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
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
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
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
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
After presenting weaknesses of several classic routing protocols applied in vehicular ad hoc networks （VANETs） by a qualitative comparison, this paper proposes a novel self-adaptive routing protocol, named ARPP. Wit...After presenting weaknesses of several classic routing protocols applied in vehicular ad hoc networks （VANETs） by a qualitative comparison, this paper proposes a novel self-adaptive routing protocol, named ARPP. With respect to the specific characteristics of VANETs, the proposed routing protocol adopts a dynamic topology establishment and time-varying control message sending mechanism. A direction-based forwarding strategy and a specific warning solution enhance the routing performance in ARPP. Simulation results show that the ARPP protocol outperforms the classic AODV in urban vehicle environment.展开更多
To achieve the satellite formation control and the succeed formation missions, we present a new stealthy method to determine the relative states between formation satellites. In this method, the combination of a CCD c...To achieve the satellite formation control and the succeed formation missions, we present a new stealthy method to determine the relative states between formation satellites. In this method, the combination of a CCD camera and laser radar is used as the relative measure sensors. To reduce electromagnetic radiation, the laser radar works intermittently to minimize the probability of being discovered. And an unscented Kalman filter (UKF) is applied to estimate the relative states. The observability of this method is analyzed. The validity and effectiveness of the method is demonstrated in a typical application of formation relative navigation.展开更多
By using the finite element method and viscoelastic artificial boundary, a soil-structure interaction system is established to simulate the influence of surface buildings on the seismic response of subway structures. ...By using the finite element method and viscoelastic artificial boundary, a soil-structure interaction system is established to simulate the influence of surface buildings on the seismic response of subway structures. The conditions of different relative positions between ground building and subway structure are analyzed. The result~ indicate that when considering the existence of surface buildings, the relative story displacements and internal forces of subway structures are changed greatly. Further the influence of surface buildings on subway structure changes as the distance increases.展开更多
Selecting the optimal reference satellite is an important component of high-precision relat/ve positioning because the reference satellite directly influences the strength of the normal equation. The reference satelli...Selecting the optimal reference satellite is an important component of high-precision relat/ve positioning because the reference satellite directly influences the strength of the normal equation. The reference satellite selection methods based on elevation and positional dilution of precision （PDOP） value were compared. Results show that all the above methods cannot select the optimal reference satellite. We introduce condition number of the design matrix in the reference satellite selection method to improve structure of the normal equation, because condition number can indicate the ill condition of the normal equation. The experimental results show that the new method can improve positioning accuracy and reliability in precise relative positioning.展开更多
Variations in plant traits are indicative of plant adaptations to forest environments,and studying their relationships with tree growth provides valuable insights into forest regeneration.The spatial arrangement of pl...Variations in plant traits are indicative of plant adaptations to forest environments,and studying their relationships with tree growth provides valuable insights into forest regeneration.The spatial arrangement of plant seeds within the forest litter or soil critically infuences the variations of root-leaf traits,thereby affecting the adaptive strategies of emerging seedlings.However,our current understanding of the impacts of individual root-leaf traits on seedling growth in different relative position,and whether these traits together affect growth,remains limited.This study focuses on the dominant tree species,Castanopsis kawakamii,within the Sanming C.kawakamii Nature Reserve of China.The present experiment aimed to examine the variations in root-leaf traits of seedling,focus on the relative positions of seeds within different layers:beneath or above the litter layer,or within the bare soil layer(without litter).Our fndings provided evidence supporting a coordinated relationship between root and leaf traits,wherein leaf traits varied in conjunction with root traits in the relative positions of seeds.Specifcally,we observed that seedlings exhibited higher values for specifc leaf area and average root diameter,while displaying lower root tissue density.The mixed model explained 86.1%of the variation in root-leaf traits,surpassing the variation explained by the relative positions.Furthermore,soil nitrogen acted as a mediator,regulating the relationship between seedling growth and root-leaf traits,specifcally leaf dry matter content and root tissue density.Therefore,future studies should consider artifcially manipulating tree species diversity based on root-leaf traits characteristics to promote forest recovery.展开更多
