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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

data set, HadISST1, and the nighttime marine air temperature (NMAT) data set, HadMAT1. HadISST1 replaces the global sea ice and sea surface temperature (GISST) data sets and is a unique combination of monthly globally complete fields of SST and sea ice concentration on a 1 ° latitude-longitude grid

In this book we aim to present, in a unified framework, a broad spectrum of mathematical theory that has grown in connection with the study of problems of optimization, equilibrium, control, and stability of linear and nonlinear systems. The title Variational Analysis reflects this breadth. For a

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This paper presents Scribe, a scalable application-level multicast infrastructure. Scribe supports large numbers of groups, with a potentially large number of members per group. Scribe is built on top of Pastry, a generic peer-to-peer object location and routing substrate overlayed on the Internet, and leverages Pastry's reliability, self-organization, and locality properties. Pastry is used to create and manage groups and to build efficient multicast trees for the dissemination of messages to each group. Scribe provides best-effort reliability guarantees, but we outline how an application can extend Scribe to provide stronger reliability. Simulation results, based on a realistic network topology model, show that Scribe scales across a wide range of groups and group sizes. Also, it balances the load on the nodes while achieving acceptable delay and link stress when compared to IP multicast.

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before going deeper. In consequence it may seem that the subject is not receiving a thorough treatment, or that too much is being discussed at one time! (This is particularly apparent in the first and second chapters.) To present a thorough understanding of trust, we have proceeded breadth first

This paper is a survey of the theory and methods of photogrammetric bundle adjustment, aimed at potential implementors in the computer vision community. Bundle adjustment is the problem of refining a visual reconstruction to produce jointly optimal structure and viewing parameter estimates. Topics covered include: the choice of cost function and robustness; numerical optimization including sparse Newton methods, linearly convergent approximations, updating and recursive methods; gauge (datum) invariance; and quality control. The theory is developed for general robust cost functions rather than restricting attention to traditional nonlinear least squares.

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