Experiments of Inverted Pseudolite Positioning for Airship-Based GPS Augmentation System
Toshiaki Tsujii, Masatoshi Harigae
Flight Systems Research Center, National Aerospace Laboratory, Japan (NAL)
Joel Barnes, Jinling Wang and Chris Rizos
School of Surveying & Spatial Information Systems, The University of New South Wales, Australia (UNSW)
BIOGRAPHIES
Toshiaki Tsujii is a senior researcher at the Flight Systems Research Center, NAL, Japan, where he has been investigating aspects of satellite navigation and positioning for ten years. He holds a Ph.D. in applied mathematics and physics from Kyoto University.
Masatoshi Harigae is the leader of the Navigation Systems Group, Flight Systems Research Center, NAL, and has over 15 years experience in the development of GPS/INS navigation systems for automatic landing applications. He is now engaged in the High Speed Demonstration project that is carried out in cooperation with NASDA. He has a B.S., a M.S. and a Ph.D. from the University of Tokyo in aerospace engineering.
Joel Barnes holds a Ph.D. in satellite geodesy from the University of Newcastle-upon-Tyne, UK. Since December 2000 he has been a postdoctoral research fellow within the Satellite and Navigation and Positioning (SNAP) group, in the School of Surveying and Spatial Information Systems, the University of New South Wales (UNSW). His current research interests are high precision kinematic GPS positioning, pseudolites and GPS receiver firmware customization.
Jinling Wang is a Lecturer in the School of Surveying & SIS, UNSW. He is Chairman of the Working Group “Pseudolite applications in Engineering Geodesy”, of the International Association of Geodesy’s (IAG) Special Commission 4.
Chris Rizos is a Professor at the School of Surveying & Spatial Information Systems, UNSW, and leader of the SNAP group, which specializes in addressing precise static and kinematic applications of GPS. He is secretary of Section 1 'Positioning', of the IA G.
ABSTRACT
Recently some countries have begun conducting feasibility studies and R&D projects on High Altitude Platforms Systems (HAPS). Japan has been investigating the use of an airship system that will function as a stratospheric platform (altitude of about 20km) for applications such as environmental monitoring, communications and broadcasting. In addition, if pseudolites (PL) were mounted on the airships, their GPS-like signals would be stable augmentations that would improve the accuracy, availability, and integrity of GPS-based positioning systems because the airship network would cover all of Japan. The accuracy of the pseudolite positions would be a limiting factor for such a service since the PL 'ephemeris error' is more serious than GPS due to the lower height of the airship. The carrier phase-based inverted PL method is one of the positioning schemes that could provide the precise 'ephemeris' of the airship. Therefore, a preliminary ground test of the pseudolite-based inverted GPS positioning has been conducted in both static and kinematic mode, and a high positioning accuracy in both modes has been demonstrated.
INTRODUCTION
The transmitters of GPS-like signals, which are called pseudolites (PL), or "pseudo-satellites", have been widely investigated as additional ranging sources to enhance the performance of GPS (see, e.g., Cobb, 1997). Ground-based GPS augmentation systems using pseudolites have been investigated for several applications such as vehicle navigation in downtown urban canyons (Altmayer, 1998), positioning in deep open-cut pits and mines (Stone & Powell, 1999), attitude determination (Wang et al., 2000), precision landing of aircraft (Barltrop et al., 1996; Pervan
& Parkinson, 1997), and integrated positioning system with GPS/INS (Wang et al, 2001). The application of airborne pseudolites was suggested by Raquet et al. (1995). However, their purpose was the positioning of mobile pseudolites installed on military aircraft (Pachter &MaKay, 1998), not the augmentation of a navigation/positioning system. Recently, some countries have begun conducting feasibility studies and R&D projects on High Altitude Platforms Systems (HAPS). Although some authors have suggested the use of HAPS as navigation aids, their main function would be providing (pseudo-range) DGPS correction data (Dovis et al., 2000), not transmitting extra
ranging signals.
Figure 1. Conceptual image of the stratospheric airship system (Taken from http://www.nal.go.jp).
Japan has been investigating an airship system, as shown in Figure 1, that will function as a stratospheric platform (SPF) at an altitude of about 20km for applications such as environmental monitoring, communications and broadcasting (Yokomaku, 2000). Because of the airship’s station-keeping characteristics, the SPF can be considered as a signal source for a navigation/positioning service (Figure 2). If pseudolites were mounted on the airships, their GPS-like signals would be stable augmentations that would improve the accuracy, availability, and integrity of GPS-based positioning systems across all of Japan.
The concept of an innovative GPS navigation/positioning system augmented by SPF-based pseudolites, which is referred to as GPS/PL system hereafter, was introduced by Tsujii et al. (2001). Also, some tests of PL positioning based on the 'inverted-GPS' concept were conducted in April 2001, because the precision of the PL position ('PL ephemeris') would be a limiting factor for such a service. The static test of the inverted GPS positioning, where a GPS satellite was used as a reference transmitter, showed excellent positioning accuracy. In a following test in December 2001, the the pseudolite-based inverted GPS configuration (Dai et al., 2001; Barnes et al., 2002), where another ground pseudolite was used as a reference transmitter, was tested and a similar positioning accuracy was obtained in the static mode (Tsujii et al., 2002). However, in both tests, the carrier phase ambiguities were not able to be resolved in the kinematic mode due to severe multipath error. In this paper, the results of inverted GPS
using multipath resistant antennas are presented.
