The influence of laser beam divergence angle on the positioning accuracy of scanning airborne light detection and ranging (LIDAR) is analyzed and simulated. Based on the data process and positioning principle of air...The influence of laser beam divergence angle on the positioning accuracy of scanning airborne light detection and ranging (LIDAR) is analyzed and simulated. Based on the data process and positioning principle of airborne LIDAR, the errors from pulse broadening induced by laser beam di vergence angle are modeled and qualitatively analyzed for different terrain surfaces. Simulated results of positioning errors and suggestions to reduce them are given for the flat surface, the downhill of slope surface, and the uphill surface.展开更多
Objective To explore the differences in three different registration methods of cone beam computed tomography(CBCT)-guided down-regulated intense radiation therapy for lung cancer as well as the effects of tumor locat...Objective To explore the differences in three different registration methods of cone beam computed tomography(CBCT)-guided down-regulated intense radiation therapy for lung cancer as well as the effects of tumor location,treatment mode,and tumor size on registration.Methods This retrospective analysis included 80 lung cancer patients undergoing radiotherapy in our hospital from November 2017 to October 2019 and compared automatic bone registration,automatic grayscale(t+r)registration,and automatic grayscale(t)positioning error on the X-,Y-,and Z-axes under three types of registration methods.The patients were also grouped according to tumor position,treatment mode,and tumor size to compare positioning errors.Results On the X-,Y-,and Z-axes,automatic grayscale(t+r)and automatic grayscale(t)registration showed a better trend.Analysis of the different treatment modes showed differences in the three registration methods;however,these were not statistically significant.Analysis according to tumor sizes showed significant differences between the three registration methods(P<0.05).Analysis according to tumor positions showed differences in the X-and Y-axes that were not significant(P>0.05),while the autopsy registration in the Z-axis showed the largest difference in the mediastinal and hilar lymph nodes(P<0.05).Conclusion The treatment mode was not the main factor affecting registration error in lung cancer.Three registration methods are available for tumors in the upper and lower lungs measuring<3 cm;among these,automatic gray registration is recommended,while any gray registration method is recommended for tumors located in the mediastinal hilar site measuring<3 cm and in the upper and lower lungs≥3 cm.展开更多
In this paper,an antenna array composed of circular array and orthogonal linear array is proposed by using the design of long and short baseline“orthogonal linear array”and the circular array ambiguity resolution de...In this paper,an antenna array composed of circular array and orthogonal linear array is proposed by using the design of long and short baseline“orthogonal linear array”and the circular array ambiguity resolution design of multi-group baseline clustering.The effectiveness of the antenna array in this paper is verified by sufficient simulation and experiment.After the system deviation correction work,it is found that in the L/S/C/X frequency bands,the ambiguity resolution probability is high,and the phase difference system error between each channel is basically the same.The angle measurement error is less than 0.5°,and the positioning error is less than 2.5 km.Notably,as the center frequency increases,calibration consistency improves,and the calibration frequency points become applicable over a wider frequency range.At a center frequency of 11.5 GHz,the calibration frequency point bandwidth extends to 1200 MHz.This combined antenna array deployment holds significant promise for a wide range of applications in contemporary wireless communication systems.展开更多
Magnetic field gradient tensor measurement is an important technique to obtain position information of magnetic objects. When using magnetic field sensors to measure magnetic field gradient as the coefficients of tens...Magnetic field gradient tensor measurement is an important technique to obtain position information of magnetic objects. When using magnetic field sensors to measure magnetic field gradient as the coefficients of tensor, field differentiation is generally approximated by field difference. As a result, magnetic objects positioning by magnetic field gradient tensor measurement always involves an inherent error caused by sensor sizes, leading to a reduction in detectable distance and detectable angle. In this paper, the inherent positioning error caused by magnetic field gradient tensor measurement is calculated and corrected by iterations based on the systematic position error distribution patterns. The results show that, the detectable distance range and the angle range of an ac magnetic object(2.44 Am^2@1 kHz) can be increased from(0.45 m, 0.75 m),(0?, 25?) to(0.30 m, 0.80 m),(0?,80?), respectively.展开更多
The lightning current magnitude and other characteristics are important basic data of the lightning disaster investigation and identification. The characteristics of lightning monitoring and positioning system in Inne...The lightning current magnitude and other characteristics are important basic data of the lightning disaster investigation and identification. The characteristics of lightning monitoring and positioning system in Inner Mongolia were introduced and studied in the lightning accident analysis based on the lightning monitoring and positioning data of the lightning stroke accidents. The positioning error of lightning monitoring and positioning system was analyzed. The results showed that lightning current intensity and the position precision were very important data in the lightning disaster investigation. Finally, a variety of meteorological data should be applied in the lightning disaster investigation and identification.展开更多