When only data transmission signals with a bandwidth of 1 MHz exist in the rover, the position can be obtained using the differential group delay data of the same-beam very long baseline interferometry (VLBI). The rel...When only data transmission signals with a bandwidth of 1 MHz exist in the rover, the position can be obtained using the differential group delay data of the same-beam very long baseline interferometry (VLBI). The relative position between a lunar rover and a lander can be determined with an error of several hundreds of meters. When the guidance information of the rover is used to determine relative position, the rover's wheel skid behavior and integral movement may influence the accuracy of the determined position. This paper proposes a new method for accurately determining relative position. The differential group delay and biased differential phase delay are obtained from the same-beam VLBI observation, while the modified biased differential phase delay is obtained using the statistic mean value of the differential group delay and the biased phase delay as basis. The small bias in the modified biased phase delay is estimated together with other parameters when the relative position of the rover is calculated. The effectiveness of the proposed method is confirmed using the same-beam VLBI observation data of SELENE. The radio sources onboard the rover and the lander are designed for same-beam VLBI observations. The results of the simulations of the differential delay of the same-beam VLBI observation between the rover and the lander show that the differential delay is sensitive to relative position. An approach to solving the relative position and a strategy for tracking are also introduced. When the lunar topography data near the rover are used and the observations are scheduled properly, the determined relative position of the rover may be nearly as accurate as that solved using differential phase delay data.展开更多
Transformers have been widely studied in many natural language processing (NLP) tasks, which can capture the dependency from the whole sentence with a high parallelizability thanks to the multi-head attention and the ...Transformers have been widely studied in many natural language processing (NLP) tasks, which can capture the dependency from the whole sentence with a high parallelizability thanks to the multi-head attention and the position-wise feed-forward network. However, the above two components of transformers are position-independent, which causes transformers to be weak in modeling sentence structures. Existing studies commonly utilized positional encoding or mask strategies for capturing the structural information of sentences. In this paper, we aim at strengthening the ability of transformers on modeling the linear structure of sentences from three aspects, containing the absolute position of tokens, the relative distance, and the direction between tokens. We propose a novel bidirectional Transformer with absolute-position aware relative position encoding (BiAR-Transformer) that combines the positional encoding and the mask strategy together. We model the relative distance between tokens along with the absolute position of tokens by a novel absolute-position aware relative position encoding. Meanwhile, we apply a bidirectional mask strategy for modeling the direction between tokens. Experimental results on the natural language inference, paraphrase identification, sentiment classification and machine translation tasks show that BiAR-Transformer achieves superior performance than other strong baselines.展开更多
Unmanned clusters can realize collaborative work,fexible confguration,and efcient operation,which has become an important development trend of unmanned platforms.Cluster positioning is important for ensuring the norma...Unmanned clusters can realize collaborative work,fexible confguration,and efcient operation,which has become an important development trend of unmanned platforms.Cluster positioning is important for ensuring the normal operation of unmanned clusters.The existing solutions have some problems such as requiring external system assistance,high system complexity,poor architecture scalability,and accumulation of positioning errors over time.Without the aid of the information outside the cluster,we plan to construct the relative position relationship with north alignment to adopt formation control and achieve robust cluster relative positioning.Based on the idea of bionics,this paper proposes a cluster robust hierarchical positioning architecture by analyzing the autonomous behavior of pigeon focks.We divide the clusters into follower clusters,core clusters,and leader nodes,which can realize fexible networking and cluster expansion.Aiming at the core cluster that is the most critical to relative positioning in the architecture,we propose a cluster relative positioning algorithm based on spatiotemporal correlation information.With the design idea of low cost and large-scale application,the algorithm