This study presents a kinematic calibration method for exoskeletal inertial motion capture (EI-MoCap) system with considering the random colored noise such as gyroscopic drift.In this method, the geometric parameters ...This study presents a kinematic calibration method for exoskeletal inertial motion capture (EI-MoCap) system with considering the random colored noise such as gyroscopic drift.In this method, the geometric parameters are calibrated by the traditional calibration method at first. Then, in order to calibrate the parameters affected by the random colored noise, the expectation maximization (EM) algorithm is introduced. Through the use of geometric parameters calibrated by the traditional calibration method, the iterations under the EM framework are decreased and the efficiency of the proposed method on embedded system is improved. The performance of the proposed kinematic calibration method is compared to the traditional calibration method. Furthermore, the feasibility of the proposed method is verified on the EI-MoCap system. The simulation and experiment demonstrate that the motion capture precision is significantly improved by 16.79%and 7.16%respectively in comparison to the traditional calibration method.展开更多
Energy spectra of neutrons are important for identification of unknown neutron sources and for determination of the equivalent dose. Although standard energy spectra of neutrons are available in some situations, e.g.,...Energy spectra of neutrons are important for identification of unknown neutron sources and for determination of the equivalent dose. Although standard energy spectra of neutrons are available in some situations, e.g., for some radiotherapy treatment machines, they are unknown in other cases, e.g., for photoneutrons created in radiotherapy rooms and neutrons generated in nuclear reactors. In situations where neutron energy spectra need to be determined, unfolding the required neutron energy spectra using the Bonner sphere spectrometer (BSS) and nested neutron spectrometer (NNS) has been found promising. However, without any prior knowledge on the spectra, the unfolding process has remained a tedious task. In this work, a standalone numerical tool named ‘‘NRUunfold’’ was developed which could satisfactorily unfold neutron spectra for BSS or NNS, or any other systems using similar detection methodology. A generic and versatile algorithm based on maximum-likelihood expectation– maximization method was developed and benchmarked against the widely used STAY’SL algorithm which was based on the least squares method. The present method could output decent results in the absence of precisely calculated initial guess, although it was also remarked that employment of exceptionally bizarre initial spectra could lead to some unreasonable output spectra. The neutron count rates computed using the manufacturer’s response functions were used for sensitivity studies. The present NRUunfold code could be useful for neutron energy spectrum unfolding for BSS or NNS applications in the absence of a precisely calculated initial guess.展开更多
The neutron spectrum unfolding by Bonner sphere spectrometer(BSS) is considered a complex multidimensional model,which requires complex mathematical methods to solve the first kind of Fredholm integral equation. In or...The neutron spectrum unfolding by Bonner sphere spectrometer(BSS) is considered a complex multidimensional model,which requires complex mathematical methods to solve the first kind of Fredholm integral equation. In order to solve the problem of the maximum likelihood expectation maximization(MLEM) algorithm which is easy to suffer the pitfalls of local optima and the particle swarm optimization(PSO) algorithm which is easy to get unreasonable flight direction and step length of particles, which leads to the invalid iteration and affect efficiency and accuracy, an improved PSO-MLEM algorithm, combined of PSO and MLEM algorithm, is proposed for neutron spectrum unfolding. The dynamic acceleration factor is used to balance the ability of global and local search, and improves the convergence speed and accuracy of the algorithm. Firstly, the Monte Carlo method was used to simulated the BSS to obtain the response function and count rates of BSS. In the simulation of count rate, four reference spectra from the IAEA Technical Report Series No. 403 were used as input parameters of the Monte Carlo method. The PSO-MLEM algorithm was used to unfold the neutron spectrum of the simulated data and was verified by the difference of the unfolded spectrum to the reference spectrum. Finally, the 252Cf neutron source was measured by BSS, and the PSO-MLEM algorithm was used to unfold the experimental neutron spectrum.Compared with maximum entropy deconvolution(MAXED), PSO and MLEM algorithm, the PSO-MLEM algorithm has fewer parameters and automatically adjusts the dynamic acceleration factor to solve the problem of local optima. The convergence speed of the PSO-MLEM algorithm is 1.4 times and 3.1 times that of the MLEM and PSO algorithms. Compared with PSO, MLEM and MAXED, the correlation coefficients of PSO-MLEM algorithm are increased by 33.1%, 33.5% and 1.9%, and the relative mean errors are decreased by 98.2%, 97.8% and 67.4%.展开更多
