True Attitude Research Articles

A robust adaptive error state Kalman filter for MEMS IMU attitude estimation under dynamic acceleration

Accurate estimation of attitude (pitch, roll) is a prerequisite for ensuring safe navigation during vehicle control execution. In dynamic environments, the presence of acceleration often degrades the accuracy and robustness of attitude estimation using traditional algorithms with Micro-Electro-Mechanical Systems (MEMS) Inertial Measurement Unit (IMU). This paper proposes a robust adaptive error state Kalman filter (RAESKF) algorithm for attitude estimation of MEMS IMU under dynamic acceleration conditions. The RAESKF algorithm decomposes the true attitude Direction Cosine Matrix (DCM) into nominal and error components. An error state Kalman filter is utilized to fuse real-time measurements from MEMS gyroscope and accelerometer, estimating the error component, which is then used to correct the nominal attitude DCM. Furthermore, within the error state Kalman filtering framework, a dynamic acceleration robust adaptive adjustment strategy is implemented. This strategy relies on real-time data monitoring, threshold-based decision-making, and switching mechanisms. It adaptively selects between dynamic acceleration model compensation and online adjustment of the measurement noise covariance matrix. The primary objective of this strategy is to mitigate the impact of disturbance induced by dynamic acceleration on attitude estimation, thereby enhancing the accuracy and robustness. Laboratory rotation experiments have demonstrated that the algorithm improved pitch and roll measurement accuracy by at least 8.81% and 11.69%, respectively, under rotational conditions. In dynamic acceleration conditions, pitch and roll measurement accuracy improved by at least 42.76% and 67.21%, respectively.

Unknow biography of Salomėja Neris. Critical publication.

Although “the life of Salomėja Nėris” is better documented than that of any other Lithuanian woman (and better than that of any other writer)”, this is far from meaning that everything is known about her biography. On the contrary, it sometimes seems that her image, the almost mythical figure of the poet, shaped by the times, hinders the recognition of Nėris as a real person, a historical personality. We will probably never know exactly why this active member of the Lithuanian Catholic Federation Ateitis suddenly embraced leftist ideas, nor will we ever know what her true attitude to Soviet reality was, especially after the deportations in June 1941. Perhaps she herself would not have been able to give an unequivocal answer.

The effect of “falsification of preferences”: the rise and fall of mass support for M.S. Gorbachev

In difficult political situations, such as the one in which Russia finds itself today, the public support of incumbent leaders is of particular importance. But how real is this support, to what extent can it really be relied upon? The answer to this question can be found, among others, by referring to the experience of leaders who have faced a rise and fall of their popularity. In recent Russian history the experience of M.S. Gorbachev is valuable. According to the traditional view, he was a politician who enjoyed the sincere support of the population in the first half of his time in power, but lost it due to unsuccessful reforms in the end. This article is devoted to an empirical verification of this thesis. First, we substantiate the competing hypothesis of Gorbachev's initial lack of wide popularity in Soviet society, then use a comparative analysis of public opinion polls, to provide evidence for this hypothesis. The study, based on empirical material of sociological research, confirms the thesis that M.S. Gorbachev was not popular among the bulk of the Soviet population even during the period when he received high ratings in public opinion polls. Their sharp fall in June 1990 is much better explained not by the gradual disappointment of the population, but by the fact that the adoption of the Declaration on the Sovereignty of the RSFSR made visible the loss of power by the “union center”. The body of evidence presented in the article allows us to assert that the high ratings of M.S. Gorbachev were the result of the insincerity of the respondents rather than the true attitude towards the head of state.

