Numerical Fitting-based Likelihood Calculation to Speed up the Particle Filter

The likelihood calculation of a vast number of particles is the computational bottleneck for the particle filter in applications where the observation information is rich. For fast computing the likelihood of particles, a numerical fitting approach is proposed to construct the Likelihood Probability Density Function (Li-PDF) by using a comparably small number of so-called fulcrums. The likelihood of particles is thereby analytically inferred, explicitly or implicitly, based on the Li-PDF instead of directly computed by utilizing the observation, which can significantly reduce the computation and enables real time filtering. The proposed approach guarantees the estimation quality when an appropriate fitting function and properly distributed fulcrums are used. The details for construction of the fitting function and fulcrums are addressed respectively in detail. In particular, to deal with multivariate fitting, the nonparametric kernel density estimator is presented which is flexible and convenient for implicit Li-PDF implementation. Simulation comparison with a variety of existing approaches on a benchmark 1-dimensional model and multi-dimensional robot localization and visual tracking demonstrate the validity of our approach.Comment: 42 pages, 17 figures, 4 tables and 1 appendix. This paper is a draft/preprint of one paper submitted to the IEEE Transaction

Automaticity in processing spatial-numerical associations: Evidence from a perceptual orientation judgment task of Arabic digits in frames.

Human adults are faster to respond to small/large numerals with their left/right hand when they judge the parity of numerals, which is known as the SNARC (spatial-numerical association of response codes) effect. It has been proposed that the size of the SNARC effect depends on response latencies. The current study introduced a perceptual orientation task, where participants were asked to judge the orientation of a digit or a frame surrounding the digit. The present study first confirmed the SNARC effect with native Chinese speakers (Experiment 1) using a parity task, and then examined whether the emergence and size of the SNARC effect depended on the response latencies (Experiments 2, 3, and 4) using a perceptual orientation judgment task. Our results suggested that (a) the automatic processing of response-related numerical-spatial information occurred with Chinese-speaking participants in the parity task; (b) the SNARC effect was also found when the task did not require semantic access; and (c) the size of the effect depended on the processing speed of the task-relevant dimension. Finally, we proposed an underlying mechanism to explain the SNARC effect in the perceptual orientation judgment task

An Efficient Patch Dissemination Strategy for Mobile Networks

Mobile phones and personal digital assistants are becoming increasingly important in our daily life since they enable us to access a large variety of ubiquitous services. Mobile networks, formed by the connection of mobile devices following some relationships among mobile users, provide good platforms for mobile virus spread. Quick and efficient security patch dissemination strategy is necessary for the update of antivirus software so that it can detect mobile virus, especially the new virus under the wireless mobile network environment with limited bandwidth which is also large scale, decentralized, dynamically evolving, and of unknown network topology. In this paper, we propose an efficient semi autonomy-oriented computing (SAOC) based patch dissemination strategy to restrain the mobile virus. In this strategy, some entities are deployed in a mobile network to search for mobile devices according to some specific rules and with the assistance of a center. Through experiments involving both real-world networks and dynamically evolving networks, we demonstrate that the proposed strategy can effectively send security patches to as many mobile devices as possible at a considerable speed and lower cost in the mobile network. It is a reasonable, effective, and secure method to reduce the damages mobile viruses may cause

The toxic effect of mobile phone radiation on rabbit organs

Whether electromagnetic radiation (EMR) emitted from mobile phones is hazardous to human health is largely unknown. We investigated the effects of mobile phone radiation on critical organs in a rabbit model by exposing the animals to mobile phone radiation with sub-thermal specific absorption rate (SAR) of 1.0 and 0.7 W/kg for the head and the body, respectively, for 16 weeks (6 h/day, 6 days/week). There is no apparent change at the organ level. However, H&E staining showed that radiation-exposure significantly increased inflammatory cell infiltration in the liver and the lungs with a lesser degree of myocardial cell cytoplasmic vacuolation. In addition, results from γ-H2AX staining suggest that radiation can also cause DNA damage in the brain. Of note, no apparent activation of Caspase-3 in the organs examined. Our data altogether suggest that mobile phone radiation may be more hazardous to both the liver and the lungs, and less toxic to the brain and heart

A Survey of Recent Advances in Particle Filters and Remaining Challenges for Multitarget Tracking

[EN]We review some advances of the particle filtering (PF) algorithm that have been achieved in the last decade in the context of target tracking, with regard to either a single target or multiple targets in the presence of false or missing data. The first part of our review is on remarkable achievements that have been made for the single-target PF from several aspects including importance proposal, computing efficiency, particle degeneracy/impoverishment and constrained/multi-modal systems. The second part of our review is on analyzing the intractable challenges raised within the general multitarget (multi-sensor) tracking due to random target birth and termination, false alarm, misdetection, measurement-to-track (M2T) uncertainty and track uncertainty. The mainstream multitarget PF approaches consist of two main classes, one based on M2T association approaches and the other not such as the finite set statistics-based PF. In either case, significant challenges remain due to unknown tracking scenarios and integrated tracking management