Considering defects of current single celestial-body positioning methods such as discon- tinuity and long period, a new sun positioning algorithm is herein put forward. Instead of tradi- tional astronomical spherical ...Considering defects of current single celestial-body positioning methods such as discon- tinuity and long period, a new sun positioning algorithm is herein put forward. Instead of tradi- tional astronomical spherical trigonometry and celestial coordinate system, the proposed new positioning algorithm is built by theory of mechanisms. Based on previously derived solar vector equations （from a C1R2p2 series mechanism）, a further global positioning method is developed by inverse kinematics. The longitude and latitude coordinates expressed by Greenwich mean time （GMT） and solar vector in local coordinate system are formulated. Meanwhile, elimination method of multiple solutions, errors of longitude and latitude calculation are given. In addition, this algo- rithm has been integrated successfully into a mobile phone application to visualize sun positioning process. Results of theoretical verification and smart phone＇s test demonstrate the validity of pre- sented coordinate＇s expressions. Precision is shown as equivalent to current works and is acceptable to civil aviation requirement. This new method solves long-period problem in sun sight running fix- ing and improves applicability of sun positioning. Its methodology can inspire development of new sun positioning device. It would be more applicable to be combined with inertial navigation systems for overcoming discontinuity of celestial navigation systems and accumulative errors of inertial nav- igation systems.展开更多
Accurate measurement of the transverse position of a beam is crucial in particle accelerators because it plays a key role in determining the beam parameters.Existing methods for beam-position measurement rely on the d...Accurate measurement of the transverse position of a beam is crucial in particle accelerators because it plays a key role in determining the beam parameters.Existing methods for beam-position measurement rely on the detection of image currents induced on electrodes or narrow-band wake field induced by a beam passing through a cavity-type structure.However,these methods have limitations.The indirect measurement of multiple parameters is computationally complex,requiring external calibration to determine the system parameters in advance.Furthermore,the utilization of the beam signal information is incomplete.Hence,this study proposes a novel method for measuring the absolute electron beam transverse position.By utilizing the geometric relationship between the center position of the measured electron beam and multiple detection electrodes and by analyzing the differences in the arrival times of the beam signals detected by these electrodes,the absolute transverse position of the electron beam crossing the electrode plane can be calculated.This method features absolute position measurement,a position sensitivity coefficient independent of vacuum chamber apertures,and no requirement for a symmetrical detector electrode layout.The feasibility of this method is validated through numerical simulations and beam experiments.展开更多
The linear motor applied in electromagnetic emission system uses a closed loop position control strategy,which needs a set of position measurement system with high reliability,high resolution and integration to achiev...The linear motor applied in electromagnetic emission system uses a closed loop position control strategy,which needs a set of position measurement system with high reliability,high resolution and integration to achieve real-time acquisition and analysis of position signals.The existing position controller is based on the simple logic chip design without memory function,and does not have the storage analysis and preprocessing function to position signals.Therefore,the system has insufficient scalability,low integration and reliability.Aiming at the improvement of the existing position measurement system,an intelligent position measurement system integrating the functions of position signals acquisition,processing and uploading,data storage and analysis is proposed in this paper,and its working principle and system composition are discussed in detail.The position,speed and acceleration obtained on the electromagnetic emission platform are in good agreement with the expected value of the system.As results,the feasibility and accuracy of the improved integrated intelligent position measurement system are verified,and the control performance of the system is also satisfied well,which can be good guidance and reference for subsequent engineering practice.展开更多
A new visual measurement method is proposed to estimate three-dimensional （3D） position of the object on the floor based on a single camera. The camera fixed on a robot is in an inclined position with respect to the...A new visual measurement method is proposed to estimate three-dimensional （3D） position of the object on the floor based on a single camera. The camera fixed on a robot is in an inclined position with respect to the floor. A measurement model with the camera＇s extrinsic parameters such as the height and pitch angle is described. Single image of a chessboard pattern placed on the floor is enough to calibrate the camera＇s extrinsic parameters after the camera＇s intrinsic parameters are calibrated. Then the position of object on the floor can be computed with the measurement model. Furthermore, the height of object can be calculated with the paired-points in the vertical line sharing the same position on the floor. Compared to the conventional method used to estimate the positions on the plane, this method can obtain the 3D positions. The indoor experiment testifies the accuracy and validity of the proposed method.展开更多
