Quan Pan

Yuemei Qin

Feng Yang

Inf. Sci., 2016

Gaussian-consensus filter for nonlinear systems with randomly delayed measurements in sensor networks.

[BibT_eX]

[DOI]

Inf. Fusion, 2016

A survey on joint tracking using expectation-maximization based techniques.

[BibT_eX]

[DOI]

Inf. Fusion, 2016

The joint optimal filtering and fault detection for multi-rate sensor fusion under unknown inputs.

[BibT_eX]

[DOI]

Inf. Fusion, 2016

The Belief Noisy-OR Model Applied to Network Reliability Analysis.

[BibT_eX]

[DOI]

Int. J. Uncertain. Fuzziness Knowl. Based Syst., 2016

Joint Detection and Tracking for Multipath Targets: A Variational Bayesian Approach.

[BibT_eX]

[DOI]

CoRR, 2016

Combining sources of evidence with reliability and importance for decision making.

[BibT_eX]

[DOI]

Central Eur. J. Oper. Res., 2016

Minimum upper-bound filter of Markovian jump linear systems with generalized unknown disturbances.

[BibT_eX]

[DOI]

Autom., 2016

Pose estimation of a rigid body and its supporting moving platform using two gyroscopes and relative complementary measurements.

[BibT_eX]

[DOI]

Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

Efficient implementation of maximization likelihood estimation to constrained measurement random latency probability in nonlinear system.

[BibT_eX]

[DOI]

Proceedings of the 2016 International Conference on Control, 2016

Optimal UAV localisation in vision based navigation systems.

[BibT_eX]

[DOI]

Proceedings of the 2016 IEEE International Conference on Acoustics, 2016

A maximum likelihood-based unscented Kalman filter for multipath mitigation in a multi-correlator based GNSS receiver.

[BibT_eX]

[DOI]

Proceedings of the 2016 IEEE International Conference on Acoustics, 2016

Evidential Label Propagation Algorithm for Graphs.

[BibT_eX]

[DOI]

Proceedings of the 19th International Conference on Information Fusion, 2016

A comparison of iteratively reweighted least squares and Kalman Filter with EM in measurement error covariance estimation.

[BibT_eX]

[DOI]

Proceedings of the 19th International Conference on Information Fusion, 2016

A kinematic model of route-based target tracking: Direct discrete-time form.

[BibT_eX]

[DOI]

Proceedings of the 19th International Conference on Information Fusion, 2016

UAV localisation under linear mapping for vision-based navigation.

[BibT_eX]

[DOI]

Proceedings of the 19th International Conference on Information Fusion, 2016

The application of sum-product algorithm for data association.

[BibT_eX]

[DOI]

Proceedings of the 19th International Conference on Information Fusion, 2016

Classifier fusion based on cautious discounting of beliefs.

[BibT_eX]

[DOI]

Proceedings of the 19th International Conference on Information Fusion, 2016

Variational bayesian approach for joint multitarget tracking of multiple detection systems.

[BibT_eX]

[DOI]

Proceedings of the 19th International Conference on Information Fusion, 2016

Multi-path multi-rate filter for OTHR based tracking systems.

[BibT_eX]

[DOI]

Proceedings of the 19th International Conference on Information Fusion, 2016

Semi-supervised Evidential Label Propagation Algorithm for Graph Data.

[BibT_eX]

[DOI]

Proceedings of the Belief Functions: Theory and Applications, 2016

Covariance correction filter with unknown disturbance associated to system state.

[BibT_eX]

[DOI]

Proceedings of the 2016 American Control Conference, 2016

Analytical identification of system parameter nonlinearly coupled in dynamic transition matrix.

[BibT_eX]

[DOI]

Proceedings of the 2016 American Control Conference, 2016

2015

A New Incomplete Pattern Classification Method Based on Evidential Reasoning.

[BibT_eX]

[DOI]

IEEE Trans. Cybern., 2015

Nonlinear Gaussian Smoothers With Colored Measurement Noise.

[BibT_eX]

[DOI]

IEEE Trans. Autom. Control., 2015

Median evidential c-means algorithm and its application to community detection.

[BibT_eX]

[DOI]

Knowl. Based Syst., 2015

Credal c-means clustering method based on belief functions.

