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| 1 | Rupture behavior and deformation localization of the Kunlunshan earthquake (M_w7.8) and their tectonic implications显示文摘Earthquake surface rupture is the result of transformation from crustal elastic strain accumulation to permanent tectonic deformation. The surface rupture zone produced by the 2001 Kunlunshan earth- quake (Mw7.8) on the Kusaihu segment of the Kunlun fault extends over 426 km. It consists of three relatively independent surface rupture sections: the western strike-slip section, the middle transten- sional section and the eastern strike-slip section. Hence this implies that the Kunlunshan earthquake is composed of three earthquake rupturing events, i.e. the Mw=6.8, Mw=6.2 and Mw≤7.8 events, respec- tively. The Mw≤7.8 earthquake, along the eastern section, is the main shock of the Kunlunshan earth- quake, further decomposed into four rupturing subevents. Field measurements indicate that the width of a single surface break on different sections ranges from several meters to 15 m, with a maximum value of less than 30 m. The width of the surface rupture zone that consists of en echelon breaks de- pends on its geometric structures, especially the stepover width of the secondary surface rupture zones in en echelon, displaying a basic feature of deformation localization. Consistency between the Quaternary geologic slip rate, the GPS-monitored strain rate and the localization of the surface rup- tures of the 2001 Kunlunshan earthquake may indicate that the tectonic deformation between the Ba- yan Har block and Qilian-Qaidam block in the northern Tibetan Plateau is characterized by strike-slip faulting along the limited width of the Kunlun fault, while the blocks themselves on both sides of the Kunlun fault are characterized by block motion. The localization of earthquake surface rupture zone is of great significance to determine the width of the fault-surface-rupture hazard zone, along which direct destruction will be caused by co-seismic surface rupturing along a strike-slip fault, that should be considered before the major engineering project, residental buildings and life line construction. | KLINGER Yann TAPPONNIER Paul | 2008 | Science China Earth Sciences2008，51，10： | 15 |
| 2 | On Improved DV-Hop Localization Algorithm for Accurate Node Localization in Wireless Sensor Networks显示文摘Node Localization is a fundamental issue for many critical applications in Wireless sensor networks(WSNs). Traditional DV-Hop localization algorithm and corresponding improved ones still cannot provide sufficient localization accuracy in such WSNs. To ensure accurate localization, this paper proposes an improved Distancevector-Hop(DV-Hop) localization algorithm. Under such an algorithm, we determine a corrected average hopdistance of beacon nodes by employing the differences between actual and estimated distance among beacon nodes in WSNs. We propose a probability information based selective strategy for the selection of beacon nodes.Based on these selected beacon nodes, we adopt a two dimensional hyperbolic function to predict the locations of unknown nodes. Simulation results are provided to illustrate the localization accuracy of our algorithm compared with traditional DV-Hop algorithm and its two improved algorithms in WSNs. | SHEN Shikai YANG Bin QIAN Kaiguo SHE Yumei WANG Wu | 2019 | Chinese Journal of Electronics2019，28，3： | 15 |
| 3 | OsBRXL4 Regulates Shoot Gravitropism and Rice Tiller Angle through Affecting LAZY1 Nuclear Localization显示文摘Rice tiller angle is a key agronomic trait that contributes to ideal plant architecture and grain production.LAZY1 (LA1) was previously shown to control tiller angle via affecting shoot gravitropism,but the underlying molecular mechanism remains largely unknown.In this study,we identified an LA1-interacting protein named Brevis Radix Like 4 (OsBRXL4).We showed that the interaction between OsBRXL4 and LA1 occurs at the plasma membrane and that their interaction determines nuclear localization of LA1.We found that nuclear localization of LA1 is essential for its function,which is different from AtLA1,its Arabidopsis ortho.log.Overexpression of OsBRXL4 leads to a prostrate growth phenotype,whereas OsBRXLs RNAi plants,in which the expression levels of OsBRXLI,OsBRXL4,and OsBRXL5 were decreased,display a compact phenotype.Further genetic analysis also supported that OsBRXL4 controls rice tiller angle by affecting nuclear localization of LA1.Consistently,we demonstrated that OsBRXL4 regulates the shoot gravitropism through affecting polar auxin transport as did LA1.Taken together,our study not only identifies OsBRXL4 as a regulatory component of rice tiller angle but also provides new insights into genetic regulation of rice plant architecture. | Zhen Li Yan Liang Yundong Yuan Lei Wang Xiangbing Meng Guosheng Xiong Jie Zhou Yueyue Cai Ningpei Han Lekai Hua Guifu Liu Jiayang Li Yonghong Wang | 2019 | Molecular Plant2019，12，8： | 12 |
