Autonomous navigation is a key technology for unmanned motion platforms to perform their tasks smoothly.The current approaches for daytime polarization navigation have been extensively researched.However,the polarizat...Autonomous navigation is a key technology for unmanned motion platforms to perform their tasks smoothly.The current approaches for daytime polarization navigation have been extensively researched.However,the polarization light intensity is the fundamental information within the polarization image,and the light intensity at night is 6-8 orders of magnitude lower than that during the day,which increase the noise and the loss of local polarization information due to occlusion,resulting in a significant decrease in the polarization orientation accuracy.Aimed at the problem,a bio-inspired model is introduced to denoise and enhance weak nighttime polarization patterns.Further,to address the issue of outlier interference in the occluded environment during practical application,a fast-fitting method of the solar meridian based on the anti-symmetric distribution of the polarization angle adjusted by Proportional and Differential(PD)control is proposed.The experimental results show that the method proposed in this paper achieves a dynamic orientation error Root Mean Square Error(RMSE)of 0.7°in the weak polarization mode at night and in the presence of local occlusion.The proposed method has strong robustness under weak polarization occlusion at night,and the orientation accuracy is improved by 97%and 80%in comparison to the least squares method,which provides a new method for polarization navigation at night.This effectively improves the robustness and environmental applicability of the bionic polarization compass for nighttime applications.展开更多
In the visual‘teach-and-repeat’task,a mobile robot is expected to perform path following based on visual memory acquired along a route that it has traversed.Following a visually familiar route is also a critical nav...In the visual‘teach-and-repeat’task,a mobile robot is expected to perform path following based on visual memory acquired along a route that it has traversed.Following a visually familiar route is also a critical navigation skill for foraging insects,which they accomplish robustly despite tiny brains.Inspired by the mushroom body structure in the insect brain and its well-understood associative learning ability,we develop an embodied model that can accomplish visual teach-and-repeat efficiently.Critical to the performance is steering the robot body reflexively based on the relative familiarity of left and right visual fields,eliminating the need for stopping and scanning regularly for optimal directions.The model is robust against noise in visual processing and motor control and can produce performance comparable to pure pursuit or visual localisation methods that rely heavily on the estimation of positions.The model is tested on a real robot and also shown to be able to correct for significant intrinsic steering bias.展开更多
The transverse single-spin asymmetry forρ^(0) production in semi-inclusive deep inelastic scattering was recently reported by the COMPASS Collaboration.Using the Sivers function extracted from pion and kaon productio...The transverse single-spin asymmetry forρ^(0) production in semi-inclusive deep inelastic scattering was recently reported by the COMPASS Collaboration.Using the Sivers function extracted from pion and kaon productions,we perform a calculation of the Sivers asymmetry within the transverse momentum-dependent factorization.Our results are consistent with the COMPASS data,supporting the universality of the Sivers function in the semi-inclusive deep inelastic scattering process for different final-state hadrons within current experimental uncertainties.While different parametrizations of the Sivers function from global analyses allow describing the data equally well,we obtain very different predictions on the Sivers asymmetry ofρand K^(*)productions at electron-ion colliders,which therefore are expected to provide further constraints.展开更多
Objective:To explore the impact of compassion fatigue resilience training on the compassion and psychological resilience of nurses in the hemato-oncology department.Methods:Convenience sampling was used to select 24 n...Objective:To explore the impact of compassion fatigue resilience training on the compassion and psychological resilience of nurses in the hemato-oncology department.Methods:Convenience sampling was used to select 24 nurses from the hemato-oncology department of our hospital as the intervention group and another 24 as the control group.The intervention group received compassion fatigue resilience training,while the control group received routine health education.Results:The compassion fatigue score of the intervention group was lower than that of the control group,and the psychological resilience score was higher,with statistically significant differences(P<0.05).Conclusion:Compassion fatigue resilience training is beneficial for improving the compassion fatigue and psychological resilience of nurses in the hemato-oncology department.展开更多
基金co-supported by the Excellent Youth Foundation of Shanxi Province,China(No.202103021222011)the Key Research and Development project of Shanxi Province of China(No.202202020101002)+3 种基金the Fundamental Research Program of Shanxi Province of China(No.202303021211150)the Aviation Science Foundation of China(No.2022Z0220U0002)the Graduate Education Innovation Plan Project of Shanxi Province,China(No.2023KY588)the Shanxi Province Key Laboratory of Quantum Sensing and Precision Measurement,China(No.201905D121001).
