Multiple model PHD filter for tracking sharply maneuvering targets using recursive RANSAC based adaptive birth estimation

An algorithm to track multiple sharply maneuvering targets without prior knowledge about new target birth is proposed. These targets are capable of achieving sharp maneuvers within a short period of time, such as drones and agile missiles.The probability hypothesis density (PHD) filter, which propagates only the first-order statistical moment of the full target posterior, has been shown to be a computationally efficient solution to multitarget tracking problems. However, the standard PHD filter operates on the single dynamic model and requires prior information about target birth distribution, which leads to many limitations in terms of practical applications. In this paper,we introduce a nonzero mean, white noise turn rate dynamic model and generalize jump Markov systems to multitarget case to accommodate sharply maneuvering dynamics. Moreover, to adaptively estimate newborn targets’information, a measurement-driven method based on the recursive random sampling consensus (RANSAC) algorithm is proposed. Simulation results demonstrate that the proposed method achieves significant improvement in tracking multiple sharply maneuvering targets with adaptive birth estimation.

Country-based modelling of COVID-19 case fatality rate:A multiple regression analysis

BACKGROUND The spread of the severe acute respiratory syndrome coronavirus 2 outbreak worldwide has caused concern regarding the mortality rate caused by the infection.The determinants of mortality on a global scale cannot be fully understood due to lack of information.AIM To identify key factors that may explain the variability in case lethality across countries.METHODS We identified 21 Potential risk factors for coronavirus disease 2019(COVID-19)case fatality rate for all the countries with available data.We examined univariate relationships of each variable with case fatality rate(CFR),and all independent variables to identify candidate variables for our final multiple model.Multiple regression analysis technique was used to assess the strength of relationship.RESULTS The mean of COVID-19 mortality was 1.52±1.72%.There was a statistically significant inverse correlation between health expenditure,and number of computed tomography scanners per 1 million with CFR,and significant direct correlation was found between literacy,and air pollution with CFR.This final model can predict approximately 97%of the changes in CFR.CONCLUSION The current study recommends some new predictors explaining affect mortality rate.Thus,it could help decision-makers develop health policies to fight COVID-19.

Exact controllability of rational expectations model with multiplicative noise and input delay

This paper considers the rational expectations model with multiplicative noise and input delay,where the system dynamics rely on the conditional expectations of future states.The main contribution is to obtain a sufficient condition for the exact controllability of the rational expectations model.In particular,we derive a sufficient Gramian matrix condition and a rank condition for the delay-free case.The key is the solvability of the backward stochastic difference equations with input delay which is derived from the forward and backward stochastic system.

MAPOD Analysis in Eddy Current Testing of Flaws Considering Multiple Response Signals and Multiple Flaw Parameters

The reliability of the eddy current testing (ECT) in flaw detection is quantitatively evaluated by theprobability of detection (POD). Precise and efficient modeling of POD gives direction for the implement of ECTon sites to avoid false or missing flaw detection. Traditional POD analysis focuses on single uncertain factor orsingle response signal with limited credibility in engineering. This paper considers multiple response signals andmultiple flaw parameters to perform POD. The flaw length, the flaw depth, the coil impedance, and the magneticflux density are comprehensively studied under various lift-off distances. A finite element model (FEM) of ECT isestablished and verified with experiments to obtain sufficient simulation data for discrete POD modeling. Thecontinuous POD function is then fitted based on the discrete values to show the superiority of integrating multiplefactors. A comparison with conventional POD analysis further demonstrates the higher reliability of ECT flawdetection considering multiple flaw parameters and multiple response signals, especially for small flaws.

Evaluation of Productive Plant Landscapes in Cold Regions Based on a Multiple Cropping Model

Four varieties of each rapeseed and buckwheat were planted in different sowing periods to explore a variety of planting patterns.A theoretical foundation was provided for the innovative application of cold region productive plant landscapes.The analytic hierarchy process was employed to develop a model for the evaluation of multiple cropping systems.A comprehensive evaluation was conducted to study 10 indicators in plant type,flower color,flowering period,flower volume,branch coverage,plot average yield,number of grains per plant,yield per plant,thousand-grain quality and ecological adaptability in four different varieties of each rapeseed and buckwheat.The results indicated that flower color,ecological adaptability,plot average yield and flower volume were the most important indicators for the value of productive plant landscapes in cold regions.Concerning the sowing period,the optimal combination of varieties and planting times were March 31 for Qingza No.5(rapeseed)and July 18 for Xinong T1211(buckwheat).

