We propose a very generic Bayesian framework for the principled exploitation of probabilistic batch-learning technologies for real-time state estimation. To illustrate our concepts, we derive a nonlinear filtering/smoothing solution for a challenging case study in target tracking. We also demonstrate the application of Markov chain Monte Carlo (MCMC) sampling methods as a computational tool within our framework. Finally, we present simulation results, benchmarked against a comparable particle filter.
This article examines the Lombard law code as evidence for literate practices in government and society in seventh-and eighth-century Italy. The effectiveness of the code as an instrument of government is testi®ed by the charter evidence, in which the precepts of the code are implicitly acknowledged or cited directly. Although largely the result of a necessary appropriation of late Roman property law, Lombard legislation and notarial practice applied further literate methods to document, and hence to validate, a range of transactions. The use of written law was not merely limited to male landowners, but affected Italo-Lombard society more widely, as is revealed by the evidence for women's property rights and manumission. The charter evidence and references within the code itself suggest that various uses of writing for governmental administration extended beyond the royal and ducal levels into local society.The Lombards are often seen as the ®nal wave of Germanic invaders who were responsible for knocking Italy out of its late Roman orbit and pushing it into the early Middle Ages. 1 While many historians minimize the cataclysmic role ascribed to the Lombard settlement and instead highlight the long-term economic and social developments of the sixth century, the Lombards retain their image as the quintessential, Gibbonian barbarians,`®erce and illiterate'. 2 In a work on literacy in early medieval Italy, Armando Petrucci devoted a chapter to`il problema longobardo'. He explained that, being German-ic, the Lombards had no need to communicate with the written word, since their simplistic social organization required nothing more than oral means of communication. Their rule in Italy caused a`reversal of values and of prestige in the realm
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