Recursive State-space Model Identification of Non-uniformly Sampled Systems Using Singular Value Decomposition

In this paper a recursive state-space model identification method is proposed for non-uniformly sampled systems in industrial applications. Two cases for measuring all states and only output(s) of such a system are considered for identification. In the case of state measurement, an identification algorithm based on the singular value decomposition(SVD) is developed to estimate the model parameter matrices by using the least-squares fitting. In the case of output measurement only, another identification algorithm is given by combining the SVD approach with a hierarchical identification strategy. An example is used to demonstrate the effectiveness of the proposed identification method.

Research on SINS Error Recursive Model of Ballistic Missile

The strap-down inertial navigation system (SINS) error of ballistic missile is generated by the mutual influence of gyroscope and accelerometer, and the recursive model is completely different from that of gimbaled INS. In the paper, a discrete error recursive model was obtained by studying the applied SINS error model of ballistic missile, and the discrete Kalman filtering simulation based on the model was carried out. The simulated results show that the model can depict the SINS error exactly and provide the advantages for research on integrated guidance and improved hit accuracy.

Recursive weighted least squares estimation algorithm based on minimum model error principle

Kalman filter is commonly used in data filtering and parameters estimation of nonlinear system,such as projectile's trajectory estimation and control.While there is a drawback that the prior error covariance matrix and filter parameters are difficult to be determined,which may result in filtering divergence.As to the problem that the accuracy of state estimation for nonlinear ballistic model strongly depends on its mathematical model,we improve the weighted least squares method(WLSM)with minimum model error principle.Invariant embedding method is adopted to solve the cost function including the model error.With the knowledge of measurement data and measurement error covariance matrix,we use gradient descent algorithm to determine the weighting matrix of model error.The uncertainty and linearization error of model are recursively estimated by the proposed method,thus achieving an online filtering estimation of the observations.Simulation results indicate that the proposed recursive estimation algorithm is insensitive to initial conditions and of good robustness.

A New Recursive Parameter Estimation Algorithm of Multi－Variable Time－Varying AR Model

A new recursive algorithm of multi variable time varying AR model is proposed. By changing the form of AR model, the parameter estimation can be regarded as state estimation of state equations. Then the Kalman filter is used to estimate the variation of

A RECURSIVE ALGORITHM AND ITS CONVERGENCE FOR PARAMETER ESTIMATION OF CONVOLUTION MODEL

In this article, the problem on the estimation of the convolution model parameters is considered. The recursive algorithm for estimating model parameters is introduced from the orthogonal procedure of the data, the convergence of this algorithm is theoretically discussed, and a sufficient condition for the convergence criterion of the orthogonal procedure is given. According to this condition, the recursive algorithm is convergent to model wavelet A- = （1, α1,..., αq）.

Method of multi-level recursive and application to nonlinear dynamic deformation forecasting

The time-dependence bilinear mixed-regression deformation model and time-dependence bilinear dynamic system deformation model are established for deformation observation series. According to the multi- level recursive method, the time-dependence parameters are first traced and predicted, and then the dynamic system states. Due to the method considering time-dependence of deformation and having stronger adaptability to time-dependence system, it can improve forecast’s precision. It is very effective for data processing of nonlinear dynamic deformation monitoring to make multi-step forecasting.

Some Properties of a Recursive Procedure for High Dimensional Parameter Estimation in Linear Model with Regularization

Theoretical results related to properties of a regularized recursive algorithm for estimation of a high dimensional vector of parameters are presented and proved. The recursive character of the procedure is proposed to overcome the difficulties with high dimension of the observation vector in computation of a statistical regularized estimator. As to deal with high dimension of the vector of unknown parameters, the regularization is introduced by specifying a priori non-negative covariance structure for the vector of estimated parameters. Numerical example with Monte-Carlo simulation for a low-dimensional system as well as the state/parameter estimation in a very high dimensional oceanic model is presented to demonstrate the efficiency of the proposed approach.