A scheme that probabilistically realizes hierarchical quantum state sharing of an arbitrary unknown qubit state with a four-qubit non-maximally entangled |χ state is presented in this paper. In the scheme, the sender...A scheme that probabilistically realizes hierarchical quantum state sharing of an arbitrary unknown qubit state with a four-qubit non-maximally entangled |χ state is presented in this paper. In the scheme, the sender Alice distributes a quantum secret with a Bell-state measurement and publishes her measurement outcomes via a classical channel to three agents who are divided into two grades. One agent is in the upper grade, while the other two agents are in the lower grade. Then by introducing an ancillary qubit, the agent of the upper grade only needs the assistance of any one of the other two agents for probabilistically obtaining the secret, while an agent of the lower grade needs the help of both the other two agents by using a controlled-NOT operation and a proper positive operator-valued measurement instead of the usual projective measurement. In other words, the agents of two different grades have different authorities to reconstruct Alice's secret in a probabilistic manner. The scheme can also be modified to implement the threshold-controlled teleportation.展开更多
Utilizing the generalized measurement described by positive operator-wlued measure, this paper comes up with a protocol for teleportation of an unknown multi-particle entangled （GHZ） state with a certain probability...Utilizing the generalized measurement described by positive operator-wlued measure, this paper comes up with a protocol for teleportation of an unknown multi-particle entangled （GHZ） state with a certain probability. The feature of the present protocol is to weaken requirement for the quantum channel initially shared by sender and receiver. All unitary transformations performed by receiver are summarized into a formula. On the other hand, this paper explicitly constructs the efficient quantum circuits for implementing the proposed teleportation by means of universal quantum logic operations in quantum computation.展开更多
We present a scheme for symmetric controlled remote preparation of an arbitrary 2-qudit state form a sender to either of the two receivers via positive operator-valued measurement and pure entangled two-particle state...We present a scheme for symmetric controlled remote preparation of an arbitrary 2-qudit state form a sender to either of the two receivers via positive operator-valued measurement and pure entangled two-particle states. The first sender transforms the quantum channel shared by all the agents via POVM according to her knowledge of prepared state. All the senders perform singIe- or two-particle projective measurements on their entangled particles and the receiver can probabilisticaly reconstruct the original state on her entangled particles via unitary transformation and auxiliary qubit. The scheme is optimal as the probability which the receiver prepares the original state equals to the entanglement of the quantum channel. Moreover, it is more convenience in application than others as it requires only two-particle entanglements for preparing an arbitrary two-qudit state.展开更多
The research of unmanned aerial vehicles＇（UAVs＇）autonomy navigation and landing guidance with computer vision has important signifcance.However,because of the image blurring,the position of the cooperative points ...The research of unmanned aerial vehicles＇（UAVs＇）autonomy navigation and landing guidance with computer vision has important signifcance.However,because of the image blurring,the position of the cooperative points cannot be obtained accurately,and the pose estimation algorithms based on the feature points have low precision.In this research,the pose estimation algorithm of UAV is proposed based on feature lines of the cooperative object for autonomous landing.This method uses the actual shape of the cooperative-target on ground and the principle of vanishing line.Roll angle is calculated from the vanishing line.Yaw angle is calculated from the location of the target in the image.Finally,the remaining extrinsic parameters are calculated by the coordinates transformation.Experimental results show that the pose estimation algorithm based on line feature has a higher precision and is more reliable than the pose estimation algorithm based on points feature.Moreover,the error of the algorithm we proposed is small enough when the UAV is near to the landing strip,and it can meet the basic requirements of UAV＇s autonomous landing.展开更多
We propose a tripartite scheme for probabilistically teleporting an arbitrary two-qubit state with a fourqubit cluster-class state and a Bell-class state as the quantum channels. In the scheme, the sender and the cont...We propose a tripartite scheme for probabilistically teleporting an arbitrary two-qubit state with a fourqubit cluster-class state and a Bell-class state as the quantum channels. In the scheme, the sender and the controller make Bell-state measurements (BSMs) on their respective qubit pairs. With their measurement results, the receiver can reconstruct the original state probabilistically by introducing two auxiliary particles and making appropriate unitary operations and positive operator-valued measure (POVM) instead of usual projective measurement. Moreover, the total success probability and classical communication cost of the present protocol are also worked out.展开更多
I present a new scheme for probabilistic remote preparation of a general two-qubit state from a sender to either of two receivers.The quantum channel is composed of a partial entangled tripartite Greenberger-Horne-Zei...I present a new scheme for probabilistic remote preparation of a general two-qubit state from a sender to either of two receivers.The quantum channel is composed of a partial entangled tripartite Greenberger-Horne-Zeilinger (GHZ) state and a W-type state.I try to realize the remote two-qubit preparation by using the usual projective measurement and the method of positive operator-valued measure,respectively.The corresponding success probabilities of the scheme with different methods as well as the total classical communication cost required in this scheme are also calculated.展开更多
The kinematic error model of a 6-DOF space robot is deduced, and the cost function of kinematic parameter identification is built. With the aid of the genetic algorithm （GA） that has the powerful global adaptive pro...The kinematic error model of a 6-DOF space robot is deduced, and the cost function of kinematic parameter identification is built. With the aid of the genetic algorithm （GA） that has the powerful global adaptive probabilistic search ability, 24 parameters of the robot are identified through simulation, which makes the pose （position and orientation） accuracy of the robot a great improvement. In the process of the calibration, stochastic measurement noises are considered. Lastly, generalization of the identified kinematic parameters in the whole workspace of the robot is discussed. The simulation results show that calibrating the robot with GA is very stable and not sensitive to measurement noise. Moreover, even if the robot＇s kinematic parameters are relative, GA still has strong search ability to find the optimum solution.展开更多
