Robust UKF algorithm with motion constraint in BDS navigation

In a complex urban environment,navigation based on single BeiDou navigation satellite system (BDS) will be interfered by multipath (MP) and non-line-of-sight (NLOS) signals, which degrades the accuracy of positioning. In order to solve this problem, a robust unscented Kalman filter (UKF) with motion constraint is proposed. The algorithm constructs an equivalent weight function based on the innovation vector, which will overcome the problem of performance degradation of conventional robust method caused by inaccurate initial values of the position and receiver clock offset. In addition, the approximate moving direction and elevation of the carrier are used to further enhance the filtering solution. The actual on-board experiment results show that this method can effectively suppress the interference of MP and NLOS signals, and improve the accuracy of BDS navigation in urban environments

Electrospun Enzymatic Hydrolysis Lignin-Based Carbon Nanofibers as Binder-Free Supercapacitor Electrodes with High Performance

Carbon nanofibers consisting of Poly(acrylonitrile) (PAN) and enzymatic hydrolysis lignin (EHL) were prepared in the present study by electrospinning followed by stabilization in air and carbonization in N2 environment. The morphology and structure of the electrospun carbon nanofibers were characterized by Scanning Electron Microscopy (SEM), Brunauer-Emmett-Teller (BET), Roman, and the electrochemical performances were then evaluated by cyclic voltammetry (CV), galvanostatic charge-discharge (GCD), and electrochemical impedance spectroscopy (EIS)methods. When the amount of EHL was 60 wt. %, the as-prepared nanofibers have the smallest average diameter of 172 nm and the largest BET specific surface area of 675 m2/g without activating treatment. The carbon nanofiber electrode showed excellent specific capacitance of 216.8 F/g at the current density of 1 A/g, maintaining 88.8% capacitance retention after 2000 cycles. Moreover, the carbon nanofiber electrode containing 60 wt. % exhibited a smaller time constant (0.5 s) in comparison to that of carbon nanofibers in literatures. These findings suggest the potential use of EHL could be a practical as a sustainable alternative for PAN in carbon electrode manufacturing

A Distance Increment Smoothing Method and Its Application on the Detection of NLOS in the Cooperative Positioning

The wide use of cooperative missions using multiple unmanned platforms has made relative distance information an essential factor for cooperative positioning and formation control. Reducing the range error effectively in real time has become the main technical challenge. We present a new method to deal with ranging errors based on the distance increment (DI). The DI calculated by dead reckoning is used to smooth the DI obtained by the cooperative positioning, and the smoothed DI is then used to detect and estimate the non-line-of-sight (NLOS) error as well as to smooth the observed values containing random noise in the filtering process. Simulation and experimental results show that the relative accuracy of NLOS estimation is 8.17%, with the maximum random error reduced by 40.27%. The algorithm weakens the influence of NLOS and random errors on the measurement distance, thus improving the relative distance precision and enhancing the stability and reliability of cooperative positioning

Nitrogen-Doped Porous Core-Sheath Graphene Fiber-Shaped Supercapacitors

In this study, a strategy to fabricate nitrogen-doped porous core-sheath graphene fibers with the incorporation of polypyrrole-induced nitrogen doping and graphene oxide for porous architecture in sheath is reported. Polypyrrole/graphene oxide were introduced onto wet-spun graphene oxide fibers by dip-coating. Nitrogen-doped core-sheath graphene-based fibers (NSG@GFs) were obtained with subsequently thermally carbonized polypyrrole/small-sized graphene oxide and graphene oxide fiber slurry (PPY/SGO@GOF). Both nitrogen doping and small-sized graphene sheets can improve the utilization of graphene layers in graphene-based fiber electrode by preventing stacking of the graphene sheets. Enhanced electrochemical performance is achieved due to the introduced pseudo-capacitance and enhanced electrical double-layered capacitance. The specific capacitance (38.3 mF cm−2) of NSG@GF is 2.6 times of that of pure graphene fiber. The energy density of NSG@GF reaches 3.40 μWh cm−2 after nitrogen doping, which is 2.59 times of that of as-prepared one. Moreover, Nitrogen-doped graphene fiber-based supercapacitor (NSG@GF FSSC) exhibits good conductivity (155 S cm−1) and cycle stability (98.2% capacitance retention after 5000 cycles at 0.1 mA cm−2)

