基于量测噪声和观测次数的EKF-SLAM一致性分析

Inconsistency is a fundamental problem in simultaneous localization and mapping (SLAM). Previous works from predecessors have studied the inconsistent problem of extended Kalman filter (EKF) SLAM algorithm focusing on the linearization errors. In this paper, we studied the inconsistency issue of EKF SLAM in theory based on measurement noise and observation time. In a simplified situation, we deduced some useful theorems of estimated covariance matrix. Then, we made use of them to investigate the inconsistency issue. We showed that the measurement noise and the observation times can drive the EKF SLAM out of consistency. Moreover, we demonstrated the explicit effects of measurement noise and observation times on inconsistency of the EKF SLAM. Our simulation experiments verified the results.     

Characterization of the Skeletal Muscle Proteome in Undernourished Old Rats

Aging is associated with a progressive loss of skeletal muscle mass and function termed sarcopenia. Various metabolic alterations that occur with aging also increase the risk of undernutrition, which can worsen age-related sarcopenia. However, the impact of undernutrition on aged skeletal muscle remains largely under-researched. To build a deeper understanding of the cellular and molecular mechanisms underlying age-related sarcopenia, we characterized the undernutrition-induced changes in the skeletal muscle proteome in old rats. For this study, 20-month-old male rats were fed 50% or 100% of their spontaneous intake for 12 weeks, and proteomic analysis was performed on both slow- and fast-twitch muscles. Proteomic profiling of undernourished aged skeletal muscle revealed that undernutrition has profound effects on muscle proteome independently of its effect on muscle mass. Undernutrition-induced changes in muscle proteome appear to be muscle-type-specific: slow-twitch muscle showed a broad pattern of differential expression in proteins important for energy metabolism, whereas fast-twitch muscle mainly showed changes in protein turnover between undernourished and control rats. This first proteomic analysis of undernourished aged skeletal muscle provides new molecular-level insight to explain phenotypic changes in undernourished aged muscle. We anticipate this work as a starting point to define new biomarkers associated with undernutrition-induced muscle loss in the elderly.     

Degradation process of lead chromate in paintings by Vincent van Gogh studied by means of synchrotron X-ray spectromicroscopy and related methods. 1. Artificially aged model samples

On several paintings by artists of the end of the 19th century and the beginning of the 20th Century a darkening of the original yellow areas, painted with the chrome yellow pigment (PbCrO(4), PbCrO(4)·xPbSO(4), or PbCrO(4)·xPbO) is observed. The most famous of these are the various Sunflowers paintings Vincent van Gogh made during his career. In the first part of this work, we attempt to elucidate the degradation process of chrome yellow by studying artificially aged model samples. In view of the very thin (1-3 μm) alteration layers that are formed, high lateral resolution spectroscopic methods such as microscopic X-ray absorption near edge (μ-XANES), X-ray fluorescence spectrometry (μ-XRF), and electron energy loss spectrometry (EELS) were employed. Some of these use synchrotron radiation (SR). Additionally, microscopic SR X-ray diffraction (SR μ-XRD), μ-Raman, and mid-FTIR spectroscopy were employed to completely characterize the samples. The formation of Cr(III) compounds at the surface of the chrome yellow paint layers is particularly observed in one aged model sample taken from a historic paint tube (ca. 1914). About two-thirds of the chromium that is present at the surface has reduced from the hexavalent to the trivalent state. The EELS and μ-XANES spectra are consistent with the presence of Cr(2)O(3)·2H(2)O (viridian). Moreover, as demonstrated by μ-XANES, the presence of another Cr(III) compound, such as either Cr(2)(SO(4))(3)·H(2)O or (CH(3)CO(2))(7)Cr(3)(OH)(2) [chromium(III) acetate hydroxide], is likely.     

Degradation process of lead chromate in paintings by Vincent van Gogh studied by means of synchrotron X-ray spectromicroscopy and related methods. 2. Original paint layer samples

The darkening of the original yellow areas painted with the chrome yellow pigment (PbCrO(4), PbCrO(4)·xPbSO(4), or PbCrO(4)·xPbO) is a phenomenon widely observed on several paintings by Vincent van Gogh, such as the famous different versions of Sunflowers. During our previous investigations on artificially aged model samples of lead chromate, we established for the first time that darkening of chrome yellow is caused by reduction of PbCrO(4) to Cr(2)O(3)·2H(2)O (viridian green), likely accompanied by the presence of another Cr(III) compound, such as either Cr(2)(SO(4))(3)·H(2)O or (CH(3)CO(2))(7)Cr(3)(OH)(2) [chromium(III) acetate hydroxide]. In the second part of this work, in order to demonstrate that this reduction phenomenon effectively takes place in real paintings, we study original paint samples from two paintings of V. van Gogh. As with the model samples, in view of the thin superficial alteration layers that are present, high lateral resolution spectroscopic methods that make use of synchrotron radiation (SR), such as microscopic X-ray absorption near edge (μ-XANES) and X-ray fluorescence spectrometry (μ-XRF) were employed. Additionally, μ-Raman and mid-FTIR analyses were carried out to completely characterize the samples. On both paint microsamples, the local presence of reduced Cr was demonstrated by means of μ-XANES point measurements. The presence of Cr(III) was revealed in specific areas, in some cases correlated to the presence of Ba(sulfate) and/or to that of aluminum silicate compounds.     

