Computer-aided surgical navigation technology helps and guides doctors to complete the operation smoothly,which simulates the whole surgical environment with computer technology,and then visualizes the whole operation...Computer-aided surgical navigation technology helps and guides doctors to complete the operation smoothly,which simulates the whole surgical environment with computer technology,and then visualizes the whole operation link in three dimensions.At present,common image-guided surgical techniques such as computed tomography(CT)and X-ray imaging(X-ray)will cause radiation damage to the human body during the imaging process.To address this,we propose a novel Extended Kalman filter-based model that tracks the puncture needle-point using an ultrasound probe.To address the limitations of Kalman filteringmethods based on position and velocity,our method of Kalman filtering uses the position and relative velocity of the puncture needle-point instead,and the ultrasonic probe is controlled by a Proportional Integral(PI)controller in X-axis direction and Proportional Derivative(PD)controller in the Y-axis direction.The motion of the ultrasonic probe can be servo-controlled by whether the image information of the puncture needle-point can be detected by the ultrasonic image so that the ultrasonic probe can track the puncture needle-point in real time.The experiment results show that this method has better tracking performance.展开更多
Visual sensors are used to measure the relative state of the chaser spacecraft to the target spacecraft during close range ren- dezvous phases. This article proposes a two-stage iterative algorithm based on an inverse...Visual sensors are used to measure the relative state of the chaser spacecraft to the target spacecraft during close range ren- dezvous phases. This article proposes a two-stage iterative algorithm based on an inverse projection ray approach to address the relative position and attitude estimation by using feature points and monocular vision. It consists of two stages： absolute orienta- tion and depth recovery. In the first stage, Umeyama＇s algorithm is used to fit the three-dimensional （3D） model set and estimate the 3D point set while in the second stage, the depths of the observed feature points are estimated. This procedure is repeated until the result converges. Moreover, the effectiveness and convergence of the proposed algorithm are verified through theoreti- cal analysis and mathematical simulation.展开更多
The traditional algorithms for formation flying satellites treat the satellite position and attitude sepa- rately. A novel algorithm combining satellite attitude with position is proposed. The principal satellite traj...The traditional algorithms for formation flying satellites treat the satellite position and attitude sepa- rately. A novel algorithm combining satellite attitude with position is proposed. The principal satellite trajectory is obtained by dual quaternion interpolation, then the relative position and attitude of the deputy satellite are ob- tained by dual quaternion modeling on the principal satellite. Through above process, relative position and atti- tude are unified. Compared with the orbital parameter and the quaternion methods, the simulation result proves that the algorithm can unify position and attitude, and satisfy the precision requirement of formation flying satel- lites.展开更多
The influence of a heterojunction in the vicinity of a graded BC junction on the performance of npn SiGe HBTs is studied. SiGe HBTs differing only in heterojunction position in the vicinity of a graded BC junction are...The influence of a heterojunction in the vicinity of a graded BC junction on the performance of npn SiGe HBTs is studied. SiGe HBTs differing only in heterojunction position in the vicinity of a graded BC junction are simulated by means of 2D Medici software for DC current gain and frequency characteristics. In addition, the simulated DC current gains and cut-off frequencies are compared at different collector-emitter bias voltages. Through the simulation results, both DC and HF device performance are found to be strongly impacted by degree of confinement of the neutral base in the SiGe layer, even in the absence of a conduction band barrier. This conclusion is of significance for designing and analyzing SiGe HBTs.展开更多
In conventional aerial photogrammetry, the high accurate photogrammetric point determination is always carried out by aerotriangulation using a great deal of ground control points around the perimeter and in the cente...In conventional aerial photogrammetry, the high accurate photogrammetric point determination is always carried out by aerotriangulation using a great deal of ground control points around the perimeter and in the center of block area because the exterior orien- tation parameters of aerial photographs are unknown. A technological revolution in pho- togrammetry has taken place since Navstar global positioning system (GPS) was applied to determine the 3D coordinates of exposure station positions during the photo flight missions. GPS-supported aerotriangulation is conducted by a combined bundle adjustment for pho- togrammetric observations and the camera orientation data. In this case, the essential ground control points are replaced by GPS-determined camera positions. Recent investigations show this method is coming to the practice. We have been engaged in the theoretical studies, soft- ware development, and related experiments and production in the field since 1990. So far the abundant research achievements are obtained in terms of the theory and application. In this paper,we first derives the mathematical model of GPS-supported aerotriangulation from the geometry between camera and airborne GPS antenna, then describes briefly a software pack- age WuCAPS (Wuhan combined adjustment program system) developed newly by the au- thor,which serves the purpose of the combined bundle adjustment for photogrammetric and non-photogrammetric observations. At the end of the present work, a set of actual aerial pho- tographs,at the image scale of 1: 34 000, with airborne GPS data taken from Tianjing site, China were processed by WuCAPS. The empirical results have verified that the accuracy of the combined bundle adjustment with 4 XYZ ground control points around the corners of block area is very close to that of the conventional bundle adjustment with 3 additional pa- rameters, that leads to reduce 88% field survey and 75% production cost, and can meet the specification of topographic mapping at small or medium scale by GPS-supported aerotriangu- lation without ground control. This shows the ample applicability and the economic benefit of kinematic GPS relative positioning in high accurate photogrammetric point determination.展开更多