Phospholipids impact the protective effects of HDL-mimetic nanodiscs against lipopolysaccharide-induced inflammation - supplementary dataset

Aim: The impacts of synthetic high-density lipoprotein (sHDL) phospholipid components on anti-sepsis effects were investigated. Methods: sHDL composed with ApoA-I mimetic peptide (22A) and different phosphatidylcholines were prepared and characterized. Anti-inflammatory effects were investigated in vitro and in vivo on lipopolysaccharide (LPS)-induced inflammation models. Results: sHDLs composed with 1,2-dimyristoyl-sn-glycero-3-phosphocholine (22A-DMPC) most effectively neutralizes LPS, inhibits toll-like receptor 4 recruitment into lipid rafts, suppresses nuclear factor κB signaling and promotes activating transcription factor 3 activating. The lethal endotoxemia animal model showed the protective effects of 22A-DMPC. Conclusion: Phospholipid components affect the stability and fluidity of nanodiscs, impacting the anti-septic efficacy of sHDLs. 22A-DMPC presents the strongest LPS binding and anti-inflammatory effects in vitro and in vivo, suggesting a potential sepsis treatment.Plain language summary: Sepsis is triggered by endotoxins released by bacteria. These endotoxins trigger an exaggerated inflammatory response, leading to widespread inflammation and organ damage. Synthetic high-density lipoprotein (sHDL) is a potential treatment of sepsis by neutralizing endotoxins and regulating inflammatory responses. The phospholipid components of sHDL may affect the effectiveness of sHDL against sepsis. In this study, we prepared sHDLs with different phospholipids and compared their anti-septic effects on cells and in animal models. We found that sHDL made from DMPC presented the best anti-septic effects, possibly because DMPC-sHDL had the best fluidity at body temperature.</p

Three-dimensional nanostructured substrates enable dynamic detection of ALK-rearrangement in circulating tumor cells from treatment-naive patients with stage III/IV lung adenocarcinoma

Abstract Background Circulating tumor cells (CTC) shows great prospect to realize precision medicine in cancer patients. Methods We developed the NanoVelcro Chip integrating three functional mechanisms. NanoVelcro CTC capture efficiency was tested in stage III or IV lung adenocarcinoma. Further, ALK-rearrangement status was examined through fluorescent in situ hybridization in CTCs enriched by NanoVelcro. Results NanoVelcro system showed higher CTC-capture efficiency than CellSearch in stage III or IV lung adenocarcinoma. CTC counts obtained by both methods were positively correlated (r = 0.45, p < 0.05). Further, Correlation between CTC counts and pTNM stage determined by NanoVelcro was more significant than that determined by CellSearch (p < 0.001 VS p = 0.029). All ALK-positive patients had 3 or more ALK-rearranged CTC per ml of blood. Less than 3 ALK-rearranged CTC was detected in ALK-negative patients. NanoVelcro can detect the ALK–rearranged status with consistent sensitivity and specificity compared to biopsy test. Furthermore, the ALK-rearranged CTC ratio correlated to the pTNM stage in ALK-positive patients. Following up showed that CTCs counting by NanoVelcro was more stable and reliable in evaluating the efficacy of Clozotinib both in the short and long run compared with CellSearch. Changing of NanoVlecro CTC counts could accurately reflect disease progression. Conclusion NanoVelcro provides a sensitive method for CTC counts and characterization in advanced NSCLC. ALK-rearrangement can be detected in CTCs collected from advanced NSCLC patients by NanoVelcro, facilitating diagnostic test and prognosis analysis, most importantly offering one noninvasive method for real-time monitoring of treatment reaction