On I.A. Ilyin’s Attitude to Fascism and Nazism

The article is devoted to the critical examination and refutation of the “black myths” about A.I. Ilyin (1883–1954), the greatest Russian philosopher, jurist, religious thinker, who infl uenced profoundly modern Russian conservative thought. Some representatives of the left and liberal camps claim that I.A. Ilyin was allegedly a supporter of Fascism and Nazism in the 1920s and 1940s. The author of the article examines the true attitude of I.A. Ilyin to rightwing radical ideologies and practices over a long time and comes to the conclusion that the attribution of the Russian thinker to collaborationism, Fascism and Nazism is possible only through conscious falsifi cation and tendentious tearing of situational assessments from the general context of his life and work

Error-Covariance Reset in the Multiplicative Extended Kalman Filter for Attitude Estimation

This paper presents a study of the reset step in the multiplicative extended Kalman filter (MEKF). This filter is widely used for spacecraft attitude estimation, which typically involves estimating the attitude and gyro drift in real time using external sensors such as star trackers. The basic idea of the MEKF is to use the quaternion or direction-cosine matrix as the “global” attitude parameterization and a three-component state vector for the “local” parameterization of attitude errors. The true attitude is expressed as the product of the error attitude and the estimate rather than as the sum of the error and the estimate. The reset operation moves the local error to the global variable. This reset does not add new information, but it changes the reference frame for the attitude error covariance. This results in an error-covariance reset that is very different from the measurement update of the error covariance in the MEKF. The effects of using an error-covariance reset in the MEKF are analyzed in this work. The results from this work can be applied to any application involving attitude estimation as part of its process, such as inertial navigation.

Między konwencją epistolarną a intymną relacją – obraz więzi rodzinnych w listach Konstancji z Gnińskich Czapskiej

The article depicts the letters of the Pomeranian Voivode’s wife Konstancja Czapska written in the 1740s to her daughter Magdalena and Magdalena’s husband Duke Hieronim Florian Radziwiłł, the analysis being focussed on the manner in which the correspondent addressed her relatives. On the one hand, the letters were intended to express feelings, maintain the emotional closeness and family ties. On the other, they were highly conventional through following epistolary tradition which, back then, was very much oriented towards the panegyric form. Konstancja Czapska used panegyric devices especially towards her son-in-law Duke Radziwiłł, who outranked her in the social hierarchy. By skilfully flattering her addressee, she wanted to win favour with him and gain his support in resolving her oldest son Tomasz’s legal problems. As a result, it is difficult to estimate with certainty her true attitude to her son-in-law – a man of a difficult and overbearing personality. The fragments full of elaborate, laudatory forms, which Czapska also used towards her daughter, are in contrast to those parts of her letters where she addressed Magdalena in a simple, honest and open way – offering advice on intimate marital issues and confiding her own problems and thoughts to her daughter.

CATEGORIES OF «SUFFICIENCY» AND «MERIT» WHEN DECIDING ON THE RELEASE OF A PERSON FROM CRIMINAL LIABILITY ON EVALUATIVE GROUNDS

The purpose of the study. The article examines the content and meaning of the categories «sufficiency» and «merit» in resolving the issue and terminating a criminal case or criminal prosecution on non-rehabilitating grounds. The implementation of the considered incentive form of criminal proceedings in the form of exemption from criminal liability is associated with the evaluation activity of the court or official. The purpose of the study is to identify problems of a law enforcement nature in determining the «sufficiency» of positive post-criminal actions of the accused (suspect) and the «deservedness» of his release from criminal liability on non-rehabilitating grounds. Conclusions. The author comes to the conclusion that when a person is released from criminal liability, it is not possible to establish the true attitude of a person to the procedural legal relations taking place with his participation. The «sufficiency» of post-criminal actions and actions of the accused (suspect) and the «deservedness» of encouragement by him cannot be assessed by the court in isolation from the opinion of the victim. In order to eliminate defective practices, it is necessary to clearly define the conditions, requirements and standards for the use of incentives in criminal proceedings, as well as criteria for evaluating the behavior of a person applying for an incentive.