We firstly present a novel scheme for deterministic joint remote state preparation of an arbitrary five-qubit Brown state using four Greenberg-Horme-Zeilinger （GHZ） entangled states as the quantum channel. The succe...We firstly present a novel scheme for deterministic joint remote state preparation of an arbitrary five-qubit Brown state using four Greenberg-Horme-Zeilinger （GHZ） entangled states as the quantum channel. The success probability of this scheme is up to 1, which is superior to the existing ones. Moreover, the scheme is extended to the generalized case where three-qubit and four-qubit non-maximally entangled states are taken as the quantum channel. We simultaneously employ two common methods to reconstruct the desired state. By comparing these two methods, we draw a conclusion that the first is superior to the second-optimal positive operator-valued measure only taking into account the number of auxiliary particles and the success probability.展开更多
Using partial entangled states as the quantum channel, two schemes for probabilistic remote preparation of the four-particle cluster-type state with real and complex coefficients are presented. In the first scheme, th...Using partial entangled states as the quantum channel, two schemes for probabilistic remote preparation of the four-particle cluster-type state with real and complex coefficients are presented. In the first scheme, the sender and the receiver share two partial Bell states and one partial three-qubit GHZ stats as the quantum channel, and the sender can help a remote receiver to prepare a four-particle entangled cluster-type state by using three-qubit projective measurements with certain probability. In the second scheme, the quantum channel is composed of two partial three-qubit GHZ states, the remote state preparation(RSP) can be successfully realized via the positive operator valued measure(POVM), and the two-particle projective measurements are also needed in this process. The total success probability and classical communication cost are calculated.展开更多
This paper performs a numerical simulation of three-dimensional flow field in a centrifugal compressor with long inlet and outlet pipes using CFX software.By arranging virtual probes at different positions in both inl...This paper performs a numerical simulation of three-dimensional flow field in a centrifugal compressor with long inlet and outlet pipes using CFX software.By arranging virtual probes at different positions in both inlet and outlet planes,the aerodynamic performance of the centrifugal compressor is measured and compared with each other.Then effects of measuring positions on measurement results are discussed.The results show that it will generate notable measuring errors of the pressure ratio and efficiency if the inlet total pressure is measured using a single-point probe.The inlet total pressure data can be accurate when they are measured using a 3-point rake.The outlet total pressure and total temperature data can not be accurate if they are respectively measured at one circumferential position even using a multi-point rake.Increasing tangential measuring positions at the outlet is effective to improve the test accuracy.When the outlet total pressure and total temperature are respectively measured at 3 tangential positions,the data can be almost accurate.展开更多
We present a scheme for probabilistically teleporting an arbitrary unknown two-qubit state through a quantum channel made up of two nonidentical non-maximally entangled states. In this scheme, the probabilistic telepo...We present a scheme for probabilistically teleporting an arbitrary unknown two-qubit state through a quantum channel made up of two nonidentical non-maximally entangled states. In this scheme, the probabilistic teleportation is realized by using a proper positive operator-valued measure instead of usual projective measurement.展开更多
Based on non-maximally entangled four-particle cluster states, we propose a new hierarchical information splitting protocol to probabilistically realize the quantum state sharing of an arbitrary unknown two-qubit stat...Based on non-maximally entangled four-particle cluster states, we propose a new hierarchical information splitting protocol to probabilistically realize the quantum state sharing of an arbitrary unknown two-qubit state. In this scheme, the sender transmits the two-qubit secret state to three agents who are divided into two grades with two Bell-state measurements,and broadcasts the measurement results via a classical channel. One agent is in the upper grade and two agents are in the lower grade. The agent in the upper grade only needs to cooperate with one of the other two agents to recover the secret state but both of the agents in the lower grade need help from all of the agents. Every agent who wants to recover the secret state needs to introduce two ancillary qubits and performs a positive operator-valued measurement（POVM） instead of the usual projective measurement. Moreover, due to the symmetry of the cluster state, we extend this protocol to multiparty agents.展开更多
A measurement setup used for robot calibration was designed to meet the requirement of off line programming technique. The robot end effector pose (position and orientation) can be calculated indirectly by using thi...A measurement setup used for robot calibration was designed to meet the requirement of off line programming technique. The robot end effector pose (position and orientation) can be calculated indirectly by using this setup. The setup has been applied to RHJD4 1 arc welding robot. The experimental results show the method of pose measuring using the measurement setup is simple and reliable to finish pose measuring for robot calibration. In addition, the setup can measure the position repeatability of robot.展开更多
