In this study, we propose the use of the Degree of Alignment(DOA) in engineering applications for evaluating the precision of and identifying the transfer alignment on a moving base. First, we derive the statistical f...In this study, we propose the use of the Degree of Alignment(DOA) in engineering applications for evaluating the precision of and identifying the transfer alignment on a moving base. First, we derive the statistical formula on the basis of estimations. Next, we design a scheme for evaluating the transfer alignment on a moving base, for which the attitude error cannot be directly measured. Then, we build a mathematic estimation model and discuss Fixed Point Smoothing(FPS), Returns to Scale(RTS), Inverted Sequence Recursive Estimation(ISRE), and Kalman filter estimation methods, which can be used when evaluating alignment accuracy. Our theoretical calculations and simulated analyses show that the DOA reflects not only the alignment time and accuracy but also differences in the maneuver schemes, and is suitable for use as an integrated evaluation index. Furthermore, all four of these algorithms can be used to identify the transfer alignment and evaluate its accuracy. We recommend RTS in particular for engineering applications. Generalized DOAs should be calculated according to the tactical requirements.展开更多
Earth sensors are widely used in spacecraft for attitude determination. They need to have a very large field of view(FOV)( > 120°) and relatively low accuracy while being used in the aircrafts around orbit. A ...Earth sensors are widely used in spacecraft for attitude determination. They need to have a very large field of view(FOV)( > 120°) and relatively low accuracy while being used in the aircrafts around orbit. A triple-FOV infrared earth sensor is proposed in this paper. It uses three pieces of standard infrared detectors with a wavelength range of 14;16μm,to sense the horizontal circle by detecting the infrared light emitted from the earth. From which,the geocentric vector can be obtained. A mathematic model is established and a validation model is set up to provide input parameters for the mathematic model. The simulation results of the two models show that the output of the mathematic model coincides with the known parameters. Based on the above analysis,a prototype has been built and tested. The test results show that the angle measurement error is about 0. 002° and hence such a triple-FOV earth sensor is capable to provide high-precision position information for autonomous navigation.展开更多
Birefringence-Zeeman dual frequency lasers are capable of producing frequency difference from several kilohertz to hundreds of megahertz, but the precision of giving and stabilizing of the beat frequency still needs i...Birefringence-Zeeman dual frequency lasers are capable of producing frequency difference from several kilohertz to hundreds of megahertz, but the precision of giving and stabilizing of the beat frequency still needs improvement to the range of ±200 kHz. We design a new elastic force-exerting device comprised of the bottom part, two arms and two pieces of force-exerting sheets. The frequency difference smoothly tuning is realized with this device in a large range of 2 MHz to 20 MHz. Power-balance frequency stabilization system is used to investigate characters of the temperature, frequency difference and laser power. The precision of the frequency difference has reach up to ±100 kHz after system temperature balance. Analyses of the laser frequency difference and power character are carried out.展开更多
Accurate measurement of helicopter rotor motion parameters(flap,lead-lag,torsion,and azimuth angles)is essential for rotor blade design,helicopter dynamics modeling,and flight safety and health monitoring.However,the ...Accurate measurement of helicopter rotor motion parameters(flap,lead-lag,torsion,and azimuth angles)is essential for rotor blade design,helicopter dynamics modeling,and flight safety and health monitoring.However,the existing methods face challenges in testing equipment installation,calibration,and data transmission,resulting in limited reports on real-time in-flight measurements of blade motion parameters.This paper proposes a non-contact optoelectronic method based on two-dimensional position-sensitive detectors for in-flight measurement and a ground calibration system to obtain real-time rotor motion parameters during helicopter flight.The proposed method establishes the time evolution relationship of rotor motion parameters and verifies the performance of the in-flight measurement system regarding measurement resolution and accuracy through the construction of a blade motion posture experimental platform.The proposed method has been applied to the flight measurement of a medium-sized single-rotor helicopter,and the obtained results have been compared with theoretical analysis outcomes.Furthermore,this paper examines the characteristics of blade motion parameters during flight and discusses the challenges and potential solutions for measuring rotor motion parameters during helicopter flight using the proposed method.展开更多
The study of BiFeO_(3)-0.3BaTiO_(3) ceramics has gained significant attention due to their high Curie temperature(TC≥450℃)and excellent piezoelectric properties(d33≥200 pC·N^(−1)).These are particularly pronou...The study of BiFeO_(3)-0.3BaTiO_(3) ceramics has gained significant attention due to their high Curie temperature(TC≥450℃)and excellent piezoelectric properties(d33≥200 pC·N^(−1)).These are particularly pronounced near the morphotropic phase boundary(MPB)region where coexisting rhombohedral and pseudocubic(R-PC)phases are observed.In addition,as the BaTiO_(3) content increases,BiFeO_(3)-BaTiO_(3) ceramics gradually become dominated by a single pseudocubic(PC-)phase.This shift results in a decrease in piezoelectric properties but an enhancement in strain performance.However,the underlying mechanism remains unclear.The high strain properties observed in non-MPB compositions provide a motivation for further investigation into these mechanisms.This paper presents a detailed analysis of the electric-field and temperature-induced domain structure evolution in BiFeO_(3)-0.4BaTiO_(3),which is predominately characterized by the PC phase.Piezoresponse force microscope(PFM)observations reveal the presence of nanodomains and stripy domains associated with polar nanoregions(PNRs),as well as relaxor ferroelectrics(RFEs)and/or ferroelectrics(FEs).The RFEs exhibit a significantly better strain response than the FEs,providing direct evidence for the enhanced strain properties of RFEs.Elevated-temperature Raman spectroscopy confirms a decrease in B-O bonding and BO6 deformation,along with an increase in structural symmetry,indicating the formation of RFEs and/or PNRs.The phase diagram shows the Burns temperature(TB),dielectric maxima temperature(Tm)and freezing temperature(Tf)evaluated from the dielectric spectra;the temperature-induced evolution of domain structures;and the sequential quasi-dielectric states:PNRs,RFEs and FEs.The evolution of the domain structure,including the morphology and ratio of FEs,RFEs and PNRs,induced by either electric-fields or temperature strongly affects the strain properties of RFEs.A superior piezoelectric coefficient of d33*=533 pm·V^(−1) at 40 kV·cm^(−1) and a large electric strain of Suni=0.285%are obtained.These results further validate that domain modulation can effectively enhance the strain properties of BiFeO_(3)-BaTiO_(3) ceramics,which makes them promising candidates for actuator applications.展开更多
