- The document describes a study that developed a new model to predict severe injuries in motor vehicle crashes using real-time data from event data recorders. The model uses functional data analysis to estimate crash pulse trends from acceleration profiles and calculates summary measures to develop prediction models.
- The best performing model included summary measures of total delta-V estimated from acceleration, time to return to low acceleration levels, and whether the driver was belted or the crash involved multiple vehicles. This model achieved an area under the ROC curve of 0.93 compared to 0.78 for a model using only baseline data.
- However, limitations include that the majority of frontal crashes in the dataset did not report vehicle acceleration needed for the analysis.
Integral Backstepping Approach for Mobile Robot ControlTELKOMNIKA JOURNAL
This paper presents the trajectory tracking problem of a unicycle-type mobile robots. A robust output tracking controller for nonlinear systems in the presence of disturbances is proposed, the approach is based on the combination of integral action and Backstepping technique to compensate for the dynamic disturbances. For desired trajectory, the values of the linear and angular velocities of the robot are assured by the kinematic controller. The control law guarantees stability of the robot by using the lyapunov theorem. The simulation and experimental results are presented to verify the designed trajectory tracking control.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
Integral Backstepping Approach for Mobile Robot ControlTELKOMNIKA JOURNAL
This paper presents the trajectory tracking problem of a unicycle-type mobile robots. A robust output tracking controller for nonlinear systems in the presence of disturbances is proposed, the approach is based on the combination of integral action and Backstepping technique to compensate for the dynamic disturbances. For desired trajectory, the values of the linear and angular velocities of the robot are assured by the kinematic controller. The control law guarantees stability of the robot by using the lyapunov theorem. The simulation and experimental results are presented to verify the designed trajectory tracking control.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
Ik analysis for the hip simulator using the open sim simulatorEditorIJAERD
The model of the project to create a detailed assembly of muscles spotting the hip joint. Additional muscles
and combinations were added to the baseline lower extremity assemblies currently available in OpenSim. The geometry
of the muscles was adjusted to pair moment arms reported here. The slack moment and the isometric were added to the
arithmetic value of the tanquntial assembly of joints
Effect of Discrete Yaw Direction Setting for 4 Roter Helicopter Control: Comp...AM Publications
In this paper, the effectiveness of discrete yaw direction setting in 4 rotor helicopter control was evaluated by simple computer simulation and Parrot AR. Drone 4 rotor helicopter in horizontal plane automatic position fixing control. For 4 rotor system, it is necessary to control the attitude of the drone and the position in the space simultaneously in order to realize stable flight of the system. The attitude control can be realized by the internal acc / gyro sensors with high sampling rate (near 1 kHz), on the contrary, the position control in the outdoor situation is necessary to realize by the external 3D position measurement method with relatively low sampling rate techniques (lower than 100 Hz) such as GPS. The low sampling rate reduces the positional control stability, and it is causing the control problem such applications of inspection work at high height and long distance. Our attempt is to evaluate the effect of adding discrete yaw direction setting while normal 4 rotor helicopter roll and pitch control in horizontal plane movement by a simple computer simulation and model implementation. By adding the discrete yaw direction setting to the target direction, the fixed position movement control performance of the 4 rotor system could increase comparing with without the yaw direction setting of the 4 rotor system. The proposed method would be useful to improve the 4 rotor system control performance under the relatively low sampling rate positional information acquired situation.
Sliding mode control design for autonomous surface vehicle motion under the i...IJECEIAES
Autonomous Surface Vehicle (ASV) is a vehicle that is operated in the water surface without any person in the vehicle. Since there is no person in the ASV, a motion controller is essentially needed. The control system is used to make sure that the water vehicle is moving at the desired speed. In this paper, we use a Touristant ASV with the following specifications: the length is 4 meters, the diameter is 1.625 meters, and the height is 1.027 meters. The main contribution of this paper is applying the Sliding Mode Control system to the Touristant ASV model under the influence of environmental factors. The environmental factors considered in this work are wind speed and wave height. The Touristant ASV model is nonlinear and uses three degree of freedom (DOF), namely surge, sway and yaw. The simulation results show that the performance of the closed-loop system by using the SMC method depends on the environmental factors. If environmental factors are higher, then the resulting error is also higher. The average error difference between those resulted from the simulation without environmental factors and those with the influence of environmental factors is 0.05% for surge, sway and yaw motions.
