A Novel Approach to 3D-DOA Estimation of Stationary EM Signals Using Convolutional Neural Networks.

This paper proposes a novel three-dimensional direction-of-arrival (3D-DOA) estimation method for electromagnetic (EM) signals using convolutional neural networks (CNN) in a Gaussian or non-Gaussian noise environment. First of all, in the presence of Gaussian noise, four output covariance matrices of the uniform triangular array (UTA) are normalized and then fed into four neural networks for 1D-DOA estimation with identical parameters in parallel; then four 1D-DOA estimations of the UTA can be obtained, and finally, the 3D-DOA estimation could be obtained through post-processing. Secondly, in the presence of non-Gaussian noise, the array output covariance matrices are normalized by the infinity-norm and then processed in Gaussian noise environment; the infinity-norm normalization could effectively suppress impulsive outliers and then provide appropriate input features for the neural network. In addition, the outputs of the neural network are controlled by a signal monitoring network to avoid misjudgments. Comprehensive simulations demonstrate that in Gaussian or non-Gaussian noise environment, the proposed method is superior and effective in computation speed and accuracy in 1D-DOA and 3D-DOA estimations, and the signal monitoring network could also effectively control the neural network outputs. Consequently, we can conclude that CNN has better generalization ability in DOA estimation.

Severe Fever with Thrombocytopenia Syndrome Virus in Dogs, South Korea.

Of 103 serum samples collected from dogs in South Korea, 3 (2.9%) were positive for severe fever with thrombocytopenia syndrome virus (SFTSV) and 22 (21.4%) were positive for antibodies against SFTSV. A dog-derived isolate of SFTSV clustered with many South Korea SFTSV strains in the Japanese clade.

The Association between Sleep Duration and Dizziness in Korean Women: The Korea National Health and Nutrition Examination Survey.

BACKGROUND: The aim of this study was to investigate the association between sleep duration and dizziness in a representative Korean population. METHODS: We analyzed data from the Korea National Health and Nutrition Examination Surveys (2010-2012). A total of 12,499 adults who completed otolaryngologic examinations were evaluated. RESULTS: Both men and women with severely short sleep duration (≤ 5 hours) and severely long sleep duration (≥ 9 hours) tended to have higher dizziness prevalence. However, the adjusted odds ratio (OR) for sleep duration was only significant in women with dizziness after adjusting for confounders. Compared to that in an optimal sleep group (6-8 hr/day), the OR (95% confidence interval) for dizziness prevalence after adjusting for age and health behaviors (body mass index, smoking habit, alcohol consumption, level of exercise, metabolic syndrome, and tinnitus) was 1.473 (1.194-1.818) for the severely short sleep group (≤ 5 hr/day) and 1.472 (1.078-2.009) for the severely long sleep group (≥ 9 hr/day) only in women. CONCLUSION: In the Korean population, dizziness was associated with shorter or longer sleep durations only among women. Further epidemiologic and experimental studies are necessary to clarify the impact of dizziness on sleep disorders.

Effects of an antiadhesive agent on functional recovery of the greater auricular nerve after parotidectomy: a double-blind randomized controlled trial.

PURPOSE: Periauricular sensory deficit occurs frequently after parotidectomy even in cases with preservation of the greater auricular nerve (GAN). This study was performed to evaluate the effects of antiadhesive agent in functional recovery of the GAN after parotidectomy. METHODS: Ninety-eight patients undergoing partial parotidectomy for benign parotid tumors were prospectively enrolled in this multicenter, double-blind randomized controlled study and randomly assigned to either the study or control group. Antiadhesive agent was applied in the study group. The results of sensory tests (tactile, heat, and cold sensitivity) and a questionnaire on quality of life (QoL) were acquired at postoperative 1, 8, and 24 weeks after surgery. Clinical parameters, and the results of the sensory tests and the questionnaire, were compared between the two groups. RESULTS: A total of 80 patients were finally enrolled. On sensory evaluation, tactile sensation and warm sensation in the ear lobule, and warm sensation in the mastoid area, showed significant improvement at 24 weeks postoperatively in the study group. There were no significant differences between the two groups on any questions in the QoL questionnaire, at any follow-up time point. CONCLUSIONS: Antiadhesive agents have some positive effects on functional recovery of the GAN after parotidectomy. Therefore, applying antiadhesive agents after parotidectomy can reduce discomfort in patients.

Factors Predicting the Recovery of Unilateral Vocal Fold Paralysis After Thyroidectomy.

