The point detections obtained from radars or sonars in surveillance environments include clutter measurements, as well as target measurements. Target tracking with these data requires data ...association, which distinguishes the detections from targets and clutter. Various algorithms have been proposed for clutter measurement density estimation to achieve accurate and robust target tracking with the point detections. Among them, the spatial clutter measurement density estimator (SCMDE) computes the sparsity of clutter measurement, which is the reciprocal of the clutter measurement density. The SCMDE considers all adjacent measurements only as clutter, so the estimated clutter measurement density is biased for multi-target tracking applications, which may result in degraded target tracking performance. Through the study in this paper, a major source of tracking performance degradation with the existing SCMDE for multi-target tracking is analyzed, and the use of the clutter measurement probability is proposed as a remedy. It is also found that the expansion of the volume of the hyper-sphere for each sparsity order reduces the bias of clutter measurement density estimates. Based on the analysis, we propose a new adaptive clutter measurement density estimation method called SCMDE for multi-target tracking (MTT-SCMDE). The proposed method is applied to multi-target tracking, and the improvement of multi-target tracking performance is shown by a series of Monte Carlo simulation runs and a real radar data test. The clutter measurement density estimation performance and target tracking performance are also analyzed for various sparsity orders.
The integrated particle filter (IPF) is an algorithm for single-target tracking in clutter, which incorporates the probability of target existence (PTE) into the traditional particle filter as a ...track quality measure for false track discrimination (FTD). This study investigates two IPF-based fixed-interval smoothing algorithms: the IP smoothing (IPS) algorithm and the IP-Rauch–Tung–Striebel backward smoothing (IP-RTSBS) algorithm, both of which are capable of trajectory estimation and FTD. The IPS algorithm fuses the propagations for each pair of forward IPF and backward IPF particles to obtain the smoothing propagation that is used to update the track state by applying all available measurements in the current scan. The IP-RTSBS algorithm employs the forward filtering backward smoothing approach to smooth the trajectory state, which is then applied to the RTS smoothing methodology to obtain the smoothing propagation used to update the PTE. As a result, both FTD and trajectory estimation are improved. The smoothing benefits of the two algorithms are validated in the simulations, where a sliding batch mode with overlapping measurements is utilised to limit the smoothing lag.
In over-the-horizon radar (OTHR) applications, one target can generate multiple detections due to the multiple signal propagation paths through the ionosphere. Traditional joint multiple detection ...data association algorithms suffer from the high computational load when they are applied to OTHR. Different from the traditional joint multiple detection data association structures, a novel scheme is developed based on the modulated clutter measurement density. When a measurement cell, which contains one or more measurements, is associated to a track, the proposed scheme considers not only the possibility that this measurement cell is generated by clutter but also the possibility that this measurement cell is generated from other targets. Using the modulated clutter measurement density, a single target data association structure can be applied to multitarget data association. The simulation results show that the proposed algorithm is much more computationally efficient compared to the traditional joint multiple detection joint data association structures.
In tracking closely located multiple targets, the traditional optimal multitarget data association approach such as joint integrated probabilistic data association (JIPDA) faces exponential ...complexity caused by combinatorial increasing of the number of possible measurement-to-track allocations, which severely limits its applicability. This paper presents an iterative implementation of the Joint Integrated Particle Filter (JIPF) which is particle filter basedl multitarget tracker with the capability of false track discrimination (FTD), and provides the trade off between the performance and computation resources, termed by iterative JIPF (iJIPF). The iJIPF is capable of approximating the single target tracking IPF to multitarget tracking JIPF by traversing the data association tree from the level 0 to full level within finite number of iterations. The assertions are validated by the simulations.
The integrated particle filter (IPF) algorithm is proposed for single target tracking in clutter that combines the existing particle filters with false track discrimination (FTD) which distinguishes ...between the true tracks and the false tracks using the target existence probability as a track quality measure. To improve the tracking performance of IPF for maneuvering multitarget tracking, we propose an integrated local linearization particle filter (ILLPF) that applies the FTD to LLPF which approximates the optimal importance density with the updated estimates of a bank of tracking filters. The proposed algorithm is extended to accommodate interacting multiple model-linear multitarget-ILLPF (IMM-LM-ILLPF) for maneuvering target tracking with multiple target dynamic models for robust tracking. A study with Monte Carlo simulation demonstrates the improvement of maneuvering multitarget tracking performance in cluttered environments.