Identifying the Slider-Crank Mechanism System by the MPSO Methodijtsrd
This paper mainly proposes an efficient modified particle swarm optimization MPSO method, to identify a slider-crank mechanism driven by a field-oriented PM synchronous motor, dynamic formulations of a slider-crank mechanism have been successfully formulated with only one independent variable The parameters of many industrial machines are difficult to obtain if these machines cannot be taken apart In system identification, we adopt the MPSO method to find parameters of the slider-crank mechanism This new algorithm is added with "distance" term in the traditional PSO's fitness function to avoid converging to a local optimum It is found that the MPSO method can obtain optimal high-quality solution, high calculation efficiency, and its feasibility and effectiveness Finally, the comparisons of numerical simulations and experimental results prove that the MPSO identification method for the slider-crank mechanism is feasible Chin Wen Chuang | Kuan Yu Chen | Yi Hua Su "Identifying the Slider-Crank Mechanism System by the MPSO Method" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-2 | Issue-6 , October 2018, URL: http://www.ijtsrd.com/papers/ijtsrd18413.pdf
Optimal Control for Torpedo Motion based on Fuzzy-PSO Advantage TechnicalTELKOMNIKA JOURNAL
The torpedo is a nonlinear object which is very difficult to control. Via to manage the rudder angle yaw, the diving plane angle, and the fin shake reduction, the torpedo yaw horizontal, the depth vertical and roll damping of the system are controlled accurately and steadily. In this paper, the particle swarm optimization is used to correct the imprecision of architecture fuzzy parameters. The coverage width of membership function and the overlap degree influence of neighboring membership functions are considered in the method to adjust dynamically from the system errors. Thereby optimizing the control signal and enhancing the torpedo motion quality. The proposed method results in a better performance compared to the other control method such as adaptive fuzzy-neural that proved effective of the proposed controller.
Super-twisting sliding mode based nonlinear control for planar dual arm robotsjournalBEEI
In this paper, a super-twisting algorithm sliding mode controller is proposed for a planar dual arm robot. The control strategy for the manipulator system can effectively counteract chattering phenomenon happened with conventional sliding mode approach. The modeling is implemented in order to provide the capability of maneuvering object in translational and rotational motions. The control is developed for a 2n-link robot and subsequently simulations is carried out for a 4-link system. Comparative numerical study shows that the designed controller performance with good tracking ability and smaller chattering compared with basic sliding mode controller.
Three-dimensional structure from motion recovery of a moving object with nois...IJECEIAES
In this paper, a Nonlinear Unknown Input Observer (NLUIO) based approach is proposed for three-dimensional (3-D) structure from motion identification. Unlike the previous studies that require prior knowledge of either the motion parameters or scene geometry, the proposed approach assumes that the object motion is imperfectly known and considered as an unknown input to the perspective dynamical system. The reconstruction of the 3-D structure of the moving objects can be achieved using just twodimensional (2-D) images of a monocular vision system. The proposed scheme is illustrated with a numerical example in the presence of measurement noise for both static and dynamic scenes. Those results are used to clearly demonstrate the advantages of the proposed NLUIO.
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
ANALYSIS AND SLIDING CONTROLLER DESIGN FOR HYBRID SYNCHRONIZATION OF HYPERCHA...IJCSEA Journal
Hybrid synchronization of chaotic systems is a research problem with a goal to synchronize the states of master and slave chaotic systems in a hybrid manner, namely, their even states are completely synchronized (CS) and odd states are anti-synchronized. This paper deals with the research problem of hybrid synchronization of chaotic systems. First, a detailed analysis is made on the qualitative properties of hyperchaotic Yujun system (2010). Then sliding controller has been derived for the hybrid synchronization of identical hyperchaotic Yujun systems, which is based on a general hybrid result derived in this paper.MATLAB simulations have been shown in detail to illustrate the new results derived for the hybrid synchronization of hyperchaotic Yujun systems. The results are proved using Lyapunov stability theory.
Development of a quadruped mobile robot and its movement system using geometr...journalBEEI
As the main testbed platform of Artificial Intelligence, the robot plays an essential role in creating an environment for industrial revolution 4.0. According to their bases, the robot can be categorized into a fixed based robot and a mobile robot. Current robotics research direction is interesting since people strive to create a mobile robot able to move in the land, water, and air. This paper presents development of a quadruped mobile robot and its movement system using geometric-based inverse kinematics. The study is related to the movement of a four-legged (quadruped) mobile robot with three Degrees of Freedom (3 DOF) for each leg. Because it has four legs, the movement of the robot can only be done through coordinating the movements of each leg. In this study, the trot gait pattern method is proposed to coordinate the movement of the robot's legs. The end-effector position of each leg is generated by a simple trajectory generator with half rectified sine wave pattern. Furthermore, to move each robot's leg, it is proposed to use geometric-based inverse kinematic. The experimental results showed that the proposed method succeeded in moving the mobile robot with precision. Movement errors in the translation direction are 1.83% with the average pose error of 1.33 degrees, means the mobile robot has good walking stability.
SLIDING MODE CONTROLLER DESIGN FOR SYNCHRONIZATION OF SHIMIZU-MORIOKA CHAOTIC...ijistjournal
This paper investigates the global chaos synchronization of identical Shimizhu-Morioka chaotic systems (Shimizu and Morioka, 1980) by sliding mode control. The stability results derived in this paper for the complete synchronization of identical Shimizu-Morioka chaotic systems are established using Lyapunov stability theory. Since the Lyapunov exponents are not required for these calculations, the sliding mode control method is very effective and convenient to achieve global chaos synchronization of the identical Shimizu-Morioka chaotic systems. Numerical simulations are shown to illustrate and validate the synchronization schemes derived in this paper for the identical Shimizu-Morioka systems.
