Performance analysis of real-time and post-mission kinematic precise point positioning in marine environments

This article focuses on the performance analysis of both real-time and post-mission kinematic precise point positioning(PPP)in challenging marine environments.For this purpose,a real dynamic experiment lasting 6 h was carried out on a lake dam in?orum City of Turkey.While the kinematic test was continuing,the real-time PPP coordinates were obtained for each measurement epoch with a commercial real-time PPP(RT-PPP)service,namely the Trimble Center Point RTX.Then the post-mission PPP(PM-PPP)coordinates were calculated by using Multi-GNSS data and the Multi-GNSS Experiment(MGEX)precise products.The kinematic RT-PPP and PM-PPP results showed that the PPP coordinates were consistent with the relative solution at centimetre and decimetre level in horizontal and height components,respectively.This study implies that PPP technique is a powerful tool for highly accurate positioning in both real-time and post-mission modes,even for dynamic applications in harsh environments.

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.

Vegetative propagation of Dalbergia sissoo:effect of growth regulators,length,position of shoot and type of cuttings on rooting potential in stem cuttings

The effect of auxins （IAA or IBA at 100, 200, 500 mg.L J） on rooting and sprouting parameters differed significantly （p 〈 0.05）. Rooting and sprouting percentages were higher in some treatments while other parameters were significantly higher in other treatments. The results of the present study revealed that rooting was significantly （p 〈 0.05） affected by the length of cuttings, as well as the position of shoots and type of cuttings. On average, 86.0 per cent rooting was observed in the 30-cm long cuttings com- pared to the other two lengths of cuttings, i.e., 20 and 25 cm, irrespective of any auxin treatment. In a control set, without any auxin treatment, a maximum of 60.0% rooting was recorded in the 30-cm long cuttings and a minimum of 40.0% of the cuttings rooted in the 20-cm long cuttings. Similarly, cuttings collected from the lower and upper portions of shoots resulted in 72.5 and 52.5 per cent rooting respectively, irrespective of auxin treatments. Maximum rooting was observed in the lower portion （40.0%） of cutting com- pared to the upper portion （30.0%） in the control set without auxin treatment. Leafless branches produced maximum （72.0%） rooting compared to the leafy cuttings （35.0%）, irrespective of the auxin treatment. The leafy cuttings produces a minimum of 15.0% sprout- ing and rooting in the control set.

Efficient Harmonic Analysis Technique for Prediction of IGS Real-Time Satellite Clock Corrections

Real-time satellite orbit and clock corrections obtained from the broadcast ephemerides can be improved using IGS real-time service (RTS) products. Recent research showed that applying such corrections for broadcast ephemerides can significantly improve the RMS of the estimated coordinates. However, unintentional streaming interruption may happen for many reasons such as software or hardware failure. Streaming interruption, if happened, will cause sudden degradation of the obtained solution if only the broadcast ephemerides are used. A better solution can be obtained in real-time if the predicted part of the ultra-rapid products is used. In this paper, Harmonic analysis technique is used to predict the IGS RTS corrections using historical broadcasted data. It is shown that using the predicted clock corrections improves the RMS of the estimated coordinates by about 72%, 58%, and 72% in latitude, longitude, and height directions, respectively and reduces the 2D and 3D errors by about 80% compared with the predicted part of the IGS ultra-rapid clock corrections.

Data-driven real-time prediction for attitude and position of super-large diameter shield using a hybrid deep learning approach

The presented research introduces a novel hybrid deep learning approach for the dynamic prediction of the attitude and position of super-large diameter shields-a critical consideration for construction safety and tunnel lining quality.This study proposes a hybrid deep learning approach for predicting dynamic attitude and position prediction of super-large diameter shield.The approach consists of principal component analysis(PCA)and temporal convolutional network(TCN).The former is used for employing feature level fusion based on features of the shield data to reduce uncertainty,improve accuracy and the data effect,and 9 sets of required principal component characteristic data are obtained.The latter is adopted to process sequence data in predicting the dynamic attitude and position for the advantages and potential of convolution network.The approach’s effectiveness is exemplified using data from a tunnel construction project in China.The obtained results show remarkable accuracy in predicting the global attitude and position,with an average error ratio of less than 2 mm on four shield outputs in 97.30%of cases.Moreover,the approach displays strong performance in accurately predicting sudden fluctuations in shield attitude and position,with an average prediction accuracy of 89.68%.The proposed hybrid model demonstrates superiority over TCN,long short-term memory(LSTM),and recurrent neural network(RNN)in multiple indexes.Shapley additive exPlanations(SHAP)analysis is also performed to investigate the significance of different data features in the prediction process.This study provides a real-time warning for the shield driver to adjust the attitude and position of super-large diameter shields.

