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مدرنیته و نیهیلیسم پیوندی ناگسستنی با یکدیگر دارند. تبیین نیچه ای از مفهوم نیهیلیسم و تاثیر هنر برای غلبه بر آن در شکل گیری جنبش های هنری قرن بیستم نقش اساسی داشته است. با اینکه نیهیلیسم در متن هنر مدرن جاری است اما آشکارا حضور آن را در جلوه های آغازین هنر نوگرای ایران نمی توان مشاهده نمود. مقاله حاضر پیرامون پرسش چرایی عدم انعکاس وجوه نیهیلیستی مدرنیسم در نقاشی نوگرای نسل اول ایران با تاکید بر آثار جلیل ضیاءپور شکل گرفته است. بر این اساس پژوهش کیفی پیش رو با استناد به منابع معتبر می کوشد تا ضمن تبیین نسبت مدرنیته و جنبش های پیشرو هنری قرن بیستم مانند داداییسم با نیهیلیسم نیچه ای به تحلیل چگونگی ورود مدرنیسم هنری به ایران و تاثیر آن بر نقاشی نوگرای ایران بپردازد. این مقاله می کوشد تا نشان دهد اگرچه ضیاءپور و دیگر نقاشان نوگرای نسل اول ایران تحت تاثیر مدرنیته و پیامدهای آن بوده اند اما درعمل علاقه مند به دادن انعکاس مفاهیم هنر غرب نبودند و ضیاءپور از این مطلب که فرم در هنر مدرن وابسته به محتوی است غافل بوده و تلاش نموده تا فرم را از محتویی جدا وبومی سازی کند.او به اشتباه می پنداشته است که با تقلید از فرم مدرن می توان تفکر جدیدی نسبت به هنر ایجاد نمود.کلید واژگان: مدرنیته, نیچه, نیهیلیسم, نقاشان مدرن نسل اول ایران, جلیل ضیاپورModernity and Nihilism have an inseparable bond. Philosophy of Nietzsche is centered on criticism of formation of modernity, to the effect of criticizing the his tory of wisdom thinking. Nietzsche pursues criticizing Rationalism approach, which is the heritage of Socrates- Chris tianity in the wes tern culture. He introduces rationality with the excuse of being cold, ins tinct-free and militant life, as a disease. Nietzsche by means of s tudying the phenomenology of the outcomes of Rationalism in the culture of his contemporary society, points out that the lifes tyle created by philosophy and later on by Chris tianity which has spread over the pas t 2000 years in the European civilization, have caused a great and his toric disease in the culture and life of the humans, which is called “Nihilism”. Nietzsche by portraying new prospects in ethics like what has been said in the books of Thus Spoke Zarathus tra, Beyond Good and Evil, The Will to Power, preaches new values.Nietzsche’s approaches towards the disease of Europe and the Nihilism hidden in it, entered art through modernism as one of the paradigms of modernity to the extent that it had deep impacts on the formation and orientation of schools of thought, like Futurism, Dadaism and Expressionism. Despite being present at the heart of the modern art, Nihilism cannot be obviously seen in the initiating aspects of the modernis tic art in Iran. In 1934 in Iran, Tehran University the firs t ins titution for development of modernity was s tablished. With formation of the faculty of fine arts in 1941 at this university, the firs t s teps of teaching modernity in the art were officially taken. Eleven painters, as the firs t generation of Iranian painters graduated from this faculty between 1941 and 1945. And from amongs t them, Jalil Ziapour s tudied more than the res t about the modern art in the wes t. Through awareness and choosing from amongs t wes tern art frameworks, with an eye to the modernis tic schools, he tried to find a new framework of art in order to express the Iranian contents in his works. This paper is aimed at asking why the Nihilis tic aspects of modernism are not reflected in the modern works of art of the firs t generation of Iranian painters, with an emphasis placed over Ziapour’s works. According to this artis tic research ahead of us, with reference to the accredited sources, and explanation of modernity