A radar system for tracking ground vehicle targets to realize adaptive cruise control requires an accurate vehicle tracking filter. Especially, for ground vehicle tracking, one has to consider the ...case in which the radar measurements are affected by glint noises generated by the targets located near the observer vehicle. Furthermore, this vehicle tracking should be performed in cluttered environments. This paper presents a combined algorithm that consists of integrated probabilistic data association (IPDA), and an interacting multiple model (IMM) algorithm for ground target tracking in clutter and target glint. Performance of the proposed algorithm is tested and verified by a series of computer simulation runs.
Chlorogenic acid is a major polyphenolic component of many plants and beverages, and is particularly abundant in coffee. We evaluated the neuroprotective effects of chlorogenic acid on learning and ...memory impairment induced by scopolamine (0.5
mg/kg, i.p.), a muscarinic antagonist, using the Y-maze, passive avoidance, and Morris water maze tests. The chlorogenic acid significantly improved the impairment of short-term or working memory induced by scopolamine in the Y-maze test, and significantly reversed cognitive impairments in mice as measured by the passive avoidance test. In addition, chlorogenic acid decreased escape latencies in the Morris water maze test. In a probe trial session, chlorogenic acid increased the latency time in the target quadrant in a dose-dependent manner.
Ex vivo, chlorogenic acid inhibited acetylcholinesterase activity in the hippocampus and frontal cortex. Chlorogenic acid also decreased malondialdehyde levels in the hippocampus and frontal cortex.
In vitro, chlorogenic acid was found to inhibit acetylcholinesterase activity (IC
50
=
98.17
μg/ml) and free radical scavenging activity (IC
50
=
3.09
μg/ml) in a dose-dependent manner. These results indicate that chlorogenic acid may exert anti-amnesic activity via inhibition of acetylcholinesterase and malondialdehyde in the hippocampus and frontal cortex.
Preliminary results of a case series on refractory bladder neck stenosis treated with laparoscopic T-plasty are presented in this article. This study retrospectively identified nine patients with ...refractory bladder neck stenosis aged 60 to 80 years between May 2016 and December 2017, who had undergone laparoscopic T-plasty. All patients presented voiding difficulty and failed after two or more prior endoscopic treatments. Laparoscopic T-plasty was performed by incising the anterior wall of the bladder neck in a T-shaped manner and creating two well-vascularized and tension-free flaps, which offer the possibility to reconstruct a wide bladder neck. After a mean follow-up of 14.7 months (ranging 3–22 months), a successful outcome was achieved in eight patients without incontinence secondary to surgery. Recurrent voiding difficulty developed in one patient, which was cured after a following endoscopic treatment. Through these nine patients, a preliminary conclusion can be drawn that a wider bladder neck can be obtained through modified YV-reconstruction of the bladder neck, while avoiding external urethral sphincter injury. And laparoscopic T-plasty has clear advantages compared with an open approach. It is an available and effective option for refractory bladder neck stenosis.
Pig breeding management directly contributes to the profitability of pig farms, and pregnancy diagnosis is an important factor in breeding management. Therefore, the need to diagnose pregnancy in ...sows is emphasized, and various studies have been conducted in this area. We propose a computer-aided diagnosis system to assist livestock farmers to diagnose sow pregnancy through ultrasound. Methods for diagnosing pregnancy in sows through ultrasound include the Doppler method, which measures the heart rate and pulse status, and the echo method, which diagnoses by amplitude depth technique. We propose a method that uses deep learning algorithms on ultrasonography, which is part of the echo method. As deep learning-based classification algorithms, Inception-v4, Xception, and EfficientNetV2 were used and compared to find the optimal algorithm for pregnancy diagnosis in sows. Gaussian and speckle noises were added to the ultrasound images according to the characteristics of the ultrasonography, which is easily affected by noise from the surrounding environments. Both the original and noise added ultrasound images of sows were tested together to determine the suitability of the proposed method on farms. The pregnancy diagnosis performance on the original ultrasound images achieved 0.99 in accuracy in the highest case and on the ultrasound images with noises, the performance achieved 0.98 in accuracy. The diagnosis performance achieved 0.96 in accuracy even when the intensity of noise was strong, proving its robustness against noise.
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