BACKGROUND: We used voice analysis and clinicopathological factors to explore the prognosis of unilateral vocal fold paralysis after thyroid surgery. METHODS: The medical records of 63 females who developed unilateral vocal fold paralysis after thyroidectomy were reviewed. All patients were divided into two groups: those who recovered from vocal fold paralysis and those who did not. We analyzed clinical parameters and voice analysis results in a search for correlations with recovery from paralysis. RESULTS: Of the 63 patients, 37 (58%) recovered from paralysis. A small tumor size, incomplete paralysis, the absence of arytenoid tilting, no compensatory movement of the normal side, lower postoperative shimmer, a higher postoperative maximum phonation time (MPT), and lower postoperative subglottic pressure correlated significantly with recovery from vocal fold paralysis. Multivariate analysis confirmed that the absence of compensatory movement of the normal side on videostroboscopy was independently prognostic. A postoperative MPT of 6.86 appeared to be optimal for prediction of recovery. Most patients recovered within 6 months, but those with incomplete paralysis recovered about 3 months earlier. At the 12-month follow-up, the thyroidectomy-related voice questionnaire scores had returned to preoperative values in only 12 patients (19.0%); 51 patients (81.0%) did not fully recover. CONCLUSION: Compensatory movement of the normal side evident on videostroboscopy was a poor prognostic factor. Voice analysis can be helpful in counseling vocal fold paralysis patients after thyroidectomy, and early intervention may be considered in patients who are expected to have a poor prognosis.

Long-Lasting Voice-Related Symptoms in Patients Without Vocal Cord Palsy After Thyroidectomy.

BACKGROUND: Some patients complain of long-lasting voice symptoms after thyroid surgery without objective vocal fold pathology. We assessed the factors that may influence voice symptoms more than 12 months after thyroidectomy. METHODS: We performed a retrospective analysis of 68 patients from July 2010 to May 2012. The voices of all patients were analyzed before and after thyroid surgery (2 weeks and 2, 4, 6, 8, 10, and 12 months after surgery). According to the recovery of postoperative voice symptoms, patients were divided into two groups: the non-recovery group and the recovery group. Voice symptoms were measured using a thyroidectomy-related voice questionnaire (TVQ). We compared voice analysis data for each group and investigated the factors related to long-lasting postoperative voice symptoms. RESULTS: Forty-nine patients were included in the recovery group, and 19 patients were included in the non-recovery group. No differences in sex ratio, tumor size, and surgical extent were found between the groups. However, the proportion of professional voice users (odds ratio 4.121; 95% confidence interval 0.983-17.267; p < 0.043) was significantly higher in the non-recovery group. The cutoff score of the TVQ, at 2 months after thyroid surgery, for the differentiation of the recovery and non-recovery groups was 25, and the sensitivity and specificity values were 84.2 and 87.8%, respectively. CONCLUSIONS: Professional voice users may be presented long-lasting voice symptoms after thyroid surgery. The cutoff TVQ score of 25, at 2 months after thyroid surgery, may be a guideline for counseling patients who have voice symptoms.

Clinicopathological factors influencing the outcomes of surgical treatment in patients with T4a hypopharyngeal cancer.

BACKGROUND: The purpose of this study was to determine prognostic factors influencing outcomes of surgical treatment in patients with T4a hypopharyngeal cancer. METHODS: The present study enrolled 93 patients diagnosed with T4a hypopharyngeal cancer who underwent primary surgery between January 2005 and December 2015 at six medical centers in Korea. Primary tumor sites included pyriform sinus in 71 patients, posterior pharyngeal wall in 14 patients, and postcricoid region in 8 patients. Seventy-two patients received postoperative radio(chemo)therapy. RESULTS: Five-year disease-free survival (DFS) and disease-specific survival (DSS) rates were 38% and 45%, respectively. In univariate analysis, 5-year DFS was found to have significant and positive correlations with margin involvement (p < 0.001) and extracapsular spread (p = 0.025). Multivariate analysis confirmed that margin involvement (hazard ratio (HR): 2.81; 95% confidence interval (CI): 1.49-5.30; p = 0.001) and extracapsular spread (HR: 2.08; 95% CI: 1.08-3.99; p = 0.028) were significant factors associated with 5-year DFS. In univariate analysis, cervical lymph node metastasis (p = 0.048), lymphovascular invasion (p = 0.041), extracapsular spread (p = 0.015), and esophageal invasion (p = 0.033) were significant factors associated with 5-year DSS. In multivariate analysis, extracapsular spread (HR: 2.98; 95% CI: 1.39-6.42; p = 0.005) and esophageal invasion (HR: 2.87; 95% CI: 1.38-5.98; p = 0.005) remained significant factors associated with 5-year DSS. CONCLUSION: Margin involvement and extracapsular spread are factors influencing recurrence while extracapsular spread and esophageal invasion are factors affecting survival in patients with T4a hypopharyngeal cancer treated by primary surgery.