| 4 | Anchor Self-Localization Algorithm Based on UWB Ranging and Inertial Measurements显示文摘Localization systems utilizing Ultra-WideBand(UWB) have been widely used in dense urban and indoor environments. A moving UWB tag can be located by ranging to fixed UWB anchors whose positions are surveyed in advance. However, manually surveying the anchors is typically a dull and time-consuming process and prone to artificial errors. In this paper, we present an accurate and easy-to-use method for UWB anchor self-localization,using the UWB ranging measurements and readings from a low-cost Inertial Measurement Unit(IMU). The locations of the anchors are automatically estimated by freely moving the tag in the environment. The method is inspired by the Simultaneous Localization And Mapping(SLAM) technique used by the robotics community. A tightly-coupled Error-State Kalman Filter(ESKF) is utilized to fuse UWB and inertial measurements, producing UWB anchor position estimates and six Degrees of Freedom(6 DoF) tag pose estimates. Simulated experiments demonstrate that our proposed method enables accurate self-localization for UWB anchors and smooth tracking of the tag. | Qin Shi Sihao Zhao Xiaowei Cui Mingquan Lu Mengdi Jia | 2019 | Tsinghua Science and Technology2019，24，6： | 11 |
| 5 | Expression and subcellular localization of mechano-growth factor in osteoblasts under mechanical stretch显示文摘Mechano-growth factor (MGF) is a stretch sensitive factor in myocytes, and it might also be produced by other mechanocytes under mechanical stimulation. In this study, both the mRNA and protein expression of MGF were detected in stretched osteoblasts. Quantitative analysis showed that a cyclic stretching stimulation caused a quick and sharp increase of MGF mRNA and protein expression from a low basal level under no stretch; the mRNA and protein levels respectively peaked in 6 and 12 h to 5 and 5.2 fold over the basal level and returned to normal by 24 h. The subcellular distribution of MGF protein was revealed by immunofluorescence analysis to be restricted to the nucleus. We concluded that cyclic stretching stimulation could induce MGF expression in osteoblasts in a pulsing fashion; and the nuclear distribution of MGF suggested that MGF might act in mechanocytes as an autocrine growth factor. | ZHANG BingBing, XIAN ChengYu, LUO YanFeng & WANG YuanLiang Research Center of Bioinspired Materials Science and Engineering, Bioengineering College, Chongqing University, Chongqing 400030, China | 2009 | Science China(Life Sciences)2009，52，10： | 10 |
| 6 | A Localization Algorithm Using a Mobile Anchor Node Based on Region Determination in Underwater Wireless Sensor Networks显示文摘At present, most underwater positioning algorithms improve the positioning accuracy by increasing the number of anchor nodes which resulting in the increasing energy consumption. To solve this problem, the paper proposes a localization algorithm assisted by mobile anchor node and based on region determination(LMRD), which not only improves the positioning accuracy of nodes positioning but also reduces the energy consumption. This algorithm is divided into two stages: region determination stage and location positioning stage. In the region determination stage, the target region is divided into several sub-regions by the region division strategy with the smallest overlap rate which can reduce the number of virtual anchor nodes and lock the target node to a sub-region, and then through the planning of mobile nodes to optimize the travel path, reduce the moving distance, and reduce system energy consumption. In the location positioning stage, the target node location can be calculated using the HILBERT path planning and trilateration. The simulation results show that the proposed algorithm can improve the positioning accuracy when the energy consumption is reduced. | XU Tingting WANG Jingjing SHI Wei WANG Jianfeng CHEN Zhe | 2019 | Journal of Ocean University of China2019，18，2： | 8 |
