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Tight Junctions01:29

Tight Junctions

7.1K
Tight junctions are molecular seals between cells that prevent the leaking of fluids, ions, and other small solutes across cavities and compartments in multicellular organisms. They are mainly composed of claudin and occludin transmembrane proteins, and other proteins such as tricellulin and JAM (junctional adhesion molecule). All these proteins are 4-pass transmembrane proteins, except JAM, which is a single-pass transmembrane protein belonging to the immunoglobulin superfamily. The...
7.1K
G-protein Coupled Receptors01:21

G-protein Coupled Receptors

131.7K
G-protein coupled receptors are ligand binding receptors that indirectly affect changes in the cell. The actual receptor is a single polypeptide that transverses the cell membrane seven times creating intracellular and extracellular loops. The extracellular loops create a ligand specific pocket which binds to neurotransmitters or hormones. The intracellular loops holds onto the G-protein.
131.7K
Spin–Spin Coupling: Two-Bond Coupling (Geminal Coupling)01:20

Spin–Spin Coupling: Two-Bond Coupling (Geminal Coupling)

1.6K
Two NMR-active nuclei bonded to a central atom can be involved in geminal or two-bond coupling. Geminal coupling is commonly seen between diastereotopic protons in chiral molecules and unsymmetrical alkenes, among others.
The central atom need not be NMR-active because its electrons are affected by the electron polarization of the spin-active atoms. However, spin information is transmitted less effectively than in one-bond coupling, and 2J values are usually weaker than 1J values. The energy of...
1.6K
Spin–Spin Coupling: Three-Bond Coupling (Vicinal Coupling)01:22

Spin–Spin Coupling: Three-Bond Coupling (Vicinal Coupling)

1.5K
Vicinal or three-bond coupling is commonly observed between protons attached to adjacent carbons. Here, nuclear spin information is primarily transferred via electron spin interactions between adjacent C‑H bond orbitals. This generally favors the antiparallel arrangement of spins, so 3J values are usually positive.
The extent of coupling depends on the C‑C bond length, the two H‑C‑C angles, any electron-withdrawing substituents, and the dihedral angle between the involved orbitals. The...
1.5K
Spin–Spin Coupling: One-Bond Coupling01:17

Spin–Spin Coupling: One-Bond Coupling

1.4K
Coupling interactions are strongest between NMR-active nuclei bonded to each other, where spin information can be transmitted directly through the pair of bonding electrons. While nuclei polarize their electrons to the opposite spins, the bonding electron pair has opposite spins. Configurations with antiparallel nuclear spins are expected to be lower in energy. When coupling makes antiparallel states more favorable, J is considered to have a positive value. The one-bond coupling constant, 1J,...
1.4K
Couple01:29

Couple

928
A couple is a pair of parallel forces equal in magnitude but in opposite directions. The forces are separated by a perpendicular distance, known as the couple's arm. The couple causes a rotation force or moment that rotates the body about an axis perpendicular to the plane of the forces. The resulting moment is referred to as the couple moment. The SI unit of a couple moment is the Newton-meter (N-m).
A typical example to understand this concept is tightening a bolt with a lug wrench. A...
928

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Related Experiment Video

Updated: Jan 24, 2026

Application of a Coupling Agent to Improve the Dielectric Properties of Polymer-Based Nanocomposites
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Application of a Coupling Agent to Improve the Dielectric Properties of Polymer-Based Nanocomposites

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INS/GNSS Tightly-Coupled Integration Using Quaternion-Based AUPF for USV.

Guoqing Xia1, Guoqing Wang2

  • 1College of Automation, Harbin Engineering University; Harbin 150001, China. xiaguoqing@hrbeu.edu.cn.

Sensors (Basel, Switzerland)
|August 5, 2016
PubMed
Summary

This study introduces a quaternion-based adaptive unscented particle filter (AUPF) for Unmanned Surface Vehicle (USV) navigation. This method enhances Inertial Navigation System (INS) and Global Navigation Satellite System (GNSS) integration accuracy and reliability while reducing computational load.

Keywords:
INS/GPS integrationUSVquaterniontightly-coupled integrationunscented particle filter

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Area of Science:

  • Robotics and Autonomous Systems
  • Navigation and Control Systems
  • Signal Processing

Background:

  • Accurate navigation for Unmanned Surface Vehicles (USVs) is critical.
  • Integrating Inertial Navigation Systems (INS) and Global Navigation Satellite Systems (GNSS) offers robust solutions.
  • Nonlinear system dynamics and non-Gaussian sensor errors pose challenges for traditional integration methods.

Purpose of the Study:

  • To develop a low-cost, robust, and highly accurate navigation system for USVs.
  • To address the computational burden of particle filters (PF) in nonlinear/non-Gaussian navigation applications.
  • To improve the fusion of GNSS and INS data for enhanced USV positioning.

Main Methods:

  • A tightly-coupled integration approach combining INS and GNSS measurements.
  • Development of a quaternion-based adaptive unscented particle filter (AUPF).
  • Utilizing the Unscented Kalman Filter (UKF) to enhance particle generation and employing a residual-based covariance matching for adaptive measurement error estimation.

Main Results:

  • The proposed AUPF significantly improves navigation accuracy and reliability for USVs.
  • The AUPF effectively handles nonlinear system models and non-Gaussian sensor errors.
  • Reduced computational complexity compared to standard particle filters due to the avoidance of resampling.

Conclusions:

  • The quaternion-based AUPF provides a computationally efficient and accurate solution for USV navigation.
  • This method enhances the performance of INS/GNSS tightly-coupled systems.
  • The AUPF demonstrates superior accuracy and reliability in simulated USV trajectories.