Navigation system of a class of underwater vehicle based on adaptive unscented Kalman fiter algorithm

Inherent flaws in the extended Kalman filter(EKF) algorithm were pointed out and unscented Kalman filter(UKF) was put forward as an alternative.Furthermore,a novel adaptive unscented Kalman filter(AUKF) based on innovation was developed.The three data-fusing approaches were analyzed and evaluated in a mathematically rigorous way.Field experiments conducted in lake further demonstrate that AUKF reduces the position error approximately by 65% compared with EKF and by 35% UKF and improves the robust performance.

Form Invariant Sommerfeld Electrical Conductivity in Generalised d Dimensions

The Sommerfeld electrical conductivity is calculated in d dimensions following Boltzmann kinetic approach.At T = 0,the mathematical form of the electrical conductivity is found to remain invariant in any generalised spatial(d)dimensions.

Transformative Learning in Language Arts as a Method of Guidance and Counseling

Our voluntary project ran in different groups of adults （healthy, depressed, schizophrenic, and clients with anxiety disorders）. The study is based on analysis of personal counseling experience, where literature was used as a tool to disclose client＇s personal meanings. During our sessions, clients were observed phenomenologically, and their speach was written down. Reflecting on the qualitative data of transformative learning in language arts, we developed techniques for facilitation and disclosure of personal meanings. Grounded theory was used for data generalization： Personal educational insights and its comparison with other researchers＇ theoretical insights were the basis to develop the methodical system for psychological guidance and counseling and to explain it. We revealed that focus on personally important meanings during discussion after literature reading has influence on the mental state of personality and deepens the interactions with the literature art, so we suggest a spiral model to explain the methodical system of our method. Transformative learning in language arts as a method of guidance and counseling can be understood as spiritual motion by spirale. It has three levels： （1） art level （interaction with the literature）; （2） psychology level （counseling）; and （3） art level （interaction with the same peace of literature as in the beginning of the session, poetic summary of the session）. Levels （1） and （3） mean interaction with literature art, but at the third level, this interaction has new quality, because personality has better perception of Self and more ability to connect personal meanings and literature wisdom. At the first level, we have direction from literature to Personality. At the third level, we have direction from the Self （Speaking from Within） to literature. Disclosure of personally important meanings is a key to self-understanding and poetical thinking; our developed methodical system reduces emotional tension and strengthens interconnectedness between inner and outer world and improves poetical understanding. In this paper, the methodical system of transformative learning and guidance is discussed.

Prognostic Impact of Cell Division Cycle Associated 2 Expression on Pancreatic Ductal Adenocarcinoma

Objective To examine the expression of cell division cycle associated 2(CDCA 2) in pancreatic ductal adenocarcinoma(PDAC) and investigate its role in prognosis of PDAC patients.Methods This retrospective study included 155 PDAC patients who underwent surgical treatment and complete post-operative follow-up.Clinicopathologic data were collected through clinical database.Tissue microarray was constructed and immunohistochemistry was performed to detect CDCA2 expression in the PDAC tumor tissues and adjacent non-tumor tissues.Clinicopathological characteristics between high and low CDCA2 expression were compared.Correlation of CDCA2 expressions with patients' survival was analyzed using Kaplan-Meier method and Cox regression analysis.Results Expression of CDCA2 in PDAC cells was significantly higher than that in adjacent non-tumor tissues(U=4056.5,P<0.001).Univariate analysis showed that CDCA2 expression [hazard ratio(HR)=1.574,95% confidence interval(CI)=1.014-2.443,P=0.043] and node metastasis(HR=1.704,95%CI=1.183-2.454,P=0.004) were significantly associated with prognosis.Cox regression analysis showed CDCA2 expression was not an independent prognostic risk factor(HR=1.418,95%CI=0.897-2.242,P=0.135) for PDCA patients.Stratification survival analysis demonstrated CDCA2 expression as an independent prognostic risk factor in male patients(HR=2.554,95%CI=1.446-4.511,P=0.003) or in non-perineural invasion patients(HR=2.290,95%CI=1.146-4.577,P=0.012).Conclusions CDCA2 is highly expressed in PDAC tumor tissue.Although CDCA2 is not an independent prognostic risk factor for PDAC patients,it might be used to help predict prognosis of male or non-perineural invasion patients of PDAC.

