Hepatocellular carcinoma(HCC) is the predominant form of primary liver cancer and represents the third leading cause of cancer-related death worldwide. Current available therapeutic approaches are poorly effective,esp...Hepatocellular carcinoma(HCC) is the predominant form of primary liver cancer and represents the third leading cause of cancer-related death worldwide. Current available therapeutic approaches are poorly effective,especially for the advanced forms of the disease. In the last year,short double stranded RNA molecules termed small interfering RNAs(si RNAs) and micro interfering RNAs(mi RNA),emerged as interesting molecules with potential therapeutic value for HCC. The practical use of these molecules is however limited by the identification of optimal molecular targets and especially by the lack of effective and targeted HCC delivery systems. Here we focus our discussion on the most recent advances in the identification of si RNAs/mi RNAs molecular targets and on the development of suitable si RNA/mi RNAs delivery systems.展开更多
Aiming at machining deeply small holes in TC4 alloy,a series of experiments were carried out on a self-developed multi-axis micro electrical discharge machining(micro-EDM)machine tool.To improve machining efficiency a...Aiming at machining deeply small holes in TC4 alloy,a series of experiments were carried out on a self-developed multi-axis micro electrical discharge machining(micro-EDM)machine tool.To improve machining efficiency and decrease relative wear of electrode in machining deeply small hole in TC4 alloy,many factors in micro-EDM,such as polarity,electrical parameters and supplying ways of working fluid were studied.Experimental results show that positive polarity machining is far superior to negative polarity machining;it is more optimal when open-circuit voltage,pulse width and pulse interval are 130 V,5μs and 15μs respectively on the self developed multi-axis micro-EDM machine tool;when flushing method is applied in micro-EDM,the machining efficiency is higher and relative wear of electrode is smaller.展开更多
This article uses discriminant sampling method to select 1062 small and micro enterprises from 25 provinces in China. Researches were conducted on their credit demand and credit behavior, with the Probit model to carr...This article uses discriminant sampling method to select 1062 small and micro enterprises from 25 provinces in China. Researches were conducted on their credit demand and credit behavior, with the Probit model to carry out metrologic tests on influential factors of these enterprises' credit demand and credit behavior.The metrologic analysis shows: Literacy level of leader, asset size, annual revenue of the enterprises have significantly positive effects on the credit demand of these small and micro enterprises. Annual revenue has significantly negative influence on overall credit behavior and the occurrence of informal financial behavior, but significantly positive influence on the occurrence of formal financial behavior. Literacy level of staff and asset size of enterprises have significantly positive influence on the occurrence of the overall credit behavior of small and micro enterprises.展开更多
Micro Small Medium Enterprises (MSMEs) in Indonesia play huge part of national economic development because MSMEs can reduce unemployment rate. But, it is not easy to manage MSMEs well so it can be sustainable. There ...Micro Small Medium Enterprises (MSMEs) in Indonesia play huge part of national economic development because MSMEs can reduce unemployment rate. But, it is not easy to manage MSMEs well so it can be sustainable. There are some reasons why MSMEs are difficult to sustain, i.e., good management people by communicate effectively. Authors believe that one of important ability that owners, as a leader, must have in order to communicate effectively is cultural intelligence. Even in MSMEs, cultural intelligence plays important part because employees in MSMEs are diverse. They come from different region (mean having different tradition) and have different level of education. Methodology that is used in this article is qualitative method, and techniques of data collection are interview and observation. Technique of choosing informant is purposive and convenience while data analysis is using content analysis. The result of this study shows that leaders in MSMEs already have cultural intelligence to communicate with their employee. Leaders who have cultural intelligence can choose right method to communicate effectively with their employee.展开更多
