Objective:To explore the connotation of the integrated medical-care-rehabilitation nursing model and its application effect in elderly patients with chronic diseases.Methods:A total of 122 elderly patients with chroni...Objective:To explore the connotation of the integrated medical-care-rehabilitation nursing model and its application effect in elderly patients with chronic diseases.Methods:A total of 122 elderly patients with chronic diseases admitted to our hospital from January 2023 to June 2023 were selected and randomly divided into an observation group(62 cases)and a control group(60 cases).Both groups received routine nursing during hospitalization.After discharge,the control group received conventional continuous nursing,while the observation group was given the integrated medical-care-rehabilitation nursing model.The psychological status of the elderly patients in the two groups was compared before nursing and 6 months after nursing.Assessments were made on their clinical symptoms of mental health,self-care ability,health behaviors,and mastery of knowledge about elderly chronic diseases.Results:Six months after nursing,the scores of self-rated clinical symptoms of mental health and negative coping in both groups were lower than those before nursing(P<0.05).Meanwhile,the scores of negative coping,self-care ability,and health behaviors in both groups were higher than those before nursing(P<0.05).Conclusion:The integrated medical-care-rehabilitation nursing model can not only improve the nursing quality for elderly patients with chronic diseases but also foster their positive mentality,help them understand knowledge about diet and health care related to chronic diseases,enhance their self-care ability and health awareness,and assist them in achieving better recovery[1].展开更多
Objective: To investigate the effect of the integrated nursing model in the prevention of chemotherapy-induced peripheral injury. Methods: A total of 60 tumor patients receiving oxaliplatin for 1 - 6 cycles of chemoth...Objective: To investigate the effect of the integrated nursing model in the prevention of chemotherapy-induced peripheral injury. Methods: A total of 60 tumor patients receiving oxaliplatin for 1 - 6 cycles of chemotherapy from January to September 2023 were selected. 30 patients were selected from January to March and divided into the control group, and 30 patients were selected from July to 9 as the experimental group. The control group received conventional chemotherapy nursing, while the experimental group received integrated nursing. Anxiety, peripheral nerve toxicity stage and quality of life score were compared between the two groups before and after intervention. Results: After intervention, the scores of the self-rating Anxiety Scale (SAS) and the total scores of the oxaliplatin Levi specific sensory neurotoxicity scale in the experimental group were significantly lower than those in the control group, and the differences were statistically significant (P< 0.05);The Quality of Life Scale (FACT-G) score of cancer patients was higher than that of control group, and the difference was statistically significant (P< 0.05). Conclusion: The integrated nursing model can effectively reduce the anxiety of patients, reduce the incidence of peripheral nerve injury and improve the quality of life of patients.展开更多
Fathers play an important role in children’s development throughout their lives,and Father-Love Absence(FLA)leads to more behavioral problems,including Non-Suicidal Self-Injury(NSSI).However,there has been no researc...Fathers play an important role in children’s development throughout their lives,and Father-Love Absence(FLA)leads to more behavioral problems,including Non-Suicidal Self-Injury(NSSI).However,there has been no research on the relationship between FLA and NSSI and its influencing mechanism.This study is based on Nock’s integrated theoretical model of NSSI,aiming to explore the influence of FLA on NSSI and further investigate the mechanism of Subjective Vitality(SV)and Forgiveness(FORG).This study recruited 1795 adolescents in central China to complete four scales,including Father-Love Absence Scale(FLAS),The Subjective Vitality Scale(SVS),The Tendency to Forgive Scale(TTF),and Non-Suicidal Self-Injury Scale.FLA can directly affect NSSI,and indirectly affect NSSI through three paths of“FLA→SV→NSSI,FLA→FORG→NSSI,FLA→SV→FORG→NSSI”.These results not only enrich our understanding of the relationship between FLA and NSSI and its internal mechanism but also provide theoretical and practical support for the reduction of NSSI in family education.展开更多
The core education function of higher vocational colleges is to train technical talents with high quality,so as to meet the needs of talents in the development stage of our society.Under the guidance of talent trainin...The core education function of higher vocational colleges is to train technical talents with high quality,so as to meet the needs of talents in the development stage of our society.Under the guidance of talent training,higher vocational colleges need to pay attention to establishing an all-round and three-dimensional education model,and promote innovation of higher vocational education on the basis of this.It is also a way to promote the innovation of higher vocational education to vigorously promote the construction of“post,course,competition,certificate”mode in the construction of education mode.Through the construction of“post,course,competition,certificate”mode,the education mode of higher vocational colleges is gradually improved,so as to strengthen the effectiveness of talent training in higher vocational colleges.Therefore,in this paper,the author puts forward some suggestions to promote the construction of the integrated education mode of the electronic information engineering technology major in higher vocational colleges,so as to help improve the talent training level of higher vocational colleges.展开更多
Objective: To analyze the impact of an integrated extended care model on improving the quality of life of elderly patients with Type 2 Diabetes Mellitus (T2DM). Methods: A total of 176 patients admitted to the hospita...Objective: To analyze the impact of an integrated extended care model on improving the quality of life of elderly patients with Type 2 Diabetes Mellitus (T2DM). Methods: A total of 176 patients admitted to the hospital from March 2015 to February 2018 were selected and randomly assigned to an observation group and a control group, with 88 patients each. The control group implemented conventional nursing interventions, and the observation group carried out an integrated extended-care model. The level of glycemic control, quality of life, and daily medication adherence between both groups were compared. Results: The observation group showed significant improvement in the level of glycemic control, and their fasting blood glucose, 2-hour postprandial blood glucose, and glycated hemoglobin levels were significantly lower as compared with those in the study group (P < 0.05). The quality of life of the patients in the observation group was higher than that of the control group (P < 0.05). The observation group had a higher compliance score (95.48 ± 7.45) than the control group (81.31 ± 8.72) (t = 8.909, P < 0.05). Conclusion: The integrated extended care model allows patients to receive comprehensive and individualized nursing services after discharge, which improves the effect of drug therapy and the quality of life of patients.展开更多
