A Sliding Window Variational Outlier-Robust Kalman Filter based on Student's t Noise Modelling

Existing robust state estimation methods are generally unable to distinguish model uncertainties (state outliers) from measurement outliers as they only exploit the current measurement. In this paper, the measurements in a sliding window are therefore utilized to better distinguish them, and an adaptive method is embedded, leading to a sliding window variational outlier-robust Kalman filter based on Student's t noise modelling. Target tracking simulations and experiments show that the tracking accuracy and consistency of the proposed filter are superior to those of the existing state-of-the-art outlier-robust methods thanks to the improved ability to identify the outliers but at a cost of greater computational burden.</p

Anchoring Tailored Low-Index Faceted BiOBr Nanoplates onto TiO₂ Nanorods to Enhance the Stability and Visible-Light-Driven Catalytic Activity

In this work, a fantastic one-dimensional (1D) BiOBr/TiO₂ nanorod (NR) heterojunction composite was rationally proposed and designed from the perspective of molecular and interface engineering. The fabricated intimately connected interfacial heterojunction between two-dimensional BiOBr nanoplates and 1D TiO₂ NRs acts as an interfacial nanochannel to promote efficient interfacial charge migration and separation of photogenerated electron–hole pairs. As a result, 1D BiOBr/TiO₂ NR heterojunctions exhibited outstanding visible-light photocatalytic activities and sustained cycling performance. Under visible-light irradiation for 120 min, the reduction efficiency of Cr­(VI) over the TB-2 sample (molar ratio: <i>n</i>(Ti)/<i>n</i>(Bi) = 2:1) is as high as 95.4% without adding any scavengers. Furthermore, the sample also shows excellent photodegradation activity of RhB with a much higher apparent rate constant of 0.49 min^–1 and 88.5% total organic carbon removal ratio. Furthermore, the corresponding mechanism of enhanced photocatalytic activity is proposed according to comprehensively investigated results from photoluminescence spectroscopy, photoelectrochemical measurement analysis, and radical trapping experiments. This study provides an attractive avenue to design and fabricate highly efficient 1D NR heterojunction photocatalysts, which possessed a high application value in the field of environmental remediation, especially for wastewater purification

Adaptive Recursive Decentralized Cooperative Localization for Multirobot Systems With Time-Varying Measurement Accuracy

Decentralized cooperative localization (DCL) is a promising method to determine accurate multi-robot poses (i.e., positions and orientations) for robot teams operating in an environment without absolutenavigation information. Existing DCL methods often use fixed measurement noise covariance matricesfor multi-robot pose estimation, however, their performance degrades when the measurement noisecovariance matrices are time-varying. To address this problem, in this paper, a novel adaptive recursiveDCL method is proposed for multi-robot systems with time-varying measurement accuracy. Each robotestimates its pose and measurement noise covariance matrices simultaneously in a decentralized mannerbased on the constructed hierarchical Gaussian models using the variational Bayesian approach. Sim-ulation and experimental results show that the proposed method has improved cooperative localization accuracy and estimation consistency but slightly heavier computational load than the existing recursive DCL method.<br

FISH analysis of <i>J. curcas</i> from different sources using 45S rDNA as a probe.

<p><b>A:</b> Hainan; <b>B:</b> Guizhou; <b>C:</b> Guangxi; <b>D:</b> GOF70-1; <b>E:</b> GOF38-2; <b>F:</b> 17#. All chromosomes were counterstained with DAPI; all scale bars = 5 µm. The yellow arrows indicated the stronger signals and the white arrows indicated the weaker signals.</p

NiSx Quantum Dots Accelerate Electron Transfer in Cd_0.8Zn_0.2S Photocatalytic System via an rGO Nanosheet “Bridge” toward Visible-Light-Driven Hydrogen Evolution