Promoting Collaborative Learning in Dynamics Remedial Course

The paper reports on collaborative learning approach to a remedial class in Dynamics. It uses the Kolb model and 4MAT learning system to introduce a learning cycle based on collaborative problem solving exercises. The teaching approach based on learning cycle is described giving examples of different teaching elements applied in particular quadrants of the learning cycle. The attitude of students and their different approaches to, learning are presented and discussed in detail. The results presented cover different aspects of the course delivery and students＇ perception. The results include students＇ statistics with respect to their registration and previous history related to the course, their motivatiion, assessment and satisfaction with the approach applied. This initial introduction of cooperative activities into the remedial Dynamics class can be assessed as a positive step in increasing student understanding and performance in the course. The students＇ positive reception of the non-traditional teaching method and their overall improved performance seem to confirm the advantages of collaborative leaming. In terms of the final grades, the results of the experiment were not as good as expected. However, the application of 4MAT learning system which exposed students to a variety of diverse learning styles improved the quality of education. The positive aspect of the experiment was the attitude of students and their acceptance of the new mode of course delivery. In conclusion collaborative learning could be extended beyond remedial groups to normal student classes.

A navigation method based on POMDP for smart wheelchair in uncertain environments

A navigation method based on the partially observable markov decision process （POMDP） for smart wheelchairs in uncertain environments is presented in this paper. The design key factors for the navigation system of a smart wheelchair are discussed. A kinematics model of the smart wheelchair is given, and the model and principle of POMDP are introduced. In order to respond in uncertain local environments, a novel navigation methodology based on POMDP using the sensors perception and the user＇s joystick input is presented. The state space, the action set, the observations and the sensor fusion of the navigation method are given in detail, and the optimal policy of the POMDP model is proposed. Experimental results demonstrate the feasibility of this navigation method. Analysis is also conducted to investigate performance evaluation, advantages of the approach and potential generalization of this paper.

The expression of HIF-1α and VEGF as well as their correlation with angiogenesis in esophageal squamous cell carcinomas

Objective： To investigate the correlations among the expressions of hypoxia-inducible factor-1α （HIF-1α）, vascular endothelial cell growth factor （VEGF） and microvessel density （MVD）, and their relationships to the clinicopathologic characteristics of esophageal squamous cell carcinomas （ESCC）. Methods： The expressions of HIF-1α, VEGF and MVD were detected by immunohistochemical method in 45 cases of ESCC, 30 intraepithelial neoplasia and 35 normal esophageal mucosal epithelia tissues. The correlations among the expressions of HIF-1α, VEGF and MVD, and their relationships to the clinicopathologic features of ESCC were analyzed. Results： The rate of positive expression of HIF-1α and VEGF which were 80% and 84% in ESCC were significantly higher than those in intraepithelial neoplasia and normal esophageal mucosal epithelium tissues （P 〈 0.01） and so did the MVD value which was71.10 ±15.02 in ESCC （P 〈 0.01）. The expression of HIF-1α and VEGF were positively correlated with the depth of tumor invasion, lymph node metastasis and TNM staging of ESCC. The expressions of HIF-1α were positively correlated with the expressions of VEGF and the value of MVD. Conclusion： Overexpression of HIF-1α is found in ESCC. HIF-1α may induce the angiogenesis in ESCC by upregulating the transcription of VEGF gene. It may play an important role in the carcinogenesis and aggression in ESCC, HIF-1α, VEGF and MVD may be a useful marker for evaluating the biological behaviors of ESCC.

