An interacting multiple model-based two-stage Kalman filter for vehicle positioning

To address the problem that a general augmented state Kalman filter or a two-stage Kalman filter cannot achieve satisfactory positioning performance when facing uncertain noise of the micro-electro-mechanical system（MEMS） inertial sensors, a novel interacting multiple model-based two-stage Kalman filter（IMM-TSKF） is proposed to adapt to the uncertain inertial sensor noise. Three bias filters are developed based on different noise characteristics to cover a wide range of noise levels. Then, an accurate estimation of biases is calculated by the interacting multiple model algorithm to correct the bias-free filter. Thus, the vehicle positioning system can achieve good performance when suffering from uncertain inertial sensor noise. The experimental results indicate that the average position error of the proposed IMMTSKF is 25% lower than that of the general TSKF.

Pharmacokinetics of Controlled Release and Immediate Release Morphine Sulphate Tablets after a Single Dose and Multiple Doses in Chinese Volunteers

The pharmacokinetics of morphine sulphate was studied in 10 Chinese healthy volunteers after a single oral dose. Blood samples were collected before and after administration of controlled release tablets (CRMS, 30 mg) and immediate release tablets (IRMS, 20 mg). The plasma concentration of morphine was determined by GC MS. The pharmacokinetic parameters of controlled release tablets and immediate release tablets were calculated∶ C max was 19.38±3.80 and 21.27±6.21 ng/ml, t max was 2.36 ±0.37 h and 0.56±0.16 h, t 1/2β was 3.53±0.87 and 3.03±0.74 h, AUC was 145.15±17.65 and 93.08±16.65 ng/ml, respectively. The steady state plasma concentration of morphine sulphate in cancer patients after multiple doses was achieved, C max of CRMS and IRMS was 27.43±0.33 ng/ml and 22.68±0.16 ng/ml, C min of CRMS and IRMS was 19.45±1.44 ng/ml and 18.14±0.49 ng/ml, respectively.

Single Point Positioning with Sequential Least-Squares Filter and Estimated Real-Time Stochastic Model

To obtain higher accurate position estimates, the stochastic model is estimated by using residual of observations, hence, the stochastic model describes the noise and bias in measurements more realistically. By using GPS data and broadcast ephemeris, the numerical results indicating the accurate position estimates at sub-meter level are obtainable.

The Even-Odd Rule on Single Covalent-Bonded Structural Formulas as a Modification of Classical Structural Formulas of Multiple-Bonded Ions and Molecules

In organic chemistry, as defined by Abegg, Kossel, Lewis and Langmuir, compounds are normally represented using structural formulas called Lewis structures. In these structures, the octet rule is used to define the number of covalent bonds that each atom forms with its neighbors and multiple bonds are frequent. Lewis’ octet rule has unfortunately shown limitations very early when applied to non-organic compounds: most of them remain incompatible with the “rule of eight” and location of charges is uncertain. In an attempt to unify structural formulas of octet and non-octet molecules or single-charge ions, an even-odd rule was recently proposed, together with a procedure to locate charge precisely. This even-odd rule has introduced a charge-dependent effective-valence number calculated for each atom. With this number and the number of covalent bonds of each element, two even numbers are calculated. These numbers are both used to understand and draw structuralformulas of single-covalent-bonded compounds. In the present paper, a procedure is proposed to adjust structural formulas of compounds that are commonly represented with multiple bonds. In order to keep them compatible with the even-odd rule, they will be represented using only single covalent bonds. The procedure will then describe the consequences of bond simplification on charges locations. The newly obtained representations are compared to their conventional structural formulas, i.e. single-bond representation vs. multiple-bond structures. Throughout the comparison process, charges are precisely located and assigned to specific atoms. After discussion of particular cases of compounds, the paper finally concludes that a rule limiting representations of multiplecovalent bonds to single covalent bonds, seems to be suitable for numerous known compounds.

Three-dimensional positions of scattering centers reconstruction from multiple SAR images based on radargrammetry

A method and procedure is presented to reconstruct three-dimensional(3D) positions of scattering centers from multiple synthetic aperture radar(SAR) images. Firstly, two-dimensional(2D) attribute scattering centers of targets are extracted from 2D SAR images. Secondly, similarity measure is developed based on 2D attributed scatter centers' location, type, and radargrammetry principle between multiple SAR images. By this similarity, we can associate 2D scatter centers and then obtain candidate 3D scattering centers. Thirdly, these candidate scattering centers are clustered in 3D space to reconstruct final 3D positions. Compared with presented methods, the proposed method has a capability of describing distributed scattering center, reduces false and missing 3D scattering centers, and has fewer restrictionson modeling data. Finally, results of experiments have demonstrated the effectiveness of the proposed method.