Operations in assembling and joining large size aircraft components are changed to novel digital and flexible ways by digital measurement assisted alignment.Positions and orientations（P＆O）of aligned components are ...Operations in assembling and joining large size aircraft components are changed to novel digital and flexible ways by digital measurement assisted alignment.Positions and orientations（P＆O）of aligned components are critical characters which assure geometrical positions and relationships of those components.Therefore,evaluating the P＆O of a component is considered necessary and critical for ensuring accuracy in aircraft assembly.Uncertainty of position and orientation（U-P＆O）,as a part of the evaluating result of P＆O,needs to be given for ensuring the integrity and credibility of the result;furthermore,U-P＆O is necessary for error tracing and quality evaluating of measurement assisted aircraft assembly.However,current research mainly focuses on the process integration of measurement with assembly,and usually ignores the uncertainty of measured result and its influence on quality evaluation.This paper focuses on the expression,analysis,and application of U-P＆O in measurement assisted alignment.The geometrical and algebraical connotations of U-P＆O are presented.Then,an analytical algorithm for evaluating the multi-dimensional U-P＆O is given,and the effect factors and characteristics of U-P＆O are discussed.Finally,U-P＆O is used to evaluate alignment in aircraft assembly for quality evaluating and improving.Cases are introduced with the methodology.展开更多
Gas holdup is one of the key parameters in flotation process. Gas holdup as measured by a differential pressure method was investigated and the relative errors compared to the average gas holdup from the volume expans...Gas holdup is one of the key parameters in flotation process. Gas holdup as measured by a differential pressure method was investigated and the relative errors compared to the average gas holdup from the volume expansion method. The errors were used to establish optimum measurement positions. The results show that the measurement position should be in the middle of the column and in the region half way from the center to the wall (the half-radius). The gas holdup along the axial direction is lower at the bottom and higher at the top of the floatation column. The gas holdup along the radial direction is lower near the wall and higher near the center of the flotation column. The average gas holdup measure- ment can be replaced by regional gas holdup values.展开更多
The greatest earthquake in the modern history of Japan and probably the fourth greatest in the last 100 years in the world occurred on March 11, 2011 off the Pacific coast of Tohoku.Large tsunami and ground motions ca...The greatest earthquake in the modern history of Japan and probably the fourth greatest in the last 100 years in the world occurred on March 11, 2011 off the Pacific coast of Tohoku.Large tsunami and ground motions caused severe damage in wide areas, particularly many towns along the Pacific coast. So far, gravity change caused by such a great earthquake has been reported for the 1964 Alaska and the 2010 Maule events. However, the spatial-temporal resolution of the gravity data for these cases is insufficient to depict a co-seismic gravity field variation in a spatial scale of a plate subduction zone. Here, we report an unequivocal co-seismic gravity change over the Japanese Island, obtained from a hybrid gravity observation（combined absolute and relative gravity measurements）. The time interval of the observation before and after the earthquake is within 1 year at almost all the observed sites, including 13 absolute and 16 relative measurement sites, which deduced tectonic and environmental contributions to the gravity change. The observed gravity agrees well with the result calculated by a dislocation theory based on a self-gravitating and layered spherical earth model. In this computation, a co-seismic slip distribution is determined by an inversion of Global Positioning System（GPS） data. Of particular interest is that the observed gravity change in some area is negative where a remarkable subsidence is observed by GPS, which can not be explained by simple vertical movement of the crust. This indicated that the mass redistribution in the underground affects the gravity change. This result supports the result that Gravity Recovery and Climate Experiment（GRACE） satellites detected a crustal dilatation due to the 2004 Sumatra earthquake by the terrestrial observation with a higher spatial and temporal resolution.展开更多
基金co-supported by the National Natural Science Foundation of China,Civil Aviation Administration of China(Nos.U1233106,U1533103,11502284)the Fundamental Research Funds for the Central Universities(No.ZXH2012H007)Tianjin Natural Science Foundation(No.15JCQNJC42600)
文摘Considering defects of current single celestial-body positioning methods such as discon- tinuity and long period, a new sun positioning algorithm is herein put forward. Instead of tradi- tional astronomical spherical trigonometry and celestial coordinate system, the proposed new positioning algorithm is built by theory of mechanisms. Based on previously derived solar vector equations （from a C1R2p2 series mechanism）, a further global positioning method is developed by inverse kinematics. The longitude and latitude coordinates expressed by Greenwich mean time （GMT） and solar vector in local coordinate system are formulated. Meanwhile, elimination method of multiple solutions, errors of longitude and latitude calculation are given. In addition, this algo- rithm has been integrated successfully into a mobile phone application to visualize sun positioning process. Results of theoretical verification and smart phone＇s test demonstrate the validity of pre- sented coordinate＇s expressions. Precision is shown as equivalent to current works and is acceptable to civil aviation requirement. This new method solves long-period problem in sun sight running fix- ing and improves applicability of sun positioning. Its methodology can inspire development of new sun positioning device. It would be more applicable to be combined with inertial navigation systems for overcoming discontinuity of celestial navigation systems and accumulative errors of inertial nav- igation systems.
