Hybrid pedestrian positioning system using wearable inertial sensors and ultrasonic ranging

Pedestrian positioning system(PPS)using wearable inertial sensors has wide applications towards various emerging fields such as smart healthcare,emergency rescue,soldier positioning,etc.The performance of traditional PPS is limited by the cumulative error of inertial sensors,complex motion modes of pedestrians,and the low robustness of the multi-sensor collaboration structure.This paper presents a hybrid pedestrian positioning system using the combination of wearable inertial sensors and ultrasonic ranging(H-PPS).A robust two nodes integration structure is developed to adaptively combine the motion data acquired from the single waist-mounted and foot-mounted node,and enhanced by a novel ellipsoid constraint model.In addition,a deep-learning-based walking speed estimator is proposed by considering all the motion features provided by different nodes,which effectively reduces the cumulative error originating from inertial sensors.Finally,a comprehensive data and model dual-driven model is presented to effectively combine the motion data provided by different sensor nodes and walking speed estimator,and multi-level constraints are extracted to further improve the performance of the overall system.Experimental results indicate that the proposed H-PPS significantly improves the performance of the single PPS and outperforms existing algorithms in accuracy index under complex indoor scenarios.

Holographic alloy positioning design system and holographic network phase diagrams of Au-Cu system

Taking Au?Cu system as an example, three discoveries and two methods were presented. First, a new way for boosting sustainable progress of systematic metal materials science (SMMS) and alloy gene engineering (AGE) is to establish holographic alloy positioning design (HAPD) system, of which the base consists of measurement and calculation center, SMMS center, AGE center, HAPD information center and HAPD cybernation center; Second, the resonance activating-sychro alternating mechanism of atom movement may be divided into the located and oriented diffuse modes; Third, the equilibrium and subequilibrium holographic network phase diagrams are blueprints and operable platform for researchers to discover, design, manufacture and deploy advanced alloys, which are obtained respectively by the equilibrium lever numerical method and cross point numerical method of isothermal Gibbs energy curves. As clicking each network point, the holographic information of three structure levels for the designed alloy may be readily obtained: the phase constitution and fraction, phase arranging structure and properties of organization; the composition, alloy gene arranging structure and properties of each phase and the electronic structures and properties of alloy genes. It will create a new era for network designing advanced alloys.

In Situ Deposition of Drug and Gene Nanoparticles on a Patterned Supramolecular Hydrogel to Construct a Directionally Osteochondral Plug

The integrated repair of bone and cartilage boasts advantages for osteochondral restoration such as a long-term repair effect and less deterioration compared to repairing cartilage alone.Constructing multifactorial,spatially oriented scaffolds to stimulate osteochondral regeneration,has immense significance.Herein,targeted drugs,namely kartogenin@polydopamine(KGN@PDA)nanoparticles for cartilage repair and miRNA@calcium phosphate(miRNA@CaP)NPs for bone regeneration,were in situ deposited on a patterned supramolecular-assembled 2-ureido-4[lH]-pyrimidinone(UPy)modified gelation hydrogel film,facilitated by the dynamic and responsive coordination and complexation of metal ions and their ligands.This hydrogel film can be rolled into a cylindrical plug,mimicking the Haversian canal structure of natural bone.The resultant hydrogel demonstrates stable mechanical properties,a self-healing ability,a high capability for reactive oxygen species capture,and controlled release of KGN and miR-26a.In vitro,KGN@PDA and miRNA@CaP promote chondrogenic and osteogenic differentiation of mesenchymal stem cells via the JNK/RUNX1 and GSK-3β/β-catenin pathways,respectively.In vivo,the osteochondral plug exhibits optimal subchondral bone and cartilage regeneration,evidenced by a significant increase in glycosaminoglycan and collagen accumulation in specific zones,along with the successful integration of neocartilage with subchondral bone.This biomaterial delivery approach represents a significant toward improved osteochondral repair.

