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Unscented Kalman filter for a low-cost GNSS/IMU-based mobile mapping application under demanding conditions

Geodesy and Geodynamics 2024年第2期15卷 166-176页

作者： Mokhamad Nur Cahyadi Tahiyatul Asfihani Hendy Fitrian Suhandri Risa Erfianti Department of Geomatics Engineering Institut Teknologi Sepuluh NopemberSurabaya 6011Indonesia Research Center of Marine and Earth Science Technology Directorate of Research and Community ServiceInstitut Teknologi Sepuluh NopemberSurabaya 60111Indonesia Department of Mathematics Institut Teknologi Sepuluh NopemberSurabaya 60111Indonesia Centre of Studies for Surveying Science&Geomatics Universiti Teknologi Mara(UiTM)Shah Alam 40450Malaysia

For the last two decades,low-cost Global Navigation Satellite System(GNSS)receivers have been used in various *** receivers are mini-size,less expensive than geodetic-grade receivers,and in high *** of these outstanding features,low-cost GNSS receivers are potentially poorer hardwares with internal signal processing,resulting in lower *** typically come with low-cost GNSS antenna that has lower performance than their counterparts,particularly for multipath ***,this research evaluated the low-cost GNSS device performance using a high-rate kinematic *** this purpose,these receivers were assembled with an Inertial Measurement Unit(IMU)sensor,which actively transmited data on acceleration and orientation rate during the *** position and navigation parameter data were obtained from the IMU readings,even without GNSS signals via the U-blox F9R GNSS/IMU device mounted on a *** research was conducted in an area with demanding conditions,such as an open sky area,an urban environment,and a shopping mall basement,to examine the device’s *** data were processed by two approaches:the Single Point Positioning-IMU(SPP/IMU)and the Differential GNSS-IMU(DGNSS/IMU).The Unscented Kalman Filter(UKF)was selected as a filtering algorithm due to its excellent performance in handling nonlinear system *** result showed that integrating GNSS/IMU in SPP processing mode could increase the accuracy in eastward and northward components up to 68.28%and 66.64%.Integration of DGNSS/IMU increased the accuracy in eastward and northward components to 93.02%and 93.03%compared to the positioning of standalone *** addition,the positioning accuracy can be improved by reducing the IMU noise using low-pass and high-pass *** application could still not gain the expected position accuracy under signal outage conditions.

关键词： LoW-cost GNSS GNSS/IMU Single Point Positioning-IMU(SPP/IMU) Differential GNSS-IMU(DGNSS/IMU) Unscented Kalman Filter(UKF) Outageconditions

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Identifying the stability of housekeeping genes to be used for the quantitative real-time PCR normalization in retinal tissue of streptozotocin-induced diabetic rats

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International Journal of Ophthalmology(English edition) 2024年第5期17卷 794-805页

作者： Muhammad Zulfiqah Sadikan Nurul Alimah Abdul Nasir Mohammad Johari Ibahim Igor Iezhitsa Renu Agarwal Department of Pharmacology Faculty of MedicineManipal University College Malaysia(MUCM)Bukit BaruMelaka 75150Malaysia Centre for Neuroscience Research(NeuRon) Faculty of MedicineUniversiti Teknologi MARASungai Buloh CampusSungai BulohSelangor 47000Malaysia Department of Medical Education Faculty of MedicineUniversiti Teknologi MARASungai Buloh CampusSungai BulohSelangor 47000Malaysia Department of Biochemistry and Molecular Medicine Faculty of MedicineUniversiti Teknologi MARASungai Buloh CampusSungai BulohSelangor 47000Malaysia School of Medicine International Medical UniversityBukit JalilKuala Lumpur 57000Malaysia Department of Pharmacology and Bioinformatics Volgograd State Medical UniversityVolgograd 400131Russia

AIM:To investigate the stability of the seven housekeeping genes:beta-actin(ActB),glyceraldehyde-3-phosphate dehydrogenase(GAPDH),18s ribosomal unit 5(18s),cyclophilin A(CycA),hypoxanthine-guanine phosphoribosyl transferase(HPRT),ribosomal protein large P0(36B4)and terminal uridylyl transferase 1(U6)in the diabetic retinal tissue of rat ***:The expression of these seven genes in rat retinal tissues was determined using real-time quantitative reverse transcription polymerase chain reaction(RT-qPCR)in two groups;normal control rats and streptozotocininduced diabetic *** stability analysis of gene expression was investigated using geNorm,NormFinder,BestKeeper,and comparative delta-Ct(ΔCt)***:The 36B4 gene was stably expressed in the retinal tissues of normal control animals;however,it was less stable in diabetic *** 18s gene was expressed consistently in both normal control and diabetic rats’retinal *** this gene was the best reference for data normalisation in RT-qPCR studies that used the retinal tissue of streptozotocin-induced diabetic ***,there was no ideal gene stably expressed for use in all experimental ***:Identifying relevant genes is a need for achieving RT-qPCR validity and reliability and must be appropriately achieved based on a specific experimental setting.