and the progressive artis tic movement of the 20th century like Dadaism and Nietzsche’s Nihilism, it has been tried to inves tigate the way the artis tic modernism entered Iran, and how it affected the modern painting in Iran. This paper tries to indicate that although Ziapour and other modern painters in the firs t generation of painters in Iran have been effected by modernity and its outcomes, they were not interes ted in reflecting the concepts of the wes tern art in their works. He ignored this issue that in the modern art, the form and the content are dependent on each other, and by means of separating these two, he tried to localize the modern art.Keywords: Modernism, Friedrich Wilhelm Nietzsche, Nihilism, The firs t generation of the Iranian modernis t painters, Djalil Ziapoor
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Coronary artery disease (CAD) is considered as a chronic inflammatory disease initiated from early childhood. Nuclear factor κB (NF κB) and κB1A (NF κB1A) are the key regulators of inflammatory responses. The NFKB1 -94ATTG ins/del and NFKB1A -826C/T polymorphisms may contribute to the development of CAD. The aim of the present study was to investigate the association of these polymorphisms with the risk of CAD. The study population included 120 patients with angiographically confirmed CAD and 100 matched controls. Genotyping of NFKB1 -94ATTG ins/del and NFKB1A -826C/T polymorphism was performed using PCR-RFLP method. Lipid level was determined by routine colorimetric methods. Statistical analysis was done by SPSS 16 software. Results indicated that the genotypic (P=0.041) and allelic (P=0.009) distribution of the NFKB1-94ATTG ins/del polymorphism was significantly different between the two groups. In the univariate analysis (ins/ins genotype as reference), the del/del genotype (OR=2.88, 95% CI=1.21-6.84, P=0.015) but not ins/del genotype (OR=1.48, 95% CI=0.83-2.64, P=0.191) was significantly associated with the increased risk of CAD. In the multiple binary logistic regression analysis, diabetes, hypertension, smoking, LDL-cholesterol, total cholesterol, HDL-cholesterol and NFKB1 -94ATTG del/del genotype were identified as significant and independent risk factors for CAD development. The distribution of genotypes and alleles of NFKB1A -826C/T polymorphism was not significantly different between the two groups. In conclusion the present study identified NFKB1 -94ATTG ins/del polymorphism but not NFKB1A -826C/T polymorphism as a significant and independent risk factor for development and severity of CAD.Keywords: Coronary artery disease, Nuclear factor ?B, Polymorphism
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عراق با فروپاشی دولت بعثی در سال 2003، بی ثباتی سیاسی شدیدی تجربه کرد و از آن زمان، مشروعیت اقتدار دولت ملی عراق مدام از سوی گروه های سیاسی داخلی به چالش کشیده می شود. از زمان این بی ثباتی، نظریات متفاوت و متنوعی برای بررسی مشکل مشروعیت دولت ملی در عراق مطرح شده اند. این نظریات، اگرچه متغیرهای امروزین مشروعیت را در عراق مبنا قرار می دهند، اما اساسا با نظریات کلان و اصلی سیاسی در پیوندند و تقریبا همان نظریات را بازتولید می کنند. در تحلیل و بررسی این مشکل، تقریبا دو گونه از نظریات در رقابت اند که در این جا «نظریات تاسیسی» و «نظریات فرآیندی» نامیده می شوند. مقاله حاضر با در نظر گرفتن این پرسش مهم که چرا دولت عراق با وجود تاسیس یک دموکراسی فراگیر در سال 2004، سرانجام از سال 2014 به بی ثباتی کشیده شده است، با بحث تازه ای با عنوان «بازسازی مشروعیت اقتدار دولت ملی در عراق» ، تلاش می کند تا نارسایی آن نظریات را از طریق واکاوی اثرات تاریخی هم زیستی ملی و نیز متغیرهای متنوع و گاه متناقض کنونی در عراق، جبران کند.