Collaborative positioning for swarms:A brief survey of vision,LiDAR and wireless sensors based methods

As positioning sensors,edge computation power,and communication technologies continue to develop,a moving agent can now sense its surroundings and communicate with other agents.By receiving spatial information from both its environment and other agents,an agent can use various methods and sensor types to localize itself.With its high flexibility and robustness,collaborative positioning has become a widely used method in both military and civilian applications.This paper introduces the basic fundamental concepts and applications of collaborative positioning,and reviews recent progress in the field based on camera,LiDAR(Light Detection and Ranging),wireless sensor,and their integration.The paper compares the current methods with respect to their sensor type,summarizes their main paradigms,and analyzes their evaluation experiments.Finally,the paper discusses the main challenges and open issues that require further research.

Uncertainties in landslide susceptibility prediction:Influence rule of different levels of errors in landslide spatial position

The accuracy of landslide susceptibility prediction(LSP)mainly depends on the precision of the landslide spatial position.However,the spatial position error of landslide survey is inevitable,resulting in considerable uncertainties in LSP modeling.To overcome this drawback,this study explores the influence of positional errors of landslide spatial position on LSP uncertainties,and then innovatively proposes a semi-supervised machine learning model to reduce the landslide spatial position error.This paper collected 16 environmental factors and 337 landslides with accurate spatial positions taking Shangyou County of China as an example.The 30e110 m error-based multilayer perceptron(MLP)and random forest(RF)models for LSP are established by randomly offsetting the original landslide by 30,50,70,90 and 110 m.The LSP uncertainties are analyzed by the LSP accuracy and distribution characteristics.Finally,a semi-supervised model is proposed to relieve the LSP uncertainties.Results show that:(1)The LSP accuracies of error-based RF/MLP models decrease with the increase of landslide position errors,and are lower than those of original data-based models;(2)70 m error-based models can still reflect the overall distribution characteristics of landslide susceptibility indices,thus original landslides with certain position errors are acceptable for LSP;(3)Semi-supervised machine learning model can efficiently reduce the landslide position errors and thus improve the LSP accuracies.

Accelerated Sequential Deposition Reaction via Crystal Orientation Engineering for Low-Temperature,High-Efficiency Carbon-Electrode CsPbBr_(3) Solar Cells

Low-temperature,ambient processing of high-quality CsPbBr_(3)films is demanded for scalable production of efficient,low-cost carbon-electrode perovskite solar cells(PSCs).Herein,we demonstrate a crystal orientation engineering strategy of PbBr_(2)precursor film to accelerate its reaction with CsBr precursor during two-step sequential deposition of CsPbBr_(3)films.Such a novel strategy is proceeded by adding CsBr species into PbBr_(2)precursor,which can tailor the preferred crystal orientation of PbBr_(2)film from[020]into[031],with CsBr additive staying in the film as CsPb_(2)Br_(5)phase.Theoretical calculations show that the reaction energy barrier of(031)planes of PbBr_(2)with CsBr is lower about 2.28 eV than that of(O2O)planes.Therefore,CsPbBr_(3)films with full coverage,high purity,high crystallinity,micro-sized grains can be obtained at a low temperature of 150℃.Carbon-electrode PSCs with these desired CsPbBr_(3)films yield the record-high efficiency of 10.27%coupled with excellent operation stability.Meanwhile,the 1 cm^(2)area one with the superior efficiency of 8.00%as well as the flexible one with the champion efficiency of 8.27%and excellent mechanical bending characteristics are also achieved.

3D DEM simulation of hard rock fracture in deep tunnel excavation induced by changes in principal stress magnitude and orientation