基金supported by the National Key R&D Program of China(No.2022YFA1602201)。
文摘Accurate measurement of the transverse position of a beam is crucial in particle accelerators because it plays a key role in determining the beam parameters.Existing methods for beam-position measurement rely on the detection of image currents induced on electrodes or narrow-band wake field induced by a beam passing through a cavity-type structure.However,these methods have limitations.The indirect measurement of multiple parameters is computationally complex,requiring external calibration to determine the system parameters in advance.Furthermore,the utilization of the beam signal information is incomplete.Hence,this study proposes a novel method for measuring the absolute electron beam transverse position.By utilizing the geometric relationship between the center position of the measured electron beam and multiple detection electrodes and by analyzing the differences in the arrival times of the beam signals detected by these electrodes,the absolute transverse position of the electron beam crossing the electrode plane can be calculated.This method features absolute position measurement,a position sensitivity coefficient independent of vacuum chamber apertures,and no requirement for a symmetrical detector electrode layout.The feasibility of this method is validated through numerical simulations and beam experiments.
基金This work was supported in part by the National Natural Science Foundation of China(NSFC)under Grant 51507182 and 51477178.
文摘The linear motor applied in electromagnetic emission system uses a closed loop position control strategy,which needs a set of position measurement system with high reliability,high resolution and integration to achieve real-time acquisition and analysis of position signals.The existing position controller is based on the simple logic chip design without memory function,and does not have the storage analysis and preprocessing function to position signals.Therefore,the system has insufficient scalability,low integration and reliability.Aiming at the improvement of the existing position measurement system,an intelligent position measurement system integrating the functions of position signals acquisition,processing and uploading,data storage and analysis is proposed in this paper,and its working principle and system composition are discussed in detail.The position,speed and acceleration obtained on the electromagnetic emission platform are in good agreement with the expected value of the system.As results,the feasibility and accuracy of the improved integrated intelligent position measurement system are verified,and the control performance of the system is also satisfied well,which can be good guidance and reference for subsequent engineering practice.
基金supported by National Natural Science Foundation of China(Nos.61273352 and 61473295)National High Technology Research and Development Program of China(863 Program)(No.2015AA042307)Beijing Natural Science Foundation(No.4161002)
文摘A new visual measurement method is proposed to estimate three-dimensional （3D） position of the object on the floor based on a single camera. The camera fixed on a robot is in an inclined position with respect to the floor. A measurement model with the camera＇s extrinsic parameters such as the height and pitch angle is described. Single image of a chessboard pattern placed on the floor is enough to calibrate the camera＇s extrinsic parameters after the camera＇s intrinsic parameters are calibrated. Then the position of object on the floor can be computed with the measurement model. Furthermore, the height of object can be calculated with the paired-points in the vertical line sharing the same position on the floor. Compared to the conventional method used to estimate the positions on the plane, this method can obtain the 3D positions. The indoor experiment testifies the accuracy and validity of the proposed method.
基金Project supported by the National Natural Science Foundation of China （Grant No. 11071178） and the Research Foundation of the Education Department of Sichuan Province, China （Grant No. 12ZB106）.