To obtain the stable temperature field required for growing sapphire crystals, the influence of relative positions between RF coil and crucible on the performances of sapphires produced by edge-defined film-fed growth...To obtain the stable temperature field required for growing sapphire crystals, the influence of relative positions between RF coil and crucible on the performances of sapphires produced by edge-defined film-fed growth（EFG） technique was investigated. For comparison, the crucible was located at the top（case A） and the middle（case B） of the RF coil, respectively. Furthermore, the lattice integrities were studied by the double-crystal X-ray diffraction, and the dislocations were observed under the optical microscope and atomic force microscope after corroding in molten KOH at 390 ℃. The crystals in case B exhibit better lattice integrity with smaller full width at half maximum of 29.13 rad·s, while the value in case A is 45.17 rad·s. The morphologies of dislocation etch pits in both cases show typical triangular symmetry with smooth surfaces. However, the dislocation density of 2.8×104 cm-2 in case B is only half of that in case A, and the distribution is more uniform, compared to the U-shaper in case A.展开更多
Böröczky-Lutwak-Yang-Zhang proved the log-Brunn-Minkowski inequality for two origin-symmetric convex bodies in the plane in a way that is stronger than for the classical Brunn-Minkowski inequality.In this pa...Böröczky-Lutwak-Yang-Zhang proved the log-Brunn-Minkowski inequality for two origin-symmetric convex bodies in the plane in a way that is stronger than for the classical Brunn-Minkowski inequality.In this paper,we investigate the relative positive center set of planar convex bodies.As an application of the relative positive center,we prove the log-Minkowski inequality and the log-Brunn-Minkowski inequality.展开更多
In turbomachinery,strong secondary flow can produce significant losses of total pressure near the endwall and reduce the efficiency of the considered turbomachine.In this study,splitters located at different positions...In turbomachinery,strong secondary flow can produce significant losses of total pressure near the endwall and reduce the efficiency of the considered turbomachine.In this study,splitters located at different positions with respect to the main blade have been used to reduce such losses and improve the efficiency of the outlet guide vane(OGV).Three different relative positions have been considered assuming a NACA 65-010 profile for both the main blade and the splitter.The numerical results indicate that splitters can effectively reduce the total pressure loss by suppressing the secondary flow around the main blade,but the splitters themselves also produce flow losses,which are caused by flow separation effects.展开更多
Based on the 6-pole outer stator(armature winding-stator),the influence of inner(permanent magnet-stator)/outer stator pole ratio n(n=NIS/NOS),stator relative positions and rotor pole number combinations on electromag...Based on the 6-pole outer stator(armature winding-stator),the influence of inner(permanent magnet-stator)/outer stator pole ratio n(n=NIS/NOS),stator relative positions and rotor pole number combinations on electromagnetic performance of partitioned stator switched flux permanent magnet(PM)machines(PS-SFPMMs)is investigated in this paper.Since the armature windings and PMs are located in two separated stators and PMs are stationary,PS-SFPMMs have high fault tolerance capabilities.To maximize the torque performance,the PM of inner stator pole should be aligned with outer stator pole when n is odd while the iron rib of inner stator pole should be aligned with outer stator pole when n is even.No matter what n is selected,the rotor pole number NR can be any integers except the phase number and its multiples.The analysis results indicate that the optimal NR is closed to(NIS+NOS)/2 and it is odd when n is odd while it is even when n is even.Meanwhile,symmetrical phase back-EMF waveform will be obtained when the ratio of Min(NOS,NIS)to the greatest common divisor of Min(NOS,NIS)and NR is even.Based on the optimal rotor pole numbers for 6-pole outer stator with different n and corresponding optimal relative position together with same rated copper loss,the average torque is improved by 18.4%,25.1%and 25.7%respectively in PS-SFPMMs with n equal to 2,3 and 4 when compared with PS-SFPMM with n equal to 1.The analyses are validated by experiment results of the prototype machine.展开更多
Dark matter is identified as negative relative energy between quarks in proton and is generated in cold hydrogen gas with pressure gradient in gravitational field. Positive relative energy PRE can be generated between...Dark matter is identified as negative relative energy between quarks in proton and is generated in cold hydrogen gas with pressure gradient in gravitational field. Positive relative energy PRE can be generated between quarks in protons in cold hydrogen gas in outskirts of the universe. The mechanisms for such creation of dark matter and PRE are reviewed and updated in greater detail and clearer manner. The so-generated dark matter in a galaxy can account for the galaxy’s rotation curve. Star formation in this galaxy uses up the hydrogen atoms and thereby reduces its dark matter content. Dark matter created in intergalactic hydrogen gas can form filaments. In a hypothetical model of the universe, a hydrogen atom with a small amount of negative relative energy or dark matter at the outskirts of this universe can via collisions with other atoms turn into one with a small positive relative energy PRE. Once such a sign change takes place, gravitational attraction switches to anti-gravity repulsion unopposed by any pressure gradient. This leads to a “run away” hydrogen atom moving away from the mass center of the universe and provides a basic mechanism for the accelerating expansion of the universe. This theoretical expansion and the measured redshift data are both compatible with the conception of an acceleratingly expanding universe and complement each other. But they cannot verify each other directly because the present model has been constructed for purposes different from those of the measurements. But it can be shown that both approaches do support each other qualitatively under certain circumstances for small velocities. Dark matter and PRE in the present model are not foreign objects like WIMPs and dark energy-cosmological constant but can only be created in cold hydrogen gas in gravitational field. To achieve this, infrequent collisions among the hydrogen atoms must take place. Dark matter was created first and can eventually later evolve into PRE in the outskirts of the universe and in the intergalactic void. Dark matter and PRE will disappear if the hydrogen atom carrying them becomes ionized as in stars.展开更多
