I am trying to implement a particle filter for coupling gyro and electronic compass for better measuring device orientation. My question is, how do I compute the weights for the particles? I understand my state vector contains the angle and turn_rate and my observation vector contains the readings for the same from the compass and gyro. In my transition model, I just use the constant turn-rate assumption + random noise to move the particles to their next states. Then when I get a set of readings (angle + turn_rate) in the next time instant, how do I assign weights to the praticles? Is there a correlation function tht i can use? Thanks!

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Apr. 5Purchased golf bags, clubs, and balls on account from Arnie Co. $1,500, terms 3/10, n/60.7Paid freight on Arnie purchase $80.9Received credit from Arnie Co. for merchandise returned $200.10Sold merchandise on account to members $1,340, terms n/30. The merchandise sold had a cost of $820.12Purchased golf shoes, sweaters, and other accessories on account from Woods Sportswear $830, terms 1/10, n/30.14Paid Arnie Co. in full.17Received credit from Woods Sportswear for merchandise returned $30.20Made sales on account to members $810, terms n/30. The cost of the merchandise sold was $550.21Paid Woods Sportswear in full.27Granted an allowance to members for clothing that did not fit properly $80.30Received payments on account from members $1,220.

1.     April 5…….purchases……..debit 15,000

………………….accounts payable…. Credit 15,00

2.     Apri 7…….Not sure what the title is…..debit 80

………………….cash…..credit 80

Am I on the right track?

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I am trying to start on my final assignment for my Crime Prevention  class (CRJ 305). I need help with the introduction and the  thesis. I thought about doing something that involves juveniles and the crimes that they commit due to the fact that is what you hear about some much on the news in todays society.

here is the outline of what is being asked to do on this assignment:

The Final Assignment’s requirements are an 8 – 10 page paper, in APA format double spaced, blocked, etc., and the subject matter is as follows. You will pick a Crime Issue for your geographic area–it can be your home town, where you work, or someplace else entirely. You will choose two corresponding or similar geographic areas–ie: similar square miles and population density and compare said Crime Issues. You will give a summary of the jurisdictional issues–is it a city, state, county issue that needs to be addressed–and you will address the corresponding governmental body–City Council, Sheriff, Chief of Police, Governor, City Fathers, Mayor, etc.,. Using SARA and PAT/CAT you need to compare data from your chosen geographic and chosen corresponding areas to the NATIONAL average for THAT Crime Issue you are addressing. Then, you will write a Formal PROPOSAL for a Crime Prevention Program to help reduce or eradicate that Crime Issue. You will address how this crime issue and it’s eradication affects the community in terms of social justice, liveability, commerce, economics, etc.  You may use a Crime Prevention Program already in existence, or make up one of your choosing, however, you must realistically include what it will cost to get the program off the ground: staffing, funding strategies, and upkeep. If the program is already in existence, you need to give researched data on the programs success in other markets. Your funding strategies and cost analysis cannot be : “We’ll use volunteers so it’ll be free”… or … “The police department can have officers volunteer their time off duty for the program”  because NONE OF THESE options are realistic. The Proposal needs to be something you might ACTUALLY present at a City Council meeting, or in an audience with the Chief of Police, or at a Senate hearing or before the Governor. Formal–credibly researched, data driven, statistically accurate, informative, convincing and necessary. NO opinions, conjecture, cliches, slang or BS. This is Crime Issue that you think needs to be addressed and your Proposal for doing so in the form of a Crime Prevention Program.Be creative, be accurate, be convincing–you are going to need funding and budgets are tight, so you’re going to need to come up with strategies for maybe a grant, maybe some part time volunteers, some community service time, some full time paid staff, office space, flyers, office equipment, $$$$$ and you won’t be able to BS your way into a meeting in front of the Mayor/Chief/Governor without good, solid, research based information to get your Proposal and your Crime Prevention Program heard, appreciated, and perhaps funded!

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I am trying to use excel to solve this and cannot seem to get it to work. I need to be able to show the exact formula(s) used. I have unlocked several documents but am still struggling.

Fundamentals of Finance

2. Using semi-annual compounding, what is the price of a 5 percent coupon bond with 10 years left to maturity and a market interest rate of 7.2 percent? Assume that interest payments are paid semi-annually and that par value is $1000.

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