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This paper aims to propose a general and rigorous study on the propagation property of invariant errors for the model conversion of state estimation problems with discrete group affine systems.

The evolution and operation properties of error propagation model of discrete group affine physical systems are investigated in detail. The general expressions of the propagation properties are proposed together with the rigorous proof and analysis which provide a deeper insight and are beneficial to the control and estimation of discrete group affine systems.

The investigation on the state independency and log-linearity of invariant errors for discrete group affine systems are presented in this work, and it is pivotal for the convergence and stability of estimation and control of physical systems in engineering practice. The general expressions of the propagation properties are proposed together with the rigorous proof and analysis.

An example application to the attitude dynamics of a rigid body together with the attitude estimation problem is used to illustrate the theoretical results.

The mathematical proof and analysis of the state independency and log-linearity property are the unique and original contributions of this work.

The purpose of this paper is to propose a localizability-based particle filtering localization algorithm for mobile robots to maintain localization accuracy in the high-occluded and dynamic environments with moving people.

First, the localizability of mobile robots is defined to evaluate the influences of both the dynamic obstacles and prior-map on localization. Second, based on the classical two-sensor track fusion algorithm, the odometer-based proposal distribution function (PDF) is corrected, taking account of the localizability. Then, the corrected PDF is introduced into the classical PF with “roulette” re-sampling. Finally, the robot pose is estimated according to all the particles.

The experimental results show that, first, it is necessary to consider the influence of the prior-map during the localization in the high-occluded and dynamic environments. Second, the proposed algorithm can maintain an accurate and robust robot pose in the high-occluded and dynamic environments. Third, its real timing is acceptable.

When the odometer error and occlusion caused by the dynamic obstacles are both serious, the proposed algorithm also has a probability evolving into the kidnap problem. But fortunately, such serious situations are not common in practice.

To check the ability of real application, we have implemented the proposed algorithm in the campus cafeteria and metro station using an intelligent wheelchair. To better help the elderly and disabled people during their daily lives, the proposed algorithm will be tested in a social welfare home in the future.

The localizability of mobile robots is defined to evaluate the influences of both the dynamic obstacles and prior-map on localization. Based on the localizability, the odometer-based PDF is corrected properly.

Twenty-two coal samples and eleven parting samples were taken from Gashun Coal Mine, Hoxtolgay coalfield, Xingjiang Autonomous Region, and the samples were analyzed by using optical microscopy. The results indicate that the dominant macerals are vitrinite (av. 76.6%) with minor amounts of inertinite (av. 18.84%) and low liptinite (av. 2.7%), along with low content of mineral matters (av. 1.86%). All GI, TPI, VI, GWI values and two facies diagrams indicate that the main coal facies are in limnic area. Meanwhile, the overall petrographic composition and coal facies types indicate that the coal formed in strong wet reducing peat accumulating conditions which were the lacustrine marshes.

Transfer relations represent analytical solutions of the linear theory of circular arches, relating each one of the kinematic and static variables at an arbitrary cross-section to the kinematic and static variables at the initial cross-section. The purpose of this paper is to demonstrate the significance of the transfer relations for structural analysis by means of three examples taken from civil engineering.

The first example refers to an arch bridge, the second one to the vault of a metro station and the third one to a real-scale test of a segmental tunnel ring.

The main conclusions drawn from these three examples are as follows: increasing the number of hangers/columns of the investigated arch bridge entails a reduction of the maximum bending moment of the arch, allowing it to approach, as much as possible, the desired thrust-line behavior; compared to the conventional in situ cast method, a combined precast and in situ cast method results in a decrease of the maximum bending moment of an element of the vault of the studied underground station by 46%; and the local behavior of the joints governs both the structural convergences and the bearing capacity of the tested segmental tunnel ring.

The three examples underline that the transfer relations significantly facilitate computer-aided engineering of circular arch structures, including arch bridges, vaults of metro stations and segmental tunnel rings.