The uncertainty of observers' positions can lead to significantly degrading in source localization accuracy. This pa-per proposes a method of using self-location for calibrating the positions of observer stations in ...The uncertainty of observers' positions can lead to significantly degrading in source localization accuracy. This pa-per proposes a method of using self-location for calibrating the positions of observer stations in source localization to reduce the errors of the observer positions and improve the accuracy of the source localization. The relative distance measurements of the two coordinative observers are used for the linear minimum mean square error (LMMSE) estimator. The results of computer si-mulations prove the feasibility and effectiveness of the proposed method. With the general estimation errors of observers' positions, the MSE of the source localization with self-location calibration, which is significantly lower than that without self-location calibra-tion, is approximating to the Cramer-Rao lower bound (CRLB).展开更多
Due to the inability of the Global Positioning System(GPS)signals to penetrate through surfaces like roofs,walls,and other objects in indoor environments,numerous alternative methods for user positioning have been pre...Due to the inability of the Global Positioning System(GPS)signals to penetrate through surfaces like roofs,walls,and other objects in indoor environments,numerous alternative methods for user positioning have been presented.Amongst those,the Wi-Fi fingerprinting method has gained considerable interest in Indoor Positioning Systems(IPS)as the need for lineof-sight measurements is minimal,and it achieves better efficiency in even complex indoor environments.Offline and online are the two phases of the fingerprinting method.Many researchers have highlighted the problems in the offline phase as it deals with huge datasets and validation of Fingerprints without pre-processing of data becomes a concern.Machine learning is used for the model training in the offline phase while the locations are estimated in the online phase.Many researchers have considered the concerns in the offline phase as it deals with huge datasets and validation of Fingerprints becomes an issue.Machine learning algorithms are a natural solution for winnowing through large datasets and determining the significant fragments of information for localization,creating precise models to predict an indoor location.Large training sets are a key for obtaining better results in machine learning problems.Therefore,an existing WLAN fingerprinting-based multistory building location database has been used with 21049 samples including 19938 training and 1111 testing samples.The proposed model consists of mean and median filtering as pre-processing techniques applied to the database for enhancing the accuracy by mitigating the impact of environmental dispersion and investigated machine learning algorithms(kNN,WkNN,FSkNN,and SVM)for estimating the location.The proposed SVM with median filtering algorithm gives a reduced mean positioning error of 0.7959 m and an improved efficiency of 92.84%as compared to all variants of the proposed method for 108703 m^(2) area.展开更多
Micro milling has many advantages in fabricating three-dimensional(3D) structure in micrometer scale. The micro milling machine tool with high positioning accuracy is of great importance for getting micro structure wi...Micro milling has many advantages in fabricating three-dimensional(3D) structure in micrometer scale. The micro milling machine tool with high positioning accuracy is of great importance for getting micro structure with high profile precision and good surface quality. Meanwhile, the method of position error compensation is a good way to improve the accuracy of the micro milling machine tools. In this paper,a software method is adopted to compensate the positioning error and improve the positioning accuracy. According to error cancellation theory,the compensation values are generated and compensation tables are built to adjust the positioning error in the NC system based on Industrial Motion and Automation Control( IMAC). The positioning accuracy of linear motor is ± 0. 3 μm without backlash after compensation. In order to verify the effectiveness of compensation on the machining performance,concave spherical surfaces are processed on the micro milling machine tool. The experimental results show that the profile radius error of the spherical surface machined with compensation decreases more than 60%.展开更多