Background As information technology has advanced and been popularized,open pit mining has rapidly developed toward integration and digitization.The three-dimensional reconstruction technology has been successfully ap...Background As information technology has advanced and been popularized,open pit mining has rapidly developed toward integration and digitization.The three-dimensional reconstruction technology has been successfully applied to geological reconstruction and modeling of surface scenes in open pit mines.However,an integrated modeling method for surface and underground mine sites has not been reported.Methods In this study,we propose an integrated modeling method for open pit mines that fuses a real scene on the surface with an underground geological model.Based on oblique photography,a real-scene model was established on the surface.Based on the surface-stitching method proposed,the upper and lower surfaces and sides of the model were constructed in stages to construct a complete underground three-dimensional geological model,and the aboveground and underground models were registered together to build an integrated open pit mine model.Results The oblique photography method used reconstructed a surface model of an open pit mine using a real scene.The surface-stitching algorithm proposed was compared with the ball-pivoting and Poisson algorithms,and the integrity of the reconstructed model was markedly superior to that of the other two reconstruction methods.In addition,the surface-stitching algorithm was applied to the reconstruction of different formation models and showed good stability and reconstruction efficiency.Finally,the aboveground and underground models were accurately fitted after registration to form an integrated model.Conclusions The proposed method can efficiently establish an integrated open pit model.Based on the integrated model,an open pit auxiliary planning system was designed and realized.It supports the functions of mining planning and output calculation,assists users in mining planning and operation management,and improves production efficiency and management levels.展开更多
Quantification of river flood risks is a prerequisite for floodplain management and development.The lower Yellow River(LYR)is characterized by a complex channel–floodplain system,which is prone to flooding but inhabi...Quantification of river flood risks is a prerequisite for floodplain management and development.The lower Yellow River(LYR)is characterized by a complex channel–floodplain system,which is prone to flooding but inhabits a large population on the floodplains.Many floodplain management modes have been presented,but implementation effects of these management modes have not been evaluated correctly.An integrated model was first proposed to evaluate the flood risks to people’s life and property,covering an improved module of two-dimensional(2D)morphodynamic processes and a module of flood risk evaluation for people,buildings and crops on the floodplains.Two simulation cases were then conducted to validate the model accuracy,including the hyperconcentrated flood event and dike-breach induced flood event occurring in the LYR.Finally,the integrated model was applied to key floodplains in the LYR,and the effects of different floodplain management modes were quantified on the risks to people’s life and property under an extreme flood event.Results indicate that:①Satisfactory accuracy was achieved in the simulation of these two flood events.The maximum sediment concentration was just underestimated by 9%,and the simulated inundation depth agreed well with the field record;②severe inundation was predicted to occur in most domains under the current topography(SchemeⅠ),which would be alleviated after implementing different floodplain management modes,with the area in slight inundation degree accounting for a large proportion under the mode of“construction of protection embankment”(SchemeⅡ)and the area in medium inundation degree occupying a high ratio under the mode of“floodplain partition harnessing”(SchemeⅢ);and③compared with SchemeⅠ,the high-risk area for people’s life and property would reduce by 21%–49%under SchemeⅡ,and by 35%–93%under SchemeⅢ.展开更多
We investigate the integrability of the Rabi model,which is traditionally viewed as not Yang–Baxter-integrable despite its solvability.Building on efforts by Bogoliubov and Kulish(2013 J.Math.Sci.19214–30),Amico et ...We investigate the integrability of the Rabi model,which is traditionally viewed as not Yang–Baxter-integrable despite its solvability.Building on efforts by Bogoliubov and Kulish(2013 J.Math.Sci.19214–30),Amico et al(2007 Nucl.Phys.B 787283–300),and Batchelor and Zhou(2015 Phys.Rev.A 91053808),who explored special limiting cases of the model,we develop a spin–boson interaction Hamiltonian under more general boundary conditions,particularly focusing on open boundary conditions with off-diagonal terms.Our approach maintains the direction of the spin in the z direction and also preserves the boson particle number operator a^(†)a,marking a progression beyond previous efforts that have primarily explored reduced forms of the Rabi model from Yang–Baxter algebra.We also address the presence of‘unwanted’quadratic boson terms a^(2) and a^(†2),which share coefficients with the boson particle number operator.Interestingly,these terms vanish when spectral parameter u=±θ_(s),simplifying the model to a limiting case of operator-valued twists,a scenario previously discussed by Batchelor and Zhou(2015 Phys.Rev.A 91053808).展开更多
This paper extends the one-dimensional(1D)nonlocal strain gradient integral model(NStraGIM)to the two-dimensional(2D)Kirchhoff axisymmetric nanoplates,based on nonlocal strain gradient integral relations formulated al...This paper extends the one-dimensional(1D)nonlocal strain gradient integral model(NStraGIM)to the two-dimensional(2D)Kirchhoff axisymmetric nanoplates,based on nonlocal strain gradient integral relations formulated along both the radial and circumferential directions.By transforming the proposed integral constitutive equations into the equivalent differential forms,complemented by the corresponding constitutive boundary conditions(CBCs),a well-posed mathematical formulation is established for analyzing the axisymmetric bending and buckling of annular/circular functionally graded(FG)sandwich nanoplates.The boundary conditions at the inner edge of a solid nanoplate are derived by L'H?spital's rule.The numerical solution is obtained by the generalized differential quadrature method(GDQM).The accuracy of the proposed model is validated through comparison with the data from the existing literature.A parameter study is conducted to demonstrate the effects of FG sandwich parameters,size parameters,and nonlocal gradient parameters.展开更多
As a prominent mode of variability in the tropical stratosphere on the interannual timescale,the Quasi-Biennial Oscillation(QBO)can significantly influence global atmospheric circulation and weather patterns.This stud...As a prominent mode of variability in the tropical stratosphere on the interannual timescale,the Quasi-Biennial Oscillation(QBO)can significantly influence global atmospheric circulation and weather patterns.This study explores the dynamic processes of QBO disruptions using the integrated climate model of the China Meteorological Administration(CMA)by nudging the tropical zonal winds toward observations.A comparative analysis with ERA5 reanalysis data shows that the nudged runs accurately replicate the general characteristics of the QBO,including the alternating QBO wind regimes and QBO disruption events.The evolution of the QBO winds is diagnosed using empirical orthogonal function and root-mean-square difference analyses,and the rarity of the disruption events is confirmed in the CMA model.Different aspects of the QBO disruptions and the relevant dynamics are present in the model.Firstly,the momentum budget analysis highlights the crucial roles of extratropical Rossby waves and non-orographic gravity waves in the transition from westerly to easterly winds during a disruption.Secondly,Kelvin waves and non-orographic gravity waves explain much of the transition from easterly to westerly winds near 40 hPa.Thirdly,the positive tendency from enhanced vertical advection further accelerates westerly momentum development via secondary meridional circulation.These findings underscore the importance of nudging techniques in understanding QBO dynamics,which provides valuable insights for future climate model improvements toward better forecasting QBO-related climate variability.Notably,due to model limitations,no QBO disruptions were simulated in the free-run experiments.展开更多
To address the issue of disturbance compensation deviation in linear active disturbance rejection control(LADRC),a linear active disturbance rejection control method with reference to the integral chain model(LADRC-R)...To address the issue of disturbance compensation deviation in linear active disturbance rejection control(LADRC),a linear active disturbance rejection control method with reference to the integral chain model(LADRC-R)is proposed.By constructing an ideal control reference model,a dynamic correlation between output deviation and uncompensated disturbances is established,and a dual-loop compensation mechanism is designed.Based on theoretical analysis and frequency-domain characteristics of typical first/second-order systems,this method maintains the parameter-tuning advantages of LADRC while reducing disturbance effects by 50%and introducing no phase lag during low-frequency disturbance suppression.Simulations on second-order systems verify its robustness under parameter perturbations,gain mismatch,and complex disturbances,and an optimized design scheme for the deviation compensator is proposed to suppress discontinuous measurement noise interference.Finally,the engineering effectiveness of this method in precision motion control is validated on an electromagnetic suspension platform,providing a new approach to improving the control performance of LADRC in environments with uncertain disturbances.展开更多