To achieve the loading of the stress path of hard rock,the spherical discrete element model(DEM)and the new flexible membrane technology were utilized to realize the transient loading of three principal stresses with arbitrary magnitudes and orientations.Furthermore,based on the deep tunnel of China Jinping Underground Laboratory II(CJPL-II),the deformation and fracture evolution characteristics of deep hard rock induced by excavation stress path were analyzed,and the mechanisms of transient loading-unloading and stress rotation-induced fractures were revealed from a mesoscopic perspective.The results indicated that the stressestrain curve exhibits different trends and degrees of sudden changes when subjected to transient changes in principal stress,accompanied by sudden changes in strain rate.Stress rotation induces spatially directional deformation,resulting in fractures of different degrees and orientations,and increasing the degree of deformation anisotropy.The correlation between the degree of induced fracture and the unloading magnitude of minimum principal stress,as well as its initial level is significant and positive.The process of mechanical response during transient unloading exhibits clear nonlinearity and directivity.After transient unloading,both the minimum principal stress and minimum principal strain rate decrease sharply and then tend to stabilize.This occurs from the edge to the interior and from the direction of the minimum principal stress to the direction of the maximum principal stress on theε1-ε3 plane.Transient unloading will induce a tensile stress wave.The ability to induce fractures due to changes in principal stress magnitude,orientation and rotation paths gradually increases.The analysis indicates a positive correlation between the abrupt change amplitude of strain rate and the maximum unloading magnitude,which is determined by the magnitude and rotation of principal stress.A high tensile strain rate is more likely to induce fractures under low minimum principal stress.

Effects of Uncertainties in the Position and Orientation of Both the Transmitter and Receivers on Marine Controlled-Source Electromagnetic Data

Simulation and interpretation of marine controlled-source electromagnetic(CSEM) data often approximate the transmitter source as an ideal horizontal electric dipole(HED) and assume that the receivers are located on a flat seabed.Actually,however,the transmitter dipole source will be rotated,tilted and deviated from the survey profile due to ocean currents.And free-fall receivers may be also rotated to some arbitrary horizontal orientation and located on sloping seafloor.In this paper,we investigate the effects of uncertainties in the transmitter tilt,transmitter rotation and transmitter deviation from the survey profile as well as in the receiver's location and orientation on marine CSEM data.The model study shows that the uncertainties of all position and orientation parameters of both the transmitter and receivers can propagate into observed data uncertainties,but to a different extent.In interpreting marine data,field data uncertainties caused by the position and orientation uncertainties of both the transmitter and receivers need to be taken into account.

Systematic positions of Lamiophlomis and Paraphlomis(Lamiaceae) based on nuclear and chloroplast sequences

Genera Lamiophlomis and Paraphlomis were originally separated from genus Phlomis s.1. on the basis of particular morphological characteristics. However, their relationship was highly contentious, as evidenced by the literature. In the present paper, the systematic positions of Lamiophlomis, Paraphlomis, and their related genera were assessed based on nuclear internal transcribed spacer （ITS） and chloroplast rpl16 and trnL-F sequence data using maximum parsimony （MP） and Bayesian methods. and outgroup were sampled. Analyses of both separate In total, 24 species representing six genera of the ingroup and combined sequence data were conducted to resolve the systematic relationships of these genera. The results reveal that Lamiophlomis is nested within Phlomis sect. Phlomoides and its generic status is not supported. With the inclusion ofLamiophlomis rotata in sect. Phlomoides, sections Phlomis and Phlomoides of Phlomis were resolved as monophyletic. Paraphlomis was supported as an independent genus. However, the resolution of its monophyly conflicted between MP and Bayesian analyses, suggesting the need for expended sampling and further evidence.

Shunting branch of portal vein and stent position predict survival after transjugular intrahepatic portosystemic shunt

AIM: To evaluate the effect of the shunting branch of the portal vein (PV) (left or right) and the initial stent position (optimal or suboptimal) of a transjugular intrahepatic portosystemic shunt (TIPS).

Fiber Migration and Distribution of Twist at Different Radial Positions of Rotor Yarn-by Hi-Scope Video Microscope System

This paper describes systematic measurement of fiber migration and distribution pattern of twist at different radial positions of rotor spun yarn mixed tracer fiber by Hi-Scope Video Microscope System. The positions of tracer fibers were measured in three dimensions accurately, and the migration index and the twist distribution at different radial positions of rotor yarn were calculated and analyzed. This research result serves to provide useful references for further study on the structural mechanics of rotor spun yarn.

