Adaptive H_(∞)Filtering Algorithm for Train Positioning Based on Prior Combination Constraints

To solve the problem of data fusion for prior information such as track information and train status in train positioning,an adaptive H∞filtering algorithm with combination constraint is proposed,which fuses prior information with other sensor information in the form of constraints.Firstly,the train precise track constraint method of the train is proposed,and the plane position constraint and train motion state constraints are analysed.A model for combining prior information with constraints is established.Then an adaptive H∞filter with combination constraints is derived based on the adaptive adjustment method of the robustness factor.Finally,the positioning effect of the proposed algorithm is simulated and analysed under the conditions of a straight track and a curved track.The results show that the positioning accuracy of the algorithm with constrained filtering is significantly better than that of the algorithm without constrained filtering and that the algorithm with constrained filtering can achieve better performance when combined with track and condition information,which can significantly reduce the train positioning error.The effectiveness of the proposed algorithm is verified.

Research on train integrated positioning based on grey neural network

Train positioning is the key to ensure the transportation and efficient operation of the railway.Due to the low accuracy and the poor real-time of the train positioning,a train positioning system based on global navigation satellite system/inertial measurement unit/odometer(GNSS/IMU/ODO)combination framework and a train integrated positioning method based on grey neural network are put forward.A data updating method based on the established grey prediction model of train positioning is put forward,which uses the accumulation and summary of the grey theory for the rough prediction of the data.The purpose of the method is to reduce the noise of the original data.Moreover,the radial basis function(RBF)neural network is introduced to correct residual sequence of the grey prediction model.Compared with the single model calibration,this method can make full use of the advantages of each model,thus getting a high positioning accuracy in the case of small samples and poor information.Experiments show that the method has good real-time performance and high accuracy,and has certain application value.

Positioning Training Tool for Radiography

Accurate positioning reduces the X-ray exposure of the subject and produces a valuable X-ray image for diagnosis. This paper describes the development of a positioning training tool that supports those studying to be radiological technologists in learning the positioning technique efficiently. Students perform the positioning on a personal computer using a three-dimensional computer graphics (3DCG) phantom constructed from computed tomography (CT) image data and confirm the produced plane image corresponding to the positioned phantom. It is expected that students will be able to undertake positioning training using our tool anywhere and at any time without using X-ray equipment. Repeated use of our training tool will help students attain a deep understanding of anatomy and acquire positioning skills efficiently and accurately.

Influence of pantograph fixing position on aerodynamic characteristics of high-speed trains

To study the influence of the pantograph fixing position on aerodynamic characteristics of high-speed trains, the aerodynamic models of high-speed trains with eight cars were established based on the theory of com- putational fluid dynamics, and eight cases with pantographs fixed on different positions and in different operational orientations were considered. The pantographs were fixed on the front or the rear end of the first middle car or fixed on the front or the rear end of the last middle car. The external flow fields of the high-speed trains were numeri- cally simulated using the software STAR-CCM＋. The results show that the pantograph fixing position has little effect on the aerodynamic drag force of the head car and has a large effect on the aerodynamic drag force of the tail car. The influences of the pantograph fixing position on the aerodynamic lift forces of the head car, tail car and pan- tographs are obvious. Among the eight cases, considering the total aerodynamic drag force of the train and the aerodynamic lift force of the lifted pantograph, when the pantographs are fixed on the rear end of the last middle car and the lifted pantograph is in the knuckle-upstream ori- entation, the aerodynamic performance of the high-speed train is the best.