[BibT_eX]

[DOI]

Knowl. Based Syst., 2015

Classification of incomplete data based on belief functions and K-nearest neighbors.

[BibT_eX]

[DOI]

Knowl. Based Syst., 2015

An accelerated continuous greedy algorithm for maximizing strong submodular functions.

[BibT_eX]

[DOI]

J. Comb. Optim., 2015

Belief rule-based classification system: Extension of FRBCS in belief functions framework.

[BibT_eX]

[DOI]

Inf. Sci., 2015

Multi-hypothesis nearest-neighbor classifier based on class-conditional weighted distance metric.

[BibT_eX]

[DOI]

Lianmeng Jiao

Xiaoxue Feng

Neurocomputing, 2015

A similarity-based community detection method with multiple prototype representation.

[BibT_eX]

[DOI]

CoRR, 2015

Evidential relational clustering using medoids.

[BibT_eX]

[DOI]

Proceedings of the 18th International Conference on Information Fusion, 2015

Adaptive upper-bound linear mean square error filter of Markovian jump linear systems with generalized unknown disturbances.

[BibT_eX]

[DOI]

Proceedings of the 18th International Conference on Information Fusion, 2015

Classification of incomplete patterns based on the fusion of belief functions.

[BibT_eX]

[DOI]

Proceedings of the 18th International Conference on Information Fusion, 2015

Evidential Editing K-Nearest Neighbor Classifier.

[BibT_eX]

[DOI]

Lianmeng Jiao

Thierry Denoeux

Proceedings of the Symbolic and Quantitative Approaches to Reasoning with Uncertainty, 2015

2014

An EM Algorithm for Multipath State Estimation in OTHR Target Tracking.

[BibT_eX]

[DOI]

IEEE Trans. Signal Process., 2014

A Dynamic Attitude Measurement System Based on LINS.

[BibT_eX]

[DOI]

Sensors, 2014

Credal classification rule for uncertain data based on belief functions.

[BibT_eX]

[DOI]

Pattern Recognit., 2014

Change Detection in Heterogeneous Remote Sensing Images Based on Multidimensional Evidential Reasoning.

[BibT_eX]

[DOI]

IEEE Geosci. Remote. Sens. Lett., 2014

Classification of uncertain and imprecise data based on evidence theory.

[BibT_eX]

[DOI]

Neurocomputing, 2014

Supervised method for periodontitis phenotypes prediction based on microbial composition using 16S rRNA sequences.

[BibT_eX]

[DOI]

Int. J. Comput. Biol. Drug Des., 2014

Linear minimum-mean-square error estimation of Markovian jump linear systems with randomly delayed measurements.

[BibT_eX]

[DOI]

IET Signal Process., 2014

General equivalence between two kinds of noise-correlation filters.

[BibT_eX]

[DOI]

Autom., 2014

A belief classification rule for imprecise data.

[BibT_eX]

[DOI]

Appl. Intell., 2014

Design and implementation of Gaussian filter for nonlinear system with randomly delayed measurements and correlated noises.

[BibT_eX]

[DOI]

Appl. Math. Comput., 2014

Distributed joint estimation and identification for sensor networks with unknown inputs.

[BibT_eX]

[DOI]

Hua Lan

Adrian N. Bishop

Proceedings of the 2014 IEEE Ninth International Conference on Intelligent Sensors, 2014

Evidential-EM Algorithm Applied to Progressively Censored Observations.

[BibT_eX]

[DOI]

Proceedings of the Information Processing and Management of Uncertainty in Knowledge-Based Systems, 2014

Evidential Communities for Complex Networks.

[BibT_eX]

[DOI]

Proceedings of the Information Processing and Management of Uncertainty in Knowledge-Based Systems, 2014

Visual odometry and scene matching integrated navigation system in UAV.

[BibT_eX]

[DOI]

Proceedings of the 17th International Conference on Information Fusion, 2014

Linearly constrained estimation via state space decomposition.

[BibT_eX]

[DOI]

Proceedings of the 17th International Conference on Information Fusion, 2014

Nonlinear Gaussian filter with the colored measurement noise.

[BibT_eX]

[DOI]

Xiaoxu Wang

Proceedings of the 17th International Conference on Information Fusion, 2014

Pattern classification with missing data using belief functions.