| 7 | A two-step weighted least-squares method for joint estimation of source and sensor locations: A general framework显示文摘It is well known that the Two-step Weighted Least-Squares(TWLS) is a widely used method for source localization and sensor position refinement. For this reason, we propose a unified framework of the TWLS method for joint estimation of multiple disjoint sources and sensor locations in this paper. Unlike some existing works, the presented method is based on more general measurement model, and therefore it can be applied to many different localization scenarios.Besides, it does not have the initialization and local convergence problem. The closed-form expression for the covariance matrix of the proposed TWLS estimator is also derived by exploiting the first-order perturbation analysis. Moreover, the estimation accuracy of the TWLS method is shown analytically to achieve the Cramér-Rao Bound(CRB) before the threshold effect takes place. The theoretical analysis is also performed in a common mathematical framework, rather than aiming at some specific signal metrics. Finally, two numerical experiments are performed to support the theoretical development in this paper. | Ding WANG Jiexin YIN Tao TANG Ruirui LIU Zhidong WU | 2019 | Chinese Journal of Aeronautics2019，32，2： | 8 |
| 8 | Identification and characterization of a novel bipartite nuclear localization signal in the hepatitis B virus polymerase显示文摘AIM:To characterize the nuclear import of hepatitis B virus(HBV)polymerase(P)and its relevance for the viral life cycle.METHODS:Sequence analysis was performed to predict functional motives within P.Phosphorylation of P was analyzed by in vitro phosphorylation.Phosphorylation site and nuclear localization signal(NLS)were destroyed by site directed mutagenesis.Functionality of the identified NLS was analyzed by confocal fluorescence microscopy and characterizing the karyopherin binding.Relevance of the structural motives for viral life cycle was studied by infection of primary Tupaia hepatocytes with HBV.RESULTS:We identified by sequence alignment and functional experiments a conserved bipartite NLS containing a casein kinaseⅡ(CKⅡ)phosphorylation site located within the terminal protein domain(TP)of the HBV polymerase.Inhibition of CKⅡimpairs the functionality of this NLS and thereby prevents the nuclear import of the polymerase.Binding of the import factor karyopherin-α2 to the polymerase depends on its CKⅡ-mediated phosphorylation of the bipartite NLS.In HBV-infected primary Tupaia hepatocytes CKⅡinhibition in the early phase(post entry phase)of the infection process prevents the establishment of the infection.CONCLUSION:Based on these data it is suggested that during HBV infection the final import of the genome complex into the nucleus is mediated by a novel bipartite NLS localized in the TP domain of HBV polymerase. | Joachim Lupberger Stephanie Schaedler Alexander Peiran Eberhard Hildt | 2013 | World Journal of Gastroenterology2013，19，44： | 8 |
| 9 | Physiological roles of mitogen-activated-protein-kinase-activated p38-regulated/activated protein kinase显示文摘Mitogen-activated protein kinases(MAPKs)are a family of proteins that constitute signaling pathways involved in processes that control gene expression,cell division, cell survival,apoptosis,metabolism,differentiation and motility.The MAPK pathways can be divided into conventional and atypical MAPK pathways.The first group converts a signal into a cellular response through a relay of three consecutive phosphorylation events exerted by MAPK kinase kinases,MAPK kinase,and MAPK.Atypical MAPK pathways are not organized into this three-tiered cascade.MAPK that belongs to both conventional and atypical MAPK pathways can phosphorylate both non-protein kinase substrates and other protein kinases.The latter are referred to as MAPK-activated protein kinases.This review focuses on one such MAPK-activated protein kinase,MAPK-activated protein kinase 5(MK5)or p38-regulated/activated protein kinase(PRAK).This protein is highly conserved throughout the animal kingdom and seems to be the target of both conventional and atypical MAPK pathways.Recent findings on the regulation of the activity and subcellular localization,bona fide interaction partners and physiological roles of MK5/PRAK are discussed. | Sergiy Kostenko Gianina Dumitriu Kari Jenssen Lgreid Ugo Moens | 2011 | World Journal of Biological Chemistry2011，2，5： | 8 |