Figure 2. Navigation/positioning service using pseudolites on stratospheric platforms.
INVERTED GPS POSITIONING
The advantages of the GPS/PL system were discussed and the results of a feasibility study was presented in an earlier paper (Tsujii et al., 2001). Since the precise positioning of the PL antenna to provide the ‘PL ephemeris’ is one of the most important challenges, some schemes for estimating the PL position were described. Although the transceiver-based method seems to be the best, the inverted-GPS experiment was conducted as a preliminary test to identify potential problems of the proposed GPS/PL system, because an off-the-shelf transceiver is currently not
available.
Figure 3. Inverted GPS method.
The system configuration of the inverted-GPS is shown in Figure 3. The position of a PL antenna underneath a SPF can be estimated directly by the inverted-GPS method (Raquet et al., 1995), where the ranging information is obtained by a receiver on the ground. In order to perform the double-differenced processing for the inverted-GPS approach an additional transmitter, such as a GPS satellite or ground-based PL, is required. The use of a GPS satellite would affect the positioning accuracy because ionospheric delay exists only in the GPS signal (not in the PL signal). If a ground-based PL is used as a reference transmitter, this system is referred to as ‘pseudolite-based inverted GPS’because the satellite ranging data are not required to obtain the position of the rover PL. In this system, the reference transmitter should be located on a high mountain or a tower to ensure line-of-sight from all ground receivers.
The measurement equation for the carrier double-differenced observable for the 1st/i-th receivers and the airborne/base transmitters of the GPS/PL system can be written as follows:
??ab
1i Φ
=X 1
?X a (t a
1
)?X i
?X a (t a
i )?X 1
?X b (t b
1)+X i
?X b (t b
i )
+??N ab 1i
+??d ion +??d trop +??d multi +??ε
, (i=1,2, …,n)(1)
where b a i X X X ,,denote the position vectors of the i-th receiver on the ground, which are static, the airborne transmitter, and the base transmitter respectively. The i b i a t t ,represent the signal transmitting time to the i-th receiver from the airborne/base transmitters, referred to each of the transmitter clocks. With GPS positioning, the signal reception time for all the observed satellites is the same.However, in the case of inverted-GPS, the signal transmitting time to the receivers, which is analogous with the reception time in conventional GPS, may differ depending on the clock biases of the receivers and the distances between the transmitter and the receivers. These time differences may degrade the PL positioning accuracy because the motion of a PL on a SPF is difficult to predict (in contrast to GPS satellites). The GPS receivers normally synchronize to GPS time to within 1msec. Assuming that the motion of a SPF is less than 1m/sec, the position change of a PL is less than 1mm (=1m /sec ×1m sec). Since the distance difference between the PL and the receivers is less than 150km, in the example of the proposed Japanese configuration of SPFs (Tsujii et al., 2001), the PL position change is less than 0.5mm (=1m /sec ×150km /speed of light ).This effect would have to be investigated further if the station-keeping performance of SPFs were found to be worse. The ionospheric delay term can be neglected if the reference PL is used instead of a GPS satellite, or if GPS transceivers were used.
For the test configuration, described below, both the ionospheric and tropospheric delay term s were neglected
because of the close proximity of the receivers. Also, the effect of non-simultaneous transmitting time can be neglected due to the close proximity of the PL and receivers, and the slow motion of the rover PL. The measurement equation can be simplified as:
??ab 1i
Φ=X 1?X a (t)?X i ?X a (t)?X 1?X b (t b
1)+X i ?X b (t b i )+??N ab
1i
+??d multi +??ε , (i=1,2,…,n)(2)
where t is the signal transmitting time from the PL,
referred to the PL clock. The position of the receivers, X i ,and the base transmitter, X b , are precisely determined before the test if a PL is used as the base transmitter. If a GPS satellite is used as the base, the ephemeris error can be neglected because the receivers and the rover PL are close to each other relative to their distance from the satellite (Raquet et al., 1995).
All data processing were performed using a modified version of the KINGS software developed at NAL (Tsujii et al., 1998).
GROUND TEST CONFIGURATION
A miniature configuration of the GPS/PL system was constructed as shown in Figures 4 and 5, and the inverted-GPS experiment in static/kinematic modes was conducted on 30 August 2002. Six single-frequency GPS/PL receivers (Furuno PL-10) were placed on the ground in the Chofu Airfield Branch, NAL. The test ground is expected to be a multipath-rich area since it is surrounded by buildings on
all sides and there are some tall trees.
Figure 4. Miniature configuration of the GPS/PL system at NAL.
The Furuno PL-10 receiver has sixteen channels , of which five channels are programmed to track the PL signal (PRN33-37). An antenna connected to an IntegriNautics IN400 PL was set on a wooden mount which can be rotated by a motor as shown in Figure 4. The radius of the rotation can be set to be 19cm, 24cm, and 35cm. The PRN number 36 was assigned to this rover PL, and therefore this PL is referred to as PL36 hereafter. The motion of the PL36 is controlled by a controller on the ground as shown in Figure 6. The data from six GPS/PL receivers were recorded at 5Hz rate by two laptop computers which were connected to a LAN. In order to enable the kinematic positioning, the multipath resistant antennas were used. The antennas No. 1,2, and 3 were Ashtech choke-ring antennas, while the No.4, 5, and 6 were the Ashtech Geodetic IV antennas. In addition, the grand plane was attached to the rover PL antenna to suppress the signal from the back of the PL antenna.