Некрасовская анкета К. И. Чуковского и Д. С.Мережковский

The paper examines D.S. Merezhkovsky’s responses to the famous Nekrasov questionnaire by K.I. Chukovsky, who presented it to his contemporaries by publishing some of the responses in “Chronicle of the Writers` club” (1921). In the preface he pointed out the modernists’ decisive role in reviving the poet’s legacy during the 20th century. In the second (1926) and third (1930) editions Chukovsky changed the list of surveyed poets, which suggests that as a publisher he intended to reflect the new literary hierarchy. In his three publications of the Nekrasov questionnaire he justified his decisions by the views he assumed while working with the material and by the current sociocultural situation. The paper focuses on the handwritten draft of D.S. Merezhkovsky’s responses (1919), which appeared partly in the first edition and were only fully published in 1988. Merezhkovsky was more outspoken than before in his judgement of Nekrasov’s poems about the people, suspecting poet`s speculation on this subject. He also exposed his true attitude to the “feminine” and “masculine” streams of the Russian culture. His responses to Chukovsky deconstructed the artificial concept that he had established in his works “Two mysteries of Russian poetry” and “The poet of eternal femininity”. His intuitively delicate and convincing definition of the currents of Russian culture ran into a contradiction with Nekrasov that emerged in his response. In truth he regarded Nekrasov as a figure of the “masculine” stream of culture, which is a driving, active, rather than a contemplative and passive creative element.

The Evaluative Aspect of Diplomatic Speeches during the UN Security Council's Meetings in 2022

The article identifies the evaluative aspect of diplomatic speeches during the UN Security Council’s meetings in 2022, which contributes to the separation of a true attitude towards the topic. That is possible to notice in discussion, information, and country, which is noted by the diplomat in his/her speech. The evaluations are subject to noticed information, facts, sources and specific individuals that have participated directly in the events mentioned in the diplomatic speeches. The connection between valorative, voluntative and modelling aspects of diplomatic speech is noted. The method of assessment includes: 1) positioning, 2) distance, 3) mythologization, 4) retrospection, which is mainly implemented through hyperbolization and ideologization. The linguistic implementation of these techniques occurs by the predominance of expressive verbalization, the involvement of stylistic means, comparison with one of the prominent figures of the past, the contrast opposition of "we-they" for more effective misleading. It is proven based on a quantitative analysis of the archival posts of the UN Security Council, which affects not only the course of discussing the current issue, but also the adoption of resolutions, taking part or not in a specific conflict, etc. In the article, preferences are provided to the explicit assessments, in particular through the use of lexical and stylistic tools. Implicitness is also found in the evaluation of diplomatic speeches, but to a lesser extent than the explicitness of the assessment. At the verbal level, the assessment is voiced either in advance of the prepared speech or as part of an additional word during the meeting; at a non-verbal level, the score is traced by a subtext invoiced by the addressee during a speech or an additional word as a reaction to what is heard during the meeting. The interaction of explicit and implicit forms of realization of valority testifies to the complex nature of diplomatic speech at the meetings of the UN Security Council. The relevance of the problem of identifying the evaluative aspect of diplomatic speeches is due to the global significance of the impact of evaluation on the course of diplomatic negotiations with further consequences at the international level.

Авторские примечания в поэтике произведений А. С. Пушкина 1830-х годов

The subject of our study is the author’s notes (comments) of A. S. Pushkin, found in his book and magazine publications of the 1830s, in which the author explains the historical and everyday realities peculiar to a certain period of development of Russian society. The author’s notes and comments of A. S. Pushkin are an important, but poorly studied category of the text poetics. Analysis and interpretation of Pushkin’s notes helps establish intercontextual ties of these works with the key events of Russian history, revealing Pushkin’s true attitude to them. Considering the poet’s high requirements to the interpretation of events, his clear dissatisfaction with obvious gaps in the interpretation of Russian history, we can subtext in his notes that significantly complements the romanticized idea of heroes and events. The commentary in Pushkin’s later works allows us to clarify some facts of Russian social life. The notes essentially contain an ironic assessment of the techniques peculiar to classicism, sentimentalism and romanticism, couched in the form of parody, which in turn the poet’s demanded of works of the 1830s.

