Design and Reliability Analysis of DP-3 Dynamic Positioning Control Architecture

As the exploration and exploitation of oil and gas proliferate throughout deepwater area, the requirements on the reliability of dynamic positioning system become increasingly stringent. The control objective ensuring safety operation at deep water will not be met by a single controller for dynamic positioning. In order to increase the availability and reliability of dynamic positioning control system, the triple redundancy hardware and software control architectures were designed and developed according to the safe specifications of DP-3 classification notation for dynamically positioned ships and rigs. The hardware redundant configuration takes the form of triple-redundant hot standby configuration including three identical operator stations and three real-time control computers which connect each other through dual networks. The function of motion control and redundancy management of control computers were implemented by software on the real-time operating system VxWorks. The software realization of task loose synchronization, majority voting and fault detection were presented in details. A hierarchical software architecture was planed during the development of software, consisting of application layer, real-time layer and physical layer. The behavior of the DP-3 dynamic positioning control system was modeled by a Markov model to analyze its reliability. The effects of variation in parameters on the reliability measures were investigated. The time domain dynamic simulation was carried out on a deepwater drilling rig to prove the feasibility of the proposed control architecture

3D DOPs for Positioning Applications Using Range Measurements

For terrestrial positioning, some applications require three dimensional coordinates. The Dilution of precisions (DOPs) for position systems using range measurement are reviewed and the average values of DOPs for different deployments of base station geometries are examined. It is shown that to obtain the lowest DOPs, the base stations for different types of positioning systems need to be deployed differently. Changing the N-sided regular polygon to an (N - 1)-sided polygon with one base station in the centre of the polygon can decrease the value of DOP in general for a pseudorange time of arrival (TOA) system but not for an absolute range TOA system. The height of the base station in the centre can also change the DOP significantly. The finding can be used to optimize the deployment of the base stations for range measurement positioning systems.

Design of 3D Space Following Positioning System Based on ZigBee

The research on positioning system and spatial alignment is a big topic. In this paper, we proposed a design (that) studies two issues. One is the study of range positioning algorithm based on ZigBee communication system. The other one is spatial alignment platform which is controlled with two servos. Hardware and software control system was realized, which also consists of two parts, ZigBee network positioning system and automatic orientation platform.

BP-LMS-based BDS-3 power system positioning method

The BeiDou-3 navigation satellite system(BDS-3)provides a full-domain high-precision positioning service for the power system to ensure safe and stable operation.However,BDS-3 power system positioning faces certain challenges,such as complex electromagnetic interference and incomplete error elimination.Herein,a back propagation neural network-improved least mean square(BP-LMS)adaptive filtering method is proposed for the BDS-3 full-domain and high-precision power system positioning,which utilizes the loss function to update the weight of the BP hidden layer,computes the pseudo compensation range,and eliminates the impact of electromagnetic interference to enhance the accuracy of power system positioning.Simulation results confirm the superior performance of BP-LMS in positioning accuracy and error elimination.Compared with LMS and normalized least mean square(NLMS),the filtering error of the proposed BP-LMS adaptive filtering method is decreased by 57.14%and 51.38%,respectively.

Signal quality analysis and quality check of BDS3 Precise Point Positioning in the Arctic Ocean

This study analyzes the signal quality and the accuracy of BeiDou 3 rd generation Satellite Navigation System(BDS3) Precise Point Positioning(PPP) in the Arctic Ocean. Assessment of signal quality of BDS3 includes signal to noise ratio(SNR), multipath(MP), dilution of precision(DOP), and code-minus-carrier combination(CC). The results show that, 5 to 13 satellites are visible at any time in the Arctic Ocean area as of September 2018, which are sufficient for positioning. In the mid-latitude oceanic region and in the Arctic Ocean, the SNR is 25–52 dB Hz and the MP ranges from-2 m to 2 m. As the latitude increases, the DOP values show large variation, which may be related to the distribution of BDS satellites. The CC values of signals B1 I and BIC range from-5 m to 5 m in the mid-latitude sea area and the Arctic Ocean, which means the effect of pseudorange noise is small. Moreover, as to obtain the external precise reference value for GNSS positioning in the Arctic Ocean region is difficult, it is hard to evaluate the accuracy of positioning results. An improved isotropy-based protection level method based on Receiver Autonomous Integrity Monitoring is proposed in the paper, which adopts median filter to smooth the gross errors to assess the precision and reliability of PPP in the Arctic Ocean. At first, the improved algorithm is verified with the data from the International GNSS Service Station Tixi. Then the accuracy of BDS3 PPP in the Arctic Ocean is calculated based on the improved algorithm. Which shows that the kinematic accuracy of PPP can reach the decimeter level in both the horizontal and vertical directions, and it meets the precision requirements of maritime navigation.