Figure 5. Coordinates of PL (PRN35&36) and GPS receivers.
Figure 6. GPS/PL receiver system and PL motion controller.
Another IntegriNautics IN400 PL was used as a reference
transmitter in order to conduct the ‘pseudolite-based’inverted GPS positioning. The PRN number 35 was assigned to this reference PL, and this PL is referred to here as PL35.
EXPERIMENTS AND RESULTS
In these tests two kinds of positioning modes were used.The first one is the ‘mixed mode’ where a GPS satellite was used as the reference transmitter. The second mode is the ‘PL-based mode’ where a PL was used as the reference and no ranging information from a GPS satellite was used.Although the measurement data suffered from severe multipath error, this error should be constant in the static test and therefore can be removed by pre-processing. The static tests in both modes showed excellent positioning stability, with standard deviations less than 1cm. However,in the kinematic mode, the multipath error varied drastically due to the motion of the rover PL, and the ambiguity could not be resolved. Therefore, the main purpose of this experiment is to mitigate the multipath error, and to simultaneously estimate the ambiguities and position parameters.
Table 1. Summary of the experimental cases
Case Diameter (cm)1
24
Low speed CW&CCW Medium CW&CCW
High
CW&CCW
Low speed CW&CCW Stop&Go at 10degree intervals,CW Stop&Go at 45degree intervals,CCW&CW 224Low speed CCW&CW Medium CCW&CW High
CCW&CW 3
35Low speed CCW&CW Medium CCW&CW High
CCW&CW 4
19
Low speed CCW&CW
Medium CCW&CW High
CCW&CW
Table 1 summarizes the characteristics of this experiment.Three levels of rotation speed were tested in order to study the tracking performance of the Furuno PL-10 receiver, as this kind of receiver had difficulty tracking the moving PL in the previous test (Tsujii et al., 2001). These speeds are approximately 3.1 (low), 3.6 (miedium), and 4.9degrees/second (high), respectively. As an example, the trajectory of the rover PL in Case 2 is shown in the top of Figure 7. The rotation angle is measured counterclockwise from the east. The middle figure shows the velocity in degrees/second, while the bottom figure shows the total number of receivers which track the rover PL. Some data loss is seen in the figure due to the error of data transfer (not the loss of tracking). There seems to have been no cycle slips in the data. As indicated, the PL-10 barely lost tracking of the moving PL , and the tracking performance would therefore be sufficient for such an application.
Figure 7. Motion of the PL (top & middle), and the number of PL-10 receivers which track the PL (bottom).
Prior to the kinematic positioning of the rover PL, the magnitude of the multipath error was estimated. Figure 8 shows the residuals of the double-differenced L1 carrier phase in Case2 where the transmitters are GPS satellites (PRN18&5). The positions of the six antennas of the PL-10 receivers were surveyed by GPS beforehand. As seen in Table 2, which summarizes the mean values and the standard deviations, the multipath error was mitigated by using the multipath resistant antennas.
Figure 8. DD residuals of L1 carrier phase (cycles) in Case 2 where the transmitters are GPS satellites (PRN18&5).
On the other hand, there can be seen some biases in the combination of GPS satellite (PRN18) and static PL (PRN35). The approximate physical center of the PL35 antenna was estimated by the GPS survey and a ruler measurement, since the antenna face was directed to the receive antennas. These biases may be attributed to the unknown phase center of the reference PL35 antenna, and the mean values shown in Table 2 were used for calibration purposes in the kinematic positioning.Figure 9. DD residuals of L1 carrier phase (cycles) in Case 2 where the transmitters are GPS satellite (PRN18) and static PL (PRN35).
Then the kinematic positioning of the PL36, as well as the ambiguity resolution, was carried out using the PL35 as the reference transmitter. The biases related to the PL35 were subtracted from the DD carrier phase beforehand. The DD residuals after the kinematic processing are shown in Figure 10, and the statistical values are summarized in Table 2. Since the residuals were nearly zero during the whole session, the estimated ambiguities can be considered to be the correct ones. Some structure in the residuals can be seen, and they seem to be related to the motion of PL36 (see Figure 7). These fluctuations may be the remnant multipath error related to the PL36.
Figure 10. DD residuals of L1 carrier phase (cycles) in Case 2 where the transmitters are static PL (PRN35) and rover PL (PRN36).
Table 2. Mean and standard deviation of DD residuals of
L1 carrier pahse. (Unit: cycles)
*Biases related to the PL35 were subtracted from DD transmitter Receiver pair 121-21-31-41-51-6mean 0.003-0.007-0.010-0.003-0.007GPS 18GPS 5std 0.0280.0320.0400.0320.031mean 0.1990.1470.1030.1070.112GPS 18PL 35std 0.0380.0360.0400.0450.036mean 0.012-0.0130.0080.001-0.003*PL 35PL 36std 0.0270.0230.0250.0200.025
The estimated trajectory of the PL36 in Case 2 is shown in
Figure 11. This trajectory is the superposition of the 11revolutions of the PL36. Since each trajectory seems to trace the same pass, the kinematic positioning/AR can be considered to be correct. However, the shape of the circle is distorted in some parts. These distortions may be due to the small amount of multipath which is seen in Figure 11 as well. The estimated trajectories of Case 1, 3, and 4 are shown in Figure 12, 13, and 14, respectively.