uses intra-cluster ranging and the inertial navigation motion vector to construct the positioning equation and solves it through the Multidimensional Scaling(MDS)and Multiple Objective Particle Swarm Optimization(MOPSO)algorithms.The cluster formation is abstracted as a mixed direction-distance graph and the graph rigidity theory is used to analyze localizability conditions of the algorithm.We designed the cluster positioning simulation software and conducted localizability tests and positioning accuracy tests in diferent scenarios.Compared with the relative positioning algorithm based on Extended Kalman Filter(EKF),the algorithm proposed in this paper has more relaxed positioning conditions and can adapt to a variety of scenarios.It also has higher relative positioning accuracy,and the error does not accumulate over time.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
Reliable and efficient overtaking maneuvers are important and challenging for autonomous vehicles.Higher precision position information is thus required,rather than that traditional global navigation satellite systems...Reliable and efficient overtaking maneuvers are important and challenging for autonomous vehicles.Higher precision position information is thus required,rather than that traditional global navigation satellite systems can provide.In this paper,we try to perform reliable autonomous overtaking controls of vehicles,mainly based on the“relative”position information,including the distance,angle and velocity between vehicles,which can be achieved by on-board radars.To reduce the complexity of maneuvers,a fuzzy inference system is applied to analyze the driving behavior of the preceding vehicle based on the obtained consecutive relative position information.An output of“safe”or“dangerous”will be sent to the decision part based on reinforcement learning frameworks.Various overtaking maneuvers including“conservative”and“aggressive”can be obtained accordingly.Furthermore,we propose another overtaking strategy that vehicles can share their maneuver information during overtaking process via wireless links.Numeric results validate our analysis,and can provide meaningful performance benchmarks for practical system implementations.展开更多
When designing a universal finite element software for analyzing a permanent magnet synchronous motor,the relative position of the stator and rotor remains unknown.However,determining the relative position is a precon...When designing a universal finite element software for analyzing a permanent magnet synchronous motor,the relative position of the stator and rotor remains unknown.However,determining the relative position is a precondition for electromagnetic field calculation.Through analyzing the basic relationship of variables in a synchronous machine,the characteristics of an air-gap-resultant electromotive force and an inner power angle under a special inner power factor angle are obtained.A method similar to inverse problem solving is proposed.A series of electromagnetic field calculation under different armature current initial phase angles are carried out,and through searching the field of a special inner power factor angle,the relative position of the rotor and the stator can be determined subsequently.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
Impact of satellite elevation cutoff angle and position dilution of precision(PDOP)mask change on epoch-wise variance components of unmodeled effects that accompany relative Global Positioning System(GPS)positioning i...Impact of satellite elevation cutoff angle and position dilution of precision(PDOP)mask change on epoch-wise variance components of unmodeled effects that accompany relative Global Positioning System(GPS)positioning is presented herein.Data used for this study refer to the winter and summer periods of the years with minimal(2008)and maximal(2013)solar activity.These data were collected every 30 s in static mode,at two permanent GPS stations located in Montenegro,establishing a mediumdistance(116-km-long)baseline with a height difference of approximately 760 m between its endpoints.The study showed that changing satellite elevation cutoff angle,with a fixed PDOP mask,affects epochwise two-way nested ANOVA estimates of variances related to the‘far-field’multipath(considered as the nested factor herein)and the combined unmodeled effect of tropospheric and ionospheric refraction(considered as the nesting factor herein).However,changing of PDOP mask,with a fixed satellite elevation cutoff angle,doesn’t affect epoch-wise two-way nested ANOVA estimate of variance of the combined unmodeled effect of tropospheric and ionospheric refraction,but,generally,affects the estimate of variance of the‘far-field’multipath(possibly mixed with a part of a‘shorter-term’ionospheric refraction),which is especially pronounced for the summer period.It should also be noted that there is a significant influence of satellite elevation cutoff angle change on both epoch-wise horizontal and vertical position accuracy,only for the summer period,especially in the presence of maximal solar activity,while there is no significant impact of PDOP mask change on epoch-wise positional accuracy.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
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
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.