Position Control Optimization of Aerodynamic Brake Device for High-speed Trains

The aerodynamic braking is a clean and non-adhesion braking, and can be used to provide extra braking force during high-speed emergency braking. The research of aerodynamic braking has attracted more and more attentions in recent years. However, most researchers in this field focus on aerodynamic effects and seldom on issues of position control of the aerodynamic braking board. The purpose of this paper is to explore position control optimization of the braking board in an aerodynamic braking prototype. The mathematical models of the hydraulic drive unit in the aerodynamic braking system are analyzed in detail, and the simulation models are established. Three control functions--constant, linear, and quadratic--are explored. Two kinds of criteria, including the position steady-state error and the acceleration of the piston rod, are used to evaluate system performance. Simulation results show that the position steady state-error is reduced from around 12-2 mm by applying a linear instead of a constant function, while the acceleration is reduced from 25,71-3.70 m/s2 with a quadratic control function. Use of the quadratic control function is shown to improve system performance. Experimental results obtained by measuring the position response of the piston rod on a test-bench also suggest a reduced position error and smooth movement of the piston rod. This implies that the acceleration is smaller when using the quadratic function, thus verifying the effectiveness of control schemes to improve to system performance. This paper proposes an effective and easily implemented control scheme that improves the position response of hydraulic cylinders during position control.

Construction of clinical research nurse training program based on position competence

BACKGROUND As one of the most important members in clinical trials,the number of clinical research nurses(CRN)can't keep up with the growth of experimental projects,so it is urgent to build clinical research training and strengthen the background knowledge of nurses.AIM To construct CRN training program based on position competence,accelerate the construction of CRN talent pool,and provide scientific guidance significance for CRN training.METHODS Based on the position competence model,combined with literature research and qualitative interview results,the first draft was prepared of the CRN training program.Two rounds of correspondence with 16 experts were conducted using the Delphi method to determine the training program.RESULTS The effective recovery rate of the expert correspondence questionnaire was 100%and the authority coefficients of the 2 rounds of experts were 0.826 and 0.895.Finally,4 first-level indicators and determine 15 s-level indicators of training objectives.The training program included 4 first-level indicators,training requirements,content,methods,assessment and evaluation,15 s-level indicators,and 74 third-level indicators.CONCLUSION The CRN training program based on position competence is scientific and extendable,providing a basis for participation in CRN training.

短定子磁浮列车基于悬浮间隙实现测速和定位的算法仿真及应用

短定子磁浮列车测速和定位技术实现方式与传统轮轨不同,目前有多种技术实现方式,但都需要在磁浮列车上设置测速和定位设备或系统,且与悬浮控制系统相互独立,但悬浮控制系统对速度信号和位置信号又有一定的依赖性。因此,设计了一种基于悬浮间隙实现测速和定位的算法,并通过仿真达到算法设计预期目的,最后通过编程将算法嵌入磁浮列车的悬浮控制系统硬件平台,实现测速和定位的算法应用,测速和定位信号完全集成于悬浮控制系统中,摆脱悬浮控制系统对外置测速定位系统的依赖,提升磁浮列车在轨道交通市场的竞争力。

Experimental study on aerodynamic characteristics of a high-speed train on viaducts in turbulent crosswinds

In this study, experiments were carried out to investigate aerodynamic characteristics of a high-speed train on viaducts in turbulent crosswinds using a 1:25 scaled sectional model wind-tunnel testing. Pressure measurements of two typical sections, one train-head section and one train-body section, at the windward and leeward tracks were conducted under the smooth and turbulence flows with wind attack angles between-6° and 6°, and the corresponding aerodynamic force coefficients were also calculated using the integral method. The experimental results indicate that the track position affects the mean aerodynamic characteristics of the vehicle, especially for the train-body section. The fluctuating pressure coefficients at the leeward track are more significantly affected by the bridge interference compared to those at the windward track. The effect of turbulence on the train-head section is less than that on the train-body section. Additionally, the mean aerodynamic force coefficients are almost negatively correlated to wind attack angles, which is more prominent for vehicles at the leeward track. Moreover, the lateral force plays a critical role in determining the corresponding overturning moment, especially on the train-body section.

