A New Filtering and Smoothing Algorithm for Railway Track Surveying Based on Landmark and IMU/Odometer.

High-accuracy railway track surveying is essential for railway construction and maintenance. The traditional approaches based on total station equipment are not efficient enough since high precision surveying frequently needs static measurements. This paper proposes a new filtering and smoothing algorithm based on the IMU/odometer and landmarks integration for the railway track surveying. In order to overcome the difficulty of estimating too many error parameters with too few landmark observations, a new model with completely observable error states is established by combining error terms of the system. Based on covariance analysis, the analytical relationship between the railway track surveying accuracy requirements and equivalent gyro drifts including bias instability and random walk noise are established. Experiment results show that the accuracy of the new filtering and smoothing algorithm for railway track surveying can reach 1 mm (1σ) when using a Ring Laser Gyroscope (RLG)-based Inertial Measurement Unit (IMU) with gyro bias instability of 0.03°/h and random walk noise of 0.005 °h while control points of the track control network (CPIII) position observations are provided by the optical total station in about every 60 m interval. The proposed approach can satisfy at the same time the demands of high accuracy and work efficiency for railway track surveying.

Millimeter Scale Track Irregularity Surveying Based on ZUPT-Aided INS with Sub-Decimeter Scale Landmarks.

Railway track irregularity surveying is important for the construction and the maintenance of railway lines. With the development of inertial devices, systems based on Inertial Navigation System (INS) have become feasible and popular approaches in track surveying applications. In order to overcome the requirement of high precision control points, this paper proposes a railway track irregularity measurement approach using the INS combined with the Zero Velocity Updates (ZUPT) technique and sub-decimeter scale landmarks. The equations for calculating track irregularity parameters from absolute position errors are deduced. Based on covariance analysis, the analytical relationships among the track irregularity measurements with the drifts of inertial sensors, the initial attitude errors and the observations of velocity and position are established. Simulations and experimental results show that the relative accuracy for 30 m chord of the proposed approach for track irregularity surveying can reach approximately 1 mm (1σ) with gyro bias instability of 0.01°/h, random walk noise of 0.005 ° / h , and accelerometer bias instability of 50 µ g , random noise of 10 µ g / Hz , while velocity observations are provided by the ZUPT technique at about every 60 m intervals. This accuracy can meet the most stringent requirements of millimeter scale medium wavelength track irregularity surveying for railway lines. Furthermore, this approach reduces the requirement of high precision landmarks which can lighten the maintenance burden of control points and improve the work efficiency of railway track irregularity measurements.

A New Continuous Rotation IMU Alignment Algorithm Based on Stochastic Modeling for Cost Effective North-Finding Applications.

Based on stochastic modeling of Coriolis vibration gyros by the Allan variance technique, this paper discusses Angle Random Walk (ARW), Rate Random Walk (RRW) and Markov process gyroscope noises which have significant impacts on the North-finding accuracy. A new continuous rotation alignment algorithm for a Coriolis vibration gyroscope Inertial Measurement Unit (IMU) is proposed in this paper, in which the extended observation equations are used for the Kalman filter to enhance the estimation of gyro drift errors, thus improving the north-finding accuracy. Theoretical and numerical comparisons between the proposed algorithm and the traditional ones are presented. The experimental results show that the new continuous rotation alignment algorithm using the extended observation equations in the Kalman filter is more efficient than the traditional two-position alignment method. Using Coriolis vibration gyros with bias instability of 0.1°/h, a north-finding accuracy of 0.1° (1σ) is achieved by the new continuous rotation alignment algorithm, compared with 0.6° (1σ) north-finding accuracy for the two-position alignment and 1° (1σ) for the fixed-position alignment.

Temperature drift compensation for Hemispherical Resonator Gyro based on natural frequency.

Temperature changes have a strong effect on Hemispherical Resonator Gyro (HRG) output; therefore, it is of vital importance to observe their influence and then make necessary compensations. In this paper, a temperature compensation model for HRG based on the natural frequency of the resonator is established and then temperature drift compensations are accomplished. To begin with, a math model of the relationship between the temperature and the natural frequency of HRG is set up. Then, the math model is written into a Taylor expansion expression and the expansion coefficients are calibrated through temperature experiments. The experimental results show that the frequency changes correspond to temperature changes and each temperature only corresponds to one natural frequency, so the output of HRG can be compensated through the natural frequency of the resonator instead of the temperature itself. As a result, compensations are made for the output drift of HRG based on natural frequency through a stepwise linear regression method. The compensation results show that temperature-frequency method is valid and suitable for the gyroscope drift compensation, which would ensure HRG's application in a larger temperature range in the future.