The Long-Term Prognosis of Voice Pitch Change in Female Patients After Thyroid Surgery.

BACKGROUND: Relatively large numbers of patients complain of lower-pitched voices after thyroidectomy. However, little is known about the risk factors for, prognosis of, or progression over time of, such changes, in female patients. METHODS: We analyzed the data of 217 patients who underwent thyroid surgery and postoperative (2 weeks, and 3, 6, and 12 months after surgery) voice work-ups. To identify patients with lower-pitched voices, speaking fundamental frequencies (SFFs) were compared before and after surgery. The change was calculated for all patients (postoperative change in SFF, ΔSFF). RESULTS: The mean ΔSFF was 8.35 ± 17.06 Hz and significant changes in voice pitch (ΔSFF ≥12 Hz) were evident in 93 (42.85 %) patients after surgery, mostly within 6 months, and only 18.4 % of patients had lower-pitched voices 1 year after surgery. On multivariate analysis, age (≥52 vs. <52 years) and extent of surgery remained significant predictors of lower-pitched voice after surgery. The ΔSFFs of older patients (≥52) were significantly greater than those of younger patients (<52) at the 2-week follow-up, but not at the 3-, 6-, or 12-month follow-ups. The ΔSFFs of patients who underwent total thyroidectomy were significantly higher than those who underwent lobectomy at the postoperative 2-week follow-up, but did not differ at the 3-, 6-, and 12-month follow-ups. CONCLUSIONS: Patients frequently experience a lower-pitched voice after thyroid surgery. Such problems develop more frequently in the early postoperative period, in aged patients, and in those who had undergone total thyroidectomy. However, over time, the changes usually decrease to levels similar to those of patients without these risk factors.

Female sex, central lymph node metastasis and dissection are causes of globus symptom after thyroidectomy.

Globus symptoms are not uncommon after an uncomplicated thyroidectomy. However, their associated factors and etiology have not been investigated. We investigated the etiology and factors related to globus symptoms after thyroidectomy. The medical records of 289 patients who underwent thyroidectomy and completed a voice analysis, psychiatric screening, and voice-related questionnaires before and 1 month after the surgery were reviewed. Patients were excluded if they had globus symptoms before surgery or scored high on the psychiatric questionnaire. The selected patients were divided into two groups according to development of globus symptoms after surgery. Clinicopathological parameters and results of the voice analysis and voice-related questionnaires were compared between the two groups. A total of 157 patients were enrolled, and more than half (80/155, 51 %) showed development of globus symptoms 1 month after thyroidectomy. Female patients [hazard ratio (HR), 2.605; P = 0.010], patients who had central lymph node metastasis (HR, 3.533; P = 0.001), and patients who underwent central neck dissection (HR, 3.652; P = 0.014) had a higher probability of developing globus symptoms. Patients who developed globus symptoms scored higher on the voice-related questionnaire, and had a greater decrease in speaking fundamental frequency (P < 0.001). Globus symptoms developed after 1 month in more than half of patients who underwent thyroidectomy. Female sex and central lymph node metastasis and dissection increased the possibility of developing the symptoms.

Prognostic Significance of Lymph Node Density in Patients with Hypopharyngeal Squamous Cell Carcinoma.

BACKGROUND: Lymph node density (LND) is more useful than the TNM classification in predicting survival after surgery for many cancers. The purpose of this study was to clarify independent prognostic factors for hypopharyngeal squamous cell carcinoma (HPSCC) and broaden the staging system to improve its predictive value. METHODS: The present study included 105 patients with HPSCC treated with hypophagectomy and neck dissection between 1993 and 2014. RESULTS: The median LND in patients with HPSCC was 0.060 (range 0.026-0.620). We found a significant difference in LND values between patients with and without recurrence (0.063 vs. 0.030, respectively; p = 0.001). The cutoff value of LND for recurrence was 0.055, with a sensitivity of 68% and specificity of 71%. Cervical lymph node metastasis, advanced pathologic T stage, lymphovascular invasion, LND ≥0.055, and extracapsular spread had significant adverse effects on 5-year overall and disease-specific survival in a univariate analysis. Multivariate analysis confirmed a significant association between 5-year overall survival and LND ≥0.055 [hazard ratio (HR) 2.19; 95% confidence interval (CI) 1.06-4.51; p = 0.035] and extracapsular spread (HR 2.47; 95% CI 1.09-5.61; p = 0.030). Furthermore, LND ≥0.055 (HR 2.30; 95% CI 1.07-4.93; p = 0.034) and extracapsular spread (HR 2.95; 95% CI 1.20-7.29; p = 0.019) were associated with 5-year, disease-specific survival. CONCLUSIONS: The median LND cutoff values ≥0.055 are associated with a greater risk of recurrence and survival in patients with HPSCC.

