• Journal of Institute of Control, Robotics and Systems
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• v.22 no.2
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• pp.104-109
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• 2016

In this paper, a localization method for multiple robots based on Bayesian inference is proposed when multiple robots adopting multi-RAT (Radio Access Technology) communications exist in cognitive radio networks. Multiple robots are separately defined by primary and secondary users as in conventional mobile communications system. In addition, the heterogeneous spectrum environment is considered in this paper. To improve the performance of localization for multiple robots, a realistic multiple primary user distribution is explained by using the probabilistic graphical model, and then we introduce the Gibbs sampler strategy based on Bayesian inference. In addition, the secondary user selection minimizing the value of GDOP (Geometric Dilution of Precision) is also proposed in order to overcome the limitations of localization accuracy with Gibbs sampling. Via the simulation results, we can show that the proposed localization method based on GDOP enhances the accuracy of localization for multiple robots. Furthermore, it can also be verified from the simulation results that localization performance is significantly improved with increasing number of observation samples when the GDOP is considered.

• Structural Engineering and Mechanics
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• v.87 no.1
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• pp.1-18
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• 2023

The paper presents a Bayesian Finite element (FE) model updating methodology by utilizing modal data. The dynamic condensation technique is adopted in this work to reduce the full system model to a smaller model version such that the degrees of freedom (DOFs) in the reduced model correspond to the observed DOFs, which facilitates the model updating procedure without any mode-matching. The present work considers both the MPV and the covariance matrix of the modal parameters as the modal data. Besides, the modal data identified from multiple setups is considered for the model updating procedure, keeping in view of the realistic scenario of inability of limited number of sensors to measure the response of all the interested DOFs of a large structure. A relationship is established between the modal data and structural parameters based on the eigensystem equation through the introduction of additional uncertain parameters in the form of modal frequencies and partial mode shapes. A novel sampling strategy known as the Metropolis-within-Gibbs (MWG) sampler is proposed to sample from the posterior Probability Density Function (PDF). The effectiveness of the proposed approach is demonstrated by considering both simulated and experimental examples.

• Journal of Animal Science and Technology
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• v.57 no.5
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• pp.19.1-19.6
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• 2015

The objective of this study was to estimate variance components and genetic parameters for growth curve parameters in Guilan sheep. Studied traits were parameters of Brody growth model which included A (asymptotic mature weight), B (initial animal weight) and K (maturation rate). The data set and pedigree information used in this study were obtained from the Agricultural Organization of Guilan province (Rasht, Iran) and comprised 8647 growth curve records of lambs from birth to 240 days of age during 1994 to 2014. Marginal posterior distributions of parameters and variance components were estimated using TM program. The Gibbs sampler was run 300000 rounds and the first 60000 rounds were discarded as a burn-in period. Posterior mean estimates of direct heritabilities for A, B and K were 0.39, 0.23 and 0.039, respectively. Estimates of direct genetic correlation between growth curve parameters were 0.57, 0.03 and -0.01 between A-B, A-K and B-K, respectively. Estimates of direct genetic trends for A, B and K were positive and their corresponding values were $0.014{\pm}0.003$ (P < 0.001), $0.0012{\pm}0.0009$ (P > 0.05) and $0.000002{\pm}0.0001$ (P > 0.05), respectively. Residual correlations between growth curve parameters varied form -0.52 (between A-K) to 0.48 (between A-B). Also, phenotypic correlations between growth curve parameters varied form -0.49 (between A-K) to 0.47 (between A-B). The results of this study indicated that improvement of growth curve parameters of Guilan sheep seems feasible in selection programs. It is worthwhile to develop a selection strategy to obtain an appropriate shape of growth curve through changing genetically the parameters of growth model.