Effect of Aluminum Hydroxide Adjuvant on the Immunogenicity of the 2009 Pandemic Influenza A/H1N1 Vaccine:Multi-level Modeling of Data with Repeated Measures

Objective To evaluate the effect of the aluminum hydroxide （Al-OH） adjuvant on the 2009 pandemic influenza A/H1N1 （pH1N1） vaccine. Methods In a multicenter, double-blind, randomized, placebo-controlled trial, participants received two doses of split-virion formulation containing 15 ug hemagglutinin antigen, with or without aluminum hydroxide （N-OH）. We classified the participants into six age categories （〉61 years, 41-60 years, 19-40 years, 13-18 years, 8-12 years, and 3-7 years） and obtained four blood samples from each participant on days 0, 21, 35, and 42 following the first dose of immunization. We assessed vaccine immunogenicity by measuring the geometric mean titer （GMT） of hemagglutination inhibiting antibody. We used a two-level model to evaluate the fixed effect of aluminum Al-OH and other factors, accounting for repeated measures. Results The predictions of repeated measurement on GMTs of formulations with or without Al-OH, were 80.35 and 112.72, respectively. Al-OH significantly reduced immunogenicity after controlling for time post immunization, age-group and gender. Conclusion The Al-OH adjuvant does not increase but actually reduces the immunogenicity of the split-virion pH1N1 vaccine.

Nonlinear Modeling and Identification of the Electro-hydraulic Control System of an Excavator Arm Using BONL Model

Electro-hydraulic control systems are nonlinear in nature and their mathematic models have unknown parameters. Existing research of modeling and identification of the electro-hydraulic control system is mainly based on theoretical state space model, and the parameters identification is hard due to its demand on internal states measurement. Moreover, there are also some hard-to-model nonlinearities in theoretical model, which needs to be overcome. Modeling and identification of the electro-hydraulic control system of an excavator arm based on block-oriented nonlinear（BONL） models is investigated. The nonlinear state space model of the system is built first, and field tests are carried out to reveal the nonlinear characteristics of the system. Based on the physic insight into the system, three BONL models are adopted to describe the highly nonlinear system. The Hammerstein model is composed of a two-segment polynomial nonlinearity followed by a linear dynamic subsystem. The Hammerstein-Wiener（H-W） model is represented by the Hammerstein model in cascade with another single polynomial nonlinearity. A novel Pseudo-Hammerstein-Wiener（P-H-W） model is developed by replacing the single polynomial of the H-W model by a non-smooth backlash function. The key term separation principle is applied to simplify the BONL models into linear-in-parameters struc^tres. Then, a modified recursive least square algorithm（MRLSA） with iterative estimation of internal variables is developed to identify the all the parameters simultaneously. The identification results demonstrate that the BONL models with two-segment polynomial nonlinearities are able to capture the system behavior, and the P-H-W model has the best prediction accuracy. Comparison experiments show that the velocity prediction error of the P-H-W model is reduced by 14%, 30% and 75% to the H-W model, Hammerstein model, and extended auto-regressive （ARX） model, respectively. This research is helpful in controller design, system monitoring and diagnosis.

A Parameterization of Cooling Rate Calculation under the Non-LTE Condition: Multi-Level Model

Calculations of cooling rate by CO2 15 μm band in the earth's upper mesosphere and lower thermosphere be-come very difficult because of the non-LTE. This is primarily due to the nonlinear vibration-vibrational (VV) transition processes between CO, molecules in different states. This paper suggests that the non-LTE source function be parameterized as a linear combination of two limiting source functions. One limiting source function neglects the VV transitions while the other limiting source function assumes VV transitions being dominant. These two limiting source functions can be derived by linear models. The parameterization schemes proposed here can be applied to the general circulation models including those non-LTE regions.