Lipidomics is an emerging discipline that systematically studies the various types,functions,and metabolic pathways of lipids within living organisms.This field compares changes in diseases or drug impact,identifying ...Lipidomics is an emerging discipline that systematically studies the various types,functions,and metabolic pathways of lipids within living organisms.This field compares changes in diseases or drug impact,identifying biomarkers and molecular mechanisms present in lipid metabolic networks across different physiological or pathological states.Through employing analytical chemistry within the realm of lipidomics,researchers analyze traditional Chinese medicine(TCM).This analysis aids in uncovering potential mechanisms for treating diverse physiopathological conditions,assessing drug efficacy,understanding mechanisms of action and toxicity,and generating innovative ideas for disease prevention and treatment.This manuscript assesses recent literature,summarizing existing lipidomics technologies and their applications in TCM research.It delineates the efficacy,mechanisms,and toxicity research related to lipidomics in Chinese medicine.Additionally,it explores the utilization of lipidomics in quality control research for Chinese medicine,aiming to expand the application of lipidomics within this field.Ultimately,this initiative seeks to foster the integration of traditional medicine theory with modern science and technology,promoting an organic fusion between the two domains.展开更多
Two^(87)Sr optical lattice clocks(OLCs)are being developed and operated at the National Institute of Metrology(NIM),located on different campuses that are 40km apart.In order to compare the optical frequencies of thes...Two^(87)Sr optical lattice clocks(OLCs)are being developed and operated at the National Institute of Metrology(NIM),located on different campuses that are 40km apart.In order to compare the optical frequencies of these two Sr OLCs,a 58-km noise canceled fiber link is built to transfer both a 1542-nm transfer laser and a microwave reference from Changping campus to Hepingli campus.Two commercial optical frequency combs(OFCs)with adapted single-branch 698/1542nm outputs coherently unite the two 698-nm clock lasers and the 1542-nm transfer laser.The fractional instability of the comparison yields 3.1×10^(−17)at 10000 s averaging time.The measured fractional frequency difference between these two Sr OLCs was evaluated to be 1.9(3.2)×10^(−17),which is within their claimed uncertainties.This result demonstrates the consistency of their frequencies when they serve as optical frequency standards.Our remote comparison demonstrates the feasibility of optical clock comparison through a long-distance fiber link and contributes to the progress of redefinition of the SI second.展开更多
Efficient exciton transport over long distances is crucial for organic optoelectronics.Despite efforts to improve the transport properties of organic semiconductors,the limited exciton diffusion remains a significant ...Efficient exciton transport over long distances is crucial for organic optoelectronics.Despite efforts to improve the transport properties of organic semiconductors,the limited exciton diffusion remains a significant obstacle for light-harvesting applications.In this study,we observe phenomena where exciton transport is significantly enhanced by light irradiation in the organic molecular crystal of 2,2'-(2,5-bis(2,2-diphenylvinyl)-1,4-phenylene)dinaphthalene(BDVPN).The exciton transport in this material is improved,as evidenced by the increased diffusion coefficient from 10^(−3) cm^(2)·s^(−1) to over 1 cm^(2)·s^(−1) and a prolonged diffusion length from less than 50 nm to nearly 700 nm characterized by time-resolved photoluminescence microscopy(TPLM).Additionally,we confirmed the enhancement of charge transport capability under irradiation as additional evidence of improved transport properties of the material.These intriguing phenomena may be associated with the material’s twisted molecular conformation and rotatable single bonds,which facilitate light-induced structural alterations conducive to efficient transport properties.Our work provides a novel insight into developing organic semiconductors with efficient exciton transport.展开更多
A Stewart platform is introduced in thc 500 m aperture spherical radio telescope（FAST） as an accuracy adjustable mechanism for teed receivers. Accuracy analysis is the basis of accuracy design. However, a rapid and ...A Stewart platform is introduced in thc 500 m aperture spherical radio telescope（FAST） as an accuracy adjustable mechanism for teed receivers. Accuracy analysis is the basis of accuracy design. However, a rapid and effective accuracy analysis method for parallel manipulator is still needed. In order to enhance solution efficiency, an interval analysis method（lA method） is introduced to solve the terminal error bound of the Stewart platform with detailed solution path. Taking a terminal pose of the Stewart platform in FAST as an example, the terminal error is solved by the Monte Carlo method（MC method） by 4 980 s, the stochastic mathematical method（SM method） by 0.078 s, and the IA method by 2.203 s. Compared with MC method, the terminal error by SM method leads a 20% underestimate while the IA method can envelop the real error bound of the Stewart platform. This indicates that the IA method outperforms the other two methods by providing quick calculations and enveloping the real error bound of the Stewart platform. According to the given structural error of the dimension parameters of the Stewart platform, the IA method gives a maximum position error of 19.91 mm and maximum orientation error of 0.534°, which suggests that the IA method can be used for accuracy design of the Stewart platfbnn in FAST. The 1A method presented is a rapid and effective accuracy analysis method for Stewart platform.展开更多
Many methods are proposed to deal with the type synthesis of parallel kinematic mechanisms（PKMs）, but most of them are less intuitive to some extent. Thus, to propose a concise and intuitive type synthesis method fo...Many methods are proposed to deal with the type synthesis of parallel kinematic mechanisms（PKMs）, but most of them are less intuitive to some extent. Thus, to propose a concise and intuitive type synthesis method for engineering application is a very challenging issue, which should be further studied in the field. Grassmann line geometry, which can investigate the dimensions of spatial line-clusters in a concise way, is taken as the mathematic foundation. Atlas method is introduced to visually describe the degrees of freedom（DOFs） and constraints of a mechanism, and the dual rule is brought in to realize the mutual conversion of the freedom-space and constraint-space. Consequently, a systematic method based on Grassmann line geometry and Atlas method is generated and the entire type synthesis process is presented. Three type 4-DOF PKMs, i.e., 1T3R, 2T2R and 3T1R（T： translational DOF; R： rotational DOF）, are classified according to the different combinations of the translational DOFs and rotational DOFs. The type synthesis of 4-DOF PKMs is carried out and the possible configurations are thoroughly investigated. Some new PKMs with useful functions are generated during this procedure. The type synthesis method based on Grassmann line geometry and Atlas method is intuitive and concise, and can reduce the complexity of the PKMs＇ type synthesis. Moreover, this method can provide theoretical guidance for other PKMs＇ type synthesis and engineering application. A novel type synthesis method is proposed, which solves the existing methods＇ problems in terms of complicated, not intuitive and unsuitable for practical application.展开更多