关键词： housekeeping genes stability real-time reverse transcription polymerase chain reaction retinal tissue streptozotocin-induced diabetic rats

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Comparison of vergence mechanisms between university students with good and poor sleep quality

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International Journal of Ophthalmology(English edition) 2024年第2期17卷 353-358页

作者： Pui Juan Woi Joyce Yi Ling Lu Mohd Izzuddin Hairol Wan Nur Amirah Ibrahim Optometry and Vision Science Programme Center for Community Health Studies(ReaCH)Faculty of Health SciencesUniversiti Kebangsaan MalaysiaKuala Lumpur 50300Malaysia Centre of Optometry Studies Faculty of Health SciencesUniversiti Teknologi MARASelangor BranchPuncak Alam CampusSelangor 42300Malaysia

AIM:To compare the vergence mechanisms between good and poor sleepers in university ***:A total of 64 university students were recruited in this *** validated Malay version of Pittsburgh Sleep Quality Index questionnaire(PSQI-M)was used to measure the participants’sleep quality over the past *** were categorized as good sleepers(n=32)and poor sleepers(n=32)based on the PSQI-M *** and fusional vergences were measured at distance and ***-Whitney U test was used to compare heterophoria,negative fusional vergence(NFV),and positive fusional vergence(PFV)at distance and near between good and poor *** correlation analysis was used to study the relationship between PSQI-M score and PFV at ***:Both distance and near heterophorias were not significantly different between good and poor sleepers(P>0.05).There was a difference in distance PFV(P0.05).Distance PFV was negatively correlated with PSQI-M score(rs=-0.33,P<0.05).CONCLUSION:University students with poor sleep quality demonstrates a reduced ability to maintain fusion with increasing convergence demand at *** quality assessment during binocular vision examination in university students is recommended.

关键词： binocular vision vergence sleep quality university students

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Cardiovascular health awareness,risk perception,behavioural intention and INTERHEART risk stratification among middle-aged adults in Malaysia

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Asian Pacific Journal of Tropical Medicine 2024年第2期17卷 61-70页

作者： Siew-Keah Lee Ang-Lim Chua Clement Heng Yew Fong Ban Hao Brian Cong Wen Ling Ng Jing Feng Kong Yik-Ling Chew Kai Bin Liew Yang Shao M.Kandiah Faculty of Medicine and Health Sciences Universiti Tunku Abdul RahmanMalaysia Faculty of Medicine Universiti Teknologi MARAMalaysia Faculty of Pharmaceutical Sciences UCSI UniversityMalaysia Faculty of Pharmacy University of CyberjayaMalaysia The First Affiliated Hospital of Hainan Medical University China

Objective:To investigate the interrelationship between cardiovascular health awareness,risk perception,behavioural intention,and INTERHEART risk stratification in a middle-aged adult population in ***:A cross-sectional survey with convenience sampling was conducted during November 2022 and January *** completed validated questionnaires assessing cardiovascular health awareness,risk perception of cardiovascular diseases,behavioural intention towards adopting healthy habits,and INTERHEART risk stratification score(IHRS)based on established risk factors.A total of 602 respondents were included in the final *** were analysed with independent t-test/one-way ANOVA or Mann-Whitney/Kruskal-Wallis to test the differences,Pearson correlation or linear regression test to analyze the association of independent and dependent ***:There was a significant positive correlation between medical knowledge related to cardiovascular disease(CVD)and knowledge related to CVD risk prevention,risk perception,behavioural intention and IHRS(P<0.05,Pearson correlation).Notably,individuals with higher IHRS tended to have lower knowledge related to CVD and CVD risk prevention,risk perception,and behavioural ***,laborers,active/former smokers,individuals with lower household income and educational levels,those involved in occupations not related to the healthcare sector,and those who did not receive the CVD health brochure or are unaware of health self-assessment tools are likely to have lower levels of knowledge,risk perception,and poorer behavioural intention regarding cardiovascular health(P<0.05,one-way ANOVA).While educational level,smoking status,awareness about CVD poster,self-assessment tools were repeatedly significantly associated with knowledge related to CVD and CVD risk prevention,risk perception,behavioral intention and/or IHRS(P<0.05,linear regression).Conclusions:These findings underscore the importance of promoting car

