Dead Reckoning技术在网络游戏中的应用

介绍了基于物理运动学算法的预测技术以及基于Cubic Splines算法的平滑处理技术,并给出了Dead Reckoning在网络游戏中应用的具体算法以及该算法的相应实例。

增进平滑移动效果的Dead Reckoning算法

网络游戏中一个最常见的问题就是互联网自身存在的延时问题,当新数据包到来的时候,游戏界面上的角色就会产生抖动现象。解决这个问题的最重要的方法就是DeadReckoning算法。本文对传统的DR算法进行了改进,在其平滑机制中引入了“三次参数”方法,并在3D游戏中引入了方向预测方法。改进后的算法在性能和游戏真实性方面取得了较好的效果。

Recurrent neural network for vehicle dead-reckoning

For vehicle integrated navigation systems, real-time estimating states of the dead reckoning （DR） unit is much more difficult than that of the other measuring sensors under indefinite noises and nonlinear characteristics. Compared with the well known, extended Kalman filter （EKF）, a recurrent neural network is proposed for the solution, which not only improves the location precision and the adaptive ability of resisting disturbances, but also avoids calculating the analytic derivation and Jacobian matrices of the nonlinear system model. To test the performances of the recurrent neural network, these two methods are used to estimate the state of the vehicle＇s DR navigation system. Simulation results show that the recurrent neural network is superior to the EKF and is a more ideal filtering method for vehicle DR navigation.

Design of dead reckoning system for mobile robot

A dead reckoning system for a wheeled mobile robot was designed, and the method for robot’s pose estimation in the 3D environments was presented on the basis of its rigid-body kinematic equations. After analyzing the locomotion architecture of mobile robot and the principle of proprioceptive sensors, the kinematics model of mobile robot was built to realize the relative localization. Considering that the research on dead reckoning of mobile robot was confined to the 2 dimensional planes, the locomotion of mobile robot in the 3 coordinate axis direction was thought over in order to estimate its pose on uneven terrain. Because the computing method in a plane is rather mature, the calculation in height direction is emphatically represented as a key issue. With experimental results obtained by simulation program and robot platform, the position of mobile robot can be reliably estimated and the localization precision can be effectively improved, so the effectiveness of this dead reckoning system is demonstrated.

Strong tracking adaptive Kalman filters for underwater vehicle dead reckoning

To improve underwater vehicle dead reckoning, a developed strong tracking adaptive kalman filter is proposed. The filter is improved with an additional adaptive factor and an estimator of measurement noise covariance. Since the magnitude of fading factor is changed adaptively, the tracking ability of the filter is still enhanced in low velocity condition of underwater vehicles. The results of simulation tests prove the presented filter effective.

Map Aided Pedestrian Dead Reckoning Using Buildings Information for Indoor Navigation Applications

Navigation systems play an important role in many vital disciplines. Determining the location of a user relative to its physical environment is an important part of many indoor-based navigation services such as user navigation, enhanced 911 (E911), law enforcement, location-based and marketing services. Indoor navigation applications require a reliable, trustful and continuous navigation solution that overcomes the challenge of Global Navigation Satellite System (GNSS) signal unavailability. To compensate for this issue, other navigation systems such as Inertial Navigation System (INS) are introduced, however, over time there is a significant amount of drift especially in common with low-cost commercial sensors. In this paper, a map aided navigation solution is developed. This research develops an aiding system that utilizes geospatial data to assist the navigation solution by providing virtual boundaries for the navigation trajectories and limits its possibilities only when it is logical to locate the user on a map. The algorithm develops a Pedestrian Dead Reckoning (PDR) based on smart-phone accelerometer and magnetometer sensors to provide the navigation solution. Geospatial model for two indoor environments with a developed map matching algorithm was used to match and project navigation position estimates on the geospatial map. The developed algorithms were field tested in indoor environments and yielded accurate matching results as well as a significant enhancement to positional accuracy. The achieved results demonstrate that the contribution of the developed map aided system enhances the reliability, usability, and accuracy of navigation trajectories in indoor environments.

Vibration Control of A Flexible Marine Riser System Subject to Input Dead Zone and Extraneous Disturbances

An observer-based adaptive backstepping boundary control is proposed for vibration control of flexible offshore riser systems with unknown nonlinear input dead zone and uncertain environmental disturbances.The control algorithm can update the control law online through real-time data to make the controller adapt to the environment and improve the control precision.Specifically,based on the adaptive backstepping framework,virtual control laws and Lyapunov functions are designed for each subsystem.Three direction interference observers are designed to track the timevarying boundary disturbance.On this basis,the inverse of the dead zone and linear state transformation are used to compensate for the original system and eliminate the adverse effects of the dead zone.In addition,the stability of the closed-loop system is proven by Lyapunov stability theory.All the system states are bounded,and the vibration offset of the riser converges to a small area of the initial position.Finally,four examples of flexible marine risers are simulated in MATLAB to verify the effectiveness of the proposed controller.

