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HOM-STRUCTURES ON A CLASS OF SOLVABLE LIE ALGEBRAS WITH FILIFORM NILRADICAL
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作者 ZHANG Ju-shuang YUAN Ji-xia ZHANG Shuang 《数学杂志》 2025年第6期478-484,共7页
In this paper,we study the Hom-structures of a special class of solvable Lie algebras with naturally graded filiform nilradical n_(n,1).Over an algebraically closed field F of zero characteristic,we calculate the Hom-... In this paper,we study the Hom-structures of a special class of solvable Lie algebras with naturally graded filiform nilradical n_(n,1).Over an algebraically closed field F of zero characteristic,we calculate the Hom-structures of these solvable Lie algebras using the Hom-Jacobi identity,obtain the bases of these Hom-structures and observe that there are certain similarities among these bases. 展开更多
关键词 among these bases.solvable Lie algebras hom-structures filiform nilradical
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Cooperative robust parallel operation of multiple actuators
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作者 XU Liang XU Xiang LIU Tao 《控制理论与应用》 北大核心 2026年第1期3-11,共9页
This paper studies cooperative robust parallel operation of multiple actuators over an undirected communication graph.The plant is modeled as an uncertain linear system,and the actuators are linear and identical.Based... This paper studies cooperative robust parallel operation of multiple actuators over an undirected communication graph.The plant is modeled as an uncertain linear system,and the actuators are linear and identical.Based on the internal model principle,a distributed dynamic output feedback control law is proposed to achieve both robust output regulation of the closed-loop system and plant input sharing among the actuators.A practical example of five motors cooperatively driving an uncertain shaft under an external load torque is presented to show the effectiveness of the proposed control law. 展开更多
关键词 cooperative parallel operation multiple actuators robust output regulation CONSENSUS
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Non-negative least squares variance component estimation of mixed additive and multiplicative random error model
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作者 Hao Xiao Leyang Wang 《Geodesy and Geodynamics》 2025年第5期617-623,共7页
In the variance component estimation(VCE)of geodetic data,the problem of negative VCE is likely to occur.In the ordinary additive error model,there have been related studies to solve the problem of negative variance c... In the variance component estimation(VCE)of geodetic data,the problem of negative VCE is likely to occur.In the ordinary additive error model,there have been related studies to solve the problem of negative variance components.However,there is still no related research in the mixed additive and multiplicative random error model(MAMREM).Based on the MAMREM,this paper applies the nonnegative least squares variance component estimation(NNLS-VCE)algorithm to this model.The correlation formula and iterative algorithm of NNLS-VCE for MAMREM are derived.The problem of negative variance in VCE for MAMREM is solved.This paper uses the digital simulation example and the Digital Terrain Mode(DTM)to prove the proposed algorithm's validity.The experimental results demonstrated that the proposed algorithm can effectively correct the VCE in MAMREM when there is a negative VCE. 展开更多
关键词 Mixed additive and multiplicative random error model Stochastic model Non-negative least squares variance component estimation
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Multi-Area Path Planning for Multiple Unmanned Surface Vessels
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作者 Jianing Wu Yufeng Chen +2 位作者 Li Yin Huajun He Panshuan Jin 《Computers, Materials & Continua》 2026年第4期1093-1110,共18页
To conduct marine surveys,multiple unmanned surface vessels(Multi-USV)with different capabilities perform collaborative mapping in multiple designated areas.This paper proposes a task allocation algorithm based on int... To conduct marine surveys,multiple unmanned surface vessels(Multi-USV)with different capabilities perform collaborative mapping in multiple designated areas.This paper proposes a task allocation algorithm based on integer linear programming(ILP)with flow balance constraints,ensuring the fair and efficient distribution of sub-areas among USVs and maintaining strong connectivity of assigned regions.In the established gridmap,a search-based path planning algorithm is performed on the sub-areas according to the allocation scheme.It uses the greedy algorithm and the A*algorithm to achieve complete coverage of the barrier-free area and obtain an efficient trajectory of each USV.The greedy algorithm enables fast local traversal of unvisited grids,while the A*algorithm ensures navigation to escape from deadlock areas and maintains global path continuity.The comparison of task allocation results proves that the task allocation algorithm based on ILP improves the mapping efficiency and task distribution fairness.The proposed allocation method and result analysis provide a certain reference for the practical application ofMulti-USV to perform survey tasks collaboratively. 展开更多