A real-time detection and positioning method for small and weak targets using a 1D morphology-based approach in 2D images

A small and weak target detection method is proposed in this work that outperforms all other methods in terms of real-time capability.It is the first time that two-dimensional(2D)images are processed using only one-dimensional1D structuring elements in a morphology-based approach,enabling the real-time hardware implementation of the whole image processing method.A parallel image readout and processing structure is introduced to achieve an ultra-low latency time on the order of nanoseconds,and a hyper-frame resolution in the time domain can be achieved by combining the row-by-row structure and the electrical rolling shutter technique.Experimental results suggest that the expected target can be successfully detected under various interferences with an accuracy of 0.1 pixels(1σ)under the worst sky night test condition and that a centroiding precision of better than 0.03 pixels(1σ)can be reached for static tests.The real-time detection method with high robustness and accuracy is attractive for application to all types of real-time small target detection systems,such as medical imaging,infrared surveillance,and target measurement and tracking,where an ultra-high processing speed is required.

Effect of High Positive Acceleration(+Gz) Environment on Dental Implant Osseointegration:A Preliminary Animal Study

Objective To observe the effect of high positive acceleration(+Gz) environment on dental implant osseointegration in a rabbit model and to investigate its mechanism.Methods Forty-eight New Zealand white rabbits were randomly divided into 6 groups. The rabbit’s mandibular incisors were extracted and 1 implant was placed in each socket immediately. After 1 week of rest, the rabbits were exposed to a high +Gz environment, 3 times a week. The rabbits were sacrificed at 3 weeks(2 weeks +Gz exposure), 5 weeks(4 weeks +Gz exposure), and 12 weeks(4 weeks +Gz exposure and 7 weeks normal environment) after surgery, respectively. Specimens were harvested for micro-CT scanning, histological analysis, and real-time polymerase chain reaction examination.Results Compared with those in the control group, the mRNA expression levels of bone morphogenetic protein-2(BMP-2), osteopontin(OPN), and transforming growth factor-β1(TGF-β1)were significantly lower(P < 0.05), while the mRNA expression level of receptor activator of nuclear factor κB ligand(RANKL) and the RANKL/osteoprotegerin(OPG) ratio were significantly higher(P < 0.05)at 3 weeks;values of bone volume fraction, trabecular number, bone-implant contact(BIC), and TGF-β1 and OPG mRNA expression levels were significantly lower(P < 0.05), and the value of trabecular separation, RANKL mRNA expression level and RANKL/OPG ratio were significantly higher(P < 0.05) at 5 weeks;and the value of BIC was still significantly lower(P < 0.05) at 12 weeks in the experimental group.Conclusion Early exposure to the high +Gz environment after implant surgery might have an adverse effect on osseointegration, and its mechanism could be related to the inhibition of osteoblast activity and promotion of osteoclast activity.

Low-cost experimental application of real-time kinematic positioning for increasing the benefits in cereal crops

Traditional agriculture is facing several challenges worldwide such as increased population growth,rapid forestry and urbanization,resource scarcity,climate change,environmental pollution,competition among different markets.Hence,farmers need to improve productivity in order to maintain the output level.This study attempted to evaluate the benefits of using Real-Time Kinematic(RTK)positioning in precision agriculture through a series of real measurements carried out when farming cereals.All farming management actions involved in the cereal crop process(raise fallow,plow,sow,fertilize,mow,and harvest)have been done using an automatic guidance system that has reduced costs.A reduction of 20%has been quantified in the fuel,the amount of fertilizer,the labor costs and the hours of work.Consequently,the environmental impact has been also reduced.An inexpensive system consisting of a reference base station near the field and a mobile unit mounted on the test vehicle has been installed in order to increase the benefits in cereal crops.Global Navigation Satellite System(GNSS)systems including Global Positioning System(GPS),GLONASS,Galileo and Beidou have been used in the analysis.This research serves as a practical guide to implementing a low-cost guidance system to achieve best management practice.