Two-dimensional material has been widely investigated for potential applications in sensor and flexible electronics.In this work,a self-powered flexible humidity sensing device based on poly(vinyl alcohol)/Ti_(3)C_(2)...Two-dimensional material has been widely investigated for potential applications in sensor and flexible electronics.In this work,a self-powered flexible humidity sensing device based on poly(vinyl alcohol)/Ti_(3)C_(2)Tx(PVA/MXene)nanofibers film and monolayer molybdenum diselenide(MoSe2)piezoelectric nanogenerator(PENG)was reported for the first time.The monolayer MoSe_(2)-based PENG was fabricated by atmospheric pressure chemical vapor deposition techniques,which can generate a peak output of 35 mV and a power density of42 mW m^(-2).The flexible PENG integrated on polyethylene terephthalate(PET)substrate can harvest energy generated by different parts of human body and exhibit great application prospects in wearable devices.The electrospinned PVA/MXene nanofiber-based humidity sensor with flexible PET substrate under the driven of monolayer MoSe_(2) PENG,shows high response of~40,fast response/recovery time of 0.9/6.3 s,low hysteresis of 1.8%and excellent repeatability.The self-powered flexible humidity sensor yields the capability of detecting human skin moisture and ambient humidity.This work provides a pathway to explore the high-performance humidity sensor integrated with PENG for the self-powered flexible electronic devices.展开更多
A multiple-legged robot is traditionally controlled by using its dynamic model.But the dynamic-model-based approach fails to acquire satisfactory performances when the robot faces rough terrains and unknown environmen...A multiple-legged robot is traditionally controlled by using its dynamic model.But the dynamic-model-based approach fails to acquire satisfactory performances when the robot faces rough terrains and unknown environments.Referring animals＇ neural control mechanisms,a control model is built for a quadruped robot walking adaptively.The basic rhythmic motion of the robot is controlled by a well-designed rhythmic motion controller（RMC） comprising a central pattern generator（CPG） for hip joints and a rhythmic coupler（RC） for knee joints.CPG and RC have relationships of motion-mapping and rhythmic couple.Multiple sensory-motor models,abstracted from the neural reflexes of a cat,are employed.These reflex models are organized and thus interact with the CPG in three layers,to meet different requirements of complexity and response time to the tasks.On the basis of the RMC and layered biological reflexes,a quadruped robot is constructed,which can clear obstacles and walk uphill and downhill autonomously,and make a turn voluntarily in uncertain environments,interacting with the environment in a way similar to that of an animal.The paper provides a biologically inspired architecture,with which a robot can walk adaptively in uncertain environments in a simple and effective way,and achieve better performances.展开更多
Structural deformation monitoring of flight vehicles based on optical fiber sensing(OFS)technology has been a focus of research in the field of aerospace.After nearly 30 years of research and development,Chinese and i...Structural deformation monitoring of flight vehicles based on optical fiber sensing(OFS)technology has been a focus of research in the field of aerospace.After nearly 30 years of research and development,Chinese and international researchers have made significant advances in the areas of theory and methods,technology and systems,and ground experiments and flight tests.These advances have led to the development of OFS technology from the laboratory research stage to the engineering application stage.However,a few problems encountered in practical applications limit the wider application and further development of this technology,and thus urgently require solutions.This paper reviews the history of research on the deformation monitoring of flight vehicles.It examines various aspects of OFS-based deformation monitoring including the main varieties of OFS technology,technical advantages and disadvantages,suitability in aerospace applications,deformation reconstruction algorithms,and typical applications.This paper points out the key unresolved problems and the main evolution paradigms of engineering applications.It further discusses future development directions from the perspectives of an evolution paradigm,standardization,new materials,intelligentization,and collaboration.展开更多
The servomotor drive turret punch press is attracting more attentions and being developed more intensively due to the advantages of high speed,high accuracy,high flexibility,high productivity,low noise,cleaning and en...The servomotor drive turret punch press is attracting more attentions and being developed more intensively due to the advantages of high speed,high accuracy,high flexibility,high productivity,low noise,cleaning and energy saving.To effectively improve the performance and lower the cost,it is necessary to develop new mechanisms and establish corresponding optimal design method with uniform performance indices.A new patented main driving mechanism and a new optimal design method are proposed.In the optimal design,the performance indices,i.e.,the local motion/force transmission indices ITI,OTI,good transmission workspace good transmission workspace(GTW) and the global transmission indices GTIs are defined.The non-dimensional normalization method is used to get all feasible solutions in dimensional synthesis.Thereafter,the performance atlases,which can present all possible design solutions,are depicted.As a result,the feasible solution of the mechanism with good motion/force transmission performance is obtained.And the solution can be flexibly adjusted by designer according to the practical design requirements.The proposed mechanism is original,and the presented design method provides a feasible solution to the optimal design of the main driving mechanism for servo punch press.展开更多
Needle insertion is a common surgical procedure used in diagnosis and treatment.The needle steering technologies make continuous developments in theoretical and practical aspects along with the in-depth research on ne...Needle insertion is a common surgical procedure used in diagnosis and treatment.The needle steering technologies make continuous developments in theoretical and practical aspects along with the in-depth research on needle insertion.It is necessary to summarize and analyze the existing results to promote the future development of theories and applications of needle insertion.Thus,a survey of the state of the art of research is presented on algorithms of needle steering techniques,the surgical robots and devices.Based on the analysis of the needle insertion procedure,the concept of needle steering is defined as a kinematics problem,which is to place the needle at the target and avoid the obstacles.The needle steering techniques,including the artificial potential field method and the nonholonomic model,are introduced to control the needles for improving the accuracy.Based on the quasi-static thinking,the virtual spring model and the cantilever-beam model are developed to calculate the amount of needle deflection and generate the needle path.The phantoms instead of the real tissue are used to verify the models mentioned in most of the experimentations.For the desired needle trajectories,the image-guided robotic devices and some novel needles are presented to achieve the needle steering.Finally,the challenges are provided involving the controllability of the long flexible needle and the properties of soft tissue.The results and investigations can be used for further study on the precision and accuracy of needle insertion.展开更多
