A New Variational Bayesian-based Kalman Filter with Random Measurement Delay and Non-Gaussian Noises

Chenghao Shan,Weidong Zhou,Hanyu Shan,Lu Liu 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.8

To improve the estimation accuracy of the Kalman filter in the scenario of random measurement delay and non-Gaussian process and measurement noises, a new variational Bayesian (VB)-based Kalman filter is proposed in this paper. First, the state expansion method and Bernoulli random variable (BRV) are utilized to characterize random measurement delay. Second, the one-step predicted probability density function (PDF) and measurement noise vectors are modeled as Student’s t (ST) distributions. Third, the likelihood function of two ST distributions is converted from a weighted sum to an exponential product to establish a hierarchical Gaussian state space model (HGSSM). Finally, the system state, BRV and intermediate random variables (IRV) are simultaneously estimated using the variational Bayesian (VB) method. Simulation experiment results indicate that the proposed filter has superior estimation performance to current filters to address the filtering problem of random measurement delay and non-Gaussian process and measurement noises.

A Robust Joint GSS And Source Localization Algorithm For Robot Audition In Strong Reverberant Environment

Huawei Zhang,Chenghao Chen,Yi Zhou 제어로봇시스템학회 2018 제어로봇시스템학회 국제학술대회 논문집 Vol.2018 No.10

The research on robot audition aims to study advanced techniques to help robots acquire acoustic information from the ambient environments. In many real situations, the environment may be adverse like being highly reverberant, and the microphone signal received by the robots may consist of a superposition of several sounds. Geometric source separation (GSS) algorithm uses prior geometric information to separate simultaneously present sound sources and thus is suitable for robot audition applications. However, the performance of GSS deteriorates as the reverberation time increases even if highly accurate sources locations are available, let alone classic source localization (SL) methods themselves can hardly perform well in reverberant environments. In this paper, a joint GSS and SL algorithm is proposed for robot audition applications in strong reverberant environments. This new method estimates the parameters of blind dereverberation (BD), SL and GSS alternatively, which is similar to the conditional separation and dereverberation (CSD) method to release the one-source assumption of many BD algorithms. Furthermore, the proposed method can also be used as a robust SL algorithm alone if necessary. Experimental results verified the robust performance achieved by the proposed algorithm.

Association of UDP-galactose-4-epimerase with milk protein concentration in the Chinese Holstein population

Li Cong,Cai Wentao,Liu Shuli,Zhou Chenghao,Cao Mingyue,Yin Hongwei,Sun Dong-Xiao,Zhang Shengli,Loor Juan J. 아세아·태평양축산학회 2020 Animal Bioscience Vol.33 No.11

Objective: An initial RNA-Sequencing study revealed that UDP-galactose-4-epimerase (GALE) was one of the most promising candidates for milk protein concentration in Chinese Holstein cattle. This enzyme catalyzes the interconversion of UDP-galactose and UDP-glucose, an important step in galactose catabolism. To further validate the genetic effect of GALE on milk protein traits, genetic variations were identified, and genotypes-phenotypes associations were performed. Methods: The entire coding region and the 5’-regulatory region (5’-UTR) of GALE were re-sequenced using pooled DNA of 17 unrelated sires. Association studies for five milk production traits were performed using a mixed linear animal model with a population encompassing 1,027 Chinese Holstein cows. Results: A total of three variants in GALE were identified, including two novel variants (g.2114 A>G and g.2037 G>A) in the 5’-UTR and one previously reported variant (g.3836 G>C) in an intron. All three single nucleotide polymorphisms (SNPs) were associated with milk yield (p<0.0001), fat yield (p = 0.0006 to <0.0001), protein yield (p = 0.0232 to <0.0001) and protein percentage (p<0.0001), while no significant associations were detected between the SNPs and fat percentage. A strong linkage disequilibrium (D’ = 0.96 to 1.00) was observed among all three SNPs, and a 5 Kb haplotype block involving three main haplotypes with GAG, AGC, and AGG was formed. The results of haplotype association analyses were consistent with the results of single locus association analysis (p<0.0001). The phenotypic variance ratio above 3.00% was observed for milk protein yield that was explained by SNP-g.3836G >C. Conclusion: Overall, our findings provided new insights into the polymorphic variations in bovine GALE gene and their associations with milk protein concentration. The data indicate their potential uses for marker-assisted breeding or genetic selection schemes.

