Unlike aerial or terrestrial navigation, the Global Navigation satellite system (GNSS) is not available underwater. This is a big challenge for underwater navigation. The inertial navigation system (INS) aided by the single-beacon acoustic positioning system (APS) provides one solution, but the long-range case is limited by low SNR conditions. Inspired by passive synthetic aperture detection, we proposed a new tightly coupled navigation algorithm based on spatial synthesis and one-way-travel-time (OWTT) range measurement. We design two estimators: the DOA/Range estimator using the model-based method and the tightly coupled INS/APS navigation estimator. Based on the improved UKF, all information is combined. Simulation is carried out in MATLAB. Compared with range-only tightly coupled INS/APS navigation, synthetic long baseline (SLBL) algorithm and Doppler velocity logger (DVL) aided centralized extended Kalman filter (CEKF) based single beacon INS/OWTT navigation, the proposed method's performance is proven. The main contributions of this work are: 1. Propose a new architecture of underwater integrated navigation; 2. Apply the passive acoustic detecting method in the navigation to improve accuracy. 3. Apply the tightly coupled method to improve availability.

Inertial navigation system (INS) is a basic component for obtaining a continuous navigation solution in various applications. The INS navigation solution suffers from a growing error over time. In particular, its navigation solution depends mainly on the quality and grade of the inertial measuring unit (IMU) that provides the INS with both accelerations and angular rates. However, low-cost small micro-electro-mechanical systems (MEMS) suffer from tremendous error sources such as bias, scale factor, scale factor instability, and highly non-linear noise. Therefore, MEMS-IMU measurements lead to drifted solutions when used as a control input to the INS. Accordingly, several approaches have been introduced to model and mitigate the errors associated with IMU. In this paper, a machine learning-based adaptive neuro-fuzzy inference system (ML-ANFIS) is proposed to leverage the performance of low-grade IMUs in two phases. The first phase is training 50% of the low-grade IMU measurements with a high-end IMU to generate a suitable error model. The second phase involved testing the developed model on the remaining low-grade IMU measurements. A real road trajectory was conducted to evaluate the performance of the proposed algorithm. The results show the effectiveness of utilizing the proposed ML-ANFIS algorithm in removing errors and improving the INS solution compared to the traditional one. An improvement of 70% in the 2D-positioning and 92% in the 2D-velocity INS solution is attained when the proposed algorithm was applied compared to the traditional INS solution.

The pop-in effect in nanoindentation of metals represents a major collective dislocation phenome-non that displays sensitivity in the local surface microstructure and residual stresses. To under-stand the deformation mechanisms behind pop-ins in metals, large scale molecular dynamics simulations are carried out to investigate the pop-in behavior and indentation size effect in unde-formed and deformed Cu single crystals. Tensile loading, unloading and reloading simulations are performed to create a series of samples subjected to a broad range of tensile strains with/without pre-existing dislocations. The subsequent nanoindentation simulations are con-ducted to study the coupled effects of pre-strain, the presence of resulting dislocations and surface morphology, as well as indenter size effects on the mechanical response in indentation processes. Our work provides detailed insights into the deformation mechanisms and microstruc-ture-property relationships of nanoindentation in the presence of residual stresses and strains.

High-precision dynamic positioning of highway vehicles is the foundation and prerequisite for achieving intelligent connected transportation. For the shortcomings of GNSS/INS combination and GNSS/INS/OD combination in tunnel vehicle positioning, this paper proposes a tunnel vehi-cle positioning method of GNSS/INS/OD combination based on lateral distance measurement and lane constraint. Firstly, lateral distance measurement of vehicles inside the tunnel is conducted based on laser radar point cloud data. Secondly, map matching positioning is performed based on lateral distance measurement, odometer, and lane markings. Experimental results demonstrate that for a 4.6 km tunnel, the average absolute error of lateral positioning is 0.294 meters, and the longitudinal positioning error is no more than 0.6 meters, which can effectively meet practical operational requirements.

Microcrystalline and near nanocrystalline AlCrFeCoNi high-entropy alloy (HEA) coatings were applied on Inconel 718 superalloy using air plasma spraying (APS) process. High-temperature oxidation behavior of the microcrystalline and near nanocrystalline AlCrFeCoNi HEA coated superalloy were examined at 110°C under the air atmosphere for 50 cycles under cyclic heating and cooling (1 h for each cycle). The oxidation kinetics of both nanocrystalline and microcrystalline coated superalloy was accordingly analyzed by weight change measurement. It was noticed that the uncoated and coated followed the parabolic rate law of the oxidation. X-ray diffraction (XRD), field emission scanning electron microscopy (FESEM), energy dispersive X-ray analysis (EDS), and elemental mapping techniques were used to analyze the oxidized coated and uncoated samples. In the HEA coated superalloy, Fe, Ni, Co, and Al were oxidized in the inter-splat region, whereas the splats which consist mainly of Ni and Cr remained unoxidized. Because of the formation of compact and adhesive thin NiO, CoO oxides, and spinels together with the Al2O3 oxide scale on the surface of the coating during oxidation, the developed nanocrystalline HEA coating shows better oxidation resistance than the microcrystalline HEA coating.