Automatic navigation of an articulated drum roller, which is an articulated steering type vehicle widely used in the construction industry, is highly expected for operation cost reduction and improvement of work effi-...Automatic navigation of an articulated drum roller, which is an articulated steering type vehicle widely used in the construction industry, is highly expected for operation cost reduction and improvement of work effi- ciency. In order to achieve the path following control, considering that its steering system is articulated steering and two frames are articulated by an active revolute joint, a kinematic model and an error dynamic state-space equation of an articulated drum roller are proposed. Besides, a state- feedback control law based on Lyapunov stability theory is also designed, which can be proved to achieve the purpose of control by the analysis of stability. What's more, to evaluate the performance of the proposed method, simu- lation under the MATLAB/Simulink and experiments using positioning algorithm and errors correction at the uneven construction site are performed, with initial dis- placement error (-1.5 m), heading error (-0.11 tad) and steering angle (-0.19 rad). Finally, simulation and exper- imental results show that the errors and steering angle can decrease gradually, and converge to zero with time. Meanwhile, the control input is not saturated. An articu- lated drum roller can lock into a desired path with the proposed method in uneven fields.展开更多
Monitoring the performance of any structure requires real-time measurements of the change of position of critical points. Different techniques can be used for this purpose, each one offering advantages and disadvantag...Monitoring the performance of any structure requires real-time measurements of the change of position of critical points. Different techniques can be used for this purpose, each one offering advantages and disadvantages. The technique based on satellite positioning systems (GPS, GLONASS and the future GALILEO) seems to be very promising at least for long period structures. The GPS in particular provides sampling rates that are able to track dynamic displacements with high accuracy. Its service ability is independent of atmospheric conditions, temperature variations and visibility of the monitored object. This paper investigates the reliability and accuracy of the measurements of dual frequency GPS receivers. A linear electromagnetic motor moves an object along a given direction. The changes of position are compared witb their estimates as recorded by a GPS receiver, whose antenna is located on the reference object. The comparison is based on sufficiently long records.展开更多
Research of thermal characteristics has been a key issue in the development of high-speed feed system. Most of the work carried out thus far is based on the principle of directly mapping the thermal error against the ...Research of thermal characteristics has been a key issue in the development of high-speed feed system. Most of the work carried out thus far is based on the principle of directly mapping the thermal error against the temperature of critical machine elements irrespective of the operating conditions. But recent researches show that different sets of operating parameters generated significantly different error values even though the temperature of the machine elements generated was similar. As such, it is important to develop a generic thermal error model which is capable of evaluating the positioning error induced by different operating parameters. This paper ultimately aims at the development of a comprehensive prediction model that can predict the thermal characteristics under different operating conditions (feeding speed, load and preload of ballscrew) in a feed system. A novel wavelet neural network based on feedback linearization autoregressive moving averaging (NARMA-L2) model is introduced to predict the temperature rise of sensitive points and thermal positioning errors considering the different operating conditions as the model inputs. Particle swarm optimization(PSO) algorithm is brought in as the training method. According to ISO230-2 Positioning Accuracy Measurement and ISO230-3 Thermal Effect Evaluation standards, experiments under different operating conditions were carried out on a self-made quasi high-speed feed system experimental bench HUST-FS-001 by using Pt100 as temperature sensor, and the positioning errors were measured by Heidenhain linear grating scale. The experiment results show that the recommended method can be used to predict temperature rise of sensitive points and thermal positioning errors with good accuracy. The work described in this paper lays a solid foundation of thermal error prediction and compensation in a feed system based on varying operating conditions and machine tool characteristics.展开更多
Five-hundred-meter Aperture Spherical radio Telescope(FAST)is the world’s largest single dish radio telescope,which is located in Guizhou Province,in southwest China.The FAST feed cabin is supported and positioned by...Five-hundred-meter Aperture Spherical radio Telescope(FAST)is the world’s largest single dish radio telescope,which is located in Guizhou Province,in southwest China.The FAST feed cabin is supported and positioned by six steel cables.The deviation of the feed position and orientation would lead to loss in the telescope efficiency.In this paper,a series of electromagnetic(EM)simulations of the FAST facility with varying feed positions and orientation offsets was performed.The maximum gain of FAST is about 82.3 dBi and the sibelobe is–32 dB with respect to the main beam at 3 GHz.The simulation results have demonstrated that the telescope efficiency loss is more sensitive to the lateral feed deviation compared with the axial deviation.The telescope efficiency would decrease by 8.2%due to the FAST feed position deviation of 10 mm rms when the observing frequency is 3 GHz.The FAST feed deviation basically has no effect on the sidelobes and cross polarization characteristic according to the simulations.展开更多
