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.

Nurses’ stories about their interactions with patients at the Holy Family Hospital, Techiman, Ghana

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.

Spatial Interaction Between the Industrial Undertaking Capacity and Global Value Chain Position of East Asian Countries

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.

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.

Mechanical synergistic interaction between adjacent corrosion defects and its effect on pipeline failure

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.

基于透镜阵列多元聚焦的连续晶体三维位置灵敏探测器设计和仿真

连续晶体闪烁体探测器可以实现γ射线作用点的三维位置定位。本文提出一种新的探测器结构,引入透镜阵列实现作用点定位。探测器采集多元聚焦图像,从而改变对连续晶体闪烁光分布探测的需求。文中建立连续晶体、透镜阵列和光子计数器阵列的模型进行模拟研究,建立多元聚焦的光路反演重建算法定位γ射线作用点的三维位置。通过重建结果分析评估基于透镜阵列的连续晶体探测器性能,这种结构具有较好的定位能力和位置分辨。对于尺寸为48 mm×48 mm×45 mm的硅酸钇镥(LYSO)闪烁晶体,实现了xy平面位置分辨优于1.54 mm,z方向位置分辨优于3.13 mm。基于连续晶体和透镜阵列结构的探测器还可对多作用点的情形进行重建,分析三组选定位置的重建结果,该结构对双作用点定位具有可行性。

基于改进自适应IMM算法的高速列车组合定位

针对列车高精度定位问题,该文提出基于改进自适应交互多模型(IMM)的高速列车高精度组合定位方法。首先,根据列车定位需求和各传感器特点,设计了卫星接收器、轮轴测速传感器、测速雷达以及单轴陀螺仪4种传感器的组合定位方案。然后,针对IMM融合滤波算法因先验信息不准导致固定参数设置不当的问题,引入Sage-Husa自适应滤波和转移概率矩阵(TPM)自适应更新集成为自适应IMM算法。针对多模型切换的滞后问题,利用子模型似然函数值能快速反映模型变化趋势的特点,将似然函数值设为判定标志,并引入判定窗对TPM矩阵元素进行修正,有效提升了模型的切换速度。最后,基于改进自适应IMM算法对4种传感器定位信息进行融合滤波,实现高速列车的高精度组合定位。仿真结果表明:改进后的算法相比其他自适应IMM算法提升定位精度1.6%~14.7%,并且能通过提高模型间切换速度来有效降低位置误差峰值,同时具备较好的抗噪性能。

深度报道中河南形象的立场表达——以转述语为对象

立场研究历经对言/作者主体性、交互主体性和话语主体性的关注,凝练了立场主体、立场客体和立场表达三个要素。以这三个要素为主要节点,可以建构包括主体定位、交互程度和索引指向为一级指标的系统,用以描述西方网络媒介涉豫深度报道中以转述语为载体的立场表达。这些报道主要依靠以公众为主体的转述语来确定自己的身份认同,使用占据绝对优势的扩展类非叙实转述词语来获取读者的承认,征用大量的描述性报道句来实现对涉豫事实的话语性改造。与河南形象相关的呈现、认同和承认都是在事实的基础上以话语为依归而动态交互的。

基于动力定位平台的虚拟仿真系统

针对船舶动力定位平台控制方式和推力分配纯数字仿真可信度低,难以直观感受动力定位平台航行效果等问题,基于虚拟引擎构建了一套动力定位虚拟仿真平台。平台由虚拟仿真子平台、数值仿真子平台和数据管理系统组成。虚拟仿真子平台实现环境和人机交互、数值仿真子平台实现控制方式和推力分配算法仿真,数据管理系统传输数据驱动虚拟仿真平台,并在虚拟环境中实现动力定位平台的可视化。仿真结果表明,平台可有效地验证航行效果并能合理分配推力,对实验虚拟仿真的可视化设计具有促进作用。

袁州话肯定回应构式“是+语气词”的互动功能

袁州话语气词具有传递信息、表达立场等诸多互动功能,这在肯定回复构式“是+语气词”的对比分析中得到充分体现。“是+语气词”大致可以分为提示否定立场、提示变更立场以及提示强化立场等三大类。将它们进行相互比较,将它们与其他使用方式进行比较,将它们与周边其他方言的相关用法进行比较,分析得出袁州话语气词的各种不同功能特点。

科技更向善:基于数字交互技术的青少年心理韧性培育

青少年心理健康问题近年越发引起社会和学界的重视,心理韧性(psychological resilience)培育逐渐成为青少年心理发展的关键主题之一。随着信息技术对人类生活影响的深化,如何开发基于交互科技(interactive technology)和积极心理科技(positive technology)的自助式虚拟韧性培育方法,既是青少年教育心理发展的关注重点,也是当前学科交叉研究热点。在对近年来国内外研究进行系统性审查总结的基础上,梳理了目前的主流技术与应用共18项,即数字心理app、在线心理咨询辅导训练和严肃游戏三大类;分析其研究特点、干预实施情况并评估其有效性及技术接受性,总结目前心理韧性数字培育应用的优势与不足,为未来青少年心理韧性干预领域的理论研究和应用改善提供了基础。

一种“附近”空间关系增强的多源融合室内定位方法

针对传统室内定位模式单一,结合室内位置描述中常用的“附近”空间关系,融合多传感器数据,本文提出一种“附近”空间关系增强的多源融合语音交互室内定位方法。首先,研究“附近”空间关系特征,针对室内环境,建立基于“窃取面积”和最短距离的“附近”空间关系的概率密度函数;其次,采集每个参考节点的指纹信息及节点间的距离和运动信息,基于隐马尔可夫模型对室内位置描述定位过程建模,通过维比特算法预测用户位置;最终,通过实际场景对本方法验证,本文提出的方法平均定位精度在1.88 m,80%的情况下定位精度可以达到2.12 m。