BeiDou-3 Global Positioning System Officially Initiates Construction

China’s Bei Dou-3 global positioning system has been officially initiated construction with four global networking satel ites to be launched by the end of this year,according to the announcement at the Sixth China Annual Meeting of Satellite Navigation and Location Services in Shenzhen on September 16 and the First Satellite Application International Exposition held.

Characterization of the BaBiO_3-doped BaTiO_3 positive temperature coefficient of a resistivity ceramic using impedance spectroscopy with T_c=155℃

BaBiO3-doped BaTiO3 （BB-BT） ceramic, as a candidate for lead-free positive temperature coefficient of resistivity （PTCR） materials with a higher Curie temperature, has been synthesized in air by a conventional sintering technique. The temperature dependence of resistivity shows that the phase transition of the PTC thermistor ceramic occurs at the Curie temperature, Tc = 155℃, which is higher than that of BaTiO3 （≤ 130 ℃）. Analysis of ac impedance data using complex impedance spectroscopy gives the alternate current （AC） resistance of the PTCR ceramic. By additional use of the complex electric modulus formalism to analyse the same data, the inhomogeneous nature of the ceramic may be unveiled. The impedance spectra reveal that the grain resistance of the BB-BT sample is slightly influenced by the increase of temperature, indicating that the increase in overall resistivity is entirely due to a grain-boundary effect. Based on the dependence of the extent to which the peaks of the imaginary part of electric modulus and impedance are matched on frequency, the conduction mechanism is also discussed for a BB-BT ceramic system.

The study of special killing effect of CD3AK on anti-CEA-positive tumor enhanced by DC loaded with CEA-rV