Parameter study of stable walking gaits for nao humanoid roboteSAT Journals
Abstract It is a challenge to any researcher to maintain the stability of the robot while in the walking motion. This paper proposes for parameter study of a walking pattern method which is inspired by the Dip Goswami (2009). The walking pattern is generated based on three points. These points are located at ankle left and right and one at the hip of the NAO humanoid robot. By using these points the walking gaits are generated to use as a reference point while walking motion. Then, an inverse kinematics with geometric solution of a ten degree-of-freedom humanoid robot is formulated from hip until the ankle joint. By sampling period of time with ten this reference point is used to find the joint angle of each link. The NAO humanoid robot is built in with force resistive sensor (FSR) located under both feet are used to determine the walking stability by using force distributer concept. The zero moment point of the robot is calculated on the normalized value between FSR reading from right leg and left leg. The result shown based on the real time simulation environment by using Webots Robotic Software. A simulation result shows that a NAO humanoid robot successfully walks in stable condition by following five different walking parameter setting. The humanoid robot is stable if and only if the normalized value of the ZMP is between 1 and -1. Index Terms: Walking gaits, NAO humanoid robot, ZMP
Ik analysis for the hip simulator using the open sim simulatorEditorIJAERD
The model of the project to create a detailed assembly of muscles spotting the hip joint. Additional muscles
and combinations were added to the baseline lower extremity assemblies currently available in OpenSim. The geometry
of the muscles was adjusted to pair moment arms reported here. The slack moment and the isometric were added to the
arithmetic value of the tanquntial assembly of joints
Effect of Discrete Yaw Direction Setting for 4 Roter Helicopter Control: Comp...AM Publications
In this paper, the effectiveness of discrete yaw direction setting in 4 rotor helicopter control was evaluated by simple computer simulation and Parrot AR. Drone 4 rotor helicopter in horizontal plane automatic position fixing control. For 4 rotor system, it is necessary to control the attitude of the drone and the position in the space simultaneously in order to realize stable flight of the system. The attitude control can be realized by the internal acc / gyro sensors with high sampling rate (near 1 kHz), on the contrary, the position control in the outdoor situation is necessary to realize by the external 3D position measurement method with relatively low sampling rate techniques (lower than 100 Hz) such as GPS. The low sampling rate reduces the positional control stability, and it is causing the control problem such applications of inspection work at high height and long distance. Our attempt is to evaluate the effect of adding discrete yaw direction setting while normal 4 rotor helicopter roll and pitch control in horizontal plane movement by a simple computer simulation and model implementation. By adding the discrete yaw direction setting to the target direction, the fixed position movement control performance of the 4 rotor system could increase comparing with without the yaw direction setting of the 4 rotor system. The proposed method would be useful to improve the 4 rotor system control performance under the relatively low sampling rate positional information acquired situation.
Sliding mode control design for autonomous surface vehicle motion under the i...IJECEIAES
Autonomous Surface Vehicle (ASV) is a vehicle that is operated in the water surface without any person in the vehicle. Since there is no person in the ASV, a motion controller is essentially needed. The control system is used to make sure that the water vehicle is moving at the desired speed. In this paper, we use a Touristant ASV with the following specifications: the length is 4 meters, the diameter is 1.625 meters, and the height is 1.027 meters. The main contribution of this paper is applying the Sliding Mode Control system to the Touristant ASV model under the influence of environmental factors. The environmental factors considered in this work are wind speed and wave height. The Touristant ASV model is nonlinear and uses three degree of freedom (DOF), namely surge, sway and yaw. The simulation results show that the performance of the closed-loop system by using the SMC method depends on the environmental factors. If environmental factors are higher, then the resulting error is also higher. The average error difference between those resulted from the simulation without environmental factors and those with the influence of environmental factors is 0.05% for surge, sway and yaw motions.
Identifying the Slider-Crank Mechanism System by the MPSO Methodijtsrd
This paper mainly proposes an efficient modified particle swarm optimization MPSO method, to identify a slider-crank mechanism driven by a field-oriented PM synchronous motor, dynamic formulations of a slider-crank mechanism have been successfully formulated with only one independent variable The parameters of many industrial machines are difficult to obtain if these machines cannot be taken apart In system identification, we adopt the MPSO method to find parameters of the slider-crank mechanism This new algorithm is added with "distance" term in the traditional PSO's fitness function to avoid converging to a local optimum It is found that the MPSO method can obtain optimal high-quality solution, high calculation efficiency, and its feasibility and effectiveness Finally, the comparisons of numerical simulations and experimental results prove that the MPSO identification method for the slider-crank mechanism is feasible Chin Wen Chuang | Kuan Yu Chen | Yi Hua Su "Identifying the Slider-Crank Mechanism System by the MPSO Method" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-2 | Issue-6 , October 2018, URL: http://www.ijtsrd.com/papers/ijtsrd18413.pdf
Optimal Control for Torpedo Motion based on Fuzzy-PSO Advantage TechnicalTELKOMNIKA JOURNAL
The torpedo is a nonlinear object which is very difficult to control. Via to manage the rudder angle yaw, the diving plane angle, and the fin shake reduction, the torpedo yaw horizontal, the depth vertical and roll damping of the system are controlled accurately and steadily. In this paper, the particle swarm optimization is used to correct the imprecision of architecture fuzzy parameters. The coverage width of membership function and the overlap degree influence of neighboring membership functions are considered in the method to adjust dynamically from the system errors. Thereby optimizing the control signal and enhancing the torpedo motion quality. The proposed method results in a better performance compared to the other control method such as adaptive fuzzy-neural that proved effective of the proposed controller.