Quality monitoring of real-time GNSS precise positioning service system

The Real-Time Global Navigation Satellite System(GNSS)Precise Positioning Service(RTPPS)is recognized as the most promising system by providing precise satellite orbit and clock correc-tions for users to achieve centimeter-level positioning with a stand-alone receiver in real-time.Although the products are available with high accuracy almost all the time,they may occasionally suffer from unexpected significant biases,which consequently degrades the positioning perfor-mance.Therefore,quality monitoring at the system-level has become more and more crucial for providing a reliable GNSS service.In this paper,we propose a method for the monitoring of realtime satellite orbit and clock products using a monitoring station network based on the Quality Control(QC)theory.The satellites with possible biases are first detected based on the outliers identified by Precise Point Positioning(PPP)in the monitoring station network.Then,the corresponding orbit and clock parameters with temporal constraints are introduced and esti-mated through the sequential Least Square(LS)estimator and the corresponding Instantaneous User Range Errors(IUREs)can be determined.A quality indicator is calculated based on the IUREs in the monitoring network and compared with a pre-defined threshold.The quality monitoring method is experimentally evaluated by monitoring the real-time orbit and clock products generated by GeoForschungsZentrum(GFZ),Potsdam.The results confirm that the problematic satellites can be detected accurately and effectively with missed detection rate 4×10^(-6) and false alarm rate 1:2×10^(-5).Considering the quality alarms,the PPP results in terms of RMS of positioning differences with respect to the International GNSS Service(IGS)weekly solution in the north,east and up directions can be improved by 12%,10%and 27%,respectively.

Sysmex UF5000尿沉渣分析仪建立RBC WBC CAST阳性cut off值及准确性评估

目的建立Sysmex UF5000尿沉渣分析仪检测尿液标本相关参数红细胞(RBC)、白细胞(WBC)、管型(CAST)的阳性cut off值,并评价其性能。方法选取1059例尿液标本在Sysmex UF5000尿沉渣分析仪上进行检测,并离心镜检。以镜检结果作为金标准,ROC曲线分析RBC、WBC、CAST的阳性cut off值,并计算其敏感性、特异性、符合率、假阳性率和假阴性率等。进一步分析假阳性标本的影响因素和部分假阴性标本。结果阳性cut off值:RBC>16/μL(男)或>15/μL(女);WBC>17/μL(男)或>30/μL(女);CAST>0.49/μL。相关的敏感性、特异性、符合率均较高。假阳性标本影响因素中RBC男性主要是结晶,女性以结晶、细菌为主;WBC女性以鳞状上皮细胞为主,男性未见明显的影响因素;CAST均以黏液丝和鳞状上皮细胞为主。假阴性率低于5%,其中仅有9例为肾脏、泌尿系统疾病标本,占比0.85%。结论本实验室设置的UF5000尿沉渣分析仪RBC、WBC、BACT阳性cut off值,相关的敏感性、特异性、假阴性率和符合率均符合ISO15189认可和实验室的日常工作需求。

Applying Global Positioning System Real-Time Kinematic Technology to Collection and Analysis of Rowing Information

To obtain higher accuracy of information concerning boat motion, the use of global positioning system (GPS) real-time kinematic (RTK) technology was investigated. Through RTK technology, a measurement precision of the ±1 cm range can be achieved. The research equipment included a GPS receiver and a personal digital assistant as a data control and processing unit. Real-time GPS data was captured and processed to acquire various parameters, including the boat track, velocity curve, stroke rate, and stroke distance. Using this data, the quantitative information related to rowing training can be achieved. The results are helpful for analyzing the biomechanical parameters of rowing techniques and for evaluating training efficiency.

The Characteristics of Glued Tensile Shear Strength Constituted of Wood Cut by CO_(2) Laser

