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MAXIMUM CORRENTROPY EXTENDED KALMAN FILTER FOR VEHICLE STATE OBSERVATION
Qi Dengliang,Feng Jingan,Ni Xiangdong,Wang Lei 한국자동차공학회 2023 International journal of automotive technology Vol.24 No.2
For vehicle state estimation, the conventional Kalman filter performs well under the Gaussian assumption, but in the real non-Gaussian situation (especially when the noise is non-Gaussian heavy-tailed), it shows poor accuracy and robustness. In this paper, an extended Kalman filter (EKF) algorithm based on the maximum correntropy criterion (MCC) is proposed (MCCEKF), and a lateral-longitudinal coupled vehicle model is established, while a state observer containing the yaw rate, vehicle sideslip angle, and longitudinal vehicle speed is designed using the easily available measurement information of on-board sensors. After analyzing the complexity of the proposed algorithm, the new algorithm is verified on the Simulink/CarSim simulation experimental platform by Double Lane Change and Sine Sweep Steer Torque Input maneuver. Experimental results show that the MCC-based EKF algorithm has stronger robustness and better estimation accuracy than the traditional EKF algorithm in the case of non-Gaussian noise, and the MCCEKF is more applicable for vehicle state estimation in practical situations.
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Bailong Tao,Chuanchuan Lin,Ai Guo,Yonglin Yu,Xian Qin,Kai Li,Hongchuan Tian,Weiwei Yi,Dengliang Lei,Lixue Chen 한국공업화학회 2021 Journal of Industrial and Engineering Chemistry Vol.104 No.-
Infected wound healing remains a critical threat, which frequently delays the healing process and evenleads to severe life-threatening complications. Herein, we reported an effective anti-infection approach,which was based on copper ions-releasing hydroxyapatite/polydopamine (HA-Cu/PDA) nanocompositeswith photothermal effect. The HA-Cu/PDA nanocomposites was fabricated through a co-precipitationreaction between polydopamine (PDA)-coated hydroxyapatite nanoparticles (HA)-loaded Cu2+ (HA-Cu). Through a synergistic effect of released Cu2+ and photothermal efficiency of PDA coating, and the HACu/PDA nanocomposites exhibited extraordinary antibacterial capacities against Escherichia coli (E. coli)and Staphylococcus aureus (S. aureus). The nanocomposites presented good biocompatibility for mouseembryonic fibroblast (NIH-3T3) cells and promoted NIH3T3 cells to migrate toward wound sites. Additionally, this nanocomposite could stimulate the tissue remodeling-related gene expression toinduce the blood vessels formation, granulation tissues and collagen deposition, and eventually enhancewound healing. In vivo study further verified that HA-Cu/PDA nanocomposites with NIR irradiation couldsignificantly improve bacterial infected wound healing through the prominent antibacterial property,reduced inflammatory response, the formation of granulation tissue, collagen deposition, and angiogenesisability. Thus, this study develops a versatile strategy for a broad range of wound healing and skinreconstruction caused by bacterial infection.
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