Objective： To survey the special killing activity of CD3AK on anti-CEA-positive tumor enhanced by umbilical cord blood dendritic cell （DC） loaded with CEA recombinant vaccinia virus （CEA-rV）. Methods： Freshly isolated umbilical blood mononuclear calls （UBMC） were cultivated for 3 h. Suspension cells and attached calls were used to induce CD3AK calls and DC separately. DC was loaded with CEA-rV on the 3rd day to prepare CEA-rV＋DC. CD3AK cells were co-cultured with CEA- rV＋DC on the 8th day, to prepare CEA-rV＋DC＋CD3AK. The killing activity of each effector＇s cell, which included UBMC, CD3AK, DC＋CD3AK and CEA-rV＋DC＋CD3AK, was measured respectively by MTT reduction assay. Results： （1） 4 target cells were con- firmed by CEA monoclonal antibody of rabbit anti-human. Lovo and A549 were really CEA positive cell lines, while Bel-7402 and K562 were CEA negative cell lines. （2） It was showed by flow-cytometry that the mature DC cultured at 10th day expressed MHC I, II molecules such as CD86, CDS0, CD83 and CD40 highly, but CD123 lowly. The expression rates of CD86, CDS0, CD83 and CD40 was 82.7%, 51.1%, 57.5% and 69.4%, respectively. The appearances and intra-cellular structures of DC were observed through light and electron microscope. The diameter of mature DC was 15-20 μm presented the irregular morphologic appearanca, much prominences and pseudopodium. There were abundant mitochondria and endoplasmic reticulum in DC endochylema. （3） The rates of CD3, CD4, CD8 and CD28 in CD3AK cells group were 2 folds higher than that in UBMC group by FACS. It was said that the numbers of the mature T lymphocyte in CD3AK cells group were much greater than that in UBMC group. （4） The killing activities to 4 target cells of 3 effector＇s cells, which included CEA-rV＋DC＋CD3AK, DC＋CD3AK and CD3AK, were much greater than that of UBMC （P〈0.01）. Moreover, comparing with the killing activities of 4 effector＇s： CEA-rV＋DC＋CD3AK group 〉 DC＋CD3AK group 〉 CD3AK group 〉 UBMC group. It showed that, cytokine, DC and CEA-rV could efficiently elevate the killing activity of UBMC on broad-spectrum tumor cells. （5） Comparing with the killing activities of CEA-rV＋DC＋CD3AK and CD3AK cells to CEA positive and negative cells, the killing activities of CEA-rV＋DC＋CD3AK to CEA positive tumor calls, Lovo and A549 calls （P〈0.01） were remarkably better than that to CEA negative tumor cells BEL-7402 and K562 cells （P〈0.05）. It was said that the CEA-rV＋DC could obviously enhance the killing activity of CD3AK on CEA positive tumor cells. Comparing with the killing activities of CEA-rV＋DC＋CD3AK and DC＋CD3AK cells, the killing activity of CD3AK on CEA negative tumor cells was no statistical difference （P〉0.05）. However, the killing activity to CEA positive cells of CEA-rV＋DC＋CD3AK group was notably higher than that of DC＋CD3AK group. Namely, CEA-rV could distinctly promote the special killing activity to CEA positive tumor cells of CD3AK, but could not do it to CEA negative tumor cells. Conclusion： CEA-rV＋DC could obviously enhance the special killing activity of CD3AK on CEA positive tumor cell lines, while the DC only couldn＇t. The results indicated that the CEA-rV played an important role during the special killing activity of CD3AK cells to CEA positive tumor cells.

Positive temperature coefficient of resistivity effects of semiconducting (Bi(1/2)Na(1/2)) TiO_3-CaTiO_3-BaTiO_3 ceramics sintered in air atmosphere

Y^3＋-doped （Bi 1/2 Na 1/2） TiO 3-CaTiO 3-BaTiO 3 （BNCBT） positive temperature coefficient of resistivity （PTCR） ceramics sintered in air atmosphere were investigated in this study. （Bi 1/2 Na 1/2） TiO 3 （BNT） component can remarkably increase the onset temperature T c of PTCR ceramics with the expense of the resistivity R 25 increase. CaTiO 3 （9–27 mol%） component can decrease the resistivity, and adjust the effects of BNT phase on the T c point. For the sample containing 3 mol% CaTiO 3 , T c raises from 122 ℃ to 153 ℃ when only 0.6 mol% BNT added, while for the ones with higher CaTiO 3 content （9–27 mol%）, T c is only increased by a rate of 8–9℃/1.0 mol% BNT. The effects of BNT and CaTiO 3 components on R25/Rmin （negative temperature coefficient effect） are also discussed.

HL-3装置测量基准网的建立及部件定位测量

根据HL-3装置总装集成设计安装精度的要求,需要建立一个高精度的测量基准网,在总装过程中采用激光跟踪仪等先进测量设备对安装部件的空间位置进行测量。建立的基准网实现了网内基准点空间坐标最大不确定度为0.133mm。特别在对真空室、临时第一壁/限制器等部件的安装中,进行定位测量和数据反馈,然后再进行安装调整,实现了真空室∅1.84mm的同轴度精度,满足同轴度≤∅3mm的要求;标高偏差为-0.08~+0.136mm,满足标高偏差≤±1mm的要求。临时第一壁/限制器安装最大偏差值为+1.9351mm,最小偏差值为-1.8337mm,均满足各模块表面位置误差不超过±2mm的技术要求。测量基准网的建立以及安装过程中对部件高精度的定位测量,保证了HL-3装置高质量的建造。

Global asymptotic stability of positive equilibrium in a 3-species cooperating model with time delay

The asymptotic behavior of the time-dependent solution for a 3-species cooperating model was investigated with the effects of both diffusion and time delay taken into consideration. We proved the global asymptotic stability of a positive steady-state solution to the model problem by using coupled upper and lower solutions for a more general reaction-diffusion system that gives a common framework for 3-species cooperating model problems. The result of global asymptotic stability implies that the model system coexistence is permanent. Some global asymptotic stability results for 2-species cooperating reaction-diffusion systems are included in the discussion, and some known results are extended.