Force to rebalance control of HRG and suppression of its errors on the basis of FPGA.

A novel design of force to rebalance control for a hemispherical resonator gyro (HRG) based on FPGA is demonstrated in this paper. The proposed design takes advantage of the automatic gain control loop and phase lock loop configuration in the drive mode while making full use of the quadrature control loop and rebalance control loop in controlling the oscillating dynamics in the sense mode. First, the math model of HRG with inhomogeneous damping and frequency split is theoretically analyzed. In addition, the major drift mechanisms in the HRG are described and the methods that can suppress the gyro drift are mentioned. Based on the math model and drift mechanisms suppression method, four control loops are employed to realize the manipulation of the HRG by using a FPGA circuit. The reference-phase loop and amplitude control loop are used to maintain the vibration of primary mode at its natural frequency with constant amplitude. The frequency split is readily eliminated by the quadrature loop with a DC voltage feedback from the quadrature component of the node. The secondary mode response to the angle rate input is nullified by the rebalance control loop. In order to validate the effect of the digital control of HRG, experiments are carried out with a turntable. The experimental results show that the design is suitable for the control of HRG which has good linearity scale factor and bias stability.

X-Linked RNA-Binding Motif Protein Modulates HIV-1 Infection of CD4+ T Cells by Maintaining the Trimethylation of Histone H3 Lysine 9 at the Downstream Region of the 5' Long Terminal Repeat of HIV Proviral DNA.

Reversible repression of HIV-1 5' long terminal repeat (5'-LTR)-mediated transcription represents the main mechanism for HIV-1 to maintain latency. Identification of host factors that modulate LTR activity and viral latency may help develop new antiretroviral therapies. The heterogeneous nuclear ribonucleoproteins (hnRNPs) are known to regulate gene expression and possess multiple physiological functions. hnRNP family members have recently been identified as the sensors for viral nucleic acids to induce antiviral responses, highlighting the crucial roles of hnRNPs in regulating viral infection. A member of the hnRNP family, X-linked RNA-binding motif protein (RBMX), has been identified in this study as a novel HIV-1 restriction factor that modulates HIV-1 5'-LTR-driven transcription of viral genome in CD4+ T cells. Mechanistically, RBMX binds to HIV-1 proviral DNA at the LTR downstream region and maintains the repressive trimethylation of histone H3 lysine 9 (H3K9me3), leading to a blockage of the recruitment of the positive transcription factor phosphorylated RNA polymerase II (RNA pol II) and consequential impediment of transcription elongation. This RBMX-mediated modulation of HIV-1 transcription maintains viral latency by inhibiting viral reactivation from an integrated proviral DNA. Our findings provide a new understanding of how host factors modulate HIV-1 infection and latency and suggest a potential new target for the development of HIV-1 therapies.IMPORTANCE HIV-1 latency featuring silence of transcription from HIV-1 proviral DNA represents a major obstacle for HIV-1 eradication. Reversible repression of HIV-1 5'-LTR-mediated transcription represents the main mechanism for HIV-1 to maintain latency. The 5'-LTR-driven HIV gene transcription can be modulated by multiple host factors and mechanisms. The hnRNPs are known to regulate gene expression. A member of the hnRNP family, RBMX, has been identified in this study as a novel HIV-1 restriction factor that modulates HIV-1 5'-LTR-driven transcription of viral genome in CD4+ T cells and maintains viral latency. These findings provide a new understanding of how host factors modulate HIV-1 infection and latency and suggest a potential new target for the development of HIV-1 therapies.

[The effects of different occluder selection on cardiac remodeling post transcatheter closure in patients with secundum atrial septal defect].

OBJECTIVE: To evaluate the effects on cardiac remodeling post transcatheter closure by Amplatzer septal occluder selected by oval circumference formula in patients with atrial septal defect (ASD). METHODS: A total of 146 patients with ASD (68 males,mean 33.5 years) treated by transcatheter closure with the Amplatzer occluder were enrolled in this study. The diameter of defects was corrected with the oval circumference formula (group A, 73 cases) or by echocardiography (group B, 73 cases). Cardiac remodeling was assessed by transthoracic echocardiography (TTE) before the procedure, 3 days, 3 months and 6 months after ASD closure. RESULTS: The mean ASD diameter was similar between the two groups [(20.16 +/- 4.98) mm vs. (21.36 +/- 5.69) mm, P > 0.05] and the mean diameter of the selected occluder of group A was significantly smaller than that in group B [(21.95 +/- 6.78) mm vs. (25.85 +/- 6.75) mm, P < 0.05]. Procedural success rate was identical between the two groups (97.3%) and the defects were completely occluded and there was no residual shunt during the 6 months follow up period, there were also no complications during and after the procedure. The lateral diameter of right atrial (RALD), the diastolic diameter of right ventricle (RVDD), RALD/LALD, RVDD/LVDD and pulmonary diameter (PD) were significantly decreased while the lateral diameter of left atrial (LALD) and left ventricle (LVDD) were significantly increased post ASD closure in both groups. At 6 months follow up, RALD decreased by (18.63 +/- 10.59)% in group A versus (10.14 +/- 6.59)% in group B, LALD increased by (13.42 +/- 8.38)% in group A versus (9.28 +/- 4.95)% in group B and RALD/LALD ratio decreased by (26.35 +/- 11.24)% in group A versus (13.98 +/- 8.96)% in groups B (all P < 0.05). CONCLUSION: ASD occluder selection based on the oval circumferen ce formula is superior to that made by echocardiography in terms of more favorable cardiac remodeling post ASD closure.