Modeling continuous traffic flow with the average velocity effect of multiple vehicles ahead on gyroidal roads

In the future connected vehicle environment,the information of multiple vehicles ahead can be readily collected in real-time,such as the velocity or headway,which provides more opportunities for information exchange and cooperative control.Meanwhile,gyroidal roads are one of the fundamental road patterns prevalent in mountainous areas.To effectively control the system,it is therefore significant to explore the evolution mechanism of traffic flow on gyroidal roads under a connected vehicle environment.In this paper,we present a new continuum model with the average velocity of multiple vehicles ahead on gyroidal roads.The stability criterion and KdV-Burger equation are deduced via linear and nonlinear stability analysis,respectively.Solving the above KdV-Burger equation yields the density wave solution,which explores the formation and propagation property of traffic jams near the neutral stability curve.Simulation examples verify that the model can reproduce complex phenomena,such as shock waves and rarefaction waves.The analysis of the local cluster effect shows that the number of vehicles ahead and the radius information,and the slope information of gyroidal roads can exert a great influence on traffic jams.The effect of the first and second terms are positive,while the last term is negative.

Multiple Kalman filters model with shaping filter GPS real-time deformation analysis

In order to detect the deformation in real-time of the GPS time series and improve its reliability, the multiple Kalman filters model with shaping filter was proposed. Two problems were solved: firstly, because the GPS real-time deformation series with a high sampling rate contain coloured noise, the multiple Kalman filter model requires the white noise, and the multiple Kalman filters model is augmented by a shaping filter in order to reduce the colored noise; secondly, the multiple Kalman filters model with shaping filter can detect the deformation epoch in real-time and improve the quality of GPS measurements for the real-time deformation applications. Based on the comparisons of the applications in different GPS time series with different models, the advantages of the proposed model were illustrated. The proposed model can reduce the colored noise, detect the smaller changes, and improve the precision of the detected deformation epoch.

An interacting multiple model-based two-stage Kalman filter for vehicle positioning

To address the problem that a general augmented state Kalman filter or a two-stage Kalman filter cannot achieve satisfactory positioning performance when facing uncertain noise of the micro-electro-mechanical system（MEMS） inertial sensors, a novel interacting multiple model-based two-stage Kalman filter（IMM-TSKF） is proposed to adapt to the uncertain inertial sensor noise. Three bias filters are developed based on different noise characteristics to cover a wide range of noise levels. Then, an accurate estimation of biases is calculated by the interacting multiple model algorithm to correct the bias-free filter. Thus, the vehicle positioning system can achieve good performance when suffering from uncertain inertial sensor noise. The experimental results indicate that the average position error of the proposed IMMTSKF is 25% lower than that of the general TSKF.

A distributed algorithm for signal coordination of multiple agents with embedded platoon dispersion model

In order to reduce average arterial vehicle delay, a novel distributed and coordinated traffic control algorithm is developed using the multiple agent system and the reinforce learning （RL）. The RL is used to minimize average delay of arterial vehicles by training the interaction ability between agents and exterior environments. The Robertson platoon dispersion model is embedded in the RL algorithm to precisely predict platoon movements on arteries and then the reward function is developed based on the dispersion model and delay equations cited by HCM2000. The performance of the algorithm is evaluated in a Matlab environment and comparisons between the algorithm and the conventional coordination algorithm are conducted in three different traffic load scenarios. Results show that the proposed algorithm outperforms the conventional algorithm in all the scenarios. Moreover, with the increase in saturation degree, the performance is improved more significantly. The results verify the feasibility and efficiency of the established algorithm.

Maneuvering target tracking using threshold interacting multiple model algorithm

To avoid missing track caused by the target maneuvers in automatic target tracking system, a new maneuvering target tracking technique called threshold interacting multiple model （TIMM） is proposed. This algorithm is based on the interacting multiple model （IMM） method and applies a threshold controller to improve tracking accuracy. It is also applicable to other advanced algorithms of IMM. In this research, we also compare the position and velocity root mean square （RMS） errors of TIMM and IMM algorithms with two different examples. Simulation results show that the TIMM algorithm is superior to the traditional IMM alzorithm in estimation accuracy.

农户经济视角下的我国农村土地流转影响因素——基于Multiple Choice Model的调查研究

利用农户土地流转问卷调查所得到的微观数据,采用统计分析、Probit multiple choicemodel方法,将农户经济行为中的保障性行为、投资行为、就业行为和产业选择行为引入土地流转的实证研究领域。研究结果显示:目前的土地流转多为暂时性流转,土地流转结构性供需矛盾严重;农户对土地的需求目的更多来自于保障性需要;农户的投资行为、就业行为、社会保障行为对土地流转有着重要影响。

Target Tracking Using the Interactive Multiple Model Method

Aim To develop a practical target tracking algorithm for different motion modes. Methods After creation of the new model, it was implemented by computer simulation to prove its performance and compared with the often-used current statistical model. Results The simulation results show that the new IMM (interactive multiple model) have low tracking error in both maneuVering segment and non^Inaneuwi segment while the current statistical model bas muCh higher tracking error in non-maneuvering segment. Conclusion In the point of trackintaccuracy, the new IMM method is much better than the current acceleration method. It can develop into a practical target hacking method.