High Accuracy Zoom Magnification Measurement

A precise zoom magnification is important for semiconductor industry and biomedical research. A novel measurement method is demonstrated for optical zoom magnification measurement in this paper. The magnification is obtained by pattern correction between barcode image formed by optical zoom and reference image generated by an ideal optical model. Measurement accuracy which is better than 0.06% has been achieved for optical zoom magnification. Compared with traditional concept, the measurement results are only dependent on two line edges. The barcode correlation method can achieve higher accuracy and better robustness by using the information over the whole field of view.

Remedial Learning： A CALL Approach

Computer Assisted Language Learning （CALL） has been in use as a learner centered method since 1960. In this paper an attempt is made to evolve a Remedial Grammar （RG） which enables the teacher to develop a repertoire of remedial activities based on the errors identified following Error Analysis （EA） for repeated presentation. The error types are considered as teaching/learning points. The present paper argues that CALL is the right model for effective remedial learning. Remedial Gmaster （RGm）, an authoring package is introduced. This is an exclusive mode of error correction in which interlingual, intralingual, developmental, and global errors are dealt with. The syntactical problems due to the subtle difference between simple past and perfect tenses in English language use are discussed and CALL authoring package presented.

Expression of ER protein from DCIS to IDC in ductal breast cancer

Objective: We studied the alterations in the expression of estrogen receptor alpha (ER) in the progression from ductal carcinoma in situ (DCIS) to invasive ductal carcinomas (IDC). Methods: The mastectomy specimens of 120 cases containing both DCIS and IDC were examined. The expression of ER proteins were examined by immunohistochemistry. The difference of the expression of ER proteins between DCIS and IDC were compared. Results: There were 58.33% of the cases with DCIS expressing ER proteins, and 40.00% of the cases IDC expressing ER proteins. There was a significant decrease of ER expression in IDC compared to DCIS (χ2 = 4.034, P = 0.045). Conclusion: These findings substantiate the notion that breast cancer progression is often associated with alterations in expressions of ER. The underlying mechanisms of these alterations need further investigation.

HOW ASIAN EFL STUDENTS AT QUT LEARNED ENGLISH GRAMMAR: A SURVEY

By exploring the ways thirty Asian EFL students at QUT learned their English grammar, this survey was an attempt to address several controversial issues regarding grammar teaching and learning. Research findings indicate that for EFL students, the grammar ability is a result of learning, rather than of acquisition, and that English grammar can be taught as an individual subject. While employing CLT approach in their EFL teaching, practitioners need a critical eye to caution against its idolization. Finally, the survey reveals that instrumental orientation provides an effective context for language success.

Selective aggregation of membrane proteins by membrane-mediated interactions

There are different types of membrane proteins in a cellular membrane,and most of them must correctly assemble into appropriate clusters for their cellular functions.In this work,we suggest a physical mechanism for selective aggregation of different membrane proteins without specific protein-protein attraction by dissipative particle dynamics method.A membrane-mediated interaction may result in different protein clusters with ideal mixing,nonideal mixing and demixing of different types of membrane proteins,depending on the extent of the similarity of membrane deformations by those proteins.

New computational treatment of optical wave propagation in lossy waveguides

In this paper, the optical wave propagation in lossy waveguides is described by the Helmholtz equation with the complex refractive-index, and the Chebyshev pseudospectral method is used to discretize the transverse operator of the equation. Meanwhile, an operator marching method, a one-way re-formulation based on the Dirichlet- to-Neumann （DtN） map, is improved to solve the equation. NumericM examples show that our treatment is more efficient.

Beyond an Elegant Political Slogan： Reading the Mass Line through the Lens of Methods

The mass line （ML） played a significant role in the history of the Communist Party of China （CPC） and was incorporated into the CPC＇s Constitution as the fundamental line for all work. However, to most people, the ML would sound more like an elegant political slogan than an effective method for solving problems. This paper interprets the essence of the ML as a philosophical method of knowing the world, a political method of leadership and a practical method of solving problems. In the new era of rule of law, the ML is also considered as a potential approach to democracy in China. The paper also criticizes the problems of the ML and proposes some suggestions against the comparison with the Western political systems. The paper will provide readers with a more comprehensive understanding of the ML, and the political philosophy in China.