Roman system, or with systems that used simple counting Eventually, it made higher mathematics, such as algebra, possible

Asynchronous do not occur at a periodic rate It is straightforward to handle asynchronous measurements within the Kalman lter framework Note that the Kalman lter derivation did not assume the measurements to be

Question 1-4

The sensor coil at L1 detects changes in the local magnetic field You will need to wind approximately 50,000 turns of 28 AWG magnet wire over a soft iron

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periodic The Kalman lter does require propagation of the state estimate and its covariance from one measurement time instant to the next according to eqns (582 583) Therefore, the Kalman lter can accommodate asynchronous measurements so long as the matrices k and Qdk can be computed Because the time period between measurements is not constant, for asynchronous measurements, the matrices k and Qdk are usually not constant

Answer 1-4

One of the implicit assumptions in the derivation of the Kalman lter algorithm was that the gains and the arithmetic necessary to calculate them would take place using in nite precision real valued numbers Computer implementations of the Kalman lter use a nite accuracy subset of the rational numbers Although the precision of each computation may be quite high (especially in oating point applications), the number of calculations involved in the Kalman lter algorithm can allow the cumulative e ect of the machine arithmetic to a ect the lter performance This issue becomes increasingly important in applications with either a long duration or a high state dimension Both factors result in a greater number of calculations If the lter state is observable from the measurements and controllable from the process driving noise, then the e ects of nite machine precision are usually minor Therefore, it is common to add a small amount of process driving noise even to states which are theoretically considered to be constants Two common results of nite machine precision are loss of symmetry or loss of positive de niteness of the covariance matrix These two topics are discussed in the following subsections

In England, the term billion usually refers to the quantity represented by the numeral 1,000,000,000,000 In the United States, it means the quantity represented by 1,000,000,000 The English billion is called a trillion in the United States

Question 1-5

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