Super-twisting sliding mode based nonlinear control for planar dual arm robotsjournalBEEI
In this paper, a super-twisting algorithm sliding mode controller is proposed for a planar dual arm robot. The control strategy for the manipulator system can effectively counteract chattering phenomenon happened with conventional sliding mode approach. The modeling is implemented in order to provide the capability of maneuvering object in translational and rotational motions. The control is developed for a 2n-link robot and subsequently simulations is carried out for a 4-link system. Comparative numerical study shows that the designed controller performance with good tracking ability and smaller chattering compared with basic sliding mode controller.
Three-dimensional structure from motion recovery of a moving object with nois...IJECEIAES
In this paper, a Nonlinear Unknown Input Observer (NLUIO) based approach is proposed for three-dimensional (3-D) structure from motion identification. Unlike the previous studies that require prior knowledge of either the motion parameters or scene geometry, the proposed approach assumes that the object motion is imperfectly known and considered as an unknown input to the perspective dynamical system. The reconstruction of the 3-D structure of the moving objects can be achieved using just twodimensional (2-D) images of a monocular vision system. The proposed scheme is illustrated with a numerical example in the presence of measurement noise for both static and dynamic scenes. Those results are used to clearly demonstrate the advantages of the proposed NLUIO.
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
ANALYSIS AND SLIDING CONTROLLER DESIGN FOR HYBRID SYNCHRONIZATION OF HYPERCHA...IJCSEA Journal
Hybrid synchronization of chaotic systems is a research problem with a goal to synchronize the states of master and slave chaotic systems in a hybrid manner, namely, their even states are completely synchronized (CS) and odd states are anti-synchronized. This paper deals with the research problem of hybrid synchronization of chaotic systems. First, a detailed analysis is made on the qualitative properties of hyperchaotic Yujun system (2010). Then sliding controller has been derived for the hybrid synchronization of identical hyperchaotic Yujun systems, which is based on a general hybrid result derived in this paper.MATLAB simulations have been shown in detail to illustrate the new results derived for the hybrid synchronization of hyperchaotic Yujun systems. The results are proved using Lyapunov stability theory.
Development of a quadruped mobile robot and its movement system using geometr...journalBEEI
As the main testbed platform of Artificial Intelligence, the robot plays an essential role in creating an environment for industrial revolution 4.0. According to their bases, the robot can be categorized into a fixed based robot and a mobile robot. Current robotics research direction is interesting since people strive to create a mobile robot able to move in the land, water, and air. This paper presents development of a quadruped mobile robot and its movement system using geometric-based inverse kinematics. The study is related to the movement of a four-legged (quadruped) mobile robot with three Degrees of Freedom (3 DOF) for each leg. Because it has four legs, the movement of the robot can only be done through coordinating the movements of each leg. In this study, the trot gait pattern method is proposed to coordinate the movement of the robot's legs. The end-effector position of each leg is generated by a simple trajectory generator with half rectified sine wave pattern. Furthermore, to move each robot's leg, it is proposed to use geometric-based inverse kinematic. The experimental results showed that the proposed method succeeded in moving the mobile robot with precision. Movement errors in the translation direction are 1.83% with the average pose error of 1.33 degrees, means the mobile robot has good walking stability.
SLIDING MODE CONTROLLER DESIGN FOR SYNCHRONIZATION OF SHIMIZU-MORIOKA CHAOTIC...ijistjournal
This paper investigates the global chaos synchronization of identical Shimizhu-Morioka chaotic systems (Shimizu and Morioka, 1980) by sliding mode control. The stability results derived in this paper for the complete synchronization of identical Shimizu-Morioka chaotic systems are established using Lyapunov stability theory. Since the Lyapunov exponents are not required for these calculations, the sliding mode control method is very effective and convenient to achieve global chaos synchronization of the identical Shimizu-Morioka chaotic systems. Numerical simulations are shown to illustrate and validate the synchronization schemes derived in this paper for the identical Shimizu-Morioka systems.
