Global Navigation Satellite System Receiver Positioning in Harsh Environments via Clock Bias Prediction by Empirical Mode Decomposition and Back Propagation Neural Network Method.

This paper proposes a novel method to improve the clock bias short-term prediction accuracy of navigation receivers then solve the problem of low positioning accuracy when the satellite signal quality deteriorates. Considering that the clock bias of a navigation receiver is equivalent to a virtual satellite, the predicted value of clock bias is used to assist navigation receivers in positioning. Consequently, a combined prediction method for navigation receiver clock bias based on Empirical Mode Decomposition (EMD) and Back Propagation Neural Network (BPNN) analysis theory is demonstrated. In view of systematic errors and random errors in the clock bias data from navigation receivers, the EMD method is used to decompose the clock bias data; then, the BPNN prediction method is used to establish a high-precision clock bias prediction model; finally, based on the clock bias prediction value, the three-dimensional positioning of the navigation receiver is realized by expanding the observation equation. The experimental results show that the proposed model is suitable for clock bias time series prediction and providing three-dimensional positioning information meets the requirements of navigation application in the harsh environment of only three satellites.

Response spectrum-based analysis of airborne radar random vibration and multi-point control improvement.

During the flight of a UAV (unmanned aerial vehicle), the LiDAR device undergoes random vibrations due to the changing flight attitude and wind speed conditions of the UAV. It is important to control the frequency and amplitude of the vibrations within a reasonable range by means of a damping structure. As the vibrations caused by various factors during flight are random and non-linear, this paper innovates the analysis principle and damping control means for the random vibrations of airborne optoelectronic devices. The response spectrum analysis theory is used to establish the shock response spectrum, and an optimised and improved recursive digital filtering method is used to fit the frequencies of random vibration to the synthetic shock response. Considering the uncertainty of the vibration excitation signal, a virtual excitation method is used for the first time to simulate the random vibration to which the radar may be subjected in the air, and to simplify the calculation steps. The shock plate structure is designed using a multi-point control method to innovate a passive response to the random excitation. Finally, a modal analysis of the synthesised impact response was carried out. It is verified that the first six modal frequencies are controlled within 220 Hz, realising the frequency reduction. The amplitude of the three x, y, and z directions is controlled to within 0.5 mm, thus achieving vibration damping.

Analysis of scanning systematic errors for airborne laser bathymetry.

For the Palmer mechanical scanning pattern of an airborne laser bathymetry system, the potential errors of the scanning system are analyzed, and the associated error model is derived. The model composes the description of laser rays, water surface fluctuations, and refraction, and introduces certain simplifications concerning the water surface and column. Based on the scanning error model, the impact of each error source on the vertical and horizontal positioning accuracy is investigated and established through a numerical simulation. The quantitative impacts of each inaccuracy on the coordinates of the laser footprints on the sea surface and bottom were calculated, with a height of 100 m for the airborne platform and a water depth of 10 m. To verify the correctness of the simulation results and the error model based on a theoretical analysis, experiments are utilized with the system that we developed. Both the simulation analysis and experimental results show that this method can effectively obtain the systematic errors. The outcomes of the error model and analysis will give the theoretical foundations for lowering the effect brought on by each error source in the compensation scanning system and improving the point cloud accuracy in the ensuing data processing.

Acoustic Forceps Based on Focused Acoustic Vortices with Different Topological Charges.

For enhanced energy concentration with improved flexibility for object manipulation, a focused acoustic vortex (FAV) is designed using a sector planar piston transducer array and acoustic lens that can produce the effective concentration of the acoustic field to perform the focusing function. Compared to the Gaussian beam, which tends to cause the object to deviate from the axis of acoustic propagation, FAVs can form a central valley region to firmly bind the objects, thus preventing off-target effects. The heat energy in the paraxial region is transferred to the vortex center in the form of heat transfer so that the temperature-sensitive liposomes captured can quickly release drugs, which has a good effect on targeted drug administration. The focused acoustic wave stopped acting on the tissue (gel) for 2 s, the temperature of the vortex center continued to rise, reaching 41.5 °C at the moment of 3.7 s, at which point the liposomes began to release the drug. The FAVs capture the drug and use its thermal effect to achieve accurate and rapid treatment. The simulation results show that the drug release temperature of temperature-sensitive liposomes can be achieved by controlling the action time of the vortices. This study provides a reliable theoretical basis for the clinical application of targeted drugs.

Microstructure Turbulence Measurement in the Northern South China Sea from a Long-Range Hybrid AUV.

