High accuracy tightly-coupled integrity monitoring algorithm for map-matching

A map-matching algorithm employs data from Global Positioning System (GPS), a Geographic Information System (GIS)-based road map and other sensors to first identify the correct link on which a vehicle travels and then to determine the physical location of the vehicle on the link. Due to uncertainties associated with the raw measurements from GPS/other sensors, the road map and the related methods, it is essential to monitor the integrity of map-matching results, especially for safety and mission-critical intelligent transport systems such as positioning and navigation of autonomous and semi-autonomous vehicles. Current integrity methods for map-matching are inadequate and unreliable as they fail to satisfy the integrity requirement due mainly to incorrect treatment of all the related uncertainties simultaneously. The aim of this paper is therefore to develop a new tightly-coupled integrity monitoring method for map-matching by properly treating the uncertainties from all sources concurrently. In this method, the raw measurements from GPS, low-cost Dead-Reckoning (DR) sensors and Digital Elevation Model (DEM) are first integrated using an extended Kalman Filter to continuously obtain better position fixes. A weight-based topological map-matching process is then developed to map-match position fixes onto the road map. The accuracy of the map-matching process is enhanced by employing a range of network features such as grade separation, traffic flow directions and the geometry of road link. The Receiver Autonomous Integrity Monitoring (RAIM) technique, which has been successfully applied to monitor the integrity of aircraft navigation, is modified and enhanced so as to apply it to monitor the quality of map-matching. In the enhanced RAIM method, two modifications are made: (1) a variable false alarm rate (as opposed to a constant false alarm rate) is considered to improve the fault detection performance in selecting the links, especially near junctions. (2) a sigma inflation for a non-Gaussian distribution of measurement noises is applied for the purpose of satisfying the integrity risk requirement. The implementation and validation of the enhanced RAIM method is accomplished by utilising the required navigation performance parameters (in terms of accuracy, integrity and availability) of safety and mission-critical intelligent transport systems. The required data were collected from Nottingham and central London. In terms of map-matching, the results suggest that the developed map-matching method is capable of identifying at least 97.7% of the links correctly in the case of frequent GPS outages. In terms of integrity, the enhanced RAIM method provides better the fault detection performance relative to the traditional RAIM

Multiple reference consistency check for LAAS: a novel position domain approach

Since the traditional Maximum Likelihood-based range domain multiple reference consistency check (MRCC) has limitations in satisfying the integrity requirement of CAT II/III for civil aviation, a Kalman filter-based position domain method has been developed for fault detection and exclusion in the Local Area Augmentation System MRCC process. The position domain method developed in this paper seeks to address the limitations of range domain-based MRCC by focusing not only on improving the performance of the fault detection but also on the integrity risk requirement for MRCC. In addition, the issue of the stability of the Kalman filter in relation to the position domain approach is considered. GPS range corrections from multiple reference receivers are fused by the adaptive Kalman filter at the master station for detecting and excluding the single reference receiver’ failure. The performance of the developed Kalman filter-based MRCC has been compared with the traditional method using experimental data. The results reveal that the vertical protection level is slightly better in the traditional method compared with the developed Kalman filter-based approach under the fault-free case. However, the availability can be improved to over 97% in the proposed method relative to the traditional method under the single-fault case. Furthermore, the fault-tolerant positioning result with an accuracy improvement of more than 32% can be achieved even if different fault types are considered under the single-fault case. In particular, the algorithm can be a candidate option as an augmentable complement for the traditional MRCC and can be implemented in a master station element of the LAAS integrity monitoring architecture

A general map matching algorithm for transport telematics applications

This paper describes a map-matching algorithm designed to support the navigational functions of a real-time vehicle performance and emissions monitoring system currently under development, and other transport telematics applications. The algorithm is used together with the outputs of an extended Kalman filter formulation for the integration of GPS and dead reckoning data, and a spatial digital database of the road network, to provide continuous, accurate and reliable vehicle location on a given road segment. This is irrespective of the constraints of the operational environment, thus alleviating outage and accuracy problems associated with the use of stand-alone location sensors. The map-matching algorithm has been tested using real field data and has been found to be superior to existing algorithms, particularly in how it performs at road intersections

An extended Kalman filter algorithm for integrating GPS and low cost dead reckoning system data for vehicle performance and emissions monitoring

This paper describes the features of an extended Kalman filter algorithm designed to support the navigational function of a real-time vehicle performance and emissions monitoring system currently under development. The Kalman filter is used to process global positioning system (GPS) data enhanced with dead reckoning (DR) in an integrated mode, to provide continuous positioning in built-up areas. The dynamic model and filter algorithms are discussed in detail, followed by the findings based on computer simulations and a limited field trial carried out in the Greater London area. The results demonstrate that use of the extended Kalman filter algorithm enables the integrated system employing GPS and low cost DR devices to meet the required navigation performance of the device under development

The Discussion of Wind-induced Interference Effects of Large Cooling Towers Considering Wind Direction

This paper was reviewed and accepted by the APCWE-IX Programme Committee for Presentation at the 9th Asia-Pacific Conference on Wind Engineering, University of Auckland, Auckland, New Zealand, held from 3-7 December 2017

A new flavonol triglycoside derived from <i>Anoectochilus elwesii</i> on stimulating glucose uptake in insulin-induced human HepG2 cells