A new parallel expectation-maximization （EM） algorithm is proposed for large databases. The purpose of the algorithm is to accelerate the operation of the EM algorithm. As a well-known algorithm for estimation in ge...A new parallel expectation-maximization （EM） algorithm is proposed for large databases. The purpose of the algorithm is to accelerate the operation of the EM algorithm. As a well-known algorithm for estimation in generic statistical problems, the EM algorithm has been widely used in many domains. But it often requires significant computational resources. So it is needed to develop more elaborate methods to adapt the databases to a large number of records or large dimensionality. The parallel EM algorithm is based on partial Esteps which has the standard convergence guarantee of EM. The algorithm utilizes fully the advantage of parallel computation. It was confirmed that the algorithm obtains about 2.6 speedups in contrast with the standard EM algorithm through its application to large databases. The running time will decrease near linearly when the number of processors increasing.展开更多
Intrusion detection is the investigation process of information about the system activities or its data to detect any malicious behavior or unauthorized activity.Most of the IDS implement K-means clustering technique ...Intrusion detection is the investigation process of information about the system activities or its data to detect any malicious behavior or unauthorized activity.Most of the IDS implement K-means clustering technique due to its linear complexity and fast computing ability.Nonetheless,it is Naïve use of the mean data value for the cluster core that presents a major drawback.The chances of two circular clusters having different radius and centering at the same mean will occur.This condition cannot be addressed by the K-means algorithm because the mean value of the various clusters is very similar together.However,if the clusters are not spherical,it fails.To overcome this issue,a new integrated hybrid model by integrating expectation maximizing(EM)clustering using a Gaussian mixture model(GMM)and naïve Bays classifier have been proposed.In this model,GMM give more flexibility than K-Means in terms of cluster covariance.Also,they use probabilities function and soft clustering,that’s why they can have multiple cluster for a single data.In GMM,we can define the cluster form in GMM by two parameters:the mean and the standard deviation.This means that by using these two parameters,the cluster can take any kind of elliptical shape.EM-GMM will be used to cluster data based on data activity into the corresponding category.展开更多
Sideslip angle,yaw rate,and vehicle velocity are essential for intelligent vehicle control.Since these vehicle states are not measured directly,some Kalman-based approaches have been developed to estimate these states...Sideslip angle,yaw rate,and vehicle velocity are essential for intelligent vehicle control.Since these vehicle states are not measured directly,some Kalman-based approaches have been developed to estimate these states using in-vehicle sensors.However,the existing studies seldom account for the influence of sensor data loss on estimation accuracy.In addition,the process and measurement noise change during the estimation process because of the various driving conditions.To address these problems,an expectation-maximization robust extended Kalman filter(EMREKF)is proposed.Firstly,a robust extended Kalman filter(REKF)is developed to deal with the impact of missing measurements.Then,an improved expectation maximization(EM)algorithm that considers data loss is presented to update the noise parameter of the REKF dynamically.Finally,the improved EM is fused with the REKF to form the EMREKF to estimate vehicle state.The experimental results demonstrate that the EMREKF outperforms EKF,REKF,and maximum correntropy criterion EKF for various degrees of data loss and the proposed algorithm has a strong adaptive ability to different driving conditions.展开更多
Conventional sound localization approaches with small-sized microphone arrays are usually sensitive to noise and reverberation. To deal with the problem, an approach based on expectation maximization algorithm with di...Conventional sound localization approaches with small-sized microphone arrays are usually sensitive to noise and reverberation. To deal with the problem, an approach based on expectation maximization algorithm with differential microphone arrays（DMAs） is proposed.Firstly, the parameters of Gaussian mixture model for time-frequency instantaneous direction estimation are estimated through the EM algorithm, and then the direction of each sound source is estimated via time-frequency separation. In order to overcome the weakness of existing time-frequency separation techniques, an improved method, which combines the advantages of both the hard and soft separation methods, is also proposed. The improved time-frequency separation method is shown to be less sensitive to noise and reverberation. Simulation and experimental results demonstrate that the proposed localization approach is superior to its existing counterparts in terms of localization accuracy and robustness.展开更多
