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Nanotechnology can improve crop yield and quality by improving seed germination and growth conditions. We chose multi walled carbon nanotubes (MWCNTs) and nano silica (nano-SiO2) for exploring the effects of different concentrations of MWCNTs and nano-SiO2 on key enzymes for germination and endogenous hormone level in maize. The results indicate that MWCNTs and nano-SiO2 can promote seed germination characteristics, such as the germination potential, germination rate, germination index, storage material transport rate, radicle and germ biomass of maize seeds. Amounts of 800 mg·L−1 MWCNTs and 1500 mg·L−1 nano-SiO2 showed a positive effect on germination index, and nano-SiO2 was better than MWCNTs in promoting germination effects. Most importantly, MWCNTs and nano-SiO2 can improve the activities of amylase in maize grain, cytochrome oxidase (COX) and alternating oxidase (AOX) in seed embryo and key enzymes of glycolysis, so as to accelerate the hydrolysis of carbohydrates such as starch, provide energy and material basis for seed germination, improve seed vitality and promote seed germination. MWCNTs and nano-SiO2 can enhance the content of key hormones in promoting roots and leaves, including decreased content of abscisic acid (ABA) and increased contents of methyl jasmonate (MeJA), auxin (IAA), gibberellin (GA), and zeaxanthin (ZR), which result directly in achieving an available balance of MeJA/ABA, GA/ABA, ZR/ABA, and IAA/ABA ratios between different hormone contents, providing support for the growth development of maize kernels and seedlings. [ABSTRACT FROM AUTHOR]

In recent years, halide perovskite materials have become widely used in solar cells, photovoltaics, and LEDs, as well as photocatalysis. Lead-free perovskite Cs3Bi2I9 has been demonstrated as an effective photocatalyst; however, the fast recombination of the photogenerated carriers hinders further improvements of its photocatalytic activity. In this work, Ti3C2 was composited with Cs3Bi2I9 to promote the transfer and separation of photogenerated carriers, and thus the pollutant degradation efficiency was effectively improved. The visible-light photocatalytic reduction of Cs3Bi2I9/Ti3C2 on rhodamine B (RhB), methylene blue (MB), and malachite green (MG) was as high as 97.3%, 96%, and 98.8%, respectively, improvements of almost 31.2%, 37.8%, and 37.2% compared to that of sole Cs3Bi2I9. Our study provides a simple way to enhance the photocatalytic activity of lead-free halide perovskites. [ABSTRACT FROM AUTHOR]

The electrolysis of water for hydrogen production is currently receiving significant attention due to its advantageous features such as non-toxicity, safety, and environmental friendliness. This is especially crucial considering the urgent need for clean energy. However, the current method of electrolyzing water to produce hydrogen largely relies on expensive metal catalysts, significantly increasing the costs associated with its development. Molybdenum disulfide (MoS2) is considered the most promising alternative to platinum for electrocatalyzing the hydrogen evolution reaction (HER) due to its outstanding catalytic efficiency and robust stability. However, the practical application of this material is hindered by its low conductivity and limited exposure of active sites. MoS2/SQDs composite materials were synthesized using a hydrothermal technique to deposit SQDs onto MoS2. These composite materials were subsequently employed as catalysts for the HER. Research findings indicate that incorporating SQDs can enhance electron transfer rates and increase the active surface area of MoS2, which is crucial for achieving outstanding catalytic performance in the HER. The MoS2/SQDs electrocatalyst exhibits outstanding performance in the HER when tested in a 0.5 M H2SO4 solution. It achieves a remarkably low overpotential of 204 mV and a Tafel slope of 65.82 mV dec−1 at a current density of 10 mA cm−2. Moreover, during continuous operation for 24 h, the initial current density experiences only a 17% reduction, indicating high stability. This study aims to develop an efficient and cost-effective electrocatalyst for water electrolysis. Additionally, it proposes a novel design strategy that uses SQDs as co-catalysts to enhance charge transfer in nanocomposites. [ABSTRACT FROM AUTHOR]