Firstly,based on the data of air quality and the meteorological data in Baoding City from 2017 to 2021,the correlations of meteorological elements and pollutants with O_(3)concentration were explored to determine the ...Firstly,based on the data of air quality and the meteorological data in Baoding City from 2017 to 2021,the correlations of meteorological elements and pollutants with O_(3)concentration were explored to determine the forecast factors of forecast models.Secondly,the O_(3)-8h concentration in Baoding City in 2021 was predicted based on the constructed models of multiple linear regression(MLR),backward propagation neural network(BPNN),and auto regressive integrated moving average(ARIMA),and the predicted values were compared with the observed values to test their prediction effects.The results show that overall,the MLR,BPNN and ARIMA models were able to forecast the changing trend of O_(3)-8h concentration in Baoding in 2021,but the BPNN model gave better forecast results than the ARIMA and MLR models,especially for the prediction of the high values of O_(3)-8h concentration,and the correlation coefficients between the predicted values and the observed values were all higher than 0.9 during June-September.The mean error(ME),mean absolute error(MAE),and root mean square error(RMSE)of the predicted values and the observed values of daily O_(3)-8h concentration based on the BPNN model were 0.45,19.11 and 24.41μg/m 3,respectively,which were significantly better than those of the MLR and ARIMA models.The prediction effects of the MLR,BPNN and ARIMA models were the best at the pollution level,followed by the excellent level,and it was the worst at the good level.In comparison,the prediction effect of BPNN model was better than that of the MLR and ARIMA models as a whole,especially for the pollution and excellent levels.The TS scores of the BPNN model were all above 66%,and the PC values were above 86%.The BPNN model can forecast the changing trend of O_(3)concentration more accurately,and has a good practical application value,but at the same time,the predicted high values of O_(3)concentration should be appropriately increased according to error characteristics of the model.展开更多
Bailongjiang watershed in southern Gansu province, China, is one of the most landslide-prone regions in China, characterized by very high frequency of landslide occurrence. In order to predict the landslide occurrence...Bailongjiang watershed in southern Gansu province, China, is one of the most landslide-prone regions in China, characterized by very high frequency of landslide occurrence. In order to predict the landslide occurrence, a comprehensive map of landslide susceptibility is required which may be significantly helpful in reducing loss of property and human life. In this study, an integrated model of information value method and logistic regression is proposed by using their merits at maximum and overcoming their weaknesses, which may enhance precision and accuracy of landslide susceptibility assessment. A detailed and reliable landslide inventory with 1587 landslides was prepared and randomly divided into two groups,(i) training dataset and(ii) testing dataset. Eight distinct landslide conditioning factors including lithology, slope gradient, aspect, elevation, distance to drainages,distance to faults, distance to roads and vegetation coverage were selected for landslide susceptibility mapping. The produced landslide susceptibility maps were validated by the success rate and prediction rate curves. The validation results show that the success rate and the prediction rate of the integrated model are 81.7 % and 84.6 %, respectively, which indicate that the proposed integrated method is reliable to produce an accurate landslide susceptibility map and the results may be used for landslides management and mitigation.展开更多
The source apportionment of PM2.5 is essential for pollution prevention.In view of the weaknesses of individual models,we proposed an integrated chemical mass balancesource emission inventory(CMB-SEI)model to acquire ...The source apportionment of PM2.5 is essential for pollution prevention.In view of the weaknesses of individual models,we proposed an integrated chemical mass balancesource emission inventory(CMB-SEI)model to acquire more accurate results.First,the SEI of secondary component precursors(SO2,NOx,NH3,and VOCs)was compiled to acquire the emission ratios of these sources for the precursors.Then,a regular CMB simulation was executed to obtain the contributions of primary particle sources and secondary components(SO4^2-,NO3^-3,NH4^+,and SOC).Afterwards,the contributions of secondary components were apportioned into primary sources according to the source emission ratios.The final source apportionment results combined the contributions of primary sources by CMB and SEI.This integrated approach was carried out via a case study of three coastal cities(Zhoushan,Taizhou,and Wenzhou;abbreviated WZ,TZ,and ZS)in Zhejiang Province,China.The regular CMB simulation results showed that PM2.5 pollution was mainly affected by secondary components and mobile sources.The SEI results indicated that electricity,industrial production and mobile sources were the largest contributors to the emission of PM2.5 gaseous precursors.The simulation results of the CMB-SEI model showed that PM2.5 pollution in the coastal areas of Zhejiang Province presented complex pollution characteristics dominated by mobile sources,electricity production sources and industrial production sources.Compared to the results of the CMB and SEI models alone,the CMB-SEI model completely apportioned PM2.5 to primary sources and simultaneously made the results more accurate and reliable in accordance with local industrial characteristics.展开更多
The demand for fluorite resource is increasing rapidly as most fluorite deposits on Earth’s surface have been exhausted.The newly discovered fluorite deposits in Inner Mongolia are hosted by Permian metamorphosed san...The demand for fluorite resource is increasing rapidly as most fluorite deposits on Earth’s surface have been exhausted.The newly discovered fluorite deposits in Inner Mongolia are hosted by Permian metamorphosed sandy slate,intermediate-acid intrusive rocks and Cretaceous volcanic sedimentary rocks.The ore bodies are strictly controlled by faults and buried by cover rocks.The feasibility and effectiveness of multi-techniques for prospecting concealed fluorite ore bodies are evaluated,and 10 anomalies are delineated.On the basis of geological features and effectiveness of different methods,the optimum combinations of ore prospecting techniques are proposed for the exploration of zonal type and burial type concealed fluorite ore bodies.Based on comprehensive researches,an integrated exploration model is proposed:(i)select key prospecting targets based on geological backgrounds,regional geochemical anomalies of F and Ca,and remote sensing images;(ii)identify the spatial distribution of low resistivity anomaly and ore-controlling structure from geophysical survey;(iii)evaluate the mineralization potential in fault zone based on F and Ca anomalies in key sections selected from low resistivity anomaly zones;and(iv)evaluate the mineralization potential and reveal the spatial distribution of fluorite ore bodies and ore-controlling faults based on integrated geophysical and geochemical anomalies.The integrated exploration model is verified to be a powerful tool for prospecting concealed fluorite ore bodies in coverage area.展开更多