关键词： Cardiovascular risk Knowledge Risk perception Behavioural intention INTERHEART Middle-aged Lifestyle Physical activity Psychosocial stress

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Blockchain-Enabled Cybersecurity Provision for Scalable Heterogeneous Network:A Comprehensive Survey

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工程与科学中的计算机建模(英文) 2024年第1期138卷 43-123页

作者： Md.Shohidul Islam Md.Arafatur Rahman Mohamed Ariff Bin Ameedeen Husnul Ajra Zahian Binti Ismail Jasni Mohamad Zain Faculty of Computing Universiti Malaysia PahangKuantan26600Malaysia School of Engineering Computing&Mathematical SciencesUniversity ofWolverhamptonWolverhamptonUK Institute for Big Data Analytics and Artificial Intelligence(IBDAAI) Komplek Al-KhawarizmiUniversiti Teknologi MARAShah AlamSelangor40450Malaysia

Blockchain-enabled cybersecurity system to ensure and strengthen decentralized digital transaction is gradually gaining popularity in the digital era for various areas like finance,transportation,healthcare,education,and supply chain *** interactions in the heterogeneous network have fascinated more attention due to the authentication of their digital application ***,the exponential development of storage space capabilities across the blockchain-based heterogeneous network has become an important issue in preventing blockchain distribution and the extension of blockchain *** is the biggest challenge of data integrity and scalability,including significant computing complexity and inapplicable latency on regional network diversity,operating system diversity,bandwidth diversity,node diversity,etc.,for decision-making of data transactions across blockchain-based heterogeneous *** security and privacy have also become the main concerns across the heterogeneous network to build smart IoT *** address these issues,today’s researchers have explored the potential solutions of the capability of heterogeneous network devices to perform data transactions where the system stimulates their integration reliably and securely with *** key goal of this paper is to conduct a state-of-the-art and comprehensive survey on cybersecurity enhancement using blockchain in the heterogeneous *** paper proposes a full-fledged taxonomy to identify the main obstacles,research gaps,future research directions,effective solutions,andmost relevant blockchain-enabled cybersecurity *** addition,Blockchain based heterogeneous network framework with cybersecurity is proposed in this paper tomeet the goal of maintaining optimal performance data transactions among ***,this paper provides an in-depth description based on the critical analysis to overcome the existing work gaps for future research where it

关键词： Blockchain cybersecurity data transaction diversity heterogeneous

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Effect of coenzyme Q10 supplementation on post-vitrification mouse embryo development

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Asian pacific Journal of Reproduction 2024年第3期13卷 126-132页

作者： Anisa-Annur S Wan-Hafizah WJ Nor-Ashikin MNK Muhammad-Zaki R Faculty of Pharmacy and Health Sciences Royal College of Medicine PerakUniversiti Kuala Lumpur30450 IpohPerakMalaysia Maternofetal and Embryo Research Group Faculty of MedicineUniversiti Teknologi MARASelangor BranchSungai Buloh Campus47000 Sungai BulohSelangorMalaysia

Objective:To investigate the effects of coenzyme Q10(CoQ10)supplementation on post-vitrification embryo development and gross ***:Balb/c mouse embryos were cultured in potassium simplex optimised medium(KSOM)with varying CoQ10 concentrations[0(control),20,40,and 60μM].The most effective CoQ10 concentration(40μM)was selected for subsequent post-vitrification morphology *** were randomly divided into four groups:Group A(non-vitrified without CoQ10),Group B(non-vitrified with CoQ10),Group C(vitrified without CoQ10),and Group D(vitrified with CoQ10),followed by vitrification at the 8-cell *** rates and development until the blastocyst stage were evaluated through morphological examinations using ASEBIR's system,distinguishing normal and abnormal ***:Supplementation of 40μM CoQ10 significantly increased blastocyst formation(95%)compared to the control group(92%),20μM(62%),and 60μM(56%)(P<0.001).Following vitrification,Group D exhibited a significant increase in blastocyst formation(92%)compared to Group C(82%)(P<0.05).Morphological assessments indicated superior embryo quality in Group B over Group D during the cleavage stage,morula,and blastocyst(P<0.05).Conclusions:CoQ10 supplementation exhibits promising potential to enhance preimplantation embryo development,increase blastocyst formation rates,and improve embryo quality *** offers a promising approach to mitigate oxidative stress on embryos,potentially improving overall assisted reproductive technology outcomes.