Identification of genes involved in inbreeding depression of reproduction in Langshan chickens

Xue Qian,Li Guohui,Cao Yuxia,Yin Jianmei,Zhu Yunfen,Zhang Huiyong,Zhou Chenghao,Shen Haiyu,Dou Xinhong,Su Yijun,Wang Kehua,Zou Jianmin,Han Wei 아세아·태평양축산학회 2021 Animal Bioscience Vol.34 No.6

Objective: Inbreeding depression of reproduction is a major concern in the conservation of native chicken genetic resources. Here, based on the successful development of strongly inbred (Sinb) and weakly inbred (Winb) Langshan chickens, we aimed to evaluate inbreeding effects on reproductive traits and identify candidate genes involved in inbreeding depression of reproduction in Langshan chickens. Methods: A two-sample t-test was performed to estimate the differences in phenotypic values of reproductive traits between Sinb and Winb chicken groups. Three healthy chickens with reproductive trait values around the group mean values were selected from each of the groups. Differences in ovarian and hypothalamus transcriptomes between the two groups of chickens were analyzed by RNA sequencing (RNA-Seq). Results: The Sinb chicken group showed an obvious inbreeding depression in reproduction, especially for traits of age at the first egg and egg number at 300 days (p<0.01). Furthermore, 68 and 618 differentially expressed genes (DEGs) were obtained in the hypothalamus and ovary between the two chicken groups, respectively. In the hypothalamus, DEGs were mainly enriched in the pathways related to vitamin metabolism, signal transduction and development of the reproductive system, such as the riboflavin metabolism, Wnt signaling pathway, extracellular matrix-receptor interaction and focal adhesion pathways, including stimulated by retinoic acid 6, serpin family F member 1, secreted frizzled related protein 2, Wnt family member 6, and frizzled class receptor 4 genes. In the ovary, DEGs were significantly enriched in pathways associated with basic metabolism, including amino acid metabolism, oxidative phosphorylation, and glycosaminoglycan degradation. A series of key DEGs involved in folate biosynthesis (gamma-glutamyl hydrolase, guanosine triphosphate cyclohydrolase 1), oocyte meiosis and ovarian function (cytoplasmic polyadenylation element binding protein 1, structural maintenance of chromosomes 1B, and speedy/RINGO cell cycle regulator family member A), spermatogenesis and male fertility (prostaglandin D2 synthase 21 kDa), Mov10 RISC complex RNA helicase like 1, and deuterosome assembly protein 1) were identified, and these may play important roles in inbreeding depression in reproduction. Conclusion: The results improve our understanding of the regulatory mechanisms underlying inbreeding depression in chicken reproduction and provide a theoretical basis for the conservation of species resources. Objective: Inbreeding depression of reproduction is a major concern in the conservation of native chicken genetic resources. Here, based on the successful development of strongly inbred (Sinb) and weakly inbred (Winb) Langshan chickens, we aimed to evaluate inbreeding effects on reproductive traits and identify candidate genes involved in inbreeding depression of reproduction in Langshan chickens.Methods: A two-sample t-test was performed to estimate the differences in phenotypic values of reproductive traits between Sinb and Winb chicken groups. Three healthy chickens with reproductive trait values around the group mean values were selected from each of the groups. Differences in ovarian and hypothalamus transcriptomes between the two groups of chickens were analyzed by RNA sequencing (RNA-Seq).Results: The Sinb chicken group showed an obvious inbreeding depression in reproduction, especially for traits of age at the first egg and egg number at 300 days (p<0.01). Furthermore, 68 and 618 differentially expressed genes (DEGs) were obtained in the hypothalamus and ovary between the two chicken groups, respectively. In the hypothalamus, DEGs were mainly enriched in the pathways related to vitamin metabolism, signal transduction and development of the reproductive system, such as the riboflavin metabolism, Wnt signaling pathway, extracellular matrix-receptor interaction and focal adhesion pathways, including stimulated by retinoic acid 6, serpin family F member 1, secreted frizzled related protein 2, Wnt family member 6, and frizzled class receptor 4 genes. In the ovary, DEGs were significantly enriched in pathways associated with basic metabolism, including amino acid metabolism, oxidative phosphorylation, and glycosaminoglycan degradation. A series of key DEGs involved in folate biosynthesis (gamma-glutamyl hydrolase, guanosine triphosphate cyclohydrolase 1), oocyte meiosis and ovarian function (cytoplasmic polyadenylation element binding protein 1, structural maintenance of chromosomes 1B, and speedy/RINGO cell cycle regulator family member A), spermatogenesis and male fertility (prostaglandin D2 synthase 21 kDa), Mov10 RISC complex RNA helicase like 1, and deuterosome assembly protein 1) were identified, and these may play important roles in inbreeding depression in reproduction.Conclusion: The results improve our understanding of the regulatory mechanisms underlying inbreeding depression in chicken reproduction and provide a theoretical basis for the conservation of species resources.