Filtering algorithm and direction identification in relative position estimation based on induction loop-cable

A filtering algorithm and direction identification method are presented for the positioning system of the mid-speed maglev train. Considering the special structure of the mid-speed maglev train, the ground position estimation method is adopted for its traction system. As the train is running, the induction loop-cable receives the signal sent by the on-board antenna to detect the position and direction of the train. But the height of the on-board antenna relative to the loop-cable is highly vulnerable to the change of the suspension height and the magnetic field produced by the traction during traveling, which may lead to amplitude fluctuation of the received signal. Consequently, the position estimation may be inaccurate. Therefore, a discrete second-order nonlinear trackdifferentiator is proposed based on the boundary characteristic curves, and the new differentiator could also extract the running direction of the train for the traction system. The experimental results show that the tracking differentiator can effectively filter out the signal interference and can provide accurate direction signal.

Effects of lower body positive pressure treadmill on functional improvement in knee osteoarthritis:A randomized clinical trial study

BACKGROUND Knee joint pain and stiffness are the two main symptoms of knee osteoarthritis(OA)and thus restrict a patient’s activities,such as walking and walking up and downstairs.The lower body positive pressure(LBPP)treadmill as one of the emerging body weight support system devices brings new hope for exerciserelated rehabilitation for knee OA patients.AIM To investigate the biomechanical effects and the subjective clinical assessment of LBPP treadmill walking exercise when compared with conventional therapy in mild to moderate knee OA patients.METHODS Eighteen patients with mild-to-moderate knee OA were recruited in this randomized controlled trial(RCT)study.The eligible knee OA patients were randomly assigned to two groups:LBPP and control groups.The patients in the LBPP group performed an LBPP walking training program for 30 min/session per day,6 d per week for 2 wk whereas the patients in the control group performed walking on the ground for the same amount.All patients underwent clinical assessments and three-dimensional gait analysis at pre-and 2-wk post-treatment.RESULTS The Western Ontario and McMaster Universities Arthritis Index and visual analog scale scores in both the LBPP group and control group were found to decrease significantly at the post-treatment point than the pre-treatment point(LBPP:70.25±13.93 vs 40.50±11.86;3.88±0.99 vs 1.63±0.52;control:69.20±8.88 vs 48.10±8.67;3.80±0.79 vs 2.60±0.70,P<0.001).Moreover,compared with the control group,the LBPP group showed more improvements in walking speed(P=0.007),stride length(P=0.037),and knee range of motion(P=0.048)during walking,which represented more improvement in walking ability.CONCLUSION The results of our RCT study showed that the LBPP group has a greater effect on improving gait parameters than the conventional group,although there was no significant advantage in clinical assessment.This finding indicates that LBPP treadmill walking training might be an effective approach for alleviating pain symptoms and improving lower extremity locomotion in mild to moderate knee OA patients.

Clinical impact of endoscopy position detecting unit(UPD-3) for a non-sedated colonoscopy

AIM:To evaluate whether an endoscopy position detecting unit(UPD-3) can improve cecal intubation rates, cecal intubation times and visual analog scale(VAS) pain scores, regardless of the colonoscopist's level of experience.METHODS:A total of 260 patients(170 men and 90women)who underwent a colonoscopy were divided into the UPD-3-guided group or the conventional group(no UPD-3 guidance).Colonoscopies were performed by experts(experience of more than 1000colonoscopies)or trainees(experience of less than 100colonoscopies).Cecal intubation rates,cecal intubation times,insertion methods(straight insertion:shortening the colonic fold through the bending technique;roping insertion:right turn shortening technique)and patient discomfort were assessed.Patient discomfort during the endoscope insertion was scored by the VAS that was divided into 6 degrees of pain.RESULTS:The cecum intubation rates,cecal intubation times,number of cecal intubations that were performed in<15 min and insertion methods were not significantly different between the conventional group and the UPD-3-guided group.The number of patients who experienced pain during the insertion was markedly less in the UPD-3-guided group than in the conventional group.Univariate and multivariate analysis showed that the following factors were associated with lower VAS pain scores during endoscope insertion:insertion method(straight insertion)and UPD-3guidance in the trainee group.For the experts group,univariate analysis showed that only the insertion method(straight insertion)was associated with lower VAS pain scores.CONCLUSION:Although UPD-3 guidance did not shorten intubation times,it resulted in less patient painduring endoscope insertion compared with conventional endoscopy for the procedures performed by trainees.