RNA解旋酶DEAD-box蛋白家族与肿瘤的相关性研究

RNA解旋酶DEAD-box蛋白家族是RNA解旋酶中最大的家族,是基因表达的重要调控因子,在RNA代谢的多个方面发挥作用。RNA解旋酶DEAD-box蛋白家族既在RNA代谢中具有重要作用,又与人类细胞中基因组的不稳定性直接相关。而基因组的不稳定性是癌症克隆进化的驱动因素,能够促进癌症的发生发展。该文对RNA解旋酶DEAD-box蛋白家族与肿瘤发生发展的相关性做一综述。

Filtering and Estimation of Vehicular Dead Reckoning System Based on Hopfield Neural Network

The algorithm of Hopfield neural network filtering and estimation is studied. The model of vehicular dead reckoning system fitting for the algorithm is constructed, and the design scheme of system filtering and estimation based on Hopfield network is proposed. Compared with Kalman filter, the algorithm does not require very precise system model and the prior knowledge of noise statistics and does not diverge easily. The simulation results show that the vehicular dead reckoning system based on Hopfield network filtering and estimation has the good position precision, and needn't require the inertial sensors with high precision. Therefore, the algorithm has the good practicability.

SEI/dead Li-turning capacity loss for high-performance anode-free solid-state lithium batteries

Anode-free solid-state lithium metal batteries(AF-SSLBs)have the potential to deliver higher energy density and improved safety beyond lithium-metal batteries.However,the unclear mechanism for the fast capacity decay in AF-SSLBs,either determined by dead Li or solid electrolyte interface(SEI),limits the proposal of effective strategies to prolong cycling life.To clarify the underlying mechanism,herein,the evolution of SEI and dead Li is quantitatively analyzed by a solid-state nuclear magnetic resonance(ss-NMR)technology in a typical LiPF6-based polymer electrolyte.The results show that the initial capacity loss is attributed to the formation of SEI,while the dead Li dominates the following capacity loss and the growth rate is 0.141 mA h cm^(−2)cycle−1.To reduce the active Li loss,the combination of inorganic-rich SEI and self-healing electrostatic shield effect is proposed to improve the reversibility of Li deposition/dissolution behavior,which reduces the capacity loss rate for the initial SEI and following dead Li generation by 2.3 and 20.1 folds,respectively.As a result,the initial Coulombic efficiency(ICE)and stable CE increase by 15.1%and 15.3%in Li-Cu cells,which guides the rational design of high-performance AF-SSLBs.

Formulating Dead Sea Mud in Cosmetic Products, Its Effects on Skin, and the Underlying Biological Mechanism: A Review

Research Background: The marketing of cosmetic products derived from Dead Sea (DS) mud has undergone significant evolution, transforming from simple souvenirs into a large-scale cosmetic industry offering a diverse array of products. DS mud is utilized both as pure mud for home spa treatments and as an active ingredient in cosmetic and cosmeceutical formulations. Its global appeal is largely due to its natural, health-oriented image, which aligns with consumer preferences and provides assurance regarding its use in skincare. Research Objectives: This review examines the published data related to the rationale for formulating DS mud in cosmetics, the biological and cosmetic effects of DS mud on the skin, and the speculated bio-mechanisms underlying these effects. Methods: We screened relevant literature on DS mud collected from the shores of the Dead Sea in Jordan and Israel. Publications on mineral muds excavated in different locations around the globe, as well as studies on the biological mechanisms of other DS minerals, were also reviewed as indications and supportive recommendations. Summarizing the vast collected data into a comprehensive review was undertaken to expose readers to the various aspects of DS mud in cosmetics. Results: The primary reason for formulating DS mud in skincare products is its deep cleansing and skin detoxification properties. Consequently, it is often incorporated into rinse-off masks, soaps, and scrubbing products. Additionally, DS mud is used in leave-on products and sheet masks. Cosmeceutical applications of DS mud, recommended for various skin conditions, offer complementary treatments to improve the quality of life for people with skin diseases. The physicochemical and biological effects of DS mud are driven by its rich mineral ion composition, including magnesium, calcium, sodium, potassium, zinc, and strontium—elements known to improve skin barrier function, enhance hydration, and reduce inflammation. The high salt concentration induces moderate ionic osmotic stress, stimulating cellular growth and hydration pathways. Moreover, DS mud’s anti-microbial properties further contribute to its therapeutic potential. Ongoing innovations in formulation techniques continue to expand the applications of DS mud, including blending it with other active ingredients, developing novel application methods, and refining manufacturing processes to improve product quality and efficacy. Conclusions: DS mud remains a valuable ingredient in modern skincare due to its rich mineral content and therapeutic properties. Ongoing research and technological advancements promise further innovations, reinforcing its status as a natural and effective component in the global cosmetics industry.