Dissolved organic carbon (DOC) in lakes, as a regulatory agent and light-absorbing compound, is a key component of the global carbon cycling in lacustrine ecosystems. Hence, continuous monitoring of the DOC concentration in arid regions is extremely important. This study utilizes the QAA-CDOM semi-analytical model, which has good accuracy in retrieving the CDOM (colored dissolved organic matter) concentration of Lake Ebinur. We chose to invert the CDOM time-series data from May to October during the 2018–2022 period. A DOC estimation model was then established using the linear regression approach based on the CDOM inversion data and the field DOC measurements. In general, the DOC concentration in Lake Ebinur exhibited an increasing trend from 2018 to 2022, typically lower in May and higher in June. When comparing the average values of DOC in Lake Ebinur for the same months across different years, it can be observed that the month of September exhibits the greatest variability, whereas June shows the least variability. In sum, this study successfully retrieved CDOM concentrations for a saline lake within an arid region and developed a DOC estimation model, thereby providing a reference for investigating carbon cycling in typical lakes of arid areas. [ABSTRACT FROM AUTHOR]

The exploration of low-cost, high-performance adsorbents is a popular research issue. In this work, a straightforward method that combined hydrothermal with tube firing was used to produce Osmanthus fragrans biomass charcoal (OBC) from low-cost osmanthus for dye adsorption in water. The study examined the parameters of starting concentration, pH, and duration, which impacted the process of adsorption of different dyes by OBC. The analysis showed that the adsorption capacities of OBC for six dyes: malachite green (MG, C0 = 800 mg/L, pH = 7), Congo red (CR, C0 = 1000 mg/L, pH = 8), rhodamine B (RhB, C0 = 500 mg/L, pH = 6), methyl orange (MO, C0 = 1000 mg/L, pH = 7), methylene blue (MB, C0 = 700 mg/L, pH = 8), and crystalline violet (CV, C0 = 500 mg/L, pH = 7) were 6501.09, 2870.30, 554.93, 6277.72, 626.50, and 3539.34 mg/g, respectively. The pseudo-second-order model and the Langmuir isotherm model were compatible with the experimental findings, which suggested the dominance of ion exchange and chemisorption. The materials were characterized by using XRD, SEM, FTIR, BET, and XPS, and the results showed that OBC had an outstanding specific surface area (2063 m2·g–1), with potential adsorption mechanisms that included electrostatic mechanisms, hydrogen bonding, and π-π adsorption. The fact that the adsorption capacity did not drastically decrease after five cycles of adsorption and desorption suggests that OBC has the potential to be a dye adsorbent. [ABSTRACT FROM AUTHOR]

In this study, sugarcane bagasse (SCB) was treated with sodium hydroxide and bleached to separate the non-cellulose components to obtain cellulose (CE) fibres. Cross-linked cellulose–poly(sodium acrylic acid) hydrogel (CE–PAANa) was successfully synthesised via simple free-radical graft-polymerisation to remove heavy metal ions. The structure and morphology of the hydrogel display an open interconnected porous structure on the surface of the hydrogel. Various factors influencing batch adsorption capacity, including pH, contact time, and solution concentration, were investigated. The results showed that the adsorption kinetics were in good agreement with the pseudo-second-order kinetic model and that the adsorption isotherms followed the Langmuir model. The maximum adsorption capacities calculated by the Langmuir model are 106.3, 333.3, and 163.9 mg/g for Cu(II), Pb(II), and Cd(II), respectively. Furthermore, X-ray photoelectron spectroscopy (XPS) and energy-dispersive X-ray spectrometry (EDS) results demonstrated that cationic exchange and electrostatic interaction were the main heavy metal ions adsorption mechanisms. These results demonstrate that CE–PAANa graft copolymer sorbents from cellulose-rich SCB can potentially be used for the removal of heavy metal ions. [ABSTRACT FROM AUTHOR]

Photocatalysis holds great promise for addressing water pollution caused by organic dyes, and the development of Ag2O/Fe3O4 aims to overcome the challenges of slow degradation efficiency and difficult recovery of photocatalysts. In this study, we present a novel, environmentally friendly Ag2O/Fe3O4 magnetic nanocomposite synthesized via a simple coprecipitation method, which not only constructs a type II heterojunction but also successfully couples photocatalysis and Fenton reaction, enhancing the broad-spectrum response and efficiency. The Ag2O/Fe3O4 (10%) nanocomposite demonstrates exceptional degradation performance toward organic dyes, achieving 99.5% degradation of 10 mg/L methyl orange (MO) within 15 min under visible light irradiation and proving its wide applicability by efficiently degrading various dyes while maintaining high stability over multiple testing cycles. Magnetic testing further highlighted the ease of Ag2O/Fe3O4 (10%) recovery using magnetic force. This innovative approach offers a promising strategy for constructing high-performance photocatalytic systems for addressing water pollution caused by organic dyes. [ABSTRACT FROM AUTHOR]