This study introduces a new global climate model--the Integrated Climate Model （ICM）--developed for the seasonal prediction of East Asian-western North Pacific （EA-WNP） climate by the Center for Monsoon System Res...This study introduces a new global climate model--the Integrated Climate Model （ICM）--developed for the seasonal prediction of East Asian-western North Pacific （EA-WNP） climate by the Center for Monsoon System Research at the Institute of Atmospheric Physics （CMSR, IAP）, Chinese Academy of Sciences. ICM integrates ECHAM5 and NEMO2.3 as its atmospheric and oceanic components, respectively, using OASIS3 as the coupler. The simulation skill of ICM is evaluated here, including the simulated climatology, interannual variation, and the influence of E1 Nifio as one of the most important factors on EA-WNP climate. ICM successfully reproduces the distribution of sea surface temperature （SST） and precipitation without climate shift, the seasonal cycle of equatorial Pacific SST, and the precipitation and circulation of East Asian summer monsoon. The most prominent biases of ICM are the excessive cold tongue and unrealistic westward phase propagation of equatorial Pacific SST. The main interannual variation of the tropical Pacific SST and EA-WNP climate E1 Nifio and the East Asia-Pacific Pattern--are also well simulated in ICM, with realistic spatial pattern and period. The simulated E1 Nifio has significant impact on EA-WNP climate, as in other models. The assessment shows ICM should be a reliable model for the seasonal prediction of EA-WNP climate.展开更多
The commonly used discretization approaches for distributed hydrological models can be broadly categorized into four types,based on the nature of the discrete components:Regular Mesh,Triangular Irregular Networks(TINs...The commonly used discretization approaches for distributed hydrological models can be broadly categorized into four types,based on the nature of the discrete components:Regular Mesh,Triangular Irregular Networks(TINs),Representative Elementary Watershed(REWs) and Hydrologic Response Units(HRUs).In this paper,a new discretization approach for landforms that have similar hydrologic properties is developed and discussed here for the Integrated Hydrologic Model(IHM),a combining simulation of surface and groundwater processes,accounting for the interaction between the systems.The approach used in the IHM is to disaggregate basin parameters into discrete landforms that have similar hydrologic properties.These landforms may be impervious areas,related areas,areas with high or low clay or organic fractions,areas with significantly different depths-to-water-table,and areas with different types of land cover or different land uses.Incorporating discrete landforms within basins allows significant distributed parameter analysis,but requires an efficient computational structure.The IHM integration represents a new approach interpreting fluxes across the model interface and storages near the interface for transfer to the appropriate model component,accounting for the disparate discretization while rigidly maintaining mass conservation.The discretization approaches employed in IHM will provide some ideas and insights which are helpful to those researchers who have been working on the integrated models for surface-groundwater interaction.展开更多
Optical and micro-infrared microscope were used to observe the internal structure and mineral composition of high and low quality Chinese seawater and freshwater cultured pearls.Results clearly reveal that aragonite a...Optical and micro-infrared microscope were used to observe the internal structure and mineral composition of high and low quality Chinese seawater and freshwater cultured pearls.Results clearly reveal that aragonite and calcite are found in seawater cultured pearls,but vaterite is not found.In contrast,vaterite and aragonite are found in freshwater cultured pearls,but calcite is not found.Based on our analysis and observations of the internal structure of high and low quality cultured pearls,a modified integrated model of the internal structure of Chinese cultured pearls was established.Our revisions to the previous model focus on significant differences within the prismatic layer of Chinese cultured pearls.展开更多
Outbreaks of hand-foot-mouth disease（HFMD） have occurred many times and caused serious health burden in China since 2008. Application of modern information technology to prediction and early response can be helpful ...Outbreaks of hand-foot-mouth disease（HFMD） have occurred many times and caused serious health burden in China since 2008. Application of modern information technology to prediction and early response can be helpful for efficient HFMD prevention and control. A seasonal auto-regressive integrated moving average（ARIMA） model for time series analysis was designed in this study. Eighty-four-month（from January 2009 to December 2015） retrospective data obtained from the Chinese Information System for Disease Prevention and Control were subjected to ARIMA modeling. The coefficient of determination（R^2）, normalized Bayesian Information Criterion（BIC） and Q-test P value were used to evaluate the goodness-of-fit of constructed models. Subsequently, the best-fitted ARIMA model was applied to predict the expected incidence of HFMD from January 2016 to December 2016. The best-fitted seasonal ARIMA model was identified as（1,0,1）（0,1,1）12, with the largest coefficient of determination（R^2=0.743） and lowest normalized BIC（BIC=3.645） value. The residuals of the model also showed non-significant autocorrelations（P_（Box-Ljung（Q））=0.299）. The predictions by the optimum ARIMA model adequately captured the pattern in the data and exhibited two peaks of activity over the forecast interval, including a major peak during April to June, and again a light peak for September to November. The ARIMA model proposed in this study can forecast HFMD incidence trend effectively, which could provide useful support for future HFMD prevention and control in the study area. Besides, further observations should be added continually into the modeling data set, and parameters of the models should be adjusted accordingly.展开更多
To realize high accurate control of relative position and attitude between two spacecrafts, the coupling between position and attitude must be fully considered and a more precise model should be established. This pape...To realize high accurate control of relative position and attitude between two spacecrafts, the coupling between position and attitude must be fully considered and a more precise model should be established. This paper breaks the traditional divide and conquer idea, and uses a mathematical tool, namely dual quaternion to establish the integrated 6 degree-of-freedom(6-DOF) model of relative position and attitude, which describes the coupled relative motion in a compact and efficient form and needs less information of the target. Considering the complex operation rules and the unclarity of the current relative motion model in dual quaternion, necessary mathematical foundations are given at first, followed by clear and detailed modeling process and analysis. Finally a generalized proportion-derivative(PD) controller law is designed. The simulation results show that based on the integrated model established by dual quaternion, this control law can achieve a high control accuracy of relative motion.展开更多
文摘Objective:To explore the connotation of the integrated medical-care-rehabilitation nursing model and its application effect in elderly patients with chronic diseases.Methods:A total of 122 elderly patients with chronic diseases admitted to our hospital from January 2023 to June 2023 were selected and randomly divided into an observation group(62 cases)and a control group(60 cases).Both groups received routine nursing during hospitalization.After discharge,the control group received conventional continuous nursing,while the observation group was given the integrated medical-care-rehabilitation nursing model.The psychological status of the elderly patients in the two groups was compared before nursing and 6 months after nursing.Assessments were made on their clinical symptoms of mental health,self-care ability,health behaviors,and mastery of knowledge about elderly chronic diseases.Results:Six months after nursing,the scores of self-rated clinical symptoms of mental health and negative coping in both groups were lower than those before nursing(P<0.05).Meanwhile,the scores of negative coping,self-care ability,and health behaviors in both groups were higher than those before nursing(P<0.05).Conclusion:The integrated medical-care-rehabilitation nursing model can not only improve the nursing quality for elderly patients with chronic diseases but also foster their positive mentality,help them understand knowledge about diet and health care related to chronic diseases,enhance their self-care ability and health awareness,and assist them in achieving better recovery[1].