Research is scarce on non-financial characteristics, including owner characteristics and their influences on capital structure in the establishment phase. The objective of this study is to examine the factors affectin...Research is scarce on non-financial characteristics, including owner characteristics and their influences on capital structure in the establishment phase. The objective of this study is to examine the factors affecting firms' availability of external finance, utilizing a sample of Finnish start-up micro firms. The overall purpose is not to produce a comprehensive model for capital structure, but to illustrate the importance of non-accounting characteristics in explaining the attractiveness of the new venture from the lender's point of view. The results show that a founder who has prior work experience from the same sector and has little or no personal financial property seems to have higher leverage. After splitting the data into survived and failed firms, lenders viewed work experience positively only in the sample of failed firms. In addition, limited liability companies, firms located in bigger cities, and firms with good demand evaluated by the lender have a lower level of leverage.展开更多
Micro and small enterprises (MSEs) are considered the most dynamic and flexible arrangement of activity. In the economy, the foundation and development of these features is important for the creation of the so-call...Micro and small enterprises (MSEs) are considered the most dynamic and flexible arrangement of activity. In the economy, the foundation and development of these features is important for the creation of the so-called "normal" economic environment. The main objective of this research is to present a research model of innovation in MSEs to analyse: first, the degree of innovation of MSEs, and second, how the innovation is handled by existing MSEs as a result of its business environment. The research made is based on a sample of 550 MSEs distributed over six cities across the Brazilian State of Piaui. The data were collected using the Innovation Radar application, which is owned by the SEBRAE Local Innovation Agents program. Statistical techniques of descriptive, exploratory, and inferential nature were used for corresponding data treatment and results validation. The results obtained suggest that MSEs have innovation capacity between the "Little Innovative" and "Occasional Innovative" range, and also that the average and the distribution of innovation levels are similar amongst MSEs analyzed.展开更多
Financing difficult problem has seriously restricted the further development of small and micro enterprises in our country. This paper analyzes and discusses the Countermeasures of the financing difficulties of small ...Financing difficult problem has seriously restricted the further development of small and micro enterprises in our country. This paper analyzes and discusses the Countermeasures of the financing difficulties of small and micro enterprises in our country from two aspects of the external environment and internal self.展开更多
In this study,the influence degree and effect of support on innovation incentives for research and development(R&D)personnel in micro and small enterprises(MSEs)were explored based on the CMES data.We found that g...In this study,the influence degree and effect of support on innovation incentives for research and development(R&D)personnel in micro and small enterprises(MSEs)were explored based on the CMES data.We found that government support will increase the R&D wage and widen the gap between R&D wage and staff wage,especially for small,non-high-tech enterprises with strict financing constraints.Furthermore,taking the wage gap as a mediator,we concluded that support would widen the wage gap and increase management innovation rather than technological innovation in MSEs because the wage premium of R&D personnel is the main driver for the increase of management innovation.The findings of this study provide useful enlightenment for China to implement an innovation-driven strategy and build an innovative country.展开更多
Small and micro enterprises play an extremely important role in the realization of employment, independent innovation,increasing taxes and so on, It is an important part of national economic development in China. Alth...Small and micro enterprises play an extremely important role in the realization of employment, independent innovation,increasing taxes and so on, It is an important part of national economic development in China. Although the government has introduced a series of supportive policies, but small and micro enterprises arc still faced with many development problems, small and micro enterprises face an important problem is financing difficulty, which relates to its health, sustainable and stable development. This paper analyzes the financing problem of small and micro enterprises from the new net loan mode of P2B, hoping to benefit the development of small and micro enterprises.展开更多