Atterberg limits and consistency indices are used for classifications of cohesive(fine-grained) soils in relation with compaction and tillage practices. They also provide information for interpreting several soil mech...Atterberg limits and consistency indices are used for classifications of cohesive(fine-grained) soils in relation with compaction and tillage practices. They also provide information for interpreting several soil mechanical and physical properties such as shear strength, compressibility, shrinkage and swelling potentials. Although, several studies have been conducted regarding the land use effects on various soil mechanical properties, little is known about the effects of land use and slope positions on Atterberg limits and consistency indices. This study was conducted to investigate the effects of land use and slope position on selected soil physical and chemical properties, Atterberg limits and consistency indices in hilly region of western Iran. Three land uses including dryland farming, irrigated farming and pasture and four slope positions(i.e., shoulder, backslope, footslope, and toeslope) were used for soil samplings. One hundred eleven soil samples were collected from the surface soil(0-10 cm). Selected physical and chemical properties, liquid limit(LL), plastic limit(PL) and shrinkage limit(SL) were measured using the standard methods; and consistency indices including plastic index(PI), friability index(FI), shrinkage index(SI) and soil activity(A=PI/clay) were calculated. The results showed that irrigated farming significantly increased organic matter content(OM) and OM/clay ratio, and decreased bulk density(ρb) and relative bulk density(ρb-rel) as a result of higher biomass production and plant residues added to the soil compared to other land uses. Except for sand content, OM, ρb, cation exchange capacity(CEC) and calcium carbonate equivalent(CCE), slope position significantly affected soil physical and chemical properties. The highest values of silt, OM/clay and CEC/clay were found in the toeslope position, predominantly induced by soil redistribution within the landscape. The use of complexed(COC)- noncomplexed organic carbon(NCOC) concept indicated that majority of the studied soils were located below the saturation line and the OM in the soils was mainly in the COC form. The LL, PI, FI and A showed significant differences among the land uses; the highest values belonged to the irrigated farming due to high biomass production and plant residues returned to the soils. Furthermore, slope position significantly affected the Atterberg limits and consistency indices except for SL. The highest values of LL, PI, SI and A were observed in the toeslope position probably because of higher OM and CEC/clay due to greater amount of expandable phyllosilicate clays. Overall, soils on the toeslope under irrigated farming with high LL and SI and low values of FI need careful tillage management to avoid soil compaction.展开更多
In recent years,WiFi indoor positioning technology has become a hot research topic at home and abroad.However,at present,indoor positioning technology still has many problems in terms of practicability and stability,w...In recent years,WiFi indoor positioning technology has become a hot research topic at home and abroad.However,at present,indoor positioning technology still has many problems in terms of practicability and stability,which seriously affects the accuracy of indoor positioning and increases the complexity of the calculation process.Aiming at the instability of RSS and the more complicated data processing,this paper proposes a low-frequency filtering method based on fast data convergence.Low-frequency filtering uses MATLAB for data fitting to filter out low-frequency data;data convergence combines the mean and multi-data parallel analysis process to achieve a good balance between data volume and system performance.At the same time,this paper combines the position fingerprint and the relative position method in the algorithm,which reduces the error on the algorithm system.The test results show that the strategy can meet the requirements of indoor passive positioning and avoid a large amount of data collection and processing,and the average positioning error is below 0.5 meters.展开更多
The visibility for low earth orbit（LEO） satellites provided by the BeiDou-2 system is analyzed and compared with the global positioning system（GPS）. In addition, the spaceborne receivers＇ observations are simulat...The visibility for low earth orbit（LEO） satellites provided by the BeiDou-2 system is analyzed and compared with the global positioning system（GPS）. In addition, the spaceborne receivers＇ observations are simulated by the BeiDou satellites broadcast ephemeris and LEO satellites orbits. The precise orbit determination（POD） results show that the along-track component accuracy is much better over the service area than the non-service area, while the accuracy of the other two directions keeps at the same level over different areas. However, the 3-dimensional（3D） accuracy over the two areas shows almost no difference. Only taking into consideration the observation noise and navigation satellite ephemeris errors, the 3D accuracy of the POD is about30 cm. As for the precise relative orbit determination（PROD）, the 3D accuracy is much better over the eastern hemisphere than that of the western hemisphere. The baseline length accuracy is 3.4 mm over the service area, and it is still better than 1 cm over the non-service area. This paper demonstrates that the BeiDou regional constellation could provide global service to LEO satellites for the POD and the PROD. Finally, the benefit of geostationary earth orbit（GEO） satellites is illustrated for POD.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
Glycation is a non-enzymatic post-translational modification which assigns sugar molecule and residues to a peptide.It is a clinically important attribute to numerous age-related,metabolic,and chronic diseases such as...Glycation is a non-enzymatic post-translational modification which assigns sugar molecule and residues to a peptide.It is a clinically important attribute to numerous age-related,metabolic,and chronic diseases such as diabetes,Alzheimer’s,renal failure,etc.Identification of a non-enzymatic reaction are quite challenging in research.Manual identification in labs is a very costly and timeconsuming process.In this research,we developed an accurate,valid,and a robust model named as Gly-LysPred to differentiate the glycated sites from non-glycated sites.Comprehensive techniques using position relative features are used for feature extraction.An algorithm named as a random forest with some preprocessing techniques and feature engineering techniques was developed to train a computational model.Various types of testing techniques such as self-consistency testing,jackknife testing,and cross-validation testing are used to evaluate the model.The overall model’s accuracy was accomplished through self-consistency,jackknife,and cross-validation testing 100%,99.92%,and 99.88%with MCC 1.00,0.99,and 0.997 respectively.In this regard,a user-friendly webserver is also urbanized to accumulate the whole procedure.These features vectorization methods suggest that they can play a critical role in other web servers which are developed to classify lysine glycation.展开更多