Missing values occur in bio-signal processing for various reasons,including technical problems or biological char-acteristics.These missing values are then either simply excluded or substituted with estimated values f...Missing values occur in bio-signal processing for various reasons,including technical problems or biological char-acteristics.These missing values are then either simply excluded or substituted with estimated values for further processing.When the missing signal values are estimated for electroencephalography (EEG) signals,an example where electrical signals arrive quickly and successively,rapid processing of high-speed data is required for immediate decision making.In this study,we propose an incremental expectation maximization principal component analysis (iEMPCA) method that automatically estimates missing values from multivariable EEG time series data without requiring a whole and complete data set.The proposed method solves the problem of a biased model,which inevitably results from simply removing incomplete data rather than estimating them,and thus reduces the loss of information by incorporating missing values in real time.By using an incremental approach,the proposed method alsominimizes memory usage and processing time of continuously arriving data.Experimental results show that the proposed method assigns more accurate missing values than previous methods.展开更多
针对当前广义频分复用(Generalized Frequency Division Multiplexing,GFDM)系统时变信道估计精度低的问题,提出基于稀疏贝叶斯学习的GFDM系统联合信道估计与符号检测算法.具体地,采用无干扰导频插入的GFDM多重响应信号模型,在稀疏贝叶...针对当前广义频分复用(Generalized Frequency Division Multiplexing,GFDM)系统时变信道估计精度低的问题,提出基于稀疏贝叶斯学习的GFDM系统联合信道估计与符号检测算法.具体地,采用无干扰导频插入的GFDM多重响应信号模型,在稀疏贝叶斯学习框架下,结合期望最大化算法(Expectation-Maximization,EM)和卡尔曼滤波与平滑算法实现块时变信道的最大似然估计;基于信道状态信息的估计值进行GFDM符号检测,并通过信道估计与符号检测的迭代处理逐步提高信道估计与符号检测的精度.仿真结果表明,所提算法能够获得接近完美信道状态信息条件下的误码率性能,且具有收敛速度快、对多普勒频移鲁棒性高等优点.展开更多
基金supported by the National Natural Science Foundation of China (61503392)。
文摘This study presents a kinematic calibration method for exoskeletal inertial motion capture (EI-MoCap) system with considering the random colored noise such as gyroscopic drift.In this method, the geometric parameters are calibrated by the traditional calibration method at first. Then, in order to calibrate the parameters affected by the random colored noise, the expectation maximization (EM) algorithm is introduced. Through the use of geometric parameters calibrated by the traditional calibration method, the iterations under the EM framework are decreased and the efficiency of the proposed method on embedded system is improved. The performance of the proposed kinematic calibration method is compared to the traditional calibration method. Furthermore, the feasibility of the proposed method is verified on the EI-MoCap system. The simulation and experiment demonstrate that the motion capture precision is significantly improved by 16.79%and 7.16%respectively in comparison to the traditional calibration method.
基金support from the Neutron computer cluster from the Department of Physics, City University of Hong Kong
文摘Energy spectra of neutrons are important for identification of unknown neutron sources and for determination of the equivalent dose. Although standard energy spectra of neutrons are available in some situations, e.g., for some radiotherapy treatment machines, they are unknown in other cases, e.g., for photoneutrons created in radiotherapy rooms and neutrons generated in nuclear reactors. In situations where neutron energy spectra need to be determined, unfolding the required neutron energy spectra using the Bonner sphere spectrometer (BSS) and nested neutron spectrometer (NNS) has been found promising. However, without any prior knowledge on the spectra, the unfolding process has remained a tedious task. In this work, a standalone numerical tool named ‘‘NRUunfold’’ was developed which could satisfactorily unfold neutron spectra for BSS or NNS, or any other systems using similar detection methodology. A generic and versatile algorithm based on maximum-likelihood expectation– maximization method was developed and benchmarked against the widely used STAY’SL algorithm which was based on the least squares method. The present method could output decent results in the absence of precisely calculated initial guess, although it was also remarked that employment of exceptionally bizarre initial spectra could lead to some unreasonable output spectra. The neutron count rates computed using the manufacturer’s response functions were used for sensitivity studies. The present NRUunfold code could be useful for neutron energy spectrum unfolding for BSS or NNS applications in the absence of a precisely calculated initial guess.