This study describes the development of a long-range hybrid autonomous underwater vehicle (AUV) for ocean turbulence measurement. It is a unique instrument, combining the characteristics of the conventional AUV and the buoyancy-driven glider, with a variety of flexible motion modes, such as cruise mode, glider mode, drift mode, and combination of multiple motion modes. The hybrid AUV was used for continuous turbulence measurement in the continental slope of the northern South China Sea in 2020. A total of ten continuous profiles were completed covering a horizontal span of 25 Km and a depth of 200 m. The hybrid AUV was operated in the combined glider and cruise mode. The hybrid AUV's flight performance was stable and satisfied the requirement for turbulence observation. The measured velocity shears from both probes were in good agreement, and the noise-reduced shear spectra were in excellent agreement with the Nasmyth spectrum. The water column in the study area was highly stratified, with a thick thermocline. The dissipation rate (ε) varied from 1.41 × 10-10 to 4.18 × 10-7 W·kg-1. In the surface mixed layer, high values of ε (10-9∼10-8 W·kg-1) were observed toward the water surface. In the thermocline, ε was 10-9.5∼10-9 W·kg-1, which was smaller than the level of the surface mixed layer. This result was mainly because of the strong "barrier"-like thermocline, which damped the transmission of wind and heat energy from the surface mixed layer to the deep layer. Overall, this study demonstrates the utility of hybrid AUVs for collecting oceanic turbulence measurements. They are a powerful addition to traditional turbulence instruments, as they make it possible to survey large areas to obtain high-quality and high-resolution data in both vertical and horizontal directions over long durations.

Analysis of and Reduction in Noise in Current Measurement of XCP under the Laboratory Condition.

Expendable current profiler (XCP) is one of the most vital devices detecting ocean currents. Compared with other methods, the expendable feature makes trials with XCP much faster and more hidden, while the accuracy of XCP is considerably influenced by electromagnetic noise all around. Aiming at researching the influence and reducing the noise, this study carried out laboratory simulation experiments. The designed laboratory experiments mainly have a self-developed rotation gear, an XCP prototype, a plastic flume, and two copper plates as power. Firstly, these experiments analyzed the main sources of electromagnetic noise for XCP detection. Secondly, we built a noise simulation environment and conducted XCP detection experiments under different noise in the flume. The data obtained by XCP were transmitted to the computer to be stored and processed. The results show the internal noise impact on XCP is significantly less than the external. For an excitation power of 1 mV, the offset of theoretical and actual data brought by internal noise is 12 times smaller than external and can be corrected.

Influence of Temporal and Spatial Fluctuations of the Shallow Sea Acoustic Field on Underwater Acoustic Communication.

In underwater acoustic communication (UAC) systems, the channel characteristics are mainly affected by spatiotemporal changes, which are specifically manifested by two factors: the effects of refraction and scattering caused by seawater layered media on the sound field and the random fluctuations from the sea floor and surface. Due to the time-varying and space-varying characteristics of a channel, the communication signals have significant variations in time and space. Furthermore, the signal shows frequency-selective fading in the frequency domain and signal waveform distortion in the time domain, which seriously affect the performance of a UAC system. Techniques such as error correction coding or space diversity are usually adopted by UAC systems to neutralize or eliminate the effects of deep fading and signal distortion, which results in a significant waste of limited communication resources. From the perspective of the sound field, this study used experimental data to analyze the spatiotemporal fluctuation characteristics of the signal and noise fields and then summarized the temporal and spatial variation rules. The influence of the system then guided the parameter configuration and network protocol optimization of the underwater acoustic communication system by reasonably selecting the communication signal parameters, such as frequency, bandwidth, equipment deployment depth, and horizontal distance.

Glucocorticoid regulation of a novel HPV-E6-p53-miR-145 pathway modulates invasion and therapy resistance of cervical cancer cells.

Glucocorticoids are stress-responsive neuroendocrine mediators and play an important role in malignant progression, especially in solid tumours. We demonstrate a novel mechanism by which glucocorticoids modulate p53-dependent miR-145 expression in HPV-positive cervical cancer cells through induction of E6 proteins. We found that expression of miR-145 was reduced in cervical cancer tissues. Cortisol induced HPV-E6 expression and suppressed p53 and miR-145 in cervical cancer cells. MiR-145 expression in cervical cancer cells was wild-type p53-dependent, and cortisol-induced down-regulation of miR-145 expression prevented chemotherapy-induced apoptosis, whereas over-expression of miR-145 enhanced sensitivity to mitomycin and reversed the chemoresistance induced by glucocorticoids. We also show that miR-145 augments the effects of p53 by suppressing the inhibitors of p53 in cervical cancer cells, suggesting that miR-145 plays a role in p53 tumour suppression. Finally, we demonstrate that miR-145 inhibits both the motility and invasion of cervical cancer cells. Our findings identify a novel pathway through which the neuroendocrine macroenvironment affects cervical tumour growth, invasion and therapy resistance and show that miR-145 may serve as a target for cervical cancer therapy. Copyright © 2012 Pathological Society of Great Britain and Ireland. Published by John Wiley & Sons, Ltd.

[A robot measurement system for spacesuit joint torque].

OBJECTIVE: To measure the joint torque of spacesuit so as to evaluate its dynamic force/torque performance. METHOD: A method for measuring the spacesuit joint torque by use of robot technology was proposed in this paper. The design of the measuring strategy and measuring robot was put forward and a mathematical model of the system was given. Then the working space of the robot was analyzed. RESULT: The robot designed is light, compact, easy to operate, and has a large working space. Experimental results demonstrated the effectiveness of the measuring principle and the reliability of the measuring system. CONCLUSION: The system can satisfy the requirements of the spacesuit joint torque measurement.