کلید واژگان: عراق, بی ثباتی سیاسی, نظریات تاسیسی, نظریات فرآیندی, مشروعیت دولتAfter the collapsing of Iraqi Baathis t regime in 2003, Iraqi parties built a new democratic government. But very soon, the new government encountered with asevere political ins tability, and its legitimacy was challenged by some political players like Sunnis, Baathis ts, and al-Qaida. The ins tability dangerously took the government on the verge of collapse, and near to half of the country was occupied by these groups in thename of ISIS (Islamic S tate of Iraq and Syria). Therefore, here, the ques tion would be why the governmentlegitimacy has been challenged while has been es tablished upon a comprehensive democracy to include all Iraqi people. Many of writers have tried to analyze the ques tion by resorting theories of s tate-building as “es tablishment paradigm” and legitimacy theories as “processing paradigm,” but we know there are many problems in applying these old and inefficient theories on Iraq situation. In the current paper we have triedto bring a new way of analysis by tes ting a hypothesis that can be titled as “recons truction of legitimacy which is an emphasis on his torical process of nation- building, ethno-coexis tence, and diversity prob- .lem کلیدواژهها [English]
Keywords: Iraq, Political Ins tability, legitimacy, nation-building, ISIS -
BackgroundThe human murine double minute 2 (MDM2), an oncoprotein, is the major negative regulator of P53..ObjectivesThe purpose of this study was to evaluate the impact of 40-bp insertion/deletion (ins/del) polymorphism in the promoter of MDM2 and vulnerability to childhood acute lymphocytic leukemia (ALL) in a sample of Iranian population..Patients andMethodsThis case-control study was performed on 75 children diagnosed with ALL and 115 healthy children. The 40-bp ins/del variant was determined by using the polymerase chain reaction method..ResultsOur findings showed that neither the overall chi-square comparison of cases and control subjects (X2 = 1.13, P = 0.569) nor the logistic regression analysis (codominant: OR = 1.29, 95% CI = 0.59-2.14, P = 0.745, ins/del vs. ins/ins; OR = 1.59, 95% CI = 0.59-3.77, P = 0.372, del/del vs. ins/ins, dominant: OR = 1.25, 95% CI = 0.69-2.23, P = 0.552, ins/del + del/del vs. ins/ins and recessive: OR = 1.51, 95% CI = 0.67-3.43, P = 0.395, del/del vs. ins/ins + ins/del) indicated any association between MDM2 ins/del and ALL in our population..ConclusionsOur findings indicated that MDM2 40-bp ins/del polymorphism was not associated with ALL in our Iranian population. Further studies with larger sample sizes and diverse ethnicities are required to verify our findings..Keywords: Acute Lymphoblastic Leukemia, Polymorphism (Genetics), Iran
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هنر مجسمه سازی نوین در ایران، ارتباطی تنگاتنگ و ناگسستنی با فعالیت های انجمن آثار ملی دارد. این انجمن که در سال 1304 تاسیس شد، برای طراحی و ساخت مجسمه مفاخر فرهنگی و شخصیت های سیاسی و تاریخی، بومی سازی این هنر در ایران، و نیز مستندسازی چهره مجسمه ها ، تلاش های درخورتوجهی داشت. از اقدامات مهم انجمن آثار ملی، سفارش طراحی و ساخت مجسمه هایی است که مفاخر فرهنگی را در معرض نگاه مردمان قرار میداد. مجسمه های ساخته شده به سفارش انجمن، نمادی از ملی گرایی نهفته در تفکر مدرن بود. قراردادن این مجسمهها در اماکن عمومی موجب شد تا از کراهت و قبح مجسمه سازی در فرهنگ عمومی، متاثر از پاره ای حساسیت های مذهبی، به مرورکاسته شود. این بخش ازکارنامه انجمن هم جامعه نخبگی و هم تودههای مردم را هدف قرار داده بود. در این مقاله سعی شده به این پرسش اصلی پاسخ داده شود که انجمن آثار ملی چه نقشی در عمومی و فراگیرکردن هنر مجسمه سازی داشته است. این موضوع با استفاده از روش توصیفی و تحلیلی و بهره گیری عمده از اسناد، بررسی شده است. یافته های این پژوهش نشان می دهد که انجمن آثار ملی با برنامه ریزی هدفمند و بهره مندی از هنرمندان مجسمه ساز توانا، با محوریت ابوالحسن صدیقی، تا حدود زیادی در انجام این مهم موفق بوده است.