Relative positioning is one of the important techniques in collaborativerobotics, autonomous vehicles, and virtual/augmented reality (VR/AR)applications. Recently, ultra-wideband (UWB) has been utilized to calculatere...Relative positioning is one of the important techniques in collaborativerobotics, autonomous vehicles, and virtual/augmented reality (VR/AR)applications. Recently, ultra-wideband (UWB) has been utilized to calculaterelative position as it does not require a line of sight compared to a camerato calculate the range between two objects with centimeter-level accuracy.However, the single UWB range measurement cannot provide the relativeposition and attitude of any device in three dimensions (3D) because oflacking bearing information. In this paper, we have proposed a UWB-IMUfusion-based relative position system to provide accurate relative positionand attitude between wearable Internet of Things (IoT) devices in 3D. Weintroduce a distributed Euler angle antenna orientationwhich can be equippedwith the mobile structure to enable relative positioning. Moving average andmin-max removing preprocessing filters are introduced to reduce the standarddeviation. The standard multilateration method is modified to calculate therelative position between mobile structures. We combine UWB and IMUmeasurements in a probabilistic framework that enables users to calculatethe relative position between two nodes with less error. We have carried outdifferent experiments to illustrate the advantages of fusing IMU and UWBranges for relative positioning systems. We have achieved a mean accuracy of0.31m for 3D relative positioning in indoor line of sight conditions.展开更多
An improvement of tolerance relation is proposed in regard to rough set model based on connection degree by which reflexivity of relation can be assured without loss of information. Then, a method to determine optimal...An improvement of tolerance relation is proposed in regard to rough set model based on connection degree by which reflexivity of relation can be assured without loss of information. Then, a method to determine optimal identity degree based on relative positive region is proposed so that the identity degree can be computed in an objective method without any preliminary or additional information about data, which is consistent with the notion of objectivity in rough set theory and data mining theory. Subsequently, an algorithm is proposed, and in two examples, the global optimum identity degree is found out. Finally, in regard to optimum connection degree, the method of rules extraction for connection degree rough set model based on generalization function is presented by which the rules extracted from a decision table are enumerated.展开更多
An adaptive prescribed performance control scheme is proposed for the drag free satellite in the presence of actuator saturation and external disturbances.The relative translation and rotation dynamics between the tes...An adaptive prescribed performance control scheme is proposed for the drag free satellite in the presence of actuator saturation and external disturbances.The relative translation and rotation dynamics between the test mass and outer satellite are firstly derived.To guarantee prescribed performance bounds on the transient and steady control errors of relative states,a performance constrained control law is formulated with an error transformed function.In addition,the requirements to know the system parameters and the upper bound of the external disturbance in advance have been eliminated by adaptive updating technique.A command filter is concurrently used to overcome the problem of explosion of complexity inherent in the backstepping control design.Subsequently,a novel auxiliary system is constructed to compensate the adverse effects of the actuator saturation constrains.It is proved that all signals in the closed?loop system are ultimately bounded and prescribed performance of relative position and attitude control errors are guaranteed.Finally,numerical simulation results are given to demonstrate the effectiveness of the proposed approach.展开更多
The study presents sampling interval impacts on variance components of the epoch-wise residual errors in relative GPS positioning. In the variance components estimation process, the 2-way nested ANOVA method was used....The study presents sampling interval impacts on variance components of the epoch-wise residual errors in relative GPS positioning. In the variance components estimation process, the 2-way nested ANOVA method was used. For that purpose, GPS observation data during four months at two permanent GPS stations, establishing a 40-km-long baseline as a part of the Montenegrin permanent network(Monte Pos), were used. The study results showed that there is no statistically significant impact of sampling interval changes on epoch-wise variance components related to the residual tropospheric and ionospheric delays(effect a) when it comes to such a baseline. However, it is not the case with epoch-wise variance components related to the interstation-distance-independent residual ‘far-field’ multipath effect(effect b). It turned out that the absolute values of relative differences of standard deviations of the effect a on the relative GPS coordinates(e, n and u) had maximum values 11.1%, 10.2% and 8.9%,respectively. Keeping the same order of presentation for the effect b, the values of 5.9%, 9.9% and 12.5%were obtained. In addition, absolute values of relative differences of standard deviations of horizontal and vertical position had maximum values of 3.8% and 7.7%, respectively.展开更多
In the high-speed maglev system,accurate real-time information of the train position is essential forstable,safe and efficient train operation.To detect the relative position of the high-speed maglev trainfrom a refer...In the high-speed maglev system,accurate real-time information of the train position is essential forstable,safe and efficient train operation.To detect the relative position of the high-speed maglev trainfrom a reference position,a location method based on long stator slot detection was proposed.Besides,aprototype system has been successfully developed.The hardware structure of the system,as well as itsworking principle was described.Moreover,a subdivision algorithm for calculating the pole location anglesignal was elucidated.Experiments show that the proposed method is feasible.The technical indexes ofthe detection system satisfy the requirements of the vehicle operation control system.The relative positionsensing system can be put into practice.展开更多
基金supported by the Sichuan Science and Technology Program(2023YFSY0026,2023YFH0004).