基金supported by the National Natural science Foundation of China (No. 42127807)the Sichuan Science and Technology Program (No. 2020YJ0334)the Sichuan Science and Technology Breeding Program (No. 2022041)。
文摘The neutron spectrum unfolding by Bonner sphere spectrometer(BSS) is considered a complex multidimensional model,which requires complex mathematical methods to solve the first kind of Fredholm integral equation. In order to solve the problem of the maximum likelihood expectation maximization(MLEM) algorithm which is easy to suffer the pitfalls of local optima and the particle swarm optimization(PSO) algorithm which is easy to get unreasonable flight direction and step length of particles, which leads to the invalid iteration and affect efficiency and accuracy, an improved PSO-MLEM algorithm, combined of PSO and MLEM algorithm, is proposed for neutron spectrum unfolding. The dynamic acceleration factor is used to balance the ability of global and local search, and improves the convergence speed and accuracy of the algorithm. Firstly, the Monte Carlo method was used to simulated the BSS to obtain the response function and count rates of BSS. In the simulation of count rate, four reference spectra from the IAEA Technical Report Series No. 403 were used as input parameters of the Monte Carlo method. The PSO-MLEM algorithm was used to unfold the neutron spectrum of the simulated data and was verified by the difference of the unfolded spectrum to the reference spectrum. Finally, the 252Cf neutron source was measured by BSS, and the PSO-MLEM algorithm was used to unfold the experimental neutron spectrum.Compared with maximum entropy deconvolution(MAXED), PSO and MLEM algorithm, the PSO-MLEM algorithm has fewer parameters and automatically adjusts the dynamic acceleration factor to solve the problem of local optima. The convergence speed of the PSO-MLEM algorithm is 1.4 times and 3.1 times that of the MLEM and PSO algorithms. Compared with PSO, MLEM and MAXED, the correlation coefficients of PSO-MLEM algorithm are increased by 33.1%, 33.5% and 1.9%, and the relative mean errors are decreased by 98.2%, 97.8% and 67.4%.
基金the National Natural Science Foundation of China(79990584)
文摘A new parallel expectation-maximization （EM） algorithm is proposed for large databases. The purpose of the algorithm is to accelerate the operation of the EM algorithm. As a well-known algorithm for estimation in generic statistical problems, the EM algorithm has been widely used in many domains. But it often requires significant computational resources. So it is needed to develop more elaborate methods to adapt the databases to a large number of records or large dimensionality. The parallel EM algorithm is based on partial Esteps which has the standard convergence guarantee of EM. The algorithm utilizes fully the advantage of parallel computation. It was confirmed that the algorithm obtains about 2.6 speedups in contrast with the standard EM algorithm through its application to large databases. The running time will decrease near linearly when the number of processors increasing.
文摘Intrusion detection is the investigation process of information about the system activities or its data to detect any malicious behavior or unauthorized activity.Most of the IDS implement K-means clustering technique due to its linear complexity and fast computing ability.Nonetheless,it is Naïve use of the mean data value for the cluster core that presents a major drawback.The chances of two circular clusters having different radius and centering at the same mean will occur.This condition cannot be addressed by the K-means algorithm because the mean value of the various clusters is very similar together.However,if the clusters are not spherical,it fails.To overcome this issue,a new integrated hybrid model by integrating expectation maximizing(EM)clustering using a Gaussian mixture model(GMM)and naïve Bays classifier have been proposed.In this model,GMM give more flexibility than K-Means in terms of cluster covariance.Also,they use probabilities function and soft clustering,that’s why they can have multiple cluster for a single data.In GMM,we can define the cluster form in GMM by two parameters:the mean and the standard deviation.This means that by using these two parameters,the cluster can take any kind of elliptical shape.EM-GMM will be used to cluster data based on data activity into the corresponding category.
