Ed Stanek. c08ed01v6.doc A version of the grant proposal to be submitted for review in 2008.

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Prped Cmmn tatn W_errr_n_X_v0 Gnzala008v μ μ ( μ μ μ μ μ ( μ μ μ μ (weghted μ μ μ 0 ( μ z ( 0 z ( z ( ( z ( z ( z ( γ / ρ M M O M ( Σ Σ ( z μ ( z μ Σ ( z μ ( z μ z z Σ ( z z Σ M M O M (weghted C08ed03v3.dc 9/5/008 :06 PM 3

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Prped Cmmn tatn W_errr_n_X_v0 Gnzala008v Addng Samplng t Endgenu Meaurement Errr t r Ur r UEr Ur UEr E E ( R ( R U + UE + E ( E UE ( E E E R Addng Samplng t Endgenu Meaurement Errr n W UW X U + W Z vec X Z Z+ U E W ( d d d Z ( d U + W U + W k d U + UW μ E X Z vec U ( + U ( E W vec ( ( + ( + U E U W vec( ( + U W d Z vec U ( + U ( E W vec ( ( + ( + U E U W vec( ( + U W d C08ed03v3.dc 9/5/008 :06 PM 7

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Z X μ + b d + E 0 + X X μ where X n, X n Z X 0 0 V V, VR 0 e 0 V varξ R + V VR VR VR ΣR n, VR ΣR n, and ΣR Z V, V 0 VR 0 0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - z ( vec U E 0 Z Z Z Z vec U ( E 0 + E ξ R μ z r E Z + X ξ Mdel ntatn Z X μ z + b d + E W + X X μ where X n, X n Z X 0 0 e 0 0 V V, VR 0 e 0 V varξ R + V VR VR VR ΣR n, VR ΣR n, and ΣR where 0 e 0 ΣR Z V, V 0 VR 0 ΣR M M O M 0 0 e Z Repreentatn fr develpng predctr. Z Target ntatn c c c c c c c Z Z vec U E W Z Z vec U ( E W + E ξ R μ z r E Z + X ξ c ( c c c ( n n+ n+ T c g c g c Eample: T cz gz + g Z g c g c Eample: c, 0 c, ( C08ed03v3.dc 9/5/008 :06 PM 9

T α α w T ( 0 n g g Z w μ / where Z when C08ed03v3.dc 9/5/008 :06 PM 0

Slutn ntatn Tˆ g ˆ, ( ˆ + g Xα + V V Xα ˆ X V X X V α ˆ + ( k / ( + e T k T% ˆ μ + % + ( ˆ k μ ˆ n n T + γ d n d n n n n n n ˆ μ w% k / w % % w% / ( + n d d n ( d d d, ˆ g ˆ ˆ ˆ ˆ X + VV Z X + g X + V V Z X T α α α α ˆ X V X X V Z α C08ed03v3.dc 9/5/008 :06 PM