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.
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.
基金Supported by the National Natural Science Foundation of China （No.61070182, No. 60873192, No. 61170225）
文摘After presenting weaknesses of several classic routing protocols applied in vehicular ad hoc networks （VANETs） by a qualitative comparison, this paper proposes a novel self-adaptive routing protocol, named ARPP. With respect to the specific characteristics of VANETs, the proposed routing protocol adopts a dynamic topology establishment and time-varying control message sending mechanism. A direction-based forwarding strategy and a specific warning solution enhance the routing performance in ARPP. Simulation results show that the ARPP protocol outperforms the classic AODV in urban vehicle environment.
文摘To achieve the satellite formation control and the succeed formation missions, we present a new stealthy method to determine the relative states between formation satellites. In this method, the combination of a CCD camera and laser radar is used as the relative measure sensors. To reduce electromagnetic radiation, the laser radar works intermittently to minimize the probability of being discovered. And an unscented Kalman filter (UKF) is applied to estimate the relative states. The observability of this method is analyzed. The validity and effectiveness of the method is demonstrated in a typical application of formation relative navigation.
基金sponsored by the National Key Technology R&D Program(2006BAC13B02),ChinaSpecial Program for Earthquake Research of CEA (200708003)
文摘By using the finite element method and viscoelastic artificial boundary, a soil-structure interaction system is established to simulate the influence of surface buildings on the seismic response of subway structures. The conditions of different relative positions between ground building and subway structure are analyzed. The result~ indicate that when considering the existence of surface buildings, the relative story displacements and internal forces of subway structures are changed greatly. Further the influence of surface buildings on subway structure changes as the distance increases.
基金partially sponsored by the National 973 Project of China(2013CB733303)partially supported by the postgraduate independent exploration project of Central South University(2014zzts249)
文摘Selecting the optimal reference satellite is an important component of high-precision relat/ve positioning because the reference satellite directly influences the strength of the normal equation. The reference satellite selection methods based on elevation and positional dilution of precision （PDOP） value were compared. Results show that all the above methods cannot select the optimal reference satellite. We introduce condition number of the design matrix in the reference satellite selection method to improve structure of the normal equation, because condition number can indicate the ill condition of the normal equation. The experimental results show that the new method can improve positioning accuracy and reliability in precise relative positioning.
基金sponsored by National Natural Science Foundation of China(NSFC)(31700550,31770678)Fujian Province Forestry and Technology Project of China(2022FKJ21)Forestry Peak Discipline Construction Project of Fujian Agriculture and Forestry University of China(72202200205).
文摘Variations in plant traits are indicative of plant adaptations to forest environments,and studying their relationships with tree growth provides valuable insights into forest regeneration.The spatial arrangement of plant seeds within the forest litter or soil critically infuences the variations of root-leaf traits,thereby affecting the adaptive strategies of emerging seedlings.However,our current understanding of the impacts of individual root-leaf traits on seedling growth in different relative position,and whether these traits together affect growth,remains limited.This study focuses on the dominant tree species,Castanopsis kawakamii,within the Sanming C.kawakamii Nature Reserve of China.The present experiment aimed to examine the variations in root-leaf traits of seedling,focus on the relative positions of seeds within different layers:beneath or above the litter layer,or within the bare soil layer(without litter).Our fndings provided evidence supporting a coordinated relationship between root and leaf traits,wherein leaf traits varied in conjunction with root traits in the relative positions of seeds.Specifcally,we observed that seedlings exhibited higher values for specifc leaf area and average root diameter,while displaying lower root tissue density.The mixed model explained 86.1%of the variation in root-leaf traits,surpassing the variation explained by the relative positions.Furthermore,soil nitrogen acted as a mediator,regulating the relationship between seedling growth and root-leaf traits,specifcally leaf dry matter content and root tissue density.Therefore,future studies should consider artifcially manipulating tree species diversity based on root-leaf traits characteristics to promote forest recovery.
