The construction method of background value is improved in the original multi-variable grey model （MGM（1,m）） from its source of construction errors. The MGM（1,m） with optimized background value is used to elimin...The construction method of background value is improved in the original multi-variable grey model （MGM（1,m）） from its source of construction errors. The MGM（1,m） with optimized background value is used to eliminate the random fluctuations or errors of the observational data of all variables, and the combined prediction model together with the multiple linear regression is established in order to improve the simulation and prediction accuracy of the combined model. Finally, a combined model of the MGM（1,2） with optimized background value and the binary linear regression is constructed by an example. The results show that the model has good effects for simulation and prediction.展开更多
In order to optimize plastic viscosity of 18 mPa·s circulating micro-bubble drilling fluid formula,orthogonal and uniform experimental design methods were applied,and the plastic viscosities of 36 and 24 groups o...In order to optimize plastic viscosity of 18 mPa·s circulating micro-bubble drilling fluid formula,orthogonal and uniform experimental design methods were applied,and the plastic viscosities of 36 and 24 groups of agent were tested,respectively.It is found that these two experimental design methods show drawbacks,that is,the amount of agent is difficult to determine,and the results are not fully optimized.Therefore,multiple regression experimental method was used to design experimental formula.By randomly selecting arbitrary agent with the amount within the recommended range,17 groups of drilling fluid formula were designed,and the plastic viscosity of each experiment formula was measured.Set plastic viscosity as the objective function,through multiple regressions,then quadratic regression model is obtained,whose correlation coefficient meets the requirement.Set target values of plastic viscosity to be 18,20 and 22 mPa·s,respectively,with the trial method,5 drilling fluid formulas are obtained with accuracy of 0.000 3,0.000 1 and 0.000 3.Arbitrarily select target value of each of the two groups under the formula for experimental verification of drilling fluid,then the measurement errors between theoretical and tested plastic viscosity are less than 5%,confirming that regression model can be applied to optimizing the circulating of plastic-foam drilling fluid viscosity.In accordance with the precision of different formulations of drilling fluid for other constraints,the methods result in the optimization of the circulating micro-bubble drilling fluid parameters.展开更多
The strategies that minimize the overall solution time of multiple linear systems in 3D finite element method (FEM) modeling of direct current (DC) resistivity were discussed. A global stiff matrix is assembled and st...The strategies that minimize the overall solution time of multiple linear systems in 3D finite element method (FEM) modeling of direct current (DC) resistivity were discussed. A global stiff matrix is assembled and stored in two parts separately. One part is associated with the volume integral and the other is associated with the subsurface boundary integral. The equivalent multiple linear systems with closer right-hand sides than the original systems were constructed. A recycling Krylov subspace technique was employed to solve the multiple linear systems. The solution of the seed system was used as an initial guess for the subsequent systems. The results of two numerical experiments show that the improved algorithm reduces the iterations and CPU time by almost 50%, compared with the classical preconditioned conjugate gradient method.展开更多
Faulted gas reservoirs are very common in reality,where some linear leaky faults divide the gas reservoir into several reservoir regions with distinct physical properties.This kind of gas reservoirs is also known as l...Faulted gas reservoirs are very common in reality,where some linear leaky faults divide the gas reservoir into several reservoir regions with distinct physical properties.This kind of gas reservoirs is also known as linear composite(LC)gas reservoirs.Although some analytical/semi-analytical models have been proposed to investigate pressure behaviors of producing wells in LC reservoirs based on the linear composite ideas,almost all of them focus on vertical wells and studies on multiple fractured horizontal wells are rare.After the pressure wave arrives at the leaky fault,pressure behaviors of multiple fractured horizontal wells will be affected by the leaky faults.Understanding the effect of leaky faults on pressure behaviors of multiple fractured horizontal wells is critical to the development design.Therefore,a semi-analytical model of finite-conductivity multiple fractured horizontal(FCMFH)wells in LC gas reservoirs is established based on Laplace-space superposition principle and fracture discrete method.The proposed model is validated against commercial numerical simulator.Type curves are obtained to study pressure characteristics and identify flow regimes.The effects of some parameters on type curves are discussed.The proposed model will have a profound effect on developing analytical/semi-analytical models for other complex well types in LC gas reservoirs.展开更多