关键词： Coenzyme Q10 Antioxidant Embryo development Vitrification Morphology Assisted reproductive technology

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Characteristics of Biopellets Manufactured from Various Lignocellulosic Feedstocks as Alternative Renewable Energy Sources

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Journal of Renewable Materials 2024年第6期12卷 1103-1123页

作者： Anggara Ridho Putra Apri Heri Iswanto Arif Nuryawan Saptadi Darmawan ElvaraWindra Madyaratri Widya Fatriasari Lee Seng Hua Petar Antov Harisyah Manurung Ade Pera Amydha Sudrajat Herawati Pendi Department of Forest Products Faculty of ForestryUniversitas Sumatera Utara.Kampus USU Padang BulanMedan20155Indonesia Research Center for Biomass and Bioproducts National Research and Innovation Agency(BRIN)Jl Raya Bogor KM 46 CibinongBogor16911Indonesia Department of Wood Industry Faculty of Applied SciencesUniversiti Teknologi MARA(UiTM)Cawangan Pahang Kampus JengkaShah Alam26400Malaysia Faculty of Forest Industry University of ForestrySofia1797Bulgaria

The increased valorization of renewable and cost-effective lignocellulosic feedstocks represents a viable,sustainable,and eco-friendly approach toward the production of biopellets as alternative energy *** aim of this research work was to investigate and evaluate the feasibility of using various lignocellulosic raw materials,i.e.,raru(Cotylelobium melanoxylon),mangrove(Rhizophora spp.),sengon(Paraserianthes falcataria),kemenyan toba(Styrax sumatrana),oil palm(Elaeis guineensis),manau rattan(Calamus manan),and belangke bamboo(Gigantochloa pruriens)for manufacturing biopellets with different particle *** raw materials used were tested for their moisture content,specific gravity,ash,cellulose,and lignin *** addition,thermal analyses,i.e.,calorific values,thermogravimetric analysis(TGA),and differential scanning calorimetry(DSC),were *** following properties of the biopellets produced were investigated:moisture content,volatile matter,ash content,fixed carbon,density,and thermal *** on an analysis of the raw materials,raru had the lowest moisture content(12%)and ash content(1.5%)and the highest specific gravity(1.2).Markedly,palm oil stem had the highestα-cellulose(55%)and lignin(37%)*** accordance with the SNI 8675:2018 standard requirements,biopellets with optimal properties(moisture content of 1.4%,ash content of 0.79%,density of 1.09 g/m^(3),calorific value of 4672 cal/g,and TGA residue of 13.9%),were manufactured from raru wood.

关键词： Biomass biopellet renewable energy particle size

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A review of salivary composition changes induced by fasting and its impact on health

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Food Science and Human Wellness 2024年第1期13卷 50-64页

作者： Nurul Fadhilah Kamalul Aripin NIdayu Zahid Mohd Aizat Abdul Rahim Hashim Yaacob Parvez I.Haris Zubaidah Haji AbdRahim Rauzah Hashim School of Chemical Engineering College of EngineeringUniversiti Teknologi MARAShah Alam 40450Malaysia Centre for Fundamental and Frontier Sciences in Nanostructure Self-Assembly Department of ChemistryFaculty of ScienceUniversiti MalayaKuala Lumpur 50603Malaysia Department of Oral and Craniofacial Sciences Faculty of DentistryUniversiti MalayaKuala Lumpur 50603Malaysia UMSC Dental Specialist Clinic UM Dentistry TowerUniversiti MalayaMedical CentreKuala Lumpur 50603Malaysia Leicester School of Allied Health Sciences De Montfort UniversityLeicester LE19BHUnited Kingdom Chancellery(Research and Innovation) Universiti MalayaKuala Lumpur 50603Malaysia

Human saliva is an indispensable fluid that maintains a healthy oral cavity which otherwise can lead to oral diseases(dental caries and periodontitis).In addition,salivary metabolites and microbiome profile provide early detection of systemic diseases such as cancer and *** diagnostic has gained popularity due to its non-invasive sampling ***(abstinence from food or drink or both)research for weight loss and improve health is common,but studies using fasting saliva are *** metabolites in fasting saliva have been reported with interesting results,which can be enhanced by considering different confounding *** example,fasting saliva contains higher salivary nitrite,which is related to nitric oxide(NO).NO is a vasodilator supporting the healthy function of endothelial cells and its deficiency is connected to many *** timely supply of NO through exogenous and endogenous means is highlighted and the potential advantage of fasting salivary composition changes in relation to COVID-19 infection is *** review aims to provide a general discussion on the salivary composition,properties,and functions of the whole saliva,including the health benefits of fasting.

