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If you take a look at the Catalog_ItemController::displayAction and the Catalog_AdminItemController::displayAction, you ll see that both actions use the same Doctrine query, with one minor difference: The former contains an additional check to ensure that the catalog item has been approved for display to the public Since this is essentially the same code repeated twice over, it is an ideal candidate for refactoring into a model method To do this, add the following method to the Square_Model_Item model class, at $APP_ DIR/library/Square/Model/Itemphp:

dispose();

Systemexit(0);

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In this equation, ( 2 , 1 ) and Qd( 2 , 1 ) are computed using the method of Section 4721 By this approach, is computed as = exp F(t0 ) G(t0 )QG (t0 ) 0 F (t0 ) T (1276)

return true;

default:

for some t0 [ 1 , 2 ] where ( 2 , 1 ) and Qd( 2 , 1 ) are calculated as ( 2 , 1 ) = Qd( 2 , 1 ) = [(n + 1 : 2n), (n + 1) : 2n] (t0 , tp ) [(1 : n), (n + 1) : 2n] (1277) (1278)

return superhandleEvent(evt);

Next, we add the control's we'll need in the init() method: import javaawt*;

import javaappletApplet;

where [(i : j), (k : l)] denotes the the sub-matrix of composed of the i through j-th rows and k through l-th columns of matrix

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public class gettitle extends Applet{

< php class Square_Model_Item extends Square_Model_BaseItem { public function getItem($id, $active = true) { $q = Doctrine_Query::create() ->from('Square_Model_Item i')

Label label1;

This section analyzes the observability of the error state under various operating conditions The analysis makes two simplifying assumptions

TextField text1;

Button button1;

public static void main(String args[])

450 Sensors LBL LBL, p LBL, p, DVL LBL LBL, p LBL, p, DVL LBL LBL, p LBL, p, DVL LBL LBL, p LBL, p, DVL

public void init(){

label1 = new Label("The document's title:");

LBL AND DOPPLER AIDED INS rank(O), L = 0 9 12 12 9 12 15 9 12 15 9 12 12 rank(O) 11 12 13 12 13 15 12 14 15 11 12 13

add(label1);

12:

text1 = new TextField(20);

add(text1);

p rad/s ip [0, 0, 0] [0, 0, 0] [0, 0, 0] [0, 0, 0] [0, 0, 0] [0, 0, 0] [0, 0, 01] [0, 0, 01] [0, 0, 01] [0, 0, 01] [0, 0, 01] [0, 0, 01]

button1 = new Button("Click Me");

add(button1);

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[0, 0, 0] [0, 0, 0] [0, 0, 0] [1, 0, 0] [1, 0, 0] [1, 0, 0] [1, 0, 0] [1, 0, 0] [1, 0, 0] [0, 0, 0] [0, 0, 0] [0, 0, 0]

The next step is to load in the XML document, gettitlexml, and we do that when the user clicks the Click Me button The code to read in gettitlexml goes into the action method like this: import commsxmlParseException;

import commsxmlDocument;

import commsxmlElement;

Table 122: Rank of the observability matrix for various sensor combinations and operating conditions The column marked with L = 0 indicates that all sensor o set vectors have been set to zero For full observability, the rank must be 16

->leftJoin('iSquare_Model_Country c') ->leftJoin('iSquare_Model_Grade g') ->leftJoin('iSquare_Model_Type t') ->where('iRecordID = ', $id); if ($active) { $q->addWhere('iDisplayStatus = 1') ->addWhere('iDisplayUntil >= CURDATE()'); } return $q->fetchArray(); } }

import javautilEnumeration;

import javaawt*;

First, the stated operating conditions for each scenario are assumed to be static Second, each set of measurements that is considered is assumed to occur simultaneously This second assumption holds in the sense that a vector Kalman lter correction is assumed For the model of the LBL corrections, the computation of the hL matrix still accounts for di erent travel times and baseline transponder delay times Ti The structure of the F matrix shows that the observability may depend on the tangent plane velocity vector, the body frame velocity vector, and angular rate vector The observability will also depend on the set of sensors that is considered The structure of the measurement matrix hLi indicates that the observability from the LBL sensor may also depend on the position of the AUV relative to the baseline transponders In fact, given that the baseline transponders are setup on the corners of a rectangle, the placement of the AUV relative to the baseline transponders does not a ect the rank of the observability matrix, although it does a ect the structure of the unobservable subspace For various operating conditions and aiding sensor combinations, the rank of the observability matrix is summarized in Table 122 The rst

import javanet*;