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My dad invited Rudy Kalman to give a lecture at Ames, and when he did, Dad had an epiphany, rudy Kalman had written a paper about a theoretical' linear' solution to estimating a vehicle's location and speed. The problem was that this was a fundamentally' nonlinear' problem ; that's like the difference in complexity between floating down a lazy river and going over a waterfall, where your motion becomes chaotic and unpredictable. My dad then developed the equations for how to solve this nonlinear problem -- a major extension of Kalman's work.

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