基金supported by the Hundred Talent Project(s) of Chinese Academy of Sciencesthe National Natural Science Foundation of China (Grant Nos.11073048 and 11073047)+1 种基金the Pujiang Project of Shanghai (Grant No.10PJ1411700)Shanghai Key Laboratory of Space Navigation and Position Techniques (Grant No.Y054262001)
文摘When only data transmission signals with a bandwidth of 1 MHz exist in the rover, the position can be obtained using the differential group delay data of the same-beam very long baseline interferometry (VLBI). The relative position between a lunar rover and a lander can be determined with an error of several hundreds of meters. When the guidance information of the rover is used to determine relative position, the rover's wheel skid behavior and integral movement may influence the accuracy of the determined position. This paper proposes a new method for accurately determining relative position. The differential group delay and biased differential phase delay are obtained from the same-beam VLBI observation, while the modified biased differential phase delay is obtained using the statistic mean value of the differential group delay and the biased phase delay as basis. The small bias in the modified biased phase delay is estimated together with other parameters when the relative position of the rover is calculated. The effectiveness of the proposed method is confirmed using the same-beam VLBI observation data of SELENE. The radio sources onboard the rover and the lander are designed for same-beam VLBI observations. The results of the simulations of the differential delay of the same-beam VLBI observation between the rover and the lander show that the differential delay is sensitive to relative position. An approach to solving the relative position and a strategy for tracking are also introduced. When the lunar topography data near the rover are used and the observations are scheduled properly, the determined relative position of the rover may be nearly as accurate as that solved using differential phase delay data.
基金supported by the Key Development Program of the Ministry of Science and Technology(2019YFF0303003)the National Natural Science Foundation of China(Grant No.61976068)“Hundreds,Millions”Engineering Science and Technology Major Special Project of Heilongjiang Province(2020ZX14A02).
文摘Transformers have been widely studied in many natural language processing (NLP) tasks, which can capture the dependency from the whole sentence with a high parallelizability thanks to the multi-head attention and the position-wise feed-forward network. However, the above two components of transformers are position-independent, which causes transformers to be weak in modeling sentence structures. Existing studies commonly utilized positional encoding or mask strategies for capturing the structural information of sentences. In this paper, we aim at strengthening the ability of transformers on modeling the linear structure of sentences from three aspects, containing the absolute position of tokens, the relative distance, and the direction between tokens. We propose a novel bidirectional Transformer with absolute-position aware relative position encoding (BiAR-Transformer) that combines the positional encoding and the mask strategy together. We model the relative distance between tokens along with the absolute position of tokens by a novel absolute-position aware relative position encoding. Meanwhile, we apply a bidirectional mask strategy for modeling the direction between tokens. Experimental results on the natural language inference, paraphrase identification, sentiment classification and machine translation tasks show that BiAR-Transformer achieves superior performance than other strong baselines.
基金Science and Technology on Complex System Control and Intelligent Agent Cooperative Laboratory foundation(201101).
文摘Unmanned clusters can realize collaborative work,fexible confguration,and efcient operation,which has become an important development trend of unmanned platforms.Cluster positioning is important for ensuring the normal operation of unmanned clusters.The existing solutions have some problems such as requiring external system assistance,high system complexity,poor architecture scalability,and accumulation of positioning errors over time.Without the aid of the information outside the cluster,we plan to construct the relative position relationship with north alignment to adopt formation control and achieve robust cluster relative positioning.Based on the idea of bionics,this paper proposes a cluster robust hierarchical positioning architecture by analyzing the autonomous behavior of pigeon focks.We divide the clusters into follower clusters,core clusters,and leader nodes,which can realize fexible networking and cluster expansion.Aiming at the core cluster that is the most critical to relative positioning in the architecture,we propose a cluster relative positioning algorithm based on spatiotemporal correlation information.With the design idea of low cost and large-scale application,the algorithm uses intra-cluster ranging and the inertial navigation motion vector to construct the positioning equation and solves it through the Multidimensional Scaling(MDS)and Multiple Objective Particle Swarm Optimization(MOPSO)algorithms.The cluster formation is abstracted as a mixed direction-distance graph and the graph rigidity theory is used to analyze localizability conditions of the algorithm.We designed the cluster positioning simulation software and conducted localizability tests and positioning accuracy tests in diferent scenarios.Compared with the relative positioning algorithm based on Extended Kalman Filter(EKF),the algorithm proposed in this paper has more relaxed positioning conditions and can adapt to a variety of scenarios.It also has higher relative positioning accuracy,and the error does not accumulate over time.