The measurement of the rolling angle of the projectile is one of the key technologies for the terminal correction projectile.To improve the resolution accuracy of the rolling angle in the laser seeker weapon system, t...The measurement of the rolling angle of the projectile is one of the key technologies for the terminal correction projectile.To improve the resolution accuracy of the rolling angle in the laser seeker weapon system, the imaging model of the detector, calculation model of the position and the signal-to-noise ratio(SNR) model of the circuit are built to derive both the correlation between the resolution error of the rolling angle and the spot position, and the relation between the position resolution error and the SNR. Then the influence of each parameter on the SNR is analyzed at large,and the parameters of the circuit are determined. Meanwhile, the SNR and noise voltage of the circuit are calculated according to the SNR model and the decay model of the laser energy. Finally,the actual photoelectric detection circuit is built, whose SNR is measured to be up to 53 d B. It can fully meet the requirement of0.5° for the resolution error of the rolling angle, thereby realizing the analysis of critical technology for photoelectric detection of laser seeker signals.展开更多
Receiver Autonomous Integrity Monitoring (RAIM) is a software algorithm available in some GPS receivers which gives an indication if the position solution given by the GPS receiver is suitable to use. The detail alg...Receiver Autonomous Integrity Monitoring (RAIM) is a software algorithm available in some GPS receivers which gives an indication if the position solution given by the GPS receiver is suitable to use. The detail algorithm of the parity space method of RAIM technique is presented. Using FDI and FDE methods, the simulations of RAIM performance have been done in three different phases independently with respect to the bias of the fault satellite. Case study of simulation results is discussed and each performance of RAIM is analyzed. According to the analysis of simulation results, the parity space method of RAIM can meet the integrity requirements for nonprecision, terminal and enroute flight phase. It also indicates that the results of performance of FDE are better than that of FDI.展开更多
Inductance asymmetry,which is brought by inherent asymmetric parameters,manufacture tolerance,winding fault,cables with unequal lengths,etc.,of permanent-magnet synchronous machines(PMSMs)can cause current harmonics a...Inductance asymmetry,which is brought by inherent asymmetric parameters,manufacture tolerance,winding fault,cables with unequal lengths,etc.,of permanent-magnet synchronous machines(PMSMs)can cause current harmonics and inaccurate position estimation.This paper proposes an enhanced fundamental model based sensorless control strategy for PMSMs with asymmetric inductances.The proportional-integral-resonant current regulator is introduced to reduce the second-order harmonics of currents,but there are still negative sequence components in the estimated back-electromotive forces(EMFs),which can cause the position estimated error.Differing from conventional methods in which negative sequences are filtered out before the phase-locked loop(PLL)module,the proposed method directly applies the estimated back-EMF with negative sequences as the reference input of PLL.An improved PLL with a bi-quad filter is proposed to attenuate the arising second harmonic position error and heighten the steady-state accuracy.Then,this position error is used for asymmetric inductance identification and its result is utilized to update the observer model.Furthermore,the dynamic performance is improved by the output limitation on the bi-quad filter as well as the implementation of a fast-locking technique in the PLL.The effectiveness of the proposed scheme is verified by experimental results.展开更多
Previous results show that the floating reference theory(FRT)is an effective tool to reduce the infuence of interference factors on noninvasive blood glucose sensing by near infrared spectros-copy(NIRS).It is the key ...Previous results show that the floating reference theory(FRT)is an effective tool to reduce the infuence of interference factors on noninvasive blood glucose sensing by near infrared spectros-copy(NIRS).It is the key to measure the floating reference point(FRP)precisely for the application of FRT.Monte Carlo(MC)simulation has been introduced to quantitatively in-vestigate the effects of positioning errors and light source drifts on measuring FRP.In this article,thinning and calculating method(TCM)is proposed to quantify the positioning error.Mean-while,the normalization process(NP)is developed to significantly reduce the error induced by light source drift.The results according to TCM show that 7 purm deviations in positioning can generate about 10.63%relative error in FRP.It is more noticeable that 1%fluctuation in light source intensity may lead to 12.21%relative errors.Gratifyingly,the proposed NP model can effectively reduce the error caused by light source drift.Therefore,the measurement system for FRPs must meet that the positioning error is less than 7 purm,and the light source drift is kept within 1%.Furthermore,an improvement for measurement system is proposed in order to take advantage of the NP model.展开更多
This paper presents a method of rapid machine tool error modeling, separation, and compensation using grating ruler. A robust modeling procedure for geometric errors is developed and a fast data processing algorithm i...This paper presents a method of rapid machine tool error modeling, separation, and compensation using grating ruler. A robust modeling procedure for geometric errors is developed and a fast data processing algorithm is designed by using the error separation technique. After compensation with the new method, the maximum position error of the experiment workbench can be reduced from 400 μm to 15 μm. The experimental results show the effectiveness and accuracy of this method.展开更多