In this paper, a novel phosphorus-doped sulfur quantum dots (P-SQDs) material was prepared using a simple hydrothermal method. P-SQDs have a narrow particle size distribution as well as an excellent electron transfer rate and optical properties. Compositing P-SQDs with graphitic carbon nitride (g-C3N4) can be used for photocatalytic degradation of organic dyes under visible light. More active sites, a narrower band gap, and stronger photocurrent are obtained after introducing P-SQDs into g-C3N4, thus promoting its photocatalytic efficiency by as much as 3.9 times. The excellent photocatalytic activity and reusability of P-SQDs/g-C3N4 are prospective signs of its photocatalytic application under visible light. [ABSTRACT FROM AUTHOR]

Methyl orange dye (MO) is one of the azo dyes, which is not only difficult to degrade but also hazardous to human health, therefore, it is necessary to develop an efficient photocatalyst to degrade MO. In this paper, a facile and low-cost elemental doping method was used for the surface modification of Ti3C2 MXene, i.e., nitrogen-doped titanium carbide was used as the nitrogen source, and the strategy of combining solvent heat treatment with non-in situ nitrogen doping was used to prepare N-Ti3C2 MXene two-dimensional nanomaterials with high catalytic activity. It was found that the catalytic efficiency of N-Ti3C2 MXene materials was enhanced and improved compared to the non-doped Ti3C2 MXene. In particular, N-Ti3C2 1:8 MXene showed the best photo-catalytic ability, as demonstrated by the fact that the N-Ti3C2 1:8 MXene material successfully degraded 98.73% of MO (20 mg/L) under UV lamp irradiation for 20 min, and its catalytic efficiency was about ten times that of Ti3C2 MXene, and the N-Ti3C2 photo-catalyst still showed good stability after four cycles. This work shows a simplified method for solvent heat-treating non-in situ nitrogen-doped Ti3C2 MXene, and also elaborates on the photo-catalytic mechanism of N-Ti3C2 MXene, showing that the high photo-catalytic effect of N-Ti3C2 MXene is due to the synergistic effect of its efficient charge transfer and surface-rich moieties. Therefore, N-Ti3C2 MXene has a good prospect as a photo-catalyst in the photocatalytic degradation of organic pollutants. [ABSTRACT FROM AUTHOR]

In recent years, applications and analyses based on slope units have become increasingly widespread. Compared with grid units, slope units can better represent terrain features and boundaries and allow a more complete view of the morphology of the Earth's surface. Maps based on slope units also offer significant improvements for disaster prediction and the analysis of slope land resources. Therefore, we need a reasonable method of slope unit classification. Although some methods have been proposed for slope unit classification, they have been too focused on morphological variations and have not fully considered the importance of geomorphology, and the geomorphological and physical significance of slope partitioning remain unclear. Therefore, we propose a novel slope unit classification method by combining terrain feature lines (CTFL) derived from the meaning of geomorphology ontology that use several terrain feature lines, such as geomorphic water division lines, valley shoulder lines, slope toe lines, and shady/sunny slope boundary lines, to classify slopes. The Jiuyuangou and Lushan study areas were selected to test the CTFL method. Compared with the traditional hydrological method, the CTFL method can effectively overcome topographic abruptness and distortions, improve the uniformity of slope and aspect within individual units, and increase the accuracy of slope unit applications and analyses. This work fully considers the importance of geomorphology and is conducive to future studies of slope unit division. [ABSTRACT FROM AUTHOR]