Leveraging Self-Attention Mechanism for Attitude Estimation in Smartphones.

Inertial attitude estimation is a crucial component of many modern systems and applications. Attitude estimation from commercial-grade inertial sensors has been the subject of an abundance of research in recent years due to the proliferation of Inertial Measurement Units (IMUs) in mobile devices, such as the smartphone. Traditional methodologies involve probabilistic, iterative-state estimation; however, these approaches do not generalise well over changing motion dynamics and environmental conditions, as they require context-specific parameter tuning. In this work, we explore novel methods for attitude estimation from low-cost inertial sensors using a self-attention-based neural network, the Attformer. This paper proposes to part ways from the traditional cycle of continuous integration algorithms, and formulate it as an optimisation problem. This approach separates itself by leveraging attention operations to learn the complex patterns and dynamics associated with inertial data, allowing for the linear complexity in the dimension of the feature vector to account for these patterns. Additionally, we look at combining traditional state-of-the-art approaches with our self-attention method. These models were evaluated on entirely unseen sequences, over a range of different activities, users and devices, and compared with a recent alternate deep learning approach, the unscented Kalman filter and the iOS CoreMotion API. The inbuilt iOS had a mean angular distance from the true attitude of 117.31∘, the GRU 21.90∘, the UKF 16.38∘, the Attformer 16.28∘ and, finally, the UKF-Attformer had mean angular distance of 10.86∘. We show that this plug-and-play solution outperforms previous approaches and generalises well across different users, devices and activities.

Explicit and implicit attitudes toward smoking: Dissociation of attitudes and different characteristics for an implicit attitude in smokers and nonsmokers.

Smoking is a global health risk for premature death and disease. Recently, addictive behaviors, like smoking, were considered to be guided by explicit and implicit processes. The existence of a dissociation between the two attitudes in nonsmokers and the causes of the differences in implicit attitudes toward smoking have not been fully investigated. We investigated the explicit and implicit attitudes toward smoking via a self-reported scale and the single category implicit association test (SC-IAT), respectively, among undergraduate and graduate health sciences students. In addition, we applied the drift-diffusion model (DDM) on the SC-IAT and examined the behavioral characteristics that caused differences in implicit attitude toward smoking between smokers and nonsmokers. The results showed the existence of a dissociation between explicit and implicit attitudes toward smoking among nonsmokers. In addition, nonsmokers had a higher decision threshold than smokers and a higher drift rate in the condition where negative words were associated with smoking. Nonsmokers engaged in SC-IAT with more cautious attitudes and responded more easily in a negative condition since it was consistent with their true attitudes. Conversely, smokers did not show a significant difference in the drift rate between the conditions. These results suggested that the differences in an implicit attitude between smokers and nonsmokers were caused by differences in evidence accumulation speed between the positive and negative conditions. The existence of dissociation between implicit and explicit attitudes toward smoking may indicate the difficulty of measuring true attitude in nonsmokers in a questionnaire survey. Additionally, the DDM results explained the difference of implicit attitude between smokers and nonsmokers; it may provide information on the mechanisms of addictive behaviors and a basis for therapy. However, whether these results are affected by cultural differences requires further investigation.

Public Administration Transformation Based on Research in Social Neurosciences in the Context of Sustainable Development (Part 2)

The second part of the article continues to consider the new approach to public administration and social structure proposed in the first part with the involvement of the neuroscientific method of social neurosciences. The advantage of the neuroscientific method of social neurosciences is that it provides empirical validation of theoretical positions; is focused on humans, as it studies the neurobiological response of humans in different areas of social life; shows the person’s true attitude to the situation before their conscious control; demonstrates how the social device affects the brain, a person’s neuropsychiatric state, behavior, and health in general.