| 10 | Precise localization of small pulmonary nodules using Pre-VATS with Xper-CT in combination with real-time fluoroscopy-guided coil:report of 15 patients显示文摘Purpose: This study aimed to evaluate the value of precise localization of nodules using pre-video-assisted thoracic surgery(VATS) Xper–CT in combination with real-time fluoroscopy-guided coil in the resection of pulmonary nodules using VATS. Materials and Methods: Precise localization of nodules using Xper-CT in combination with real-time fluoroscopy-guided coil and wedge resection using VATS were conducted on 15 patients with 17 small pulmonary nodules(diameter 0.5–1.5 cm) from April 2015 to January 2016. The value of localization was evaluated in terms of procedure time, type of coils, associated complications of localization, and VATS success rate. Results: The success rate of coil localization was found to be 100% in the primary stage(as shown by the CT scan), and the average procedure time was 30–45 min(35.6 ± 3.05 min). No deaths or major complications occurred. Minor complications included five incidents of pneumothorax(the morbidity was 29.4%, 5/17; no patient required chest tube drainage). The dislocation of coil was found in one patient. The results of pathological examination of 17 small pulmonary nodules revealed 11 primary lung cancers, 1 mesenchymal tumor, 3 nonspecific chronic inflammations, 1 hamartoma, and 1 tuberculosis. Two patients with primary lung cancer underwent lobectomy with mediastinal lymph node dissection. Conclusion: The preoperative precise localization of small pulmonary nodules using Xper-CT-guided coil is an effective and safe technique. It helps in the resection of nodules using VATS. It increases the rate of lung wedge resection with few complications and allows for proper diagnosis with a low thoracotomy conversion rate. | Jiemin Cheng Changyu Li Liangwen Wang Jiting Liang Zhiping Yan Jiani Hu Huibing Shi | 2018 | Journal of Interventional Medicine2018，1，2： | 8 |
| 11 | An Improved DV-Hop Localization Algorithm Based on Hop Distances Correction显示文摘DV-Hop localization algorithm has greater localization error which estimates distance from an unknown node to the different anchor nodes by using estimated average size of a hop to achieve the location of the unknown node.So an improved DV-Hop localization algorithm based on correctional average size of a hop,HDCDV-Hop algorithm,is proposed.The improved algorithm corrects the estimated distance between the unknown node and different anchor nodes based on fractional hop count information and relatively accurate coordinates of the anchor nodes information,and it uses the improved Differential Evolution algorithm to get the estimate location of unknown nodes so as to further reduce the localization error.Simulation results show that our proposed algorithm have lower localization error and higher localization accuracy compared with the original DV-Hop algorithm and other classical improved algorithms. | Guiqi Liu Zhihong Qian Xue Wang | 2019 | China Communications2019，16，6： | 8 |
| 12 | Convolutional Neural Networks Based Indoor Wi-Fi Localization with a Novel Kind of CSI Images显示文摘Indoor Wi-Fi localization of mobile devices plays a more and more important role along with the rapid growth of location-based services and Wi-Fi mobile devices.In this paper,a new method of constructing the channel state information(CSI)image is proposed to improve the localization accuracy.Compared with previous methods of constructing the CSI image,the new kind of CSI image proposed is able to contain more channel information such as the angle of arrival(AoA),the time of arrival(TOA)and the amplitude.We construct three gray images by using phase differences of different antennas and amplitudes of different subcarriers of one antenna,and then merge them to form one RGB image.The localization method has off-line stage and on-line stage.In the off-line stage,the composed three-channel RGB images at training locations are used to train a convolutional neural network(CNN)which has been proved to be efficient in image recognition.In the on-line stage,images at test locations are fed to the well-trained CNN model and the localization result is the weighted mean value with highest output values.The performance of the proposed method is verified with extensive experiments in the representative indoor environment. | Haihan Li Xiangsheng Zeng Yunzhou Li Shidong Zhou Jing Wang | 2019 | China Communications2019，16，9： | 7 |
