In-Motion Initial Alignment Method for LDV-Aided SINS Based on Adaptive Unscented Quaternion H-infinite Filter

With the advantages of high velocity measurement accuracy and fast dynamic response, the laser Doppler velocimeter (LDV) is expected to replace the odometer (OD) to be combined with a strapdown inertial navigation system (SINS) to form a higher precision integrated navigation system. Since LDV has higher velocity measurement accuracy and data update frequency than OD and Doppler velocity log, LDV is used for the first time to aid SINS in in-motion alignment in this paper. Considering that some approximation used in the alignment model, the uncertainty noise of the sensors during the motion process and the unknown noise parameters during the filter process, an adaptive unscented quaternion H-infinite estimator (AUSQUHE) is proposed in this paper. The proposed AUSQUHE method has high robustness since it combines the advantages of unscented quaternion estimator and H-infinite filter. And the adaptive threshold of H-infinite filter and the adaptive measurement noise covariance matrix are introduced to make the filter adapt to the environment change and accelerate the convergence of errors. The performance of the proposed method is verified by a vehicle field test with normal LDV signal and a vehicle test with LDV signal disturbed by the noise. The results show that the proposed method has higher alignment accuracy, faster convergence speed and stronger robustness than four other compared methods.

Perencanaan Instalasi Pengolahan Limbah Cair Rumah Sakit Aliyah 3 Kota Kendari

The purpose of this study was to determine the amount of liquid waste discharge at the hospital. Data from the number of hospital patient beds is 54 beds, so the activities taking place in Aliyah Hospital 3 in Kendari city produces a maximum discharge of liquid waste of 3.78/day. The form and design of processing liquid waste which is a rectangle with anaerobic- aerobic bio filter treatment system. Liquid waste processing with anaerobic-aerobic bio filter process consists of several parts namely the oil separator tank, equalization tank, early settling tank, anaerobic bio filter tank, aerobic bio filter tank, final settling tank and equipped with a chlorinated contractor tub. As for the size of each tank, which is like an oil separator tank (0,9 m × 0,5 m × 0,7 m), equalization tank (2,6 m × 1,3 m × 1,1 m), early settling tank (1,6 m × 0,8 m × 0,9 m), anaerobic bio filter tank (2,5 m × 1,3 m × 1,4 m), aerobic bio filter tank (1,8 m × 1 m × 1 m), final settling tank (1,8 m × 0,7 m × 0,7 m) and chlorinated tank (0,6 m × 0,3 m × 0,4 m). This process system was chosen because it is in accordance with the amount of liquid waste treatment system is safe, inexpensive and easy to operate.

Near Infrared Sensor to Determine Carbon Dioxide Gas Based on Ionic Liquid

In this study we present an NIR carbon dioxide gas sensor based on an inner filter process that includes an ionic liquid (IL), 1-ethyl-3-methylimidazolium tetrafluoroborate (EMIMBF4), to improve its stability, dynamic behavior and lifetime, which are usually the main drawbacks with these sensors. The presence of CO2 causes a displacement of a simple boron-dipyrromethene-type fluorophore, azaBODIPY, as the pH indicator towards its acid form. This increases the emission intensity of Cr(III)-doped gadolinium aluminium borate (GAB) as the luminophore. The characterization of the prepared sensor was carried out and a discussion of the results is presented. The response and recovery times improved considerably, 23 and 49 s, respectively, with respect to the sensor without IL, at 60 and 120 s, respectively,. Additionally, the measurement range is extended when using IL, able in this case to measure in the complete range up to 100% CO2; without IL the measurement range is limited to 60% CO2. The detection limit ranges from 0.57% CO2 without IL to 0.26% CO2 when IL is added. The useful lifetime of the sensing membrane was 20 days for membranes with IL and only 6 days for membranes without IL, with the sensor always kept in the dark and without the need to maintain a special atmosphere.