Effects of orientation on the fatigue crack growth behaviors of the ZK60 magnesium alloy in air and PBS

Strong anisotropic corrosion and mechanical properties caused by specimen orientations greatly limit the applications of wrought magnesium alloys.To investigate the influences of specimen orientation,the corrosion tests and(corrosion)fatigue crack growth tests were conducted.The rolled and transverse surfaces of the materials show distinct corrosion rate differences in the stable corrosion stage,but the truth is the opposite for the initial stage of corrosion.In air,specimen orientations have a significant influence on the plastic deformation mechanisms near the crack tip,which results in different fatigue fracture surfaces and cracking paths.Compared with R-T specimens,N-T specimens show a slower fatigue crack growth(FCG)rate in air,which can be attributed to crack closure effects and deformation twinning near the crack tip.The corrosion environment will not significantly change the main plastic deformation mechanisms for the same type of specimen.However,the FCG rate in phosphate buffer saline(PBS)is one order of magnitude higher than that in air,which is caused by the combined effects of hydrogen-induced cracking and anodic dissolution.Owing to the similar corrosion rates at crack tips,the specimens with different orientations display close FCG rates in PBS.

H~∞ Theory and its Application to the Position of Rolling Mill Control System

The controller designed according to classical or modern control theory will not satisfy the performance requirements when the controlled object in industrial field can not be described by exact mathematical model or the disturbance of the controlled system. In order to make the controlled system stable and having good performance, H∞ control theory was put forward to solve this practical problem. Taking the position of a rolling mill as the controlled object, it was rectified by optimal engineering way. Then, three different plans were put forward according to Bang-Bang control, LQ control and H∞ control, respectively. The result of the simulation shows that the controller designed according to H∞ method whose robust performance and ability to restrain colors disturbance is satisfactory.

Method for determining the position of landslide slip-surface with a typical inclinometric curves

In the actual monitoring of deep hole displacement,the identification of slip surfaces is primarily based on abrupt changes observed in the inclinometric curve.In conventional identification methods,inclinometric curves exhibiting indications of sliding can be categorized into three types:B-type,D-type,and r-type.The position of the slip surface is typically determined by identifying the depth corresponding to the point of maximum displacement mutation.However,this method is sensitive to the interval of measurement points and the observation scale of the coordinate axes and suffers from unclear sliding surfaces and uncertain values.Based on the variation characteristics of these diagonal curves,we classified the landslide into three components:the sliding body,the sliding interval,and the immobile body.Moreover,three different generalization models were established to analyze the relationships between the curve form and the slip surface location based on different physical indicators such as displacement rate,relative displacement,and acceleration.The results show that the displacement rate curves of an r-type slope exhibit a clustering feature in the sliding interval,and by solving for the depth of discrete points within the step phase,it is possible to determine the location of the slip surface.On the other hand,D-type slopes have inflection points in the relative displacement curve located at the slip surface.The acceleration curves of B-type slopes exhibit clustering characteristics during the sliding interval,while the scattered acceleration data demonstrate wandering characteristics.Consequently,the slip surface location can be revealed by solving the depth corresponding to the maximum acceleration with cubic spline interpolation.The approach proposed in this paper was applied to the monitoring data of a landslide in Yunnan Province,China.The results indicate that our approach can accurately identify the slip surface location and enable computability of its position,thereby enhancing applicability and reliability of the deep-hole displacement monitoring data.

Estimation of fracture density and orientation from azimuthal elastic impedance difference through singular value decomposition

Accurate estimation of fracture density and orientation is of great significance for seismic characterization of fractured reservoirs.Here,we propose a novel methodology to estimate fracture density and orientation from azimuthal elastic impedance(AEI)difference using singular value decomposition(SVD).Based on Hudson's model,we first derive the AEI equation containing fracture density in HTI media,and then obtain basis functions and singular values from the normalized AEI difference utilizing SVD.Analysis shows that the basis function changing with azimuth is related to fracture orientation,fracture density is the linearly weighted sum of singular values,and the first singular value contributes the most to fracture density.Thus,we develop an SVD-based fracture density and orientation inversion approach constrained by smooth prior elastic parameters.Synthetic example shows that fracture density and orientation can be stably estimated,and the correlation coefficient between the true value and the estimated fracture density is above 0.85 even when an S/N ratio of 2.Field data example shows that the estimated fracture orientation is consistent with the interpretation of image log data,and the estimated fracture density reliably indicates fractured gas-bearing reservoir,which could help to guide the exploration and development of fractured reservoirs.