Stress Inoculation Training on Cognitive Emotional Regulation: The Effect on Vulnerable Married Female Adolescents

Married female adolescents are the most vulnerable people that culturally marry with their parents’ permission in Iran. This study aimed to investigate the effectiveness of stress inoculation training (SIT) on cognitive emotional regulation (CER) in these women. The method of this research was semi-experiment with pretest and posttest. The statistical society was the married adolescent female students from Qom high schools (80 people). First, they were assessed by cognitive emotional regulation questionnaire to find the subjects under the CER cut of point (55 people). Then 30 participants were randomly selected and were equally divided into experimental and control groups. The entry criteria for samples were female married students between 17 and 19 from low socioeconomic income. The experimental group received 8 sessions of SIT training while there was no intervention for control group. Results from MANCOVA analysis showed that there were significant differences between groups on cognitive emotional regulation in post-test. The data of pretest were the covariate factor. Finding suggests SIT is effective for cognitive emotional regulation in vulnerable married female adolescents. In addition, this training method elevates positive emotional strategies, which correlate with planning, focusing and organizing the emotions. In contrast, except self and the others blaming, negative emotional strategies differed slightly.

Synergies for Trains and Cars Automation in the Era of Virtual Networking

The ERTMS (European Train Management System) has been developed by the European Union (EU) to enhance safety, increase efficiency and to cross-border interoperability creating a unique solution fulfilling a standardized certification process. The ERTMS being able to automatically stop the train to overcome human errors has achieved the highest track record in terms of safety over several billion km travelled each years. GNSS positioning, bearer-independent telecoms and ATO (Automatic Train Operation) are the new features for enhancing the ERTMS in the path to fully autonomous operations. In the same period, the automotive industry has launched ambitious plans for the connected cars and autonomous driving applications are emerging as the next wave of innovation. This paper evaluates the challenges to sharing intelligent infrastructure means, by combining the strengths of the safety benchmark achieved on the rail transport with the mass production capability of the automotive industry to lower the costs. In this scenario, rail and automotive becoming tightly intertwined can get a grip in the race towards a fully automation affordable and safe, giving birth to autonomous vehicles able to travel within virtual rails as “trains” on the road. To this aim we will introduce the two test bed in Italy respectively for validating the ERTMS with GNSS positioning and public telecoms networks and for testing FCA Ducato vans to operate at SAE level 3 automation exploiting the new GALILEO and 5 G services.

Effect of visual perception training on binocular visual function reconstruction in patients after strabismus surgery

AIM:To explore the effect of visual perception learning software training(VPT)on binocular visual function reconstruction in children with intermittent exotropia after strabismus surgery.METHODS:Ninety children with intermittent exotropia admitted to our hospital from June 2018 to December 2018 were included,and randomly divided into VPT and control groups.Children in the control group received basic binocular vision training,while those in the VPT group received VPT after strabismus surgery.Tertiary visual function,visual perception function,Newcastle Control Score(NCS),and ocular position retraction rate were compared at 3 and 12mo after the surgery.RESULTS:At 3 and 12mo after the surgery,the proportion of simultaneous perception,binocular fusion version and binocular stereo vision in the VPT group was conspicuously higher than that in the control group(P<0.05).After the vision training,the binocular visual perception functions of children in both groups were significantly improved compared with that before training(P<0.05).Interestingly,the grating sharpness,texture perception and texture motion perception in the VPT group were dramatically better than control group(P<0.01).The NCS in the VPT group was significantly lower than that in the control group(P<0.05).The ocular position retraction rate in the VPT group was significantly lower than that in the control group at 12mo(8.89%vs 26.67%,P=0.03).CONCLUSION:VPT effectively promotes binocular visual function reconstruction in intermittent exotropia children after strabismus surgery and reduces the strabismus severity and ocular position retraction rate.

Application of Artificial Neural Network in Robotic Hybrid Position/Force Control

A hybrid position/force controller is designed for the joint 2 and the joint 3 of thePUMA 560 robot.The hybrid controller includes a multilayered neural network,which canidentify the dynamics of the contacted environment and can optimize the parameters of PIDcontroller.The experimental results show that after having been trained,the robot has sta-ble response to the training patterns and strong adaptive ability to the situation between thepatterns.