文摘A scheme that probabilistically realizes hierarchical quantum state sharing of an arbitrary unknown qubit state with a four-qubit non-maximally entangled |χ state is presented in this paper. In the scheme, the sender Alice distributes a quantum secret with a Bell-state measurement and publishes her measurement outcomes via a classical channel to three agents who are divided into two grades. One agent is in the upper grade, while the other two agents are in the lower grade. Then by introducing an ancillary qubit, the agent of the upper grade only needs the assistance of any one of the other two agents for probabilistically obtaining the secret, while an agent of the lower grade needs the help of both the other two agents by using a controlled-NOT operation and a proper positive operator-valued measurement instead of the usual projective measurement. In other words, the agents of two different grades have different authorities to reconstruct Alice's secret in a probabilistic manner. The scheme can also be modified to implement the threshold-controlled teleportation.
基金Project supported by the National High Technology Research and Development Program of China(Grant No2006AA01Z419)the Major Research Plan of the National Natural Foundation of China(Grant No90604023)+1 种基金the National Laboratory for Modern Communications Science Foundation of China(Grant No9140C1101010601)the Natural Science Foundation of Beijing(Grant No4072020)
文摘Utilizing the generalized measurement described by positive operator-wlued measure, this paper comes up with a protocol for teleportation of an unknown multi-particle entangled （GHZ） state with a certain probability. The feature of the present protocol is to weaken requirement for the quantum channel initially shared by sender and receiver. All unitary transformations performed by receiver are summarized into a formula. On the other hand, this paper explicitly constructs the efficient quantum circuits for implementing the proposed teleportation by means of universal quantum logic operations in quantum computation.
基金Supported by Program for Natural Science Foundation of Guangxi under Grant No. 2011GxNSFB018062, Excellent Talents in Guangxi Higher Education Institutions under Grant No. [2012]41, Key program of Cuangxi University for Nationalities under Grant No. [2011]317 and the Bagui Scholarship Project
文摘We present a scheme for symmetric controlled remote preparation of an arbitrary 2-qudit state form a sender to either of the two receivers via positive operator-valued measurement and pure entangled two-particle states. The first sender transforms the quantum channel shared by all the agents via POVM according to her knowledge of prepared state. All the senders perform singIe- or two-particle projective measurements on their entangled particles and the receiver can probabilisticaly reconstruct the original state on her entangled particles via unitary transformation and auxiliary qubit. The scheme is optimal as the probability which the receiver prepares the original state equals to the entanglement of the quantum channel. Moreover, it is more convenience in application than others as it requires only two-particle entanglements for preparing an arbitrary two-qudit state.
基金supported by the NUAA Fundamental Research Funds(No.NS2013034)
文摘The research of unmanned aerial vehicles＇（UAVs＇）autonomy navigation and landing guidance with computer vision has important signifcance.However,because of the image blurring,the position of the cooperative points cannot be obtained accurately,and the pose estimation algorithms based on the feature points have low precision.In this research,the pose estimation algorithm of UAV is proposed based on feature lines of the cooperative object for autonomous landing.This method uses the actual shape of the cooperative-target on ground and the principle of vanishing line.Roll angle is calculated from the vanishing line.Yaw angle is calculated from the location of the target in the image.Finally,the remaining extrinsic parameters are calculated by the coordinates transformation.Experimental results show that the pose estimation algorithm based on line feature has a higher precision and is more reliable than the pose estimation algorithm based on points feature.Moreover,the error of the algorithm we proposed is small enough when the UAV is near to the landing strip,and it can meet the basic requirements of UAV＇s autonomous landing.
基金Supported by the Foundation for College Excellent Young Talents of Anhui Province under Grant Nos.2012SQRL205 and 2012SQRL206the Foundation for Academic Youth of Anhui Universitythe Higher Education Natural Science Foundation of Anhui Province under Grant No.KJ2010B383
文摘We propose a tripartite scheme for probabilistically teleporting an arbitrary two-qubit state with a fourqubit cluster-class state and a Bell-class state as the quantum channels. In the scheme, the sender and the controller make Bell-state measurements (BSMs) on their respective qubit pairs. With their measurement results, the receiver can reconstruct the original state probabilistically by introducing two auxiliary particles and making appropriate unitary operations and positive operator-valued measure (POVM) instead of usual projective measurement. Moreover, the total success probability and classical communication cost of the present protocol are also worked out.
基金Supported by the 211 Project of Anhui University under Grant No.2009QN028B
文摘I present a new scheme for probabilistic remote preparation of a general two-qubit state from a sender to either of two receivers.The quantum channel is composed of a partial entangled tripartite Greenberger-Horne-Zeilinger (GHZ) state and a W-type state.I try to realize the remote two-qubit preparation by using the usual projective measurement and the method of positive operator-valued measure,respectively.The corresponding success probabilities of the scheme with different methods as well as the total classical communication cost required in this scheme are also calculated.