Background Cardiovascular diseases are closely linked to atherosclerotic plaque development and rupture.Plaque progression prediction is of fundamental significance to cardiovascular research and disease diagnosis,pre...Background Cardiovascular diseases are closely linked to atherosclerotic plaque development and rupture.Plaque progression prediction is of fundamental significance to cardiovascular research and disease diagnosis,prevention,and treatment.Generalized linear mixed models(GLMM)is an extension of linear model for categorical responses while considering the correlation among observations.Methods Magnetic resonance image(MRI)data of carotid atheroscleroticplaques were acquired from 20 patients with consent obtained and 3D thin-layer models were constructed to calculate plaque stress and strain for plaque progression prediction.Data for ten morphological and biomechanical risk factors included wall thickness(WT),lipid percent(LP),minimum cap thickness(MinCT),plaque area(PA),plaque burden(PB),lumen area(LA),maximum plaque wall stress(MPWS),maximum plaque wall strain(MPWSn),average plaque wall stress(APWS),and average plaque wall strain(APWSn)were extracted from all slices for analysis.Wall thickness increase(WTI),plaque burden increase(PBI)and plaque area increase(PAI) were chosen as three measures for plaque progression.Generalized linear mixed models(GLMM)with 5-fold cross-validation strategy were used to calculate prediction accuracy for each predictor and identify optimal predictor with the highest prediction accuracy defined as sum of sensitivity and specificity.All 201 MRI slices were randomly divided into 4 training subgroups and 1 verification subgroup.The training subgroups were used for model fitting,and the verification subgroup was used to estimate the model.All combinations(total1023)of 10 risk factors were feed to GLMM and the prediction accuracy of each predictor were selected from the point on the ROC(receiver operating characteristic)curve with the highest sum of specificity and sensitivity.Results LA was the best single predictor for PBI with the highest prediction accuracy(1.360 1),and the area under of the ROC curve(AUC)is0.654 0,followed by APWSn(1.336 3)with AUC=0.6342.The optimal predictor among all possible combinations for PBI was the combination of LA,PA,LP,WT,MPWS and MPWSn with prediction accuracy=1.414 6(AUC=0.715 8).LA was once again the best single predictor for PAI with the highest prediction accuracy(1.184 6)with AUC=0.606 4,followed by MPWSn(1. 183 2)with AUC=0.6084.The combination of PA,PB,WT,MPWS,MPWSn and APWSn gave the best prediction accuracy(1.302 5)for PAI,and the AUC value is 0.6657.PA was the best single predictor for WTI with highest prediction accuracy(1.288 7)with AUC=0.641 5,followed by WT(1.254 0),with AUC=0.6097.The combination of PA,PB,WT,LP,MinCT,MPWS and MPWS was the best predictor for WTI with prediction accuracy as 1.314 0,with AUC=0.6552.This indicated that PBI was a more predictable measure than WTI and PAI. The combinational predictors improved prediction accuracy by 9.95%,4.01%and 1.96%over the best single predictors for PAI,PBI and WTI(AUC values improved by9.78%,9.45%,and 2.14%),respectively.Conclusions The use of GLMM with 5-fold cross-validation strategy combining both morphological and biomechanical risk factors could potentially improve the accuracy of carotid plaque progression prediction.This study suggests that a linear combination of multiple predictors can provide potential improvement to existing plaque assessment schemes.展开更多
The distributed leadless consensus problem for multiple quadrotor systems under fixed and switching topologies is investigated. The objective is to design protocols achieving consensus for networked quadrotors＇ posit...The distributed leadless consensus problem for multiple quadrotor systems under fixed and switching topologies is investigated. The objective is to design protocols achieving consensus for networked quadrotors＇ positions and attitudes. Because the model of a quadrotor is a strong high-order nonlinear coupling system, the approach of feedback linearization is employed to transform the model into a group of four linear subsystems among which there is no coupling. Then, a consensus algorithm is proposed which consists of a local feedback controller and interactions from the finite neighbors under fixed undirected topologies. Especially, the problem of choosing the parameters in the consensus algo-rithm is also addressed, enlightened by the results of the robust control theory. Furthermore, it is proved that the proposed algo-rithm also guarantees the consensus under undirected switching topologies. Simulation results show the effectiveness of the pro- posed algorithm.展开更多