Teknologi saringan air berbahan pasir kerubung di Pondok Pesantren Tarbiyah Islamiyah Singkawang

<span class="ShortAbstract"><em><span lang="EN-US">The purpose of service programs was designed for water filter by using kerubung sand. The method of designing the water purification was literature study on the specifics articles that related to the simple water purification process with the slow water filter method. The development of the filter method by the service team using the kerubung sand. The service teams’ considerations in choosing local materials as the main component as water purification because it was easy to get, less price event some things can be obtained for free because they were available in the wild, or it can be made easily. The results of the water purification design by using the slow water method with kerubung sand had been proportion of 15: 4: 4: 1 with the </span></em></span><span class="ShortAbstract"><em><span lang="EN-US">types of materials were kerubung sand, zeolite sand, the palm fiber, and activated</span></em></span><span class="ShortAbstract"><em><span lang="EN-US"> carbon, respectively. It is hoped that the successful creation of the water purification design composition of the slow water method using kerubung sand will make the quality of water produced from the filter process better than before. The addition output of this service program was the publication of copyright certificate of the manual book for slow water purification method. The conclusion that can be concluded from this design process was that the use of kerubung sand as a filter media is alleged to be a solution for filtering well water at the location of PKM partners</span></em></span>

Performance Comparison of Weak Filtering in HEVC and VVC

This study describes the need to improve the weak filtering method for the in-loop filter process used identically in versatile video coding (VVC) and high efficiency video coding (HEVC). The weak filtering process used by VVC has been adopted and maintained since Draft Four during H.265/advanced video coding (AVC) standardization. Because the encoding process in the video codec utilizes block structural units, deblocking filters are essential. However, as many of the deblocking filters require a complex calculation process, it is necessary to ensure that they have a reasonable effect. This study evaluated the performance of the weak filtering portion of the VVC and confirmed that it is not functioning effectively, unlike its performance in the HEVC. The method of excluding the whole of weak filtering from VVC, which is a non-weak filtering method, should be considered in VVC standardization. In experimental result in this study, the non-weak filtering method brings 0.40 Y-Bjontegaard-Delta Bit-Rate (BDBR) gain over VVC Test Model (VTM) 6.0.

Adaptive Kalman filtering-based pedestrian navigation algorithm for smartphones

Pedestrian navigation with daily smart devices has become a vital issue over the past few years and the accurate heading estimation plays an essential role in it. Compared to the pedestrian dead reckoning (PDR) based solutions, this article constructs a scalable error model based on the inertial navigation system and proposes an adaptive heading estimation algorithm with a novel method of relative static magnetic field detection. To mitigate the impact of magnetic fluctuation, the proposed algorithm applies a two-way Kalman filter process. Firstly, it achieves the historical states with the optimal smoothing algorithm. Secondly, it adjusts the noise parameters adaptively to reestimate current attitudes. Different from the pedestrian dead reckoning-based solution, the error model system in this article contains more state information, which means it is more sensitive and scalable. Moreover, several experiments were conducted, and the experimental results demonstrate that the proposed heading estimation algorithm obtains better performance than previous approaches and our system outperforms the PDR system in terms of flexibility and accuracy.

PENGHILANGAN SWELL NOISE DAN LINIER NOISE PADA DATA SEISMIK 2D MARINE HIGH RESOLUTION PADA LINTASAN “AF” MENGGUNAKAN METODE SWNA, F-K FILTER DAN TAU-P TRANSFORM

Research have been done about noise removal caused by environment (swell noise) and linear noise on high frequency 2D seismic data on line “AF” using swell noise attenuation (SWNA) method, f-k filter and tau-p transformation. Based on obtained result, swell noise succeed removed from data using velocity limited filter that is 1000 m/s on frequency 25 Hz applied to swell noise attenuation process. Applied SWNA data, then created input f-k filter process. In f-k filter process, used polygon design having a minimum frequency limit around 5 Hz maximum high frequency around 450 Hz. The results f-k filter giving a good output with linear noise removal to time 1500 ms. F-k filter output obtained, then processed again using tau-p transformation method. Application of tau-p transformation transformed data into (τ-p) domain. Transformed data on (τ-p) domain, linear noise made on moveout 600 ms. Then the data muted using surgical mute. Based on obtained result, tau-p result can removing linear noise on data. Linear noise removed dominating on time 1500 ms-2500 ms. That matter caused by linear noise on time 0-1500 ms succeed removed using previous process. After the method succesfully applied , data processing continued doing the stack and migration process. Applied migration is postack kirchoff time migration, migration do with migration angel around 300 and aperture around 600 m.