Untethered micro/nanorobots that can wirelessly control their motion and deformation state have gained enormous interest in remote sensing applications due to their unique motion characteristics in various media and d...Untethered micro/nanorobots that can wirelessly control their motion and deformation state have gained enormous interest in remote sensing applications due to their unique motion characteristics in various media and diverse functionalities.Researchers are developing micro/nanorobots as innovative tools to improve sensing performance and miniaturize sensing systems,enabling in situ detection of substances that traditional sensing methods struggle to achieve.Over the past decade of development,significant research progress has been made in designing sensing strategies based on micro/nanorobots,employing various coordinated control and sensing approaches.This review summarizes the latest developments on micro/nanorobots for remote sensing applications by utilizing the self-generated signals of the robots,robot behavior,microrobotic manipulation,and robot-environment interactions.Providing recent studies and relevant applications in remote sensing,we also discuss the challenges and future perspectives facing micro/nanorobots-based intelligent sensing platforms to achieve sensing in complex environments,translating lab research achievements into widespread real applications.展开更多
China’s small and micro enterprises have always had the typical characteristics of“five,six,seven,eight,nine,”which are important supports to expand employment and improve people’s livelihood.However,the current p...China’s small and micro enterprises have always had the typical characteristics of“five,six,seven,eight,nine,”which are important supports to expand employment and improve people’s livelihood.However,the current proportion of these enterprises in obtaining bank loans does not commensurate with the proportion of small,medium,and micro enterprises in the total economic aggregate.The financing dilemma of small and micro enterprises still exists.In consideration of the financing status of small and micro enterprises,this study analyzes the constraints of small and micro enterprises in financing,such as the difficulty in mortgage,difficulty in obtaining loans,and difficulty in guaranteeing.This study sorts out Taizhou’s practical experience and links its operation mechanism of“two platforms,one fund,and one index.”Finally,by learning from its successful experience,how to utilize the environment and the trend of big data will be further discussed,so as to form a scalable and sustainable financing method and path.This will provide a reference for improving the financing environment of small and micro enterprises.展开更多
The stability and singularity problem of agile small satellite (ASS) with actuator failure is discussed in this paper. Firstly, the three-axis stabilized controller of an ASS is designed, where micro control moment ...The stability and singularity problem of agile small satellite (ASS) with actuator failure is discussed in this paper. Firstly, the three-axis stabilized controller of an ASS is designed, where micro control moment gyros (MCMG's) in pyramid configuration (PC) is used as the actuator. By using the same controller and steering law, the control results before and after one gyro fails are compared by simulation. The variation of singular momentum envelope before and after one gyro fails is also compared. The simulation results show that the failure intensively decreases the capacity of output torque, which leads to the emergence of more singular points and the rapid saturation of MCMG's. Finally, the parameters of system controller are changed to compare the control effect.展开更多
Chronic liver diseases with different aetiologies rely on the chronic activation of liver injuries which result in a fibrogenesis progression to the end stage of cirrhosis and liver failure.Based on the underlying cel...Chronic liver diseases with different aetiologies rely on the chronic activation of liver injuries which result in a fibrogenesis progression to the end stage of cirrhosis and liver failure.Based on the underlying cellular and molecular mechanisms of a liver fibrosis,there has been proposed several kinds of approaches for the treatment of liver fibrosis.Recently,liver gene therapy has been developed as an alternative way to liver transplantation,which is the only effective therapy for chronic liver diseases.The activation of hepatic stellate cells,a subsequent release of inflammatory cytokines and an accumulation of extracellular matrix during the liver fibrogenesis are the major obstacles to the treatment of liver fibrosis.Several targeted strategies have been developed,such as antisense oligodeoxynucleotides,RNA interference and decoy oligodeoxynucleotides to overcome this barriers.With this report an overview will be provided of targeted strategies for the treatment of liver cirrhosis,and particularly,of the targeted gene therapy using short RNA and DNA segments.展开更多