Figure 11. Horizontal trajectory of the rover PL (PRN36)
in Case 2.
Figure 12. Horizontal trajectory of the rover PL (PRN36)
in Case 1.
Figure 13. Horizontal trajectory of the rover PL (PRN36)
in Case 3.
Figure 14. Horizontal trajectory of the rover PL (PRN36)in Case 3.
A true evaluation of the positioning accuracy cannot be performed because the reference position of the rover PL was not measured. Therefore, the distance from the center of circle to the estimated horizontal position of PL36 was compared to the known radius at each epoch. As shown in Table 3, the standard deviations are about five millimeters,and therefore it can be concluded that the PL-based inverted GPS positioning was possible in the kinematic mode.
Table 3. Standard deviations of the estimated radius
Case Radius
(cm)Number
of data
Standard
deviation (cm)
1247630.52
22432170.48
33511590.46
41914720.41 CONCLUSIONS
The PL-based inverted-GPS positioning experiments were conducted in kinematic mode. By using the multipath resistant antennas for the receivers and the rover pseudolite, kinematic positioning and ambiguity resolution was performed successfully. The fundamental methodology of inverted GPS for the airship-based positioning system has been established in a series of ground experiments, and will be improved following flight experiments using an aircraft/helicopter.
ACKNOWLEDGMENTS
We would like to thank DX antenna Co. Ltd., Furuno Electric Co. Ltd., and Mr. Takayuki Goto of Tokyo Metropolitan Institute of Technology for useful discussions and their assistance.
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How to manage time Time treats everyone fairly that we all have 24 hours per day. Some of us are capable to make good use of time while some find it hard to do so. Knowing how to manage them is essential in our life. Take myself as an example. When I was still a senior high student, I was fully occupied with my studies. Therefore, I hardly had spare time to have fun or develop my hobbies. But things were changed after I entered university. I got more free time than ever before. But ironically, I found it difficult to adjust this kind of brand-new school life and there was no such thing called time management on my mind. It was not until the second year that I realized I had wasted my whole year doing nothing. I could have taken up a Spanish course. I could have read ten books about the stories of successful people. I could have applied for a part-time job to earn some working experiences. B ut I didn’t spend my time on any of them. I felt guilty whenever I looked back to the moments that I just sat around doing nothing. It’s said that better late than never. At least I had the consciousness that I should stop wasting my time. Making up my mind is the first step for me to learn to manage my time. Next, I wrote a timetable, setting some targets that I had to finish each day. For instance, on Monday, I must read two pieces of news and review all the lessons that I have learnt on that day. By the way, the daily plan that I made was flexible. If there’s something unexpected that I had to finish first, I would reduce the time for resting or delay my target to the next day. Also, I would try to achieve those targets ahead of time that I planed so that I could reserve some more time to relax or do something out of my plan. At the beginning, it’s kind of difficult to s tick to the plan. But as time went by, having a plan for time in advance became a part of my life. At the same time, I gradually became a well-organized person. Now I’ve grasped the time management skill and I’m able to use my time efficiently.
英语演讲稿：未来的工作 这篇《英语演讲稿范文：未来的工作》，是特地，希望对大家有所帮助！ 热门演讲推荐：竞聘演讲稿 | 国旗下演讲稿 | 英语演讲稿 | 师德师风演讲稿 | 年会主持词 | 领导致辞 everybody good afternoon:. first of all thank the teacher gave me a story in my own future ideal job. everyone has a dream job. my dream is to bee a boss, own a pany. in order to achieve my dreams, i need to find a good job, to accumulate some experience and wealth, it is the necessary things of course, in the school good achievement and rich knowledge is also very important. good achievement and rich experience can let me work to make the right choice, have more opportunities and achievements. at the same time, munication is very important, because it determines whether my pany has a good future development. so i need to exercise their municative ability. i need to use all of the free time to learn
小学生个人读书事迹简介怎么写800字 书,是人类进步的阶梯,苏联作家高尔基的一句话道出了书的重要。书可谓是众多名人的“宠儿”。历来,名人说出关于书的名言数不胜数。今天小编在这给大家整理了小学生个人读书事迹,接下来随着小编一起来看看吧! 小学生个人读书事迹1 “万般皆下品,惟有读书高”、“书中自有颜如玉,书中自有黄金屋”,古往今来,读书的好处为人们所重视,有人“学而优则仕”,有人“满腹经纶”走上“传道授业解惑也”的道路……但是,从长远的角度看,笔者认为读书的好处在于增加了我们做事的成功率,改善了生活的质量。 三国时期的大将吕蒙,行伍出身,不重视文化的学习,行文时,常常要他人捉刀。经过主君孙权的劝导,吕蒙懂得了读书的重要性,从此手不释卷,成为了一代儒将,连东吴的智囊鲁肃都对他“刮目相待”。后来的事实证明,荆州之战的胜利,擒获“武圣”关羽,离不开吕蒙的“运筹帷幄,决胜千里”,而他的韬略离不开平时的读书。由此可见,一个人行事的成功率高低,与他的对读书,对知识的重视程度是密切相关的。 的物理学家牛顿曾近说过,“如果我比别人看得更远,那是因为我站在巨人的肩上”,鲜花和掌声面前,一代伟人没有迷失方向,自始至终对读书保持着热枕。牛顿的话语告诉我们,渊博的知识能让我们站在更高、更理性的角度来看问题,从而少犯错误,少走弯路。