文摘Computer-aided surgical navigation technology helps and guides doctors to complete the operation smoothly,which simulates the whole surgical environment with computer technology,and then visualizes the whole operation link in three dimensions.At present,common image-guided surgical techniques such as computed tomography(CT)and X-ray imaging(X-ray)will cause radiation damage to the human body during the imaging process.To address this,we propose a novel Extended Kalman filter-based model that tracks the puncture needle-point using an ultrasound probe.To address the limitations of Kalman filteringmethods based on position and velocity,our method of Kalman filtering uses the position and relative velocity of the puncture needle-point instead,and the ultrasonic probe is controlled by a Proportional Integral(PI)controller in X-axis direction and Proportional Derivative(PD)controller in the Y-axis direction.The motion of the ultrasonic probe can be servo-controlled by whether the image information of the puncture needle-point can be detected by the ultrasonic image so that the ultrasonic probe can track the puncture needle-point in real time.The experiment results show that this method has better tracking performance.
基金Program for Changjiang Scholars and Innovative Research Team in University (IRT0520)Ph.D.Programs Foundation of Ministry of Education of China (20070213055)
文摘Visual sensors are used to measure the relative state of the chaser spacecraft to the target spacecraft during close range ren- dezvous phases. This article proposes a two-stage iterative algorithm based on an inverse projection ray approach to address the relative position and attitude estimation by using feature points and monocular vision. It consists of two stages： absolute orienta- tion and depth recovery. In the first stage, Umeyama＇s algorithm is used to fit the three-dimensional （3D） model set and estimate the 3D point set while in the second stage, the depths of the observed feature points are estimated. This procedure is repeated until the result converges. Moreover, the effectiveness and convergence of the proposed algorithm are verified through theoreti- cal analysis and mathematical simulation.
基金Supported by the National Natural Science Foundation of China(60974107)the Research Foundation of Nanjing University of Aeronautics and Astronautics(2010219)~~
文摘The traditional algorithms for formation flying satellites treat the satellite position and attitude sepa- rately. A novel algorithm combining satellite attitude with position is proposed. The principal satellite trajectory is obtained by dual quaternion interpolation, then the relative position and attitude of the deputy satellite are ob- tained by dual quaternion modeling on the principal satellite. Through above process, relative position and atti- tude are unified. Compared with the orbital parameter and the quaternion methods, the simulation result proves that the algorithm can unify position and attitude, and satisfy the precision requirement of formation flying satel- lites.
文摘The influence of a heterojunction in the vicinity of a graded BC junction on the performance of npn SiGe HBTs is studied. SiGe HBTs differing only in heterojunction position in the vicinity of a graded BC junction are simulated by means of 2D Medici software for DC current gain and frequency characteristics. In addition, the simulated DC current gains and cut-off frequencies are compared at different collector-emitter bias voltages. Through the simulation results, both DC and HF device performance are found to be strongly impacted by degree of confinement of the neutral base in the SiGe layer, even in the absence of a conduction band barrier. This conclusion is of significance for designing and analyzing SiGe HBTs.
文摘In conventional aerial photogrammetry, the high accurate photogrammetric point determination is always carried out by aerotriangulation using a great deal of ground control points around the perimeter and in the center of block area because the exterior orien- tation parameters of aerial photographs are unknown. A technological revolution in pho- togrammetry has taken place since Navstar global positioning system (GPS) was applied to determine the 3D coordinates of exposure station positions during the photo flight missions. GPS-supported aerotriangulation is conducted by a combined bundle adjustment for pho- togrammetric observations and the camera orientation data. In this case, the essential ground control points are replaced by GPS-determined camera positions. Recent investigations show this method is coming to the practice. We have been engaged in the theoretical studies, soft- ware development, and related experiments and production in the field since 1990. So far the abundant research achievements are obtained in terms of the theory and application. In this paper,we first derives the mathematical model of GPS-supported aerotriangulation from the geometry between camera and airborne GPS antenna, then describes briefly a software pack- age WuCAPS (Wuhan combined adjustment program system) developed newly by the au- thor,which serves the purpose of the combined bundle adjustment for photogrammetric and non-photogrammetric observations. At the end of the present work, a set of actual aerial pho- tographs,at the image scale of 1: 34 000, with airborne GPS data taken from Tianjing site, China were processed by WuCAPS. The empirical results have verified that the accuracy of the combined bundle adjustment with 4 XYZ ground control points around the corners of block area is very close to that of the conventional bundle adjustment with 3 additional pa- rameters, that leads to reduce 88% field survey and 75% production cost, and can meet the specification of topographic mapping at small or medium scale by GPS-supported aerotriangu- lation without ground control. This shows the ample applicability and the economic benefit of kinematic GPS relative positioning in high accurate photogrammetric point determination.