Public Administration Transformation Based on Research in Social Neurosciences in the Context of Sustainable Development. (Part 1)

The article proposes a new approach to public administration and social structure using the neuroscientific method of social neurosciences. The global growth of social conflicts, suicides, violence and neuropsychic disorders confirms the failure of existing social systems and state management. The results of research in social neurosciences show the fallacy of many theoretical propositions on the basis of which the practice of state management is built. The advantage of the neuroscientific method of social neurosciences is that it provides an empirical test of theoretical propositions; is human-oriented, as it studies the neurobiological response of a person in different areas of social life; shows the true attitude of a person to the situation before his conscious control; demonstrates how the social structure affects the brain, the neuropsychic state of a person, behavior and health in general. There is a need to revise public administration, and this will require a special programme of research on the relationship between the patterns of thinking, the neurobiological response of the brain and social problems, which will help to determine the parameters of the organization of society in which the human brain and mind will function optimally. Maintaining a healthy brain and developing people’s mental abilities is the main task of public administration, because it is the intellectual ability of the population that the state’s success in all areas depends on.

The Ease of Use of Google Classroom Technology Among Secondary School Teachers in Malaysia/ Kemudahan Penggunaan Teknologi Google Bilik Darjah Dalam Kalangan Guru Sekolah Menengah Di Malay

Implementation of the Movement Control Order (MCO) Policy in Malaysia requires the cooperation of all parties including teachers and parents to implement Home Teaching and Learning (PdPR) and one of the famous learning mediums today is that Google classroom an application makes it easier for teachers to create, distribute and review student assignments without using papers. This study aims to study the facilitation and harness of google classroom technology among teachers as well as the teacher's true attitude and behavior towards the use of google classroom. In the study, studiers used qualitative methods by semi-structured interviews to collect data and study information. Coding methods have been used to analyze the findings. The samples were intended to be used to select respondents according to the appropriate criteria set by the reviewer. The sample consisted of six teachers, including five female teachers and one male teacher of secondary school in Johor Bahru, Malaysia. The results showed that teachers gave a positive insight into google classroom as a simplifying, flexible and safe-to-use technology. They also acknowledge that google classrooms can improve the effectiveness of teacher's work performance, help them diversify learning materials and be able to actively interest in the learning process. Teachers express google classroom technology which is satisfactory and enjoyable as it can improve the productivity and performance of teachers while enhancing technological usage skills than ever before. It is suggested that teachers need to be creative and innovative in diversifying teaching and learning techniques to ensure that their teaching and learning is more attractive through the exploration of various interesting functions in this application.

What Drives Happiness? The Interviewer’s Happiness

Interviewers in face-to-face surveys can potentially introduce bias both in the recruiting and the measurement phase. One reason behind this is that the measurement of subjective well-being has been found to be associated with social desirability bias. Respondents tend to tailor their responses in the presence of others, for instance by presenting a more positive image of themselves instead of reporting their true attitude. In this study, we investigated the role of interviewers in the measurement of happiness. We were particularly interested in whether the interviewer’s happiness correlates with the respondent’s happiness. Our data comes from a face-to-face survey conducted in Hungary, which included the attitudes of both respondents and interviewers. The results of the multilevel regression models showed that interviewers account for a significant amount of variance in responses obtained from respondents, even after controlling for a range of characteristics of both respondents, interviewers, and settlements. We also found that respondents were more likely to report a happy personality in the presence of an interviewer with a happy personality. We argue that as long as interviewers are involved in the collection of SWB measures, further training of interviewers on raising awareness on personality traits, self-expression, neutrality, and unjustified positive confirmations is essential.

Man´s Attitude Towards Animals Within the Context of Gender, Age, Place of Living, Eating Habits, and Worldview in Slovakia