This paper discusses the design and implementation of a low cost multi-sensor integrated attitude determination system for small unmanned aerial vehicles( UAVs),which uses strapdown inertial navigation system( SINS) b...This paper discusses the design and implementation of a low cost multi-sensor integrated attitude determination system for small unmanned aerial vehicles( UAVs),which uses strapdown inertial navigation system( SINS) based on micro electromechanical system( MEMS) inertial sensors,commercial GPS receiver,and 3-axis magnetometer.MEMS-SINS initial attitude determination cannot be well performed for the reason that the MEMS inertial sensors biases are time-varying and poor repeatability,therefore in this paper the magnetometer and inclinometer are used to assist the MEMS-SINS initial attitude determination and MEMS inertial sensors field calibration.Furthermore,the attitude determination algorithms are presented to estimate the full attitude during GPS signal outage and non-accelerating situation.Additionally,the attitude information estimation results are compared with the reference of the non-magnetic marble platform and 3-axis turntable.Then the attitude estimation precision satisfies the requirement of attitude measurement for small UAVs during GPS signal outage and availability.Finally,the small UAV autonomous flight test results show that the low cost and real-time attitude determination system can yield continuous,reliable and effective attitude information for small UAVs.展开更多
The currently available compilation techniques are for general computing and are not optimized for physical layer computing in 5G micro base stations.In such cases,the foreseeable data sizes and small code size are ap...The currently available compilation techniques are for general computing and are not optimized for physical layer computing in 5G micro base stations.In such cases,the foreseeable data sizes and small code size are application specific opportunities for baseband algorithm optimizations.Therefore,the special attention can be paid,for example,the specific register allocation algorithm has not been studied so far.The compilation for kernel sub-routines of baseband in 5G micro base stations is our focusing point.For applications of known and fixed data size,we proposed a compilation scheme of parallel data accessing,while operands can be mainly allocated and stored in registers.Based on a small register group(48×32b),the target of our compilation scheme is the optimization of baseband algorithms based on 4×4 or smaller matrices,maximizing the utilization of register files,and eliminating the extra register data exchanging.Meanwhile,when data is allocated into register files,we used VLIW(Very Long Instruction Word)machine to hide the time of data accessing and minimize the cost of data accessing,thus the total execution time is minimum.Experiments indicate that for algorithms with small data size,the cost of data accessing and extra addressing can be minimized.展开更多
基金Supported by"Fondazione Cassa di Risparmio of Trieste"the"Fondazione Benefica Kathleen Foreman Casali of Trieste"+2 种基金the"Beneficentia Stiftung"of Vaduz Liechtensteinthe Italian Minister of Instruction,UniversityResearch(MIUR),PRIN 2010-11,No.20109PLMH2(in part)
文摘Hepatocellular carcinoma(HCC) is the predominant form of primary liver cancer and represents the third leading cause of cancer-related death worldwide. Current available therapeutic approaches are poorly effective,especially for the advanced forms of the disease. In the last year,short double stranded RNA molecules termed small interfering RNAs(si RNAs) and micro interfering RNAs(mi RNA),emerged as interesting molecules with potential therapeutic value for HCC. The practical use of these molecules is however limited by the identification of optimal molecular targets and especially by the lack of effective and targeted HCC delivery systems. Here we focus our discussion on the most recent advances in the identification of si RNAs/mi RNAs molecular targets and on the development of suitable si RNA/mi RNAs delivery systems.
基金Project(2006AA04Z323)supported by High-tech Research and Development Program of China。
文摘Aiming at machining deeply small holes in TC4 alloy,a series of experiments were carried out on a self-developed multi-axis micro electrical discharge machining(micro-EDM)machine tool.To improve machining efficiency and decrease relative wear of electrode in machining deeply small hole in TC4 alloy,many factors in micro-EDM,such as polarity,electrical parameters and supplying ways of working fluid were studied.Experimental results show that positive polarity machining is far superior to negative polarity machining;it is more optimal when open-circuit voltage,pulse width and pulse interval are 130 V,5μs and 15μs respectively on the self developed multi-axis micro-EDM machine tool;when flushing method is applied in micro-EDM,the machining efficiency is higher and relative wear of electrode is smaller.
