In this paper, we present the optimization formulation of the Kalman filtering and smoothing problems, and use this perspective to develop a variety of extensions and applications. We first formulate classic Kalman smoothing as a least squares problem, highlight special structure, and show that the classic filtering and smoothing algorithms are equivalent to a particular algorithm for solving this problem. Once this equivalence is established, we present extensions of Kalman smoothing to systems with nonlinear process and measurement models, systems with linear and nonlinear inequality constraints, systems with outliers in the measurements or sudden changes in the state, and systems where the sparsity of the state sequence must be accounted for. All extensions preserve the computational efficiency of the classic algorithms, and most of the extensions are illustrated with numerical examples, which are part of an open source Kalman smoothing Matlab/Octave package.

This paper describes a normative system design that incorporates diagnosis, dynamic evolution, decision making, and information gathering. A single influence diagram demonstrates the design's coherence, yet each activity is more effectively modeled and evaluated separately. Application to offshore oil platforms illustrates the design. For this application, the normative system is embedded in a real-time expert system.

In previous work we developed a method of learning Bayesian Network models from raw data. This method relies on the well known minimal description length (MDL) principle. The MDL principle is particularly well suited to this task as it allows us to tradeoff, in a principled way, the accuracy of the learned network against its practical usefulness. In this paper we present some new results that have arisen from our work. In particular, we present a new local way of computing the description length. This allows us to make significant improvements in our search algorithm. In addition, we modify our algorithm so that it can take into account partial domain information that might be provided by a domain expert. The local computation of description length also opens the door for local refinement of an existent network. The feasibility of our approach is demonstrated by experiments involving networks of a practical size.

To determine the value of perfect information in an influence diagram, one needs first to modify the diagram to reflect the change in information availability, and then to compute the optimal expected values of both the original diagram and the modified diagram. The value of perfect information is the difference between the two optimal expected values. This paper is about how to speed up the computation of the optimal expected value of the modified diagram by making use of the intermediate computation results obtained when computing the optimal expected value of the original diagram.

In order to find a causal explanation for data presented in the form of covariance and concentration matrices it is necessary to decide if the graph formed by such associations is a projection of a directed acyclic graph (dag). We show that the general problem of deciding whether such a dag exists is NP-complete.

In this paper, we present a Bayesian channel estimation algorithm for multicarrier receivers based on pilot symbol observations. The inherent sparse nature of wireless multipath channels is exploited by modeling the prior distribution of multipath components' gains with a hierarchical representation of the Bessel K probability density function; a highly efficient, fast iterative Bayesian inference method is then applied to the proposed model. The resulting estimator outperforms other state-of-the-art Bayesian and non-Bayesian estimators, either by yielding lower mean squared estimation error or by attaining the same accuracy with improved convergence rate, as shown in our numerical evaluation.

In this paper, we present a decision support system based on belief functions and the pignistic transformation. The system is an integration of an evidential system for belief function propagation and a valuation-based system for Bayesian decision analysis. The two subsystems are connected through the pignistic transformation. The system takes as inputs the user's "gut feelings" about a situation and suggests what, if any, are to be tested and in what order, and it does so with a user friendly interface.

This paper examines the concept of a combination rule for belief functions. It is shown that two fairly simple and apparently reasonable assumptions determine Dempster's rule, giving a new justification for it.

In a probability-based reasoning system, Bayes' theorem and its variations are often used to revise the system's beliefs. However, if the explicit conditions and the implicit conditions of probability assignments are properly distinguished, it follows that Bayes' theorem is not a generally applicable revision rule. Upon properly distinguishing belief revision from belief updating, we see that Jeffrey's rule and its variations are not revision rules, either. Without these distinctions, the limitation of the Bayesian approach is often ignored or underestimated. Revision, in its general form, cannot be done in the Bayesian approach, because a probability distribution function alone does not contain the information needed by the operation.

In this paper, the concept of possibilistic evidence which is a possibility distribution as well as a body of evidence is proposed over an infinite universe of discourse. The inference with possibilistic evidence is investigated based on a unified inference framework maintaining both the compatibility of concepts and the consistency of the probability logic.