This paper concerns a new methodology for accuracy assessment of global positioning system verified experimentally with LiDAR (Light Detection and Ranging) data alignment at continent scale for autonomous driving safety analysis. Accuracy of GPS (Global Positioning System) positioning of an autonomous driving vehicle within a lane on the road is one of the key safety considerations. Safety is addressed as a geometry of the problem, where the aim is to maintain knowledge that the vehicle (its bounding box) is within its lane. Accuracy of GPS positioning is checked by comparing it with mobile mapping tracks in the recorded high definition source. The aim of the comparison is to see if the GPS positioning remains accurate up to the dimensions of the lane where the vehicle is driving. For this reason, a new methodology is proposed. Methodology is composed of six elements: 1) Mobile mapping system minimal setup, 2) Global positioning data processing, 3) LiDAR data processing, 4) Alignment algorithm, 5) Accuracy assessment confirmation and 6) Autonomous driving safety analysis. The research challenge is to assess positioning accuracy of moving cars taking into account the constraints of the coverage of limited access highways in the United States of America. The available coverage limits the possibility of repeatable measurements and introduces an important challenge being the lack the ground truth data. State-of-the-art methods are not applicable for this particular application, therefore a novel approach is proposed. The method is to align all the available LiDAR car trajectories to confirm the GNSS+INS (Global Navigation Satellite System + Inertial Navigation System) accuracy. For this reason, the use of LiDAR metric measurements for data alignment implemented using SLAM (Simultaneous Localization and Mapping) was investigated, assuring no systematic drift by applying GNSS+INS constraints. SLAM implementation used state-of-the-art observation equations and the Weighted Non-Linear Least Square optimization technique that enables integration of the required constraints. The methodology was verified experimentally using arbitrarily chosen measurement instruments (NovAtel GNSS+INS, LiDAR Velodyne HDL32) mounted onto mobile mapping systems. The accuracy was assessed and confirmed by the alignment of 32785 trajectories with total length of 1,159,956.9~km and of total $186.4*10^{9}$~optimized parameters (six degrees of freedom of poses) that cover the United States region in the 2016--2019 period. It is demonstrated that the alignment improves the trajectories, thus final map is consistent. The proposed methodology extends the existing methods of global positioning system accuracy assessment focusing on realistic environmental and driving conditions. The impact of global positioning system accuracy on autonomous car safety is discussed. It is shown that 99\% of the assessed data satisfies the safety requirements (driving within lanes of 3.6~m) for Mid-Size (width 1.85~m, length 4.87~m) vehicle and 95\% for 6-Wheel Pickup (width 2.03--2.43~m, length 5.32--6.76~m). The conclusion is that this methodology has great potential for global positioning accuracy assessment at global scale for autonomous driving applications. LiDAR data alignment is introduced as a novel approach to GNSS+INS accuracy confirmation. Further research is needed to solve the identified challenges.

The development of new diabetes drugs continues to be explored. Loureirin B, a flavonoid, extracted from Dracaena cochinchinensis, has been confirmed to increase insulin secretion and decrease blood glucose levels. For understanding the mechanism, a series of experiments had been employed based on computational methods and cell experiments. The insulin secretion significantly increased with the incubation of 0.01μM loureirin B for 4 hours. The viability of Ins-1 cells showed no significant difference with the treatment of loureirin B. Through computational methods, we hypothesized that loureirin B could interacts with K_ATP channels to promote insulin secretion. In cell experiments, it could be found that the current of K_ATP channel of Ins-1 cells was inhibited by the effect of loureirin B. After then, the voltage-dependent calcium channels were activated, the increase of Cx43 protein expression might mediate the Ca²⁺ to the intracellular. In summary, it could be concluded that loureirin B promoted insulin secretion mainly through inhibiting K_ATP current, the influx of Ca²⁺ to the Intracellular and the expression of Cx43.

In this paper presents analytical findings regarding the influence of gravity disturbance on INS. A data from the high-precision gravity model, EGM2008, we introduce a novel real-time gravity disturbance compensation approach for INS. This method estimates gravity disturbances along paths for platforms on both land and water, utilizing the Multi-Layer Perceptron (MLP) technique. To estimate these gravity disturbances, we developed four distinct MLP models and compared their training results using Half-Mean Square Error (half-MSE) and Root Mean Square Error (RMSE). This comparative analysis allowed us to identify the MLP model that exhibited the best performance. In order to validate the proposed gravity compensation method, field test was conducted using a test vehicle. The results of this field test unequivocally demonstrated the effectiveness of our approach in enhancing positioning accuracy. Over the course of a 2-hour field experiment, it was evident that employing the proposed gravity compensation method improved positioning accuracy by a notable 24%.