积极反刍思维训练对终末期肾病血液透析患者自我感受负担、知觉压力及自我效能的影响

目的:探究积极反刍思维训练对终末期肾病血液透析患者自我感受负担、知觉压力及自我效能的影响。方法:选择福建省立医院收治的终末期肾病血液透析患者106例作为研究对象,病例选取时间为2019年8月—2021年7月,采用随机数字表法对其分组,分为对照组和干预组,每组53例。对照组实施常规护理措施,干预组在对照组基础上进行积极反刍思维训练。干预前与干预后,分别调查统计两组患者的自我感受负担、知觉压力、自我效能。结果:干预后,干预组自我感受负担评分均明显低于对照组,差异均有统计学意义(P<0.05);干预后,干预组知觉压力显著低于对照组,差异有统计学意义(P<0.05);干预后,干预组合理休息、情绪控制、自我保健、遵医用药和健康问题评分均高于对照组,差异均有统计学意义(P<0.05)。结论:积极反刍思维训练能显著降低终末期肾病血液透析患者自我感受负担和知觉压力,同时也能提高患者的自我效能。

Peer Review in a Positive Way:The Charity of Pedagogy

Studies investigated the effects of peer-response on Second Language Writing revision and indicated its benefits on Second Language Writing.However,the effectiveness of peer review in ESL writing classroom has been questioned with regard to the insufficient ability of language learners and their negative attitude toward peer review activity.This research was inspired by a view of Porter's pedagogy of charity,and promoted an effective training should be given to help writers do peer review in a positive way.

岗课赛证视域下《宠物美容》的课程改革和实践

《宠物美容》课程作为高等职业教育宠物养护与驯导专业的核心课程,对于专业人才培养起着至关重要的作用,因此,提高其教学质量尤其重要。本文在深入分析当前教育环境及相关行业背景的基础上,从“岗课赛证”多维视角出发,深入探讨《宠物美容》课程在教学内容的优化、教学模式的创新、数字化教学资源的开发、实践教学条件的完善和考核与评价体系的建立等方面的教学改革路径。通过这一系列的改革措施,旨在构建一个更加合理、高效且适应行业需求的教学体系。这一体系的实施不仅有助于理顺专业课程中相互交叉的知识内容,形成知识的系统梳理和深度融合,还有助于学生构建清晰的知识体系,使课程设置更加合理。同时,通过实施“三评三组三进”教学模式,有效提升授课教师的教学能力,最终提高教学质量。

基于Kano模型的列车正性情感体验需求研究

目的遵照“以事实为依据”的设计原则,明确对列车样本展开设计分析的内容与标准,获得准确的体验需求。方法首先基于哈森扎尔在情感体验方面的研究,提出正性品质理论模型及其需求洞察路径,用于分析、提取列车乘客的情感体验需求;其次利用Kano模型对需求进行优先级排序;最后以享誉世界的儿童列车“阿苏男孩号”对方法进行了应用验证。结果获得了22项需求及其优先级排序,总结得出儿童列车体验设计的策略:空间设计优先考虑提供就餐场所,以及针对用户分层做空间分割;设施设计优先考虑亲子互动性;涂装设计优先考虑“列车外壳”;服务设计优先考虑为家长陪伴提供条件。结论该方法可以帮助设计师洞察样本列车的体验需求及其优先级排序,能够为优化列车自身体验与指导同类列车设计提供决策支持。

基于超宽带定位的室外定位系统设计

随着体育竞技水平的不断提高,运动员对科学精准的训练分析方法的需求越来越高,对于人体的定位分析是其中一个基本且重要的维度。目前基于GPS的室外定位无法满足一般的小型体育场景的高精度定位,该文基于超宽带定位技术设计了一套应用于小型场景室外定位系统,该系统可以满足高精度、高刷新率要求的体育定位场景,可以应用于一般田径运动的训练分析。