Effects of the initiation position on the damage and fracture characteristics of linear-charge blasting in rock

To study the effects of the initiation position on the damage and fracture characteristics of linear-charge blasting, blasting model experiments were conducted in this study using computed tomography scanning and three-dimensional reconstruction methods. The fractal damage theory was used to quantify the crack distribution and damage degree of sandstone specimens after blasting. The results showed that regardless of an inverse or top initiation, due to compression deformation and sliding frictional resistance, the plugging medium of the borehole is effective. The energy of the explosive gas near the top of the borehole is consumed. This affects the effective crushing of rocks near the top of the borehole, where the extent of damage to Sections Ⅰ and Ⅱ is less than that of Sections Ⅲ and Ⅳ. In addition, the analysis revealed that under conditions of top initiation, the reflected tensile damage of the rock at the free face of the top of the borehole and the compression deformation of the plug and friction consume more blasting energy, resulting in lower blasting energy efficiency for top initiation. As a result, the overall damage degree of the specimens in the top-initiation group was significantly smaller than that in the inverse-initiation group. Under conditions of inverse initiation, the blasting energy efficiency is greater, causing the specimen to experience greater damage. Therefore, in the engineering practice of rock tunnel cut blasting, to utilize blasting energy effectively and enhance the effects of rock fragmentation, using the inverse-initiation method is recommended. In addition, in three-dimensional(3D) rock blasting, the bottom of the borehole has obvious end effects under the conditions of inverse initiation, and the crack distribution at the bottom of the borehole is trumpet-shaped. The occurrence of an end effect in the 3D linear-charge blasting model experiment is related to the initiation position and the blocking condition.

Developing a highly scalable synthetic strategy for 5-amino-4-nitrobenzo[1,2-c:3,4-c']bis([1,2,5]oxadiazole)1,b-dioxide(CL-18)and investigating the influence of crystal engineering and positional isomerization on its safety and laser ignition performance

5-amino-4-nitrobenzo[1,2-c:3,4-c']bis([1,2,5]oxadiazole)1,6-dioxide(CL-18)exhibits significant potential as an initiating explosive.However,its current synthesis process remains non-scalable due to low yields and safety risks.In this study,we have developed a simple and safe synthetic route for CL-18.It was synthesized from 3,5-dihaloanisole in a four-step reaction with an overall yield exceeding 60%,surpassing all reported yields in the literature.Subsequently,recrystallization of CL-18 was successfully achieved by carefully selecting appropriate solvents and antisolvents to reduce its mechanical sensitivity.Ultimately,when DMF-ethanol was employed as the recrystallization solvent system,satisfactory product yield(>90%)and reduced mechanical sensitivity(IS=15 J;FS=216 N)were obtained.Additionally,CL-18 is derived from the rearrangement of oxygen atoms on i-CL-18 furoxan,and a comparative analysis of their physicochemical properties was conducted.The thermal stability of both compounds is similar,with onset decomposition temperatures recorded at 186 and 182℃respectively.Similarly,they exhibit 5 s breaking point temperatures of 236 and 237℃.Additionally,we present novel insights into the positional-isomerization-laser-ignition performance of CL-18 and its isomer i-CL-18 using laser irradiation for the first time.Remarkably,our findings demonstrate that i-CL-18 exhibits enhanced laser sensitivity,as it can be directly ignited by a 1064 nm wavelength laser,whereas CL-18 lacks this characteristic.