[BibT_eX]

[DOI]

Proceedings of the 17th International Conference on Information Fusion, 2014

Fuzzy-belief K-nearest neighbor classifier for uncertain data.

[BibT_eX]

[DOI]

Proceedings of the 17th International Conference on Information Fusion, 2014

A distributed expectation-maximization algorithm for OTHR multipath target tracking.

[BibT_eX]

[DOI]

Proceedings of the 17th International Conference on Information Fusion, 2014

Efficient scene matching using salient regions under spatial constraints.

[BibT_eX]

[DOI]

Proceedings of the 17th International Conference on Information Fusion, 2014

Landmark selection for scene matching with knowledge of color histogram.

[BibT_eX]

[DOI]

Proceedings of the 17th International Conference on Information Fusion, 2014

Fusion of pairwise nearest-neighbor classifiers based on pairwise-weighted distance metric and Dempster-Shafer theory.

[BibT_eX]

[DOI]

Lianmeng Jiao

Thierry Denoeux

Proceedings of the 17th International Conference on Information Fusion, 2014

A Marginalized Likelihood Ratio Approach for detecting and estimating multipath biases on GNSS measurements.

[BibT_eX]

[DOI]

Proceedings of the 17th International Conference on Information Fusion, 2014

2013

Gaussian Smoothers for Nonlinear Systems With One-Step Randomly Delayed Measurements.

[BibT_eX]

[DOI]

IEEE Trans. Autom. Control., 2013

Particle filter with multimode sampling strategy.

[BibT_eX]

[DOI]

Signal Process., 2013

A new belief-based K-nearest neighbor classification method.

[BibT_eX]

[DOI]

Pattern Recognit., 2013

Evidential classifier for imprecise data based on belief functions.

[BibT_eX]

[DOI]

Knowl. Based Syst., 2013

The distributed infectious disease model and its application to collaborative sensor wakeup of wireless sensor networks.

[BibT_eX]

[DOI]

Inf. Sci., 2013

Gaussian filter for nonlinear systems with one-step randomly delayed measurements.

[BibT_eX]

[DOI]

Autom., 2013

Credal Classification of Uncertain Data Using Belief Functions.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Systems, 2013

Weapon target assignment leveraging strong submodularity.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Information and Automation, 2013

Adaptive filter for linear systems with generalized unknown disturbance in measurements.

[BibT_eX]

[DOI]

Proceedings of the 16th International Conference on Information Fusion, 2013

Global space-time association for Probability Hypothesis Density filter.

[BibT_eX]

[DOI]

Proceedings of the 16th International Conference on Information Fusion, 2013

Joint multipath data association and fusion for OTHR.

[BibT_eX]

[DOI]

Proceedings of the 16th International Conference on Information Fusion, 2013

Iterated minimum upper bound filter for tracking orbit maneuvering targets.

[BibT_eX]

[DOI]

Proceedings of the 16th International Conference on Information Fusion, 2013

Suitability analysis based on multi-feature fusion visual saliency model in vision navigation.

[BibT_eX]

[DOI]

Proceedings of the 16th International Conference on Information Fusion, 2013

An evidential K-nearest neighbor classification method with weighted attributes.

[BibT_eX]

[DOI]

Proceedings of the 16th International Conference on Information Fusion, 2013

2012

Distributed, Robust Acoustic Source Localization in a Wireless Sensor Network.

[BibT_eX]

[DOI]

Yong Liu

Yu Hen Hu

IEEE Trans. Signal Process., 2012

Dynamic Evidential Reasoning for Change Detection in Remote Sensing Images.

[BibT_eX]

[DOI]

IEEE Trans. Geosci. Remote. Sens., 2012

Belief C-Means: An extension of Fuzzy C-Means algorithm in belief functions framework.

[BibT_eX]

[DOI]

Pattern Recognit. Lett., 2012

The Research of Differentiated Service and Load Balancing in Web Cluster.

[BibT_eX]

[DOI]

Ang Gao

Yansu Hu

Int. J. Comput. Commun. Control, 2012

A Gaussian approximation recursive filter for nonlinear systems with correlated noises.

[BibT_eX]

[DOI]

Autom., 2012

Joint estimation of state and sensor systematic error in hybrid system.

