Hybrid Kinematic-Dynamic Sideslip and Friction Estimation

Vehicle sideslip and tyre/road friction are crucial variables for advanced vehicle stability control systems. Estimation is required since direct measurement through sensors is costly and unreliable. In this paper, we develop and validate a sideslip estimator robust to unknown road grip conditions. Particularly, the paper addresses the problem of rapid tyre/road friction adaptation when sudden road condition variations happen. The algorithm is based on a hybrid kinematic-dynamic closed-loop observer augmented with a tyre/road friction classifier that reinitializes the states of the estimator when a change of friction is detected. Extensive experiments on a four wheel drive electric vehicle carried out on different roads quantitatively validate the approach. The architecture guarantees accurate estimation on dry and wet asphalt and snow terrain with a maximum sideslip estimation error lower than 1.5 deg. The classifier correctly recognizes 87% of the friction changes; wrongly classifies 2% of the friction changes while it is unable to detect the change in 11% of the cases. The missed detections are due to the fact that the algorithm requires a certain level of vehicle excitation to detect a change of friction. The average classification time is 1.6 s. The tests also indicate the advantages of the friction classifiers on the sideslip estimation error

Use of linear mixed models for genetic evaluation of gestation length and birth weight allowing for heavy-tailed residual effects

<p>Abstract</p> <p>Background</p> <p>The distribution of residual effects in linear mixed models in animal breeding applications is typically assumed normal, which makes inferences vulnerable to outlier observations. In order to mute the impact of outliers, one option is to fit models with residuals having a heavy-tailed distribution. Here, a Student's-<it>t </it>model was considered for the distribution of the residuals with the degrees of freedom treated as unknown. Bayesian inference was used to investigate a bivariate Student's-<it>t </it>(BS<it>t</it>) model using Markov chain Monte Carlo methods in a simulation study and analysing field data for gestation length and birth weight permitted to study the practical implications of fitting heavy-tailed distributions for residuals in linear mixed models.</p> <p>Methods</p> <p>In the simulation study, bivariate residuals were generated using Student's-<it>t </it>distribution with 4 or 12 degrees of freedom, or a normal distribution. Sire models with bivariate Student's-<it>t </it>or normal residuals were fitted to each simulated dataset using a hierarchical Bayesian approach. For the field data, consisting of gestation length and birth weight records on 7,883 Italian Piemontese cattle, a sire-maternal grandsire model including fixed effects of sex-age of dam and uncorrelated random herd-year-season effects were fitted using a hierarchical Bayesian approach. Residuals were defined to follow bivariate normal or Student's-<it>t </it>distributions with unknown degrees of freedom.</p> <p>Results</p> <p>Posterior mean estimates of degrees of freedom parameters seemed to be accurate and unbiased in the simulation study. Estimates of sire and herd variances were similar, if not identical, across fitted models. In the field data, there was strong support based on predictive log-likelihood values for the Student's-<it>t </it>error model. Most of the posterior density for degrees of freedom was below 4. Posterior means of direct and maternal heritabilities for birth weight were smaller in the Student's-<it>t </it>model than those in the normal model. Re-rankings of sires were observed between heavy-tailed and normal models.</p> <p>Conclusions</p> <p>Reliable estimates of degrees of freedom were obtained in all simulated heavy-tailed and normal datasets. The predictive log-likelihood was able to distinguish the correct model among the models fitted to heavy-tailed datasets. There was no disadvantage of fitting a heavy-tailed model when the true model was normal. Predictive log-likelihood values indicated that heavy-tailed models with low degrees of freedom values fitted gestation length and birth weight data better than a model with normally distributed residuals.</p> <p>Heavy-tailed and normal models resulted in different estimates of direct and maternal heritabilities, and different sire rankings. Heavy-tailed models may be more appropriate for reliable estimation of genetic parameters from field data.</p

The dog as an animal model for DISH?

Diffuse idiopathic skeletal hyperostosis (DISH) is a systemic disorder of the axial and peripheral skeleton in humans and has incidentally been described in dogs. The aims of this retrospective radiographic cohort study were to determine the prevalence of DISH in an outpatient population of skeletally mature dogs and to investigate if dogs can be used as an animal model for DISH. The overall prevalence of canine DISH was 3.8% (78/2041). The prevalence of DISH increased with age and was more frequent in male dogs, similar to findings in human studies. In the Boxer breed the prevalence of DISH was 40.6% (28/69). Dog breeds represent closed gene pools with a high degree of familiar relationship and the high prevalence in the Boxer may be indicative of a genetic origin of DISH. It is concluded that the Boxer breed may serve as an animal model for DISH in humans