波斯湾盆地大气田的形成条件与分布规律

以波斯湾盆地已发现的54个大气田数据为基础,应用含油气系统的概念和分析方法,对大气田逐个进行解剖,探讨了波斯湾盆地大气田的形成条件与分布规律。研究表明,波斯湾盆地大气田的气源主要为志留系Gahkum组和Qusaiba热页岩段及白垩系的Kazhdumi组,主要储集于二叠系、侏罗系和白垩系中,受下三叠统Sudair组致密灰岩区域盖层、上侏罗统提塘阶Hith组硬石膏盖层和下—中新统下Fars组(Gachasaran组)蒸发岩系等封盖,在构造圈闭的环境下聚集成藏。区域上大气田主要分布于两个大区:前陆带和被动大陆边缘区,不同地区天然气富集的层系不同。天然气的分布主要受4个因素的控制,即烃源岩的有机质类型与热演化,储层有利的储集条件,优质的区域和直接盖层,以及侧向挤压、盐流动、基底断裂等构造因素。这些因素控制了天然气的分布区域和天然气聚集的层位。预测有利勘探区为:一是"老区"的构造型勘探目标;二是"老区"的非构造型勘探目标;三是"新区"的勘探目标。     

Natural Rumen‐Derived trans Fatty Acids Are Associated with Metabolic Markers of Cardiac Health

Evidence suggests that industrial trans fatty acids (iTFA) impair lipid profiles while ruminant trans fatty acids (rTFA) may lower insulin resistance and blood pressure. The objective of this article was to determine if the plasma phospholipid percentage of rTFA is associated with a favorable cardiometabolic profile. We collected fasting blood samples from 200 individuals from Quebec city (QC, Canada) aged from 18 to 55 years old, including 100 obese (BMI ≥ 30 kg m^?2) and 100 non‐obese (BMI < 30 kg m^?2) men and women. Fatty acid levels in plasma phospholipids were determined using gas chromatography. After separating the subjects into two groups, according to the median percentage of rTFA in plasma phospholipids, participants in the group with higher percentages of rTFA (0.86 ± 0.24 %) had higher adiponectin levels (p = 0.01) and a lower blood pressure (systolic, p = 0.005; diastolic, p = 0.04). In contrast, concentrations in plasma phospholipids of elaidic acid, a major iTFA, are positively correlated with glycemia in non‐obese subjects (p = 0.01) and with both triacylglycerol (TAG) (p = 0.0007) and total cholesterol (TC) (p = 0.009) in obese subjects. These data suggest that rTFA may have beneficial effects on cardiometabolic risk factors conversely to their counterpart iTFA. Dietary sources of TFA should be taken into account in future cardiometabolic studies.     

矿泉水水处理工艺研究

介绍了矿泉水生产中的几种水处理工艺，并提出了对这些工艺流程分析研究的结果。     

The effects of different cations on the physicochemical characteristics of casein micelles

Physicochemical characterisation of casein micelles suspended in milk ultrafiltrate and enriched with different cations (Fe, Cu, Ca, Zn and Mg) was investigated. After addition of 2.5–8.0 mmol kg⁻¹ of cations, associations of added cation, citrate, inorganic phosphate and calcium with casein micelles were observed. The order of association of cations with casein micelles was Fe³⁺ > Zn²⁺ > Ca²⁺ > Cu²⁺ > Mg²⁺. At the same time, the casein content increased in the casein micelles while the water content decreased. Changes in hydrophobicity and zeta potential of casein micelles were also determined while no variation in the average diameter was detected. In the presence of 8.0 mmol kg⁻¹ of magnesium or ferric iron, heat stability (115 °C for 30 min) of casein micelles was decreased. From these results, a mechanism of cation association with casein micelles is proposed, highlighting the determinant role of ultrafiltrable citrate and inorganic phosphate. This mechanism is discussed in relation to modifications in physicochemical characteristics of casein micelles.     

涡轮增压器叶轮超速预过载处理技术的研究(2)——超速预过载叶轮最佳超速转速研究

利用弹性及弹塑性有限元法分析了某一尺寸的叶轮超速转速与塑性变形区面积及最大应力之间的关系 ,以及超速转速与超速预过载处理后内孔最大残余变形量之间的关系 ,判定出超速预过载处理后的叶轮在工作状态下的应力大小及分布情况。总结了叶轮最佳超速转速的确定方法 ,以确定经有限元分析的实际叶轮的最佳超速转速。现场应用表明 ,所采用的叶轮最佳超速转速的确定方法是正确的。