基金Project(BA2012049)supported by the Special Fund of Jiangsu Province for the Transformation of Scientific and Technological Achievements,China
文摘To obtain the stable temperature field required for growing sapphire crystals, the influence of relative positions between RF coil and crucible on the performances of sapphires produced by edge-defined film-fed growth（EFG） technique was investigated. For comparison, the crucible was located at the top（case A） and the middle（case B） of the RF coil, respectively. Furthermore, the lattice integrities were studied by the double-crystal X-ray diffraction, and the dislocations were observed under the optical microscope and atomic force microscope after corroding in molten KOH at 390 ℃. The crystals in case B exhibit better lattice integrity with smaller full width at half maximum of 29.13 rad·s, while the value in case A is 45.17 rad·s. The morphologies of dislocation etch pits in both cases show typical triangular symmetry with smooth surfaces. However, the dislocation density of 2.8×104 cm-2 in case B is only half of that in case A, and the distribution is more uniform, compared to the U-shaper in case A.
基金Supported by the Excellent Young Talents Fund Program of Higher Education Institutions of Anhui Province (gxyqZD2020022)the University Natural Science Research Project of Anhui Province (2022AH040067)+1 种基金the Fundamental Research Funds for the Central Universities (3132023202)National Natural Science Foundation of China (12001080).
文摘Böröczky-Lutwak-Yang-Zhang proved the log-Brunn-Minkowski inequality for two origin-symmetric convex bodies in the plane in a way that is stronger than for the classical Brunn-Minkowski inequality.In this paper,we investigate the relative positive center set of planar convex bodies.As an application of the relative positive center,we prove the log-Minkowski inequality and the log-Brunn-Minkowski inequality.
基金the Natural Science Foundation from Hubei Province of China[Grant No.2019CFC866]the Guiding Project of Scientific Research Plan of Hubei Education Department of China[Grant No.B2020227]+2 种基金the Collaborative Innovation Team of Discipline Characteristics of Jianghan University[Grant No.03100061]the Research Start-up Funds of Jianghan University[Grant No.101906320001]and the Research Start-up Funds of Jianghan University[101906270002].
文摘In turbomachinery,strong secondary flow can produce significant losses of total pressure near the endwall and reduce the efficiency of the considered turbomachine.In this study,splitters located at different positions with respect to the main blade have been used to reduce such losses and improve the efficiency of the outlet guide vane(OGV).Three different relative positions have been considered assuming a NACA 65-010 profile for both the main blade and the splitter.The numerical results indicate that splitters can effectively reduce the total pressure loss by suppressing the secondary flow around the main blade,but the splitters themselves also produce flow losses,which are caused by flow separation effects.
文摘Based on the 6-pole outer stator(armature winding-stator),the influence of inner(permanent magnet-stator)/outer stator pole ratio n(n=NIS/NOS),stator relative positions and rotor pole number combinations on electromagnetic performance of partitioned stator switched flux permanent magnet(PM)machines(PS-SFPMMs)is investigated in this paper.Since the armature windings and PMs are located in two separated stators and PMs are stationary,PS-SFPMMs have high fault tolerance capabilities.To maximize the torque performance,the PM of inner stator pole should be aligned with outer stator pole when n is odd while the iron rib of inner stator pole should be aligned with outer stator pole when n is even.No matter what n is selected,the rotor pole number NR can be any integers except the phase number and its multiples.The analysis results indicate that the optimal NR is closed to(NIS+NOS)/2 and it is odd when n is odd while it is even when n is even.Meanwhile,symmetrical phase back-EMF waveform will be obtained when the ratio of Min(NOS,NIS)to the greatest common divisor of Min(NOS,NIS)and NR is even.Based on the optimal rotor pole numbers for 6-pole outer stator with different n and corresponding optimal relative position together with same rated copper loss,the average torque is improved by 18.4%,25.1%and 25.7%respectively in PS-SFPMMs with n equal to 2,3 and 4 when compared with PS-SFPMM with n equal to 1.The analyses are validated by experiment results of the prototype machine.
文摘Dark matter is identified as negative relative energy between quarks in proton and is generated in cold hydrogen gas with pressure gradient in gravitational field. Positive relative energy PRE can be generated between quarks in protons in cold hydrogen gas in outskirts of the universe. The mechanisms for such creation of dark matter and PRE are reviewed and updated in greater detail and clearer manner. The so-generated dark matter in a galaxy can account for the galaxy’s rotation curve. Star formation in this galaxy uses up the hydrogen atoms and thereby reduces its dark matter content. Dark matter created in intergalactic hydrogen gas can form filaments. In a hypothetical model of the universe, a hydrogen atom with a small amount of negative relative energy or dark matter at the outskirts of this universe can via collisions with other atoms turn into one with a small positive relative energy PRE. Once such a sign change takes place, gravitational attraction switches to anti-gravity repulsion unopposed by any pressure gradient. This leads to a “run away” hydrogen atom moving away from the mass center of the universe and provides a basic mechanism for the accelerating expansion of the universe. This theoretical expansion and the measured redshift data are both compatible with the conception of an acceleratingly expanding universe and complement each other. But they cannot verify each other directly because the present model has been constructed for purposes different from those of the measurements. But it can be shown that both approaches do support each other qualitatively under certain circumstances for small velocities. Dark matter and PRE in the present model are not foreign objects like WIMPs and dark energy-cosmological constant but can only be created in cold hydrogen gas in gravitational field. To achieve this, infrequent collisions among the hydrogen atoms must take place. Dark matter was created first and can eventually later evolve into PRE in the outskirts of the universe and in the intergalactic void. Dark matter and PRE will disappear if the hydrogen atom carrying them becomes ionized as in stars.