The “Dead Universe” Theory: Natural Separation of Galaxies Driven by the Remnants of a Supermassive Dead Universe

This article explores the dead universe theory as a novel interpretation for the origin and evolution of the universe, suggesting that our cosmos may have originated from the remnants of a preceding universe. This perspective challenges the conventional Big Bang theory, particularly concerning dark matter, the expansion of the universe, and the interpretation of phenomena such as gravitational waves.

融合Dead-ends和离线监督Actor-Critic的动态治疗策略生成模型

强化学习对数学模型依赖性低,利用经验便于架构和优化模型,非常适合用于动态治疗策略学习。但现有研究仍存在以下问题:1)学习策略最优性的同时未考虑风险,导致学到的策略存在一定的风险;2)忽略了分布偏移问题,导致学到的策略与医生策略完全不同;3)忽略患者的历史观测数据和治疗史,从而不能很好地得到患者状态,进而导致不能学到最优策略。基于此,提出了融合Dead-ends和离线监督Actor-Critic的动态治疗策略生成模型DOSAC-DTR。首先,考虑学到的策略所推荐的治疗行动的风险性,在Actor-Critic框架中融入Dead-ends概念;其次,为缓解分布偏移问题,在Actor-Critic框架中融入医生监督,在最大化预期回报的同时,最小化所学策略与医生策略之间的差距;最后,为了得到包含患者关键历史信息的状态表示,使用基于LSTM的编码器解码器模型对患者的历史观测数据和治疗史进行建模。实验结果表明,DOSAC-DTR相比基线方法有更好的性能,可以得到更低的估计死亡率以及更高的Jaccard系数。

DEAD-box解旋酶21对猪传染性胃肠炎病毒复制的调控作用

旨在探究DEAD-box解旋酶21(DDX21)对猪传染性胃肠炎病毒(TGEV)复制的调控作用。首先通过蛋白免疫印迹(Western Blot)分析了TGEV感染对DDX21表达的影响;进一步构建了猪DDX21真核表达质粒以及建立稳定敲低DDX21的PK-15细胞系,运用荧光定量PCR(RT-qPCR)、蛋白免疫印迹、间接免疫荧光(IFA)和半数细胞培养物感染量(TCID 50)探究外源过表达DDX21及敲低DDX21对TGEV体外复制的调控作用;构建一系列DDX21截短突变体真核表达质粒,鉴定了DDX21调控TGEV增殖的关键功能域。Western Blot分析显示,在TGEV WH-1株感染早期,PK-15细胞内源性DDX21蛋白的表达水平显著上调;RT-qPCR、Western Blot、IFA和TCID 50试验显示,超表达DDX21可以显著提高TGEV N基因的mRNA水平、N蛋白的表达及病毒滴度,且呈剂量依赖性,其601-784 aa区域是其影响TGEV复制的关键;与阴性对照相比,在相应DDX21敲低细胞系中TGEV的增殖显著被抑制,而回补试验逆转了DDX21敲低细胞系中TGEV的滴度。该研究首次揭示了猪DDX21对TGEV增殖的促进作用并鉴定了其调控TGEV复制的关键结构域,为今后研究DDX21蛋白的功能及TGEV的致病机理提供了理论依据。

Signal Path Reckoning Localization Method in Multipath Environment

In the wireless localization application, multipath propagation seriously affects the localization accuracy. This paper presents two algorithms to solve the multipath problem. Firstly, we improve the Line of Possible Mobile Device(LPMD) algorithm by optimizing the utilization of the direct paths for single-bound scattering scenario. Secondly, the signal path reckoning method with the assistance of geographic information system is proposed to solve the problem of localization with multi-bound scattering paths. With the building model's idealization, the proposed method refers to the idea of ray tracing and dead reckoning. According to the rule of wireless signal reflection, the signal propagation path is reckoned using the measurements of emission angle and propagation distance, and then the estimated location can be obtained. Simulation shows that the proposed method obtains better results than the existing geometric localization methods in multipath environment when the angle error is controlled.