读书的好处是显而易见的,但是,在社会发展日新月异的今天,依然不乏对读书,对知识缺乏认知的人,《今日说法》中我们反复看到农民工没有和用人单位签订劳动合同,最终讨薪无果;屠户不知道往牛肉里掺“巴西疯牛肉”是犯法的;某父母坚持“棍棒底下出孝子”,结果伤害了孩子的身心,也将自己送进了班房……对书本,对知识的零解读让他们付出了惨痛的代价,当他们奔波在讨薪的路上,当他们面对高墙电网时,幸福,从何谈起?高质量的生活,从何谈起? 读书,让我们体会到“锄禾日当午,汗滴禾下土”的艰辛;读书,让我们感知到“四海无闲田,农夫犹饿死”的无奈;读书,让我们感悟到“为报倾城随太守,西北望射天狼”的豪情壮志。 读书的好处在于提高了生活的质量,它填补了我们人生中的空白,让我们不至于在大好的年华里无所事事,从书本中,我们学会提炼出有用的信息,汲取成长所需的营养。所以,我们要认真读书,充分认识到读书对改善生活的重要意义,只有这样,才是一种负责任的生活态度。 小学生个人读书事迹2 所谓读一本好书就是交一个良师益友,但我认为读一本好书就是一次大冒险,大探究。一次体会书的过程,真的很有意思,咯咯的笑声,总是从书香里散发;沉思的目光也总是从书本里透露。是书给了我启示,是书填补了我无聊的夜空,也是书带我遨游整个古今中外。所以人活着就不能没有书,只要爱书你就是一个爱生活的人,只要爱书你就是一个大写的人,只要爱书你就是一个懂得珍惜与否的人。可真所谓
关于坚持的英语演讲稿 Results are not important, but they can persist for many years as a commemoration of. Many years ago, as a result of habits and overeating formed one of obesity, as well as indicators of overall physical disorders, so that affects my work and life. In friends to encourage and supervise, the participated in the team Now considered to have been more than three years, neither the fine rain, regardless of winter heat, a day out with 5:00 time. The beginning, have been discouraged, suffering, and disappointment, but in the end of the urging of friends, to re-get up, stand on the playground. 成绩并不重要，但可以作为坚持多年晨跑的一个纪念。多年前，由于庸懒习惯和暴饮暴食，形成了一身的肥胖，以及体检指标的全盘失常，以致于影响到了我的工作和生活。在好友的鼓励和督促下，参加了晨跑队伍。现在算来，已经三年多了，无论天晴下雨，不管寒冬酷暑，每天五点准时起来出门晨跑。开始时，也曾气馁过、痛苦过、失望过，但最后都在好友们的催促下，重新爬起来，站到了操场上。 In fact, I did not build big, nor strong muscles, not a sport-born people. Over the past few years to adhere to it, because I have a team behind, the strength of a strongteam here, very grateful to our team, for a long time, we encourage each other, and with sweat, enjoying common health happy. For example, Friends of the several run in order to maintain order and unable to attend the 10，000 meters race, and they are always concerned about the brothers and promptly inform the place and time, gives us confidence and courage. At the same time, also came on their own inner desire and pursuit for a good health, who wrote many of their own log in order to refuel for their own, and inspiring. 其实我没有高大身材，也没健壮肌肉，天生不属于运动型的人。几年来能够坚持下来，因为我的背后有一个团队，有着强大团队的力量，在这里，非常感谢我们的晨跑队，长期以来，我们相互鼓励着，一起流汗，共同享受着健康带来的快
1.How to build a business that lasts100years 0:11Imagine that you are a product designer.And you've designed a product,a new type of product,called the human immune system.You're pitching this product to a skeptical,strictly no-nonsense manager.Let's call him Bob.I think we all know at least one Bob,right?How would that go? 0:34Bob,I've got this incredible idea for a completely new type of personal health product.It's called the human immune system.I can see from your face that you're having some problems with this.Don't worry.I know it's very complicated.I don't want to take you through the gory details,I just want to tell you about some of the amazing features of this product.First of all,it cleverly uses redundancy by having millions of copies of each component--leukocytes,white blood cells--before they're actually needed,to create a massive buffer against the unexpected.And it cleverly leverages diversity by having not just leukocytes but B cells,T cells,natural killer cells,antibodies.The components don't really matter.The point is that together,this diversity of different approaches can cope with more or less anything that evolution has been able to throw up.And the design is completely modular.You have the surface barrier of the human skin,you have the very rapidly reacting innate immune system and then you have the highly targeted adaptive immune system.The point is,that if one system fails,another can take over,creating a virtually foolproof system. 1:54I can see I'm losing you,Bob,but stay with me,because here is the really killer feature.The product is completely adaptive.It's able to actually develop targeted antibodies to threats that it's never even met before.It actually also does this with incredible prudence,detecting and reacting to every tiny threat,and furthermore, remembering every previous threat,in case they are ever encountered again.What I'm pitching you today is actually not a stand-alone product.The product is embedded in the larger system of the human body,and it works in complete harmony with that system,to create this unprecedented level of biological protection.So Bob,just tell me honestly,what do you think of my product? 2:47And Bob may say something like,I sincerely appreciate the effort and passion that have gone into your presentation,blah blah blah-- 2:56(Laughter) 2:58But honestly,it's total nonsense.You seem to be saying that the key selling points of your product are that it is inefficient and complex.Didn't they teach you 80-20?And furthermore,you're saying that this product is siloed.It overreacts, makes things up as it goes along and is actually designed for somebody else's benefit. I'm sorry to break it to you,but I don't think this one is a winner.