文摘Objective: To investigate the effect of the integrated nursing model in the prevention of chemotherapy-induced peripheral injury. Methods: A total of 60 tumor patients receiving oxaliplatin for 1 - 6 cycles of chemotherapy from January to September 2023 were selected. 30 patients were selected from January to March and divided into the control group, and 30 patients were selected from July to 9 as the experimental group. The control group received conventional chemotherapy nursing, while the experimental group received integrated nursing. Anxiety, peripheral nerve toxicity stage and quality of life score were compared between the two groups before and after intervention. Results: After intervention, the scores of the self-rating Anxiety Scale (SAS) and the total scores of the oxaliplatin Levi specific sensory neurotoxicity scale in the experimental group were significantly lower than those in the control group, and the differences were statistically significant (P< 0.05);The Quality of Life Scale (FACT-G) score of cancer patients was higher than that of control group, and the difference was statistically significant (P< 0.05). Conclusion: The integrated nursing model can effectively reduce the anxiety of patients, reduce the incidence of peripheral nerve injury and improve the quality of life of patients.
基金supported by the National Social Science Fund of China(23BSH144).
文摘Fathers play an important role in children’s development throughout their lives,and Father-Love Absence(FLA)leads to more behavioral problems,including Non-Suicidal Self-Injury(NSSI).However,there has been no research on the relationship between FLA and NSSI and its influencing mechanism.This study is based on Nock’s integrated theoretical model of NSSI,aiming to explore the influence of FLA on NSSI and further investigate the mechanism of Subjective Vitality(SV)and Forgiveness(FORG).This study recruited 1795 adolescents in central China to complete four scales,including Father-Love Absence Scale(FLAS),The Subjective Vitality Scale(SVS),The Tendency to Forgive Scale(TTF),and Non-Suicidal Self-Injury Scale.FLA can directly affect NSSI,and indirectly affect NSSI through three paths of“FLA→SV→NSSI,FLA→FORG→NSSI,FLA→SV→FORG→NSSI”.These results not only enrich our understanding of the relationship between FLA and NSSI and its internal mechanism but also provide theoretical and practical support for the reduction of NSSI in family education.
文摘The core education function of higher vocational colleges is to train technical talents with high quality,so as to meet the needs of talents in the development stage of our society.Under the guidance of talent training,higher vocational colleges need to pay attention to establishing an all-round and three-dimensional education model,and promote innovation of higher vocational education on the basis of this.It is also a way to promote the innovation of higher vocational education to vigorously promote the construction of“post,course,competition,certificate”mode in the construction of education mode.Through the construction of“post,course,competition,certificate”mode,the education mode of higher vocational colleges is gradually improved,so as to strengthen the effectiveness of talent training in higher vocational colleges.Therefore,in this paper,the author puts forward some suggestions to promote the construction of the integrated education mode of the electronic information engineering technology major in higher vocational colleges,so as to help improve the talent training level of higher vocational colleges.
文摘Objective: To analyze the impact of an integrated extended care model on improving the quality of life of elderly patients with Type 2 Diabetes Mellitus (T2DM). Methods: A total of 176 patients admitted to the hospital from March 2015 to February 2018 were selected and randomly assigned to an observation group and a control group, with 88 patients each. The control group implemented conventional nursing interventions, and the observation group carried out an integrated extended-care model. The level of glycemic control, quality of life, and daily medication adherence between both groups were compared. Results: The observation group showed significant improvement in the level of glycemic control, and their fasting blood glucose, 2-hour postprandial blood glucose, and glycated hemoglobin levels were significantly lower as compared with those in the study group (P < 0.05). The quality of life of the patients in the observation group was higher than that of the control group (P < 0.05). The observation group had a higher compliance score (95.48 ± 7.45) than the control group (81.31 ± 8.72) (t = 8.909, P < 0.05). Conclusion: The integrated extended care model allows patients to receive comprehensive and individualized nursing services after discharge, which improves the effect of drug therapy and the quality of life of patients.
基金Supported by Liaoning Province Science and Technology Research Project(2021JH1/10400011)National Natural Science Foundation of China(61971118).
