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.

A 3D convolutional neural network model with multiple outputs for simultaneously estimating the reactive transport parameters of sandstone from its CT images

Porosity,tortuosity,specific surface area(SSA),and permeability are four key parameters of reactive transport modeling in sandstone,which are important for understanding solute transport and geochemical reaction pro-cesses in sandstone aquifers.These four parameters reflect the characteristics of pore structure of sandstone from different perspectives,and the traditional empirical formulas cannot make accurate predictions of them due to their complexity and heterogeneity.In this paper,eleven types of sandstone CT images were firstly segmented into numerous subsample images,the porosity,tortuosity,SSA,and permeability of the subsamples were calculated,and the dataset was established.The 3D convolutional neural network(CNN)models were subse-quently established and trained to predict the key reactive transport parameters based on subsample CT images of sandstones.The results demonstrated that the 3D CNN model with multiple outputs exhibited excellent prediction ability for the four parameters compared to the traditional empirical formulas.In particular,for the prediction of tortuosity and permeability,the 3D CNN model with multiple outputs even showed slightly better prediction ability than its single-output variant model.Additionally,it demonstrated good generalization per-formance on sandstone CT images not included in the training dataset.The study showed that the 3D CNN model with multiple outputs has the advantages of simplifying operation and saving computational resources,which has the prospect of popularization and application.

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.

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.

Hierarchical interacting multiple model algorithm based on improved current model

Interacting multiple models is the hotspot in the research of maneuvering target models at present. A hierarchical idea is introduced into IMM algorithm. The method is that the whole models are organized as two levels to co-work, and each cell model is an improved ＂current＂ statistical model. In the improved model, a kind of nonlinear fuzzy membership function is presented to get over the limitation of original model, which can not track weak maneuvering target precisely. At last, simulation experiments prove the efficient of the novel algorithm compared to interacting multiple model and hierarchical interacting multiple model based original ＂current＂ statistical model in tracking precision.

Using interacting multiple model particle filter to track airborne targets hidden in blind Doppler

In airborne tracking,the blind Doppler makes the target undetectable,resulting in tracking difficulties. In this paper,we studied most possible blind-Doppler cases and summed them up into two types:targets' intentional tangential flying to radar and unintentional flying with large tangential speed. We proposed an interacting multiple model(IMM) particle filter which combines a constant velocity model and an acceleration model to handle maneuvering motions. We compared the IMM particle filter with a previous particle filter solution. Simulation results showed that the IMM particle filter outperforms the method in previous works in terms of tracking accuracy and continuity.

Multiple Measurement Models of Articulated Arm Coordinate Measuring Machines

The existing articulated arm coordinate measuring machines（AACMM） with one measurement model are easy to cause low measurement accuracy because the whole sampling space is much bigger than the result in the unstable calibration parameters. To compensate for the deficiency of one measurement model, the multiple measurement models are built by the Denavit-Hartenberg＇s notation, the homemade standard rod components are used as a calibration tool and the Levenberg-Marquardt calibration algorithm is applied to solve the structural parameters in the measurement models. During the tests of multiple measurement models, the sample areas are selected in two situations. It is found that the measurement errors＇ sigma value（0.083 4 ram） dealt with one measurement model is nearly two times larger than that of the multiple measurement models（0.043 1 ram） in the same sample area. While in the different sample area, the measurement errors＇ sigma value（0.054 0 ram） dealt with the multiple measurement models is about 40% of one measurement model（0.137 3 mm）. The preliminary results suggest that the measurement accuracy of AACMM dealt with multiple measurement models is superior to the accuracy of the existing machine with one measurement model. This paper proposes the multiple measurement models to improve the measurement accuracy of AACMM without increasing any hardware cost.

MicroRNAs as disease progression biomarkers and therapeutic targets in experimental autoimmune encephalomyelitis model of multiple sclerosis

Multiple sclerosis is an autoimmune neurodegenerative disease of the central nervous system characterized by pronounced inflammatory infiltrates entering the brain,spinal cord and optic nerve leading to demyelination.Focal demyelination is associated with relapsing-remitting multiple sclerosis,while progressive forms of the disease show axonal degeneration and neuronal loss.The tests currently used in the clinical diagnosis and management of multiple sclerosis have limitations due to specificity and sensitivity.MicroRNAs(miRNAs)are dysregulated in many diseases and disorders including demyelinating and neuroinflammatory diseases.A review of recent studies with the experimental autoimmune encephalomyelitis animal model(mostly female mice 6–12 weeks of age)has confirmed miRNAs as biomarkers of experimental autoimmune encephalomyelitis disease and importantly at the pre-onset(asymptomatic)stage when assessed in blood plasma and urine exosomes,and spinal cord tissue.The expression of certain miRNAs was also dysregulated at the onset and peak of disease in blood plasma and urine exosomes,brain and spinal cord tissue,and at the post-peak(chronic)stage of experimental autoimmune encephalomyelitis disease in spinal cord tissue.Therapies using miRNA mimics or inhibitors were found to delay the induction and alleviate the severity of experimental autoimmune encephalomyelitis disease.Interestingly,experimental autoimmune encephalomyelitis disease severity was reduced by overexpression of miR-146a,miR-23b,miR-497,miR-26a,and miR-20b,or by suppression of miR-182,miR-181c,miR-223,miR-155,and miR-873.Further studies are warranted on determining more fully miRNA profiles in blood plasma and urine exosomes of experimental autoimmune encephalomyelitis animals since they could serve as biomarkers of asymptomatic multiple sclerosis and disease course.Additionally,studies should be performed with male mice of a similar age,and with aged male and female mice.

Predicting the growth performance of growing-finishing pigs based on net energy and digestible lysine intake using multiple regression and artificial neural networks models

Backgrounds:Evaluating the growth performance of pigs in real-time is laborious and expensive,thus mathematical models based on easily accessible variables are developed.Multiple regression(MR)is the most widely used tool to build prediction models in swine nutrition,while the artificial neural networks(ANN)model is reported to be more accurate than MR model in prediction performance.Therefore,the potential of ANN models in predicting the growth performance of pigs was evaluated and compared with MR models in this study.Results:Body weight(BW),net energy(NE)intake,standardized ileal digestible lysine(SID Lys)intake,and their quadratic terms were selected as input variables to predict ADG and F/G among 10 candidate variables.In the training phase,MR models showed high accuracy in both ADG and F/G prediction(R^(2)_(ADG)=0.929,R^(2)_(F/G)=0.886)while ANN models with 4,6 neurons and radial basis activation function yielded the best performance in ADG and F/G prediction(R^(2)_(ADG)=0.964,R^(2)_(F/G)=0.932).In the testing phase,these ANN models showed better accuracy in ADG prediction(CCC:0.976 vs.0.861,R^(2):0.951 vs.0.584),and F/G prediction(CCC:0.952 vs.0.900,R^(2):0.905 vs.0.821)compared with the MR models.Meanwhile,the“over-fitting”occurred in MR models but not in ANN models.On validation data from the animal trial,ANN models exhibited superiority over MR models in both ADG and F/G prediction(P<0.01).Moreover,the growth stages have a significant effect on the prediction accuracy of the models.Conclusion:Body weight,NE intake and SID Lys intake can be used as input variables to predict the growth performance of growing-finishing pigs,with trained ANN models are more flexible and accurate than MR models.Therefore,it is promising to use ANN models in related swine nutrition studies in the future.