Parallel manipulators with less than six degrees of freedom （DOF） have been increasingly used in high-speed hybrid machine tools. The structural features of parallel manipulators are dynamic, a characteristic that i...Parallel manipulators with less than six degrees of freedom （DOF） have been increasingly used in high-speed hybrid machine tools. The structural features of parallel manipulators are dynamic, a characteristic that is particularly significant when these manipulators are used in high-speed machine tools. However, normal kinematic control method cannot satisfy the requirements of the control system. Many researchers use model-based dynamic control methods, such as the dynamic feedforward control method. However, these methods are rarely used in hybrid machine tools because of the complex dynamic model of the parallel manipulator. In order to study the dynamic control method of parallel manipulators, the dynamic feedforward control method is used in the dynamic control system of a 3-PSP （prismatic-spherical-prismatic） 3-DOF spatial parallel manipulator used as a spindle head in a high-speed hybrid machine tool. Using kinematic analysis as basis and the Newton-Euler method, we derive the dynamic model of the parallel manipulator. Furthermore, a model-based dynamic feedforward control system consisting of both kinematic control and dynamic control subsystems is established. The dynamic control subsystem consists of two modules. One is used to eliminate the influence of the dynamic characteristics of high-speed movement, and the other is used to eliminate the dynamic disturbances in the milling process. Finally, the simulation model of the dynamic feedforward control system of the 3-PSP parallel manipulator is constructed in Matlab/Simulink. The simulations of the control system eliminating the influence of the dynamic characteristics and dynamic disturbances are conducted. A comparative study between the simulations and the normal kinematic control method is also presented.The simulations prove that the dynamic feedforward control method effectively eliminates the influence of the dynamic disturbances and dynamic characteristics of the parallel manipulator on high-speed machine tools, and significantly improves the trajectory accuracy. This is the first attempt to introduce the dynamic feedfordward control method into the 3-PSP spatial parallel manipulator whose dynamic model is complex and provides a study basis for the real-time dynamic control of the high-speed hybrid machine tools.展开更多
The composite electrodes consisting of carbon nanotubes and spherical Ni(OH)2 are developed by mixing nickel hydroxide, carbon nanotubes and carbonyl nickel powder together in 8:1:1 ratio. A maximum capacitance of 311...The composite electrodes consisting of carbon nanotubes and spherical Ni(OH)2 are developed by mixing nickel hydroxide, carbon nanotubes and carbonyl nickel powder together in 8:1:1 ratio. A maximum capacitance of 311 F/g is obtained for an electrode prepared with the precipitation process. In order to enhance energy density, an asymmetric type pseudo-capacitor/electric double layer capacitor is considered and its electrochemical properties are investigated. Values for the specific energy and maximum specific power of 25.8 W·h/kg and 2.8 kW/kg, respectively, are demonstrated for a cell voltage between 0 and 1.6 V. By using the modified cathode of a Ni(OH)2/carbon nanotube composite electrode, the asymmetric supercapacitor exhibits high energy density and stable power characteristics.展开更多
The accuracy of the HB2 standard model attitude measurement has an important impact on the hypersonic wind tunnel data assessment.The limited size of the model and the existence of external vibrations make it challeng...The accuracy of the HB2 standard model attitude measurement has an important impact on the hypersonic wind tunnel data assessment.The limited size of the model and the existence of external vibrations make it challenging to obtain real-time reliable attitude measurement.To reduce the influence of attitude errors on test results,this paper proposes a Quaternion Nonlinear Complementary Filter(QNCF)attitude determination algorithm based on Microelectromechanical Inertial Measurement Unit(MEMS-IMU).Firstly,the threshold-based PI control strategy is adopted to eliminate noise effect according to the Acceleration Magnitude Detector(AMD).Then,the flexible quaternion method is updated to carry out attitude estimation which is operational and easy to be embedded in the Field Programmable Gate Array(FPGA).Finally,a high-precision three-axis turntable test and a hypersonic wind tunnel test are performed.The results show that the pitchroll attitude errors are within 0.05°and 0.08°in the high-precision three-axis turntable test in a calculation time of 100 s respectively,and the attitude error is within 0.3°after the elastic angle correction in the hypersonic wind tunnel test.The proposed method can provide accurate real-time attitude reference for the analysis of the actual movement of the model,exhibiting certain engineering application value with robustness and simplicity.展开更多
With high hardness, high thermal and chemical stability and excellent optical performance, hard materials exhibit great potential applications in various fields, especially in harsh conditions. Femtosecond laser ablat...With high hardness, high thermal and chemical stability and excellent optical performance, hard materials exhibit great potential applications in various fields, especially in harsh conditions. Femtosecond laser ablation has the capability to fabricate three-dimensional micro/nanostructures in hard materials. However, the low efficiency, low precision and high surface roughness are the main stumbling blocks for femtosecond laser processing of hard materials. So far, etching- assisted femtosecond laser modification has demonstrated to be the efficient strategy to solve the above problems when processing hard materials, including wet etching and dry etching. In this review, femtosecond laser modification that would influence the etching selectivity is introduced. The fundamental and recent applications of the two kinds of etching assisted femtosecond laser modification technologies are summarized. In addition, the challenges and application prospects of these technologies are discussed.展开更多
There are two main trends in the development of unmanned aerial vehicle(UAV)technologies:miniaturization and intellectualization,in which realizing object tracking capabilities for a nano-scale UAV is one of the most ...There are two main trends in the development of unmanned aerial vehicle(UAV)technologies:miniaturization and intellectualization,in which realizing object tracking capabilities for a nano-scale UAV is one of the most challenging problems.In this paper,we present a visual object tracking and servoing control system utilizing a tailor-made 38 g nano-scale quadrotor.A lightweight visual module is integrated to enable object tracking capabilities,and a micro positioning deck is mounted to provide accurate pose estimation.In order to be robust against object appearance variations,a novel object tracking algorithm,denoted by RMCTer,is proposed,which integrates a powerful short-term tracking module and an efficient long-term processing module.In particular,the long-term processing module can provide additional object information and modify the short-term tracking model in a timely manner.Furthermore,a positionbased visual servoing control method is proposed for the quadrotor,where an adaptive tracking controller is designed by leveraging backstepping and adaptive techniques.Stable and accurate object tracking is achieved even under disturbances.Experimental results are presented to demonstrate the high accuracy and stability of the whole tracking system.展开更多
基金Supported by the National Natural Science Foundation of China （61633008）, the National Natural Science Foundation of China （61203225）, the Natural Science Foundation of Heilongjiang Province of China（QC2014C069）, the Special fund for the Central Universities （HEUCF160401）, and Provincial Postdoctoral Scientific Research Foundation （LBH-Q 15032）.