文摘Background As information technology has advanced and been popularized,open pit mining has rapidly developed toward integration and digitization.The three-dimensional reconstruction technology has been successfully applied to geological reconstruction and modeling of surface scenes in open pit mines.However,an integrated modeling method for surface and underground mine sites has not been reported.Methods In this study,we propose an integrated modeling method for open pit mines that fuses a real scene on the surface with an underground geological model.Based on oblique photography,a real-scene model was established on the surface.Based on the surface-stitching method proposed,the upper and lower surfaces and sides of the model were constructed in stages to construct a complete underground three-dimensional geological model,and the aboveground and underground models were registered together to build an integrated open pit mine model.Results The oblique photography method used reconstructed a surface model of an open pit mine using a real scene.The surface-stitching algorithm proposed was compared with the ball-pivoting and Poisson algorithms,and the integrity of the reconstructed model was markedly superior to that of the other two reconstruction methods.In addition,the surface-stitching algorithm was applied to the reconstruction of different formation models and showed good stability and reconstruction efficiency.Finally,the aboveground and underground models were accurately fitted after registration to form an integrated model.Conclusions The proposed method can efficiently establish an integrated open pit model.Based on the integrated model,an open pit auxiliary planning system was designed and realized.It supports the functions of mining planning and output calculation,assists users in mining planning and operation management,and improves production efficiency and management levels.
基金supported by the National Natural Science Foundation of China(U2243238)the Program of the National Key Research and Development Plan(2023YFC3209304).
文摘Quantification of river flood risks is a prerequisite for floodplain management and development.The lower Yellow River(LYR)is characterized by a complex channel–floodplain system,which is prone to flooding but inhabits a large population on the floodplains.Many floodplain management modes have been presented,but implementation effects of these management modes have not been evaluated correctly.An integrated model was first proposed to evaluate the flood risks to people’s life and property,covering an improved module of two-dimensional(2D)morphodynamic processes and a module of flood risk evaluation for people,buildings and crops on the floodplains.Two simulation cases were then conducted to validate the model accuracy,including the hyperconcentrated flood event and dike-breach induced flood event occurring in the LYR.Finally,the integrated model was applied to key floodplains in the LYR,and the effects of different floodplain management modes were quantified on the risks to people’s life and property under an extreme flood event.Results indicate that:①Satisfactory accuracy was achieved in the simulation of these two flood events.The maximum sediment concentration was just underestimated by 9%,and the simulated inundation depth agreed well with the field record;②severe inundation was predicted to occur in most domains under the current topography(SchemeⅠ),which would be alleviated after implementing different floodplain management modes,with the area in slight inundation degree accounting for a large proportion under the mode of“construction of protection embankment”(SchemeⅡ)and the area in medium inundation degree occupying a high ratio under the mode of“floodplain partition harnessing”(SchemeⅢ);and③compared with SchemeⅠ,the high-risk area for people’s life and property would reduce by 21%–49%under SchemeⅡ,and by 35%–93%under SchemeⅢ.
基金supported by the National Natural Science Foundation of China(Grant Nos.12275214,12247103,12047502)the Natural Science Basic Research Program of Shaanxi Province Grant Nos.2021JCW-19 and 2019JQ-107Shaanxi Key Laboratory for Theoretical Physics Frontiers in China.
文摘We investigate the integrability of the Rabi model,which is traditionally viewed as not Yang–Baxter-integrable despite its solvability.Building on efforts by Bogoliubov and Kulish(2013 J.Math.Sci.19214–30),Amico et al(2007 Nucl.Phys.B 787283–300),and Batchelor and Zhou(2015 Phys.Rev.A 91053808),who explored special limiting cases of the model,we develop a spin–boson interaction Hamiltonian under more general boundary conditions,particularly focusing on open boundary conditions with off-diagonal terms.Our approach maintains the direction of the spin in the z direction and also preserves the boson particle number operator a^(†)a,marking a progression beyond previous efforts that have primarily explored reduced forms of the Rabi model from Yang–Baxter algebra.We also address the presence of‘unwanted’quadratic boson terms a^(2) and a^(†2),which share coefficients with the boson particle number operator.Interestingly,these terms vanish when spectral parameter u=±θ_(s),simplifying the model to a limiting case of operator-valued twists,a scenario previously discussed by Batchelor and Zhou(2015 Phys.Rev.A 91053808).
基金Project supported by the National Natural Science Foundation of China(No.12172169)the Priority Academic Program Development of Jiangsu Higher Education Institutions。
文摘This paper extends the one-dimensional(1D)nonlocal strain gradient integral model(NStraGIM)to the two-dimensional(2D)Kirchhoff axisymmetric nanoplates,based on nonlocal strain gradient integral relations formulated along both the radial and circumferential directions.By transforming the proposed integral constitutive equations into the equivalent differential forms,complemented by the corresponding constitutive boundary conditions(CBCs),a well-posed mathematical formulation is established for analyzing the axisymmetric bending and buckling of annular/circular functionally graded(FG)sandwich nanoplates.The boundary conditions at the inner edge of a solid nanoplate are derived by L'H?spital's rule.The numerical solution is obtained by the generalized differential quadrature method(GDQM).The accuracy of the proposed model is validated through comparison with the data from the existing literature.A parameter study is conducted to demonstrate the effects of FG sandwich parameters,size parameters,and nonlocal gradient parameters.
基金funded by the National Natural Science Foundation of China(Grant No.42275056).
文摘As a prominent mode of variability in the tropical stratosphere on the interannual timescale,the Quasi-Biennial Oscillation(QBO)can significantly influence global atmospheric circulation and weather patterns.This study explores the dynamic processes of QBO disruptions using the integrated climate model of the China Meteorological Administration(CMA)by nudging the tropical zonal winds toward observations.A comparative analysis with ERA5 reanalysis data shows that the nudged runs accurately replicate the general characteristics of the QBO,including the alternating QBO wind regimes and QBO disruption events.The evolution of the QBO winds is diagnosed using empirical orthogonal function and root-mean-square difference analyses,and the rarity of the disruption events is confirmed in the CMA model.Different aspects of the QBO disruptions and the relevant dynamics are present in the model.Firstly,the momentum budget analysis highlights the crucial roles of extratropical Rossby waves and non-orographic gravity waves in the transition from westerly to easterly winds during a disruption.Secondly,Kelvin waves and non-orographic gravity waves explain much of the transition from easterly to westerly winds near 40 hPa.Thirdly,the positive tendency from enhanced vertical advection further accelerates westerly momentum development via secondary meridional circulation.These findings underscore the importance of nudging techniques in understanding QBO dynamics,which provides valuable insights for future climate model improvements toward better forecasting QBO-related climate variability.Notably,due to model limitations,no QBO disruptions were simulated in the free-run experiments.
基金supported by the National Natural Science Foundation of China(Nos.62063009,52262050)the National Key Research and Development Program during the 14th 5-Year Plan(No.2023YFB4302100)the Major Science and Technology Research and Development Special Project in Jiangxi Province(No.20232ACE01011).
