Integration of Inertial Navigation System with EM-log Using H-infinity Filter

This paper presents the integration of inertial navigation system (INS) with electromagnetic-log (EM-log) as an underwater navigation system using H-infinity filter for robustness from the uncertainty of the sea current model. In underwater environments, the electromagnetic signals are attenuated rapidly, so that the global navigation satellite system is not available in general. Thus, INS is usually chosen for underwater navigation, and other aiding sensors are also used to complement its accumulative errors, one of which is EM-log. Since an EM-log provides the relative velocity to seawater, the integrated navigation cannot be performed accurately unless the sea current speed is compensated properly. Generally, the INS and EM-log can be integrated using extended Kalman filter (EKF). However, EKF guarantees its performance when the stochastic properties of the system’s process and measurement noises are perfectly known. In other words, in the presence of sea current modelling errors, the integration using the EKF is not expected to show good performance. On the other hand, H-infinity filter is a robust filter which can tolerate such uncertainties. In this paper, the integration of INS and EM-log using H-infinity filter is studied. The performance is compared with that of the EKF case by proper computer simulation

Integration of Inertial Navigation System with EM-log Using H-infinity Filter

This paper presents the integration of inertial navigation system (INS) with electromagnetic-log (EM-log) as an underwater navigation system using H-infinity filter for robustness from the uncertainty of the sea current model. In underwater environments, the electromagnetic signals are attenuated rapidly, so that the global navigation satellite system is not available in general. Thus, INS is usually chosen for underwater navigation, and other aiding sensors are also used to complement its accumulative errors, one of which is EM-log. Since an EM-log provides the relative velocity to seawater, the integrated navigation cannot be performed accurately unless the sea current speed is compensated properly. Generally, the INS and EM-log can be integrated using extended Kalman filter (EKF). However, EKF guarantees its performance when the stochastic properties of the system’s process and measurement noises are perfectly known. In other words, in the presence of sea current modelling errors, the integration using the EKF is not expected to show good performance. On the other hand, H-infinity filter is a robust filter which can tolerate such uncertainties. In this paper, the integration of INS and EM-log using H-infinity filter is studied. The performance is compared with that of the EKF case by proper computer simulation

Nanophotonic route to control electron behaviors in 2D materials

Two-dimensional (2D) Dirac materials, e.g., graphene and transition metal dichalcogenides (TMDs), are one-atom-thick monolayers whose electronic behaviors are described by the Dirac equation. These materials serve not only as test beds for novel quantum physics but also as promising constituents for nanophotonic devices. This review provides a brief overview of the recent effort to control Dirac electron behaviors using nanophotonics. We introduce a principle of light-2D Dirac matter interaction to offer a design guide for 2D Dirac material–based nanophotonic devices. We also discuss opportunities for coupling nanophotonics with externally perturbed 2D materials

Reference genes for quantitative analysis on Clonorchis sinensis gene expression by real-time PCR

The accuracies of relative gene expressions as determined by quantitative real-time polymerase chain reaction are largely dependent on the variabilities of the reference genes used. Validation of the stabilities of reference genes under experimental conditions is an essential initial step for comparative studies on the expression levels of target genes in experimental groups. Using three total RNA samples extracted independently from Clonorchis sinensis metacercariae and adults, we determined the gene expression stabilities of eight reference gene candidates and the relative transcript levels of three target genes using the geNorm program. The reference genes found to be stably expressed in metacercariae and adults were phosphoglycerate kinase, beta-actin, and calcyphosine; reference genes found to be stably expressed under gamma-irradiated and non-irradiated conditions were succinate dehydrogenase, small nuclear ribonucleoprotein, and beta-actin; and those stably expressed regardless of bile treatment were small nuclear ribonucleoprotein, phosphoglycerate kinase, and succinate dehydrogenase. According to our data, the expression levels of target genes are dependent on normalization factors, such as the C (T) values of single reference genes and the geometric mean of the C (T) values of three reference genes. When comparing C. sinensis gene expressions, we propose to employ the geometric mean of the C (T) values of more than three reference genes validated in the same experimental setting.N

Impact of temporary opening using a stent retriever on clinical outcome in acute ischemic stroke.

BACKGROUND:Stent retriever has a distinct ability to restore blood flow temporarily before achieving final reperfusion. There has been a limited report regarding the clinical impact of it. We investigated if temporary opening of occluded vessels using a stent retriever before final reperfusion might improve clinical outcome in acute ischemic stroke patients who received the endovascular reperfusion treatment. METHODS:We enrolled consecutive ischemic stroke patients who had an initial occlusive lesion in the anterior circulation and achieved final reperfusion (Thrombolysis In Cerebral Infarction [TICI] ≥2) by endovascular treatment. Temporary opening was defined as the presence of ante grade flow (TICI≥2) during deployment of a stent retriever. Favorable outcome was defined as a modified Rankin scale score≤2 at 90 day. RESULTS:A total of 98 patients were included in the study and temporary opening was achieved in 49 (50%). Temporary opening was associated with favorable outcome (odds ratio, 7.825; 95% confidence interval, 1.592-38.461; p = 0.011) in the multivariate analysis. The probability of having a favorable outcome tended to decrease as time from onset to final reperfusion increased in patients without temporary opening. However, this trend was not evident in the patient with temporary opening. The beneficial effect of temporary opening on clinical outcome seemed to be present in patients with good collaterals but not in patients with poor collaterals. CONCLUSIONS:Temporary opening of occluded vessel using a stent retriever may be beneficial for improving clinical outcome in acute ischemic stroke patients

The proportion of favorable outcome at 90 days according to onset to final reperfusion time in patients with temporal opening (a) and without temporal opening (b).

<p>The proportion of favorable outcome at 90 days according to onset to final reperfusion time in patients with temporal opening (a) and without temporal opening (b).</p