Stability Analysis of Position Datum for Real-Time GPS/BDS/INS Positioning in a Platform System with Multiple Moving Devices

The rapid development of unmanned aerial vehicles (UAVs) in recent years has promoted their application in various fields, such as precise agriculture, formation flight, etc. In these applications, the accurate and reliable real-time position and attitude determination between each moving device in the same platform system are the key issue for safe and effective cooperative works. In traditional ways, static reference stations should be set up near the platform to keep the stable position datum of the platform system. In this paper, we abandoned the static stations and expected to achieve stable position datums with the platform system itself. To achieve this goal, we proposed an improved method based on both the Global Positioning System (GPS)/Beidou Navigation Satellite System (BDS) data and the inertial navigation system (INS) data to obtain precise positions of the moving devices. The time-differenced carrier phase (TDCP) was used to get the position variations and update the positions over time, and then, the INS data was integrated to further improve the accuracy and reliability of the updated positions; thus, this method is denoted as the TDCP/INS method. To evaluate the performance of this method and compare it with the traditional single-point positioning (SPP) method and the Kalman filtered SPP (KFSPP) method, a field vehicle experiment was conducted, and the position results achieved from these three methods were compared with those from the tightly combined real-time kinematic positioning (RTK)/INS method, where centimeter-level accuracy was obtained and regarded as the reference. The quantitative analysis where the position variations were evaluated and the qualitative analysis where the vehicle trajectories in three typical urban driving scenarios were discussed were both made for the three methods. The numerical results showed that the accuracy of the position variations from the SPP, KSPP, and TDCP methods was at the meter level, while that from the TDCP/INS method improved to the centimeter level, and the accuracies were 1.9 cm, 2.9 cm, and 3.1 cm in the east, north, and upward directions. The trajectory results also demonstrated a perfect consistency of the driving positions between the TDCP/INS method and the reference. As a contrast, the trajectories from the SPP and KFSPP methods had frequent jumps or sways when the vehicle drove along a large, curved road, turned at a crossroad, and passed under an urban viaduct.

Modern approaches to the implementation of the concept of sustainable development of inter-organizational cooperation of agricultural organizations

The stability of an economic entity, as a rule, is interpreted by the authors as an opportunity to achieve an acceptable level of economic security risks through the tools. This stable position is achieved by keeping the values of the indicators within the limits set for a particular member of the partnership and cooperation as a whole for a certain period. Sustainability in the framework of this study should be understood as the state of stability of the company over a certain period. The period is determined based on the specifics of the indicator. The interest of science among domestic and foreign authors is due to the specifics of the management mechanism of providing systems and achieving a stable position of large associations of economic units. The article discusses the concepts of system stability, approaches to understanding the stability of interorganizational formation, factors affecting system stability, the foundations of the mechanism for achieving stability in

The Atrioventricular Conduction Axis and its Implications for Permanent Pacing

Extensive knowledge of the anatomy of the atrioventricular conduction axis, and its branches, is key to the success of permanent physiological pacing, either by capturing the His bundle, the left bundle branch or the adjacent septal regions. The inter-individual variability of the axis plays an important role in underscoring the technical difficulties known to exist in achieving a stable position of the stimulating leads. In this review, the key anatomical features of the location of the axis relative to the triangle of Koch, the aortic root, the inferior pyramidal space and the inferoseptal recess are summarised. In keeping with the increasing number of implants aimed at targeting the environs of the left bundle branch, an extensive review of the known variability in the pattern of ramification of the left bundle branch from the axis is included. This permits the authors to summarise in a pragmatic fashion the most relevant aspects to be taken into account when seeking to successfully deploy a permanent pacing lead.

Methodology for managing the competitiveness of industrial enterprises in Russia

This article proposes an approach to improving methods of managing competitiveness in market conditions. Currently, in connection with the processes of modernization in the economy and changes in market conditions, there is a need to improve the approaches and methods of production management. Russian enterprises are faced with the emerging conditions of competition. The relevance of the article is due to the fact that today the issues of managing the competitiveness of an enterprise have not been sufficiently considered and requires an improved approach to the formation of new mechanisms for managing the competitiveness of enterprises, contributing to its increase and the acquisition of a stable position by the enterprise in the market, based on the development of new scientific methods and principles. The novelty of the article is in the concepts of developing an approach to managing the competitiveness of industrial enterprises, contributing to an increase in their level on the basis of a proposal for a management model based on diagnostics and forecasting of the state of the enterprise and its ability to compete.

Study of triclabendazole effects on Fasciola hepatica’s life-supporting organs, spines and suckers responsible for stable position of the parasite in the host