文摘To address the issue of disturbance compensation deviation in linear active disturbance rejection control(LADRC),a linear active disturbance rejection control method with reference to the integral chain model(LADRC-R)is proposed.By constructing an ideal control reference model,a dynamic correlation between output deviation and uncompensated disturbances is established,and a dual-loop compensation mechanism is designed.Based on theoretical analysis and frequency-domain characteristics of typical first/second-order systems,this method maintains the parameter-tuning advantages of LADRC while reducing disturbance effects by 50%and introducing no phase lag during low-frequency disturbance suppression.Simulations on second-order systems verify its robustness under parameter perturbations,gain mismatch,and complex disturbances,and an optimized design scheme for the deviation compensator is proposed to suppress discontinuous measurement noise interference.Finally,the engineering effectiveness of this method in precision motion control is validated on an electromagnetic suspension platform,providing a new approach to improving the control performance of LADRC in environments with uncertain disturbances.
基金the Project of the Key Open Laboratory of Atmospheric Detection,China Meteorological Administration(2023KLAS02M)the Second Batch of Science and Technology Project of China Meteorological Administration("Jiebangguashuai"):the Research and Development of Short-term and Near-term Warning Products for Severe Convective Weather in Beijing-Tianjin-Hebei Region(CMAJBGS202307).
文摘Firstly,based on the data of air quality and the meteorological data in Baoding City from 2017 to 2021,the correlations of meteorological elements and pollutants with O_(3)concentration were explored to determine the forecast factors of forecast models.Secondly,the O_(3)-8h concentration in Baoding City in 2021 was predicted based on the constructed models of multiple linear regression(MLR),backward propagation neural network(BPNN),and auto regressive integrated moving average(ARIMA),and the predicted values were compared with the observed values to test their prediction effects.The results show that overall,the MLR,BPNN and ARIMA models were able to forecast the changing trend of O_(3)-8h concentration in Baoding in 2021,but the BPNN model gave better forecast results than the ARIMA and MLR models,especially for the prediction of the high values of O_(3)-8h concentration,and the correlation coefficients between the predicted values and the observed values were all higher than 0.9 during June-September.The mean error(ME),mean absolute error(MAE),and root mean square error(RMSE)of the predicted values and the observed values of daily O_(3)-8h concentration based on the BPNN model were 0.45,19.11 and 24.41μg/m 3,respectively,which were significantly better than those of the MLR and ARIMA models.The prediction effects of the MLR,BPNN and ARIMA models were the best at the pollution level,followed by the excellent level,and it was the worst at the good level.In comparison,the prediction effect of BPNN model was better than that of the MLR and ARIMA models as a whole,especially for the pollution and excellent levels.The TS scores of the BPNN model were all above 66%,and the PC values were above 86%.The BPNN model can forecast the changing trend of O_(3)concentration more accurately,and has a good practical application value,but at the same time,the predicted high values of O_(3)concentration should be appropriately increased according to error characteristics of the model.
基金supported by the Project of the 12th Five-year National Sci-Tech Support Plan of China(2011BAK12B09)China Special Project of Basic Work of Science and Technology(2011FY110100-2)
文摘Bailongjiang watershed in southern Gansu province, China, is one of the most landslide-prone regions in China, characterized by very high frequency of landslide occurrence. In order to predict the landslide occurrence, a comprehensive map of landslide susceptibility is required which may be significantly helpful in reducing loss of property and human life. In this study, an integrated model of information value method and logistic regression is proposed by using their merits at maximum and overcoming their weaknesses, which may enhance precision and accuracy of landslide susceptibility assessment. A detailed and reliable landslide inventory with 1587 landslides was prepared and randomly divided into two groups,(i) training dataset and(ii) testing dataset. Eight distinct landslide conditioning factors including lithology, slope gradient, aspect, elevation, distance to drainages,distance to faults, distance to roads and vegetation coverage were selected for landslide susceptibility mapping. The produced landslide susceptibility maps were validated by the success rate and prediction rate curves. The validation results show that the success rate and the prediction rate of the integrated model are 81.7 % and 84.6 %, respectively, which indicate that the proposed integrated method is reliable to produce an accurate landslide susceptibility map and the results may be used for landslides management and mitigation.
基金supported by the National Key Research and Development Program of China(No.2018YFC0214102)。
文摘The source apportionment of PM2.5 is essential for pollution prevention.In view of the weaknesses of individual models,we proposed an integrated chemical mass balancesource emission inventory(CMB-SEI)model to acquire more accurate results.First,the SEI of secondary component precursors(SO2,NOx,NH3,and VOCs)was compiled to acquire the emission ratios of these sources for the precursors.Then,a regular CMB simulation was executed to obtain the contributions of primary particle sources and secondary components(SO4^2-,NO3^-3,NH4^+,and SOC).Afterwards,the contributions of secondary components were apportioned into primary sources according to the source emission ratios.The final source apportionment results combined the contributions of primary sources by CMB and SEI.This integrated approach was carried out via a case study of three coastal cities(Zhoushan,Taizhou,and Wenzhou;abbreviated WZ,TZ,and ZS)in Zhejiang Province,China.The regular CMB simulation results showed that PM2.5 pollution was mainly affected by secondary components and mobile sources.The SEI results indicated that electricity,industrial production and mobile sources were the largest contributors to the emission of PM2.5 gaseous precursors.The simulation results of the CMB-SEI model showed that PM2.5 pollution in the coastal areas of Zhejiang Province presented complex pollution characteristics dominated by mobile sources,electricity production sources and industrial production sources.Compared to the results of the CMB and SEI models alone,the CMB-SEI model completely apportioned PM2.5 to primary sources and simultaneously made the results more accurate and reliable in accordance with local industrial characteristics.
基金supported by the Fundamental Research Funds for the Central Universities(No.2652019191)China Geological Survey(No.1212011120187)the National Natural Science Foundation of China(No.41502347)。
文摘The demand for fluorite resource is increasing rapidly as most fluorite deposits on Earth’s surface have been exhausted.The newly discovered fluorite deposits in Inner Mongolia are hosted by Permian metamorphosed sandy slate,intermediate-acid intrusive rocks and Cretaceous volcanic sedimentary rocks.The ore bodies are strictly controlled by faults and buried by cover rocks.The feasibility and effectiveness of multi-techniques for prospecting concealed fluorite ore bodies are evaluated,and 10 anomalies are delineated.On the basis of geological features and effectiveness of different methods,the optimum combinations of ore prospecting techniques are proposed for the exploration of zonal type and burial type concealed fluorite ore bodies.Based on comprehensive researches,an integrated exploration model is proposed:(i)select key prospecting targets based on geological backgrounds,regional geochemical anomalies of F and Ca,and remote sensing images;(ii)identify the spatial distribution of low resistivity anomaly and ore-controlling structure from geophysical survey;(iii)evaluate the mineralization potential in fault zone based on F and Ca anomalies in key sections selected from low resistivity anomaly zones;and(iv)evaluate the mineralization potential and reveal the spatial distribution of fluorite ore bodies and ore-controlling faults based on integrated geophysical and geochemical anomalies.The integrated exploration model is verified to be a powerful tool for prospecting concealed fluorite ore bodies in coverage area.