Ratio-Cum-Product Estimator Using Multiple Auxiliary Attributes in Single Phase Sampling

In this paper, we have proposed a class of ratio-cum-product estimator for estimating population mean of study variable for single phase sampling using multi-auxiliary attributes. The expressions for mean square error are derived. An empirical study is given to compare the performance of the estimator with existing estimators. It has been found that the ratio-cum-product estimator using multiple auxiliary attributes is more efficient than mean per unit, product and ratio estimators using one auxiliary attribute, and Product and Ratio estimators using multiple auxiliary attributes in single phase sampling.

Single Point Positioning Using GPS, GLONASS and BeiDou Satellites

This paper introduces the Chinese BeiDou satellite system and its comparison with the actual completed American GPS and the Russian GLONASS systems. The actual BeiDou system consists of 14 satellites covering totally the Asia-Pacific area. A Single Point Positioning (SPP) test has been realised in Changsha, Hunan province, China, to show the advantage of using combined pseudorange solutions from these 3 satellite navigation systems especially in obstructed sites. The test shows that, with an elevation mask angle of 10°, the accuracy is improved by about 20% in horizontal coordinates and nearly 50% in the vertical component using the simultaneous observations of the 3 systems compared to the GPS/GLONASS solution. For the processing with an elevation mask angle of 30°, most of the time less than 4 GPS satellites were available for the GPS-only case and no solution was possible. However, in this difficult situation, the combined GPS/GLONASS/ BeiDou solutions provided an accuracy (rms values) of about 5 m.

Influence of positioning errors of optical shaping components for single emitter laser diode on beam shaping effects

Beam shaping is required for semiconductor lasers to achieve high optical fiber coupling efficiency in many applications.But the positioning errors on optics may reduce beam shaping effects,and then lead to low optical fiber coupling efficiency.In this work,the positioning errors models for the single emitter laser diode beam shaping system are established.Moreover,the relationships between the errors and the beam shaping effect of each shapers are analysed.Subsequently,the relationship between the errors and the optical fiber coupling efficiency is analysed.The result shows that position errors in the Z axis direction on the fast axis collimator have the greatest influence on the shaping effect,followed by the position errors in the Z axis direction on the converging lens,which should be strictly suppressed in actual operation.Besides,the position errors have a significant influence on the optical fiber coupling efficiency and need to be avoided.

A Single-Site Positioning Method Based on TOA and DOA Estimation Using Virtual Stations in NLOS Environment

This paper presents a single-site positioning method based on the joint estimation of propagation time-of-arrival(TOA) and direction-of-arrival(DOA), with the assist of virtual stations in the typical non-line-of-sight(NLOS) environment. Consider the influence of multipath noise on the positioning performance, the proposed method firstly presents a modified high-resolution estimation technique called Multipath noise Limiting Matrix Pencil(MLMP) algorithm to achieve the TOA/DOA estimations, in which the matrix pencil and matrix enhancement process are implemented to deal with the measurements from the uniform linear array(ULA) receiver. Meanwhile, the subspace dimension estimation is improved via an adaptive threshold, for enhancing the performance of high-resolution techniques in low signal-noise-ration(SNR) situation. Next the proposed method generates virtual stations utilizing the known floor plan of surrounding reflectors, and adopts a weighted Least Square(WLS) position estimator to calculate the required position, combining the TOA/DOA estimations with the location of virtual stations. Simulations are conducted to evaluate the proposed method under NLOSconditions, and the results show that comparing with the multipath fingerprinting scheme, the proposed method has better performance in various simulation scenarios.

Azimuthal dependence of single-event and multiple-bit upsets in SRAM devices with anisotropic layout

Experimental evidence is presented showing obvious azimuthal dependence of single event upsets(SEU) and multiple-bit upset(MBU) patterns in radiation hardened by design(RHBD) and MBU-sensitive static random access memories(SRAMs), due to the anisotropic device layouts. Depending on the test devices, a discrepancy from 24.5% to 50% in the SEU cross sections of dual interlock cell(DICE) SRAMs is shown between two perpendicular ion azimuths under the same tilt angle. Significant angular dependence of the SEU data in this kind of design is also observed, which does not fit the inverse-cosine law in the effective LET method. Ion trajectory-oriented MBU patterns are identified, which is also affected by the topological distribution of sensitive volumes. Due to that the sensitive volumes are periodically isolated by the BL/BLB contacts along the Y-axis direction, double-bit upsets along the X-axis become the predominant configuration under normal incidence.Predominant triple-bit upset and quadruple-bit upset patterns are the same under different ion azimuths(Lshaped and square-shaped configurations, respectively). Those results suggest that traditional RPP/IRPP model should be promoted to consider the azimuthal and angular dependence of single event effects in certain designs.During earth-based evaluation of SEE sensitivity, worst case beam direction, i.e., the worst case response, should be revealed to avoid underestimation of the on-orbit error rate.

