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(...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.展开更多
Factors, which induced positive nurse-client interac-tions and barriers to positive nurse-client interactions from the perspective of nurses at Holy Family Hos-pital, were explored. In all, twelve State Registered Nur...Factors, which induced positive nurse-client interac-tions and barriers to positive nurse-client interactions from the perspective of nurses at Holy Family Hos-pital, were explored. In all, twelve State Registered Nurses participated in semi-structured interviews. Factors which induced positive nurse-client interac-tion included availability of adequate time, showing empathy, giving prompt care, considering nursing as a call (spiritual interpretation) and rendering holistic care. Factors which induced negative nurse-client interaction included differences in beliefs between the nurse and the client, perceptions of unfair treatment, payment requirement and processes, issues with clients’ relatives, client issues, miscommunications and misunderstandings about treatment needs, coer-cion, forced dependence, human resource issues, professional nursing issues, issues with work envi-ronment, nurse issues, lack of communication and good interaction, and dropping of professional ethics. Suggestions for nursing education, practice and ad-ministration have been outlined. Among them is the need to use role-play as a major teaching method for nursing students to develop empathic behaviours so that they can put themselves in clients’ situations. This understanding will allow them to practise quality nursing after completing their educational programs. There is also the need for policy makers in nursing to institute measures to hold nurses accountable if they abuse clients or clients’ relatives. Lastly, as an important tool, nurses and other health care workers can make use of reflective practice to evaluate their professional interactions with clients and their relatives. This will foster positive nurse-client interaction in future.展开更多
A comprehensive understanding of the spatial interaction between the industrial undertaking capability and the position of the global value chain of the 12 East Asian countries is conducive to strengthening regional c...A comprehensive understanding of the spatial interaction between the industrial undertaking capability and the position of the global value chain of the 12 East Asian countries is conducive to strengthening regional cooperation, gaining a say in foreign trade and becoming the dominant player in the global division of labor system. The article reveals the operating rules of the interaction between the industrial undertaking capacity and the global value chain position of East Asian countries by calculating the Global Moran Index(Moran’s I), coupling coordination degree and other indicators. The results show that: in time, the values of industrial undertaking capacity and the positions of global value chain in East Asian countries showed a sustained and stable growth trend, and have a consistent trend of change. Spatially, both of the two indexes had significant positive spatial correlation, with Moran’s I showing an ‘inverted U’pattern, and the spatial aggregation distribution of global value chain position lagged behind the spatial aggregation distribution of industrial undertaking capacity by one year. In terms of spatial coupling coordination, the coupling coordination values of the two indicators show a steady upward trend. Combined with the comparative advantage of each country, this paper provides suggestions for promoting the positions of Chinese and other East Asian industries in the global value chain from the perspectives of enhancing independent innovation capability and upgrading industrial structure.展开更多
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) ,...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.展开更多
This work provides a new comprehensive assessment method to determine the complex mechanical interaction of adjacent corrosion defects.Firstly,a three-dimensional(3D)finite element model of pipelines containing adjace...This work provides a new comprehensive assessment method to determine the complex mechanical interaction of adjacent corrosion defects.Firstly,a three-dimensional(3D)finite element model of pipelines containing adjacent defects(involving longitudinally aligned,circumferentially aligned,and diagonally aligned defects)was developed and validated by full-scale burst tests.Then,the synergistic stress interaction between adjacent defects was analyzed,and the relationship between the burst position of the pipeline and defect spacing was determined.At last,the applicability of several commonly used critical spacing rules for identifying the interaction between adjacent defects was compared and discussed in detail.The results show that the failure position of the pipeline containing adjacent defects is related to the relative position of defects.For longitudinally aligned corrosion defects,the stronger the interaction between defects(i.e.,the shorter the distance between two defects),the closer the failure position of the pipeline to the center of the defect spacing.For circumferentially aligned corrosion defects,the failure position of the pipe tends to move from the defect edge to the geometric center of the defect with increasing defect spacing.For diagonally aligned defects,the failure position is generally located on the path connecting the defect and the spacing.The currently available evaluation criteria for identifying circumferentially interacting defects display the most accuracy,and the identification effect of diagonally aligned defects is the poorest.In addition,the critical spacing rule proposed by Li presents the highest precision in identifying the interacting defects.The results are expected to provide a stress synergistic failure assessment method for pipelines containing cluster corrosion defects in engineering.展开更多