BDS-3新频点信号双频精密单点定位精度分析

北斗卫星导航系统(BeiDou navigation satellite System,BDS)已于2020年7月正式建成并开通,北斗三号(BDS-3)在旧信号B1I和B3I的基础上,增加了B1C、B2a新信号.为了全面评估BDS-3的新信号B1C、B2a的定位性能,试验了GPS (Global Positioning System)、BDS-3、BDS-2/BDS-3新旧信号的定位性能和BDS系统不同频点与GPS组合定位性能,对BDS (B1I+B3I、B1C/B2a)+GPS (L1+L2)组合静态PPP (Precise Point Positioning)定位性能进行分析,并与单卫星系统对比分析.试验结果表明:BDS-3 (B1C/B2a)在East (E)、North (N)、Up (U)方向的定位精度优于1.25 cm、0.89 cm、1.67 cm,BDS-3新旧频点在E、N方向上定位精度与GPS L1/L2在同一水平上,U方向上新频点定位精度高于GPS L1/L2和BDS-3旧频点,较旧频点定位精度提升了34.2%,新频点收敛时间25.9 min比旧频点提升了12.7%;相较于BDS、GPS单系统,组合系统BDS/GPS定位精度和收敛时间有了明显的提高,BDS-3 (B1C/B2a)+GPS在E、N方向上与BDS-3 (B1I/B3I)+GPS定位精度相当,在U方向上定位精度前者较后者有了明显的提升,提升了17.2%,组合系统新频点收敛时间20.1 min比旧频点提升了17.6%.

BDS-3 B2b-PPP URA评估精化与播发方法

用户距离精度指数(URAI)作为导航系统定位服务完好性标识,在提供卫星可用性信息的同时,也反映了卫星的轨道钟差精度。本文提出将B2b电文中随轨道改正数播发的URAI信息恢复为用户距离精度(URA),并用于B2bPPP的随机模型构建。对其进行定位性能评估,发现B2b自身播发的URA精度较差。针对该问题,利用分布在中国及周边区域的多个全球卫星导航系统(GNSS)监测站对B2b的URA参数进行重估计。实验结果表明:精化后的URA能显著提升B2b-PPP的服务性能。相比于仅考虑观测噪声和高度角的随机模型,使用精化后的URA作为随机模型,动态和静态定位模式下的收敛时间提升分别达到18.9%、14.5%;收敛后定位精度提升分别达到11.2%、8.9%。在此基础上,进一步结合北斗卫星导航系统(BDS)短报文,提出一种精化后URA的播发方法,结合现有短报文通信效率进一步分析了精化URA的用户使用性能。

Performance Evaluation of Three-Dimensional UWB Real-Time Locating Auto-Positioning System for Fire Rescue

Fire rescue challenges and solutions have evolved from straightfor-ward plane rescue to encompass 3D space due to the rise of high-rise city buildings.Hence,this study facilitates a system with quick and simplified on-site launching and generates real-time location data,enabling fire rescuers to arrive at the intended spot faster and correctly for effective and precise rescue.Auto-positioning with step-by-step instructions is proposed when launching the locating system,while no extra measuring instrument like Total Station(TS)is needed.Real-time location tracking is provided via a 3D space real-time locating system(RTLS)constructed using Ultra-wide Bandwidth technology(UWB),which requires electromagnetic waves to pass through concrete walls.A hybrid weighted least squares with a time difference of arrival(WLS/TDOA)positioning method is proposed to address real path-tracking issues in 3D space and to meet RTLS requirements for quick computing in real-world applications.The 3D WLS/TDOA algorithm is theoretically constructed with the Cramer-Rao lower bound(CRLB).The computing complexity is reduced to the lower bound for embedded hardware to directly compute the time differential of the arriving signals using the time-to-digital converter(TDC).The results of the experiments show that the errors are controlled when the positioning algorithm is applied in various complicated situations to fulfill the requirements of engineering applications.The statistical analysis of the data reveals that the proposed UWB RTLS auto-positioning system can track target tags with an accuracy of 0.20 m.

