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Bingbo Cui, Xiyuan Chen, Yuan Xu, Haoqian Huang, Xiao Liu
In order to improve the accuracy and robustness of GNSS/INS navigation system, an improved iterated cubature Kalman filter (IICKF) is proposed by considering the state-dependent noise and system uncertainty. First, a simplified framework of iterated Gaussian filter is derived by using damped Newton-Raphson algorithm and online noise estimator. Then the effect of state-dependent noise coming from iterated update is analyzed theoretically, and an augmented form of CKF algorithm is applied to improve the estimation accuracy...
September 22, 2016: ISA Transactions
Chien-Hao Tseng, Sheng-Fuu Lin, Dah-Jing Jwo
This paper presents a sensor fusion method based on the combination of cubature Kalman filter (CKF) and fuzzy logic adaptive system (FLAS) for the integrated navigation systems, such as the GPS/INS (Global Positioning System/inertial navigation system) integration. The third-degree spherical-radial cubature rule applied in the CKF has been employed to avoid the numerically instability in the system model. In processing navigation integration, the performance of nonlinear filter based estimation of the position and velocity states may severely degrade caused by modeling errors due to dynamics uncertainties of the vehicle...
2016: Sensors
Siwei Gao, Yanheng Liu, Jian Wang, Weiwen Deng, Heekuck Oh
This paper proposes a multi-sensory Joint Adaptive Kalman Filter (JAKF) through extending innovation-based adaptive estimation (IAE) to estimate the motion state of the moving vehicles ahead. JAKF views Lidar and Radar data as the source of the local filters, which aims to adaptively adjust the measurement noise variance-covariance (V-C) matrix 'R' and the system noise V-C matrix 'Q'. Then, the global filter uses R to calculate the information allocation factor 'β' for data fusion. Finally, the global filter completes optimal data fusion and feeds back to the local filters to improve the measurement accuracy of the local filters...
2016: Sensors
Serdar Aslan, Ali Taylan Cemgil, Ata Akın
OBJECTIVE: In this paper, we aimed for the robust estimation of the parameters and states of the hemodynamic model by using blood oxygen level dependent signal. APPROACH: In the fMRI literature, there are only a few successful methods that are able to make a joint estimation of the states and parameters of the hemodynamic model. In this paper, we implemented a maximum likelihood based method called the particle smoother expectation maximization (PSEM) algorithm for the joint state and parameter estimation...
August 2016: Journal of Neural Engineering
Hao Wu, Shuxin Chen, Binfeng Yang, Kun Chen
The direction of arrival (DOA) tracking problem based on an angle sensor is an important topic in many fields. In this paper, a nonlinear filter named the feedback M-estimation based robust cubature Kalman filter (FMR-CKF) is proposed to deal with measurement outliers from the angle sensor. The filter designs a new equivalent weight function with the Mahalanobis distance to combine the cubature Kalman filter (CKF) with the M-estimation method. Moreover, by embedding a feedback strategy which consists of a splitting and merging procedure, the proper sub-filter (the standard CKF or the robust CKF) can be chosen in each time index...
2016: Sensors
Bo Wang, Yumin Su, Lei Wan
Special features in real marine environments such as cloud clutter, sea glint and weather conditions always result in various kinds of interference in optical images, which make it very difficult for unmanned surface vehicles (USVs) to detect the sea-sky line (SSL) accurately. To solve this problem a saliency-based SSL detection method is proposed. Through the computation of gradient saliency the line features of SSL are enhanced effectively, while other interference factors are relatively suppressed, and line support regions are obtained by a region growing method on gradient orientation...
2016: Sensors
Nafiseh Khoram, Chadia Zayane, Rabia Djellouli, Taous-Meriem Laleg-Kirati
BACKGROUND: The calibration of the hemodynamic model that describes changes in blood flow and blood oxygenation during brain activation is a crucial step for successfully monitoring and possibly predicting brain activity. This in turn has the potential to provide diagnosis and treatment of brain diseases in early stages. NEW METHOD: We propose an efficient numerical procedure for calibrating the hemodynamic model using some fMRI measurements. The proposed solution methodology is a regularized iterative method equipped with a Kalman filtering-type procedure...