关于工作的优秀英语演讲稿 Different people have various ambitions. Some want to be engineers or doctors in the future. Some want to be scientists or businessmen. Still some wish to be teachers or lawers when they grow up in the days to come. Unlike other people, I prefer to be a farmer. However, it is not easy to be a farmer for Iwill be looked upon by others. Anyway,what I am trying to do is to make great contributions to agriculture. It is well known that farming is the basic of the country. Above all, farming is not only a challenge but also a good opportunity for the young. We can also make a big profit by growing vegetables and food in a scientific way. Besides we can apply what we have learned in school to farming. Thus our countryside will become more and more properous. I believe that any man with knowledge can do whatever they can so long as this job can meet his or her interest. All the working position can provide him with a good chance to become a talent. 1 ————来源网络整理，仅供供参考
个人先进事迹简介 01 在思想政治方面,xxxx同学积极向上,热爱祖国、热爱中国共产党,拥护中国共产党的领导.利用课余时间和党课机会认真学习政治理论,积极向党组织靠拢. 在学习上,xxxx同学认为只有把学习成绩确实提高才能为将来的实践打下扎实的基础,成为社会有用人才.学习努力、成绩优良. 在生活中,善于与人沟通,乐观向上,乐于助人.有健全的人格意识和良好的心理素质和从容、坦诚、乐观、快乐的生活态度,乐于帮助身边的同学,受到师生的好评. 02 xxx同学认真学习政治理论,积极上进,在校期间获得原院级三好生,和校级三好生,优秀团员称号,并获得三等奖学金. 在学习上遇到不理解的地方也常常向老师请教,还勇于向老师提出质疑.在完成自己学业的同时,能主动帮助其他同学解决学习上的难题,和其他同学共同探讨,共同进步. 在社会实践方面,xxxx同学参与了中国儿童文学精品“悦”读书系,插画绘制工作,xxxx同学在班中担任宣传委员,工作积极主动,认真负责,有较强的组织能力.能够在老师、班主任的指导下独立完成学院、班级布置的各项工作. 03 xxx同学在政治思想方面积极进取,严格要求自己.在学习方面刻苦努力,不断钻研,学习成绩优异,连续两年荣获国家励志奖学金；作
为一名学生干部,她总是充满激情的迎接并完成各项工作,荣获优秀团干部称号.在社会实践和志愿者活动中起到模范带头作用. 04 xxxx同学在思想方面,积极要求进步,为人诚实,尊敬师长.严格 要求自己.在大一期间就积极参加了党课初、高级班的学习,拥护中国共产党的领导,并积极向党组织靠拢. 在工作上,作为班中的学习委员,对待工作兢兢业业、尽职尽责 的完成班集体的各项工作任务.并在班级和系里能够起骨干带头作用.热心为同学服务,工作责任心强. 在学习上,学习目的明确、态度端正、刻苦努力,连续两学年在 班级的综合测评排名中获得第1.并荣获院级二等奖学金、三好生、优秀班干部、优秀团员等奖项. 在社会实践方面,积极参加学校和班级组织的各项政治活动,并 在志愿者活动中起到模范带头作用.积极锻炼身体.能够处理好学习与工作的关系,乐于助人,团结班中每一位同学,谦虚好学,受到师生的好评. 05 在思想方面,xxxx同学积极向上,热爱祖国、热爱中国共产党,拥护中国共产党的领导.作为一名共产党员时刻起到积极的带头作用,利用课余时间和党课机会认真学习政治理论. 在工作上,作为班中的团支部书记,xxxx同学积极策划组织各类 团活动,具有良好的组织能力. 在学习上,xxxx同学学习努力、成绩优良、并热心帮助在学习上有困难的同学,连续两年获得二等奖学金. 在生活中,善于与人沟通,乐观向上,乐于助人.有健全的人格意 识和良好的心理素质.