关键词 multiple unmanned surface vessels multiple areas integer linear programming
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Illusion of inactivity:Revisiting progressive multiple sclerosis treatment paradigms
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作者 Tal Ganz Tamir Ben-Hur 《Neural Regeneration Research》 2026年第3期1134-1135,共2页
Active inflammation in“inactive”progressive multiple sclerosis:Traditionally,the distinction between relapsing-remitting multiple sclerosis and progressive multiple sclerosis(PMS)has been framed as an inflammatory v... Active inflammation in“inactive”progressive multiple sclerosis:Traditionally,the distinction between relapsing-remitting multiple sclerosis and progressive multiple sclerosis(PMS)has been framed as an inflammatory versus degenerative dichotomy.This was based on a broad misconception regarding essentially all neurodegenerative conditions,depicting the degenerative process as passive and immune-independent occurring as a late byproduct of active inflammation in the central nervous system(CNS),which is(solely)systemically driven. 展开更多
关键词 inflammatory versus degenerative dichotomythis treatment paradigms illusion inactivity multiple sclerosis traditionallythe central nervous system cns which progressive multiple sclerosis active inflammation progressive multiple sclerosis pms
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Formation control for multiple spacecraft with disturbances and sensor failures
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作者 Yufei LYU Yuezu PENG Wenliang 《Journal of Systems Engineering and Electronics》 2026年第1期18-25,共8页
Formation control of multiple spacecraft has attracted extensive research attention.However,achieving reliable performance under sensor failures remains a significant challenge.This paper develops an integrated framew... Formation control of multiple spacecraft has attracted extensive research attention.However,achieving reliable performance under sensor failures remains a significant challenge.This paper develops an integrated framework that jointly designs distributed observers and local controllers to ensure robust formation control in the presence of external disturbances and sensor malfunctions.Treating the spacecraft formation as a single interconnected system,each spacecraft constructs a distributed observer that estimates the overall system state by incorporating both its own measurements and the predicted control information shared among the spacecraft.Based on the observer estimates,a local control law is synthesized to maintain the desired formation.Rigorous theoretical analysis and numerical simulations demonstrate that the proposed integrated approach effectively guarantees formation stability and resilience against sensor failures and disturbances. 展开更多
关键词 formation control multiple spacecraft DISTURBANCE sensor failure
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The adhesive interlayer effect on the thermoelectric structure with multiple electrodes
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作者 Xiaojuan TIAN Yueting ZHOU 《Applied Mathematics and Mechanics(English Edition)》 2026年第3期573-598,共26页
Driven by the trend of device miniaturization and high-density integration,the interaction between adjacent electrodes has become a critical factor affecting the interfacial reliability of thermoelectric(TE)structures... Driven by the trend of device miniaturization and high-density integration,the interaction between adjacent electrodes has become a critical factor affecting the interfacial reliability of thermoelectric(TE)structures.This study investigates the influence of adjoining electrode interactions on the interfacial response of a multi-electrode/TE substrate structure,including interfacial stresses and stress intensity factors at the electrode ends.To solve the corresponding boundary-value problem,the Fourier transforms are adopted to derive a governing integro-differential equation for the interfacial shear stress in multi-electrode systems,incorporating the TE effects as generalized forces on the right-hand side.The results show that both the interfacial tension and transverse stress in the electrodes are significantly affected by the presence of adjacent electrodes.The interaction between neighboring electrodes diminishes as their spacing increases or when an adhesive interlayer is introduced.Furthermore,the softer and thinner electrodes,the softer and thicker adhesive interlayer,and the smaller TE loads are found to be beneficial for improving the interfacial performance.These findings may contribute to the accurate measurement in surface sensors and layout design of multi-point health monitoring systems for TE structures. 展开更多
关键词 thermoelectric(TE)material multiple electrodes adhesive interlayer interface behavior
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Predicting lymph node metastasis in colorectal cancer using caselevel multiple instance learning