The new method which uses the consensus algorithm to solve the coordinate control problems of multiple unmanned underwater vehicles （multi-UUVs） formation in the case of leader-following is adapted. As the communica...The new method which uses the consensus algorithm to solve the coordinate control problems of multiple unmanned underwater vehicles （multi-UUVs） formation in the case of leader-following is adapted. As the communication between the UUVs is difficult and it is easy to be interfered under the water, time delay is assumed to be time-varying during the members communicate with each other. Meanwhile, the state feedback linearization method is used to transfer the nonlinear and coupling model of UUV into double-integrator dynamic. With this simplified double-integrator math model, the UUV formation coordinate control is regarded as consensus problem with time-varying communication delays. In addition, the position and velocity topologies are adapted to reduce the data volume in each data packet which is sent between members in formation. With two independent topologies designed, two cases of communication delay which are same and different are considered and the sufficient conditions are proposed and analyzed. The stability of the multi-UUVs formation is proven by using Lyapunov-Razumilkhin theorem. Finally, the simulation results are presented to confirm and illustrate the theoretical results.展开更多
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
With the development of technology, the relevant performance of unmanned aerial vehicles(UAVs) has been greatly improved, and various highly maneuverable UAVs have been developed, which puts forward higher requirement...With the development of technology, the relevant performance of unmanned aerial vehicles(UAVs) has been greatly improved, and various highly maneuverable UAVs have been developed, which puts forward higher requirements on target tracking technology. Strong maneuvering refers to relatively instantaneous and dramatic changes in target acceleration or movement patterns, as well as continuous changes in speed,angle, and acceleration. However, the traditional UAV tracking algorithm model has poor adaptability and large amount of calculation. This paper applies support vector regression(SVR)to the interacting multiple model(IMM) algorithm. The simulation results show that the improved algorithm has higher tracking accuracy for highly maneuverable targets than the original algorithm, and can adjust parameters adaptively, making it more adaptable.展开更多
The robust stability of a class of Hopfield neural networks with multiple delays and parameter perturbations is analyzed. The sufficient conditions for the global robust stability of equilibrium point are given by way...The robust stability of a class of Hopfield neural networks with multiple delays and parameter perturbations is analyzed. The sufficient conditions for the global robust stability of equilibrium point are given by way of constructing a suitable Lyapunov functional. The conditions take the form of linear matrix inequality (LMI), so they are computable and verifiable efficiently. Furthermore, all the results are obtained without assuming the differentiability and monotonicity of activation functions. From the viewpoint of system analysis, our results provide sufficient conditions for the global robust stability in a manner that they specify the size of perturbation that Hopfield neural networks can endure when the structure of the network is given. On the other hand, from the viewpoint of system synthesis, our results can answer how to choose the parameters of neural networks to endure a given perturbation.展开更多
This paper proposes a robust method of parameter estimation and data classification for multiple-structural data based on the linear error in variable（EIV） model.The traditional EIV model fitting problem is analyzed...This paper proposes a robust method of parameter estimation and data classification for multiple-structural data based on the linear error in variable（EIV） model.The traditional EIV model fitting problem is analyzed and a robust growing algorithm is developed to extract the underlying linear structure of the observed data.Under the structural density assumption,the C-step technique borrowed from the Rousseeuw＇s robust MCD estimator is used to keep the algorithm robust and the mean-shift algorithm is adopted to ensure a good initialization.To eliminate the model ambiguities of the multiple-structural data,statistical hypotheses tests are used to refine the data classification and improve the accuracy of the model parameter estimation.Experiments show that the efficiency and robustness of the proposed algorithm.展开更多
基金supported by the National Natural Science Foundation of China(71071077)the Ministry of Education Key Project of National Educational Science Planning(DFA090215)+1 种基金China Postdoctoral Science Foundation(20100481137)Funding of Jiangsu Innovation Program for Graduate Education(CXZZ11-0226)
文摘The construction method of background value is improved in the original multi-variable grey model （MGM（1,m）） from its source of construction errors. The MGM（1,m） with optimized background value is used to eliminate the random fluctuations or errors of the observational data of all variables, and the combined prediction model together with the multiple linear regression is established in order to improve the simulation and prediction accuracy of the combined model. Finally, a combined model of the MGM（1,2） with optimized background value and the binary linear regression is constructed by an example. The results show that the model has good effects for simulation and prediction.
