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Abstract. Kalman filters have been widely used for navigation and system integration. One of the key problems associated with Kalman filters is how to assign suitable statistical properties to both the dynamic and the observational models. For GPS navigation, the manoeuvre of the vehicle and the level of measurement noise are environmental dependent, and hardly to be predicted. Therefore to assign constant noise levels for such applications is not realistic.In this paper, real-time adaptive algorithms are applied to GPS data processing. Two different adaptive algorithms are discussed in the paper. A number of tests have been carried out to compare the performance of the adaptive algorithms with a conventional Kalman filter for vehicle navigation. The test results demonstrate that the new adaptive algorithms are much robust to the sudden changes of vehicle motion and measurement errors.

Differentiating malignant from benign mucoceles can be difficult with CT. Irregular walls and soft-tissue thickening are features most likely to be associated with malignancy.

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Organosulfides have great significance and value in synthetic and biological chemistry. To establish a versatile and green methodology for C-S bond generation, we successfully developed a new aerobic cross-dehydrogenative coupling of C-H and S-H to synthesize aryl sulfides in water, utilizing CoPcS as the catalyst and O as the oxidant. This protocol shows great tolerance of a wide range of substrates. A large variety of organosulfur compounds were produced in modest to excellent yields.

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With the existing GPS, the replenishment of GLONASS and the launching of Galileo there will be three satellite navigation systems in the future, with a total of more than 80 satellites. So it can be expected that the performance of the global navigation satellite system (GNSS) will be greatly improved, especially in urban environments. This paper studies the potential benefits of GPS/GLONASS/Galileo integration in an urban canyon -Hong Kong. The navigation performances of four choices (GPS alone, GPS+GLONASS, GPS+Galileo and GPS+GLONASS+Galileo) are evaluated in terms of availability, coverage, and continuity based on simulation. The results show that there are significant improvements in availability, coverage and continuity, by using GPS+GLONASS+Galileo compared with the other choices. But the performance is still not good enough for most navigation applications in urban environments. K E Y

The aim of the present study was to explore the value and characteristics of contrast-enhanced ultrasound (CEUS) in the diagnosis of papillary thyroid microcarcinoma (PTMC). By analyzing CEUS information of 130 nodules obtained from 106 patients with PTMC, who had been diagnosed by surgery and pathological analysis, CEUS characteristics of PTMC nodules were concluded. Based on the results, the PTMC nodules were divided into three groups as follows: 32 nodules (24.62%) were found to be enhanced earlier than the surrounding normal thyroid tissue, 95 nodules (73.08%) were enhanced at the same time as the normal thyroid tissue and 3 nodules (2.30%) were enhanced later than the normal thyroid tissue. The results also demonstrated that the peak enhancement intensity of the 130 nodules was lower compared with the irregular intensity of the normal parenchyma in corresponding thyroids, and that PTMC enhancement washed out faster than in normal thyroid parenchyma. In conclusion, the PTMC characteristics that CEUS can detect may improve the diagnostic accuracy and provide valuable information for the treatment of the disease.