An Improved Method for Dynamic Measurement of Deflections of the Vertical Based on the Maintenance of Attitude Reference

A new method for dynamic measurement of deflections of the vertical (DOV) is proposed in this paper. The integration of an inertial navigation system (INS) and global navigation satellite system (GNSS) is constructed to measure the body’s attitude with respect to the astronomical coordinates. Simultaneously, the attitude with respect to the geodetic coordinates is initially measured by a star sensor under quasi-static condition and then maintained by the laser gyroscope unit (LGU), which is composed of three gyroscopes in the INS, when the vehicle travels along survey lines. Deflections of the vertical are calculated by using the difference between the attitudes with respect to the geodetic coordinates and astronomical coordinates. Moreover, an algorithm for removing the trend error of the vertical deflections is developed with the aid of Earth Gravitational Model 2008 (EGM2008). In comparison with traditional methods, the new method required less accurate GNSS, because the dynamic acceleration calculation is avoided. The errors of inertial sensors are well resolved in the INS/GNSS integration, which is implemented by a Rauch–Tung–Striebel (RTS) smoother. In addition, a single-axis indexed INS is adopted to improve the observability of the system errors and to restrain the inertial sensor errors. The proposed method is validated by Monte Carlo simulations. The results show that deflections of the vertical can achieve a precision of better than 1″ for a single survey line. The proposed method can be applied to a gravimetry system based on a ground vehicle or ship with a speed lower than 25 m/s

A Comprehensive Calibration Method for a Star Tracker and Gyroscope Units Integrated System

The integration of a star tracker and gyroscope units (GUs) can take full advantage of the benefits of each, and provide continuous and accurate attitude information with a high update rate. The systematic error calibration of the integrated system is a crucial step to guarantee its attitude accuracy. In this paper, a comprehensive calibration method for the star tracker and GUs integrated system is proposed from a global perspective. Firstly, the observation model of the predicted star centroid error (PSCE) with respect to the systematic errors including the star tracker intrinsic parameter errors, GUs errors and fixed angle errors is accurately established. Then, the systematic errors are modeled by a series of differential equations, based on which the state-space model is established. Finally, the systematic errors are decoupled and estimated by a Kalman filter according to the established state-space model and observation model. The coupling between the errors of the principal point and subcomponents of the fixed angles (i.e., Ψ x and Ψ y ) is analysed. Both simulations and experiments indicate that the proposed method is effective at estimating the systematic errors of the star tracker and GUs integrated system with high accuracy and robustness with respect to different star centroid accuracies and gyroscope noise levels

An Analysis of the Attitude Estimation Errors Caused by the Deflections of Vertical in the Integration of Rotational INS and GNSS

This paper investigates the attitude estimation errors caused by the deflections of vertical (DOV) in the case of a rotational inertial navigation system (INS) integrated with a global satellite navigation system (GNSS). It has been proved theoretically and experimentally that the DOV can introduce a tilt error to the INS/GNSS integration, whereas less attention has been given to its effect to the heading estimation. In fact, due to the intercoupling characteristic of attitude errors, the heading estimation of an INS/GNSS integrated navigation system can also be affected. In this paper, first, the attitude estimation errors caused by DOV were deduced based on the INS’s error propagation functions. Then, the corresponding simulations were conducted and the results were well consistent with the theoretical analysis. Finally, a real shipborne marine test was organized with the aimed to verify the effect of DOV on attitude estimation in the rotational INS/GNSS integration, whereas the global gravity model was used for DOV compensation. The results with DOV compensation were compared with the corresponding results where the compensation was not used and showed that the heading estimation errors caused by DOV could exceed 20 arcsecs, which must be considered in high-precision application cases

Multistage delivery of CDs-DOX/ICG-loaded liposome for highly penetration and effective chemo-photothermal combination therapy