基金Isfahan University of Technology for the financial support of this study
文摘Atterberg limits and consistency indices are used for classifications of cohesive(fine-grained) soils in relation with compaction and tillage practices. They also provide information for interpreting several soil mechanical and physical properties such as shear strength, compressibility, shrinkage and swelling potentials. Although, several studies have been conducted regarding the land use effects on various soil mechanical properties, little is known about the effects of land use and slope positions on Atterberg limits and consistency indices. This study was conducted to investigate the effects of land use and slope position on selected soil physical and chemical properties, Atterberg limits and consistency indices in hilly region of western Iran. Three land uses including dryland farming, irrigated farming and pasture and four slope positions(i.e., shoulder, backslope, footslope, and toeslope) were used for soil samplings. One hundred eleven soil samples were collected from the surface soil(0-10 cm). Selected physical and chemical properties, liquid limit(LL), plastic limit(PL) and shrinkage limit(SL) were measured using the standard methods; and consistency indices including plastic index(PI), friability index(FI), shrinkage index(SI) and soil activity(A=PI/clay) were calculated. The results showed that irrigated farming significantly increased organic matter content(OM) and OM/clay ratio, and decreased bulk density(ρb) and relative bulk density(ρb-rel) as a result of higher biomass production and plant residues added to the soil compared to other land uses. Except for sand content, OM, ρb, cation exchange capacity(CEC) and calcium carbonate equivalent(CCE), slope position significantly affected soil physical and chemical properties. The highest values of silt, OM/clay and CEC/clay were found in the toeslope position, predominantly induced by soil redistribution within the landscape. The use of complexed(COC)- noncomplexed organic carbon(NCOC) concept indicated that majority of the studied soils were located below the saturation line and the OM in the soils was mainly in the COC form. The LL, PI, FI and A showed significant differences among the land uses; the highest values belonged to the irrigated farming due to high biomass production and plant residues returned to the soils. Furthermore, slope position significantly affected the Atterberg limits and consistency indices except for SL. The highest values of LL, PI, SI and A were observed in the toeslope position probably because of higher OM and CEC/clay due to greater amount of expandable phyllosilicate clays. Overall, soils on the toeslope under irrigated farming with high LL and SI and low values of FI need careful tillage management to avoid soil compaction.
文摘In recent years,WiFi indoor positioning technology has become a hot research topic at home and abroad.However,at present,indoor positioning technology still has many problems in terms of practicability and stability,which seriously affects the accuracy of indoor positioning and increases the complexity of the calculation process.Aiming at the instability of RSS and the more complicated data processing,this paper proposes a low-frequency filtering method based on fast data convergence.Low-frequency filtering uses MATLAB for data fitting to filter out low-frequency data;data convergence combines the mean and multi-data parallel analysis process to achieve a good balance between data volume and system performance.At the same time,this paper combines the position fingerprint and the relative position method in the algorithm,which reduces the error on the algorithm system.The test results show that the strategy can meet the requirements of indoor passive positioning and avoid a large amount of data collection and processing,and the average positioning error is below 0.5 meters.
基金co-supported by the National Natural Science Foundation of China (Nos: 61002033, 61370013)the Program for New Century Excellent Talents in University and the Scientific Research Foundation for the Returned Overseas Chinese Scholars of Ministry of Education of China
文摘The visibility for low earth orbit（LEO） satellites provided by the BeiDou-2 system is analyzed and compared with the global positioning system（GPS）. In addition, the spaceborne receivers＇ observations are simulated by the BeiDou satellites broadcast ephemeris and LEO satellites orbits. The precise orbit determination（POD） results show that the along-track component accuracy is much better over the service area than the non-service area, while the accuracy of the other two directions keeps at the same level over different areas. However, the 3-dimensional（3D） accuracy over the two areas shows almost no difference. Only taking into consideration the observation noise and navigation satellite ephemeris errors, the 3D accuracy of the POD is about30 cm. As for the precise relative orbit determination（PROD）, the 3D accuracy is much better over the eastern hemisphere than that of the western hemisphere. The baseline length accuracy is 3.4 mm over the service area, and it is still better than 1 cm over the non-service area. This paper demonstrates that the BeiDou regional constellation could provide global service to LEO satellites for the POD and the PROD. Finally, the benefit of geostationary earth orbit（GEO） satellites is illustrated for POD.
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.
基金the Research Management Center,Xiamen University Malaysia under XMUM Research Program Cycle 4(Grant No.XMUMRF/2019-C4/IECE/0012).