Improved cat swarm optimization for parameter estimation of mixed additive and multiplicative random error model

To estimate the parameters of the mixed additive and multiplicative(MAM)random error model using the weighted least squares iterative algorithm that requires derivation of the complex weight array,we introduce a derivative-free cat swarm optimization for parameter estimation.We embed the Powell method,which uses conjugate direction acceleration and does not need to derive the objective function,into the original cat swarm optimization to accelerate its convergence speed and search accuracy.We use the ordinary least squares,weighted least squares,original cat swarm optimization,particle swarm algorithm and improved cat swarm optimization to estimate the parameters of the straight-line fitting MAM model with lower nonlinearity and the DEM MAM model with higher nonlinearity,respectively.The experimental results show that the improved cat swarm optimization has faster convergence speed,higher search accuracy,and better stability than the original cat swarm optimization and the particle swarm algorithm.At the same time,the improved cat swarm optimization can obtain results consistent with the weighted least squares method based on the objective function only while avoiding multiple complex weight array derivations.The method in this paper provides a new idea for theoretical research on parameter estimation of MAM error models.

Retrieving chlorophyll content and equivalent water thickness of Moso bamboo(Phyllostachys pubescens) forests under Pantana phyllostachysae Chao-induced stress from Sentinel-2A/B images in a multiple LUTs-based PROSAIL framework

Biochemical components of Moso bamboo(Phyllostachys pubescens)are critical to physiological and ecological processes and play an important role in the material and energy cycles of the ecosystem.The coupled PROSPECT with SAIL(PROSAIL)radiative transfer model is widely used for vegetation biochemical component content inversion.However,the presence of leaf-eating pests,such as Pantana phyllostachysae Chao(PPC),weakens the performance of the model for estimating biochemical components of Moso bamboo and thus must be considered.Therefore,this study considered pest-induced stress signals associated with Sentinel-2A/B images and field data and established multiple sets of biochemical canopy reflectance look-up tables(LUTs)based on the PROSAIL framework by setting different parameter ranges according to infestation levels.Quantitative inversions of leaf area index(LAI),leaf chlorophyll content(LCC),and leaf equivalent water thickness(LEWT)were derived.The scale conversions from LCC to canopy chlorophyll content(CCC)and LEWT to canopy equivalent water thickness(CEWT)were calculated.The results showed that LAI,CCC,and CEWT were inversely related with PPC-induced stress.When applying multiple LUTs,the p-values were<0.01;the R2 values for LAI,CCC,and CEWT were 0.71,0.68,and 0.65 with root mean square error(RMSE)(normalized RMSE,NRMSE)values of 0.38(0.16),17.56μg cm-2(0.20),and 0.02 cm(0.51),respectively.Compared to the values obtained for the traditional PROSAIL model,for October,R2 values increased by 0.05 and 0.10 and NRMSE decreased by 0.09 and 0.02 for CCC and CEWT,respectively and RMSE decreased by 0.35μg cm-2 for CCC.The feasibility of the inverse strategy for integrating pest-induced stress factors into the PROSAIL model,while establishing multiple LUTs under different pest-induced damage levels,was successfully demonstrated and can potentially enhance future vegetation parameter inversion and monitoring of bamboo forest health and ecosystems.

Combined model based on optimized multi-variable grey model and multiple linear regression

The construction method of background value is improved in the original multi-variable grey model （MGM（1,m）） from its source of construction errors. The MGM（1,m） with optimized background value is used to eliminate the random fluctuations or errors of the observational data of all variables, and the combined prediction model together with the multiple linear regression is established in order to improve the simulation and prediction accuracy of the combined model. Finally, a combined model of the MGM（1,2） with optimized background value and the binary linear regression is constructed by an example. The results show that the model has good effects for simulation and prediction.

Interacting Multiple Model Algorithm with the Unscented Particle Filter (UPF)

Combining interacting multiple model （IMM） and unscented particle filter （UPF）, a new multiple model filtering algorithm is presented. Multiple models can be adapted to targets＇ high maneu- vering. Particle filter can be used to deal with the nonlinear or non-Gaussian problems and the unscented Kalman filter （UKF） can improve the approximate accuracy. Compared with other interacting multiple model algorithms in the simulations, the results demonstrate the validity of the new filtering method.