Simple Summary: The mechanistic target of the rapamycin (mTOR) pathway plays a vital role in promoting lipogenesis. Acetate induces de novo lipogenesis of fatty acids to synthesize milk fat in bovine mammary epithelial cells (BMECs). We hypothesized that acetate can enhance the expression of lipogenic genes and triglyceride (TG) production by activating the mTOR signaling pathway in BMECs. These results showed that TG synthesis was elevated (p < 0.01) in BMECs with acetate treatment, and the fatty acid profile in BMECs treated with acetate was affected. The mRNA levels of genes involved in the lipogenesis were upregulated (p < 0.05) in BMECs with acetate. Remarkably, expression of acetyl-CoA carboxylase α (ACCα) and fatty acid synthase (FAS) rate-limiting enzymes were upregulated in BMECs with acetate treatment. Moreover, the addition of acetate enhanced the protein expression of S6K1 kinase. In conclusion, these results suggest that the TG accumulation and expression of lipogenic genes induced by acetate are associated with the activation of the mTOR signaling pathway. Acetate is a precursor substance for fatty acid synthesis in bovine mammary epithelial cells (BMECs), and the mTOR signaling pathway plays an important role in milk fat synthesis. However, the mechanism of the regulatory effects of acetate on lipogenic genes via the mTOR signaling pathway in BMEC remains unknown. We hypothesized that acetate can enhance the expression of lipogenic genes and triglyceride (TG) production by activating the mTOR signaling pathway in BMECs. Therefore, the aim of this study was to investigate the network of acetate-regulated lipid metabolism by the mTOR signaling pathway in BMECs. These results showed that TG synthesis was elevated (p < 0.01) in BMECs with acetate treatment. The lipid droplets were increased in the acetate-treated groups compared with those in the control group through the Bodipy staining of the lipids. In addition, the fatty acid profile in BMECs treated with acetate was affected, with an elevation in the proportions of C14:0, C16:0, and C18:0. The mRNA levels of the sterol-response-element-binding protein 1 (SREBP1), stearoyl-CoA desaturase 1 (SCD1), and fatty acid synthase (FAS) genes involved in the lipogenesis and transcriptional factors were upregulated (p < 0.05) in BMECs with acetate treatment. Remarkably, the expression of acetyl-CoA carboxylase α (ACCα) and FAS rate-limiting enzymes involved in lipogenesis was upregulated in BMECs with acetate treatment. Moreover, the addition of acetate enhanced the key protein expression of S6K1, which is related to the mTOR signaling pathway. Taken together, our data suggest that TG accumulation and expression of lipogenic genes induced by acetate are associated with the activation of the mTOR signaling pathway, which provides new insights into the understanding of the molecular mechanism in the expression of mTOR-signaling-pathway-regulated lipogenic genes. [ABSTRACT FROM AUTHOR]

Lactic acid bacteria are some of the dominant bacteria in the rumen, and they have a high ability for lactic acid production. The present study aimed to screen and evaluate the performance of culturable rumen bacteria from Chinese Holstein dairy cows as a potential probiotic or inoculant for silage production, in order to isolate ruminal lactic acid bacteria and evaluate their potential as probiotics. Three strains of Enterococcus avium (E. avium, EA1-3); three strains of Streptococcus lutetiensis (S. lutetiensis, SL1-3); and six strains of Streptococcus equinus (S. equinus, SE1-6) were successfully identified from the rumen fluid using modified De Man Rogosa sharp medium supplemented with 0.325% lactic acid. E. avium, S. lutetiensis and S. equinus are clustered in the phylogenetic tree. All the 12 Gram-positive strains reached the plateau growth phase in 6–10 h, with an OD600 at about 1.8. Both gas and acid accumulation reached plateaus at about 10–12 h in all strains, and S. equinus showed the strongest capacity. The highest lactic acid accumulation was detected in S. equinus broth (up to 219.77 μmol/L). The growth of all isolates was inhibited at pH 4.0, and EA2, SL1, SL2, SL3 and SE2 were tolerant to 0.1%, 0.2% and 0.3% bile salt. In addition, the supernatants of the strains had inhibitory effects on Escherichia coli and Staphylococcus aureus. Specifically, the S. equinus strains exhibited the strongest inhibition of the pathogens. In conclusion, these 12 strains had good potential as silage inoculants or probiotics for edible animals, especially S. equinus. [ABSTRACT FROM AUTHOR]