文摘Glycation is a non-enzymatic post-translational modification which assigns sugar molecule and residues to a peptide.It is a clinically important attribute to numerous age-related,metabolic,and chronic diseases such as diabetes,Alzheimer’s,renal failure,etc.Identification of a non-enzymatic reaction are quite challenging in research.Manual identification in labs is a very costly and timeconsuming process.In this research,we developed an accurate,valid,and a robust model named as Gly-LysPred to differentiate the glycated sites from non-glycated sites.Comprehensive techniques using position relative features are used for feature extraction.An algorithm named as a random forest with some preprocessing techniques and feature engineering techniques was developed to train a computational model.Various types of testing techniques such as self-consistency testing,jackknife testing,and cross-validation testing are used to evaluate the model.The overall model’s accuracy was accomplished through self-consistency,jackknife,and cross-validation testing 100%,99.92%,and 99.88%with MCC 1.00,0.99,and 0.997 respectively.In this regard,a user-friendly webserver is also urbanized to accumulate the whole procedure.These features vectorization methods suggest that they can play a critical role in other web servers which are developed to classify lysine glycation.
基金supported by Samsung Advanced Institute of Technology and partly supported by the National Research Foundation of Korea (NRF)grant funded by the Korean government (MSIT) (2022R1F1A1063662).
文摘Relative positioning is one of the important techniques in collaborativerobotics, autonomous vehicles, and virtual/augmented reality (VR/AR)applications. Recently, ultra-wideband (UWB) has been utilized to calculaterelative position as it does not require a line of sight compared to a camerato calculate the range between two objects with centimeter-level accuracy.However, the single UWB range measurement cannot provide the relativeposition and attitude of any device in three dimensions (3D) because oflacking bearing information. In this paper, we have proposed a UWB-IMUfusion-based relative position system to provide accurate relative positionand attitude between wearable Internet of Things (IoT) devices in 3D. Weintroduce a distributed Euler angle antenna orientationwhich can be equippedwith the mobile structure to enable relative positioning. Moving average andmin-max removing preprocessing filters are introduced to reduce the standarddeviation. The standard multilateration method is modified to calculate therelative position between mobile structures. We combine UWB and IMUmeasurements in a probabilistic framework that enables users to calculatethe relative position between two nodes with less error. We have carried outdifferent experiments to illustrate the advantages of fusing IMU and UWBranges for relative positioning systems. We have achieved a mean accuracy of0.31m for 3D relative positioning in indoor line of sight conditions.
基金supported by the National Natural Science Foundation of China (70571032)
文摘An improvement of tolerance relation is proposed in regard to rough set model based on connection degree by which reflexivity of relation can be assured without loss of information. Then, a method to determine optimal identity degree based on relative positive region is proposed so that the identity degree can be computed in an objective method without any preliminary or additional information about data, which is consistent with the notion of objectivity in rough set theory and data mining theory. Subsequently, an algorithm is proposed, and in two examples, the global optimum identity degree is found out. Finally, in regard to optimum connection degree, the method of rules extraction for connection degree rough set model based on generalization function is presented by which the rules extracted from a decision table are enumerated.
文摘An adaptive prescribed performance control scheme is proposed for the drag free satellite in the presence of actuator saturation and external disturbances.The relative translation and rotation dynamics between the test mass and outer satellite are firstly derived.To guarantee prescribed performance bounds on the transient and steady control errors of relative states,a performance constrained control law is formulated with an error transformed function.In addition,the requirements to know the system parameters and the upper bound of the external disturbance in advance have been eliminated by adaptive updating technique.A command filter is concurrently used to overcome the problem of explosion of complexity inherent in the backstepping control design.Subsequently,a novel auxiliary system is constructed to compensate the adverse effects of the actuator saturation constrains.It is proved that all signals in the closed?loop system are ultimately bounded and prescribed performance of relative position and attitude control errors are guaranteed.Finally,numerical simulation results are given to demonstrate the effectiveness of the proposed approach.
文摘The study presents sampling interval impacts on variance components of the epoch-wise residual errors in relative GPS positioning. In the variance components estimation process, the 2-way nested ANOVA method was used. For that purpose, GPS observation data during four months at two permanent GPS stations, establishing a 40-km-long baseline as a part of the Montenegrin permanent network(Monte Pos), were used. The study results showed that there is no statistically significant impact of sampling interval changes on epoch-wise variance components related to the residual tropospheric and ionospheric delays(effect a) when it comes to such a baseline. However, it is not the case with epoch-wise variance components related to the interstation-distance-independent residual ‘far-field’ multipath effect(effect b). It turned out that the absolute values of relative differences of standard deviations of the effect a on the relative GPS coordinates(e, n and u) had maximum values 11.1%, 10.2% and 8.9%,respectively. Keeping the same order of presentation for the effect b, the values of 5.9%, 9.9% and 12.5%were obtained. In addition, absolute values of relative differences of standard deviations of horizontal and vertical position had maximum values of 3.8% and 7.7%, respectively.
基金the National High Technology Research and Development Program of China(No.2001AA505000,2004AA505240)
文摘In the high-speed maglev system,accurate real-time information of the train position is essential forstable,safe and efficient train operation.To detect the relative position of the high-speed maglev trainfrom a reference position,a location method based on long stator slot detection was proposed.Besides,aprototype system has been successfully developed.The hardware structure of the system,as well as itsworking principle was described.Moreover,a subdivision algorithm for calculating the pole location anglesignal was elucidated.Experiments show that the proposed method is feasible.The technical indexes ofthe detection system satisfy the requirements of the vehicle operation control system.The relative positionsensing system can be put into practice.