Endoscope-assisted facelift thyroid surgery: an initial experience using a new endoscopic technique.

BACKGROUND: A new approach to modifying facelift incision was recently developed for robotic thyroid surgery that seemed to be advantageous over other existing approaches. In this study, we aimed to investigate the feasibility and safety of the facelift approach not only for robotic thyroid surgery, but also for endoscope-assisted thyroid surgery. METHODS: Endoscope-assisted facelift thyroid lobectomy was performed for 11 patients with papillary microcarcinoma. RESULTS: All 11 operations were successfully performed endoscopically. This approach through a modified facelift incision provided safe dissection of the laryngeal nerves and exposed an adequate working space. We identified and preserved all neighboring critical structures (parathyroid gland and superior and recurrent laryngeal nerves) during surgery. The operative duration for simple thyroid lobectomy with central lymph node dissection in 11 patients was 120-180 min (average duration: 140 min). Sensory change around the earlobe occurred in three patients and was recovered within 2 months after surgery in all patients. No patient displayed laryngeal nerve palsy or a low-pitched voice. CONCLUSIONS: The facelift approach seems to provide a shorter and more direct route to the thyroid, requiring minimal dissection, and an adequate workspace not only for robotic surgery but also for endoscopic surgery. It is worthwhile to develop and refine the surgical techniques of endoscopic facelift thyroid surgery.

Analysis of sphenoid sinus in the operative plane of endoscopic transsphenoidal surgery using computed tomography.

Recently, the endoscopic transsphenoidal approach for sphenoid sinus or intracranial lesion has gained more popularity and the study of the surgical anatomy and relationships of the sphenoid sinus has gained increased significance. The aim of this study was to clarify the anatomical features of the sphenoid sinus including surrounding structures as seen in the operative view of endoscopic transsphenoidal surgery. The various distances in the sphenoid sinus as well as the relationships between the sphenoid sinus ostium (SO) and important structures such as the optic canal (OC) and carotid artery (CA) according to the presence of Onodi cell (sphenoethmoidal cell; Onodi group vs. non-Onodi group) were assessed using multiplanar and three-dimensional model of CT scans in 100 patients. The SO was more inferior in Onodi group and located superior to the lowest point of the sella. The horizontal distance from the SO to sella was approximately 13 or 14 mm depending on the existence of Onodi cells. Regardless of Onodi cell, the whole course of the OC in the sinus ran superolaterally to inferomedially in the endoscopic view. However, Onodi cell made the angles from the SO to OC larger. In Onodi group, the CA was located from the SO in a superolateral direction, but in non-Onodi group, the CA was located from the SO in the inferolateral direction. This study provides anatomical information about the sphenoid sinus, with important surgical distances between the SO and surrounding structures measured, which is essential to avoid complications during transsphenoidal surgery.

Prognostic value of preoperative 18F-FDG PET/CT for primary head and neck squamous cell carcinoma.