In this paper, firstly, some questionable formulas and conceptual oversights of previous reduced sigma set unscented transformation (UT) methods are revised through theoretical analysis. Then the revised UT methods based Kalman filters are used in a GPS/INS tightly-coupled system. The Kalman filter flows are the kind of square-root, since the square-root unscented Kalman filters (SRUKFs) can guarantee the stability of the system. By using the reduced sigma set SRUKFs (which contain simplex sigma set square-root unscented Kalman filter (S-SRUKF), spherical simplex sigma set square-root unscented Kalman filter (SS-SRUKF) and minimum sigma set square-root unscented Kalman filter (M-SRUKF)), the computation cost is greatly saved compared with the standard SRUKF, while the accuracy of the GPS/INS tightly-coupled system still maintained. The structure of the GPS/INS tightly-coupled system is in the form of error state, and the time updates of the state and the state covariance of SRUKFs are directly estimated without using UT, thus the computational time is also greatly saved. The pseudo-satellite is introduced to aid the system when the observation information is deficient, for example, when the GPS signal is deficient in the maneuver environment. By using the pseudo-satellite, the optimal performance of the system is guaranteed. Experiment of unmanned aerial vehicle (UAV) showed that the pseudo-satellite aided mechanism worked well.

The study aims to elaborate a neural model and algorithm for optimising hardness and porosity of coatings and thus ensure that they have superior cavitation erosion resistance. Al2O3-13wt.%TiO2 ceramic coatings were deposited onto 316L stainless steel by atmospheric plasma spray (ASP). The coatings were prepared with different values of two spray process parameters: the stand-off distance and torch velocity. Microstructure, porosity and microhardness of the coatings were examined. Cavitation erosion tests were conducted in compliance with the ASTM G32 standard. Artificial neural networks (ANN) were employed to elaborate the model, and the multi-objectives genetic algorithm (MOGA) was used to optimise both properties and cavitation erosion resistance of the coatings. Results were analysed with Matlab software by Neural Network Toolbox and Global Optimization Toolbox. The fusion of artificial intelligence methods (ANN+MOGA) is essential for future selection of thermal spray process parameters, especially for the design of ceramic coatings with specified functional properties. Selection of these parameters is a multicriteria decision problem. The proposed method made it possible to find a Pareto front, i.e. trade-offs between several conflicting objectives – maximising the hardness and cavitation erosion resistance of Al2O3-13%TiO2 coatings and, at the same time, minimizing their porosity.

In the present work, three different atmospheric plasma sprayed (APS) alumina coatings were fabricated using three fused and crushed alumina powders of different particle size fine, medium and coarse. The influence of the particle size on thermal properties and micro-structural features of the produced coating were investigated by thermal insulation test and detailed image analysis technique, respectively. The analyzed micro-structural features include the total porosity, pore size (fine, medium, and large) and cracks. All types of cracks were considered in calculations as voids and were evaluated according to their sizes as pores. All spray parameters except the particle size were fixed throughout the spraying process. The results revealed that the fine starting powder has produced the densest coating with the lowest total porosity and that the total porosity increases with an increasing particle size. This was expected as powders of smaller particle size will reach a higher in-flight temperature and velocity than powders of bigger particle sizes as long as the same spray parameters are applied. However, a detailed image analysis investigation on the three produced coatings showed that the fraction of fine pores and cracks versus the total porosity is substantially higher in coatings produced by using fine starting powders than those produced using medium and coarse powders. In this work, a connection between the thermal insulation and the porosity fraction, which includes fine pores and cracks, was revealed.

Background: Antiphospholipid antibodies (aPL) are a laboratory criterion for the classification of antiphospholipid syndrome (APS), and are known to cause clinical symptoms: vascular thrombosis or obstetric complications. It is suggested that aPL may be associated with thromboembolism in severe COVID-19 cases. Aim: to combine clinical data with aPL findings at 4 time points (admission, worsening, discharge, 3-month follow-up) in patients hospitalized with COVID-19 pneumonia. Methods: current and past history of thrombosis and obstetric complications; aPL determined at 4 time points: anticardiolipin (aCL), anti-β2-glycoprotein I (anti- β2GPI) and antiphosphatidylserine/prothrombin (aPS/PT) of the IgM, IgG or IgA isotypes. Results: 111 patients with COVID-19 pneumonia were enrolled. During hospitalization, 7 patients died, 3 of them due to pulmonary artery thromboembolism (none was aPL positive). Only one of the five who developed pulmonary artery thrombosis was aPL positive. Of 9/101 patients with a history of thrombosis, 5 had arterial thrombosis and none was aPL positive at admission and follow-up; 4 had venous thrombosis and one was aPL positive at all time points (newly diagnosed APS). Of these 9/101 patients, 55.6% were transiently aPL positive at discharge only, compared to 26.1% without history of thrombosis (p=0.05). Conclusions: aPL were not associated with fatal outcomes and vascular thrombosis; aPL were transiently positive in more than half of patients with a history of thrombosis.