文摘Autonomous navigation is a key technology for unmanned motion platforms to perform their tasks smoothly.The current approaches for daytime polarization navigation have been extensively researched.However,the polarization light intensity is the fundamental information within the polarization image,and the light intensity at night is 6-8 orders of magnitude lower than that during the day,which increase the noise and the loss of local polarization information due to occlusion,resulting in a significant decrease in the polarization orientation accuracy.Aimed at the problem,a bio-inspired model is introduced to denoise and enhance weak nighttime polarization patterns.Further,to address the issue of outlier interference in the occluded environment during practical application,a fast-fitting method of the solar meridian based on the anti-symmetric distribution of the polarization angle adjusted by Proportional and Differential(PD)control is proposed.The experimental results show that the method proposed in this paper achieves a dynamic orientation error Root Mean Square Error(RMSE)of 0.7°in the weak polarization mode at night and in the presence of local occlusion.The proposed method has strong robustness under weak polarization occlusion at night,and the orientation accuracy is improved by 97%and 80%in comparison to the least squares method,which provides a new method for polarization navigation at night.This effectively improves the robustness and environmental applicability of the bionic polarization compass for nighttime applications.
基金support from the Huawei Technologies Co.,Ltd.[grant number YBN2020045132].
文摘In the visual‘teach-and-repeat’task,a mobile robot is expected to perform path following based on visual memory acquired along a route that it has traversed.Following a visually familiar route is also a critical navigation skill for foraging insects,which they accomplish robustly despite tiny brains.Inspired by the mushroom body structure in the insect brain and its well-understood associative learning ability,we develop an embodied model that can accomplish visual teach-and-repeat efficiently.Critical to the performance is steering the robot body reflexively based on the relative familiarity of left and right visual fields,eliminating the need for stopping and scanning regularly for optimal directions.The model is robust against noise in visual processing and motor control and can produce performance comparable to pure pursuit or visual localisation methods that rely heavily on the estimation of positions.The model is tested on a real robot and also shown to be able to correct for significant intrinsic steering bias.
基金supported by the National Key R&D Program of China(Grant No.2024YFA1611004)the National Natural Science Foundation of China(Grant Nos.12175117,12475084,and 12321005)the Shandong Province Natural Science Foundation(Grant Nos.ZFJH202303 and ZR2024MA012)。
文摘The transverse single-spin asymmetry forρ^(0) production in semi-inclusive deep inelastic scattering was recently reported by the COMPASS Collaboration.Using the Sivers function extracted from pion and kaon productions,we perform a calculation of the Sivers asymmetry within the transverse momentum-dependent factorization.Our results are consistent with the COMPASS data,supporting the universality of the Sivers function in the semi-inclusive deep inelastic scattering process for different final-state hadrons within current experimental uncertainties.While different parametrizations of the Sivers function from global analyses allow describing the data equally well,we obtain very different predictions on the Sivers asymmetry ofρand K^(*)productions at electron-ion colliders,which therefore are expected to provide further constraints.
文摘Objective:To explore the impact of compassion fatigue resilience training on the compassion and psychological resilience of nurses in the hemato-oncology department.Methods:Convenience sampling was used to select 24 nurses from the hemato-oncology department of our hospital as the intervention group and another 24 as the control group.The intervention group received compassion fatigue resilience training,while the control group received routine health education.Results:The compassion fatigue score of the intervention group was lower than that of the control group,and the psychological resilience score was higher,with statistically significant differences(P<0.05).Conclusion:Compassion fatigue resilience training is beneficial for improving the compassion fatigue and psychological resilience of nurses in the hemato-oncology department.