Parameter study of stable walking gaits for nao humanoid roboteSAT Journals
Abstract It is a challenge to any researcher to maintain the stability of the robot while in the walking motion. This paper proposes for parameter study of a walking pattern method which is inspired by the Dip Goswami (2009). The walking pattern is generated based on three points. These points are located at ankle left and right and one at the hip of the NAO humanoid robot. By using these points the walking gaits are generated to use as a reference point while walking motion. Then, an inverse kinematics with geometric solution of a ten degree-of-freedom humanoid robot is formulated from hip until the ankle joint. By sampling period of time with ten this reference point is used to find the joint angle of each link. The NAO humanoid robot is built in with force resistive sensor (FSR) located under both feet are used to determine the walking stability by using force distributer concept. The zero moment point of the robot is calculated on the normalized value between FSR reading from right leg and left leg. The result shown based on the real time simulation environment by using Webots Robotic Software. A simulation result shows that a NAO humanoid robot successfully walks in stable condition by following five different walking parameter setting. The humanoid robot is stable if and only if the normalized value of the ZMP is between 1 and -1. Index Terms: Walking gaits, NAO humanoid robot, ZMP
This paper deals with the dynamic characterization of an
automotive shock absorber, a continuation of an earlier
work Vibration is undesirable, not only because of the
unpleasant motion, the noise and the dynamic stresses,
which may lead to fatigue and failure of the structure, but
also because of the energy losses and the reduction in
performance which accompany the vibrations [1].
Vibration analysis should be carried out as an inherent part
of the design because of the devastating effects, which
unwanted vibrations could have on machines and
structures.
Differential evolution (DE) algorithm has been applied as a powerful tool to find optimum switching angles for selective harmonic elimination pulse width modulation (SHEPWM) inverters. However, the DE’s performace is very dependent on its control parameters. Conventional DE generally uses either trial and error mechanism or tuning technique to determine appropriate values of the control paramaters. The disadvantage of this process is that it is very time comsuming. In this paper, an adaptive control parameter is proposed in order to speed up the DE algorithm in optimizing SHEPWM switching angles precisely. The proposed adaptive control parameter is proven to enhance the convergence process of the DE algorithm without requiring initial guesses. The results for both negative and positive modulation index (M) also indicate that the proposed adaptive DE is superior to the conventional DE in generating SHEPWM switching patterns.
Accelerated life testing plans are designed under multiple objective consideration, with the resulting Pareto optimal solutions classified and reduced using neural network and data envelopement analysis, respectively.
Instrumentation and Automation of MechatronicIJERA Editor
This paper presents the methodology used for the automation of a mechanical system, which will be used to
perform scans on tooth surfaces, in this paper the mathematical modeling of the structure for further
implementation was carried out in order to get a reconfigurable device using specialized software. To carry out
this study various mathematical tools for developing the mathematical model were used, then control routines
that allow the manipulation mechanism for each axis independently performed. The implementation was carried
out by integrating various electrical, electronic and computer systems for an efficient control of the movement
and location of robot systems.
Optimum Algorithm for Computing the Standardized Moments Using MATLAB 7.10(R2...Waqas Tariq
A fundamental task in many statistical analyses is to characterize the location and variability of a data set. A further characterization of the data includes skewness and kurtosis. This paper emphasizes the real time computational problem for generally the rth standardized moments and specially for both skewness and kurtosis. It has therefore been important to derive an optimum computational technique for the standardized moments. A new algorithm has been designed for the evaluation of the standardized moments. The evaluation of error analysis has been discussed. The new algorithm saved computational energy by approximately 99.95% than that of the previously published algorithms.
A New Method for Solving Transportation Problems Considering Average PenaltyIOSRJM
Vogel’s Approximation Method (VAM) is one of the conventional methods that gives better Initial Basic Feasible Solution (IBFS) of a Transportation Problem (TP). This method considers the row penalty and column penalty of a Transportation Table (TT) which are the differences between the lowest and next lowest cost of each row and each column of the TT respectively. In a little bit different way, the current method consider the Average Row Penalty (ARP) and Average Column Penalty (ACP) which are the averages of the differences of cell values of each row and each column respectively from the lowest cell value of the corresponding row and column of the TT. Allocations of costs are started in the cell along the row or column which has the highest ARP or ACP. These cells are called basic cells. The details of the developed algorithm with some numerical illustrations are discussed in this article to show that it gives better solution than VAM and some other familiar methods in some cases.
The framework allows to create new logical sensors from an existing set of physical sensors. The system allows to find an optimal processing chain for a specific measurement configuration. It helps to reduce the number of necessary physical sensors on the robot and increases the robustness of the system to failures by providing alternatives for defective sensors.
Measuring Axle Weight of Moving Vehicle Based on Particle Swarm OptimizationIJRES Journal
The dynamic tire forces are the important factor influencing weigh-in-motion of vehicle. This paper presents a method to separate the dynamic tire forces contained in axle-weight signal. On the basis of analyzing the characteristic of axle-weight signal, the model of axle-weight signal and the objective function are constructed. After introducing the principle of particle swarm optimization (PSO), an improved PSO is employed to estimate the unknown parameters of the objective function. According to the obtained estimates of parameters, the dynamic tire forces contained in axle-weight signal are reconstructed. Subtract the reconstructed dynamic tire forces from the axle-weight signal, and get the estimate of axle weight of moving vehicle. Simulation and field experiments are conducted to demonstrate the performance of the proposed method.