The performance of engineered wood products is highly associated with proper bonding and an efficient cutting method.This paper investigates the influence of CO_(2) laser cutting on the wetting properties,the modified che-mical component of the laser-cut surface,and the strength and adhesive penetration near the bondline.Beech-wood is cut by the laser with varying processing parameters,cutting speeds,gas pressures,and focal point positions.The laser-cut samples were divided into two groups,sanded and non-sanded samples.Polyvinyl acetate adhesive(PVAc)was used to bond the groups of laser-cut samples.After assembly with cold pressing,the tensile shear test was carried out.Numerical modelling was carried out to determine the partial elongation and shear strain of the glue line.Based on this,the shear modulus and linear elasticity of the glue line were estimated.Scan-ning electron microscopy was used to assess the adhesive penetration into the porosity structure of the laser-cut samples,and the depth of the heat-affected zone.The laser-cut surface was analysed by Fourier transform infrared spectroscopy.The wetting properties of the laser-cut surface were investigated by using a contact angle goni-ometer.The numerical model of the strain-stress curve confirmed the experimental model.The highest modulus of the linear elasticity of the glue in the numerical calculation belongs to the joint containing laser-cut samples at a gas pressure of 21(bar).The penetration depth of PVAc adhesive into the porosity structure of the laser-cut sam-ples was similar to that of sawn samples.The deepest heat-affected zone in the laser-cut samples was 150µm.A PVAc drop disappeared immediately on the laser-cut surface without sanding,but gradually on the sanded surface.In contrast,the drop on the sawn surface remained with an angle of 32°–48°.The degradation of hemi-cellulose and lignin was proven by the lower intensity of the C=O and C-O Bonds,compared to the sawn surface.

煤矿掘进机自定位截割控制方法及试验研究

开展了掘进机自定位截割控制方法及试验研究,提出了掘进机自定位截割控制策略,使用基于单目视觉与深度学习的掘进机机体六自由度位姿检测方法,以及具有规定性能的双层模糊自适应反步控制方法实现了掘进机自定位截割,并将其用于机体任意位姿下的截割头循迹跟踪控制。在掘进机两种不同的机体位姿下进行了截割头循迹跟踪控制试验,试验结果显示最大轮廓误差分别在48 mm和52 mm(约2.14%与2.32%)以内,验证了提出的掘进机自定位截割控制方法的有效性。

基于ABAQUS的金刚石锯片切割工件破碎过程数值模拟研究

通过数值模拟的手段优化金刚石的排布方式,建立了C25混凝土材料的本构模型和金刚石锯片与C25混凝土的交互作用模型,通过该模型能够预测混凝土破碎过程,计算出切割过程中刀头和混凝土的应力和应变分布。建立了三种不同金刚石排布的锯片与C25混凝土的切割模型,计算了不同金刚石排布方式下切割材料和刀头的应力、应变分布。通过该模型可以改变金刚石排布、胎体材料属性以及切割材料属性来计算出不同边界条件下的金刚石、胎体以及切割材料的应力、应变和位移等结果,为金刚石锯片的结构设计和胎体材料设计提供理论指导。通过模拟切割计算,可以节省大量的切割材料,降低设计成本。从三种不同金刚石排布的锯片切割C25混凝土计算出的应力和应变结果得出,金刚石排布方案一的金刚石破碎混凝土的效率最高,切割速度最快。

双悬臂截割机器人相对动力学建模与力位混合控制研究

双悬臂截割机器人可解决传统单臂掘进机在截割大尺寸断面时效率低下的难题,但其与煤岩的动态交互影响控制性能。现有研究以双臂接触同一对象形成运动闭链为前提,无法满足双悬臂截割机器人双臂运动及末端截割头输出力的控制要求。针对该问题,设计了一种基于机器人相对动力学模型的力位混合控制系统。建立双悬臂截割机器人运动学和动力学模型,基于机器人的相对雅可比矩阵及虚位移与虚功原理推导出机器人的相对动力学模型,通过单一变量同时描述机器人双臂的运动状态,将机器人双臂独立的动力学模型整合为一个整体。基于机器人的相对动力学模型,设计了机器人双臂力位混合控制系统,通过李雅普诺夫函数验证了系统的稳定性和可行性。仿真结果表明:双悬臂截割工艺较单悬臂截割拥有更大的工作空间,具有一次性实现大断面截割的能力;双悬臂截割机器人力位混合控制系统能够完成对期望相对位置和期望相对力的同步跟踪,对截割头期望位置跟踪的绝对误差在0.3132 m以内,均方根误差为0.1447 m。