文摘In this study, we propose the use of the Degree of Alignment(DOA) in engineering applications for evaluating the precision of and identifying the transfer alignment on a moving base. First, we derive the statistical formula on the basis of estimations. Next, we design a scheme for evaluating the transfer alignment on a moving base, for which the attitude error cannot be directly measured. Then, we build a mathematic estimation model and discuss Fixed Point Smoothing(FPS), Returns to Scale(RTS), Inverted Sequence Recursive Estimation(ISRE), and Kalman filter estimation methods, which can be used when evaluating alignment accuracy. Our theoretical calculations and simulated analyses show that the DOA reflects not only the alignment time and accuracy but also differences in the maneuver schemes, and is suitable for use as an integrated evaluation index. Furthermore, all four of these algorithms can be used to identify the transfer alignment and evaluate its accuracy. We recommend RTS in particular for engineering applications. Generalized DOAs should be calculated according to the tactical requirements.
基金financially supported by the National High Technology Research and Development Program of China(863 Program)(No.2012AA121503 and No.2012AA120603)the National Natural Science Foundation of China(No.61377012)the Tsinghua University Initiative Scientific Research Program(No.20131089242)。
文摘Earth sensors are widely used in spacecraft for attitude determination. They need to have a very large field of view(FOV)( > 120°) and relatively low accuracy while being used in the aircrafts around orbit. A triple-FOV infrared earth sensor is proposed in this paper. It uses three pieces of standard infrared detectors with a wavelength range of 14;16μm,to sense the horizontal circle by detecting the infrared light emitted from the earth. From which,the geocentric vector can be obtained. A mathematic model is established and a validation model is set up to provide input parameters for the mathematic model. The simulation results of the two models show that the output of the mathematic model coincides with the known parameters. Based on the above analysis,a prototype has been built and tested. The test results show that the angle measurement error is about 0. 002° and hence such a triple-FOV earth sensor is capable to provide high-precision position information for autonomous navigation.
基金Supported by the National Natural Science Foundation of China under Grant No 50575110
文摘Birefringence-Zeeman dual frequency lasers are capable of producing frequency difference from several kilohertz to hundreds of megahertz, but the precision of giving and stabilizing of the beat frequency still needs improvement to the range of ±200 kHz. We design a new elastic force-exerting device comprised of the bottom part, two arms and two pieces of force-exerting sheets. The frequency difference smoothly tuning is realized with this device in a large range of 2 MHz to 20 MHz. Power-balance frequency stabilization system is used to investigate characters of the temperature, frequency difference and laser power. The precision of the frequency difference has reach up to ±100 kHz after system temperature balance. Analyses of the laser frequency difference and power character are carried out.
基金the funding provided by the National Helicopter Development Project of China。
文摘Accurate measurement of helicopter rotor motion parameters(flap,lead-lag,torsion,and azimuth angles)is essential for rotor blade design,helicopter dynamics modeling,and flight safety and health monitoring.However,the existing methods face challenges in testing equipment installation,calibration,and data transmission,resulting in limited reports on real-time in-flight measurements of blade motion parameters.This paper proposes a non-contact optoelectronic method based on two-dimensional position-sensitive detectors for in-flight measurement and a ground calibration system to obtain real-time rotor motion parameters during helicopter flight.The proposed method establishes the time evolution relationship of rotor motion parameters and verifies the performance of the in-flight measurement system regarding measurement resolution and accuracy through the construction of a blade motion posture experimental platform.The proposed method has been applied to the flight measurement of a medium-sized single-rotor helicopter,and the obtained results have been compared with theoretical analysis outcomes.Furthermore,this paper examines the characteristics of blade motion parameters during flight and discusses the challenges and potential solutions for measuring rotor motion parameters during helicopter flight using the proposed method.
基金supported by the National Key Research and Development Program(No.2022YFB3807400)the National Natural Science Foundation of China(Nos.52072028 and 52032007).
文摘The study of BiFeO_(3)-0.3BaTiO_(3) ceramics has gained significant attention due to their high Curie temperature(TC≥450℃)and excellent piezoelectric properties(d33≥200 pC·N^(−1)).These are particularly pronounced near the morphotropic phase boundary(MPB)region where coexisting rhombohedral and pseudocubic(R-PC)phases are observed.In addition,as the BaTiO_(3) content increases,BiFeO_(3)-BaTiO_(3) ceramics gradually become dominated by a single pseudocubic(PC-)phase.This shift results in a decrease in piezoelectric properties but an enhancement in strain performance.However,the underlying mechanism remains unclear.The high strain properties observed in non-MPB compositions provide a motivation for further investigation into these mechanisms.This paper presents a detailed analysis of the electric-field and temperature-induced domain structure evolution in BiFeO_(3)-0.4BaTiO_(3),which is predominately characterized by the PC phase.Piezoresponse force microscope(PFM)observations reveal the presence of nanodomains and stripy domains associated with polar nanoregions(PNRs),as well as relaxor ferroelectrics(RFEs)and/or ferroelectrics(FEs).The RFEs exhibit a significantly better strain response than the FEs,providing direct evidence for the enhanced strain properties of RFEs.Elevated-temperature Raman spectroscopy confirms a decrease in B-O bonding and BO6 deformation,along with an increase in structural symmetry,indicating the formation of RFEs and/or PNRs.The phase diagram shows the Burns temperature(TB),dielectric maxima temperature(Tm)and freezing temperature(Tf)evaluated from the dielectric spectra;the temperature-induced evolution of domain structures;and the sequential quasi-dielectric states:PNRs,RFEs and FEs.The evolution of the domain structure,including the morphology and ratio of FEs,RFEs and PNRs,induced by either electric-fields or temperature strongly affects the strain properties of RFEs.A superior piezoelectric coefficient of d33*=533 pm·V^(−1) at 40 kV·cm^(−1) and a large electric strain of Suni=0.285%are obtained.These results further validate that domain modulation can effectively enhance the strain properties of BiFeO_(3)-BaTiO_(3) ceramics,which makes them promising candidates for actuator applications.
基金funded by the Sanming Project of Medicine in Shenzhen,China(Grant No.:SZZYSM202106004)the National Natural Science Foundation of China(Grant No.:82272960)+1 种基金the Shenzhen Science and Technology Innovation Commission,China(Grant No.:JCYJ20210324142012033)the Scientific Research Project of Guangdong Provincial Bureau of Traditional Chinese Medicine,China(Grant No.:20252037).