基金Project(50304010) supported by the National Natural Science Foundation of China
文摘In order to optimize plastic viscosity of 18 mPa·s circulating micro-bubble drilling fluid formula,orthogonal and uniform experimental design methods were applied,and the plastic viscosities of 36 and 24 groups of agent were tested,respectively.It is found that these two experimental design methods show drawbacks,that is,the amount of agent is difficult to determine,and the results are not fully optimized.Therefore,multiple regression experimental method was used to design experimental formula.By randomly selecting arbitrary agent with the amount within the recommended range,17 groups of drilling fluid formula were designed,and the plastic viscosity of each experiment formula was measured.Set plastic viscosity as the objective function,through multiple regressions,then quadratic regression model is obtained,whose correlation coefficient meets the requirement.Set target values of plastic viscosity to be 18,20 and 22 mPa·s,respectively,with the trial method,5 drilling fluid formulas are obtained with accuracy of 0.000 3,0.000 1 and 0.000 3.Arbitrarily select target value of each of the two groups under the formula for experimental verification of drilling fluid,then the measurement errors between theoretical and tested plastic viscosity are less than 5%,confirming that regression model can be applied to optimizing the circulating of plastic-foam drilling fluid viscosity.In accordance with the precision of different formulations of drilling fluid for other constraints,the methods result in the optimization of the circulating micro-bubble drilling fluid parameters.
基金Projects(40974077,41164004)supported by the National Natural Science Foundation of ChinaProject(2007AA06Z134)supported by the National High Technology Research and Development Program of China+2 种基金Projects(2011GXNSFA018003,0832263)supported by the Natural Science Foundation of Guangxi Province,ChinaProject supported by Program for Excellent Talents in Guangxi Higher Education Institution,ChinaProject supported by the Foundation of Guilin University of Technology,China
文摘The strategies that minimize the overall solution time of multiple linear systems in 3D finite element method (FEM) modeling of direct current (DC) resistivity were discussed. A global stiff matrix is assembled and stored in two parts separately. One part is associated with the volume integral and the other is associated with the subsurface boundary integral. The equivalent multiple linear systems with closer right-hand sides than the original systems were constructed. A recycling Krylov subspace technique was employed to solve the multiple linear systems. The solution of the seed system was used as an initial guess for the subsequent systems. The results of two numerical experiments show that the improved algorithm reduces the iterations and CPU time by almost 50%, compared with the classical preconditioned conjugate gradient method.
基金Project(2017QHZ031)supported by Scientific Research Starting Project of Southwest Petroleum University,ChinaProject(18TD0013)supported by Science and Technology Innovation Team of Education Department of Sichuan for Dynamical System and Its Applications,ChinaProject(2017CXTD02)supported by Youth Science and Technology Innovation Team of Southwest Petroleum University for Nonlinear Systems,China。
文摘Faulted gas reservoirs are very common in reality,where some linear leaky faults divide the gas reservoir into several reservoir regions with distinct physical properties.This kind of gas reservoirs is also known as linear composite(LC)gas reservoirs.Although some analytical/semi-analytical models have been proposed to investigate pressure behaviors of producing wells in LC reservoirs based on the linear composite ideas,almost all of them focus on vertical wells and studies on multiple fractured horizontal wells are rare.After the pressure wave arrives at the leaky fault,pressure behaviors of multiple fractured horizontal wells will be affected by the leaky faults.Understanding the effect of leaky faults on pressure behaviors of multiple fractured horizontal wells is critical to the development design.Therefore,a semi-analytical model of finite-conductivity multiple fractured horizontal(FCMFH)wells in LC gas reservoirs is established based on Laplace-space superposition principle and fracture discrete method.The proposed model is validated against commercial numerical simulator.Type curves are obtained to study pressure characteristics and identify flow regimes.The effects of some parameters on type curves are discussed.The proposed model will have a profound effect on developing analytical/semi-analytical models for other complex well types in LC gas reservoirs.