March 15, 2016: Journal of Neuroscience Methods
Michele Antonucci, Giuseppe Palermo, Salvatore Marco Recupero, Riccardo Bientinesi, Fabrizio Presicce, Nazario Foschi, PierFrancesco Bassi, Gaetano Gulino
MATERIALS AND METHODS: The study was conducted from December 2011 to December 2012 on 95 patients between the ages of 20 and 65 years: 44 of which had been undergoing dialysis for over a year and 51 of whom had undergone kidney transplants more than 6 months before. Comorbidities were carefully recorded, erectile function was evaluated the with IIEF5 questionnaire and serum levels of total testosterone / free and prolactin were tested at early morning (7 AM). To assess the relationship between erectile dysfunction (ED) and clinical laboratory tests, Student's t-test statistical (quantitative variables), chi-square (qualitative variables), the uni and multivariate analysis were used...
December 2015: Archivio Italiano di Urologia, Andrologia
Brian Zambri, Rabia Djellouli, Taous-Meriem Laleg-Kirati
Our aim is to propose a numerical strategy for retrieving accurately and efficiently the biophysiological parameters as well as the external stimulus characteristics corresponding to the hemodynamic mathematical model that describes changes in blood flow and blood oxygenation during brain activation. The proposed method employs the TNM-CKF method developed in [1], but in a prediction/correction framework. We present numerical results using both real and synthetic functional Magnetic Resonance Imaging (fMRI) measurements to highlight the performance characteristics of this computational methodology...
August 2015: Conference Proceedings: Annual International Conference of the IEEE Engineering in Medicine and Biology Society
Eshwar Ghumare, Maarten Schrooten, Rik Vandenberghe, Patrick Dupont
Kalman filter approaches are widely applied to derive time varying effective connectivity from electroencephalographic (EEG) data. For multi-trial data, a classical Kalman filter (CKF) designed for the estimation of single trial data, can be implemented by trial-averaging the data or by averaging single trial estimates. A general linear Kalman filter (GLKF) provides an extension for multi-trial data. In this work, we studied the performance of the different Kalman filtering approaches for different values of signal-to-noise ratio (SNR), number of trials and number of EEG channels...
August 2015: Conference Proceedings: Annual International Conference of the IEEE Engineering in Medicine and Biology Society
Muhammad Bilal, Muhammad Asgher
BACKGROUND: In view of compliance with increasingly stringent environmental legislation, an eco-friendly treatment technology of industrial dyes and effluents is a major environmental challenge in the color industry. In present study, a promising and eco-friendly entrapment approach was adopted to immobilize purified manganese peroxidase (MnP) produced from an indigenous strain of Ganoderma lucidum IBL-05 on Ca-alginate beads. The immobilized MnP was subsequently used for enhanced decolorization and detoxification of textile reactive dyes)...
2015: BMC Biotechnology
Gongliu Yang, Yuanyuan Liu, Ming Li, Shunguang Song
An improved double-factor adaptive Kalman filter called AMA-RWE-DFAKF is proposed to denoise fiber optic gyroscope (FOG) drift signal in both static and dynamic conditions. The first factor is Kalman gain updated by random weighting estimation (RWE) of the covariance matrix of innovation sequence at any time to ensure the lowest noise level of output, but the inertia of KF response increases in dynamic condition. To decrease the inertia, the second factor is the covariance matrix of predicted state vector adjusted by RWE only when discontinuities are detected by adaptive moving average (AMA)...
2015: Sensors
Alison Lee, Tiffany R Sanchez, Muhammad Hasan Shahriar, Mahbubul Eunus, Matthew Perzanowski, Joseph Graziano
RATIONALE: Household air pollution causes 3.5 million deaths annually. Personal exposure assessments required for examining health associations are expensive and require technical expertize, limiting the quality of research in resource-poor settings OBJECTIVES: To assess the feasibility of exhaled carbon monoxide and its relationship to continuous personal carbon monoxide monitoring and markers of respiratory health in female cooks primarily cooking with biomass fuels in Araihazar, Bangladesh METHODS AND MEASURE: For a 24-h period, exhaled carboxyhemoglobin (eCOHb) % saturation was measured before and after each cooking episode while simultaneous 24-h personal carbon monoxide monitoring was conducted...
November 2015: Environmental Research
Stephen M S Ting, Thomas Hamborg, Gordon McGregor, David Oxborough, Kenneth Lim, Sudheer Koganti, Nicolas Aldridge, Chris Imray, Rosemary Bland, Simon Fletcher, Nithya S Krishnan, Robert M Higgins, Jonathan Townend, Prithwish Banerjee, Daniel Zehnder
BACKGROUND: Patients with chronic kidney failure (CKF) experience impaired functional cardiovascular reserve with reduced oxygen consumption at peak exercise (VO(2peak)). No studies have examined whether this is related to impaired cardiovascular compliance as a consequence of loss of adaptive structural alterations, resulting from chronic uremia or hypertension. STUDY DESIGN: Prospective matched-cohort study. SETTING & PARTICIPANTS: We assessed CKF in parallel with patients with essential hypertension but without cardiovascular disease...