基金subsidized by Ministry of Education Humanities and Social Sciences Planning Fund(11YJA790146) "Coordinated Development of Urban and Rural Finance Research in Dual Economic Structure"Southwestern University Research Funds for the Central Universities Special Funds for Basic Items(SWU1009002) "Coordinated Development of Theoretical Research in Dual Economic Structure in Rural Finance"+1 种基金Chongqing talents project "Chongqing Urban and Rural Finance Coordination development Research"National Social Science Fund Project (12CJY062) "Construction of Rural Supporting Financial Systems and Innovation Research",national Social Science Fund Project(10BJY082) "Rural Microfinance Institutions Innovation and Risk Control Study" and "Statistics First-level Discipline and Doctoral Discipline Construction Funds in Southwestern University"
文摘This article uses discriminant sampling method to select 1062 small and micro enterprises from 25 provinces in China. Researches were conducted on their credit demand and credit behavior, with the Probit model to carry out metrologic tests on influential factors of these enterprises' credit demand and credit behavior.The metrologic analysis shows: Literacy level of leader, asset size, annual revenue of the enterprises have significantly positive effects on the credit demand of these small and micro enterprises. Annual revenue has significantly negative influence on overall credit behavior and the occurrence of informal financial behavior, but significantly positive influence on the occurrence of formal financial behavior. Literacy level of staff and asset size of enterprises have significantly positive influence on the occurrence of the overall credit behavior of small and micro enterprises.
文摘Micro Small Medium Enterprises (MSMEs) in Indonesia play huge part of national economic development because MSMEs can reduce unemployment rate. But, it is not easy to manage MSMEs well so it can be sustainable. There are some reasons why MSMEs are difficult to sustain, i.e., good management people by communicate effectively. Authors believe that one of important ability that owners, as a leader, must have in order to communicate effectively is cultural intelligence. Even in MSMEs, cultural intelligence plays important part because employees in MSMEs are diverse. They come from different region (mean having different tradition) and have different level of education. Methodology that is used in this article is qualitative method, and techniques of data collection are interview and observation. Technique of choosing informant is purposive and convenience while data analysis is using content analysis. The result of this study shows that leaders in MSMEs already have cultural intelligence to communicate with their employee. Leaders who have cultural intelligence can choose right method to communicate effectively with their employee.
文摘Research is scarce on non-financial characteristics, including owner characteristics and their influences on capital structure in the establishment phase. The objective of this study is to examine the factors affecting firms' availability of external finance, utilizing a sample of Finnish start-up micro firms. The overall purpose is not to produce a comprehensive model for capital structure, but to illustrate the importance of non-accounting characteristics in explaining the attractiveness of the new venture from the lender's point of view. The results show that a founder who has prior work experience from the same sector and has little or no personal financial property seems to have higher leverage. After splitting the data into survived and failed firms, lenders viewed work experience positively only in the sample of failed firms. In addition, limited liability companies, firms located in bigger cities, and firms with good demand evaluated by the lender have a lower level of leverage.
文摘Micro and small enterprises (MSEs) are considered the most dynamic and flexible arrangement of activity. In the economy, the foundation and development of these features is important for the creation of the so-called "normal" economic environment. The main objective of this research is to present a research model of innovation in MSEs to analyse: first, the degree of innovation of MSEs, and second, how the innovation is handled by existing MSEs as a result of its business environment. The research made is based on a sample of 550 MSEs distributed over six cities across the Brazilian State of Piaui. The data were collected using the Innovation Radar application, which is owned by the SEBRAE Local Innovation Agents program. Statistical techniques of descriptive, exploratory, and inferential nature were used for corresponding data treatment and results validation. The results obtained suggest that MSEs have innovation capacity between the "Little Innovative" and "Occasional Innovative" range, and also that the average and the distribution of innovation levels are similar amongst MSEs analyzed.
文摘Financing difficult problem has seriously restricted the further development of small and micro enterprises in our country. This paper analyzes and discusses the Countermeasures of the financing difficulties of small and micro enterprises in our country from two aspects of the external environment and internal self.
