The conventional Kalman filter（CKF）is widely used in tightly-coupled INS/GPS integrated navigation systems.The linearization accuracy of the CKF observation model is one of the decisive factors of the estimation acc...The conventional Kalman filter（CKF）is widely used in tightly-coupled INS/GPS integrated navigation systems.The linearization accuracy of the CKF observation model is one of the decisive factors of the estimation accuracy and therefore navigation accuracy.Additionally,the conventional observation model（COM）used by the filter may be divergent,which would result into some terrible accuracies of INS/GPS integration navigation in some cases.To improve the navigation accuracy,the linearization accuracy of the COM still needs further improvement.To deal with this issue,the observation model is modified with the linearization of the range and range rate equations in this paper.Compared with COM,the modified observation model（MOM）further considers the difference between the real user position and the position calculated by SINS.To verify the advantages of this model,INS/GPS integrated navigation simulation experiments are conducted with the usage of COM and MOM respectively.According to the simulation results,the positions（velocities）calculated using COM are divergent over time while the others using MOM are convergent,which demonstrates the higher linearization accuracy of MOM.展开更多
目的探讨基于改良Peyton四步教学法的模拟教学联合操作技能直接观察(direct observation of procedural skills,DOPS)评估方法在西藏临床技能培训中的应用效果。方法选取西藏边坝县人民医院2021年5月—2022年5月参加临床技能培训的51名...目的探讨基于改良Peyton四步教学法的模拟教学联合操作技能直接观察(direct observation of procedural skills,DOPS)评估方法在西藏临床技能培训中的应用效果。方法选取西藏边坝县人民医院2021年5月—2022年5月参加临床技能培训的51名医护人员为研究对象,随机分为试验组与对照组。试验组采用结合改良Peyton四步教学法进行成人男性导尿术教学,并在培训开始前、培训中期及培训结束后,由带教教师采用DOPS评估方法对学员进行测评。对照组采用传统临床技能培训方法进行教学。在培训结束后发放满意度调查问卷,以了解学员对该教学模式的满意度。结果试验组技能考核平均成绩(90.12±5.50)分,对照组技能考核平均成绩(79.36±6.95)分,两组间成绩比较,其差异具有统计学意义(P<0.001);DOPS评估量表显示,试验组学员在培训结束后临床操作各项能力均较前有显著提高,其差异均具有统计学意义(P<0.05);课后满意度调查结果显示,在赞同“增强相关基础知识”等6个方面,试验组与对照组比较,其差异均具有统计学意义(P<0.001)。结论基于改良Peyton四步教学法的模拟教学联合DOPS评估方法的教学模式可提高西藏藏区医护人员的临床技能操作水平,适合在藏区医护人员临床技能培训中推广。展开更多
In a grid-integrated photovoltaic system(GIPVS),there exist issues such as surplus active power and inadequate performance of maximum power point tracking(MPPT).A surplus active power causes the overvoltage problem at...In a grid-integrated photovoltaic system(GIPVS),there exist issues such as surplus active power and inadequate performance of maximum power point tracking(MPPT).A surplus active power causes the overvoltage problem at the point of common coupling in low-or medium-voltage grid during the peak hours of power generation.Additionally,the inadequate performance of the MPPT algorithm results in power loss due to high settling time during the sudden change of irradiance.Therefore,to solve the surplus power problem,the curtailment of active power is suggested with improved MPPT algorithm under variable irradiance conditions.In this paper,a derated power generation mode(DPGM)control strategy is presented for the curtailment of active power.Additionally,a drift-free(named as modified)perturb and observe(P&O)technique is also proposed to improve the performance of the MPPT algorithm.Consequently,the DPGM control scheme with the intermediate boost converter shaves the surplus active power during the peak hours of power generation.Furthermore,the modified MPPT algorithm deals with the fluctuation of irradiance during non-peak hours.Thus,the proposed control scheme delivers in a more efficient system during the peak hours of power generation.In addition,it reduces the power loss and settling time during the change of irradiance for non-peak hours.Based on the proposed control scheme,a 30 kW system has been simulated in MATLAB/Simulink using Simpower tools under different environmental conditions.展开更多