The influences of joints' error, motion history, speed and robot posture on repeatability are analyzed and the mathematical expressions of the quantity, direction and distribution of the stochastic positional erro...The influences of joints' error, motion history, speed and robot posture on repeatability are analyzed and the mathematical expressions of the quantity, direction and distribution of the stochastic positional error are derived . Using this model the magnitude and direction of the stochastic positional error after any motion can be preestimated and compensated .展开更多
The ionosphere is one of the major error sources in Global Navigation Satellite System (GNSS) posi- tioning, navigation and timing. Estimating the ionospheric delays precisely is of great interest in the GNSS commun...The ionosphere is one of the major error sources in Global Navigation Satellite System (GNSS) posi- tioning, navigation and timing. Estimating the ionospheric delays precisely is of great interest in the GNSS community. To date, GNSS observables for ionospheric estimation are most commonly based on carrier phase smoothed code measurements. However, leveling errors, which affect the performance of ionospheric modeling and differential code bias (DCB) estimation, exist in the carrier phase smoothed code observations. Such leveling errors are caused by the multipath and the short-term variation of DCB. To reduce these leveling errors, this paper investigates and estimates the ionospheric delays based on carrier phase measurements without the leveling errors. The line-of-sight ionospheric observables with high precision are calculated using precise point positioning (PPP) techniques, in which carrier phase measurements are the principal observables. Ionosphere-free and UofC PPP models are applied and compared for their effectiveness to minimize the leveling errors. To assess the leveling errors, single difference of ionospheric observables for a short baseline is examined. Results show that carrier phase- derived ionospheric observables from PPP techniques can effectively reduce the leveling errors. Furthermore, we compared the PPP ionosphere estimation model with the conventional carrier phase smoothed code method to assess the bias consistency and investigate the biases in the ionospheric observables.展开更多
In this paper, the main effective factors of engine assembly quality have been analyzed in detail. It provided a mathematical model of engine life span based on the laws of the changirng of friction pairs gap and runn...In this paper, the main effective factors of engine assembly quality have been analyzed in detail. It provided a mathematical model of engine life span based on the laws of the changirng of friction pairs gap and running-in analysis. On the basis of a EQ6100 engine test, the applied spectral analysis technique, it gained efficient technique measures to enhance the engine 's life span, and provided a proposal value and an allowed value of integrated position precision error.展开更多
基金Supported by the National Basic Research Program of China("973"Program)(2009CB72400401A)
文摘The influence of laser beam divergence angle on the positioning accuracy of scanning airborne light detection and ranging (LIDAR) is analyzed and simulated. Based on the data process and positioning principle of airborne LIDAR, the errors from pulse broadening induced by laser beam di vergence angle are modeled and qualitatively analyzed for different terrain surfaces. Simulated results of positioning errors and suggestions to reduce them are given for the flat surface, the downhill of slope surface, and the uphill surface.
基金Supported by grants from the Nanchong City School Cooperation Project(No.18SXHZ0542)Hubei Chen Xiaoping Science and Technology Development Foundation Project(No.CXPJJH11900002-037)Sichuan Medical Research Youth Innovation Project(No.Q18031).
文摘Objective To explore the differences in three different registration methods of cone beam computed tomography(CBCT)-guided down-regulated intense radiation therapy for lung cancer as well as the effects of tumor location,treatment mode,and tumor size on registration.Methods This retrospective analysis included 80 lung cancer patients undergoing radiotherapy in our hospital from November 2017 to October 2019 and compared automatic bone registration,automatic grayscale(t+r)registration,and automatic grayscale(t)positioning error on the X-,Y-,and Z-axes under three types of registration methods.The patients were also grouped according to tumor position,treatment mode,and tumor size to compare positioning errors.Results On the X-,Y-,and Z-axes,automatic grayscale(t+r)and automatic grayscale(t)registration showed a better trend.Analysis of the different treatment modes showed differences in the three registration methods;however,these were not statistically significant.Analysis according to tumor sizes showed significant differences between the three registration methods(P<0.05).Analysis according to tumor positions showed differences in the X-and Y-axes that were not significant(P>0.05),while the autopsy registration in the Z-axis showed the largest difference in the mediastinal and hilar lymph nodes(P<0.05).Conclusion The treatment mode was not the main factor affecting registration error in lung cancer.Three registration methods are available for tumors in the upper and lower lungs measuring<3 cm;among these,automatic gray registration is recommended,while any gray registration method is recommended for tumors located in the mediastinal hilar site measuring<3 cm and in the upper and lower lungs≥3 cm.