کلید واژگان: مجسمه سازی, انجمن آثار ملی, مفاخر فرهنگی, هویت سازی, ابوالحسن صدیقیThe art of modern sculpting in Iran has a close and inseparable relationship with the activities of Society for the Appreciation of National Cultural Works. This society, which was founded in 1925, has made significant efforts in supporting artis ts to design and fashion the sculptures of the dis tinguished cultural figures of Iran, domes tication of this modern art in Iran, and documentation of the visage of these figures. By designing sculptures of the cultural figures and erecting them in public squares, Society was of the firs t ins titutions that took sculptures to the city, put them on display, and made this art popular. This Society uses a variety of means to reach its goals in making symbols and propagation of sculpture making. By an approach based on national identity, the Society chose some perennial figures of the his tory and culture of Iran who have been favored by Iranians during different his torical periods. Although some literary and political figures chosen by Society, such as Ferdowsi, Ya’qub Layth Saffar, and Nader Shah, had some relations to the nationalis tic ideology of Pahlavi monarchy, these figures have also been favored by Iranians of different periods in time. The sculptures made under the sponsorship of the Society were symbols of the latent nationalism that is present in the modern thought. The display of these sculptures in public places resulted in the gradual erosion of the taboo of sculpting in the common culture that was the result of certain religious sensitivities. This part of the activities of the Society was aimed at both the masses and the elites. Society made some effective efforts for making symbols out of national, political, and scientific figures and tried for s tandardization of the their sculptures through creating regulations, defining special frameworks, domes tication of sculpturing, and building workshops of bronze sculpture-making in Iran. Some of these efforts were successful, but efforts in building workshops remained unsuccessful. Society was also monitoring other artis ts, organizations, and societies to make sure of their following s tandards of sculpturing, and believed erecting sculptures in public places mus t be under the supervision of Culture and Art Minis try. This article attempts to answer the main ques tion about the part played by Society in the popularization and spreading of the art of sculpting. Using descriptive and analytical methods and availing itself of documentary records, especially the documents of s tagnant archive of Society for the Appreciation of Cultural Works and Dignities, this article addresses this ques tion. Findings of this research show that, with targeted planning and the collaboration of able sculptors, Society was largely successful in this important task. Among the sculpture artis ts collaborating Society the role of Aboulhassan Sedighi with making twenty sculptures ordered by society, is outs tanding. He collaborated with Society and by drawing and painting of visages of the eminent figures had the greates t impact on documentation of these visages and popularization of this art. Today we know the visage of these figures through his drawings and sculptures. He also made efforts in making workshops for building bronze sculptures.
Keywords: Sculpting, Cultural figures, Society for the Appreciation of National Cultural Works -
تاریخنگاری سیاسی از ویژگیهای کلی تاریخنگاری صفویان است که تکیه اصلی آن بر وقایع سیاسی و نظامی است و عنایت کمتری به امور اجتماعی، اقتصادی، فرهنگی و هنری داشته است. با وجود این رویکرد غالب در تاریخنگاری سیاسی، اما با حمایت موثر صفویان از هنر و علاقهمندی برخی از مورخان سیاسی به هنر خوش نویسی که در زمره منشیان، کاتبان و خوش نویسان دربار بودند، اهمیت و حجم مطالب ثبت شده درباره خوش نویسی، نسبت به سایر هنرهای دیگر در جایگاه نخست قرار گرفت. همچنین تحت تاثیر ویژگیهای تاریخنگاری سیاسی، کتاب گلستان هنر به مثابه نخستین تاریخنگاری جدی در هنر ایران نگاشته شد که نشاندهنده ارزش و برتری هنر خوش نویسی از دریچه تحولات سیاسی و کانون دربار صفویه نسبت به سایر هنرهاست. در این پژوهش به روش توصیفی- تحلیلی، چگونگی بازتاب تاریخنگاری هنر خوش نویسی در تاریخنگاری سیاسی عصر صفویه بررسی شده است. یافتههای پژوهش بیانگر آن است که ذکر جایگاه و منزلت، احوال بزرگان خوش نویسی، تاریخچه و اقلام مختلف خطوط و توجه خاص به قلم نستعلیق، طبقهبندی خوش نویسان و مهاجرتهای آنان در تاریخنگاری سیاسی این دوره بازتاب یافته است.
کلید واژگان: صفویان, تاریخنگاری سیاسی, خوش نویسی, هنر, خطPolitical historiography is one of the general features of the Safavid historiography, which has its main reliance on the political and military events and has paid less attention to the social, economic, cultural and artistic affairs. Despite this dominant approach in the political historiography, with the effective support of the Safavids for art and the interest of some political historians in the art of calligraphy, who were among the court secretaries, scribes and calligraphers, the importance and volume of recorded materials on calligraphy was in the first place compared to other arts. Also, under the influence of the political historiography, Golestan-Honar was written as the first serious historiography in Iranian art, which shows the value and superiority of the calligraphy from the perspective of political developments and the center of the Safavid court over other arts. In this descriptive-analytical research, the historiography of the art of calligraphy is examined in the political historiography of the Safavid era. The findings indicate that the status of the great calligraphers, the history and various items of calligraphy and special attention to Nastaliq pen, the classification of calligraphers and their migrations are reflected in the political historiography of this period.