文摘In this study,the influence degree and effect of support on innovation incentives for research and development(R&D)personnel in micro and small enterprises(MSEs)were explored based on the CMES data.We found that government support will increase the R&D wage and widen the gap between R&D wage and staff wage,especially for small,non-high-tech enterprises with strict financing constraints.Furthermore,taking the wage gap as a mediator,we concluded that support would widen the wage gap and increase management innovation rather than technological innovation in MSEs because the wage premium of R&D personnel is the main driver for the increase of management innovation.The findings of this study provide useful enlightenment for China to implement an innovation-driven strategy and build an innovative country.
文摘Small and micro enterprises play an extremely important role in the realization of employment, independent innovation,increasing taxes and so on, It is an important part of national economic development in China. Although the government has introduced a series of supportive policies, but small and micro enterprises arc still faced with many development problems, small and micro enterprises face an important problem is financing difficulty, which relates to its health, sustainable and stable development. This paper analyzes the financing problem of small and micro enterprises from the new net loan mode of P2B, hoping to benefit the development of small and micro enterprises.
基金supported by the National Natural Science Foundation under Project No. 52205590the Natural Science Foundation of Jiangsu Province under Project No. BK20220834+4 种基金the Start-up Research Fund of Southeast University under Project No. RF1028623098the Xiaomi Foundation/ Xiaomi Young Talents Programsupported by the Research Impact Fund (project no. R4015-21)Research Fellow Scheme (project no. RFS2122-4S03)the EU-Hong Kong Research and Innovation Cooperation Co-funding Mechanism (project no. E-CUHK401/20) from the Research Grants Council (RGC) of Hong Kong, the SIAT-CUHK Joint Laboratory of Robotics and Intelligent Systems, and the Multi-Scale Medical Robotics Center (MRC), InnoHK, at the Hong Kong Science Park
文摘Untethered micro/nanorobots that can wirelessly control their motion and deformation state have gained enormous interest in remote sensing applications due to their unique motion characteristics in various media and diverse functionalities.Researchers are developing micro/nanorobots as innovative tools to improve sensing performance and miniaturize sensing systems,enabling in situ detection of substances that traditional sensing methods struggle to achieve.Over the past decade of development,significant research progress has been made in designing sensing strategies based on micro/nanorobots,employing various coordinated control and sensing approaches.This review summarizes the latest developments on micro/nanorobots for remote sensing applications by utilizing the self-generated signals of the robots,robot behavior,microrobotic manipulation,and robot-environment interactions.Providing recent studies and relevant applications in remote sensing,we also discuss the challenges and future perspectives facing micro/nanorobots-based intelligent sensing platforms to achieve sensing in complex environments,translating lab research achievements into widespread real applications.
基金the Public Management Construction Project of Characteristic Key Discipline from Guangdong Province,China in 2016(Project Number:2020STSZD01)the Project of Finance Course Teaching and Research Section of Guangzhou Xinhua University(Project Number:2021JYS001)the Higher Education Teaching Reform Project of Guangzhou Xinhua University,“Research on Teaching Reform of Inquiry Teaching in the Course of‘Principles of Economics’”(Project Number:2020J028).
文摘China’s small and micro enterprises have always had the typical characteristics of“five,six,seven,eight,nine,”which are important supports to expand employment and improve people’s livelihood.However,the current proportion of these enterprises in obtaining bank loans does not commensurate with the proportion of small,medium,and micro enterprises in the total economic aggregate.The financing dilemma of small and micro enterprises still exists.In consideration of the financing status of small and micro enterprises,this study analyzes the constraints of small and micro enterprises in financing,such as the difficulty in mortgage,difficulty in obtaining loans,and difficulty in guaranteeing.This study sorts out Taizhou’s practical experience and links its operation mechanism of“two platforms,one fund,and one index.”Finally,by learning from its successful experience,how to utilize the environment and the trend of big data will be further discussed,so as to form a scalable and sustainable financing method and path.This will provide a reference for improving the financing environment of small and micro enterprises.