基金supported by National Natural Science Foundation of China(No.60775049).
文摘The kinematic error model of a 6-DOF space robot is deduced, and the cost function of kinematic parameter identification is built. With the aid of the genetic algorithm （GA） that has the powerful global adaptive probabilistic search ability, 24 parameters of the robot are identified through simulation, which makes the pose （position and orientation） accuracy of the robot a great improvement. In the process of the calibration, stochastic measurement noises are considered. Lastly, generalization of the identified kinematic parameters in the whole workspace of the robot is discussed. The simulation results show that calibrating the robot with GA is very stable and not sensitive to measurement noise. Moreover, even if the robot＇s kinematic parameters are relative, GA still has strong search ability to find the optimum solution.
基金supported by the National Natural Science Foundation of China(Grant Nos.61370194 and 61202082)the Fundamental Research Funds for the Central Universities of China(Grant Nos.BUPT2012RC0219)the Foundation of Science and Technology of Huawei of China
文摘We firstly present a novel scheme for deterministic joint remote state preparation of an arbitrary five-qubit Brown state using four Greenberg-Horme-Zeilinger （GHZ） entangled states as the quantum channel. The success probability of this scheme is up to 1, which is superior to the existing ones. Moreover, the scheme is extended to the generalized case where three-qubit and four-qubit non-maximally entangled states are taken as the quantum channel. We simultaneously employ two common methods to reconstruct the desired state. By comparing these two methods, we draw a conclusion that the first is superior to the second-optimal positive operator-valued measure only taking into account the number of auxiliary particles and the success probability.
基金Supported by Excellent Youth Foundation of AnHui under Grant No. 2012SQRL136ZD, Anhui Municipal Natural Science Foundation under Grant No. 1208085QA18, Foundation of Anhui Educational Committee under Grant No. KJ2012B042, Anhui Provincial Natural Science Foundation under Grant No. 1308085MF98
文摘Using partial entangled states as the quantum channel, two schemes for probabilistic remote preparation of the four-particle cluster-type state with real and complex coefficients are presented. In the first scheme, the sender and the receiver share two partial Bell states and one partial three-qubit GHZ stats as the quantum channel, and the sender can help a remote receiver to prepare a four-particle entangled cluster-type state by using three-qubit projective measurements with certain probability. In the second scheme, the quantum channel is composed of two partial three-qubit GHZ states, the remote state preparation(RSP) can be successfully realized via the positive operator valued measure(POVM), and the two-particle projective measurements are also needed in this process. The total success probability and classical communication cost are calculated.
基金funded by Chinese Key Laboratory Fund,Grant No.9140C3310040705the National Natural Science Foundation of China,Grant No.50776004+1 种基金supported by the 111 Project,No.B07009973 Project,No.2007CB210103
文摘This paper performs a numerical simulation of three-dimensional flow field in a centrifugal compressor with long inlet and outlet pipes using CFX software.By arranging virtual probes at different positions in both inlet and outlet planes,the aerodynamic performance of the centrifugal compressor is measured and compared with each other.Then effects of measuring positions on measurement results are discussed.The results show that it will generate notable measuring errors of the pressure ratio and efficiency if the inlet total pressure is measured using a single-point probe.The inlet total pressure data can be accurate when they are measured using a 3-point rake.The outlet total pressure and total temperature data can not be accurate if they are respectively measured at one circumferential position even using a multi-point rake.Increasing tangential measuring positions at the outlet is effective to improve the test accuracy.When the outlet total pressure and total temperature are respectively measured at 3 tangential positions,the data can be almost accurate.
基金The project supported by National Natural Science Foundation of China under Grant No. 10304022,the Science-Technology Fund of Anhui Province for 0utstanding Youth under Grant No. 06042087, the General Fund of the Educational Committee of Anhui Province under Grant No. 2006KJ260B, the Key Fund of the Ministry of Education of China under Grant No. 206063. We are very grateful to Prof. Zhan-Jun Zhang for his detailed instructions and helps.
文摘We present a scheme for probabilistically teleporting an arbitrary unknown two-qubit state through a quantum channel made up of two nonidentical non-maximally entangled states. In this scheme, the probabilistic teleportation is realized by using a proper positive operator-valued measure instead of usual projective measurement.