The ecological values or environmental competency development is currently an important topic. Attitude, relationship, love or respect for nature can be identified within several theories by various diagnostic tools, though they might be so general covering a man´s true attitude towards animals. The study discusses the characteristics of the author's questionnaire of human-animal relationship AniRe-Que (15) based on the ecological theory of biocentric egalitarianism covering extraterrestrial beings´ respect and consideration. The Questionnaire of Ecocentric and Anthropocentric Attitudes Towards the Environment (Thompson and Barton 1994) adapted by Siegrist (1996) was used to determine the construct validity of the author's questionnaire. Both tools were used to search for respondents' attitudes towards animals (N=937) in the context of their gender, age, residence, eating habits and worldview. The research study is of correlation-differential study design. The most important findings were that the attitude towards nature expressed in general does not completely coincide with the attitude towards animals leading to the hypothesis not all natural being are treated with equal respect by a man. The self-reported respect for animals was significantly lower than the respect for nature assessed by the ecocentric environmental attitude. The diagnostic tools thematizing only nature in its general (complex, synthesizing) context seem to be not sufficient to determine a respondent's attitude towards animals. A man might protect nature, but s/he can care less about the animals.

Проект «сноса» 26 селений Московской области из-за действовавших в них православных храмов. 1951 г.

The article analyses the document suggesting that in the early 1950s there were plans for a significant reorganization of the administrative division of the Moscow region at the highest state level. The work, based on the principles of historicism, systematicity, and objectivity, using comparative historical, problem-analytical, and problem-chronological methods of historical research, examines the letter of the plenipotentiary of the Council for the Affairs of the Russian Orthodox Church under the Council of Ministers of the USSR for the city of Moscow and the Moscow region A. A. Trushin to the deputy chairman of the Council S. K. Belyshev. Essentially, it proposed to abolish (the word “demolish” was used) 26 large villages, attaching them to the nearby villages, often smaller in size and population. The only exception was, as far as can be judged, the small village of Novaya Derevnya which was to become part of Pushkino, a large city and district center. The formal reason for this reorganization was “merger of kolkhozes and resettlement of some localities to central farmsteads of the kolkhozes.” The analysis of documents, as well as comparison of status and size of the villages suggested for the “resettlement” to the do called “central farmsteads,” disproves this. Meanwhile, true motives for such reorganization are obvious and cited quite unambiguously: “26 villages in which there are functioning churches are scheduled for demolition.” Naturally, villages (or town in case of Pushkino), to which the abolished villages were to be attached, had no functioning temples. Considering general vector of development of the relations between the Church and the state, the authors of the proposed merger had every reason to believe that new churches in the enlarged villages would never be built or restored. The document expressively demonstrates the true attitude of the Soviet government to the Russian Orthodox Church in the period, which is often and not without reason considered a time when anti-church pressure somewhat weakened, following the historic meeting of J. V. Stalin with three metropolitans in September 1943. There is no resolution on the letter of the plenipotentiary A. A. Trushin (at least on the copy with which the author of the article has worked), and we do not know its future fate. As for the plans it contains, they were never realized, as all villages, that were to be abolished on account of functioning Orthodox churches in 1951, can still be found on the map of the Moscow region.

Когнитивный диссонанс в профессиональной деятельности бухгалтера

Th e article focuses on the issue of increasing the activity of members of the professional community in the field of accounting science and practice regarding the methodological component of accounting knowledge. Based on the fundamental approaches of the logic of scientifi c research and the postulates of social psychology, the author identifi es the problem and comes to the conclusion that there is a psychological background to the professional behavior of colleagues, as a result, a contradiction is revealed between the true attitude of accountants to the ongoing reformation changes and their publicly expressed position. Th e very awareness of the causes of what is happening is an indispensable condition for restoring the atmosphere of free scientifi c and practical discussions.

Okamoto Kanoko's Perception of War

Okamoto kanoko (1889-1939) is a well-known female singer, novelist, and Buddhist researcher in modern Japan. Her active period in the literary world coincided with the time when Japan launched a foreign war. At that time, a large number of literature supporting war appeared in the Japanese literary world. Because Okamoto Kanoko did not mention “war” in her novels, she won the evaluation that Okamoto's literature is war-free, even though she created quite a few war-related literary works in her essays and short songs. The work is also considered to cater to the current situation, not its original intention. The discussion of Okamoto Kanoko's true attitude towards war is a subject in which there is still space in the study of war responsibility of Japanese female writers.