Medical Conferences, Pharma Conferences, Engineering Conferences, Science Conferences, Manufacturing Conferences, Social Science Conferences, Business Conferences, Scientific Conferences Malaysia, Thailand, Singapore, Hong Kong, Dubai, Turkey 2014 2015 2016
Global Research & Development Services (GRDS) is a leading academic event organizer, publishing Open Access Journals and conducting several professionally organized international conferences all over the globe annually. GRDS aims to disseminate knowledge and innovation with the help of its International Conferences and open access publications. GRDS International conferences are world-class events which provide a meaningful platform for researchers, students, academicians, institutions, entrepreneurs, industries and practitioners to create, share and disseminate knowledge and innovation and to develop long-lasting network and collaboration.
GRDS is a blend of Open Access Publications and world-wide International Conferences and Academic events. The prime mission of GRDS is to make continuous efforts in transforming the lives of people around the world through education, application of research and innovative ideas.
Global Research & Development Services (GRDS) is also active in the field of Research Funding, Research Consultancy, Training and Workshops along with International Conferences and Open Access Publications.
International Conferences 2014 – 2015
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This paper analyzes the swap rates issued by the China Inter-bank Offered Rate(CHIBOR) and
selects the one-year FR007 daily data from January 1st, 2019 to June 30th, 2019 as a sample. To fit the data,
we conduct Monte Carlo simulation with several typical continuous short-term swap rate models such as the
Merton model, the Vasicek model, the CIR model, etc. These models contain both linear forms and nonlinear
forms and each has both drift terms and diffusion terms. After empirical analysis, we obtain the parameter
values in Euler-Maruyama scheme and relevant statistical characteristics of each model. The results show that
most of the short-term swap rate models can fit the swap rates and reflect the change of trend, while the CKLSO
model performs best.
1. Improving Trauma Triage Models for Motor Vehicle Crashes
Yaoyaun Vincent Tana
, Michael Elliotta,b
, Carol Flannaganc
aUniversity of Michigan Department of Biostatistics, bInstitute for Social Research cUniversity of Michigan Transportation Research Institute
Introduction
Delta-v, a measure of the near-instantaneous change in vehi-
cle velocity after the impact of a crash, is a strong predictor of
severe injury. However, most prediction models of severe in-
jury use delta-v estimated during after crash investigations. Be-
cause a realistic and comprehensive real-time prediction model
would help Emergency Medical Services (EMS) allocate re-
sources more efficiently and reduce morbidity and mortality in
crashes, we develop a real-time prediction model using the ve-
hicle’s acceleration profile during a crash, recorded by the vehi-
cle’s Event Data Recorder (EDR). We use functional data anal-
ysis (FDA) to estimate the mean trend of the acceleration and
then built our prediction model around summary measures of
the estimated mean trend (its absolute integral and absolute in-
tegral of its slope) as well as its residual variance. We applied
our method to the acceleration profiles recorded in 2002-2012
EDR reports from the National Transportation Safety Admin-
istration (NHTSA) website. We obtained our outcomes from
the National Highway and National Automotive Sampling Sys-
tem (NASS) Crashworthiness Data System (CDS) datasets of
the same years. Our results can be seen as an important step to-
wards the development of a comprehensive near real-time pre-
diction model for severe injury in a motor vehicle crash.
Dataset and variables
We have EDR data from 3,460 vehicles that were involved in
frontal impacts (direction of impact 0◦
to 40◦
and 320◦
to 350◦
)
from 2002-2012. We analyzed data from 249 usable crashes, of
which 27 had a severe injury outcome.
Outcome
• VAIS: Maximum AIS 3+ in vehicle (Yes/No)
Deceleration (crash pulse) Data
• Time (1 ms)
• Gs (9.8 m/sec2
)
Baseline Data
• Driver seat beat use (Yes/No/Not reported)
• Front-seat passenger belt use (Yes/No/No front-seat passen-
ger/Not reported)
• Curb weight (kgs)
• Body type (Car/Pickups & Vans/SUV)
• Multiple crash indication (Yes/No)
• Principal direction of force (o
)
• Sampling weight
Method
We used a two-stage approach with summary measures from a
1st
stage FDA model as inputs for the 2nd
stage model (Jiang et.
al., 2014). FDA requires converting observed values yi1, yi2, . . . , yimi
to a function yi(tij). For each crash, we considered four meth-
ods of estimating yi(tij).
3 millisecond (3mil) Method
ˆyi(tij) =
mi
l=1
bilφl(tij) (1)
where φl(tij) ≡ φl,d(tij) are basis splines matrices of degree d,
and φl,d(tij) was obtained by the recursion relation:
φl,d(tij) =
tij − κil
κi,l+d − κil
φl,d−1(tij) +
κi,l+1+d − tij
κi,l+1+d − κi,l+1
φl+1,d−1(tij).
(2)
κij were the internal knots set at 3 millisecond intervals.