Minimizing the charge transfer barrier to realize fast spatial separation of photoexcited electron–hole pairs is of crucial importance for strongly enhancing the photocatalytic H₂ generation activity of photocatalysts. Herein, we propose an electron transfer strategy by reasonable design and fabrication of high-density NiSx quantum dots (QDs) as a highly efficient cocatalyst on the surface of Cd_0.8Zn_0.2S/rGO nanosheet composites. Under visible-light irradiation, the formation of a two-dimensional (2D) Cd_0.8Zn_0.2S/rGO nanohybrid system with 2 wt % NiSx loading gave a prominent apparent quantum efficiency (QE) of 20.88% (435 nm) and H₂ evolution rate of 7.84 mmol g^–1 h^–1, which is 1.4 times higher than that of Pt/Cd_0.8Zn_0.2S/rGO. It is believe that the introduced rGO nanosheets and NiSx QDs obviously improved the interfacial conductivity and altered the spatial distribution of electrons in this nanoarchitecture. Thus, the synergistic effects of interfacial junctions result in a regulated electron transportation pathway along the basal planes and ultrafast transfer and spatial separation of photoexcited carriers, which are responsible for the enhanced photocatalytic performance. This work gives a facile and effective strategy to understand and realize rationally designed advanced photocatalysts for high-efficiency, stable, and cost-efficient solar hydrogen evolution applications

Summary of 45S rDNA FISH Signals and DNA methylation.

<p>Summary of 45S rDNA FISH Signals and DNA methylation.</p

FISH and karyogram analysis of <i>J. curcas</i> prometaphase chromosomes.

<p><b>A:</b> FISH image showing 45S rDNA probe signals on <i>J. curcas</i> metaphase chromosomes. <b>B:</b> Numbered <i>J. curcas</i> metaphase chromosomes from A. <b>C:</b> Karyogram of <i>J. curcas</i> somatic metaphase chromosomes. Scale bars = 5 µm.</p

Distribution of the 5-MeC foci (green fluorescence) and 45S rDNA loci (red fluorescence) on interphase and prometaphase chromosomes <i>J. curcas</i>.

<p><b>A: interphase; B–C:</b> prophase; All chromosomes were counterstained with DAPI. Scale bars = 5 µm. The yellow arrows indicated the stronger signals of 45S rDNA and the white arrows indicated the weaker signals of 45S rDNA.</p

Morphometric data for <i>Jatropha curcas</i> chromosomes.

<p>Data represents the mean ± SD of five replicates from different cells.</p><p>L: long arm length.</p><p>S: short arm length.</p><p>TL: absolute chromosome length.</p><p>RL (relative chromosome length) = 100 × TL/Total chromosome absolute length;</p><p>Arm ratio (r = L/S), length ratio between the long and short arms.</p><p>On the basis of centromere position, the arm ratio (r) was used to classify the chromosomes according to Levan et al. <a href="http://www.plosone.org/article/info:doi/10.1371/journal.pone.0084284#pone.0084284-Levan1" target="_blank">[48]</a> into m, metacentric (r = 1.05−1.69); sm, submetacentric (r = 1.70−2.99); st, subtelocentric (r = 3.00−6.99); and t, telocentric (r = 7.00−39.00).</p

Distribution of the 5-MeC foci (green fluorescence) and 45S rDNA loci (red fluorescence) on metaphase chromosomes of <i>J. curcas</i>.

<p><b>A:</b> In the two pairs of chromosomes, the 45S rDNA of one pair were methylated in telomeric region and the other were methylated. <b>(Type II)</b>. <b>B:</b> In the two pairs of chromosomes, the 45S rDNA of one pair were methylated in telomeric region. One of the other pair was unmethylated and the other was methylated. <b>(Type III)</b>. <b>C:</b> In the two pairs of chromosomes, the45S rDNA of one pair were methylated in telomeric region and the other were unmethylated. <b>(Type IV)</b>. All chromosomes were counterstained with DAPI. Scale bars = 5 µm. The yellow arrows indicated the stronger signals of 45S rDNA and the white arrows indicated the weaker signals of 45S rDNA.</p