| 13 | colorectal 损害的内视镜的纹身: 它是一个无风险的过程吗?显示文摘 Endoscopic tattooing is one of the most useful tools for the localization of small colorectal lesions especially in the laparoscopic setting.This is a minimally invasive endoscopic procedure without risk of major complications.However,many studies have revealed complications resulting from this procedure.In this article,several topics are reviewed including the accuracy,substance preparation,injected techniques and complications related to this procedure. | Atthaphorn Trakarnsanga Thawatchai Akaraviputh | 2011 | World Journal of Gastrointestinal Endoscopy2011，3，12： | 7 |
| 14 | A Mobile Localization Strategy for Wireless Sensor Network in NLOS Conditions显示文摘The problem of mobile localization for wireless sensor network has attracted considerable attention in recent years. The localization accuracy will drastically grade in non-line of sight(NLOS) conditions. In this paper, we propose a mobile localization strategy based on Kalman filter. The key technologies for the proposed method are the NLOS identification and mitigation. The proposed method does not need the prior knowledge of the NLOS error and it is independent of the physical measurement ways. Simulation results show that the proposed method owns the higher localization accuracy when compared with other methods. | Long Cheng Yan Wang Xingming Sun Nan Hu Jian Zhang | 2016 | China Communications2016，13，10： | 7 |
| 15 | Mutations of beta-amyloid precursor protein alter the consequence of Alzheimer's disease pathogenesis显示文摘Alzheimer's disease is pathologically defined by accumulation of extracellular amyloid-β(Aβ). Approximately 25 mutations in β-amyloid precursor protein(APP) are pathogenic and cause autosomal dominant Alzheimer's disease. To date, the mechanism underlying the effect of APP mutation on Aβ generation is unclear. Therefore, investigating the mechanism of APP mutation on Alzheimer's disease may help understanding of disease pathogenesis. Thus, APP mutations(A673T, A673 V, E682 K, E693 G, and E693Q) were transiently co-transfected into human embryonic kidney cells. Western blot assay was used to detect expression levels of APP, beta-secretase 1, and presenilin 1 in cells. Enzyme-linked immunosorbent assay was performed to determine Aβ_(1–40) and Aβ_(1–42) levels. Liquid chromatography-tandem mass chromatography was used to examine VVIAT, FLF, ITL, VIV, IAT, VIT, TVI, and VVIA peptide levels. Immunofluorescence staining was performed to measure APP and early endosome antigen 1 immunoreactivity. Our results show that the protective A673 T mutation decreases Aβ_(42)/Aβ_(40) rate by downregulating IAT and upregulating VVIA levels. Pathogenic A673 V, E682 K, and E693 Q mutations promote Aβ_(42)/Aβ_(40) rate by increasing levels of CTF99, Aβ_(42), Aβ_(40), and IAT, and decreasing VVIA levels. Pathogenic E693 G mutation shows no significant change in Aβ_(42)/Aβ_(40) ratio because of inhibition of γ-secretase activity. APP mutations can change location from the cell surface to early endosomes. Our findings confirm that certain APP mutations accelerate Aβ generation by affecting the long Aβ cleavage pathway and increasing Aβ_(42/40) rate, thereby resulting in Alzheimer's disease. | Nuo-Min Li Ke-Fu Liu Yun-Jie Qiu Huan-Huan Zhang Hiroshi Nakanishi Hong Qing | 2019 | Neural Regeneration Research2019，14，4： | 7 |
| 16 | 汉语教材需要本土化吗显示文摘教材本土化,有人说要,有人说不要。前者国外多;后者国内多,且多以英语教材为例。本土化的含义是:教材要考虑、反映学习者所在国情况(如社会制度、文化习俗、思维模式、母语特点等),要依据学习特点、难点设计教学点与顺序、教学方式、练习等,以改善效果,减少冲突,适合外语在当地的教(jiāo)和学。相关概念有:国别化(country-specifi c)、族别化(nationality-specifi c)、语别化(language-specifi c)和本地化(localization)。 | 周小兵 | 2014 | 国际汉语教学研究2014，0，1： | 7 |
| 17 | Privacy Preserving Solution for the Asynchronous Localization of Underwater Sensor Networks显示文摘Location estimation of underwater sensor networks(USNs)has become a critical technology,due to its fundamental role in the sensing,communication and control of ocean volume.However,the asynchronous clock,security attack and mobility characteristics of underwater environment make localization much more challenging as compared with terrestrial sensor networks.This paper is concerned with a privacy-preserving asynchronous localization issue for USNs.Particularly,a hybrid network architecture that includes surface buoys,anchor nodes,active sensor nodes and ordinary sensor nodes is constructed.Then,an asynchronous localization protocol is provided,through which two privacy-preserving localization algorithms are designed to estimate the locations of active and ordinary sensor nodes.It is worth mentioning that,the proposed localization algorithms reveal disguised positions to the network,while they do not adopt any homomorphic encryption technique.More importantly,they can eliminate the effect of asynchronous clock,i.e.,clock skew and offset.The performance analyses for the privacy-preserving asynchronous localization algorithms are also presented.Finally,simulation and experiment results reveal that the proposed localization approach can avoid the leakage of position information,while the location accuracy can be significantly enhanced as compared with the other works. | Haiyan Zhao Jing Yan Xiaoyuan Luo Xinping Guan | 2020 | IEEE/CAA Journal of Automatica Sinica2020，7，6： | 6 |