Effects of mesoclimate and microclimate variations mediated by high altitude and row orientation on sucrose metabolism and anthocyanin synthesis in grape berries

Climate change and extreme weather pose significant challenges to the traditional viticulture regions.Emerging high-altitude grape-producing regions with diverse orientations have shown great potential in coping with this challenge.Stable,high-quality wine grape production may be achieved by synchronizing the meso-and microclimate.To clarify the role of high altitude and row orientation in meso-and microclimate and the response of berries to it,we evaluated seven years(2012-2018)of climate data,two years of basic grape(Cabernet Sauvignon,Vitis vinifera L.)quality,and one-year microclimate from veraison to harvest.By comparing two locations(Sidon 2047 m,Sinon 2208 m)in Yunnan Province,China,we found that the average temperature has been stable at approximately 15℃ for seven years,with no extreme weather or,noticeable global warming.The light intensity(LI)in the north-south(NS)was more balanced than the east-west(EW)direction,and the east-west to the south(EW-S)canopy side was almost higher than the other sides.High LI was associated with high photosynthetically active radiation(PAR),ultraviolet(UV),and infrared(IR)light and vice versa.The north-south to the east(NS-E)and east-west to the north(EWN)sides were characterized by lower LI and higher UV and IR light,and higher total anthocyanin content.Most anthocyanin synthesis-related genes,for example,VvF3'H and VvF3'5'H,were highly expressed in NS-E from veraison to maturity.Perhaps UV and IR light induced their expression.This study provides new insights on the role of differently orientated rows in controlling grape quality due to varied light quality.The findings are globally significant,particularly in the context of climate change,and offer fresh insights into berry physiological responses and decision-making for the management of existing vineyards.

New Three-Dimensional Assessment Model and Optimization of Acoustic Positioning System

This paper addresses the problem of assessing and optimizing the acoustic positioning system for underwater target localization with range measurement.We present a new three-dimensional assessment model to evaluate the optimal geometric beacon formation whether meets user requirements.For mathematical tractability,it is assumed that the measurements of the range between the target and beacons are corrupted with white Gaussian noise with variance,which is distance-dependent.Then,the relationship between DOP parameters and positioning accuracy can be derived by adopting dilution of precision(DOP)parameters in the assessment model.In addition,the optimal geometric beacon formation yielding the best performance can be achieved via minimizing the values of geometric dilution of precision(GDOP)in the case where the target position is known and fixed.Next,in order to ensure that the estimated positioning accuracy on the region of interest satisfies the precision required by the user,geometric positioning accuracy(GPA),horizontal positioning accuracy(HPA)and vertical positioning accuracy(VPA)are utilized to assess the optimal geometric beacon formation.Simulation examples are designed to illustrate the exactness of the conclusion.Unlike other work that only uses GDOP to optimize the formation and cannot assess the performance of the specified size,this new three-dimensional assessment model can evaluate the optimal geometric beacon formation for each dimension of any point in three-dimensional space,which can provide guidance to optimize the performance of each specified dimension.

Alleviating the anisotropic microstructural change and boosting the lithium ions diffusion by grain orientation regulation for Ni-rich cathode materials

Generally,layered Ni-rich cathode materials exhibit the morphology of polycrystalline secondary sphere composed of numerous primary particles.While the arrangement of primary particles plays a very important role in the properties of Ni-rich cathodes.The disordered particle arrangement is harmful to the cyclic performance and structural stability,yet the fundamental understanding of disordered structure on the structural degradation behavior is unclarified.Herein,we have designed three kinds of LiNi_(0.83)Co_(0.06)Mn_(0.11)O_(2) cathode materials with different primary particle orientations by regulating the precursor coprecipitation process.Combining finite element simulation and in-situ characterization,the Li^(+)transport and structure evolution behaviors of different materials are unraveled.Specifically,the smooth Li^(+)diffusion minimizes the reaction heterogeneity,homogenizes the phase transition within grains,and mitigates the anisotropic microstructural change,thereby modulating the crack evolution behavior.Meanwhile,the optimized structure evolution ensures radial tight junctions of the primary particles,enabling enhanced Li^(+)diffusion during dynamic processes.Closed-loop bidirectional enhancement mechanism becomes critical for grain orientation regulation to stabilize the cyclic performance.This precursor engineering with particle orientation regulation provides the useful guidance for the structural design and feature enhancement of Ni-rich layered cathodes.