Ongoing encroachment is driving recent alpine shrubline dynamics globally,but the role of shrub-shrub interactions in shaping shrublines and their relationships with stem density changes remain poorly understood.Here,...Ongoing encroachment is driving recent alpine shrubline dynamics globally,but the role of shrub-shrub interactions in shaping shrublines and their relationships with stem density changes remain poorly understood.Here,the size and age of shrubs from 26 Salix shrubline populations along a 900-km latitudinal gradient(30°-38°N)were measured and mapped across the eastern Tibetan Plateau.Point pattern analyses were used to quantify the spatial distribution patterns of juveniles and adults,and to assess spatial associations between them.Mean intensity of univariate and bivariate spatial patterns was related to biotic and abiotic variables.Bivariate mark correlation functions with a quantitative mark(shrub height,basal stem diameter,crown width)were also employed to investigate the spatial relationships between shrub traits of juveniles and adults.Structural equation models were used to explore the relationships among conspecific interactions,patterns,shrub traits and recruitment dynamics under climate change.Most shrublines showed clustered patterns,suggesting the existence of conspecific facilitation.Clustered patterns of juveniles and conspecific interactions(potentially facilitation)tended to intensify with increasing soil moisture stress.Summer warming before 2010 triggered positive effects on population interactions and spatial patterns via increased shrub recruitment.However,summer warming after2010 triggered negative effects on interactions through reduced shrub recruitment.Therefore,shrub recruitment shifts under rapid climate change could impact spatial patterns,alter conspecific interactions and modify the direction and degree of shrublines responses to climate.These changes would have profound implications for the stability of alpine woody ecosystems.展开更多
基金The National Natural Science Foundation of China(No.61273236)the Scientific Research Foundation of Graduate School of Southeast University(No.YBJJ1637),China Scholarship Council
文摘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.
文摘Factors, which induced positive nurse-client interac-tions and barriers to positive nurse-client interactions from the perspective of nurses at Holy Family Hos-pital, were explored. In all, twelve State Registered Nurses participated in semi-structured interviews. Factors which induced positive nurse-client interac-tion included availability of adequate time, showing empathy, giving prompt care, considering nursing as a call (spiritual interpretation) and rendering holistic care. Factors which induced negative nurse-client interaction included differences in beliefs between the nurse and the client, perceptions of unfair treatment, payment requirement and processes, issues with clients’ relatives, client issues, miscommunications and misunderstandings about treatment needs, coer-cion, forced dependence, human resource issues, professional nursing issues, issues with work envi-ronment, nurse issues, lack of communication and good interaction, and dropping of professional ethics. Suggestions for nursing education, practice and ad-ministration have been outlined. Among them is the need to use role-play as a major teaching method for nursing students to develop empathic behaviours so that they can put themselves in clients’ situations. This understanding will allow them to practise quality nursing after completing their educational programs. There is also the need for policy makers in nursing to institute measures to hold nurses accountable if they abuse clients or clients’ relatives. Lastly, as an important tool, nurses and other health care workers can make use of reflective practice to evaluate their professional interactions with clients and their relatives. This will foster positive nurse-client interaction in future.
基金Under the auspices of China’s National Social Science Research Grant(No.16BTJ025)。
文摘A comprehensive understanding of the spatial interaction between the industrial undertaking capability and the position of the global value chain of the 12 East Asian countries is conducive to strengthening regional cooperation, gaining a say in foreign trade and becoming the dominant player in the global division of labor system. The article reveals the operating rules of the interaction between the industrial undertaking capacity and the global value chain position of East Asian countries by calculating the Global Moran Index(Moran’s I), coupling coordination degree and other indicators. The results show that: in time, the values of industrial undertaking capacity and the positions of global value chain in East Asian countries showed a sustained and stable growth trend, and have a consistent trend of change. Spatially, both of the two indexes had significant positive spatial correlation, with Moran’s I showing an ‘inverted U’pattern, and the spatial aggregation distribution of global value chain position lagged behind the spatial aggregation distribution of industrial undertaking capacity by one year. In terms of spatial coupling coordination, the coupling coordination values of the two indicators show a steady upward trend. Combined with the comparative advantage of each country, this paper provides suggestions for promoting the positions of Chinese and other East Asian industries in the global value chain from the perspectives of enhancing independent innovation capability and upgrading industrial structure.