Optical encryption of multiple three-dimensional objects based on multiple interferences and single-pixel digital holography

We present an optical encryption method of multiple three-dimensional objects based on multiple interferences and single-pixel digital holography. By modifying the Mach-Zehnder interferometer, the interference of the multiple objects beams and the one reference beam is used to simultaneously encrypt multiple objects into a ciphertext. During decryption, each three-dimensional object can be decrypted independently without having to decrypt other objects. Since the single- pixel digital holography based on compressive sensing theory is introduced, the encrypted data of this method is effectively reduced. In addition, recording fewer encrypted data can greatly reduce the bandwidth of network transmission. Moreover, the compressive sensing essentially serves as a secret key that makes an intruder attack invalid, which means that the system is more secure than the conventional encryption method. Simulation results demonstrate the feasibility of the proposed method and show that the system has good security performance.

Embedded Programmable Single Point Multiple Output Intelligent Data Acquisition and Transmission System

To effectively solve the problems of inconsistent communication protocols in automatic monitoring equipment,and limited data acquisition transmission and monitoring equipment,this paper developed programmable single point multiple output intelligent data acquisition and transmission system. It made an in-depth elaboration of the data acquisition and transmission system from hardware design,software architecture and principle,main functions and technical parameters. Finally,it came up with four innovation points:(i) intelligent(automatic)matching a variety of communication protocols for environmental monitoring equipment,(ii) realizing multi-protocol and multi-target parallel data transmission,(iii) realizing remote dynamic input of control instructions through wired or wireless network,and(iv) supporting configuration(process) simulation of field equipment DCS operating conditions.

On ionosphere-delay processing methods for single-frequency precise-point positioning

In single-frequency precise-point positioning of a satellite,ionosphere delay is one of the most important factors impacting the accuracy. Because of the instability of the ionosphere and uncertainty of its physical properties, the positioning accuracy is seriously limited when using a precision-limited model for correction. In order to reduce the error, we propose to introduce some ionosphere parameter for real-time ionosphere-delay estimation by applying various mapping functions. Through calculation with data from the IGS（ International GPS Service） tracking station and comparison among results of using several different models and mapping functions, the feasibility and effectiveness of the new method are verified.

A Genetic Algorithm for Single Machine Scheduling with Fuzzy Processing Time and Multiple Objectives

In this paper, by considering the fuzzy nature of the data in real-life problems, single machine scheduling problems with fuzzy processing time and multiple objectives are formulated and an efficient genetic algorithm which is suitable for solving these problems is proposed. As illustrative numerical examples, twenty jobs processing on a machine is considered. The feasibility and effectiveness of the proposed method have been demonstrated in the simulation.

Application of interacting multiple model in integrated positioning system of vehicle

To solve low precision and poor stability of the extended Kalman filter （EKF） in the vehicle integrated positioning system owing to acceleration, deceleration and turning （hereinafter referred to as maneuvering） , the paper presents an adaptive filter algorithm that combines interacting multiple model （IMM） and non linear Kalman filter. The algorithm describes the motion mode of vehicle by using three state spacemode]s. At first, the parallel filter of each model is realized by using multiple nonlinear filters. Then the weight integration of filtering result is carried out by using the model matching likelihood function so as to get the system positioning information. The method has advantages of nonlinear system filter and overcomes disadvantages of single model of filtering algorithm that has poor effects on positioning the maneuvering target. At last, the paper uses IMM and EKF methods to simulate the global positioning system （OPS）/inertial navigation system （INS）/dead reckoning （DR） integrated positioning system, respectively. The results indicate that the IMM algorithm is obviously superior to EKF filter used in the integrated positioning system at present. Moreover, it can greatly enhance the stability and positioning precision of integrated positioning system.