Keywords: The Safavid era, political historiography, the art of calligraphy, Golestan Honar, script -
زمینهMDM2 یک آنکوپروتئین می باشد که فعالیت P53 را مهار می کند. افزایش بیان MDM2در چندین تومور انسانی گزارش گردیده است. در این مطالعه, هدف ما بررسی اثر پلی مورفیسم الحاق/حذف 40 جفت بازی در ناحیه پروموتور ژن MDM2 بر استعداد ابتلا به سرطان سینه در یک جمعیت ایرانی بود.روش هااین مطالعه موردی-شاهدی روی 236 بیمار مبتلا به سرطان سینه و 203 فرد سالم انجام گردید. DNA ژنومیک از خون تام با روش سالتینگ-اوت استخراج شد. پلی مورفیسم الحاق/حذف 40 جفت بازی با روش واکنش زنجیره ای پلیمراز شناسایی گردید.نتایجیافته ها نشان دادند که واریانت الحاق/حذف MDM2 خطر سرطان سینه را افزایش داد با استفاده از مدلهای وراثتی هم-بارزو بارز (OR = 2.09, 95% CI = 1.14- 3.85, P = 0.018, del/del vs. ins/ins), و همچنین مدل مغلوب (OR = 1.86, 95% CI = 1.03-3.34, P = 0.038, del/del vs. ins/ins + ins/del). آلل حذف نیز در مقایسه با آلل الحاق, خطر سرطان سینه را افزایش داد(OR= 1.48, 95% CI=1.11-1.98, P=0.008).نتیجه گیرینتایج ما نشان داد که پلی مورفیسم الحاق/حذف 40 جفت بازی در ناحیه پروموتور ژن MDM2 خطر سرطان سینه را در یک جمعیت ایرانی افزایش داد. جهت تایید این نتایج نیاز به بررسی های بیشتر با استفاده از حجم نمونه بالاتر و نژادهای گوناگون می باشد.
کلید واژگان: سرطان سینه, دابل مینت موشی 2 (MDM2), پلی مورفیسمBackgroundMDM2 (Murine Double Minute2) is an oncoprotein that inhibits the P53 activity. Overexpression of MDM2 gene has been reported in several human tumors. In the present study, we aimed to evaluate the impact of 40-bp insertion/deletion (ins/del) polymorphism on the promoter of MDM2 and susceptibility to breast cancer in a sample of Iranian population.MethodsThis case-control study was carried out on 236 patients with breast cancer and 203 healthy individuals. Genomic DNA was extracted from the whole blood by the salting-out method. The 40-bp ins/del polymorphism was determined by using polymerase chain reaction.ResultsThe findings indicated that MDM2 ins/del variant increased the risk of breast cancer in co-dominant- (odds ratio [OR] = 2.09, 95% CI = 1.14-3.85, P = 0.018, del/del vs. ins/ins), dominant- (OR = 1.49, 95% CI = 1.02-2.18, P = 0.038, ins/del + del/del vs. ins/ins), and recessive- (OR = 1.86, 95% CI = 1.03-3.34, P = 0.038, del/del vs. ins/ins + ins/del) tested inheritance models. The del allele increased the risk of breast cancer (OR= 1.48, 95% CI=1.11-1.98, P=0.008) compared with ins allele.ConclusionsOur result revealed that 40-bp ins/del polymorphism in the promoter of MDM2 increased the risk of breast cancer in an Iranian population. Further investigations with larger sample sizes and diverse ethnicities are needed to verify our findings.Keywords: Breast cancer, Murine Double Minute2 (MDM2), Polymorphism -
BackgroundMorbid obesity (MO), characterized by low-grade inflammation, is associated with increased C-reactive protein (CRP). NF-KB is a candidate factor for inflammatory responses in inflammatory diseases such as obesity. The objective of our study was to investigate the relationship between NFKB1 gene variations and the risk of MO in the context of the high/normal level of liver enzymes such as Alanine aminotransferase (ALT), Aspartate aminotransferase (AST), gamma-glutamyl transpeptidase (GGT), and alkaline phosphatase (ALP).MethodsWe analyzed the distribution of NFKB1 -94 ins/del ATTG (rs28362491) polymorphism using polymerase chain reactionrestriction fragment length polymorphism (PCR-RFLP)and liver enzymes serum levels using ELISA in 182 MO patients with CRP level ≥20 mg/L and 200 healthy controls in a female Turkish population.ResultsWe found that having ins/ins genotype of rs28362491 is a risk factor in both high level and normal level liver enzymes of ALT (P = 0.0335, P = 0.0134), AST (P = 0.0285, P = 0.0113) and ALP (P = 0.0079, P = 0.0363) whereas having ins/ins genotype of rs28362491 is a risk factor in only high-level liver enzyme of GGT (P = 0.0003).ConclusionOur results suggest that ins/ins genotype of SNP rs28362491 is linked to MO with high-level ALT, AST, ALP, and GGT.Keywords: Liver enzymes, Morbid obesity, NFKB1, Polymorphism