Nanoparticles (NPs) have proven to be effective drug carriers in diagnosis and therapy of cancer. But, they faced a contradictory issue that NPs with large size appear weak tumor penetration, meanwhile small size resulted in poor tumor retention. Herein, we fabricated doxorubicin conjugated carbon dots (CDs-DOX) and indocyanine green (ICG)-loaded liposomes (ICG-LPs) named CDs-ICG-LPs using a modified reverse phase evaporation process, and with high incorporation in the aqueous core. The CDs-ICG-LPs exhibited good monodispersity, excellent fluorescence/size stability, and consistent spectra characteristics compared with free ICG or DOX. Moreover, the CDs-ICG-LPs showed higher temperature response, faster DOX release under laser irradiation. In the meantime, the fluorescence of DOX and ICG in CDs-ICG-LPs was also visualized for the process of subcellular location in vitro. In comparison with chemo or photothermal treatment alone, the combined treatment of CDs-ICG-LPs with laser irradiation synergistically induced the apoptosis and death of DOX-sensitive HepG2 cells. In vivo antitumor activities demonstrated CDs-ICG-LPs could reach higher antitumor activity compared with CDs-DOX and ICG-LPs for H22 tumor cells, and suppressed H22 tumor growth in vivo. Notably, no systemic toxicity occurrence was observed after repeated dose of CDs-ICG-LPs with laser irradiation. Hence, the well-defined CDs-ICG-LPs exhibited great potential in targeting cancer imaging and chemo-photothermal therapy

Centroid error compensation method for a star tracker under complex dynamic conditions

The traditional approach of a star tracker for reducing the dynamic error concentrates on a single frame of star images. Through correlating adjacent star images together with their angular relations sensed by a gyroscope unit (GU), the attitude-correlated frames (ACF) approach expands the view from one single frame to frame sequences. However, the star centroid is shifted from the star true position at the center time of the exposure period under complex dynamic conditions, which is called the complex motion induced error (CMIE) in this paper. The CMIE has a large effect on the performance of the ACF approach. This paper presents a method to compensate the CMIE through reconstructing the star trajectory with the angular velocity of the star tracker sensed by a GU, which achieves effective compensation of the CMIE crossing the boresight direction. Since the observation sensitivity to the CMIE along the boresight direction is low, the attitudes from two different fields of view (FOVs) are combined to improve its compensation accuracy. Then the ACF approach is applied to the obtained results where the CMIE has already been compensated completely. Simulations under shipboard dynamic conditions and experiments under oscillating conditions indicate that the proposed method is effective in improving the performance of the ACF approach and reducing the dynamic error of a star tracker under complex dynamic conditions

Reservoir computing using back-end-of-line SiC-based memristors

The increasing demand for intellectual computers that can efficiently process substantial amounts of data has resulted in the development of a wide range of nanoelectronics devices. Reservoir computing offers efficient temporal information processing capability with a low training cost. In this work, we demonstrate a back-end-of-line SiC-based memristor that exhibits short-term memory behaviour and is capable of encoding temporal signals. A physical reservoir computing system using our SiC-based memristor as the reservoir has been implemented. This physical reservoir computing system has been experimentally demonstrated to perform the task of pattern recognition. After training, our RC system has achieved 100% accuracy in classifying number patterns from 0 to 9 and demonstrated good robustness to noisy pixels. The results shown here indicate that our SiC-based memristor devices are strong contenders for potential applications in artificial intelligence, particularly in temporal and sequential data processing.</p

Dataset supporting the publication &quot;Reservoir computing using back-end-of-line SiC-based memristors&quot;

Dataset supporting the publication &quot;Reservoir computing using back-end-of-line SiC-based memristors&quot;. This data demonstrates results of a back-end-of-line SiC-based memristor that exhibits short-term memory behaviour and is capable of encoding temporal signals. A physical reservoir computing system using our SiC-based memristor as the reservoir has been implemented. This physical reservoir computing system has been experimentally demonstrated to perform the task of pattern recognition. The results demonstrated good robustness to noisy pixels. The results indicate that our SiC-based memristor devices are strong contenders for potential applications in artificial intelligence, particularly in temporal and sequential data processing. The data includes 2 files: data.xlsx checkpoint.pt R. H. would like to thank the Royal Society for a Research Grant (RGS/R2/222171). O. K. thanks EPSRC and AWE Ltd for the ICASE studentship No. 16000087.</span