基金the National Natural Science Foundation of China (10502006)Excellent Young Scholars Research Fund of Beijing Institute of Technology (2007YS0202)
文摘The stability and singularity problem of agile small satellite (ASS) with actuator failure is discussed in this paper. Firstly, the three-axis stabilized controller of an ASS is designed, where micro control moment gyros (MCMG's) in pyramid configuration (PC) is used as the actuator. By using the same controller and steering law, the control results before and after one gyro fails are compared by simulation. The variation of singular momentum envelope before and after one gyro fails is also compared. The simulation results show that the failure intensively decreases the capacity of output torque, which leads to the emergence of more singular points and the rapid saturation of MCMG's. Finally, the parameters of system controller are changed to compare the control effect.
基金Supported by National Research Foundation of Korea Grant funded by the Korean Government,No.2012R1A1A401015639
文摘Chronic liver diseases with different aetiologies rely on the chronic activation of liver injuries which result in a fibrogenesis progression to the end stage of cirrhosis and liver failure.Based on the underlying cellular and molecular mechanisms of a liver fibrosis,there has been proposed several kinds of approaches for the treatment of liver fibrosis.Recently,liver gene therapy has been developed as an alternative way to liver transplantation,which is the only effective therapy for chronic liver diseases.The activation of hepatic stellate cells,a subsequent release of inflammatory cytokines and an accumulation of extracellular matrix during the liver fibrogenesis are the major obstacles to the treatment of liver fibrosis.Several targeted strategies have been developed,such as antisense oligodeoxynucleotides,RNA interference and decoy oligodeoxynucleotides to overcome this barriers.With this report an overview will be provided of targeted strategies for the treatment of liver cirrhosis,and particularly,of the targeted gene therapy using short RNA and DNA segments.
基金Sponsored by the China Postdoctoral Science Foundation(Grant No.2013M540857)the Fundamental Research Funds for the Central Universities(Grant No.FRF-TP-14-019A1)
文摘This paper discusses the design and implementation of a low cost multi-sensor integrated attitude determination system for small unmanned aerial vehicles( UAVs),which uses strapdown inertial navigation system( SINS) based on micro electromechanical system( MEMS) inertial sensors,commercial GPS receiver,and 3-axis magnetometer.MEMS-SINS initial attitude determination cannot be well performed for the reason that the MEMS inertial sensors biases are time-varying and poor repeatability,therefore in this paper the magnetometer and inclinometer are used to assist the MEMS-SINS initial attitude determination and MEMS inertial sensors field calibration.Furthermore,the attitude determination algorithms are presented to estimate the full attitude during GPS signal outage and non-accelerating situation.Additionally,the attitude information estimation results are compared with the reference of the non-magnetic marble platform and 3-axis turntable.Then the attitude estimation precision satisfies the requirement of attitude measurement for small UAVs during GPS signal outage and availability.Finally,the small UAV autonomous flight test results show that the low cost and real-time attitude determination system can yield continuous,reliable and effective attitude information for small UAVs.
基金supported by the research funding KYQD(ZR)1974 from Hainan University.
文摘The currently available compilation techniques are for general computing and are not optimized for physical layer computing in 5G micro base stations.In such cases,the foreseeable data sizes and small code size are application specific opportunities for baseband algorithm optimizations.Therefore,the special attention can be paid,for example,the specific register allocation algorithm has not been studied so far.The compilation for kernel sub-routines of baseband in 5G micro base stations is our focusing point.For applications of known and fixed data size,we proposed a compilation scheme of parallel data accessing,while operands can be mainly allocated and stored in registers.Based on a small register group(48×32b),the target of our compilation scheme is the optimization of baseband algorithms based on 4×4 or smaller matrices,maximizing the utilization of register files,and eliminating the extra register data exchanging.Meanwhile,when data is allocated into register files,we used VLIW(Very Long Instruction Word)machine to hide the time of data accessing and minimize the cost of data accessing,thus the total execution time is minimum.Experiments indicate that for algorithms with small data size,the cost of data accessing and extra addressing can be minimized.