翻译目的论视角下的对话分析及翻译策略——以A Reckoning为例

从翻译目的论出发,分析了May Sarton的小说A Reckoning中的人物对话,并在翻译目的论和该理论三大原则的指导下,通过深入剖析原文和译文,从目的原则下句式的转换、连贯性原则下语境的融合、忠实性原则下的对话生动性进行了分析,揭示了译文中所使用的主要翻译策略,以期对相关小说的翻译有所启发。

结直肠癌组织和细胞中DEAD盒解旋酶10和Bystin样蛋白的表达及其临床意义

目的:探讨结直肠癌(CRC)组织及结肠癌细胞DLD-1中DEAD盒解旋酶10(DDX10)与Bystin-like(BYSL)的关系及其临床意义。方法:收集2017年3月至2018年3月间福建医科大学附属第二医院手术切除的78例CRC组织和配对癌旁组织,采用免疫组织化学Envision法检测癌组织和癌旁组织中DDX10和BYSL的表达水平,采用卡方检验、Pearson相关性分析和Kaplan-Meier法分别分析CRC组织中DDX10、BYSL蛋白表达与其患者的临床病例特征的关系,两者表达的相关性,以及与患者PFS和OS的关系。利用瞬时转染技术在DLD-1细胞中分别转染siDDX10和siNC,用qPCR法检测DLD-1细胞中敲减DDX10的表达对BYSL表达的影响,用CCK-8及Transwell实验验证DDX10及BYSL表达对结肠癌细胞增殖迁移及侵袭的影响。结果:免疫组织化学Envision法检测显示,与癌旁组织相比,DDX10和BYSL在CRC组织中呈高表达(73.08%和74.36%)。CRC组织中DDX10与BY肿瘤分期、是否发生淋巴结转移及复发等临床病例特征均有关联(均P<0.05)。Pearson相关分析结果显示,DDX10与BYSL的表达呈正相关(r=0.636,P<0.001)。Kaplan-Meier生存分析结果显示,DDX10与BYSL的高表达与患者更差的预后相关。Logistic回归分析发现,DDX10与BYSL均是CRC复发的独立风险因素。CCK-8法及Transwell实验检测结果显示,敲降DDX10的表达可使BYSL表达降低,且可抑制DLD-1细胞的增殖、迁移、侵袭能力(均P<0.05)。结论:DDX10和BYSL在CRC组织中呈高表达,两者表达水平呈正相关,且与患者更差的预后相关,是CRC复发的独立风险因素。可调控结直肠癌DLD-1细胞的增殖、迁移、侵袭能力。

基于增强现实技术的电力设备运维检修仿真方法

为解决电力设备运维检修中,运行状态监测不够全面的问题,提出基于增强现实技术的电力设备运维检修仿真方法。基于步行者航位推算技术与GPS技术设计无线定位平台,无线定位检修人员并记录行动轨迹;拍摄电力设备运维检修图像,基于增强现实技术,结合MEEM算法与ORB算法设计增强现实三维注册技术;以3dsMax软件构建电力设备运维检修三维模型。融合定位结果、三维注册结果与模型,实现仿真中的虚实融合、人机交互。测试结果表明,该方法能够实现带电区域检测的仿真以及电力设备识别、运维检修状态检测的仿真,证明该方法拥有良好的仿真性能。

电影《Dead Poets Society》中对教育共情力的思考

共情力是个体在观察和理解他人情感的基础上,产生与观察对象相似的情感体验并表现出相应行为反应的一种能力。在教育过程中,家庭和学校对个体的教育最为直接,学生阶段是个体人生成长的重要时期,好的教育是需要共情力的。本文以美国影片《Dead Poets Society》为例,针对“共情教育”,启发家长、教师在教育过程中的共情能力对个体心理发展所具有的积极作用。提出加强教育者共情意识,家校合力,建立轻松和谐的交往氛围,促进教育者与受教育者之间关系融洽。

Evaluation of Nutritional Value and Safety of Black Soldier Flies Fed on Dead Pig Meat and Bone Meal

[Objectives]This study was conducted to evaluate the nutritional value and safety of black soldier flies fed with dead pig meat and bone meal(DPMBM)and to explore the resource utilization of DPMBM.[Methods]The general nutrient composition,amino acids,fatty acids and mineral elements of black soldier fly meal(BSLM)were detected and analyzed.[Results]The results showed that the contents of moisture,crude protein,crude fat and ash in BSLM were 3.42%,42.31%,34.04%and 5.40%,respectively.The contents of total amino acids(TAA),essential amino acids(∑EAA)and non-essential amino acids(∑NEAA)and umami amino acids(∑DAA),the EAA/TAA value and the EAA/NEAA value were 37.93%,13.08%,24.85%,13.43%,34.47%,52.61%,respectively.A total of eight kinds of saturated fatty acids and seven kinds of unsaturated fatty acids were detected,accounting for 63.65%and 32.67%of the total fatty acids.Among the major mineral elements,the content of Ca was the highest,followed by K,Mg and Na.Among the trace mineral elements,the content of Mn was the highest,followed by Fe,Zn,Cu,Ni,Cr,Cd,As,Pb,Se,Sn,Ti,Sb and Hg.The contents of heavy metal mineral elements in BSLM were far lower than the limits specified in Hygienical Standard for Feeds.[Conclusions]In conclusion,BSLM has high nutritional value and good safety of heavy metals,and thus great potential for development and utilization as a high quality dietary protein,fat and mineral elements source.