For the high-precision positioning requirements of UAV formation cooperative operation,a distributed control system based on RTK technology is proposed in this paper.By using the U-blox F9P GNSS module to build an RTK...For the high-precision positioning requirements of UAV formation cooperative operation,a distributed control system based on RTK technology is proposed in this paper.By using the U-blox F9P GNSS module to build an RTK base station/mobile terminal,combined with Pixhawk 6C flight control and MAVESP8266 communication module,centimeter-level(<2 cm)positioning accuracy is achieved.The system adopts the“centralized planning distributed execution”architecture,transmits RTCM differential data and MAVLink messages through the UDP protocol,and integrates ROS to realize status information subscription.Experiments show that the system can effectively support large area surveying and mapping and other complex tasks,and significantly improve the autonomy and reliability of formation operations.展开更多
This work is aimed at describing the proceedings and parameters used to validate PowerPlex■ Fusion 6C System,the polymerase chain reaction (PCR) amplification kit by Promega,for posterior implementation in the labora...This work is aimed at describing the proceedings and parameters used to validate PowerPlex■ Fusion 6C System,the polymerase chain reaction (PCR) amplification kit by Promega,for posterior implementation in the laboratorial routine of the Forensic Genetic Service.The PowerPlex■ Fusion 6C System allows multiplex PCR,through simultaneous amplification and posterior detection by fluorescence of 27 loci.Characterization of the kit was made according to the laboratory's internal validation procedure based on validation guidelines from Scientific Working Group on DNA Analysis Methods.Some parameters were evaluated,such as specificity,analytical thresholds,sensitivity,precision,mixture studies,DNA control samples,a proficiency test and changes in the PCR-based procedures: final reaction volume and cycle number,changes in the reaction mixture for direct amplification.This kit proved to be very robust and the results are in concordance with previous developmental validation by the manufacturer.In some parameters,the results were better than expected.展开更多
基金The 2023 Scientific and Technological Project in Henan Province of China(Grant No.232102220098)。
文摘For the high-precision positioning requirements of UAV formation cooperative operation,a distributed control system based on RTK technology is proposed in this paper.By using the U-blox F9P GNSS module to build an RTK base station/mobile terminal,combined with Pixhawk 6C flight control and MAVESP8266 communication module,centimeter-level(<2 cm)positioning accuracy is achieved.The system adopts the“centralized planning distributed execution”architecture,transmits RTCM differential data and MAVLink messages through the UDP protocol,and integrates ROS to realize status information subscription.Experiments show that the system can effectively support large area surveying and mapping and other complex tasks,and significantly improve the autonomy and reliability of formation operations.
文摘This work is aimed at describing the proceedings and parameters used to validate PowerPlex■ Fusion 6C System,the polymerase chain reaction (PCR) amplification kit by Promega,for posterior implementation in the laboratorial routine of the Forensic Genetic Service.The PowerPlex■ Fusion 6C System allows multiplex PCR,through simultaneous amplification and posterior detection by fluorescence of 27 loci.Characterization of the kit was made according to the laboratory's internal validation procedure based on validation guidelines from Scientific Working Group on DNA Analysis Methods.Some parameters were evaluated,such as specificity,analytical thresholds,sensitivity,precision,mixture studies,DNA control samples,a proficiency test and changes in the PCR-based procedures: final reaction volume and cycle number,changes in the reaction mixture for direct amplification.This kit proved to be very robust and the results are in concordance with previous developmental validation by the manufacturer.In some parameters,the results were better than expected.
