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This paper presents a robust train localisation system by fusing a Global Navigation Satellite System (GNSS) with an Inertial Navigation System (INS) in a tightly-coupled (TC) strategy. To improve navigation performance in GNSS partly blocked areas, an advanced map-matching (MM) measurement-augmented TC GNSS/INS method is proposed via an error-state unscented Kalman filter (UKF). The advanced MM generates a matched position using a one-step predicted position from a UKF time update step with binary search algorithm and a point–line projection algorithm. The matched position inputs as an additional measurement to fuse with the INS position to augment the degraded GNSS pseudorange measurement to optimise the state estimation in the UKF measurement update step. Both the real train test on the Qinghai–Tibet railway and the simulation were carried out and the results confirm that the proposed advanced MM measurement-augmented TC GNSS/INS with error-state UKF provides the best horizontal positioning accuracy of 0 ⋅ 67 m, which performs an improvement of about 71% and 90% with respect to TC GNSS/INS with only error-state UKF and only error-state Extended Kalman filter in GNSS partly blocked areas.
No studies have reported on how to relieve distress or relax in medical health workers while wearing medical protective equipment in coronavirus disease 2019 (COVID-19) pandemic. The study aimed to establish which relaxation technique, among six, is the most feasible in first-line medical health workers wearing medical protective equipment.
This was a two-step study collecting data with online surveys. Step 1: 15 first-line medical health workers were trained to use six different relaxation techniques and reported the two most feasible techniques while wearing medical protective equipment. Step 2: the most two feasible relaxation techniques revealed by step 1 were quantitatively tested in a sample of 65 medical health workers in terms of efficacy, no space limitation, no time limitation, no body position requirement, no environment limitation to be done, easiness to learn, simplicity, convenience, practicality, and acceptance.
Kegel exercise and autogenic relaxation were the most feasible techniques according to step 1. In step 2, Kegel exercise outperformed autogenic relaxation on all the 10 dimensions among the 65 participants while wearing medical protective equipment (efficacy: 24 v. 15, no space limitation: 30 v. 4, no time limitation: 31 v. 4, no body position requirement: 26 v. 4, no environment limitation: 30 v. 11, easiness to learn: 28 v. 5, simplicity: 29 v. 7, convenience: 29 v. 4, practicality: 30 v. 14, acceptance: 32 v. 6).
Kegel exercise seems a promising self-relaxation technique for first-line medical health workers while wearing medical protective equipment among COVID-19 pandemic.
We describe an integrated navigation system based on Global Navigation Satellite Systems (GNSS), an Inertial Navigation System (INS) and terrestrial ranging technologies that can support accurate and seamless indoor-outdoor positioning. To overcome severe multipath disturbance in indoor environments, Locata technology is used in this navigation system. Such a “Locata-augmented” navigation system can operate in different positioning modes in both indoor and outdoor environments. In environments where GNSS is unavailable, e.g. indoors, the proposed system is designed to operate in the Locata/INS “loosely-integrated” mode. On the other hand, in outdoor environments, all GNSS, Locata and INS measurements are available, and all useful information can be fused via a decentralised Federated Kalman filter. To evaluate the proposed system for seamless indoor-outdoor positioning, an indoor-outdoor test was conducted at a metal-clad warehouse. The test results confirmed that the proposed navigation system can provide continuous and reliable position and attitude solutions, with the positioning accuracy being better than five centimetres.
The second Chinese glacier inventory was compiled based on 218 Landsat TM/ETM+ scenes acquired mainly during 2006–10. The widely used band ratio segmentation method was applied as the first step in delineating glacier outlines, and then intensive manual improvements were performed. The Shuttle Radar Topography Mission digital elevation model was used to derive altitudinal attributes of glaciers. The boundaries of some glaciers measured by real-time kinematic differential GPS or digitized from high-resolution images were used as references to validate the accuracy of the methods used to delineate glaciers, which resulted in positioning errors of ±10 m for manually improved clean-ice outlines and ±30 m for manually digitized outlines of debris-covered parts. The glacier area error of the compiled inventory, evaluated using these two positioning accuracies, was ±3.2%. The compiled parts of the new inventory have a total area of 43 087 km2, in which 1723 glaciers were covered by debris, with a total debris-covered area of 1494 km2. The area of uncompiled glaciers from the digitized first Chinese glacier inventory is ∼8753 km2, mainly distributed in the southeastern Tibetan Plateau, where no images of acceptable quality for glacier outline delineation can be found during 2006–10.
We use remote-sensing and GIS technologies to monitor glacier changes in the Koshi River basin, central Himalaya. The results indicate that in 2009 there were 2061 glaciers in this region, with a total area of 3225 ±90.3 km2. This glacier population is divided into 1290 glaciers, with a total area of 1961 ±54.9 km2, on the north side of the Himalaya (NSH), and 771 glaciers, with a total area of 1264 ± 35.4 km2, on the south side of the Himalaya (SSH). From 1976 to 2009, glacier area in the basin decreased by about 19±5.6% (0.59±0.17%a–1). Glacier reduction was slightly faster on SSH (20.3 ±5.6%) than on NSH (18.8±5.6%). The maximum contribution to glacier area loss came from glaciers within the 1-5 km2 area interval, which accounted for 32% of total area loss between 1976 and 2009. The number of glaciers in the Koshi River catchment decreased by 145 between 1976 and 2009. Glacier area on SSH decreased at a rate of 6.2 ±3.2% (0.68 ±0.36% a–1), faster than on NSH, where the rate was 2.5 ±3.2% (0.27±0.36% a–1) during 2000-09. Based on records from Tingri weather station, we infer that temperature increase and precipitation decrease were the main causes of glacier thinning and retreat during the 1976-2000 period. Glacier retreat during the 2000-09 period appears to be controlled by temperature increase, since precipitation increase over this period did not offset ice losses to surface melting.
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