基金supported in part by National Sciences Foundation of China grant ( 11672001)Jiangsu Province Science and Technology Agency grant ( BE2016785)supported in part by Postgraduate Research & Practice Innovation Program of Jiangsu Province grant ( KYCX18_0156)
文摘Background Cardiovascular diseases are closely linked to atherosclerotic plaque development and rupture.Plaque progression prediction is of fundamental significance to cardiovascular research and disease diagnosis,prevention,and treatment.Generalized linear mixed models(GLMM)is an extension of linear model for categorical responses while considering the correlation among observations.Methods Magnetic resonance image(MRI)data of carotid atheroscleroticplaques were acquired from 20 patients with consent obtained and 3D thin-layer models were constructed to calculate plaque stress and strain for plaque progression prediction.Data for ten morphological and biomechanical risk factors included wall thickness(WT),lipid percent(LP),minimum cap thickness(MinCT),plaque area(PA),plaque burden(PB),lumen area(LA),maximum plaque wall stress(MPWS),maximum plaque wall strain(MPWSn),average plaque wall stress(APWS),and average plaque wall strain(APWSn)were extracted from all slices for analysis.Wall thickness increase(WTI),plaque burden increase(PBI)and plaque area increase(PAI) were chosen as three measures for plaque progression.Generalized linear mixed models(GLMM)with 5-fold cross-validation strategy were used to calculate prediction accuracy for each predictor and identify optimal predictor with the highest prediction accuracy defined as sum of sensitivity and specificity.All 201 MRI slices were randomly divided into 4 training subgroups and 1 verification subgroup.The training subgroups were used for model fitting,and the verification subgroup was used to estimate the model.All combinations(total1023)of 10 risk factors were feed to GLMM and the prediction accuracy of each predictor were selected from the point on the ROC(receiver operating characteristic)curve with the highest sum of specificity and sensitivity.Results LA was the best single predictor for PBI with the highest prediction accuracy(1.360 1),and the area under of the ROC curve(AUC)is0.654 0,followed by APWSn(1.336 3)with AUC=0.6342.The optimal predictor among all possible combinations for PBI was the combination of LA,PA,LP,WT,MPWS and MPWSn with prediction accuracy=1.414 6(AUC=0.715 8).LA was once again the best single predictor for PAI with the highest prediction accuracy(1.184 6)with AUC=0.606 4,followed by MPWSn(1. 183 2)with AUC=0.6084.The combination of PA,PB,WT,MPWS,MPWSn and APWSn gave the best prediction accuracy(1.302 5)for PAI,and the AUC value is 0.6657.PA was the best single predictor for WTI with highest prediction accuracy(1.288 7)with AUC=0.641 5,followed by WT(1.254 0),with AUC=0.6097.The combination of PA,PB,WT,LP,MinCT,MPWS and MPWS was the best predictor for WTI with prediction accuracy as 1.314 0,with AUC=0.6552.This indicated that PBI was a more predictable measure than WTI and PAI. The combinational predictors improved prediction accuracy by 9.95%,4.01%and 1.96%over the best single predictors for PAI,PBI and WTI(AUC values improved by9.78%,9.45%,and 2.14%),respectively.Conclusions The use of GLMM with 5-fold cross-validation strategy combining both morphological and biomechanical risk factors could potentially improve the accuracy of carotid plaque progression prediction.This study suggests that a linear combination of multiple predictors can provide potential improvement to existing plaque assessment schemes.
基金supported by the National Natural Science Foundation of China(61074031)
文摘The distributed leadless consensus problem for multiple quadrotor systems under fixed and switching topologies is investigated. The objective is to design protocols achieving consensus for networked quadrotors＇ positions and attitudes. Because the model of a quadrotor is a strong high-order nonlinear coupling system, the approach of feedback linearization is employed to transform the model into a group of four linear subsystems among which there is no coupling. Then, a consensus algorithm is proposed which consists of a local feedback controller and interactions from the finite neighbors under fixed undirected topologies. Especially, the problem of choosing the parameters in the consensus algo-rithm is also addressed, enlightened by the results of the robust control theory. Furthermore, it is proved that the proposed algo-rithm also guarantees the consensus under undirected switching topologies. Simulation results show the effectiveness of the pro- posed algorithm.