文摘Lipidomics is an emerging discipline that systematically studies the various types,functions,and metabolic pathways of lipids within living organisms.This field compares changes in diseases or drug impact,identifying biomarkers and molecular mechanisms present in lipid metabolic networks across different physiological or pathological states.Through employing analytical chemistry within the realm of lipidomics,researchers analyze traditional Chinese medicine(TCM).This analysis aids in uncovering potential mechanisms for treating diverse physiopathological conditions,assessing drug efficacy,understanding mechanisms of action and toxicity,and generating innovative ideas for disease prevention and treatment.This manuscript assesses recent literature,summarizing existing lipidomics technologies and their applications in TCM research.It delineates the efficacy,mechanisms,and toxicity research related to lipidomics in Chinese medicine.Additionally,it explores the utilization of lipidomics in quality control research for Chinese medicine,aiming to expand the application of lipidomics within this field.Ultimately,this initiative seeks to foster the integration of traditional medicine theory with modern science and technology,promoting an organic fusion between the two domains.
基金supported by the National Key R&D Program of China(Grant No.2021YFF0603802)the National Natural Science Foundation of China(Grant No.61905231)+1 种基金the State Administration for Market Regulation(Grant No.CXTD202301)the Innovation Program for Quantum Science and Technology(Grant No.2021ZD0300902)。
文摘Two^(87)Sr optical lattice clocks(OLCs)are being developed and operated at the National Institute of Metrology(NIM),located on different campuses that are 40km apart.In order to compare the optical frequencies of these two Sr OLCs,a 58-km noise canceled fiber link is built to transfer both a 1542-nm transfer laser and a microwave reference from Changping campus to Hepingli campus.Two commercial optical frequency combs(OFCs)with adapted single-branch 698/1542nm outputs coherently unite the two 698-nm clock lasers and the 1542-nm transfer laser.The fractional instability of the comparison yields 3.1×10^(−17)at 10000 s averaging time.The measured fractional frequency difference between these two Sr OLCs was evaluated to be 1.9(3.2)×10^(−17),which is within their claimed uncertainties.This result demonstrates the consistency of their frequencies when they serve as optical frequency standards.Our remote comparison demonstrates the feasibility of optical clock comparison through a long-distance fiber link and contributes to the progress of redefinition of the SI second.
基金the National Natural Science Foundation of China(No.62075115,62335013,22275065,52073116)the National Key R&D Program of China(No.2022YFB4600400)the Natural Science Foundation of Jilin Province(20240101003JJ)for their financial support.
文摘Efficient exciton transport over long distances is crucial for organic optoelectronics.Despite efforts to improve the transport properties of organic semiconductors,the limited exciton diffusion remains a significant obstacle for light-harvesting applications.In this study,we observe phenomena where exciton transport is significantly enhanced by light irradiation in the organic molecular crystal of 2,2'-(2,5-bis(2,2-diphenylvinyl)-1,4-phenylene)dinaphthalene(BDVPN).The exciton transport in this material is improved,as evidenced by the increased diffusion coefficient from 10^(−3) cm^(2)·s^(−1) to over 1 cm^(2)·s^(−1) and a prolonged diffusion length from less than 50 nm to nearly 700 nm characterized by time-resolved photoluminescence microscopy(TPLM).Additionally,we confirmed the enhancement of charge transport capability under irradiation as additional evidence of improved transport properties of the material.These intriguing phenomena may be associated with the material’s twisted molecular conformation and rotatable single bonds,which facilitate light-induced structural alterations conducive to efficient transport properties.Our work provides a novel insight into developing organic semiconductors with efficient exciton transport.
基金supported by National Natural Science Foundation of China (Grant Nos. 10973023,11103046,11203048)
文摘A Stewart platform is introduced in thc 500 m aperture spherical radio telescope（FAST） as an accuracy adjustable mechanism for teed receivers. Accuracy analysis is the basis of accuracy design. However, a rapid and effective accuracy analysis method for parallel manipulator is still needed. In order to enhance solution efficiency, an interval analysis method（lA method） is introduced to solve the terminal error bound of the Stewart platform with detailed solution path. Taking a terminal pose of the Stewart platform in FAST as an example, the terminal error is solved by the Monte Carlo method（MC method） by 4 980 s, the stochastic mathematical method（SM method） by 0.078 s, and the IA method by 2.203 s. Compared with MC method, the terminal error by SM method leads a 20% underestimate while the IA method can envelop the real error bound of the Stewart platform. This indicates that the IA method outperforms the other two methods by providing quick calculations and enveloping the real error bound of the Stewart platform. According to the given structural error of the dimension parameters of the Stewart platform, the IA method gives a maximum position error of 19.91 mm and maximum orientation error of 0.534°, which suggests that the IA method can be used for accuracy design of the Stewart platfbnn in FAST. The 1A method presented is a rapid and effective accuracy analysis method for Stewart platform.
基金supported by National Natural Science Foundation of China(Grant No.51135008)National Basic Research Program of China(973 Program,Grant No.2013CB035400)China Postdoctoral Science Foundation(Grant Nos.2012M520256,2013T60107)
文摘Many methods are proposed to deal with the type synthesis of parallel kinematic mechanisms（PKMs）, but most of them are less intuitive to some extent. Thus, to propose a concise and intuitive type synthesis method for engineering application is a very challenging issue, which should be further studied in the field. Grassmann line geometry, which can investigate the dimensions of spatial line-clusters in a concise way, is taken as the mathematic foundation. Atlas method is introduced to visually describe the degrees of freedom（DOFs） and constraints of a mechanism, and the dual rule is brought in to realize the mutual conversion of the freedom-space and constraint-space. Consequently, a systematic method based on Grassmann line geometry and Atlas method is generated and the entire type synthesis process is presented. Three type 4-DOF PKMs, i.e., 1T3R, 2T2R and 3T1R（T： translational DOF; R： rotational DOF）, are classified according to the different combinations of the translational DOFs and rotational DOFs. The type synthesis of 4-DOF PKMs is carried out and the possible configurations are thoroughly investigated. Some new PKMs with useful functions are generated during this procedure. The type synthesis method based on Grassmann line geometry and Atlas method is intuitive and concise, and can reduce the complexity of the PKMs＇ type synthesis. Moreover, this method can provide theoretical guidance for other PKMs＇ type synthesis and engineering application. A novel type synthesis method is proposed, which solves the existing methods＇ problems in terms of complicated, not intuitive and unsuitable for practical application.