(18)F-FDG PET/CT is clinically useful in the initial staging and follow-up of patients with head and neck squamous cell carcinoma (HNSCC). We studied the potential prognostic significance of preoperative (18)F-FDG PET/CT in HNSCC. The medical records of 294 patients who underwent preoperative (18)F-FDG PET/CT for HNSCC were retrospectively reviewed. The median SUVmax of the primary lesions (SUVmax-p) and cervical lymph nodes (SUVmax-n) was 7.98 ± 5.04 (range 1.2-28.7) and 3.34 ± 3.70 (range 1.0-20.4), respectively. There was a significant difference between with and without recurrence in SUVmax-p (11.14 ± 5.36 vs. 6.78 ± 4.35, p < 0.001) and SUVmax-n (5.60 ± 4.22 vs. 1.75 ± 1.46, p < 0.001). The cut-off values of SUVmax-p and SUVmax-n in the context of recurrence and cancer-related death were 8.5 and 3.5. The 5-year disease-free survival of patients with SUVmax-p < 8.5 and SUVmax-n < 3.5 was 79 and 79%, respectively, whereas that of patients with SUVmax-p ≥ 8.5 and SUVmax-n ≥ 3.5 was 39 and 30 %, respectively. Multivariate analysis confirmed the significant association between 5-year disease-free survival and SUVmax-p ≥ 8.5 (hazard ratio (HR) 2.68, p < 0.001) and SUVmax-n ≥ 3.5 (HR 2.29, p = 0.007). Furthermore, SUVmax-p ≥ 8.5 (HR 3.20, p = 0.012) and SUVmax-n ≥ 3.5 (HR 2.14, p < 0.001) were associated with 5-year overall survival. (18)F-FDG PET/CT cut-off values of SUVmax-p ≥ 8.5 or SUVmax-n ≥ 3.5 are associated with a recurrence and survival in HNSCC.

Transoral endoscopic thyroidectomy via the tri-vestibular routes: results of a preclinical cadaver feasibility study.

The concept of natural orifice transluminal endoscopic surgery (NOTES) is an emerging experimental alternative to conventional surgery that eliminates skin incisions using an endoscope passed through a natural orifice (e.g., mouth, urethra, or anus). This study was designed to evaluate the feasibility and safety of thyroid resection via an entirely transoral tri-vestibular route using endoscopy, and to introduce NOTES to the head and neck area of medicine. We performed ten complete endoscopic thyroid lobectomies with central lymph node dissection via a tri-vestibular approach in fresh-frozen cadavers. A 5-mm endoscope with a deflectable tip was used to visualize the surgical field. Three cannulas were inserted through the midline and bilateral incision sites in the vestibule to position the instruments and endoscope. We refined and described the surgical technique in each step using video clips. We identified and preserved neighboring critical structures during surgery. We also confirmed that there were no obvious remnant thyroid tissues and no injury to the neighboring structures after exploration. The transoral tri-vestibular approach seems to provide a good view and surgical field for endoscopic thyroidectomy. However, the transoral approach for thyroidectomy remains experimental, and the detailed surgical technique should be refined via further clinical studies.

Proximity of the maxillary artery to the mandibular ramus: an anatomic study using three-dimensional reconstruction of computer tomography.

The maxillary artery (MA) is the main source of brisk bleeding during maxillectomy and procedures in the subcondylar portion of the mandible. The purpose of the study was to investigate the relationship between the MA and the mandible in the infratemporal fossa. The CT scans of 100 patients were retrospectively evaluated. The distances from the MA to bony landmarks were assessed in a three-dimensional model of the CT scan. In the cases where the MA was lateral to the LP [164 of 200 MAs (82%)], the mean shortest distances from the MA to the apex of the coronoid and condyle and the deepest portion of the mandibular notch were 13.6 ± 1.6 mm, 21.3 ± 2.0 mm, and 3.6 ± 1.0 mm, respectively. The contact point between the MA and medial surface of the mandible was measured and found to be 3.6 ± 2.2 mm posterior and 1.7 ± 1.4 mm inferior relative to the deepest portion of the mandibular notch. In the cases where the MA was medial to the LP [36 of 200 MAs (18%)], the mean shortest distances from the MA to the apex of the coronoid and condyle and the deepest portion of the mandibular notch were 19.5 ± 2.5 mm, 20.7 ± 2.4 mm, and 16.3 ± 3.7 mm, respectively. The studied measurements will help guide surgeons to determine the anatomy of the operative field in relation to the MA and minimize risks of injuring the vessel.

Age-related changes of the larynx and trachea assessed by three-dimensional computed tomography in children: Application to endotracheal intubation and bronchoscopy.