基金Projects(51309067,51679057,51609048)supported by the National Natural Science Foundation of ChinaProject(JC2016007)supported by the Outstanding Youth Science Foundation of Heilongjiang Province,ChinaProject(HEUCFX041401)supported by the Fundamental Research Funds for the Central Universities,China
文摘The new method which uses the consensus algorithm to solve the coordinate control problems of multiple unmanned underwater vehicles （multi-UUVs） formation in the case of leader-following is adapted. As the communication between the UUVs is difficult and it is easy to be interfered under the water, time delay is assumed to be time-varying during the members communicate with each other. Meanwhile, the state feedback linearization method is used to transfer the nonlinear and coupling model of UUV into double-integrator dynamic. With this simplified double-integrator math model, the UUV formation coordinate control is regarded as consensus problem with time-varying communication delays. In addition, the position and velocity topologies are adapted to reduce the data volume in each data packet which is sent between members in formation. With two independent topologies designed, two cases of communication delay which are same and different are considered and the sufficient conditions are proposed and analyzed. The stability of the multi-UUVs formation is proven by using Lyapunov-Razumilkhin theorem. Finally, the simulation results are presented to confirm and illustrate the theoretical results.
基金supported by the National Natural Science Foundation of China (61174121,61121003)the National High Technology Researchand Development Program of China (863 Program) (2008AA121302)+1 种基金the National Basic Research Program of China (973 Program)(2009CB724000)the Research Fund for the Doctoral Program of Higher Education of China
文摘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.
基金supported by the Foundation of Key Laboratory of Near-Surface。
文摘With the development of technology, the relevant performance of unmanned aerial vehicles(UAVs) has been greatly improved, and various highly maneuverable UAVs have been developed, which puts forward higher requirements on target tracking technology. Strong maneuvering refers to relatively instantaneous and dramatic changes in target acceleration or movement patterns, as well as continuous changes in speed,angle, and acceleration. However, the traditional UAV tracking algorithm model has poor adaptability and large amount of calculation. This paper applies support vector regression(SVR)to the interacting multiple model(IMM) algorithm. The simulation results show that the improved algorithm has higher tracking accuracy for highly maneuverable targets than the original algorithm, and can adjust parameters adaptively, making it more adaptable.
基金Supported by the National Natural Science Foundation of P.R.China (60274017, 60572070, 60325311) the Natural Science Foundation of Liaoning Province (20022030)
文摘The robust stability of a class of Hopfield neural networks with multiple delays and parameter perturbations is analyzed. The sufficient conditions for the global robust stability of equilibrium point are given by way of constructing a suitable Lyapunov functional. The conditions take the form of linear matrix inequality (LMI), so they are computable and verifiable efficiently. Furthermore, all the results are obtained without assuming the differentiability and monotonicity of activation functions. From the viewpoint of system analysis, our results provide sufficient conditions for the global robust stability in a manner that they specify the size of perturbation that Hopfield neural networks can endure when the structure of the network is given. On the other hand, from the viewpoint of system synthesis, our results can answer how to choose the parameters of neural networks to endure a given perturbation.
基金supported by the National High Technology Research and Development Program of China (863 Program) (2007AA04Z227)
文摘This paper proposes a robust method of parameter estimation and data classification for multiple-structural data based on the linear error in variable（EIV） model.The traditional EIV model fitting problem is analyzed and a robust growing algorithm is developed to extract the underlying linear structure of the observed data.Under the structural density assumption,the C-step technique borrowed from the Rousseeuw＇s robust MCD estimator is used to keep the algorithm robust and the mean-shift algorithm is adopted to ensure a good initialization.To eliminate the model ambiguities of the multiple-structural data,statistical hypotheses tests are used to refine the data classification and improve the accuracy of the model parameter estimation.Experiments show that the efficiency and robustness of the proposed algorithm.