厚硬顶板悬顶致灾机理及切顶控制技术研究

针对侧向厚硬悬顶下临空巷道围岩变形大、失稳风险高的问题,以大同马脊梁煤矿3810工作面运输巷为工程背景,建立了厚硬侧向悬顶力学模型,确定合理切顶位置理论值为内错煤柱3.98 m。建立UDEC数值计算模型,分析了厚硬悬顶长度、断裂位置对煤柱应力分布及3810运输巷围岩变形的控制效果,结果表明:降低悬顶长度、在煤柱上方合理位置断裂,能够有效降低煤柱侧向应力集中程度,减少巷道围岩的破坏范围及变形。根据分析结果,确定煤柱采空区侧厚硬悬顶进行切顶卸压控制,促使厚硬顶板及时垮落,提高采空区顶板垮落带高度,从而降低煤柱承载的载荷并为煤柱提供侧向约束,提高煤柱承载性能。提出了厚硬侧向悬顶水压致裂切顶卸压控制方案并应用于现场,结果表明:3810运输巷采取水力压裂切顶措施后,巷道围岩变形得到显著改善;切顶后巷道两帮最大值移近量为600 mm,顶板最大下沉量为277 mm;相对于未采取切顶方案的区段,巷道变形量分别降低39.6%(两帮)、31.8%(顶板),巷道有效断面能够满足矿井安全高效生产的需要。

基于正负地形的喀斯特地貌分类研究——以贵州喀斯特区为例

地形因子具有直观性、可视性,常被作为喀斯特地貌分类的主要依据。已有关于喀斯特地貌分类研究所用的地形因子较多且复杂,分类特征不易被公众学习和理解,导致成果的应用和推广难度较大。因此以贵州喀斯特区为研究对象,运用地形开度法和随机森林模型,筛选重要性正负地形指标,探讨喀斯特地貌分类方法。结果表明:1)贵州喀斯特区的蚕食度均值为1.35,深切度均值为215.36 m,平均粗糙度比均值为1.01,负地形面积大于正地形面积,正负地形不规则且破碎度较大,正地形被沟谷深切明显,地貌的异质性强烈。2)蚕食度和深切度2个指标的重要性指数分别为0.93和1.16,能较好地反映喀斯特地貌的差异性。3)根据蚕食度和深切度贵州喀斯特地貌分为23类,分类精度优良达93.33%。在不同的喀斯特地貌区,因为蚕食度和深切度不同,导致水、土、光、热资源丰度不同,因而它们的土地利用方式各异。研究简化了分类判别喀斯特地貌的地形指标,降低了公众对喀斯特地貌的认识和理解难度,并为数字地形技术在喀斯特地貌分类中的推广应用提供参考。

分析分阶段体位安置对直肠癌术后患者睡眠质量及并发症的影响

目的:分析分阶段体位安置对直肠癌术后患者睡眠质量及并发症的影响。方法:选取2022年3月至2023年6月厦门大学附属第一医院收治的直肠癌手术患者106例作为研究对象,按照随机数字表法分为对照组和观察组,每组53例。对照组给予常规体位摆放,观察组在对照组操作基础上加用分阶段体位安置干预。采用手术体位舒适性量表(OPCQ)评估患者的舒适度,采用疼痛视觉模拟量表(VAS)比较2组患者的疼痛感受,采用匹兹堡睡眠质量指数(PSQI)比较2组患者干预前后睡眠质量的变化,并比较2组患者并发症发生率。结果:干预后,观察组OPCQ各条目评分及总分均显著高于对照组,差异有统计学意义(P<0.05);术后12 h、48 h时,2组VAS评分均有所降低,且观察组术后12 h、48 h时评分均显著低于对照组,差异有统计学意义(P<0.05);术后2 d及3 d时,2组患者PSQI评分均有所降低,且观察组显著低于对照组,(P<0.05);治疗后,观察组体位并发症发生率显著低于对照组,差异有统计学意义(P<0.05)。结论:直肠癌术后实施分阶段体位安置,可提高患者术中体位舒适度,改善术后疼痛感及睡眠质量,降低体位并发症风险,值得推广应用。

刈割对糜子生长及产量的影响

为了探明刈割对糜子生长及产量的影响,本文开展了苗期和拔节期刈割试验。结果表明,不同时期和位置刈割,糜子的根干重、秆干重、穗干重、株高、茎粗、主茎节数、叶长、叶宽、主穗长、单株分枝数、单株有效穗数和单株分蘖数均出现不同程度的变化。其中,植株6叶1心时余下基2叶刈割,糜子生长至成熟期获得的生物量最大,为本次试验中的最佳刈割时期和位置。表明在恰当的时期和位置进行刈割处理可以刺激植物体的冗余和补偿效应,达到增加糜子地上部分生物量的效果。

商标纸纸堆外包裹牛皮纸裁切装置设计

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