基金supported by the National Natural Science Foundation of China(Grant No.52402482).
文摘Sideslip angle,yaw rate,and vehicle velocity are essential for intelligent vehicle control.Since these vehicle states are not measured directly,some Kalman-based approaches have been developed to estimate these states using in-vehicle sensors.However,the existing studies seldom account for the influence of sensor data loss on estimation accuracy.In addition,the process and measurement noise change during the estimation process because of the various driving conditions.To address these problems,an expectation-maximization robust extended Kalman filter(EMREKF)is proposed.Firstly,a robust extended Kalman filter(REKF)is developed to deal with the impact of missing measurements.Then,an improved expectation maximization(EM)algorithm that considers data loss is presented to update the noise parameter of the REKF dynamically.Finally,the improved EM is fused with the REKF to form the EMREKF to estimate vehicle state.The experimental results demonstrate that the EMREKF outperforms EKF,REKF,and maximum correntropy criterion EKF for various degrees of data loss and the proposed algorithm has a strong adaptive ability to different driving conditions.
基金supported by the National Natural Science Foundation of China(61471190)
文摘Conventional sound localization approaches with small-sized microphone arrays are usually sensitive to noise and reverberation. To deal with the problem, an approach based on expectation maximization algorithm with differential microphone arrays（DMAs） is proposed.Firstly, the parameters of Gaussian mixture model for time-frequency instantaneous direction estimation are estimated through the EM algorithm, and then the direction of each sound source is estimated via time-frequency separation. In order to overcome the weakness of existing time-frequency separation techniques, an improved method, which combines the advantages of both the hard and soft separation methods, is also proposed. The improved time-frequency separation method is shown to be less sensitive to noise and reverberation. Simulation and experimental results demonstrate that the proposed localization approach is superior to its existing counterparts in terms of localization accuracy and robustness.
基金supported by the Ministry of Knowledge Economy,Korea, under the Information Technology Research Center support program supervised by National IT Industry Promotion Agency (No.NIPA-2011-C1090-1111-0008)the Special Research Program of Chonnam National University,2009the LG Yonam Culture Foundation
文摘Missing values occur in bio-signal processing for various reasons,including technical problems or biological char-acteristics.These missing values are then either simply excluded or substituted with estimated values for further processing.When the missing signal values are estimated for electroencephalography (EEG) signals,an example where electrical signals arrive quickly and successively,rapid processing of high-speed data is required for immediate decision making.In this study,we propose an incremental expectation maximization principal component analysis (iEMPCA) method that automatically estimates missing values from multivariable EEG time series data without requiring a whole and complete data set.The proposed method solves the problem of a biased model,which inevitably results from simply removing incomplete data rather than estimating them,and thus reduces the loss of information by incorporating missing values in real time.By using an incremental approach,the proposed method alsominimizes memory usage and processing time of continuously arriving data.Experimental results show that the proposed method assigns more accurate missing values than previous methods.
文摘针对当前广义频分复用(Generalized Frequency Division Multiplexing,GFDM)系统时变信道估计精度低的问题,提出基于稀疏贝叶斯学习的GFDM系统联合信道估计与符号检测算法.具体地,采用无干扰导频插入的GFDM多重响应信号模型,在稀疏贝叶斯学习框架下,结合期望最大化算法(Expectation-Maximization,EM)和卡尔曼滤波与平滑算法实现块时变信道的最大似然估计;基于信道状态信息的估计值进行GFDM符号检测,并通过信道估计与符号检测的迭代处理逐步提高信道估计与符号检测的精度.仿真结果表明,所提算法能够获得接近完美信道状态信息条件下的误码率性能,且具有收敛速度快、对多普勒频移鲁棒性高等优点.