Nonlinear Decoupling PID Control Using Neural Networks and Multiple Models

For a class of complex industrial processes with strong nonlinearity, serious coupling and uncertainty, a nonlinear decoupling proportional-integral-differential （PID） controller is proposed, which consists of a traditional PID controller, a decoupling compensator and a feedforward compensator for the unmodeled dynamics. The parameters of such controller is selected based on the generalized minimum variance control law. The unmodeled dynamics is estimated and compensated by neural networks, a switching mechanism is introduced to improve tracking performance, then a nonlinear decoupling PID control algorithm is proposed. All signals in such switching system are globally bounded and the tracking error is convergent. Simulations show effectiveness of the algorithm.

Multiple Model Soft Sensor Based on Affinity Propagation, Gaussian Process and Bayesian Committee Machine

Presented is a multiple model soft sensing method based on Affinity Propagation （AP）, Gaussian process （GP） and Bayesian committee machine （BCM）. AP clustering arithmetic is used to cluster training samples according to their operating points. Then, the sub-models are estimated by Gaussian Process Regression （GPR）. Finally, in order to get a global probabilistic prediction, Bayesian committee mactnne is used to combine the outputs of the sub-estimators. The proposed method has been applied to predict the light naphtha end point in hydrocracker fractionators. Practical applications indicate that it is useful for the online prediction of quality monitoring in chemical processes.

Preparation method of an ideal model of multiple organ injury of rat with severe acute pancreatitis

AIM： To establish an ideal model of multiple organ injury of rats with severe acute pancreatitis （SAP）.METHODS： SAP models were induced by retrograde injection of 0.1 mL/100 g 3.5% sodium taurocholate into the biliopancreatic duct of Sprague-Dawley rats. The plasma and samples of multiple organ tissues of rats were collected at 3, 6 and 12 h after modeling. The ascites volume, ascites/body weight ratio, and contents of amylase, endotoxin, endothelin-1 （ET-1）, nitrogen monoxidum （NO）, phospholipase A2 （PLA2）, tumor necrosis factor-α （TNF-α）, interleukin-6 （IL-6） in plasma were determined. The histological changes of multiple organs were observed under light microscope.RESULTS： The ascites volume, ascites/body weight ratio, and contents of various inflammatory mediators in blood were higher in the model group than in the sham operation group at all time points [2.38 （1.10）, 2.58 （0.70）, 2.54 （0.71） vs 0.20 （0.04）, 0.30 （0.30）, 0.22 （0.10） at 3, 6 and 12 h in ascites/body weight ratio; 1582 （284）, 1769 （362）, 1618 （302） （U/L） vs 5303 （1373）, 6276 （1029）, 7538 （2934） （U/L） at 3, 6 and 12 h in Amylase; 0.016 （0.005）, 0.016 （0.010）, 0.014 （0.015） （EU/mL） vs 0,053 （0.029）, 0.059 （0.037）, 0.060 （0.022） （EU/mL） at 3, 6 and 12 h in Endotoxin; 3.900 （3.200）, 4.000 （1.700）, 5.300 （3.000） （ng/L） vs 41.438 （37.721）, 92.151 （23.119）, 65.016 （26.806） （ng/L） at 3, 6 and 12 h in TNF-α, all P 〈 0.01]. Visible congestion, edema and lamellar necrosis and massive leukocytic infiltration were found in the pancreas of rats of model group. There were also pathological changes of lung, liver, kidney, ileum, lymphonode, thymus, myocardium and brain.CONCLUSION： This rat model features reliability, convenience and a high achievement ratio. Complicated with multiple organ injury, it is an ideal animal model of SAR

Equivalent series system to model a multiple friction pendulum system with numerous sliding interfaces for seismic analyses

Current structural analysis software programs offer few if any applicable device-specifi c hysteresis rules or nonlinear elements to simulate the precise mechanical behavior of a multiple friction pendulum system(MFPS) with numerous sliding interfaces.Based on the concept of subsystems,an equivalent series system that adopts existing nonlinear elements with parameters systematically calculated and mathematically proven through rigorous derivations is proposed.The aim is to simulate the characteristics of sliding motions for an MFPS isolation system with numerous concave sliding interfaces without prior knowledge of detailed information on the mobilized forces at various sliding stages.An MFPS with numerous concave sliding interfaces and one articulated or rigid slider located between these interfaces is divided into two subsystems: the fi rst represents the concave sliding interfaces above the slider,and the second represents those below the slider.The equivalent series system for the entire system is then obtained by connecting those for each subsystem in series.The equivalent series system is validated by comparing numerical results for an MFPS with four sliding interfaces obtained from the proposed method with those from a previous study by Fenz and Constantinou.Furthermore,these numerical results demonstrate that an MFPS isolator with numerous concave sliding interfaces,which may have any number of sliding interfaces,is a good isolation device to protect structures from earthquake damage through appropriate designs with controllable mechanisms.