基金National Natural Science Foundation of China(No.61663020)Project of Education Department of Gansu Province(No.2016B-036)
文摘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.
基金This work was supported by the National Key R&D Program of China(Grant.No 2022YFC3004802-4)the Foundation of Sinopec(grant numbers 320034)+2 种基金the Strategic Cooperation Technology Projects of CNPC and CUPB(ZLZX2020-05)the Science Foundation of China University of Petroleum,Beijing(2462022YXZZ002)the Science Foundation of China University of Petroleum,Beijing(2462021YXZZ001).
文摘This work provides a new comprehensive assessment method to determine the complex mechanical interaction of adjacent corrosion defects.Firstly,a three-dimensional(3D)finite element model of pipelines containing adjacent defects(involving longitudinally aligned,circumferentially aligned,and diagonally aligned defects)was developed and validated by full-scale burst tests.Then,the synergistic stress interaction between adjacent defects was analyzed,and the relationship between the burst position of the pipeline and defect spacing was determined.At last,the applicability of several commonly used critical spacing rules for identifying the interaction between adjacent defects was compared and discussed in detail.The results show that the failure position of the pipeline containing adjacent defects is related to the relative position of defects.For longitudinally aligned corrosion defects,the stronger the interaction between defects(i.e.,the shorter the distance between two defects),the closer the failure position of the pipeline to the center of the defect spacing.For circumferentially aligned corrosion defects,the failure position of the pipe tends to move from the defect edge to the geometric center of the defect with increasing defect spacing.For diagonally aligned defects,the failure position is generally located on the path connecting the defect and the spacing.The currently available evaluation criteria for identifying circumferentially interacting defects display the most accuracy,and the identification effect of diagonally aligned defects is the poorest.In addition,the critical spacing rule proposed by Li presents the highest precision in identifying the interacting defects.The results are expected to provide a stress synergistic failure assessment method for pipelines containing cluster corrosion defects in engineering.
基金the National Natural Science Foundation of China(42271054)the Second Tibetan Plateau Scientific Expedition and Research Program(2019QZKK0301)。
文摘Ongoing encroachment is driving recent alpine shrubline dynamics globally,but the role of shrub-shrub interactions in shaping shrublines and their relationships with stem density changes remain poorly understood.Here,the size and age of shrubs from 26 Salix shrubline populations along a 900-km latitudinal gradient(30°-38°N)were measured and mapped across the eastern Tibetan Plateau.Point pattern analyses were used to quantify the spatial distribution patterns of juveniles and adults,and to assess spatial associations between them.Mean intensity of univariate and bivariate spatial patterns was related to biotic and abiotic variables.Bivariate mark correlation functions with a quantitative mark(shrub height,basal stem diameter,crown width)were also employed to investigate the spatial relationships between shrub traits of juveniles and adults.Structural equation models were used to explore the relationships among conspecific interactions,patterns,shrub traits and recruitment dynamics under climate change.Most shrublines showed clustered patterns,suggesting the existence of conspecific facilitation.Clustered patterns of juveniles and conspecific interactions(potentially facilitation)tended to intensify with increasing soil moisture stress.Summer warming before 2010 triggered positive effects on population interactions and spatial patterns via increased shrub recruitment.However,summer warming after2010 triggered negative effects on interactions through reduced shrub recruitment.Therefore,shrub recruitment shifts under rapid climate change could impact spatial patterns,alter conspecific interactions and modify the direction and degree of shrublines responses to climate.These changes would have profound implications for the stability of alpine woody ecosystems.