The purpose of this study was to establish normative data of laryngotracheal dimensions and shape and to evaluate differences associated with age and sex using three-dimensional (3D) imaging. A total of 120 patients (64 boys and 56 girls) were included. Subjects were divided into four groups: Group 1 (0-2 years), Group 2 (3-7 years), Group 3 (8-13 years), and Group 4 (14-20 years). Using 3D image processing software, the laryngeal volume (LV), tracheal volume (TV), anteroposterior diameter at the glottis, cross-sectional area (CSA) at the subglottis, and laryngeal angle (LA) of the thyroid laminae were measured. Parameters of laryngotracheal volume and size were positively correlated with age, whereas the LA was inversely correlated with age. The LV, TV, CSA-3 mm, and CSA-5 mm exhibited a growth spurt in Groups 2 and 3. The LA decreased at a faster rate in Group 1 (P = 0.012). In Groups 1 and 2, there were no differences between genders for each laryngotracheal segmentation or plane. However, gender differences in the TV of Group 3 were statistically significant (P = 0.030). In Group 4, gender differences of all airway parameters were evident. Volume and other dimensions of the laryngotracheal airway increase with age. There was a significant increase in the LV, TV, CSA-3 mm, and CSA-5 mm in Groups 2 and 3. The LA correlated negatively with age in the Group 1. Significant sex dimorphisms are evident in Group 4.

A case of necrotizing sialometaplasia involving bilateral parotid glands.

Necrotizing sialometaplasia of the parotid gland is infrequent and can be mistaken as a malignant disease. Its etiology is thought to be an insufficient blood supply. Bilateral involvement of this disease in parotid glands has been rarely reported in the English literature. We report a case of necrotizing sialometaplasia diagnosed after superficial parotidectomy due to bilateral parotid masses in a 69-year old heavy smoking female.

Stabilization analysis of fractional-order nonlinear permanent magnet synchronous motor model via interval type-2 fuzzy memory-based fault-tolerant control scheme.

The main objective of this study is to improve the convergence rate performance and analyze the stability properties of the FOPMSM model considering the load-torque external disturbances and actuator faults. Due to the complex nonlinearity, the presented FONPMSM model in the d-q frame is approximated by an IT-2 T-S fuzzy modeling technique. Besides, the fuzzy memory-based FTC is designed to eliminate the typical characteristics of chaotic behaviors and stabilize the proposed nonlinear model even if load torque disturbances, actuator faults in the controller, and time delays occur. Further, by employing the fractional order-based fuzzy LKF, some sufficient conditions are carried out in terms of LMIs to guarantee the asymptotic stability conditions, and simultaneously, disturbance reduction is confirmed. And then, the desired control gain matrices are determined from solvable LMIs, which can help to enhance the system stability performance. Finally, the numerical simulation of T-S fuzzy-based FOPMSM model is given to validate the applicability and efficiency of the proposed controller.

Learning dynamic spatial-temporal regularized correlation filter tracking with response deviation suppression via multi-feature fusion.

Visual object tracking (VOT) for intelligent video surveillance has attracted great attention in the current research community, thanks to advances in computer vision and camera technology. Meanwhile, discriminative correlation filter (DCF) trackers garnered significant interest owing to their high accuracy and low computing cost. Many researchers have introduced spatial and temporal regularization into the DCF framework to achieve a more robust appearance model and further improve tracking performance. However, these algorithms typically set fixed spatial and temporal regularization parameters, which limit flexibility and adaptability under cluttered and challenging scenarios. To overcome these problems, in this work, we propose a new dynamic spatial-temporal regularization for the DCF tracking model that emphasizes the filter to concentrate on more reliable regions during the training stage. Furthermore, we present a response deviation-suppressed regularization term for responses to encourage temporal consistency and avoid model degradation by suppressing relative response changes between two consecutive frames. Moreover, we introduce a multi-memory tracking framework to exploit various features and each memory contributes to tracking the target across all frames. Significant experiments on the OTB-2013, OTB-2015, TC-128, UAV-123, UAVDT, and DTB-70 datasets have revealed that the performance thereof outperformed many state-of-the-art trackers based on DCF and deep-based frameworks in terms of tracking accuracy and tracking success rate.

Formation Control and Tracking of Mobile Robots using Distributed Estimators and A Biologically Inspired Approach.

This paper investigates the formation control problem for multiple nonholonomic wheeled mobile robots using distributed estimators and a biologically inspired approach. The formation pattern of the system adopts leader-follower structure and the communication topology among the multi-robot system is modelled by an undirected graph. In our proposed methodology, first, we develop an adaptive trajectory tracking control for the leader robot to follow the desired trajectory. Second, a distributed estimator is designed for each follower mobile robot, which uses its own information to estimate the leader's states, such as position, orientation, and linear velocity. Then, distributed formation tracking control laws are designed based on the distributed estimator. Furthermore, a bioinspired controller is developed to address the impractical velocity jump problem. The closed-loop system stability is analysed with the Lyapunov stability theory showing that tracking errors are asymptotically converge to zero. Finally, simulation results are provided to demonstrate the effectiveness of the proposed methods.