RESUMO
Cooperative localization (CL) of underwater multi-AUVs is vital for numerous underwater operations. Single-transponder-aided cooperative localization (STCL) is regarded as a promising scheme for multi-AUVs CL, benefiting from the fact that an accurate reference is adopted. To improve the positioning accuracy and robustness of STCL, a novel Factor Graph and Cubature Kalman Filter (FGCKF)-integrated algorithm is proposed in this paper. In the proposed FGCKF, historical information can be efficiently used in measurement updating to overcome uncertain observation environments, which greatly helps to improve the performance of filtering progress. Furthermore, Adaptive CKF, sum product, and Maximum Correntropy Criterion (MCC) methods are designed to deal with outliers of acoustic transmission delay, sound velocity, and motion velocity, respectively. Simulations and experiments are conducted, and it is verified that the proposed FGCKF algorithm can improve positioning accuracy and robustness greatly than traditional filtering methods.
RESUMO
Using rat thoracic aortic rings to test the relaxing effects of the 95% ethanol extract and aqueous extract of Taohong Siwu decoction (THSW) on endothelium intact or endothelium removed aortic rings. Results showed that the 95% ethanol extract (0.1, 1, 10, 100, 1000 mgâ¢L-1) and aqueous extract (0.1, 1, 10, 100, 1000 mgâ¢L-1) of THSW were able to relax the intact endothelium aortic rings pre-contracted by 10-6 molâ¢L-1 PE. 10-4 molâ¢L-1 L-NAME and 10-5 molâ¢L-1 methylene blue both were able to inhibit the relaxation other than indomethacin. For the endothelium removed aortic rings, potassium channel blocker 3×10-3molâ¢L-1 tetraethylammonium chloride and 10-5 molâ¢L-1 glibenclamide had no effect on the relaxation effects caused by the 95% ethanol extract and aqueous extract of THSW. It could be concluded that the 95% ethanol extract and aqueous extract of THSW relax blood vessel by endothelium-dependent way.