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International Journal Of Nonlinear Analysis And Applications, Volume:15 Issue: 12, Dec 2024, PP 285 -296A common technique for navigation and positioning applications is the Global Positioning System (GPS)/Inertial Navigation System (INS) integration, which combines the strengths of GPS and INS to offer accurate and reliable information. As a standalone system, the performance of the INS deteriorates as time is passed. Kalman Filter (KF) is used for GPS/INS integration, and its performance is excellent for simple data. However, in a complex and natural set environment, its performance degrades when the system performs relatively long; therefore, resolving the long-time problem for the GPS/INS system is challenging. The novelty of this paper is GPS/INS integration with the Faded Kalman Filter (FKF). In the FKF, the measurement updates are weighted differently to adapt to changes in the system. This approach allows the filter to adapt to changes or uncertainties in the system dynamics. GPS/INS integration performance is significantly improved using this algorithm rather than a simple KF. An average of 45% reduces the positioning errors compared to traditional KF.Keywords: GPS, INS Integration, Kalman Filter, Faded Memory Filter
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در این مقاله امکان پذیری همراستایی دقیق و سریع یک سامانه ناوبری اینرسی (INS) متصل به بدنه در حالت ایستا با بهره گیری از شرایط سکون مورد بررسی قرار گرفته است. این شرایط سکون شامل سرعت صفر و یک زاویه سمت معلوم بوده که به عنوان داده های یک حسگر خارجی مجازی در نظر گرفته شده که اطلاعات آن با داده های متناظر از INS تلفیق می گردد. با مقایسه این دو دسته داده حاصل از INS و حسگر مجازی، تخمین هایی از خطاهای سرعت در واقع ناشی از خطاهای تنظیم محور INS هستند، حاصل می گردد. یک فیلتر کالمن توسعه یافته به منظور تخمین زوایای وضعیت اولیه و بایاس های حسگرهای اینرسی، بر اساس مدل خطای اندازه گیری و مدل خطای فرآیندی که حالت های آن بایاس های حسگرهای اینرسی را نیز در خود دارد، طراحی شده است. نتایج شبیه سازی مونت کارلو نشان داد که تلفیق اطلاعات INS و اطلاعات سکون در تراز دقیق و سریع INS بسیار موثر عمل کرده اما همین تلفیق به علت فقدان شتاب و سرعت زاویه ای با مقدار مناسب در وضعیت سکون، توفیق چندانی در تخمین و کالیبراسیون بایاس های حسگرهای اینرسی ندارد.کلید واژگان: سامانه ناوبری اینرسی تلفیقی, فیلتر کالمن, همراستاییIn this paper the feasibility of rapid alignment and calibration of a static strapdown inertial navigation system (INS) is evaluated. Resting conditions including zero-velocity update and a known initial heading direction as virtual external measurement data are integrated with INS data. By comparing the virtual external measurements with the estimates of those generated by the aligning INS, estimates of the velocity and heading errors can be obtained and these errors will be propagated in the INS as a result of alignment inaccuracies. An extended Kalman filter based on an augmented process model and a measurement model is designed to estimate alignment attitudes and biases of inertial sensors. Monte Carlo simulation results show that the integration of INS with rest conditions is very effective in rapid and fine leveling and azimuth alignment of INS, but this type of data fusion due to poor acceleration and angular rates of static condition has no chance of valuable calibration of all inertial sensor biases.Keywords: Aided inertial navigation system, INS, Alignment, Kalman filter, ZUPT
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