文摘In this paper,an antenna array composed of circular array and orthogonal linear array is proposed by using the design of long and short baseline“orthogonal linear array”and the circular array ambiguity resolution design of multi-group baseline clustering.The effectiveness of the antenna array in this paper is verified by sufficient simulation and experiment.After the system deviation correction work,it is found that in the L/S/C/X frequency bands,the ambiguity resolution probability is high,and the phase difference system error between each channel is basically the same.The angle measurement error is less than 0.5°,and the positioning error is less than 2.5 km.Notably,as the center frequency increases,calibration consistency improves,and the calibration frequency points become applicable over a wider frequency range.At a center frequency of 11.5 GHz,the calibration frequency point bandwidth extends to 1200 MHz.This combined antenna array deployment holds significant promise for a wide range of applications in contemporary wireless communication systems.
基金supported by the National Natural Science Foundation of China(61473023)
文摘Magnetic field gradient tensor measurement is an important technique to obtain position information of magnetic objects. When using magnetic field sensors to measure magnetic field gradient as the coefficients of tensor, field differentiation is generally approximated by field difference. As a result, magnetic objects positioning by magnetic field gradient tensor measurement always involves an inherent error caused by sensor sizes, leading to a reduction in detectable distance and detectable angle. In this paper, the inherent positioning error caused by magnetic field gradient tensor measurement is calculated and corrected by iterations based on the systematic position error distribution patterns. The results show that, the detectable distance range and the angle range of an ac magnetic object(2.44 Am^2@1 kHz) can be increased from(0.45 m, 0.75 m),(0?, 25?) to(0.30 m, 0.80 m),(0?,80?), respectively.
基金Supported by Science and Technology Project of Lightning Warning&Protection Center in Inner Mongolia,China(nmldkjcx201301)
文摘The lightning current magnitude and other characteristics are important basic data of the lightning disaster investigation and identification. The characteristics of lightning monitoring and positioning system in Inner Mongolia were introduced and studied in the lightning accident analysis based on the lightning monitoring and positioning data of the lightning stroke accidents. The positioning error of lightning monitoring and positioning system was analyzed. The results showed that lightning current intensity and the position precision were very important data in the lightning disaster investigation. Finally, a variety of meteorological data should be applied in the lightning disaster investigation and identification.
基金supported by the Fundamental Research Funds for the Central Universities(ZYGX2009J016)
文摘The uncertainty of observers' positions can lead to significantly degrading in source localization accuracy. This pa-per proposes a method of using self-location for calibrating the positions of observer stations in source localization to reduce the errors of the observer positions and improve the accuracy of the source localization. The relative distance measurements of the two coordinative observers are used for the linear minimum mean square error (LMMSE) estimator. The results of computer si-mulations prove the feasibility and effectiveness of the proposed method. With the general estimation errors of observers' positions, the MSE of the source localization with self-location calibration, which is significantly lower than that without self-location calibra-tion, is approximating to the Cramer-Rao lower bound (CRLB).
基金The authors extend their appreciation to the National University of Sciences and Technology for funding this work through the Researchers Supporting Grant,National University of Sciences and Technology,Islamabad,Pakistan.