基金Project supported by the National Natural Science Foundation of China(Grant No.61671087)
文摘Based on non-maximally entangled four-particle cluster states, we propose a new hierarchical information splitting protocol to probabilistically realize the quantum state sharing of an arbitrary unknown two-qubit state. In this scheme, the sender transmits the two-qubit secret state to three agents who are divided into two grades with two Bell-state measurements,and broadcasts the measurement results via a classical channel. One agent is in the upper grade and two agents are in the lower grade. The agent in the upper grade only needs to cooperate with one of the other two agents to recover the secret state but both of the agents in the lower grade need help from all of the agents. Every agent who wants to recover the secret state needs to introduce two ancillary qubits and performs a positive operator-valued measurement（POVM） instead of the usual projective measurement. Moreover, due to the symmetry of the cluster state, we extend this protocol to multiparty agents.
文摘A measurement setup used for robot calibration was designed to meet the requirement of off line programming technique. The robot end effector pose (position and orientation) can be calculated indirectly by using this setup. The setup has been applied to RHJD4 1 arc welding robot. The experimental results show the method of pose measuring using the measurement setup is simple and reliable to finish pose measuring for robot calibration. In addition, the setup can measure the position repeatability of robot.
基金support of National Natural Science Foundation of China (No.50905010)Fund of National Engineering and Research Center for Commercial Aircraft Manufacturing (No.SAMC12-JS-15-044)
文摘Operations in assembling and joining large size aircraft components are changed to novel digital and flexible ways by digital measurement assisted alignment.Positions and orientations（P＆O）of aligned components are critical characters which assure geometrical positions and relationships of those components.Therefore,evaluating the P＆O of a component is considered necessary and critical for ensuring accuracy in aircraft assembly.Uncertainty of position and orientation（U-P＆O）,as a part of the evaluating result of P＆O,needs to be given for ensuring the integrity and credibility of the result;furthermore,U-P＆O is necessary for error tracing and quality evaluating of measurement assisted aircraft assembly.However,current research mainly focuses on the process integration of measurement with assembly,and usually ignores the uncertainty of measured result and its influence on quality evaluation.This paper focuses on the expression,analysis,and application of U-P＆O in measurement assisted alignment.The geometrical and algebraical connotations of U-P＆O are presented.Then,an analytical algorithm for evaluating the multi-dimensional U-P＆O is given,and the effect factors and characteristics of U-P＆O are discussed.Finally,U-P＆O is used to evaluate alignment in aircraft assembly for quality evaluating and improving.Cases are introduced with the methodology.
基金supports for this work provided by the NationalKey Technology R&D Program in the 11th Five-Year Plan of China(No. 2008BAB31B03)
文摘Gas holdup is one of the key parameters in flotation process. Gas holdup as measured by a differential pressure method was investigated and the relative errors compared to the average gas holdup from the volume expansion method. The errors were used to establish optimum measurement positions. The results show that the measurement position should be in the middle of the column and in the region half way from the center to the wall (the half-radius). The gas holdup along the axial direction is lower at the bottom and higher at the top of the floatation column. The gas holdup along the radial direction is lower near the wall and higher near the center of the flotation column. The average gas holdup measure- ment can be replaced by regional gas holdup values.
基金supported by the Research Fund Program of Institute of Seismology, Chinese Earthquake Administration (IS201226045)the Open Research Fund Program of the State Key Laboratory of Geodesy and Earth's Dynamics (SKLGED2013-3-7-E)the National Natural Science Foundation of China (41404065)
文摘The greatest earthquake in the modern history of Japan and probably the fourth greatest in the last 100 years in the world occurred on March 11, 2011 off the Pacific coast of Tohoku.Large tsunami and ground motions caused severe damage in wide areas, particularly many towns along the Pacific coast. So far, gravity change caused by such a great earthquake has been reported for the 1964 Alaska and the 2010 Maule events. However, the spatial-temporal resolution of the gravity data for these cases is insufficient to depict a co-seismic gravity field variation in a spatial scale of a plate subduction zone. Here, we report an unequivocal co-seismic gravity change over the Japanese Island, obtained from a hybrid gravity observation（combined absolute and relative gravity measurements）. The time interval of the observation before and after the earthquake is within 1 year at almost all the observed sites, including 13 absolute and 16 relative measurement sites, which deduced tectonic and environmental contributions to the gravity change. The observed gravity agrees well with the result calculated by a dislocation theory based on a self-gravitating and layered spherical earth model. In this computation, a co-seismic slip distribution is determined by an inversion of Global Positioning System（GPS） data. Of particular interest is that the observed gravity change in some area is negative where a remarkable subsidence is observed by GPS, which can not be explained by simple vertical movement of the crust. This indicated that the mass redistribution in the underground affects the gravity change. This result supports the result that Gravity Recovery and Climate Experiment（GRACE） satellites detected a crustal dilatation due to the 2004 Sumatra earthquake by the terrestrial observation with a higher spatial and temporal resolution.