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作者 Ling-Feng Zou Xuan-Bing Wang +4 位作者 Jing-Wen Li Xin Ouyang Yi-Ying Luo Yan Luo Cheng-Long Wang 《World Journal of Gastroenterology》 2026年第1期110-125,共16页
BACKGROUND The accurate prediction of lymph node metastasis(LNM)is crucial for managing locally advanced(T3/T4)colorectal cancer(CRC).However,both traditional histopathology and standard slide-level deep learning ofte... BACKGROUND The accurate prediction of lymph node metastasis(LNM)is crucial for managing locally advanced(T3/T4)colorectal cancer(CRC).However,both traditional histopathology and standard slide-level deep learning often fail to capture the sparse and diagnostically critical features of metastatic potential.AIM To develop and validate a case-level multiple-instance learning(MIL)framework mimicking a pathologist's comprehensive review and improve T3/T4 CRC LNM prediction.METHODS The whole-slide images of 130 patients with T3/T4 CRC were retrospectively collected.A case-level MIL framework utilising the CONCH v1.5 and UNI2-h deep learning models was trained on features from all haematoxylin and eosinstained primary tumour slides for each patient.These pathological features were subsequently integrated with clinical data,and model performance was evaluated using the area under the curve(AUC).RESULTS The case-level framework demonstrated superior LNM prediction over slide-level training,with the CONCH v1.5 model achieving a mean AUC(±SD)of 0.899±0.033 vs 0.814±0.083,respectively.Integrating pathology features with clinical data further enhanced performance,yielding a top model with a mean AUC of 0.904±0.047,in sharp contrast to a clinical-only model(mean AUC 0.584±0.084).Crucially,a pathologist’s review confirmed that the model-identified high-attention regions correspond to known high-risk histopathological features.CONCLUSION A case-level MIL framework provides a superior approach for predicting LNM in advanced CRC.This method shows promise for risk stratification and therapy decisions,requiring further validation. 展开更多
关键词 Colorectal cancer Lymph node metastasis Deep learning multiple instance learning HISTOPATHOLOGY
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Retinal layers thickness and retinal vascular parameters in patients with multiple sclerosis
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作者 Mehdi Moghaddasi Mahsa Sardarinia +3 位作者 Mostafa Soltansanjari Ahmad Vafajoo Nafise Mohebi Simin Zare 《国际眼科杂志》 2026年第3期368-374,共7页
AIM:To investigate the changes of retinal vascular parameters and retinal layer thickness in patients with multiple sclerosis(MS).METHODS:This single-centered case-control study was performed on a MS group of 42 patie... AIM:To investigate the changes of retinal vascular parameters and retinal layer thickness in patients with multiple sclerosis(MS).METHODS:This single-centered case-control study was performed on a MS group of 42 patients diagnosed with MS and a control group of 43 healthy hospital staff matched in terms of age and sex at Iran University,department of neurology and ophthalmology from March 2020 to March 2021.The ophthalmic parameters of each patient were recorded,and optical coherence tomography was used to evaluate the retinal thickness in the layers.RESULTS:This study enrolled a total of 85 participants,with a mean age of 40.44±11.52 years,including 61 females(72%).The control group consisted of 43 individuals with a mean age of 39.49±11.07 years,while the MS group comprised 42 participants with a mean age of 41.40±12.01 years.The mean disease duration in the MS group was 8.45±6.04 a.The thickness of the ganglion cell layer in the right eye was significantly lower in the MS group compared to the control group(P=0.034).In addition,except for the left nasal sector(P=0.106),the mean peripapillary neurofibrillation in all examined sectors were significantly lower in the MS group than in the control group(P<0.05).The average vessel density in both the deep and superficial capillary plexuses across all regions of both eyes was lower in the MS group than in the control group,with all comparisons for the superficial capillary plexus showing statistical significance(P<0.05 for all except the left nasal sector).CONCLUSION:The thickness of the retina of patients with MS is significantly reduced.Therefore,optical coherence tomography results can be used as a reliable tool to evaluate disease progression and prognosis in MS patients. 展开更多
关键词 multiple sclerosis optical coherence tomography RETINA retinal vascular disorder retinal layer thickness
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Effects of Lycium barbarum polysaccharide on the activation of pathogenic CD4^(+)T cells in a mouse model of multiple sclerosis
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作者 Mengdi Guo Guozhen Deng +9 位作者 Bin Huang Zhiyong Lin Xue Yang Linglin Dong Zilin Wang Yi Guo Ming Yi Weiyan Wang Mei-Ling Jiang Cun-Jin Zhang 《Neural Regeneration Research》 2026年第6期2563-2572,共10页
