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This paper investigates a tightly-coupled Global Position System (GPS)/Ultra-Wideband (UWB)/Inertial Navigation System (INS) cooperative positioning scheme using a Robust Kalman Filter (RKF) supported by V2I communication. The scheme proposes a method that uses range measurements of UWB units transmitted among the terminals as augmentation inputs of the observations. The UWB range inputs are used to reform the GPS observation equations that consist of pseudo-range and Doppler measurements and the updated observation equation is processed in a tightly-coupled GPS/UWB/INS integrated positioning equation using an adaptive Robust Kalman Filter. The result of the trial conducted on the roof of the Nottingham Geospatial Institute (NGI) at the University of Nottingham shows that the integrated solution provides better accuracy and improves the availability of the system in GPS denied environments. RKF can eliminate the effects of gross errors. Additionally, the internal and external reliabilities of the system are enhanced when the UWB observables received from the moving terminals are involved in the positioning algorithm.

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The purpose of the present study was to evaluate the probiotic properties of Bacillus subtilis KC1 as a feed additive in the poultry feed. Effects of the Bacillus subtilis supplementation on growth performance, heat-stress tolerance, resistance to Mycoplasma gallisepticum ( MG ) and Salmonella Pullorum challenge of broilers were determined. The protective effects of the Bacillus subtilis on liver function and immune response of broilers challenged with Aflatoxin B1 ( AFB1 ) were also scrutinized. The results showed that the Bacillus subtilis supplementation could improve growth performance, increased body weight, relative weight of the immune organ and dressing percentage, and decrease feed conversion ratio. In addition, the Bacillus subtilis supplementation alleviated adverse effects caused by heat stress, MG, and Salmonella Pullorum challenge. Furthermore, the Bacillus subtilis supplementation resulted in improved liver function and enhanced immune response of broilers challenged with AFB1. In conclusion, these results suggested a tremendous potential of Bacillus subtilis KC1 as a feed additive in the poultry feed.

In this paper, the authors establish the existence of nontrivial nonnegative periodic solutions for a class of doubly degenerate parabolic equation with nonlocal terms by using the theory of Leray-Schauder's degree.