基于双传感器的枕式包装机速度自动调节系统

包装机速度调节系统存在进入稳态耗时长、稳态误差大和调节精度低的问题,导致产品破损率高,提出基于双传感器的枕式包装机速度自动调节系统。系统硬件采用温度传感器和位置传感器,结合可编程逻辑控制器(Programmable Logic Controller,PLC)转换和调配各个机构的速度,实现包装机速度自动调节;系统软件采用等时间原则,确定包装盒传输到封端位置和温度的时间,从而匹配速度,根据齿轮传动原理确定速度变化量,实现枕式包装机速度自动调节。实验结果表明,设计系统进入稳态的耗时仅为20 s,包装破损率均低于7.5%,该系统减小了超调量、缩短耗时、提高控制精度,降低了不同尺寸产品包装破损率,具有较好的通用性和可靠性。

论乡村振兴与全国统一大市场建设的良性互动

乡村振兴与全国统一大市场建设良性互动既是构建新发展格局的题中之义,也是全面建设社会主义现代化国家的关键举措。乡村振兴与全国统一大市场建设良性互动意义重大,应深刻把握其基本逻辑、深刻内涵与互动路径。当前,乡村振兴与全国统一大市场建设具有相同的底层逻辑,都需要解决地区发展不平衡、解决贸易壁垒,解决要素畅通受阻、解决市场割裂等问题。因此,应坚持以市场为导向,畅通城乡商品要素双向流通,打破市场壁垒;推进乡村优势产业联动供给,激发市场活力;拓展乡村资本数据建设渠道,驱动市场发展;完善乡村基础设施配套服务,夯实市场基础;推进城乡融合区域协调发展,提升市场效能等多种途径推进乡村振兴与全国统一大市场建设的良性互动。

Encroachment drives facilitation at alpine shrublines

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.

新时代法律职业共同体建设的机制、困境与路径探析--以共生理论为视角

法治中国建设目标的实现离不开法律职业共同体的群策群力,这就对新时代背景下法律职业共同体提出了新的建设要求。依据共生理论的三要素框架,在构建法律职业共同体共生机制的基础上,分析法律职业共同体所面临的现实困境,进而探寻新时代背景下法律职业共同体的构建路径。通过分析可知优化法律职业共生单元良性互动交流机制、提升法律职业共生单元联结力度、重塑法律职业伦理体系等是推动法律职业共同体持续发展的重要实践路径。将法律职业共同体建设纳入共生理论的解释框架,为推进法治中国建设目标的实现提供了可资借鉴的方法论与理论生成空间。

新质生产力推进高质量发展和高水平安全良性互动的内在逻辑与实现路径

推进高质量发展和高水平安全良性互动是做好新时代经济工作的战略任务,是大力推进中国式现代化的重要保障。高质量发展和高水平安全良性互动具有丰富的内涵:第一要义是良性互动、价值立场是人民至上、核心目标是发展新质生产力、基本要求是统筹治理、根本方法是唯物辩证法。发展新质生产力与推进高质量发展和高水平安全良性互动具有内在逻辑一致性:它们都是大力推进中国式现代化的题中之义,发展新质生产力为实现高质量发展和高水平安全良性互动奠定了更加坚实的物质基础,是打通实现高质量发展和高水平安全良性互动实践梗阻的重要途径。发挥新质生产力对推进高质量发展和高水平安全良性互动的有效促进作用,需要以发展新质生产力培育科学思维,增强实现良性互动的思维能力;以发展新质生产力转变发展方式,夯实实现良性互动的物质基础;以发展新质生产力加快科技发展,厚植实现良性互动的内在动力;以发展新质生产力完善产业体系,筑牢实现良性互动的产业载体;以发展新质生产力推动共同富裕,壮大实现良性互动的主体力量;以发展新质生产力锻造党的领导力,强化实现良性互动的组织保障。

旋转叶片流固耦合振动对叶端定时测振的影响

叶端定时是一种先进的旋转叶片在线振动监测方法,但其测量准确性受其测点位置变化影响较大,如何选取合适的测点具有重要研究价值。为考虑叶片颤振及其流固耦合振动对测点位置的影响,设置流场圆柱绕流产生涡阶,并对不同转速和裂纹位置下旋转叶片的扭转情况进行分析。计算比较离心载荷时正常叶片的扭转振动,流固耦合下正常叶片、裂纹叶片的扭转振动及叶端各点扭转偏移量对叶端定时测振测点位置的影响。结果表明:流固耦合作用下,转速和裂纹位置对叶片的扭转振动影响较大;叶端定时测振传感器在转速较低时应安装在靠近叶片前缘处,而转速较高时应安装在靠近叶端中间位置。

结合力位控制的多模式下肢康复系统设计

针对采用生物信号控制的下肢康复机器人模型复杂难以布施,中小型下肢康复机器人人机交互功能匮乏等问题,设计了一种结合力位控制的多模式下肢康复系统。通过分布式足底和鞋底压力,对下肢动作进行划分。测试结果表明:提出的力位控制模型动作识别综合准确率为0.925,实现了较高的控制精度,同时为丰富系统功能,设计了智能交互界面系统,系统可实现远程康复与康复评估,符合当前下肢康复领域的发展需求。

话语标记“真的”的互动功能与影响因素

话语标记“真的”在序列结构的分布主要包括三种类型:1)评价序列;2)回应序列;3)信息告知序列。其互动功能主要涉及三个方面:1)强化认识立场;2)促进立场趋同;3)凸显互动话题。文章还探讨了交际双方认识状态对“真的”互动功能的影响。