BLIND AND COMPLETE MODELING OF LINEAR SYSTEMS USING THIRD ORDER CUMULANTS

This paper presents a novel approach to structure determination of linear systems along with the choice of system orders and parameters. AutoRegressive （AR）, Moving Average （MA） or AutoRegressive-Moving Average （ARMA） model structure can be extracted blindly from the Third Order Cumulants （TOC） of the system output ts, where the unknown system is driven by an unobservable stationary independent identically distributed （i.i.d.） non-Gaussian signal. By means of the system order recursion, whether the system has an AR structure or has AR part of an ARMA structure is firstly investigated. MA features in the TOC domain is then applied as a threshold to decide if the system is an MA model or has MA part of an ARMA model. Numerical simulations illustrate the generality of the proposed blind structure identification methodology that may serve as a guideline for blind, linear system modeling.

Modeling and Verification of an Astronaut Handling Large-mass Payload

The experiments on astronaut motions are difficult to conduct due to the limitation and high cost of constructing or simulating the microgravity environment of space. Therefore, the method of computer simulation on astronaut extravehicular activity is broadly promoted. However, validations and verifications for these simulations stated in related literatures are incomplete such as comparing with the limits of human body movements or reconstructing a three-dimensional movement for some parts of EVA video. Novel modeling and verification methods for the task of an astronaut handling targe-mass payload during EVA were revealed. A simplified model of an astronaut was constructed, and the astronaut motion was conceived as a planar movement of a multi-body system which includes seven segments with six revolute joints in the human body sagittal plane. The inverse kinematics method was used to calculate joint angles, joint velocities, and joint accelerations in time domain. The solution of joint torques using the inverse recursive dynamics was achieved. Furthermore, a virtual model with the ADAMSTM software was developed and implemented to verify the results by adding the kinematical data calculated to joints in order to achieve the trace of the center of mass of the hand. Additionally, the joints kinematics and kinetics data with time in the virtual model were obtained and compared with the corresponding calculated data. This result indicates that the modeling methods proposed can be employed as a solid algorithm to conduct the simulation of astronaut＇s tasks in EVA, and verification using the virtual model can be easily operated and has a good accuracy. This study provides an effective and economical way of modeling and simulation for extravehicular missions.

NONLINEAR MODELING AND CONTROLLING OF ARTIFICIAL MUSCLE SYSTEM USING NEURAL NETWORKS

The pneumatic artificial muscles are widely used in the fields of medicalrobots, etc. Neural networks are applied to modeling and controlling of artificial muscle system. Asingle-joint artificial muscle test system is designed. The recursive prediction error (RPE)algorithm which yields faster convergence than back propagation (BP) algorithm is applied to trainthe neural networks. The realization of RPE algorithm is given. The difference of modeling ofartificial muscles using neural networks with different input nodes and different hidden layer nodesis discussed. On this basis the nonlinear control scheme using neural networks for artificialmuscle system has been introduced. The experimental results show that the nonlinear control schemeyields faster response and higher control accuracy than the traditional linear control scheme.

Neural Network Based Multi-level Fuzzy Evaluation Model for Mechanical Kinematic Scheme

To implement a quantificational evaluation for mechanical kinematic scheme more effectively,a multi-level and multi-objective evaluation model is presented using neural network and fuzzy theory. Firstly,the structure of evaluation model is constructed according to evaluation indicator system. Then evaluation samples are generated and provided to train this model. Thus it can reflect the relation between attributive value and evaluation result,as well as the weight of evaluation indicator. Once evaluation indicators of each candidate are fuzzily quantified and fed into the trained network model,the corresponding evaluation result is outputted and the best alternative can be selected. Under this model,expert knowledge can be effectively acquired and expressed,and the quantificational evaluation can be implemented for kinematic scheme with multi-level evaluation indicator system. Several key problems on this model are discussed and an illustration has demonstrated that this model is feasible and can be regarded as a new idea for solving kinematic scheme evaluation.

THE COUPLING DYNAMICAL MODELING THEORY OF FLEXIBLE MULTIBODY SYSTEM

Based on the deformation theory of elastic beams, the coupling effect between the coupling displacements of a point on the middle line of beam and large overall motion is presented. The 'coupling matrix library' and Jourdain's variation principle and single direction recursive formulation method are used to establish the general coupling dynamical equations of flexible multibody system. Two typical examples show the coupling effect between coupling displacements and large overall motion on the dynamics of flexible multibody system consisting of beams.