Combinatorial (Combi) Method We considered all possible
combinations of choosing 5 internal knots out of the knots at
3 millisecond intervals. The optimum placement of knots was
determined by the placement that gave the smallest mi
j=1[yij −
ˆyi(tij)]]2
.
Penalized natural cubic splines (PNCS) Method
ˆyi(tij) =
mi
l=1
[yil − y(til)]2
+ λi
T
[L(til)]2
dti (3)
where L(t) = w0x + w1y (til) + . . . + wd−1yd−1
(til) + yd
(til)
and d is the degree of the polynomial. We estimated λi using
generalized cross-validation. (Ramsay et.al., 1997).
Mixed Model (MM) Method (Wang, 1998)
yi(tij) = β0i + β1itij +
mi−1
p=1
Zijpbp + ij ij
iid
∼ N(0, σ2
i ).
(4)
where ti ∈ [0, 1], (b1, b2, . . . , bn−1)T
∼ N(0, τ2
i I), ZiZT
i = Ωi,
and Ωi is an mi × mi matrix with the rows and columns defined
as Ωk,l = 1
0 (tk − µ)+(tl − µ)+dt = 1
2[min(tk, tl)]2
max(tk, tl) −
1
6[min(tk, tl)]3
. The tuning parameter ˆλi could be estimated by
ˆλi = ˆσ2
i
miˆτ2
i
. tij in equation (4) was a transformation from the
original time ˜tij given by tij =
˜tij−min
j
(˜tij)
max
j
(˜tij)−min
j
(˜tij)
so that ti1 = 0 <
ti2 < . . . < timi
= 1.
We obtained Zi by estimating the Cholesky decomposition of
Ωi using Smith’s (1995) method. We used standard linear mixed
model programs to estimate ˆyi(tij) as
ˆyi(tij) = ˆβ0i + ˆβ1itij +
mi−1
p=1
Zijp
ˆbp. (5)
Summary measure For each crash pulse estimated under the
four FDA methods, we computed four summary measures:
1. ˆG = ti
|ˆyi(tij)|dti - Absolute area under the deceleration pro-
file. This could be seen as an estimation of total delta-v.
2. ˆg = ti
|ˆyi(tij)|dti - Absolute integral of the slope of ˆyi(tij) for
the duration ti. This measure gave a sense of the amount of
fluctuation in ˆyi(tij).
3. ˆσ2
- The residual variance of ˆyi(tij).
4. tt025 - Time the crash pulse took to return to within ±0.25Gs.
Predicting severe injury risk. We merged the chosen sum-
mary measures together with VAIS and baseline data: driver
seat belt use, front-seat passenger belt use, curb weight, body
type, and multiple crash indicator. We applied the weighted
logistic regression and ran an all-subset analysis on the nine
covariates (summary measures in chosen form). We obtained
three models: 1. Model with the highest ROC (Model A),
2. Model with the highest ROC excluding any summary mea-
sure (Model B), and 3. Centered summary measures in model
A and their squared terms with baseline model A covariates
(Quadratic Model A). We compared the ROC between these 3
models by running 1,000 bootstrap samples. To complement
the weighted ROC results, we plotted the weighted precision-
recall (PR) curve (Davis and Goadrich, 2006) and constructed
a false discovery rate (FDR) table. Finally, we conducted a
leave-one-out cross-validation (CV) to investigate how well our
models would perform given new data.
Results
We selected the summary measures computed under the MM
method and log-transformation of the summary measures be-
cause its CV results were better compared to the model with the
highest ROC. Our all-subset analysis produced a Model A con-
sisting all covariates except log(ˆg). The coefficients of log( ˆG),
log(tt025), belted driver, and multiple crash were significant.
Model B consisted of all baseline covariates. The coefficients
of belted driver and multiple crashes were significant. Because
ROC of quadratic model A was smaller compared to model A,
we shall not focus on quadratic model A.
The weighted ROC of Model B was to the right of Model A
for false positive rates between 0 and 0.8. The loess PR curve
of model B was on the left of model A for all recall values
(Figure 1). FDR table (Table 1) reflected results similar to the
PR curve (Figure 1). The leave-one-out cross-validation results
were generally similar to non cross-validation results but with
the weighted ROCs shifted right, weighted PR curves shifted
left, capture rates decreased, and FDR increased for all three
prediction models (Results not shown here).
Figure 1: Weighted Reciever Operating Curves (ROC) and Precision-Recall
(PR) Curves for Models A and B.
0.0 0.2 0.4 0.6 0.8 1.0
0.00.20.40.60.81.0
False Positive Rate
TruePositiveRate
Receiver Operating Curves for Models A and B
Model A
Model B
0.0 0.2 0.4 0.6 0.8 1.0
0.10.20.30.40.5
Recall
Precision
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q
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q
q
q
q
q
q
q
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qq
q
q
q
q
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q
q
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Model A
Model B
Precision Recall Curves for Models A and B
Table 1: Fraction of AIS 3+ Injury Crashes Captured and Associated Frac-
tion of Crash that are not AIS 3+ [False Discovery Rate (FDR)] at various
thresholds of injury risk cutpoints.