Effects of PPARα/PGC-1α on the energy metabolism remodeling and apoptosis in the doxorubicin induced mice cardiomyocytes in vitro.

Dilated cardiomyopathy is the most frequent form of myocardial disease. Many factors contribute to dilated cardiomyopathy, for instance, long-term use of doxorubicin, one of the anthracyclines clinically used for cancer chemotherapy, result in dilated cardiomyopathy and congestive heart failure. However, the mechanism underlining doxorubicin-induced cardiomyocyte is still not fully understood. In this study, we evaluate the effects and their mechanisms of PPARα and PGC-1α pathways in doxorubicin induced mice cardiomyocytes. In vitro, cardiomyocytes isolated from hearts of adult FVB/NJ mice were treated with doxorubicin, GW 6471 (PPARα inhibitors) and WY14643 (PPARα agonists). The expression of PPARα and PGC-1α were detected via western blotting and Quantitative Real-Time PCR methods. Changes in energy and substrate metabolism were analyzed. MTT and flow cytometry were used for cell proliferation and apoptosis analysis. We detected expression of PPARα and PGC-1α was significantly higher in control group than doxorubicin group. Mitochondrial dysfunction was found in doxorubicin group including lower content of high-energy phosphates, significantly decreased mitochondrial ANT transport activity and markedly reduced mitochondrial membrane potential compared with control group. Metabolic remodeling existed in doxorubicin group because of higher concentration of free fatty acid and glucose consumption than of control group. More accumulations of reactive oxygen species were detected in doxorubicin group. The decreased cell viability and increased cell apoptosis observed in doxorubicin group. Severe apoptosis in doxorubicin group was verified by a set of markers including Bax, Bcl-2, cytosolic cytochrome c and caspase-3 up-regulation expression. These findings indicate that the PPARα and PGC-1α are closely involved in energy metabolism remodeling and apoptosis in cardiomyocytes.

Effects of PPARα/PGC-1α on the myocardial energy metabolism during heart failure in the doxorubicin induced dilated cardiomyopathy in mice.

OBJECTIVE: This study aims to investigate the effects and their mechanisms of PPARα and PGC-1α pathways in doxorubicin induced dilated cardiomyopathy in mice. METHODS: The model of dilated cardiomyopathy (DCM) was established by injecting doxorubicin in mice. The 40 surviving mice were divided randomly into control group, doxorubicin model group, PPARα inhibitor and PPARα agonist group. The PPARα/PGC-1α proteins were detected. The size of adenine acid pool (ATP, ADP, AMP) and phosphocreatine (Pcr) in mitochondria were measured by HPLC. The ANT activity was detected by the atractyloside-inhibitor stop technique. The echocardiography and hemodynamic changes were detected in each group after PPARα inhibitor and PPARα agonist treatment for 2 weeks. RESULTS: The DOX induced DCM model were successfully established. The expression of PPARα and PGC-1α protein level in normal group were significantly higher than that in DOX model group (P<0.05). Both the high-energy phosphate content and the transport activity of ANT were decreased in DOX group (P<0.05), and the hemodynamic parameters were disorder (P<0.01). Compared with Dox group, PPARα inhibitor intervention significantly reduce the expression of PPARα/PGC-1α, high-energy phosphate content in the mitochondria had no significant change (P>0.05), but the ANT transport activity of mitochondria decreased significantly (P<0.05), the left ventricular function decreased. On the other side, PPARα agonist intervention significantly increased the expression of PPARα and PGC-1α, improved transport activity of ANT, the hemodynamic parameters was ameliorated (P<0.05), but the high-energy phosphate content of mitochondria did not change significantly (P>0.05). CONCLUSION: There was lower expression of PPARα and PGC-1α in DOC induced DCM in mice. Promotion of PPARα can improve myocardia energy metabolism and delay the occurrence of heart failure.