[BibT_eX]

[DOI]

Proceedings of the 15th International Conference on Information Fusion, 2012

Enhanced OTHR detection using Bayesian fusion of multipath target returns.

[BibT_eX]

[DOI]

Proceedings of the 15th International Conference on Information Fusion, 2012

A new evidential c-means clustering method.

[BibT_eX]

[DOI]

Proceedings of the 15th International Conference on Information Fusion, 2012

Scene matching based visual SLAM navigation for small unmanned aerial vehicle.

[BibT_eX]

[DOI]

Proceedings of the 15th International Conference on Information Fusion, 2012

A nonlinear tracking algorithm with range-rate measurements based on unbiased measurement conversion.

[BibT_eX]

[DOI]

Proceedings of the 15th International Conference on Information Fusion, 2012

Semi-coupled dictionary learning with applications to image super-resolution and photo-sketch synthesis.

[BibT_eX]

[DOI]

Proceedings of the 2012 IEEE Conference on Computer Vision and Pattern Recognition, 2012

2011

Unsupervised Classification of Spectropolarimetric Data by Region-Based Evidence Fusion.

[BibT_eX]

[DOI]

IEEE Geosci. Remote. Sens. Lett., 2011

Hyperspectral imagery super-resolution by sparse representation and spectral regularization.

[BibT_eX]

[DOI]

EURASIP J. Adv. Signal Process., 2011

Combination of sources of evidence with different discounting factors based on a new dissimilarity measure.

[BibT_eX]

[DOI]

Decis. Support Syst., 2011

Change detection from remote sensing images based on evidential reasoning.

[BibT_eX]

[DOI]

Proceedings of the 14th International Conference on Information Fusion, 2011

Prediction of Protein-Protein Interaction Using Distance Frequency of Amino Acids Grouped with their Physicochemical Properties.

[BibT_eX]

[DOI]

Proceedings of the Sixth International Conference on Bio-Inspired Computing: Theories and Applications, 2011

2010

A Biologically Inspired Sensor Wakeup Control Method for Wireless Sensor Networks.

[BibT_eX]

[DOI]

IEEE Trans. Syst. Man Cybern. Part C, 2010

Studies on Hyperspectral Face Recognition in Visible Spectrum With Feature Band Selection.

[BibT_eX]

[DOI]

IEEE Trans. Syst. Man Cybern. Part A, 2010

Optimal Linear State Estimator With Multiple Packet Dropouts.

[BibT_eX]

[DOI]

IEEE Trans. Autom. Control., 2010

Prediction of protein-protein interaction types using the decision templates based on multiple classier fusion.

[BibT_eX]

[DOI]

Math. Comput. Model., 2010

A quadratic programming based cluster correspondence projection algorithm for fast point matching.

[BibT_eX]

[DOI]

Comput. Vis. Image Underst., 2010

PPLook: an automated data mining tool for protein-protein interaction.

[BibT_eX]

[DOI]

BMC Bioinform., 2010

Multi-rate stochastic H∞ filtering for networked multi-sensor fusion.

[BibT_eX]

[DOI]

Autom., 2010

Estimation of systems with statistically-constrained inputs.

[BibT_eX]

[DOI]

Appl. Math. Comput., 2010

Small sample size problem of fault diagnosis for process industry.

[BibT_eX]

[DOI]

Proceedings of the 8th IEEE International Conference on Control and Automation, 2010

Decentralized Robust Acoustic Source Localization with Wireless Sensor Networks for Heavy-Tail Distributed Observations.

[BibT_eX]

[DOI]

Yong Liu

Yu Hen Hu

Proceedings of the Global Communications Conference, 2010

An Intelligent Fusion Method of Sequential Images Based on Improved DSmT for Target Recognition.

[BibT_eX]

[DOI]

Proceedings of the International Conference on Computational Aspects of Social Networks, 2010

Network-based modeling for analyzing the human skin microbiome.

[BibT_eX]

[DOI]

Proceedings of the 2010 IEEE International Conference on Bioinformatics and Biomedicine Workshops, 2010

Prediction of Protein-RNA interaction site using SVM-KNN algorithm with spatial information.