Model A Model B
Cutpoints (%) Captured (%) FDR (%) Captured (%) FDR (%)
1 93.60 94.95 87.90 97.22
2 81.04 88.50 54.41 95.63
3 77.45 85.54 44.88 94.46
4 76.07 81.09 40.47 90.72
5 71.13 82.10 24.92 87.28
6 71.13 82.09 17.17 86.32
7 70.32 81.30 17.17 82.85
8 70.32 79.44 17.17 80.71
9 46.36 78.87 17.17 80.71
10 46.36 78.81 17.17 80.71
15 44.17 68.74 17.17 68.46
20 40.74 63.27 17.17 47.76
25 40.74 60.36 17.17 47.76
30 40.16 37.73 2.45 83.15
Discussion
We successfully developed a new severe injury risk prediction
model able to estimate the probability of a severe injury in a
motor vehicle crash near real-time. Model A performed fairly
Table 2: Coefficient Estimates for model A and B with weighted ROC.
Model A Model B
Parameter/Statistic Estimate (Conf. Int) Estimate (Conf. Int)
log( ˆG) 3.34 (1.43, 5.25)∗∗
log(ˆσ2
) 0.19 (-0.41, 0.80)
log(tt025) -6.07 (−10.05, −2.07)∗∗
Driver belt use
Belted -2.95 (−4.55, −1.36)∗∗∗
-3.23 (−4.79, −1.68)∗∗∗
Not reported 2.77 (-0.58, 6.13) 0.25 (-1.78, 2.29)
Not belted
Front-seat passenger belt use†
Belted 1.79 (-1.99, 5.58) 1.01 (-1.66, 3.69)
No front passenger 2.52 (-0.23, 5.28) 1.58 (-0.34, 3.50)
Not belted
Curb weight 0.0003 (-0.001, 0.002) -0.0007 (-0.003, 0.001)
Body type
Car 0.85 (-1.43, 3.14) 0.96 (-1.15, 3.07)
Pickup or Van -0.58 (-2.88, 1.72) 0.31 (-1.49, 2.12)
SUV
Multiple crashes?
Yes 5.20 (1.09, 9.31)∗
2.04 (0.11, 3.96)∗
No
ROC 0.93 0.78
ROC A - ROC B 0.151 (0.040, 0.227)
† Crashes not reporting front-seat passenger belt status were the same with driver belt status.
* 0.01 ≤ p < 0.05; ** 0.001 ≤ p < 0.01; *** p < 0.001.
well in predicting the severe injury crashes from our data (ROC 0.93). We
used a novel variable – the crash pulse – as the main variable in our regres-
sion model. We were not aware of any such applications of FDA to crash
pulses to predict severe injury risk in trauma literature. The summary mea-
sures we defined were new in trauma research and helped us avoid problems
we faced when defining ˆyi(tij) for each crash with a different set of linear
combination of functions.
Limitations
A majority of our frontal crashes (92.4%) were unusable because vehicle
acceleration was not reported. A comparison (results not shown here) be-
tween the demographics (driver’s age, sex, belt use, and intrusion, front-seat
passenger belt use, maximum vehicle injury severity, and sampling weight)
of eligible and ineligible crashes showed no significant difference except
for driver intrusion. This implied that excluded crashes had greater rates of
driver intrusion, suggesting that our analytic dataset may under-report the
most severe crashes.
Future direction
• Develop a separate prediction model that uses information from the ad-
justed velocity change instead of acceleration.
• Develop a method to combine the crash pulse and adjusted velocity change
model.
• Add the lateral, vertical, and rollover of crash pulse and adjusted velocity
components into the model.
• Develop a joint model to compute the FDA estimates and logistic regres-
sion model in a single step. This will make estimated coefficients more
efficient i.e. smaller estimated variance.
References
• Davis, J., Goadrich, M. (2006). The Relationship Between Precision-Recall and ROC Curves. Proceed-
ings of the 23rd International Conference on Machine Learning, Pittsburgh, PA.
• Jiang, B., Wang, N., Sammel M.D., Elliott M.R. (2014). Modeling short- and long-term variability of
variation of follicle stimulating hormone as predictors of severe hot flashes in Penn Ovarian Aging Study.
Submitted for publication.
• Ramsay, J.O., Heckman, N., and Silverman, B.W. (1997). Spline smoothing with model-based penalties.
Behav. Res. Meth. Ins. C., 29(1):99-106.
• Smith, S. P. (1995). Differentiation of the Cholesky Algorithm. J. Comput. Graph. Stat., 4:134-147.
• Wang, Y. (1998). Mixed-Effects Smoothing Spline ANOVA. J. R. Stat. Soc. Ser. B Stat. Methodol.,
60:159-174.
Acknowledgments
We would like to acknowledge the help of Dr. Patrick Carter and Dr. Jonathan Rupp in providing an under-
standing of the background and goals of the analysis. This work was supported jointly by Dr. Michael Elliott
and an MCubed project awarded to Drs. Patrick Carter, Jonathan Rupp and Carol Flannagan.