Multi-Level Feature-Based Ensemble Model for Target-Related Stance Detection

Stance detection is the task of attitude identification toward a standpoint.Previous work of stance detection has focused on feature extraction but ignored the fact that irrelevant features exist as noise during higher-level abstracting.Moreover,because the target is not always mentioned in the text,most methods have ignored target information.In order to solve these problems,we propose a neural network ensemble method that combines the timing dependence bases on long short-term memory(LSTM)and the excellent extracting performance of convolutional neural networks(CNNs).The method can obtain multi-level features that consider both local and global features.We also introduce attention mechanisms to magnify target information-related features.Furthermore,we employ sparse coding to remove noise to obtain characteristic features.Performance was improved by using sparse coding on the basis of attention employment and feature extraction.We evaluate our approach on the SemEval-2016Task 6-A public dataset,achieving a performance that exceeds the benchmark and those of participating teams.

Comparison of Model Performance for Basic and Advanced Modeling Approaches to Crime Prediction

A good machine learning model would greatly contribute to an accurate crime prediction. Thus, researchers select advanced models more frequently than basic models. To find out whether advanced models have a prominent advantage, this study focuses shift from obtaining crime prediction to on comparing model performance between these two types of models on crime prediction. In this study, we aimed to predict burglary occurrence in Los Angeles City, and compared a basic model just using prior year burglary occurrence with advanced models including linear regressor and random forest regressor. In addition, American Community Survey data was used to provide neighborhood level socio-economic features. After finishing data preprocessing steps that regularize the dataset, recursive feature elimination was utilized to determine the final features and the parameters of the two advanced models. Finally, to find out the best fit model, three metrics were used to evaluate model performance: R squared, adjusted R squared and mean squared error. The results indicate that linear regressor is the most suitable model among three models applied in the study with a slightly smaller mean squared error than that of basic model, whereas random forest model performed worse than the basic model. With a much more complex learning steps, advanced models did not show prominent advantages, and further research to extend the current study were discussed.

Multi-level biomechanical models for rehabilitation engineering

Rehabilitation engineering aims in the upmost degree to restore the lost functions for those persons with physical disability. Biomechanical modeling has been widely used for different purposes in rehabilitation engineering to understand the bio-

Recursive dynamics simulator(ReDySim):A multibody dynamics solver

Recursive formulations have significantly helped in achieving real-time computations and model-based control laws. The recursive dynamics simulator （ReDySim） is a MATLAB-based recur- sive solver for dynamic analysis of multibody systems. ReDySim delves upon the decoupled natural orthogonal complement approach originally developed for serial-chain manipulators. In comparison to the commercially available software, dynamic analyses in ReDySim can be performed without creating solid model. The input parameters are specified in MATLAB environment. ReDySim has capability to incorporate any control algorithm with utmost ease. In this work, the capabilities of ReDySim for solving open-loop and closed-loop systems are shown by examples of robotic gripper, KUKA KR5 industrial manipulator and four-bar mechanism. ReDySim can be downloaded for free from http：//www.redysim.co.nr and can be used almost instantly.

Parameter-driven Level of Detail Derivation Method for Semantic Building Facade Model

The relentless progress in the research of geographic spatial data models and their application scenarios is propelling an unprecedented rich Level of Detail(LoD)in realistic 3D representation and smart cities.This pursuit of rich details not only adds complexity to entity models but also poses significant computational challenges for model visualization and 3D GIS.This paper introduces a novel method for deriving multi-LOD models,which can enhance the efficiency of spatial computing in complex 3D building models.Firstly,we extract multiple facades from a 3D building model(LoD3)and convert them into individual semantic facade models.Through the utilization of the developed facade layout graph,each semantic facade model is then transformed into a parametric model.Furthermore,we explore the specification of geometric and semantic details in building facades and define three different LODs for facades,offering a unique expression.Finally,an innovative heuristic method is introduced to simplify the parameterized facade.Through rigorous experimentation and evaluation,the effectiveness of the proposed parameterization methodology in capturing complex geometric details,semantic richness,and topological relationships of 3D building models is demonstrated.