基金supported by the National Basic Research Program of China (Grant Nos.2012CB955604 and 2014CB953903)the National Natural Sciences Foundation of China (Grant No.41375112)
文摘This study introduces a new global climate model--the Integrated Climate Model （ICM）--developed for the seasonal prediction of East Asian-western North Pacific （EA-WNP） climate by the Center for Monsoon System Research at the Institute of Atmospheric Physics （CMSR, IAP）, Chinese Academy of Sciences. ICM integrates ECHAM5 and NEMO2.3 as its atmospheric and oceanic components, respectively, using OASIS3 as the coupler. The simulation skill of ICM is evaluated here, including the simulated climatology, interannual variation, and the influence of E1 Nifio as one of the most important factors on EA-WNP climate. ICM successfully reproduces the distribution of sea surface temperature （SST） and precipitation without climate shift, the seasonal cycle of equatorial Pacific SST, and the precipitation and circulation of East Asian summer monsoon. The most prominent biases of ICM are the excessive cold tongue and unrealistic westward phase propagation of equatorial Pacific SST. The main interannual variation of the tropical Pacific SST and EA-WNP climate E1 Nifio and the East Asia-Pacific Pattern--are also well simulated in ICM, with realistic spatial pattern and period. The simulated E1 Nifio has significant impact on EA-WNP climate, as in other models. The assessment shows ICM should be a reliable model for the seasonal prediction of EA-WNP climate.
基金Under the auspices of National Natural Science Foundation of China(No.40901026)Beijing Municipal Science & Technology New Star Project Funds(No.2010B046)+1 种基金Beijing Municipal Natural Science Foundation(No.8123041)Southwest Florida Water Management District(SFWMD) Project
文摘The commonly used discretization approaches for distributed hydrological models can be broadly categorized into four types,based on the nature of the discrete components:Regular Mesh,Triangular Irregular Networks(TINs),Representative Elementary Watershed(REWs) and Hydrologic Response Units(HRUs).In this paper,a new discretization approach for landforms that have similar hydrologic properties is developed and discussed here for the Integrated Hydrologic Model(IHM),a combining simulation of surface and groundwater processes,accounting for the interaction between the systems.The approach used in the IHM is to disaggregate basin parameters into discrete landforms that have similar hydrologic properties.These landforms may be impervious areas,related areas,areas with high or low clay or organic fractions,areas with significantly different depths-to-water-table,and areas with different types of land cover or different land uses.Incorporating discrete landforms within basins allows significant distributed parameter analysis,but requires an efficient computational structure.The IHM integration represents a new approach interpreting fluxes across the model interface and storages near the interface for transfer to the appropriate model component,accounting for the disparate discretization while rigidly maintaining mass conservation.The discretization approaches employed in IHM will provide some ideas and insights which are helpful to those researchers who have been working on the integrated models for surface-groundwater interaction.
基金Funded by the National Natural Science Foundation of China(No.20966002)
文摘Optical and micro-infrared microscope were used to observe the internal structure and mineral composition of high and low quality Chinese seawater and freshwater cultured pearls.Results clearly reveal that aragonite and calcite are found in seawater cultured pearls,but vaterite is not found.In contrast,vaterite and aragonite are found in freshwater cultured pearls,but calcite is not found.Based on our analysis and observations of the internal structure of high and low quality cultured pearls,a modified integrated model of the internal structure of Chinese cultured pearls was established.Our revisions to the previous model focus on significant differences within the prismatic layer of Chinese cultured pearls.
基金financially supported by the Health and Family Planning Commission of Hubei Province(No.WJ2017F047)the Health and Family Planning Commission of Wuhan(No.WG17D05)
文摘Outbreaks of hand-foot-mouth disease（HFMD） have occurred many times and caused serious health burden in China since 2008. Application of modern information technology to prediction and early response can be helpful for efficient HFMD prevention and control. A seasonal auto-regressive integrated moving average（ARIMA） model for time series analysis was designed in this study. Eighty-four-month（from January 2009 to December 2015） retrospective data obtained from the Chinese Information System for Disease Prevention and Control were subjected to ARIMA modeling. The coefficient of determination（R^2）, normalized Bayesian Information Criterion（BIC） and Q-test P value were used to evaluate the goodness-of-fit of constructed models. Subsequently, the best-fitted ARIMA model was applied to predict the expected incidence of HFMD from January 2016 to December 2016. The best-fitted seasonal ARIMA model was identified as（1,0,1）（0,1,1）12, with the largest coefficient of determination（R^2=0.743） and lowest normalized BIC（BIC=3.645） value. The residuals of the model also showed non-significant autocorrelations（P_（Box-Ljung（Q））=0.299）. The predictions by the optimum ARIMA model adequately captured the pattern in the data and exhibited two peaks of activity over the forecast interval, including a major peak during April to June, and again a light peak for September to November. The ARIMA model proposed in this study can forecast HFMD incidence trend effectively, which could provide useful support for future HFMD prevention and control in the study area. Besides, further observations should be added continually into the modeling data set, and parameters of the models should be adjusted accordingly.
基金supported by the National Natural Science Foundation of China(6107412761427809)
文摘To realize high accurate control of relative position and attitude between two spacecrafts, the coupling between position and attitude must be fully considered and a more precise model should be established. This paper breaks the traditional divide and conquer idea, and uses a mathematical tool, namely dual quaternion to establish the integrated 6 degree-of-freedom(6-DOF) model of relative position and attitude, which describes the coupled relative motion in a compact and efficient form and needs less information of the target. Considering the complex operation rules and the unclarity of the current relative motion model in dual quaternion, necessary mathematical foundations are given at first, followed by clear and detailed modeling process and analysis. Finally a generalized proportion-derivative(PD) controller law is designed. The simulation results show that based on the integrated model established by dual quaternion, this control law can achieve a high control accuracy of relative motion.