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 Natural Science Foundation of China(under Grant No.91638204 and 61771159)Guangdong Natural Science Foundation under Grant No.2017A030313392Shenzhen Fundamental Research Project under Grant No.JCYJ20170811153639780。
文摘Reliable and efficient overtaking maneuvers are important and challenging for autonomous vehicles.Higher precision position information is thus required,rather than that traditional global navigation satellite systems can provide.In this paper,we try to perform reliable autonomous overtaking controls of vehicles,mainly based on the“relative”position information,including the distance,angle and velocity between vehicles,which can be achieved by on-board radars.To reduce the complexity of maneuvers,a fuzzy inference system is applied to analyze the driving behavior of the preceding vehicle based on the obtained consecutive relative position information.An output of“safe”or“dangerous”will be sent to the decision part based on reinforcement learning frameworks.Various overtaking maneuvers including“conservative”and“aggressive”can be obtained accordingly.Furthermore,we propose another overtaking strategy that vehicles can share their maneuver information during overtaking process via wireless links.Numeric results validate our analysis,and can provide meaningful performance benchmarks for practical system implementations.
文摘When designing a universal finite element software for analyzing a permanent magnet synchronous motor,the relative position of the stator and rotor remains unknown.However,determining the relative position is a precondition for electromagnetic field calculation.Through analyzing the basic relationship of variables in a synchronous machine,the characteristics of an air-gap-resultant electromotive force and an inner power angle under a special inner power factor angle are obtained.A method similar to inverse problem solving is proposed.A series of electromagnetic field calculation under different armature current initial phase angles are carried out,and through searching the field of a special inner power factor angle,the relative position of the rotor and the stator can be determined subsequently.
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.
文摘Impact of satellite elevation cutoff angle and position dilution of precision(PDOP)mask change on epoch-wise variance components of unmodeled effects that accompany relative Global Positioning System(GPS)positioning is presented herein.Data used for this study refer to the winter and summer periods of the years with minimal(2008)and maximal(2013)solar activity.These data were collected every 30 s in static mode,at two permanent GPS stations located in Montenegro,establishing a mediumdistance(116-km-long)baseline with a height difference of approximately 760 m between its endpoints.The study showed that changing satellite elevation cutoff angle,with a fixed PDOP mask,affects epochwise two-way nested ANOVA estimates of variances related to the‘far-field’multipath(considered as the nested factor herein)and the combined unmodeled effect of tropospheric and ionospheric refraction(considered as the nesting factor herein).However,changing of PDOP mask,with a fixed satellite elevation cutoff angle,doesn’t affect epoch-wise two-way nested ANOVA estimate of variance of the combined unmodeled effect of tropospheric and ionospheric refraction,but,generally,affects the estimate of variance of the‘far-field’multipath(possibly mixed with a part of a‘shorter-term’ionospheric refraction),which is especially pronounced for the summer period.It should also be noted that there is a significant influence of satellite elevation cutoff angle change on both epoch-wise horizontal and vertical position accuracy,only for the summer period,especially in the presence of maximal solar activity,while there is no significant impact of PDOP mask change on epoch-wise positional accuracy.
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.
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.