| 18 | Current status of ultrasound-guided surgery in the treatment of breast cancer显示文摘The primary goal of breast-conserving surgery(BCS) is to obtain tumour-free resection margins. Margins positive or focally positive for tumour cells are associated with a high risk of local recurrence, and in the case of tumour-positive margins, re-excision or even mastectomy are sometimes needed to achieve definite clear margins. Unfortunately, tumour-involved margins and re-excisions after lumpectomy are still reported in up to 40% of patients and additionally, unnecessary large excision volumes are described. A secondary goal of BCS is the cosmetic outcome and one of the main determinants of worse cosmetic outcome is a large excision volume. Up to 30% of unsatisfied cosm-etic outcome is reported. Therefore, the search for better surgical techniques to improve margin status, excision volume and consequently, cosmetic outcome has continued. Nowadays, the most commonly used localization methods for BCS of non-palpable breast cancers are wire-guided localization(WGL) and radioguided localization(RGL). WGL and RGL are invasive procedures that need to be performed pre-operatively with technical and scheduling difficulties. For palpable breast cancer, tumour excision is usually guided by tactile skills of the surgeon performing 'blind' surgery. One of the surgical techniques pursuing the aims of radicality and small excision volumes includes intraoperative ultrasound(IOUS). The best evidence available demonstrates benefits of IOUS with a significantly high proportion of negative margins compared with other localization techniques in palpable and non-palpable breast cancer. Additionally, IOUS is non-invasive, easy to learn and can centralize the tumour in the excised specimen with low amount of healthy breast tissuebeing excised. This could lead to better cosmetic results of BCS. Despite the advantages of IOUS, only a small amount of surgeons are performing this technique. This review aims to highlight the position of ultrasoundguided surgery for malignant breast tumours in the search for better oncological and cosmetic outcomes. | José H Volders Max H Haloua Nicole MA Krekel Sybren Meijer Petrousjka M van den Tol | 2016 | World Journal of Clinical Oncology2016，7，1： | 6 |
| 19 | A transient expression system in soybean mesophyll protoplasts reveals the formation of cytoplasmic GmCRY1 photobody-like structures显示文摘Soybean(Glycine max(L.) Merr.), grown for its plant oils and proteins, is one of the most important crops throughout the world.Generating stable and heritable transgenic soybeans is relatively inefficient;therefore, there is an urgent need for a simple and high-efficient transient transformation method by which to enable the investigation of gene functions in soybeans, which will facilitate the elucidation and improvement of the molecular mechanisms regulating the associated agronomic traits. We established a system of transient expression in soybean mesophyll protoplasts and obtained a high level of protoplast transfection efficiency(up to 83.5%). The subcellular activity of the protoplasts was well preserved, as demonstrated by the dynamic formation of GmCRY nucleus photobodies(NPs) and/or cytoplasmic photobody-like structures(CPs) in response to blue light.In addition, we showed that GmCRY1b CPs colocalized with GmCOP1b, a co-ortholog of Arabidopsis thaliana CONSTITUTIVE PHOTOMORPHOGENIC 1(COP1), which provided new insight into the potential roles of GmCRY1s in the cytoplasm. | Lu Xiong Cong Li Hongyu Li Xiangguang Lyu Tao Zhao Jun Liu Zecheng Zuo Bin Liu | 2019 | Science China(Life Sciences)2019，62，8： | 6 |
| 20 | 一种基于增广EKF的移动机器人SLAM方法显示文摘针对移动机器人同步定位与地图构建(SLAM)过程中系统测程法误差累积问题,采用测程法误差模型和车轮速度误差模型的映像关系,结合增广扩展卡尔曼滤波(AEKF)算法结构和实际机器人模型,提出了一种有效提高定位精度的SLAM方法。将机器人速度校正参数附加到卡尔曼滤波算法的向量空间中,以形成增广状态空间,同时预测和更新了SLAM初始状态空间和速度校正参数,笔者在线实时修正机器人的速度和航向角,避免积累航向角误差,从而降低了测程法误差。基于均方根误差和归一化估计方差进行了仿真实验分析,研究结果表明:与EKF-SLAM相比,所提出的方法具有更好的估计性能,使算法保持良好的一致性,大幅度提高了机器人自身定位精度和路标估计准确度。 | 肖雄 李旦 陈锡锻 李刚 | 2014 | 机电工程2014，31，1： | 6 |
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