Current status of PI3K-mTOR inhibition in hormone-receptor positive, HER2-negative breast cancer

Breast cancer (BC) is the most common cancer in women and second only to lung cancer in terms of mortality. Among the three different BC subtypes, the oestrogen receptor positive represents nearly 70% of all cases and it is usually treated with anti-oestrogen drugs. However, the majority of hormone receptor positive metastatic BC patients develop resistance to anti-oestrogen treatments.The need for more down-stream therapies brought to the development of therapeutic strategies inhibiting the phosphatidylinositol 3-kinase-mammalian target of rapamycin (mTOR) pathway. Inhibitors of the mTOR have been tested in different clinical trials; everolimus has been Food and Drug Administration approved for the treatment of oestrogen receptor positive/human epidermal growth factor receptor 2 negative BC patients in combination with exemestane in patients who have progressed to anastrozole or letrozole after the encouraging results coming from BOLERO-2 trial. Similar results were obtained by the TAMRAD investigatory study testing tamoxifen in combination with everolimus in advanced BC. This editorial focuses on the results from BOLERO-2, BOLERO 4 and BOLERO-6, which tested the clinical importance of mTOR inhibition. We comment also on the role of phosphatidylinositol 3-kinase-mTOR inhibition as reported in the BELLE-2 and BELLE-3 trials and the future directions for the inhibition of this tumour metabolic axis.

BDS-3 PPP-B2b实时精密时间同步方法探讨

针对传统实时精密单点定位(PPP)时间同步方法需要连接互联网,以及对北斗三号全球卫星导航系统(BDS-3)精密单点定位服务信号(PPP-B2b)用于长基线实时时间同步的研究较少的问题,提出一种将PPP-B2b信号用于PPP时间同步的实时时间同步方法:将高精度铷原子钟作为全球卫星导航系统(GNSS)接收机外频标输入,通过GNSS接收机实时接收PPP-B2b改正数,解算接收机钟差并实时调整铷原子钟,输出与时间基准同步的秒脉冲(1PPS)信号,较之传统GNSS接收机输出1PPS有更佳的频率稳定性;设计PPP-B2b时间同步硬件测试平台对提出的PPP-B2b时间同步方法进行测试。结果表明,通过PPP-B2b时间同步方法进行时间传递的精度优于0.2 ns;短基线实测实时时间同步精度优于0.95 ns;卫星模拟器仿短基线精度优于0.87 ns,仿长基线精度优于0.9 ns。

Positive Bias Temperature Instability Degradation of Buried InGaAs Channel nMOSFETs with InGaP Barrier Layer and Al2O3 Dielectric

Positive bias temperature instability stress induced interface trap density in a buried InGaAs channel metaloxide-semiconductor field-effect transistor with a InCaP barrier layer and Al2O3 dielectric is investigated. Well behaved split C-V characteristics with small capacitance frequency dispersion are confirmed after the insertion of the InCaP barrier layer. The direct-current Id-Vg measurements show both degradations of positive gate voltage shift and sub-threshold swing in the sub-threshold region, and degradation of positive △Vg in the oncurrent region. The Id-Vg degradation during the positive bias temperature instability tests is mainly contributed by the generation of near interface acceptor traps under stress. Specifically, the stress induced aeceptor traps contain both permanent and recoverable traps. Compared with surface channel InCaAs devices, stress induced recoverable donor traps are negligible in the buried channel ones.