[BibT_eX]

[DOI]

Proceedings of the 2010 IEEE International Conference on Bioinformatics and Biomedicine, 2010

Finding Fuzzy Communities in Directed Networks.

[BibT_eX]

Kun Zhao

Shao-Wu Zhang

Proceedings of the Artificial Neural Networks and Intelligent Information Processing, 2010

2009

Multi-rate optimal state estimation.

[BibT_eX]

[DOI]

Int. J. Control, 2009

Object separation by polarimetric and spectral imagery fusion.

[BibT_eX]

[DOI]

Comput. Vis. Image Underst., 2009

Feature Extraction Based on Mixture Probabilistic Kernel Principal Component Analysis.

[BibT_eX]

[DOI]

Huibo Zhao

Yongmei Cheng

Proceedings of the International Forum on Information Technology and Applications, 2009

Robust Maximum Likelihood Acoustic Source Localization in Wireless Sensor Networks.

[BibT_eX]

[DOI]

Yong Liu

Yu Hen Hu

Proceedings of the Global Communications Conference, 2009. GLOBECOM 2009, Honolulu, Hawaii, USA, 30 November, 2009

Hinfinity filtering of a class of multi-rate multi-sensor fusion systems.

[BibT_eX]

[DOI]

Proceedings of the 48th IEEE Conference on Decision and Control, 2009

2008

Object Detection by Spectropolarimeteric Imagery Fusion.

[BibT_eX]

[DOI]

Yong-Qiang Zhao

Peng Gong

IEEE Trans. Geosci. Remote. Sens., 2008

Adaptive Filtering for Stochastic Systems With Generalized Disturbance Inputs.

[BibT_eX]

[DOI]

IEEE Signal Process. Lett., 2008

Anomaly detection in hyperspectral imagery based on maximum entropy and nonparametric estimation.

[BibT_eX]

[DOI]

Pattern Recognit. Lett., 2008

Visual Tracking with Automatic Confident Region Extraction.

[BibT_eX]

[DOI]

Int. J. Image Graph., 2008

A Novel Algorithm for Speeding up Keypoint Detection and Matching.

[BibT_eX]

[DOI]

Int. J. Image Graph., 2008

Using Multi-scale Glide Zoom Window Feature Extraction Approach to Predict Protein Homo-oligomer Types.

[BibT_eX]

[DOI]

Qi-Peng Li

Shao-Wu Zhang

Proceedings of the Pattern Recognition in Bioinformatics, 2008

Predicting Protein Quaternary Structure with Multi-scale Energy of Amino Acid Factor Solution Scores and Their Combination.

[BibT_eX]

[DOI]

Proceedings of the Medical Biometrics, First International Conference, 2008

Prediction of Protein Homo-oligomer Types with a Novel Approach of Glide Zoom Window Feature Extraction.

[BibT_eX]

[DOI]

Qi-Peng Li

Shao-Wu Zhang

Proceedings of the Advanced Intelligent Computing Theories and Applications. With Aspects of Theoretical and Methodological Issues, 2008

The Fuzzy Multi-Objective Programming Model and Solving Methods Based on Group Weight.

[BibT_eX]

[DOI]

Guoqiang Xiong

Hongcai Zhang

Proceedings of the Fifth International Conference on Fuzzy Systems and Knowledge Discovery, 2008

A New Nonlinear Filter Algorithm Based on QMC Quadrature.

[BibT_eX]

[DOI]

Dong-Min Huang

Pan Quan

Proceedings of the International Conference on Computer Science and Software Engineering, 2008

2007

Using Decision Templates to Predict Subcellular Localization of Protein.

[BibT_eX]

[DOI]

Proceedings of the Pattern Recognition in Bioinformatics, 2007

Spectropolarimetric Imaging for Skin Characteristics Analysis.

[BibT_eX]

[DOI]

Proceedings of the Medical Imaging and Informatics, 2nd International Conference, 2007

Learning Dynamic Bayesian Networks Structure Based on Bayesian Optimization Algorithm.

[BibT_eX]

[DOI]

Proceedings of the Advances in Neural Networks, 2007

Dynamic Population Size Based Particle Swarm Optimization.

[BibT_eX]

[DOI]

Proceedings of the Advances in Computation and Intelligence, 2007

Adaptive Multi-Cue Kernel Tracking.