This chapter examines how the breakthrough of Zhang Ziyi's depiction of a female kung fu master in The Grandmaster (2013) transforms the figure of the heroine in Chinese action films. Zhang is well known for her acting in action films conducted by renowned directors, such as Ang Lee, Zhang Yimou and Wong Kar-wai. After winning 12 different Best Actress awards for her portrayal of Gong Ruomei in The Grandmaster, Zhang announced that she would no longer perform in any action films to show her highest respect for the superlative character Gong. Tracing Zhang's transformational portrait of a heroine in The Grandmaster alongside her other action roles, this analysis demonstrates how her performance projects the directors' distinctive gender viewpoints. I argue that Zhang's characterisation of Gong remodels heroine-hood in Chinese action films. Inheriting the typical plot of a daughter's use of martial arts for revenge for her father's death, Gong breaks from conventional Chinese action films that highlight romantic love during a woman's adventure and the decisive final battle scene. Beyond the propensity for sensory stimulation, Gong's characterisation enables Zhang to determine that women can really act in action films – demonstrating their inner power and ability to create multi-layered characters – not merely relying upon physical action. This chapter offers a relational perspective of how women transform the action film genre not merely as gender spectacles but as embodied figures that represent emerging female subjectivity.

Motivated by the problems that the positioning error of strap-down inertial navigation system (SINS) accumulates over time and few sensors are available for midwater navigation, this paper aims to propose a self-aided SINS scheme for the spiral-diving human-occupied vehicle (HOV) based on the characteristics of maneuvering pattern and SINS error propagation.

First, the navigation equations of SINS are simultaneously executed twice with the same inertial measurement unit (IMU) data as input to obtain two sets of SINS. Then, to deal with the horizontal velocity provided by one SINS, a delay-correction high-pass filter without phase shift and amplitude attenuation is designed. Finally, the horizontal velocity after processing is used to integrate with other SINS.

Simulation results indicate that the horizontal positioning error of the proposed scheme is less than 0.1 m when an HOV executes spiral diving to 7,000 meters under the sea and it is inherently able to estimate significant sensors biases.

The proposed scheme can provide a precise navigation solution without error growth for spiral-diving HOV on the condition that only IMU is required as a navigation sensor.

Some economic theories have influenced the reform of the socialist open economy with Chinese characteristics. As a new practice of socialism, an open economy is not only driven by China’s productivity level and people’s living standards but also regulated by the law of commodity production and value.

It was popular to participate in economic globalization for most countries in the second half of the 20th century, but not all of them could benefit from it.

The key to the success of the open-economy reform with Chinese characteristics lies in learning from and innovating the comparative advantage theory, thus forming an organic whole of the open economy, including the core of correctly handling the relationship between the government and the market, the method of gradual reform, the breakthrough point of transforming the mode of economic development, and serving people all the time.

Achieving internal and external coordination through the combination of opening-up and independence is a critical principle of China’s economic opening-up, which not only effectively safeguards national interests but also actively promotes the construction of a new global order.

Marketing Technology (Martech) is the cornerstone of creating digital experiences and interactive marketing, providing consumers with high experiential value. Drawing on the mindfulness theory, this study aims to explore how to achieve close psychological distance and experiential value in Martech servicescape (such as augmented reality [AR]).

We employed mixed methods research to clarify the research question. In Study 1, we conducted a systematic literature review of psychological closeness (PC) using a bibliographic coupling approach, identifying gaps in the research stream and discussing the research implications for the interactive marketing field. In Study 2, we used a task-based laboratory assessment to empirically verify our hypotheses and research framework. Two virtual try-on environments, AR and non-AR (e.g. traditional webpage browsing), were applied in a virtual fitting context. The two e-shopping environments were directly compared in terms of their moderating effects on the relationships among the mindfulness-oriented MarTech servicescape, PC and experiential value.

This study elucidates the antecedent of close psychological distance formation, indicating that the features of the mindfulness-oriented Martech servicescape – vivid sensory experience, consumer-focused shopping information and autonomous navigation, then result in creating experiential value. Moreover, this study also revealed that compared to a non-AR e-shopping environment, AR makes the better effect of the mindfulness-oriented Martech servicescape driving experiential marketing.

This study extends the research stream on mindfulness-oriented service to the Martech servicescape (e.g. AR try-on). In this way, this study’s findings will contribute to clarifying the interactive elements and design principles of mindfulness-oriented service in the Martech servicescape. By establishing the association between these three theoretical perspectives—mindfulness-oriented service research stream, construal level theory and experience economy paradigm—the study provides valuable insights into how Martech can enhance experiential marketing. Such research insights can help digital marketing managers shape appropriate Martech servicescape for effective experiential marketing.