Salt stress inhibited the growth of maize. B46 and NC236 were chosen as materials and NaCl concentrations (0, 55, 110, 165, and 220 mmol L−1) were set. We found the activities of SOD, POD, CAT, APX, GR, MDHAR, and DHAR decreased under NaCl stress. Compared with NC236, the contents of AsA and GSH, AsA/DHA and GSH/GSSG of B46 decreased. The content of O2−, H2O2, MDA, and EL of B46 increased. The contents of NO3− and NO2− decreased, while the content of NH4+ increased under high NaCl concentration. The activities of NR and NiR decreased, while the activities of GS and GOGAT increased first and then decreased. For B46 and NC236, the maximum of NADH-GDH and NAD-GDH appeared at 165 and 110 mmol L−1 NaCl concentration, respectively. Compared with B46, and the GOT and GPT activities of NC236 increased first and then decreased. With the increase of NaCl concentration, the contents of proline, soluble protein, and soluble sugar were increased. The Na+ content of B46 and NC236 increased, and the K+ content and K+/Na+ decreased. Compared with NC236, B46 had higher IAA content in leaf, higher Z + ZR content in leaf and root, and lower ABA content in leaf and root. [ABSTRACT FROM AUTHOR]

To solve the problems of complex structure, poor reliability, and low intelligence of existing fan clutches for large hybrid vehicles, this paper proposes a new adaptive shape memory alloy intelligent fan clutch for large hybrid vehicle motor cooling. Based on the pure shear shape memory alloy thermodynamic effects, the relationship between shape memory alloy spring recovery force and temperature has been established; based on the shape memory alloy spring thermal drive characteristics and clutch construction dimensions, clutch torque transmission equations have been established. The shape memory alloy fan clutch transmission characteristics were quantitatively analyzed in terms of temperature, torque, rotational speed, and slip rate. The results show that the shape memory alloy fan clutch model based on the finite element method (FEM) and the established transmission model can accurately describe the mechanical characteristics of the shape memory alloy phase change process and the clutch torque transmission characteristics. When the clutch input speed is 3000 rad/min and the temperature is 100 °C, the output torque is 19.04 N·m, the speed is 2877.2 rad/min, and the slip rate is 4.3%. Due to the shape memory effect of shape memory alloy, the clutch can intelligently adjust the fan speed by sensing the ambient temperature. A fan clutch can satisfy the heat dissipation requirement of a large hybrid vehicle's transmission system under complicated road conditions. [ABSTRACT FROM AUTHOR]

Maize yield is significantly influenced by low temperature, particularly chilling stress at the maize seedling stage. Various physiological approaches have been established to resist chilling stress; however, the detailed proteins change patterns underlying the maize chilling stress response at the seedling stage remain unknown, preventing the development of breeding-based methods to resist chilling stress in maize. Thus, we performed comprehensive physiological, comparative proteomics and specific phytohormone abscisic acid (ABA) assay on different maize inbred lines (tolerant-line KR701 and sensitive-line hei8834) at different seedling stages (the first leaf stage and third leaf stage) under chilling stress. The results revealed several signalling proteins and pathways in response to chilling stress at the maize seedling stage. Meanwhile, we found ABA pathway was important for chilling resistance of tolerant-line KR701 at the first leaf stage. Related chilling-responsive proteins were further catalogued and analysed, providing a resource for further investigation and maize breeding. [ABSTRACT FROM AUTHOR]

High-photoluminescence (PL) graphene quantum dots (GQDs) were synthesized by a simple one-pot hydrothermal process, then separated by dialysis bags of different molecular weights. Four separated GQDs of varying sizes were obtained and displayed different PL intensities. With the decreasing size of separated GQDs, the intensity of the emission peak becomes much stronger. Finally, the GQDs of the smallest size revealed the most energetic PL intensity in four separated GQDs. The PL energy of all the separated GQDs shifted slightly, supported by density functional theory calculations. [ABSTRACT FROM AUTHOR]

Terrain derivatives exhibit surface morphology in various aspects. However, existing spatial change calculation methods for terrain derivatives are based on a mathematical scalar operating system, which may disregard the directional property of the original data to a certain extent. This situation is particularly true in second-order terrain derivatives, in which original data can be terrain derivatives with clear directional properties, such as slope or aspect. Thus, this study proposes a mathematical vector operation method for the calculation of second-order terrain derivatives. Given the examples of the first-order terrain derivatives of slope and aspect, their second-order terrain derivatives are calculated using the proposed vector method. Directional properties are considered and vectorized using the following steps: rotation-type judgment, standardization of initial direction, and vector representation. The proposed vector method is applied to one mathematical Gaussian surface and three different ground landform areas using digital elevation models (DEMs) with 5 and 1 m resolutions. Comparison analysis results between the vector and scalar methods show that the former achieves more reasonable and accurate second-order terrain derivatives than the latter. Moreover, the vector method avoids overexpression or even exaggeration errors. This vector operation concept and its expanded methods can be applied in calculating other terrain derivatives in geomorphometry. [ABSTRACT FROM AUTHOR]