关键词： Saliva Fasting Nitrate Nitrite Nitric oxide

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Antimicrobial effect of Malaysian vegetables against enteric bacteria

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Asian Pacific Journal of Tropical Biomedicine 2016年第3期6卷 211-215页

作者： Hassanain Al-Talib Norliana Dalila Mohamad Ali Mohamed Harreez Suhaimi Siti Shafika Nabila Rosli Nurul Huda Othman Nur Ain Sakinah Mansor Amira Kartini Sulaiman Shah Nurul Syuhada Ariffin Alyaa Al-Khateeb Laboratory Medical Science Cluster Faculty of Medicine Universiti Teknologi MARA (UiTM) Faculty of Medicine Universiti Teknologi MARA (UiTM)

Objective: To investigate the antibacterial activities of green vegetables(pennywort,mint, garlic, parsley and celery) against four common enteric bacteria [Salmonella enterica(ATCC 25957)(S. enterica), Shigella flexneri(ATCC 12022)(S. flexneri),Escherichia coli(ATCC 43889)(E. coli) and Enterobacter cloacae(ATCC 13047)(E. cloacae)] as an alternative medicine for controlling food borne diarrhea disease and the synergistic effect of green vegetables against those ***: Five common vegetables(pennywort, mint, garlic, parsley and celery) were purchased and extracted. The antimicrobial activities of these extracts were tested against four common enteric bacteria(S. enterica, S. flexneri, E. coli and E. cloacae). Ten different concentrations of the extracts(from 640 to 1.25 mg/m L) were prepared and used for the study. The minimal inhibitory concentration(MIC) was determined by the broth dilution method. The antimicrobial activities were assessed by using both well diffusion and disc diffusion ***: Garlic extract showed excellent inhibitory effects on all enteric bacteria. Other plants(parsley, celery, mint and pennywort) were not effective against enteric *** MIC of garlic against S. flexneri and E. cloacae was 40 mg/m L. The MIC of S. enterica and E. coli were 20 and 10 mg/m L, respectively. The performance of the well diffusion method was better than that of the disc diffusion method with clear and sharp inhibition zones of tested bacteria against plant ***: Garlic had excellent antimicrobial effects against enteric bacteria and was recommended to be given to patients with gastroenteritis. The other vegetables(pennywort, mint, parsley and celery) showed no inhibitory effects on enteric bacteria but still can be used for its richness in vitamins and fibers. The performance of the well diffusion method was better than that of the disc diffusion method in detecting the antibacterial effects of green vegetables.

关键词： Antibacterial activities Green vegetables Enteric bacteria Inhibitory effects

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满足4~7岁儿童发展需求的户外隐匿游戏空间构建及其设施设计研究

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包装工程 2024年第4期45卷 207-217页

作者：杨芳廖云霜 universiti teknologi mara Shah Alam 40450Malaysia 重庆第二师范学院美术学院重庆400060

目的构建满足4~7岁儿童发展需求的户外隐匿游戏空间和游乐设施,以实现减少监护人对儿童游戏的监督和命令,保障儿童自由、自控游戏,帮助儿童增强自我认同意识、建立独立自信品格,并培养高情商交往能力。方法首先针对4~7岁儿童游戏行为的... 详细信息

目的构建满足4~7岁儿童发展需求的户外隐匿游戏空间和游乐设施,以实现减少监护人对儿童游戏的监督和命令,保障儿童自由、自控游戏,帮助儿童增强自我认同意识、建立独立自信品格,并培养高情商交往能力。方法首先针对4~7岁儿童游戏行为的心理行为特征和游戏行为特征进行分析,并探究游乐空间和设施对4~7岁儿童游戏行为及心理特征的影响,得到儿童发展需求对户外游戏空间及其设施的具体要求;其次,结合儿童自我发展和自主游戏的诉求,对儿童户外隐匿游戏空间及其设施的设计要点进行了分析;最后从儿童游乐空间和设施的主题确定、方案设计及效果展示三个阶段出发,构建满足4~7岁儿童发展需求的户外隐匿游戏空间及游乐设施。结果,构建了儿童不断深入参与的隐匿空间、参差自然与社会相恰的诗意隐匿空间、象征性分割迷宫三种不同特点的户外隐匿空间,可满足儿童自主游戏的需求;此外,隐匿空间中内置的与空间特征相适应的趣味性、操作力助益游乐设施,其造型、材质、色彩多方面的设计考虑,可以激发儿童想象力,增加儿童游戏热情,促进儿童的探索兴趣。结论构建了可满足4~7岁儿童发展的游乐空间和设施的设计方案,有利于儿童身心的健康发展,也为4~7岁儿童游戏产业的发展提供新的设计思路和方向。

关键词： 4~7岁儿童发展需求隐匿游戏空间游乐设施

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