尊敬的领导，老师，亲爱的同学们， 大家好！我是5班的梁浩东。今天早上我坐车来学校的路上，我仔细观察了路上形形色色的人，有开着小车衣着精致的叔叔阿姨，有市场带着倦容的卖各种早点的阿姨，还有偶尔穿梭于人群中衣衫褴褛的乞丐。于是我问自己，十几年后我会成为怎样的自己，想成为社会成功人士还是碌碌无为的人呢，答案肯定是前者。那么十几年后我怎样才能如愿以偿呢，成为一个受人尊重，有价值的人呢？正如我今天演讲的题目是：自主管理。 大家都知道爱玩是我们孩子的天性，学习也是我们的责任和义务。要怎样处理好这些矛盾，提高自主管理呢？ 首先，我们要有小主人翁思想，自己做自己的主人，要认识到我们学习，生活这一切都是我们自己走自己的人生路，并不是为了报答父母，更不是为了敷衍老师。 我认为自主管理又可以理解为自我管理，在学习和生活中无处不在，比如通过老师，小组长来管理约束行为和同学们对自身行为的管理都属于自我管理。比如我们到一个旅游景点，看到一块大石头，有的同学特别兴奋，会想在上面刻上：某某某到此一游话。这时你就需要自我管理，你需要提醒自己，这样做会破坏景点，而且是一种素质低下的表现。你设想一下，如果别人家小孩去你家墙上乱涂乱画，你是何种感受。同样我们把自主管理放到学习上，在我们想偷懒，想逃避，想放弃的时候，我们可以通过自主管理来避免这些，通过他人或者自己的力量来完成。例如我会制定作息时间计划表，里面包括学习，运动，玩耍等内容的完成时间。那些学校学习尖子，他们学习好是智商高于我们吗，其实不然，在我所了解的哪些优秀的学霸传授经验里，就提到要能够自我管理，规范好学习时间的分分秒秒，只有辛勤的付出，才能取得优异成绩。 在现实生活中，无数成功人士告诉我们自主管理的重要性。十几年后我想成为一位优秀的，为国家多做贡献的人。亲爱的同学们，你们们？让我们从现在开始重视和执行自主管理，十几年后成为那个你想成为的人。 谢谢大家！
关于工作的英语演讲稿 【篇一：关于工作的英语演讲稿】 关于工作的英语演讲稿 different people have various ambitions. some want to be engineers or doctors in the future. some want to be scientists or businessmen. still some wish to be teachers or lawers when they grow up in the days to come. unlike other people, i prefer to be a farmer. however, it is not easy to be a farmer for iwill be looked upon by others. anyway,what i am trying to do is to make great contributions to agriculture. it is well known that farming is the basic of the country. above all, farming is not only a challenge but also a good opportunity for the young. we can also make a big profit by growing vegetables and food in a scientific way. besides we can apply what we have learned in school to farming. thus our countryside will become more and more properous. i believe that any man with knowledge can do whatever they can so long as this job can meet his or her interest. all the working position can provide him with a good chance to become a talent. 【篇二：关于责任感的英语演讲稿】 im grateful that ive been given this opportunity to stand here as a spokesman. facing all of you on the stage, i have the exciting feeling of participating in this speech competition. the topic today is what we cannot afford to lose. if you ask me this question, i must tell you that i think the answer is a word---- responsibility. in my elementary years, there was a little girl in the class who worked very hard, however she could never do satisfactorily in her lessons. the teacher asked me to help her, and it was obvious that she expected a lot from me. but as a young boy, i was so restless and thoughtless, i always tried to get more time to play and enjoy myself. so she was always slighted over by me. one day before the final exam, she came up to me and said, could you please explain this to me? i can not understand it. i
Dear teacher and colleagues: my topic is on “spare time”. It is a huge blessing that we can work 996. Jack Ma said at an Ali's internal communication activity, That means we should work at 9am to 9pm, 6 days a week .I question the entire premise of this piece. but I'm always interested in hearing what successful and especially rich people come up with time .So I finally found out Jack Ma also had said :”i f you don’t put out more time and energy than others ,how can you achieve the success you want? If you do not do 996 when you are young ,when will you ?”I quite agree with the idea that young people should fight for success .But there are a lot of survival activities to do in a day ,I want to focus on how much time they take from us and what can we do with the rest of the time. As all we known ,There are 168 hours in a week .We sleep roughly seven-and-a-half and eight hours a day .so around 56 hours a week . maybe it is slightly different for someone . We do our personal things like eating and bathing and maybe looking after kids -about three hours a day .so around 21 hours a week .And if you are working a full time job ,so 40 hours a week , Oh! Maybe it is impossible for us at