[BibT_eX]

[DOI]

Proceedings of the 2007 IEEE International Conference on Multimedia and Expo, 2007

Estimation of Markov Jump systems with mode observation one-step lagged to state measurement.

[BibT_eX]

[DOI]

Proceedings of the 10th International Conference on Information Fusion, 2007

Fuzzy Color Histogram Based Kernel Tracking under Varying Illumination.

[BibT_eX]

[DOI]

Proceedings of the Fourth International Conference on Fuzzy Systems and Knowledge Discovery, 2007

2006

Estimation of the Projection Operator in a Multiresolution Multisensor Data Fusion Scheme.

[BibT_eX]

[DOI]

IEEE Trans. Circuits Syst. II Express Briefs, 2006

Rotation and scaling invariant texture classification based on Radon transform and multiscale analysis.

[BibT_eX]

[DOI]

Pattern Recognit. Lett., 2006

Prediction of Protein Subcellular Localizations Using Moment Descriptors and Support Vector Machine.

[BibT_eX]

[DOI]

Proceedings of the Pattern Recognition in Bioinformatics, International Workshop, 2006

Active Learning Based Pedestrian Detection in Real Scenes.

[BibT_eX]

[DOI]

Proceedings of the 18th International Conference on Pattern Recognition (ICPR 2006), 2006

Reliable and Fast Tracking of Faces under Varying Pose.

[BibT_eX]

[DOI]

Proceedings of the Seventh IEEE International Conference on Automatic Face and Gesture Recognition (FGR 2006), 2006

Swarm Intelligence for the Self-Organization of Wireless Sensor Network.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Evolutionary Computation, 2006

2005

Combined Interacting Multiple Model Map-Tuned Variance Method for Ground Target Tracking.

[BibT_eX]

Proceedings of The 2005 International Conference on Information and Knowledge Engineering, 2005

Automated Feature Points Management for Video Mosaic Construction.

[BibT_eX]

[DOI]

Proceedings of the Third International Conference on Information Technology and Applications (ICITA 2005), 2005

Multiresolution Fusion Estimation of Dynamic Multiscale System Subject to Nonlinear Measurement Equation.

[BibT_eX]

[DOI]

Proceedings of the Advances in Intelligent Computing, 2005

Multiresolutional Filtering of a Class of Dynamic Multiscale System Subject to Colored State Equation Noise.

[BibT_eX]

[DOI]

Proceedings of the Distributed Computing in Sensor Systems, 2005

Real-Time Multiple Objects Tracking with Occlusion Handling in Dynamic Scenes.

[BibT_eX]

[DOI]

Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR 2005), 2005

2004

Multiresolution modeling and estimation of multisensor data.

[BibT_eX]

[DOI]

IEEE Trans. Signal Process., 2004

A finite-horizon adaptive Kalman filter for linear systems with unknown disturbances.

[BibT_eX]

[DOI]

Signal Process., 2004

The optimal filtering of a class of dynamic multiscale systems.

[BibT_eX]

[DOI]

Sci. China Ser. F Inf. Sci., 2004

Real-time and accurate segmentation of moving objects in dynamic scene.

[BibT_eX]

[DOI]

Proceedings of the ACM 2nd International Workshop on Video Surveillance & Sensor Networks, 2004

Multiple layer based background maintenance in complex environment.

[BibT_eX]

[DOI]

Proceedings of the Third International Conference on Image and Graphics, 2004

Color based grayscale-fused image enhancement algorithm for video surveillance.

[BibT_eX]

[DOI]

Proceedings of the Third International Conference on Image and Graphics, 2004

Modeling and estimation of a class of dynamic multiscale system subject to colored noise.

[BibT_eX]

[DOI]

Proceedings of the 2004 IEEE International Conference on Acoustics, 2004

2003

Estimation of time-varying time delay and parameters of a class of jump Markov nonlinear stochastic systems.

[BibT_eX]

[DOI]

Comput. Chem. Eng., 2003

Classification of protein quaternary structure with support vector machine.

[BibT_eX]

[DOI]

Bioinform., 2003

Classification Using the Variable Precision Rough Set.

[BibT_eX]

[DOI]

Yongqiang Zhao

Hongcai Zhang