Due to its widespread presence and independence from artificial signals, the application of geomagnetic field information in indoor pedestrian navigation systems has attracted extensive attention from researchers. However, for indoors environments, geomagnetic field signals can be severely disturbed by the complicated magnetic, leading to reduced positioning accuracy of magnetic-assisted navigation systems. Therefore, there is an urgent need for methods which screen out undisturbed geomagnetic field data for realizing the high accuracy pedestrian inertial navigation indoors. In this paper, we propose an algorithm based on a one-dimensional convolutional neural network (1D CNN) to screen magnetic field data. By encoding the magnetic data within a certain time window to a time series, a 1D CNN with two convolutional layers is designed to extract data features. In order to avoid errors arising from artificial labels, the feature vectors will be clustered in the feature space to classify the magnetic data using unsupervised methods. Our experimental results show that this method can distinguish the geomagnetic field data from indoors disturbed magnetic data well and further significantly improve the calculation accuracy of the heading angle. Our work provides a possible technical path for the realization of high-precision indoor pedestrian navigation systems. [ABSTRACT FROM AUTHOR]

Transparent polyimides (PI) films with outstanding overall performance are attractive for next generation optoelectronic and microelectronic applications. Semi-alicyclic PIs derived from alicyclic dianhydrides and aromatic diamines have proved effective to prepare transparent PIs with high transmittance. To optimize the combined properties of semi-alicyclic PIs, incorporating bulky trifluoromethyl groups into the backbones is regarded as a powerful tool. However, the lack of fundamental understanding of structure–property relationships of fluorinated semi-alicyclic PIs constrains the design and engineering of advanced films for such challenging applications. Herein, a series of semi-alicyclic PIs derived from alicyclic dianhydrides and trifluoromethyl-containing aromatic diamines was synthesized by solution polycondensation at high temperature. The effects of alicyclic structures and bulky trifluoromethyl groups on thermal, dielectric and optical properties of PIs were investigated systematically. These PI films had excellent solubility, low water absorption and good mechanical property. They showed high heat resistance with Tg in the range of 294–390 °C. It is noted that tensile strength and thermal stability were greatly affected by the rigid linkages and alicyclic moieties, respectively. These films exhibited obviously low refractive indices and significantly reduced dielectric constants from 2.61 to 2.76, together with low optical birefringence and dielectric anisotropy. Highly transparent films exhibited cutoff wavelength even as low as 298 nm and transmittance at 500 nm over 85%, displaying almost colorless appearance with yellowness index (b*) below 4.2. The remarkable optical improvement should be mainly ascribed to both weak electron-accepting alicyclic units and bulky electron-withdrawing trifluoromethyl or sulfone groups. The present work provides an effective strategy to design molecular structures of optically transparent PIs for a trade-off between solution-processability, low water uptake, good toughness, high heat resistance, low dielectric constant and excellent optical transparency. [ABSTRACT FROM AUTHOR]

In pedestrian inertial navigation, multi-sensor fusion is often used to obtain accurate heading estimates. As a widely distributed signal source, the geomagnetic field is convenient to provide sufficiently accurate heading angles. Unfortunately, there is a broad presence of artificial magnetic perturbations in indoor environments, leading to difficulties in geomagnetic correction. In this paper, by analyzing the spatial distribution model of the magnetic interference field on the geomagnetic field, two quantitative features have been found to be crucial in distinguishing normal magnetic data from anomalies. By leveraging these two features and the classification and regression tree (CART) algorithm, we trained a decision tree that is capable of extracting magnetic data from distorted measurements. Furthermore, this well-trained decision tree can be used as a reject gate in a Kalman filter. By combining the decision tree and Kalman filter, a high-precision indoor pedestrian navigation system based on a magnetically assisted inertial system is proposed. This system is then validated in a real indoor environment, and the results show that our system delivers state-of-the-art positioning performance. Compared to other baseline algorithms, an improvement of over 70% in the positioning accuracy is achieved. [ABSTRACT FROM AUTHOR]