基金Supported by the National Natural Science Foundation of China(61502257,41304031)
文摘The conventional Kalman filter（CKF）is widely used in tightly-coupled INS/GPS integrated navigation systems.The linearization accuracy of the CKF observation model is one of the decisive factors of the estimation accuracy and therefore navigation accuracy.Additionally,the conventional observation model（COM）used by the filter may be divergent,which would result into some terrible accuracies of INS/GPS integration navigation in some cases.To improve the navigation accuracy,the linearization accuracy of the COM still needs further improvement.To deal with this issue,the observation model is modified with the linearization of the range and range rate equations in this paper.Compared with COM,the modified observation model（MOM）further considers the difference between the real user position and the position calculated by SINS.To verify the advantages of this model,INS/GPS integrated navigation simulation experiments are conducted with the usage of COM and MOM respectively.According to the simulation results,the positions（velocities）calculated using COM are divergent over time while the others using MOM are convergent,which demonstrates the higher linearization accuracy of MOM.
文摘目的探讨基于改良Peyton四步教学法的模拟教学联合操作技能直接观察(direct observation of procedural skills,DOPS)评估方法在西藏临床技能培训中的应用效果。方法选取西藏边坝县人民医院2021年5月—2022年5月参加临床技能培训的51名医护人员为研究对象,随机分为试验组与对照组。试验组采用结合改良Peyton四步教学法进行成人男性导尿术教学,并在培训开始前、培训中期及培训结束后,由带教教师采用DOPS评估方法对学员进行测评。对照组采用传统临床技能培训方法进行教学。在培训结束后发放满意度调查问卷,以了解学员对该教学模式的满意度。结果试验组技能考核平均成绩(90.12±5.50)分,对照组技能考核平均成绩(79.36±6.95)分,两组间成绩比较,其差异具有统计学意义(P<0.001);DOPS评估量表显示,试验组学员在培训结束后临床操作各项能力均较前有显著提高,其差异均具有统计学意义(P<0.05);课后满意度调查结果显示,在赞同“增强相关基础知识”等6个方面,试验组与对照组比较,其差异均具有统计学意义(P<0.001)。结论基于改良Peyton四步教学法的模拟教学联合DOPS评估方法的教学模式可提高西藏藏区医护人员的临床技能操作水平,适合在藏区医护人员临床技能培训中推广。
基金This work was supported by the Department of Science and Technology(DST),India(No.DST/CERI/MI/SG/2017/080).
文摘In a grid-integrated photovoltaic system(GIPVS),there exist issues such as surplus active power and inadequate performance of maximum power point tracking(MPPT).A surplus active power causes the overvoltage problem at the point of common coupling in low-or medium-voltage grid during the peak hours of power generation.Additionally,the inadequate performance of the MPPT algorithm results in power loss due to high settling time during the sudden change of irradiance.Therefore,to solve the surplus power problem,the curtailment of active power is suggested with improved MPPT algorithm under variable irradiance conditions.In this paper,a derated power generation mode(DPGM)control strategy is presented for the curtailment of active power.Additionally,a drift-free(named as modified)perturb and observe(P&O)technique is also proposed to improve the performance of the MPPT algorithm.Consequently,the DPGM control scheme with the intermediate boost converter shaves the surplus active power during the peak hours of power generation.Furthermore,the modified MPPT algorithm deals with the fluctuation of irradiance during non-peak hours.Thus,the proposed control scheme delivers in a more efficient system during the peak hours of power generation.In addition,it reduces the power loss and settling time during the change of irradiance for non-peak hours.Based on the proposed control scheme,a 30 kW system has been simulated in MATLAB/Simulink using Simpower tools under different environmental conditions.