Multiple sclerosis is a severe autoimmune disorder that is mainly mediated by pathogenic cluster of CD4^(+)T cell subsets.Despite advancements in the management of multiple sclerosis,there is a critical need for more ... Multiple sclerosis is a severe autoimmune disorder that is mainly mediated by pathogenic cluster of CD4^(+)T cell subsets.Despite advancements in the management of multiple sclerosis,there is a critical need for more effective and safer treatments.In the present study,we administered Lycium barbarum glycopeptide to a mouse model of experimental autoimmune encephalomyelitis-an animal model of multiple sclerosis-and evaluated its effects on pathogenic CD4^(+)T cell activation both in vivo and in vitro.Lycium barbarum glycopeptide significantly mitigated the clinical severity of experimental autoimmune encephalomyelitis,as demonstrated by reduced demyelination and neuroinflammation.Moreover,Lycium barbarum glycopeptide treatment decreased the infiltration of peripheral leukocytes into the central nervous system and suppressed pro-inflammatory cytokine expression.Lycium barbarum glycopeptide also modulated pathogenic CD4^(+)T cell activation by inhibiting T helper 1/T helper 17 cell differentiation while promoting regulatory T cell expansion.Notably,no side effects were observed,suggesting the long-term safety and tolerability of Lycium barbarum glycopeptide.Furthermore,RNA sequencing data indicated that Lycium barbarum glycopeptide inhibits activator protein-1,an essential regulator of T cell activation and differentiation.This finding was supported by the reversal of T helper/T helper 17 cell response suppression upon AP-1 blockade.Collectively,these results highlight the potential of Lycium barbarum glycopeptide as an innovative therapeutic agent for CD4^(+)T cell-associated autoimmune or inflammatory diseases,such as multiple sclerosis. 展开更多
关键词 AP-1 signaling pathway experimental autoimmune encephalomyelitis Lycium barbarum glycopeptide multiple sclerosis neuroinflammation nucelar factor-κB signaling pathway NLRP3 inflammasome pathogenic CD4^(+)T cells T helper 1/T helper 17 cell differentiation Treg polarization
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基于软直觉multiplicative集的决策方法
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作者 杨勇 宋娟萍 《计算机工程与科学》 CSCD 北大核心 2016年第9期1930-1936,共7页
针对软直觉模糊集在决策中出现的部分反直觉的现象,结合直觉multiplicative集,首先提出了一种新的软集模型——软直觉multiplicative集,推广了软集和直觉multiplicative集;然后,研究了软直觉multiplicative集的基本运算和性质,同时,给... 针对软直觉模糊集在决策中出现的部分反直觉的现象,结合直觉multiplicative集,首先提出了一种新的软集模型——软直觉multiplicative集,推广了软集和直觉multiplicative集;然后,研究了软直觉multiplicative集的基本运算和性质,同时,给出了基于软直觉multiplicative集理论的决策算法;最后,给出软直觉multiplicative集在决策中的一个应用实例,通过实例说明了该方法的正确性和有效性。 展开更多
关键词 软集 直觉multiplicative 软直觉multiplicative 整合算子 决策
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On modeling with multiplicative differential equations 被引量:9
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作者 Agamirza E.Bashirov Emine Misirli +1 位作者 Ycel Tandogdu Ali zyapici 《Applied Mathematics(A Journal of Chinese Universities)》 SCIE CSCD 2011年第4期425-438,共14页
This work is aimed to show that various problems from different fields can be modeled more efficiently using multiplicative calculus, in place of Newtonian calculus. Since multiplicative calculus is still in its infan... This work is aimed to show that various problems from different fields can be modeled more efficiently using multiplicative calculus, in place of Newtonian calculus. Since multiplicative calculus is still in its infancy, some effort is put to explain its basic principles such as exponential arithmetic, multiplicative calculus, and multiplicative differential equations. Examples from finance, actuarial science, economics, and social sciences are presented with solutions using multiplicative calculus concepts. Based on the encouraging results obtained it is recommended that further research into this field be vested to exploit the applicability of multiplicative calculus in different fields as well as the development of multiplicative calculus concepts. 展开更多
关键词 Gompertz function ELASTICITY exponential arithmetic multiplicative calculus growth.
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RANDOM ATTRACTOR FOR A TWO-DIMENSIONAL INCOMPRESSIBLE NON-NEWTONIAN FLUID WITH MULTIPLICATIVE NOISE 被引量:5
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作者 赵才地 李用声 周盛凡 《Acta Mathematica Scientia》 SCIE CSCD 2011年第2期567-575,共9页
This article proves that the random dynamical system generated by a twodimensional incompressible non-Newtonian fluid with multiplicative noise has a global random attractor, which is a random compact set absorbing an... This article proves that the random dynamical system generated by a twodimensional incompressible non-Newtonian fluid with multiplicative noise has a global random attractor, which is a random compact set absorbing any bounded nonrandom subset of the phase space. 展开更多
关键词 Random attractor multiplicative noise non-Newtonian fluid
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An Estimate of the Enumeration Function of Multiplicative Partitions 被引量:1
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作者 曹会中 《Chinese Quarterly Journal of Mathematics》 CSCD 1992年第2期46-48,共3页
Let f(n) denote the number of multiplicative partitions of a positive intger. We prove that if n is an odd number,then f(n)≤n/15+7/5.