Simultaneous Position Estimation and Omnidirectional Camera Parameter Calibration for Multiple Mobile Robots

This paper proposed an algorithm on simultaneous position estimation and calibration of omnidirectional camera parameters for a group of multiple mobile robots. It is aimed at developing of exploration and information gathering robotic system in unknown environment. Here, each mobile robot is not possible to know its own position. It can only estimate its own position by using the measurement value including white noise acquired by two omnidirectional cameras mounted on it. Each mobile robot is able to obtain the distance to those robots observed from the images of two omnidirectional cameras while making calibration during moving but not in advance. Simulation of three robots moving straightly shows the effectiveness of the proposed algorithm.

A Stochastic Approach for Cooperative Position Estimation of Multiple Mobile Robots

This paper proposes the cooperative position estimation of a group of mobile robots, which pertbrms disaster relief tasks in a wide area. When searching the wide area, it becomes important to know a robot＇s position correctly. However, for each mobile robot, it is impossible to know its own position correctly. Therefore, each mobile robot estimates its position from the data of sensor equipped on it. Generally, the sensor data is incorrect since there is sensor noise, etc. This research considers two types of the sensor data errors from omnidirectional camera. One is the error of white noise of the image captured by omnidirectional camera and so on. Another is the error of position and posture between two omnidirectional cameras. To solve the error of latter case, we proposed a self-position estimation algorithm for multiple mobile robots using two omnidirectional cameras and an accelerometer. On the other hand, to solve the error of the former case, this paper proposed an algorithm of cooperative position estimation for multiple mobile robots. In this algorithm, each mobile robot uses two omnidirectional cameras to observe the surrounding mobile robot and get the relative position between mobile robots. Each mobile robot estimates its position with only measurement data of each other mobile robots. The algorithm is based on a Bayesian filtering. Simulations of the proposed cooperative position estimation algorithm for multiple mobile robots are performed. The results show that position estimation is possible by only using measurement value from each other robot.

A SINGLE-CAVITY MULTIPLE-DEVICE HARMONIC OSCILLATOR AT W-BAND

The equivalent circuit of single-cavity multiple-device fundamentaloscillator(SCMDFO)and that of single-device harmonic oscillator(SDHO)proposed byK.Kurokawa and K.Solbach,respectively,are extended and applied to a single-cavitymultiple-device harmonic oscillator(SCMDHO).By means of describing the functions ofnonlinearity of Gunn diodes,the performances of the SCMDHO are analyzed.It is foundthat the voltage amplitudes are similar to those of SDHO,and the ratio of maximum pow-er of harmonic to that of fundamental is identical to that in SDHO when the devices havesame parameters.The harmonic injection locking behavior is also investigated.The injec-tion locking range is greater than that of SDHO if locking gain remains constant.A2-Gunn diode harmonic oscillator was designed.It delivers 30mW output power at103GHz.The mechanical tuning range is 4.15GHz when the output power remains morethan 10mW.The desired operation mode is stable.

Distance to Isocenter Directly Affects Margin and Inappropriate Margin Increases the Risk of Local Control Failure in LINAC-Based Single-Isocenter SRS or SRT for Multiple Brain Metastases

=In the advancement of single-isocenter multiple target treatment in the LINAC-based SRS or SRT, the target distance to the isocenter and grouping of multiple targets are the highly concerned and debatable topics in the SRS/SRT field at present. Three failure and success cases of local control in our early practices are presented in this study and it indicated that the target distance to the isocenter directly affects the margin and an inappropriate margin increase the risk of local control failure. The GTV expansion margin should be LINAC-specific and institute-specific. Within the physics and dosimetry scope, the AHARA (as high as reasonably achievable) principle is the first time proposed to the radiation oncology field. Radiobiology and tumor response complexity is beyond this study.

The dual role of multiple-transistor charge sharing collection in single-event transients

As technologies scale down in size, multiple-transistors being affected by a single ion has become a universal phenomenon, and some new effects are present in single event transients （SETs） due to the charge sharing collection of the adjacent multiple-transistors. In this paper, not only the off-state p-channel metal–oxide semiconductor field-effect transistor （PMOS FET）, but also the on-state PMOS is struck by a heavy-ion in the two-transistor inverter chain, due to the charge sharing collection and the electrical interaction. The SET induced by striking the off-state PMOS is efficiently mitigated by the pulse quenching effect, but the SET induced by striking the on-state PMOS becomes dominant. It is indicated in this study that in the advanced technologies, the SET will no longer just be induced by an ion striking the off-state transistor, and the SET sensitive region will no longer just surround the off-state transistor either, as it is in the older technologies. We also discuss this issue in a three-transistor inverter in depth, and the study illustrates that the three-transistor inverter is still a better replacement for spaceborne integrated circuit design in advanced technologies.