基金supported by the National Natural Science Foundation of China(51777215)National Natural Science Foundation of China(51775306)+1 种基金Beijing Municipal Natural Science Foundation(4192027)the Graduate Innovation Fund of China University of Petroleum(YCX2020097)。
文摘Two-dimensional material has been widely investigated for potential applications in sensor and flexible electronics.In this work,a self-powered flexible humidity sensing device based on poly(vinyl alcohol)/Ti_(3)C_(2)Tx(PVA/MXene)nanofibers film and monolayer molybdenum diselenide(MoSe2)piezoelectric nanogenerator(PENG)was reported for the first time.The monolayer MoSe_(2)-based PENG was fabricated by atmospheric pressure chemical vapor deposition techniques,which can generate a peak output of 35 mV and a power density of42 mW m^(-2).The flexible PENG integrated on polyethylene terephthalate(PET)substrate can harvest energy generated by different parts of human body and exhibit great application prospects in wearable devices.The electrospinned PVA/MXene nanofiber-based humidity sensor with flexible PET substrate under the driven of monolayer MoSe_(2) PENG,shows high response of~40,fast response/recovery time of 0.9/6.3 s,low hysteresis of 1.8%and excellent repeatability.The self-powered flexible humidity sensor yields the capability of detecting human skin moisture and ambient humidity.This work provides a pathway to explore the high-performance humidity sensor integrated with PENG for the self-powered flexible electronic devices.
基金supported by National Natural Science Foundation of China (Grant No. 50905012)the Fundamental Research Funds for the Central Universities of China (Grant No. 2012JBM088)
文摘A multiple-legged robot is traditionally controlled by using its dynamic model.But the dynamic-model-based approach fails to acquire satisfactory performances when the robot faces rough terrains and unknown environments.Referring animals＇ neural control mechanisms,a control model is built for a quadruped robot walking adaptively.The basic rhythmic motion of the robot is controlled by a well-designed rhythmic motion controller（RMC） comprising a central pattern generator（CPG） for hip joints and a rhythmic coupler（RC） for knee joints.CPG and RC have relationships of motion-mapping and rhythmic couple.Multiple sensory-motor models,abstracted from the neural reflexes of a cat,are employed.These reflex models are organized and thus interact with the CPG in three layers,to meet different requirements of complexity and response time to the tasks.On the basis of the RMC and layered biological reflexes,a quadruped robot is constructed,which can clear obstacles and walk uphill and downhill autonomously,and make a turn voluntarily in uncertain environments,interacting with the environment in a way similar to that of an animal.The paper provides a biologically inspired architecture,with which a robot can walk adaptively in uncertain environments in a simple and effective way,and achieve better performances.
基金funded by the National Natural Science Foundation of China(51705024,51535002,51675053,61903041,61903042,and 61903041)the National Key Research and Development Program of China(2016YFF0101801)+4 种基金the National Hightech Research and Development Program of China(2015AA042308)the Innovative Equipment Pre-Research Key Fund Project(6140414030101)the Manned Space Pre-Research Project(20184112043)the Beijing Municipal Natural Science Foundation(F7202017 and 4204101)the Beijing Nova Program of Science and Technology(Z191100001119052)。
文摘Structural deformation monitoring of flight vehicles based on optical fiber sensing(OFS)technology has been a focus of research in the field of aerospace.After nearly 30 years of research and development,Chinese and international researchers have made significant advances in the areas of theory and methods,technology and systems,and ground experiments and flight tests.These advances have led to the development of OFS technology from the laboratory research stage to the engineering application stage.However,a few problems encountered in practical applications limit the wider application and further development of this technology,and thus urgently require solutions.This paper reviews the history of research on the deformation monitoring of flight vehicles.It examines various aspects of OFS-based deformation monitoring including the main varieties of OFS technology,technical advantages and disadvantages,suitability in aerospace applications,deformation reconstruction algorithms,and typical applications.This paper points out the key unresolved problems and the main evolution paradigms of engineering applications.It further discusses future development directions from the perspectives of an evolution paradigm,standardization,new materials,intelligentization,and collaboration.
基金supported by National Natural Science Foundation of China(Grant No.51021064)National Key Scientific and Technological Program of China(Grant No.2010ZX04004-116)
文摘The servomotor drive turret punch press is attracting more attentions and being developed more intensively due to the advantages of high speed,high accuracy,high flexibility,high productivity,low noise,cleaning and energy saving.To effectively improve the performance and lower the cost,it is necessary to develop new mechanisms and establish corresponding optimal design method with uniform performance indices.A new patented main driving mechanism and a new optimal design method are proposed.In the optimal design,the performance indices,i.e.,the local motion/force transmission indices ITI,OTI,good transmission workspace good transmission workspace(GTW) and the global transmission indices GTIs are defined.The non-dimensional normalization method is used to get all feasible solutions in dimensional synthesis.Thereafter,the performance atlases,which can present all possible design solutions,are depicted.As a result,the feasible solution of the mechanism with good motion/force transmission performance is obtained.And the solution can be flexibly adjusted by designer according to the practical design requirements.The proposed mechanism is original,and the presented design method provides a feasible solution to the optimal design of the main driving mechanism for servo punch press.
基金supported by National Natural Science Foundation of China (Grant Nos. 51165040,50775119)Visiting Scholar Foundation of Key Lab in University of China (Grant No. GZKF-201020)
文摘Needle insertion is a common surgical procedure used in diagnosis and treatment.The needle steering technologies make continuous developments in theoretical and practical aspects along with the in-depth research on needle insertion.It is necessary to summarize and analyze the existing results to promote the future development of theories and applications of needle insertion.Thus,a survey of the state of the art of research is presented on algorithms of needle steering techniques,the surgical robots and devices.Based on the analysis of the needle insertion procedure,the concept of needle steering is defined as a kinematics problem,which is to place the needle at the target and avoid the obstacles.The needle steering techniques,including the artificial potential field method and the nonholonomic model,are introduced to control the needles for improving the accuracy.Based on the quasi-static thinking,the virtual spring model and the cantilever-beam model are developed to calculate the amount of needle deflection and generate the needle path.The phantoms instead of the real tissue are used to verify the models mentioned in most of the experimentations.For the desired needle trajectories,the image-guided robotic devices and some novel needles are presented to achieve the needle steering.Finally,the challenges are provided involving the controllability of the long flexible needle and the properties of soft tissue.The results and investigations can be used for further study on the precision and accuracy of needle insertion.