关于人英语演讲稿(精选多篇) 关于人的优美句子 1、“黑皮小子”是我对在公交车上偶遇两次的一个男孩的称呼代号。一听这个外号，你也定会知道他极黑了。他的脸总是黑黑的；裸露在短袖外的胳膊也是黑黑的；就连两只有厚厚耳垂的耳朵也那么黑黑的，时不时像黑色的猎犬竖起来倾听着什么；黑黑的扁鼻子时不时地深呼吸着，像是在警觉地嗅着什么异样的味道。 2、我不知道，如何诠释我的母亲，因为母亲淡淡的生活中却常常跳动着不一样的间最无私、最伟大、最崇高的爱，莫过于母爱。无私，因为她的爱只有付出，无需回报；伟大，因为她的爱寓于
普通、平凡和简单之中；崇高，是因为她的爱是用生命化作乳汁，哺育着我，使我的生命得以延续，得以蓬勃，得以灿烂。 3、我的左撇子伙伴是用左手写字的，就像我们的右手一样挥洒自如。在日常生活中，曾见过用左手拿筷子的，也有像超级林丹用左手打羽毛球的，但很少碰见用左手写字的。中国汉字笔画笔顺是左起右收，适合用右手写字。但我的左撇子伙伴写字是右起左收的，像鸡爪一样迈出田字格，左看右看，上看下看，每一个字都很难看。平时考试时间终了，他总是做不完试卷。于是老师就跟家长商量，决定让他左改右写。经过老师引导，家长配合，他自己刻苦练字，考试能够提前完成了。现在他的字像他本人一样阳光、帅气。 4、老师，他们是辛勤的园丁，帮助着那些幼苗茁壮成长。他们不怕辛苦地给我们改厚厚一叠的作业，给我们上课。一步一步一点一点地给我们知识。虽然
他们有时也会批评一些人，但是他们的批评是对我们有帮助的，我们也要理解他们。那些学习差的同学，老师会逐一地耐心教导，使他们的学习突飞猛进。使他们的耐心教导培养出了一批批优秀的人才。他们不怕辛苦、不怕劳累地教育着我们这些幼苗，难道不是美吗？ 5、我有一个表妹，还不到十岁，她那圆圆的小脸蛋儿，粉白中透着粉红，她的头发很浓密，而且好像马鬓毛一样的粗硬，但还是保留着孩子一样的蓬乱的美，卷曲的环绕着她那小小的耳朵。说起她，她可是一个古灵精怪的小女孩。 6、黑皮小子是一个善良的人，他要跟所有见过的人成为最好的朋友！这样人人都是他的好朋友，那么人人都是好友一样坦诚、关爱相交，这样人与人自然会和谐起来，少了许多争执了。 7、有人说，老师是土壤，把知识化作养分，传授给祖国的花朵，让他们茁壮成长。亦有人说，老师是一座知识的桥梁，把我们带进奇妙的科学世界，让
优秀党务工作者事迹简介范文 优秀党务工作者事迹简介范文 ***，男，198*年**月出生，200*年加入党组织，现为***支部书记。从事党务工作以来，兢兢业业、恪尽职守、辛勤工作，出色地完成了各项任务，在思想上、政治上同党中央保持高度一致，在业务上不断进取，团结同事，在工作岗位上取得了一定成绩。 一、严于律己，勤于学习 作为一名党务工作者，平时十分注重知识的更新，不断加强党的理论知识的学习，坚持把学习摆在重要位置，学习领会和及时掌握党和国家的路线、方针、政策，特别是党的十九大精神，注重政治理论水平的提高，具有坚定的理论信念;坚持党的基本路线，坚决执行党的各项方针政策，自觉履行党员义务，正确行使党员权利。平时注重加强业务和管理知识的学习，并运用到工作中去，不断提升自身工作能力，具有开拓创新精神，在思想上、政治上和行动上时刻同党中央保持高度一致。 二、求真务实，开拓进取 在工作中任劳任怨，踏实肯干，坚持原则，认真做好学院的党务工作，按照党章的要求，严格发展党员的每一个步骤，认真细致的对待每一份材料。配合党总支书记做好学院的党建工作，完善党总支建设方面的文件、材料和工作制度、管理制度等。
三、生活朴素，乐于助人 平时重视与同事间的关系，主动与同事打成一片，善于发现他人的难处，及时妥善地给予帮助。在其它同志遇到困难时，积极主动伸出援助之手，尽自己最大努力帮助有需要的人。养成了批评与自我批评的优良作风，时常反省自己的工作，学习和生活。不但能够真诚的指出同事的缺点，也能够正确的对待他人的批评和意见。面对误解，总是一笑而过，不会因为误解和批评而耿耿于怀，而是诚恳的接受，从而不断的提高自己。在生活上勤俭节朴，不铺张浪费。 身为一名老党员，我感到责任重大，应该做出表率，挤出更多的时间来投入到**党总支的工作中，不找借口，不讲条件，不畏困难，将总支建设摆在更重要的位置，解开工作中的思想疙瘩，为攻坚克难铺平道路，以支部为纽带，像战友一样团结，像家庭一样维系，像亲人一样关怀，践行入党誓言。把握机遇，迎接挑战，不负初心。
关于时间的英语演讲稿范文_演讲稿 and organizing people to learn from advanced areas to broaden their horizons in order to understand the team of cadres working conditions in schools, the ministry of education has traveled a number of primary and secondary schools to conduct research, listen to the views of the school party and government leaders to make school leadership cadres receive attention and guidance of the ministry of education to carry out a variety of practical activities to actively lead the majority of young teachers work hard to become qualified personnel and for them to put up the cast talent stage, a single sail swaying, after numerous twists and turns arrived in port, if there is wind, a hand, and naturally smooth arrival and guide students to strive to e xcel, need to nazhen “wind” - teacher. teachers should be ideological and moral education, culture education and the needs of students organically combining various activities for the students or students to carry out their own. for example: school quiz competitions, essay contests, ke benju performances and other activities to enable students to give full play to their talents. teachers rush toil, in order to that will enable students to continue to draw nutrients, to help them grow up healthily and become pillars of the country before. for all students in general education, the government departments have also not forget those who cared about the