An Analysis on Position Estimation, Drifting and Accumulated Error Accuracy during 3D Tracking in Electronic Handheld Devices

This work focuses on a brief discussion of new concepts of using smartphone sensors for 3D painting in virtual or augmented reality. Motivation of this research comes from the idea of using different types of sensors which exist in our smartphones such as accelerometer, gyroscope, magnetometer etc. to track the position for painting in virtual reality, like Google Tilt Brush, but cost effectively. Research studies till date on estimating position and localization and tracking have been thoroughly reviewed to find the appropriate algorithm which will provide accurate result with minimum drift error. Sensor fusion, Inertial Measurement Unit (IMU), MEMS inertial sensor, Kalman filter based global translational localization systems are studied. It is observed, prevailing approaches consist issues such as stability, random bias drift, noisy acceleration output, position estimation error, robustness or accuracy, cost effectiveness etc. Moreover, issues with motions that do not follow laws of physics, bandwidth, restrictive nature of assumptions, scale optimization for large space are noticed as well. Advantages of such smartphone sensor based position estimation approaches include, less memory demand, very fast operation, making them well suited for real time problems and embedded systems. Being independent of the size of the system, they can work effectively for high dimensional systems as well. Through study of these approaches it is observed, extended Kalman filter gives the highest accuracy with reduced requirement of excess hardware during tracking. It renders better and faster result when used in accelerometer sensor. With the aid of various software, error accuracy can be increased further as well.

BDS-3 PPP模糊度固定实现及精度评估

精密单点定位(PPP)模糊度固定(AR)能够显著提升精密定位的收敛速度和精度。通过在BDS-2和BDS-3之间添加系统间偏差的方法实现BDS-3的模糊度固定,并基于全球MGEX测站静态、仿动态数据和车载实验数据全面评估了BDS-3模糊度固定的效果。结果表明,相对于浮点解,BDS-3 PPP模糊度固定能够显著提升PPP的精度,在东北天3个方向上静态解算精度提升依次为37.4%、26.2%和20.1%;仿动态解算精度提升依次为38.3%、27.2%和11.1%;车载动态实验BDS-3模糊度固定精度在三维方向上综合提升为40.4%。此外,模糊度固定后,以浮点解稳定后的两倍定位精度为基准,在东北天方向上,静态定位时间提升程度依次为63.5%、64.0%和40.3%;仿动态定位时间提升程度依次为58.7%、56.8%和25.4%;车载实验在三维方向的收敛时间为30.0 min。以上结果证明了所提方法的有效性及BDS-3模糊度固定的性能提升。

超声波辅助射流电沉积Ni-W-Al_(2)O_(3)纳米复合镀层工艺参数优化及性能研究

为提高农机部件表面耐磨性能,采用超声波辅助射流电沉积方法制备Ni-W-Al_(2)O_(3)纳米复合镀层。利用JMP软件中预制的响应曲面刻画器、等高线刻画器及预制刻画器分析不同工艺参数(射流速率、Al_(2)O_(3)纳米粒子含量及超声波功率)间交互作用对纳米复合镀层显微硬度的影响,确定最佳工艺参数组合。为验证制备NiW-Al_(2)O_(3)纳米复合镀层最优工艺参数组合,利用扫描电子显微镜(SEM)、X射线衍射仪(XRD)、透射电子显微镜(TEM)、显微硬度计及摩擦磨损试验机等设备,测试不同工艺参数组合下制备的纳米复合镀层表面形貌、组织结构及性能。结果表明:射流速率、Al_(2)O_(3)纳米粒子含量、超声波功率、二次交互项及二次幂项均对纳米复合镀层显微硬度影响较为显著。经JMP软件优化后的制备工艺参数组合为:射流速率3.71 m·s^(-1),Al_(2)O_(3)纳米粒子含量15.38 g·L^(-1),超声波功率210 W。最优工艺参数组合制得纳米复合镀层具有表面形貌致密、晶粒细化程度高、显微硬度大(724.9 HV)、摩擦系数及磨损量低等特点。