基金supported by National Hi-tech Research and Development Program of China(863 Program, Grant No. 2007AA041901)National S&T Major Project of China(Grant No. 2009ZX04014-035)National Basic Research Program of China (973 Program, Grant No. 2006CB705400)
文摘Parallel manipulators with less than six degrees of freedom （DOF） have been increasingly used in high-speed hybrid machine tools. The structural features of parallel manipulators are dynamic, a characteristic that is particularly significant when these manipulators are used in high-speed machine tools. However, normal kinematic control method cannot satisfy the requirements of the control system. Many researchers use model-based dynamic control methods, such as the dynamic feedforward control method. However, these methods are rarely used in hybrid machine tools because of the complex dynamic model of the parallel manipulator. In order to study the dynamic control method of parallel manipulators, the dynamic feedforward control method is used in the dynamic control system of a 3-PSP （prismatic-spherical-prismatic） 3-DOF spatial parallel manipulator used as a spindle head in a high-speed hybrid machine tool. Using kinematic analysis as basis and the Newton-Euler method, we derive the dynamic model of the parallel manipulator. Furthermore, a model-based dynamic feedforward control system consisting of both kinematic control and dynamic control subsystems is established. The dynamic control subsystem consists of two modules. One is used to eliminate the influence of the dynamic characteristics of high-speed movement, and the other is used to eliminate the dynamic disturbances in the milling process. Finally, the simulation model of the dynamic feedforward control system of the 3-PSP parallel manipulator is constructed in Matlab/Simulink. The simulations of the control system eliminating the influence of the dynamic characteristics and dynamic disturbances are conducted. A comparative study between the simulations and the normal kinematic control method is also presented.The simulations prove that the dynamic feedforward control method effectively eliminates the influence of the dynamic disturbances and dynamic characteristics of the parallel manipulator on high-speed machine tools, and significantly improves the trajectory accuracy. This is the first attempt to introduce the dynamic feedfordward control method into the 3-PSP spatial parallel manipulator whose dynamic model is complex and provides a study basis for the real-time dynamic control of the high-speed hybrid machine tools.
文摘The composite electrodes consisting of carbon nanotubes and spherical Ni(OH)2 are developed by mixing nickel hydroxide, carbon nanotubes and carbonyl nickel powder together in 8:1:1 ratio. A maximum capacitance of 311 F/g is obtained for an electrode prepared with the precipitation process. In order to enhance energy density, an asymmetric type pseudo-capacitor/electric double layer capacitor is considered and its electrochemical properties are investigated. Values for the specific energy and maximum specific power of 25.8 W·h/kg and 2.8 kW/kg, respectively, are demonstrated for a cell voltage between 0 and 1.6 V. By using the modified cathode of a Ni(OH)2/carbon nanotube composite electrode, the asymmetric supercapacitor exhibits high energy density and stable power characteristics.
文摘The accuracy of the HB2 standard model attitude measurement has an important impact on the hypersonic wind tunnel data assessment.The limited size of the model and the existence of external vibrations make it challenging to obtain real-time reliable attitude measurement.To reduce the influence of attitude errors on test results,this paper proposes a Quaternion Nonlinear Complementary Filter(QNCF)attitude determination algorithm based on Microelectromechanical Inertial Measurement Unit(MEMS-IMU).Firstly,the threshold-based PI control strategy is adopted to eliminate noise effect according to the Acceleration Magnitude Detector(AMD).Then,the flexible quaternion method is updated to carry out attitude estimation which is operational and easy to be embedded in the Field Programmable Gate Array(FPGA).Finally,a high-precision three-axis turntable test and a hypersonic wind tunnel test are performed.The results show that the pitchroll attitude errors are within 0.05°and 0.08°in the high-precision three-axis turntable test in a calculation time of 100 s respectively,and the attitude error is within 0.3°after the elastic angle correction in the hypersonic wind tunnel test.The proposed method can provide accurate real-time attitude reference for the analysis of the actual movement of the model,exhibiting certain engineering application value with robustness and simplicity.
基金This work was supported by the National Key Research and Development Program of China and National Natural Science Foundation of China (NSFC) under Grants 2017YFB1104300,61590930,61825502,61805098 and 61960206003.
文摘With high hardness, high thermal and chemical stability and excellent optical performance, hard materials exhibit great potential applications in various fields, especially in harsh conditions. Femtosecond laser ablation has the capability to fabricate three-dimensional micro/nanostructures in hard materials. However, the low efficiency, low precision and high surface roughness are the main stumbling blocks for femtosecond laser processing of hard materials. So far, etching- assisted femtosecond laser modification has demonstrated to be the efficient strategy to solve the above problems when processing hard materials, including wet etching and dry etching. In this review, femtosecond laser modification that would influence the etching selectivity is introduced. The fundamental and recent applications of the two kinds of etching assisted femtosecond laser modification technologies are summarized. In addition, the challenges and application prospects of these technologies are discussed.
基金supported in part by the Institute for Guo Qiang of Tsinghua University(2019GQG1023)in part by Graduate Education and Teaching Reform Project of Tsinghua University(202007J007)+1 种基金in part by National Natural Science Foundation of China(U19B2029,62073028,61803222)in part by the Independent Research Program of Tsinghua University(2018Z05JDX002)。
文摘There are two main trends in the development of unmanned aerial vehicle(UAV)technologies:miniaturization and intellectualization,in which realizing object tracking capabilities for a nano-scale UAV is one of the most challenging problems.In this paper,we present a visual object tracking and servoing control system utilizing a tailor-made 38 g nano-scale quadrotor.A lightweight visual module is integrated to enable object tracking capabilities,and a micro positioning deck is mounted to provide accurate pose estimation.In order to be robust against object appearance variations,a novel object tracking algorithm,denoted by RMCTer,is proposed,which integrates a powerful short-term tracking module and an efficient long-term processing module.In particular,the long-term processing module can provide additional object information and modify the short-term tracking model in a timely manner.Furthermore,a positionbased visual servoing control method is proposed for the quadrotor,where an adaptive tracking controller is designed by leveraging backstepping and adaptive techniques.Stable and accurate object tracking is achieved even under disturbances.Experimental results are presented to demonstrate the high accuracy and stability of the whole tracking system.