<div><p>A novel flavonol triglycoside (<b>4</b>), isorhamnetin-3-<i>O</i>-β-d-glucopyranosyl (1→2)-α-l-rhamnopyranosyl (1→6)-β-d-glucopyranoside, named elwesoside A, together with six known flavonols (<b>1</b>–<b>3</b>, <b>5</b>–<b>7</b>) was isolated from <i>Anoectochilus elwesii</i> (Clarke ex Hook. f.) King et Pantl. and its structure was elucidated by extensive spectroscopic methods and comparison with the literature data. All compounds were first reported in this plant and two of them (<b>4</b> and <b>5</b>) were the first examples of flavonol triglycosides isolated from <i>Anoectochilus</i> genus. The effects of <b>1</b>–<b>7</b> were evaluated on insulin-treated human HepG2 cells under high glucose conditions for stimulating glucose uptake activities. The novel compound (<b>4</b>) displayed highly potent dose-dependent effect on the stimulation of glucose uptake in insulin-resistant human HepG2 cells.</p></div

Dynamically Coupled 3D Pollutant Dispersion Model for Assessing Produced Water Discharges in the Canadian Offshore Area

Produced water is the contaminated water that is brought to the surface in the process of recovering oil and gas. On the basis of discharge volume, this type of contaminated water is the largest contributor to the offshore waste stream. Modeling studies of large amounts of wastewater discharge into offshore areas have helped in the understanding of pollutant dispersion behaviors in marine environments and in further evaluating the potential environmental effects resulting from produced water discharges. This study presents an integrated three-dimensional (3D) approach for the simulation of produced water discharges in offshore areas. Specifically, an explicit second-order finite difference method was used to model the far-field pollutant dispersion behavior, and this method was coupled with the jet-plume model JETLAG with an extension of the 3D cross-flow conditions to simulate the near-field mixing processes. A dynamic coupling technique with full consideration of the interaction between the discharged fluids and receiving waters was employed in the model. A case study was conducted on the Grand Banks of Newfoundland, Canada. The field validation of the modeling results was conducted for both the near-field and far-field dispersion processes, and the modeling results were in good agreement with the field observations. This study provides an integrated system tool for the simulation of complex transport processes in offshore areas, and the results from such modeling systems can be further used for the risk assessment analysis of the surface water environment

A new furostanol saponin from <i>Dendrobium chrysanthum</i> Lindl. with cytotoxic activity

<p>A new furostanol saponin, (25<i>R</i>)-26-<i>O</i>-(<i>α</i>-d-glucopyranosyl)-(1→2)-<i>α</i>-l-rhamnopyranosyl-furost-5-ene-3<i>β</i>, 22<i>α</i>, 26-triol-3-<i>O</i>-<i>α</i>-d-glucopyranoside (<b>1</b>), together with four known compounds <b>2–5</b> were isolated from the ethanolic extract of the stems of <i>Dendrobium chrysanthum</i> Lindl<i>.</i> The structures of these new compounds were identified by extensive spectroscopic analysis including 1D and 2D NMR and HR-ESI-MS, as well as chemical methods. Compounds <b>1–3</b> were isolated from <i>D. chrysanthum</i> for the first time. Furthermore, the inhibitory effects of the compounds on tumor cells were evaluated, and compounds <b>1–2</b> exhibited significant cytotoxic activities potentially against SPC-A1, MCF-7 and HeLa human cancer cell lines. Compounds <b>3–5</b> showed inhibitory activity against the SPC-A1 and MCF-7.</p

Complete chloroplast genome sequence of <i>Pinus tabuliformis</i> var. <i>henryi</i> (Mast.) C.T.Kuan 1983 (Pinaceae)

Pinus tabuliformis var. henryi (Mast.) C.T.Kuan 1983 is an endemic and rare subtropical pine, mainly distributed in central China. In this study, we sequenced the complete chloroplast (cp) genome of P. tabuliformis var. henryi and reported it for the first time. The cp genome was 119,634 base pairs (bp) in total length, including two inverted repeats (IRs, 495 bp), separated by a large single-copy region (LSC, 65,600 bp) and a small single-copy region (SSC, 53,044 bp). There are 114 different genes in the cp genome of P. tabuliformis var. henryi, including 74 protein-coding genes, 36 transfer RNA genes, and four ribosomal RNA genes. The overall GC content of the cp genome was 38.5%. Our phylogenetic analysis of P. tabuliformis var. henryi demonstrated that it was closely related to P. tabuliformis and could be used to identify and analyze its genetic diversity, which was expected to provide new data for taxonomic and phylogenetic studies of Pinus.</p

Study on Equity and Efficiency of Health Resources and Services Based on Key Indicators in China

<div><p>Background</p><p>This study aims to evaluate the dialectical relationship between equity and efficiency of health resource allocation and health service utilization in China.</p><p>Methods</p><p>We analyzed the inequity of health resource allocation and health service utilization based on concentration index (CI) and Gini coefficient. Data envelopment analysis (DEA) was used to evaluate the inefficiency of resource allocation and service utilization. Factor Analysis (FA) was used to determine input/output indicators.</p><p>Results</p><p>The CI of Health Institutions, Beds in Health Institutions, Health Professionals and Outpatient Visits were -0.116, -0.012, 0.038, and 0.111, respectively. Gini coefficient for the 31 provinces varied between 0.05 and 0.43; out of these 23 (742%) were observed to be technically efficient constituting the “best practice frontier”. The other 8 (25.8%) provinces were technically inefficient.</p><p>Conclusions</p><p>Health professionals and outpatient services are focused on higher income levels, while the Health Institutions and Beds in Health Institutions were concentrated on lower income levels. In China, a few provinces attained a basic balance in both equity and efficiency in terms of current health resource and service utilization, thus serving as a reference standard for other provinces.</p></div