August 2015: American Journal of Kidney Diseases: the Official Journal of the National Kidney Foundation
Fahad Alkindi, Ayman El-Menyar, Jassim Al-Suwaidi, Ashfaq Patel, Abdurrazzak A Gehani, Rajvir Singh, Hajar Albinali, Abdulrahman Arabi
Between 1991 and 2013, we evaluated the demographics, presentations, and final diagnosis of patients hospitalized with acute cardiac events and left bundle branch block (LBBB). Of 50 992 patients, 768 (1.5%) had LBBB. Compared with non-LBBB patients, patients with LBBB were mostly older, female, diabetic, and had hypertension and chronic kidney failure (CKF; P < .001 for all). Dyspnea (P < .001) and dizziness (P = .037) were more frequent in patients with LBBB. The most frequent cause of admission with LBBB was congestive heart failure (CHF; 54...
October 2015: Angiology
M Shakarami, A A Suratgar, H A Talebi
In this study, the problem of estimation of brain shift is addressed by which the accuracy of neuronavigation systems can be improved. To this end, the actual brain shift is considered as a Gaussian random vector with a known mean and an unknown covariance. Then, brain surface imaging is employed together with solutions of linear elastic model and the best estimation is found using constrained Kalman filter (CKF). Moreover, a recursive method (RCKF) is presented, the computational cost of which in the operating room is significantly lower than CKF, because it is not required to compute inverse of any large matrix...
March 2015: ISA Transactions
André Falcão Pedrosa Costa, Felipe Barufaldi, Marcelo Augusto Duarte Silveira, Vitorino Modesto dos Santos, Pedro de Lemos Menezes
INTRODUCTION: Cardiovascular diseases (CVDs) are the leading cause of death in terminal patients with chronic kidney failure (CKF). Diverse risk factors are involved in the pathogenesis, and are classified as traditional, which affect the general population; and non-traditional, which are peculiar to patients with CKF. Secondary hyperparathyroidism, a non-traditional and common factor in CKF, can cause an increased rate of bone absorption with mobilization of calcium and phosphorus. If the product of calcium x phosphorus is increased, the solubility of this ionic pair may be exceeded and deposition of calcium phosphate in cardiac and vascular tissues occur (called metastatic calcification)...
July 2014: Jornal Brasileiro de Nefrologia: ʹorgão Oficial de Sociedades Brasileira e Latino-Americana de Nefrologia
Wei Gao, Ya Zhang, Jianguo Wang
The integrated navigation system with strapdown inertial navigation system (SINS), Beidou (BD) receiver and Doppler velocity log (DVL) can be used in marine applications owing to the fact that the redundant and complementary information from different sensors can markedly improve the system accuracy. However, the existence of multisensor asynchrony will introduce errors into the system. In order to deal with the problem, conventionally the sampling interval is subdivided, which increases the computational complexity...
2013: Sensors
Priscilla Branco Trepichio, Edinêis de Brito Guirardello, Erika Christiane Marocco Duran, Ana Paula de Brito
Chronic kidney failure (CKF), which is frequently silent, can lead to considerable changes in the lives of patients. Depending on the stage, hospitalization and hours of nursing care are required to ensure medical and surgical treatment. The aim of this descriptive and quantitative study is to measure nursing workload at a nephrology unit based on daily application of the Nursing Activities Score (NAS) for 47 consecutive days. Patients were mostly young male adults in the chronic stage of the disease or admitted for kidney transplant...
June 2013: Revista Gaúcha de Enfermagem
Amina Noor, Erchin Serpedin, Mohamed Nounou, Hazem Nounou
This paper proposes a novel algorithm for inferring gene regulatory networks which makes use of cubature Kalman filter (CKF) and Kalman filter (KF) techniques in conjunction with compressed sensing methods. The gene network is described using a state-space model. A nonlinear model for the evolution of gene expression is considered, while the gene expression data is assumed to follow a linear Gaussian model. The hidden states are estimated using CKF. The system parameters are modeled as a Gauss-Markov process and are estimated using compressed sensing-based KF...
2013: Advances in Bioinformatics
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