The purpose of the research is to study triclabendazole effects on the Fasciola’s life-supporting organs, spines and suckers which are responsible for stable position of the parasite in the host.Materials and methods. The study material was trematodes Fasciola hepatica (Linneus 1758, family Fasciolidae Railliet 1895), which were collected after the action of triclabendazole (fasinex) (chemically 5-chloro-6-(2,3-dichlorophenoxy)-2-methylthiobenzimidazole)on the 7th day after the drug administered at a single dose of 10 mg/kg for the Active Substance in the treatment of ovine fasciolosis. F. hepatica from untreated animals served as control. Mature F. hepatica collected after treatment with triclabendazole, and marita from the control groups were dehydrated in ascending alcohol series for 1–2 days after fixation; then passed through a mixture of chloroform and absolute alcohol (in a ratio of 1:1), and through pure chloroform in two portions for 10–15 minutes. The material was then soaked in a mushy mixture of chloroform and paraffin in a thermostat at 37 °C for 12–18 hours, and in paraffin in a thermostat at 56 °C for 30–45 minutes; and then embedded in paraffin with added wax. The resulting paraffin blocks were broken down into serial sections of 5–7 μm thick, then stained and examined under a light microscope.Results and discussion. Pathomicromorphological analysis of F. hepatica’s spines and suckers, organs that come into adhesive contact with the host organism revealed destructive changes in them after the action of triclabendazole. After the action of triclabendazole on fascioles, the spines look enlarged and swollen, and have a more rounded shape and some changes in color, absorbing eosin in greater concentration. The muscle fibers of the fascioles’ oral and abdominal suckers also look swollen after the action of triclabendazole. Although the musculature of the F. hepatica’s pharynx retained its structure, it has changes. It thickened sharply, which is clearly visible on the transverse and longitudinal sections of the helminths; neurosecretory cells are destroyed, and voids are observed in their place.

Susceptibility response of varieties and local populations of lupines to Bruchus rufimanus (Coleoptera: Chrysomelidae)

This study aimed to evaluate the susceptibility response of varieties and local populations of lupines to Bruchus rufimanus in multi-environment field tests. Seed damaged rate and susceptibility index were assessed in each environment and subjected to a heritability-adjusted genotype and genotype x environment biplot analysis. It was found that the susceptibility index of damaged seeds was positively related to precipitation amounts and humidity, and inversely to min and max temperatures. The seed damaged rate was positively related to temperatures but negatively to rain and humidity. The local polish population WAT and cultivars Pink Mutant, Solnechnii, and Bezimenii 1 had the lowest seed damaged rate and stable position across environments. Meanwhile, these cultivars showed a low susceptibility index and low variability. The discrepancy between the early phenological development of ‘Pink Mutant’, ‘Solnechnii’, and ‘Bezimenii 1’ and the life cycle of B. rufimanus was one of the reasons for manifested tolerance. Correlations between damaged seed and susceptibility index as well as the mass of 1000 seeds and sensitivity index were strongly positive and negative, respectively. ‘WAT’, ‘Pink Mutant’, ‘Solnechnii’, and ‘Bezimenii 1’ had a clear advantage in defending itself from B. rufimanus attack, which makes them particularly interesting for breeding purposes.

Analysis of Gross Regional Domestic Products that Influence the Economic Growth Of Batam City 2010 – 2020

Batam city which is one of the areas in Indonesia that has progressed quite rapidly, as a city located on the border between Singapore and Malaysia. Batam city has a lot of potential in developing its economy, one of which is in the industrial sector. Some of the objectives and reasons of the implementation of this research is as one of the sources of information in studying GDP from Batam, knowing how the economic growth of Batam city from year to year, and factors that affect the economic development of Batam City. In the period of 10 years, from 2010 to 2020, the growth rate of Batam city GDP is in a fairly stable position despite a slight decrease. The result of Batam GDP city every year is quite influential to the economy of batam city this can be seen from the growth rate of GDP every year although the average is below 5% but can bring significant changes to Batam.

Stabilizing Technique for Bridging Stent Placement in Branched Endovascular Aortic Repair

Purpose To present a bailout technique for bridging covered stent placement during branched endovascular aortic repair (BEVAR) in complex anatomy. Technique BEVAR is an alternative technique for the treatment of thoracoabdominal aortic aneurysms (TAAAs). Visceral and renal vessels must be preserved by bridging covered stent placement through downward-oriented branches of the main stent graft device. Challenging anatomy such as kinking and elongation of the aorta, or type III aortic arch configuration may impede successful catheterization of these branches due to reduced steerability and pushability of the endovascular material. Different alternative techniques have been described to overcome these anatomic barriers. This technical note adds another endovascular solution to complex cases using the guiding sheath stabilizing technique. It is based on a standard “through-and-through” technique. An attached snare is inserted via femoral approach, providing a stable position for branch catheterization and bridging covered stent deployment. Conclusion The stabilizing technique is safe and easy to perform and provides a stable position of the guiding sheath when antegrade branch catheterization is challenging. This technique is an additional tool for handling challenging cases.

Kajian Peningkatan Sumber Daya Manusia Bidang Pemasaran Batik Jambi (Studi Kasus: Pengrajin Batik Jambi CV. Kreasi Batik Asmah)

The uniqueness of Jambi Batik can be seen from the type of batik patterned with Arabic calligraphy and fabric edges that adopted Chinese culture. To encourage the success of the batik business in Jambi, entrepreneurs must manage their human resources. This study aims to determine the management of human resources at CV. Kreasi Asmah Batik, located across the city of Jambi. This study uses a qualitative method with a SWOT analysis (Strengths, Weaknesses, Threats and Opportunities). The results showed that: 1) The factors that became the strength of CV. Batik Kreasi Asmah are good quality products, good batik techniques, specialization of unique motifs that are its own uniqueness. 2) Factors that can be used as opportunities for CV. Batik Kreasi Asmah are the increasing purchasing power and interest in batik products. 3) The most threatening factor in CV. Batik Kreasi Asmah are the increasing number of similar businesses with large capital originating from outside the province of Jambi and even produced in Java and resold in Jambi. 4) CV. Batik Kreasi Asmah are in a stable position in the attractiveness of the middle market and middle class market competition.