关键词 multiplicative partitions
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Interactive group decision making procedure based on uncertain multiplicative linguistic preference relations 被引量:10
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作者 Zeshui Xu 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2010年第3期408-415,共8页
Group decision making problems are investigated with uncertain multiplicative linguistic preference relations.An unbalanced multiplicative linguistic label set is introduced,which can be used by the experts to express... Group decision making problems are investigated with uncertain multiplicative linguistic preference relations.An unbalanced multiplicative linguistic label set is introduced,which can be used by the experts to express their linguistic preference information over alternatives.The uncertain linguistic weighted geometric mean operator is utilized to aggregate all the individual uncertain multiplicative linguistic preference relations into a collective one,and then a simple approach is developed to determine the experts'weights by utilizing the consensus degrees among the individual uncertain multiplicative linguistic preference relations and the collective uncertain multiplicative linguistic preference relations.Furthermore,a practical interactive procedure for group decision making is proposed based on uncertain multiplicative linguistic preference relations,in which a possibility degree formula and a complementary matrix are used to rank the given alternatives.Finally,the proposed procedure is applied to solve the group decision making problem of a manufacturing company searching the best global supplier for one of its most critical parts used in assembling process. 展开更多
关键词 group decision making uncertain multiplicative linguistic preference relations unbalanced multiplicative linguistic label set consensus degree interaction.
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A Multiplicative Seasonal ARIMA/GARCH Model in EVN Traffic Prediction 被引量:4
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作者 Quang Thanh Tran Zhihua Ma +2 位作者 Hengchao Li Li Hao Quang Khai Trinh 《International Journal of Communications, Network and System Sciences》 2015年第4期43-49,共7页
This paper highlights the statistical procedure used in developing models that have the ability of capturing and forecasting the traffic of mobile communication network operating in Vietnam. To build such models, we f... This paper highlights the statistical procedure used in developing models that have the ability of capturing and forecasting the traffic of mobile communication network operating in Vietnam. To build such models, we follow Box-Jenkins method to construct a multiplicative seasonal ARIMA model to represent the mean component using the past values of traffic, then incorporate a GARCH model to represent its volatility. The traffic is collected from EVN Telecom mobile communication network. Diagnostic tests and examination of forecast accuracy measures indicate that the multiplicative seasonal ARIMA/GARCH model, i.e. ARIMA (1, 0, 1) × (0, 1, 1)24/GARCH (1, 1) shows a good estimation when dealing with volatility clustering in the data series. This model can be considered to be a flexible model to capture well the characteristics of EVN traffic series and give reasonable forecasting results. Moreover, in such situations that the volatility is not necessary to be taken into account, i.e. short-term prediction, the multiplicative seasonal ARIMA/GARCH model still acts well with the GARCH parameters adjusted to GARCH (0, 0). 展开更多
关键词 TRAFFIC Prediction ARIMA GARCH multiplicative SEASONAL ARIMA/GARCH EVIEWS
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Fault detection filter design for linear discrete time-varying systems with multiplicative noise 被引量:2
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作者 Yueyang Li Maiying Zhong 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2011年第6期982-990,共9页
The problem of fault detection for linear discrete timevarying systems with multiplicative noise is dealt with.By using an observer-based robust fault detection filter(FDF) as a residual generator,the design of the ... The problem of fault detection for linear discrete timevarying systems with multiplicative noise is dealt with.By using an observer-based robust fault detection filter(FDF) as a residual generator,the design of the FDF is formulated in the framework of H ∞ filtering for a class of stochastic time-varying systems.A sufficient condition for the existence of the FDF is derived in terms of a Riccati equation.The determination of the parameter matrices of the filter is converted into a quadratic optimization problem,and an analytical solution of the parameter matrices is obtained by solving the Riccati equation.Numerical examples are given to illustrate the effectiveness of the proposed method. 展开更多
关键词 fault detection filter(FDF) linear discrete time-varying(LDTV) system multiplicative noise Riccati equation.
