With the modernization of industrial production,various automatic following technologies have gradually penetrated into people's lives.Among them,the application fields that follow mobile balancing vehicles range ...With the modernization of industrial production,various automatic following technologies have gradually penetrated into people's lives.Among them,the application fields that follow mobile balancing vehicles range from the structured environment of factories to the daily living environment.The purpose of this subject is to be able to use UWB positioning technology to realize that the balanced trolley is an automatic following function,which mainly uses the ranging function in UWB positioning technology,uses the TOF ranging principle and embedded basic knowledge,and changes the positioning algorithm to a following algorithm.The distance between the target object and the person is effectively determined by two tags set on the trolley and a base station in the hand to determine the distance,and the distance information is transmitted through the serial port.By writing an algorithm,the distance information is converted to the driving information of the trolley,and the driving information is sent to the trolley to control the trolley,thereby realizing the task of balancing the trolley to follow the specified target in a simple indoor environment.展开更多
Automatic navigation of an articulated drum roller, which is an articulated steering type vehicle widely used in the construction industry, is highly expected for operation cost reduction and improvement of work effi-...Automatic navigation of an articulated drum roller, which is an articulated steering type vehicle widely used in the construction industry, is highly expected for operation cost reduction and improvement of work effi- ciency. In order to achieve the path following control, considering that its steering system is articulated steering and two frames are articulated by an active revolute joint, a kinematic model and an error dynamic state-space equation of an articulated drum roller are proposed. Besides, a state- feedback control law based on Lyapunov stability theory is also designed, which can be proved to achieve the purpose of control by the analysis of stability. What＇s more, to evaluate the performance of the proposed method, simu- lation under the MATLAB/Simulink and experiments using positioning algorithm and errors correction at the uneven construction site are performed, with initial dis- placement error （-1.5 m）, heading error （-0.11 tad） and steering angle （-0.19 rad）. Finally, simulation and exper- imental results show that the errors and steering angle can decrease gradually, and converge to zero with time. Meanwhile, the control input is not saturated. An articu- lated drum roller can lock into a desired path with the proposed method in uneven fields.展开更多
Introduction: The goal of Prevention of Mother to child Transmission (PMTCT) is to minimize new HIV infection with PMTCT interventions which can reduce to as low as 2%. Gusii region is number 5 among counties that con...Introduction: The goal of Prevention of Mother to child Transmission (PMTCT) is to minimize new HIV infection with PMTCT interventions which can reduce to as low as 2%. Gusii region is number 5 among counties that contribute to 65% of new HIV (Human Immunodeficiency Virus) in infections in Kenya. The study was to determine the prevalence of new HIV infections among infants (3 - 18 months) born of HIV positive mothers on PMTCT follow up at Kisii Teaching and Referral Hospital (KTRH). Method: This was a descriptive cross sectional study involving 96 infants born of HIV positive mothers on PMTCT programme at Kisii Teaching and Referral Hospital (KTRH) was conducted. The infants were between 3 to 18 months of age. The infants were investigated for their HIV status and factors associated with prevalence. The data collection was done during postnatal checkups, antiretroviral treatment follow up and immunization schedule. Data was analyzed using Statistical Package for Social Sciences (SPSS) version 20. Results: 13.5% (95% C.I = 10.1% to 16.9%) were found to be positive despite their mothers being on PMTCT program. There was no significant difference between gender and status of the infant (χ2 = 0.758, df = 1, p-value = 0.0384). Conclusion: The study confirms that there are still new HIV infections despite being followed up in the PMTCT program. The new HIV infections were associated with mixed feeding. Recommendation: Counseling on Infant feeding, use of ant-retroviral treatment and support from partners should be strengthen in the PMTCT program to ensure reduction of new HIV infections.展开更多
文摘With the modernization of industrial production,various automatic following technologies have gradually penetrated into people's lives.Among them,the application fields that follow mobile balancing vehicles range from the structured environment of factories to the daily living environment.The purpose of this subject is to be able to use UWB positioning technology to realize that the balanced trolley is an automatic following function,which mainly uses the ranging function in UWB positioning technology,uses the TOF ranging principle and embedded basic knowledge,and changes the positioning algorithm to a following algorithm.The distance between the target object and the person is effectively determined by two tags set on the trolley and a base station in the hand to determine the distance,and the distance information is transmitted through the serial port.By writing an algorithm,the distance information is converted to the driving information of the trolley,and the driving information is sent to the trolley to control the trolley,thereby realizing the task of balancing the trolley to follow the specified target in a simple indoor environment.
基金Supported by National Key Technology Support Program of China(Grant No.2015BAF07B05)Fundamental Research Funds for the Central Universities of China
文摘Automatic navigation of an articulated drum roller, which is an articulated steering type vehicle widely used in the construction industry, is highly expected for operation cost reduction and improvement of work effi- ciency. In order to achieve the path following control, considering that its steering system is articulated steering and two frames are articulated by an active revolute joint, a kinematic model and an error dynamic state-space equation of an articulated drum roller are proposed. Besides, a state- feedback control law based on Lyapunov stability theory is also designed, which can be proved to achieve the purpose of control by the analysis of stability. What＇s more, to evaluate the performance of the proposed method, simu- lation under the MATLAB/Simulink and experiments using positioning algorithm and errors correction at the uneven construction site are performed, with initial dis- placement error （-1.5 m）, heading error （-0.11 tad） and steering angle （-0.19 rad）. Finally, simulation and exper- imental results show that the errors and steering angle can decrease gradually, and converge to zero with time. Meanwhile, the control input is not saturated. An articu- lated drum roller can lock into a desired path with the proposed method in uneven fields.
文摘Introduction: The goal of Prevention of Mother to child Transmission (PMTCT) is to minimize new HIV infection with PMTCT interventions which can reduce to as low as 2%. Gusii region is number 5 among counties that contribute to 65% of new HIV (Human Immunodeficiency Virus) in infections in Kenya. The study was to determine the prevalence of new HIV infections among infants (3 - 18 months) born of HIV positive mothers on PMTCT follow up at Kisii Teaching and Referral Hospital (KTRH). Method: This was a descriptive cross sectional study involving 96 infants born of HIV positive mothers on PMTCT programme at Kisii Teaching and Referral Hospital (KTRH) was conducted. The infants were between 3 to 18 months of age. The infants were investigated for their HIV status and factors associated with prevalence. The data collection was done during postnatal checkups, antiretroviral treatment follow up and immunization schedule. Data was analyzed using Statistical Package for Social Sciences (SPSS) version 20. Results: 13.5% (95% C.I = 10.1% to 16.9%) were found to be positive despite their mothers being on PMTCT program. There was no significant difference between gender and status of the infant (χ2 = 0.758, df = 1, p-value = 0.0384). Conclusion: The study confirms that there are still new HIV infections despite being followed up in the PMTCT program. The new HIV infections were associated with mixed feeding. Recommendation: Counseling on Infant feeding, use of ant-retroviral treatment and support from partners should be strengthen in the PMTCT program to ensure reduction of new HIV infections.