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A multiplicative Gauss-Newton minimization algorithm:Theory and application to exponential functions 被引量:1
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作者 Anmol Gupta Sanjay Kumar 《Applied Mathematics(A Journal of Chinese Universities)》 SCIE CSCD 2021年第3期370-389,共20页
Multiplicative calculus(MUC)measures the rate of change of function in terms of ratios,which makes the exponential functions significantly linear in the framework of MUC.Therefore,a generally non-linear optimization p... Multiplicative calculus(MUC)measures the rate of change of function in terms of ratios,which makes the exponential functions significantly linear in the framework of MUC.Therefore,a generally non-linear optimization problem containing exponential functions becomes a linear problem in MUC.Taking this as motivation,this paper lays mathematical foundation of well-known classical Gauss-Newton minimization(CGNM)algorithm in the framework of MUC.This paper formulates the mathematical derivation of proposed method named as multiplicative Gauss-Newton minimization(MGNM)method along with its convergence properties.The proposed method is generalized for n number of variables,and all its theoretical concepts are authenticated by simulation results.Two case studies have been conducted incorporating multiplicatively-linear and non-linear exponential functions.From simulation results,it has been observed that proposed MGNM method converges for 12972 points,out of 19600 points considered while optimizing multiplicatively-linear exponential function,whereas CGNM and multiplicative Newton minimization methods converge for only 2111 and 9922 points,respectively.Furthermore,for a given set of initial value,the proposed MGNM converges only after 2 iterations as compared to 5 iterations taken by other methods.A similar pattern is observed for multiplicatively-non-linear exponential function.Therefore,it can be said that proposed method converges faster and for large range of initial values as compared to conventional methods. 展开更多
关键词 multiplicative calculus multiplicative least square method multiplicative Newton minimization multiplicative Gauss-Newton minimization non-linear exponential functions
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Vibrational and Stochastic Resonance in the FitzHugh–Nagumo Neural Model with Multiplicative and Additive Noise 被引量:2
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作者 HE Zheng-You ZHOU Yu-Rong 《Chinese Physics Letters》 SCIE CAS CSCD 2011年第11期41-44,共4页
The vibrational resonance and stochastic resonance phenomena in the FitzHugh–Nagumo(FHN)neural model,driven by a high-frequency(HF)signal and a low-frequency(LF)signal and by coupled multiplicative and additive noise... The vibrational resonance and stochastic resonance phenomena in the FitzHugh–Nagumo(FHN)neural model,driven by a high-frequency(HF)signal and a low-frequency(LF)signal and by coupled multiplicative and additive noises,is investigated.For the case that the frequency of the HF signal is much higher than that of the LF signal,under the adiabatic approximation condition,the expression of the signal-to-noise ratio(SNR)with respect to the LF signal is obtained.It is shown that the SNR is a non-monotonous function of the amplitude and frequency of the HF signal.In addition,the SNR varies non-monotonically with the increasing intensities of the multiplicative and additive noise as well as with the increasing system parameters of the FHN model.The influence of the coupling strength between the multiplicative and additive noises on the SNR is discussed. 展开更多
关键词 noise ADDITIVE multiplicative
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Adaptive cubature Kalman filter with the estimation of correlation between multiplicative noise and additive measurement noise 被引量:6
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作者 Quanbo GE Zhongcheng MA +3 位作者 Jinglan LI Qinmin YANG Zhenyu LU Hong LI 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2022年第5期40-52,共13页
Mobile robots are often subject to multiplicative noise in the target tracking tasks,where the multiplicative measurement noise is correlated with additive measurement noise.In this paper,first,a correlation multiplic... Mobile robots are often subject to multiplicative noise in the target tracking tasks,where the multiplicative measurement noise is correlated with additive measurement noise.In this paper,first,a correlation multiplicative measurement noise model is established.It is able to more accurately represent the measurement error caused by the distance sensor dependence state.Then,the estimated performance mismatch problem of Cubature Kalman Filter(CKF)under multiplicative noise is analyzed.An improved Gaussian filter algorithm is introduced to help obtain the CKF algorithm with correlated multiplicative noise.In practice,the model parameters are unknown or inaccurate,especially the correlation of noise is difficult to obtain,which can lead to a decrease in filtering accuracy or even divergence.To address this,an adaptive CKF algorithm is further provided to achieve reliable state estimation for the unknown noise correlation coefficient and thus the application of the CKF algorithm is extended.Finally,the estimated performance is analyzed theoretically,and the simulation study is conducted to validate the effectiveness of the proposed algorithm. 展开更多
关键词 Adaptive CKF Correlated noise Estimation accuracy multiplicative noise Performance analysis Target tracking
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