文摘Due to the inability of the Global Positioning System(GPS)signals to penetrate through surfaces like roofs,walls,and other objects in indoor environments,numerous alternative methods for user positioning have been presented.Amongst those,the Wi-Fi fingerprinting method has gained considerable interest in Indoor Positioning Systems(IPS)as the need for lineof-sight measurements is minimal,and it achieves better efficiency in even complex indoor environments.Offline and online are the two phases of the fingerprinting method.Many researchers have highlighted the problems in the offline phase as it deals with huge datasets and validation of Fingerprints without pre-processing of data becomes a concern.Machine learning is used for the model training in the offline phase while the locations are estimated in the online phase.Many researchers have considered the concerns in the offline phase as it deals with huge datasets and validation of Fingerprints becomes an issue.Machine learning algorithms are a natural solution for winnowing through large datasets and determining the significant fragments of information for localization,creating precise models to predict an indoor location.Large training sets are a key for obtaining better results in machine learning problems.Therefore,an existing WLAN fingerprinting-based multistory building location database has been used with 21049 samples including 19938 training and 1111 testing samples.The proposed model consists of mean and median filtering as pre-processing techniques applied to the database for enhancing the accuracy by mitigating the impact of environmental dispersion and investigated machine learning algorithms(kNN,WkNN,FSkNN,and SVM)for estimating the location.The proposed SVM with median filtering algorithm gives a reduced mean positioning error of 0.7959 m and an improved efficiency of 92.84%as compared to all variants of the proposed method for 108703 m^(2) area.
基金Sponsored by the National Natural Science Foundation of China(Grant No.50935003)
文摘Micro milling has many advantages in fabricating three-dimensional(3D) structure in micrometer scale. The micro milling machine tool with high positioning accuracy is of great importance for getting micro structure with high profile precision and good surface quality. Meanwhile, the method of position error compensation is a good way to improve the accuracy of the micro milling machine tools. In this paper,a software method is adopted to compensate the positioning error and improve the positioning accuracy. According to error cancellation theory,the compensation values are generated and compensation tables are built to adjust the positioning error in the NC system based on Industrial Motion and Automation Control( IMAC). The positioning accuracy of linear motor is ± 0. 3 μm without backlash after compensation. In order to verify the effectiveness of compensation on the machining performance,concave spherical surfaces are processed on the micro milling machine tool. The experimental results show that the profile radius error of the spherical surface machined with compensation decreases more than 60%.
基金Supported by National Key Technology Support Program of China(Grant No.2015BAF07B05)Fundamental Research Funds for the Central Universities of China
文摘Automatic navigation of an articulated drum roller, which is an articulated steering type vehicle widely used in the construction industry, is highly expected for operation cost reduction and improvement of work effi- ciency. In order to achieve the path following control, considering that its steering system is articulated steering and two frames are articulated by an active revolute joint, a kinematic model and an error dynamic state-space equation of an articulated drum roller are proposed. Besides, a state- feedback control law based on Lyapunov stability theory is also designed, which can be proved to achieve the purpose of control by the analysis of stability. What's more, to evaluate the performance of the proposed method, simu- lation under the MATLAB/Simulink and experiments using positioning algorithm and errors correction at the uneven construction site are performed, with initial dis- placement error (-1.5 m), heading error (-0.11 tad) and steering angle (-0.19 rad). Finally, simulation and exper- imental results show that the errors and steering angle can decrease gradually, and converge to zero with time. Meanwhile, the control input is not saturated. An articu- lated drum roller can lock into a desired path with the proposed method in uneven fields.
文摘Monitoring the performance of any structure requires real-time measurements of the change of position of critical points. Different techniques can be used for this purpose, each one offering advantages and disadvantages. The technique based on satellite positioning systems (GPS, GLONASS and the future GALILEO) seems to be very promising at least for long period structures. The GPS in particular provides sampling rates that are able to track dynamic displacements with high accuracy. Its service ability is independent of atmospheric conditions, temperature variations and visibility of the monitored object. This paper investigates the reliability and accuracy of the measurements of dual frequency GPS receivers. A linear electromagnetic motor moves an object along a given direction. The changes of position are compared witb their estimates as recorded by a GPS receiver, whose antenna is located on the reference object. The comparison is based on sufficiently long records.
基金supported by National Key Basic Research Program of China(973Program,Grant No.2005CB724100,Grant No.2011CB706803)National Natural Science Foundation of China(Grant No.50675076,Grant No.50575087,Grant No.51075161)National Hi-tech Research and Development Program of China(863Program,Grant No.2008AA042802)
文摘Research of thermal characteristics has been a key issue in the development of high-speed feed system. Most of the work carried out thus far is based on the principle of directly mapping the thermal error against the temperature of critical machine elements irrespective of the operating conditions. But recent researches show that different sets of operating parameters generated significantly different error values even though the temperature of the machine elements generated was similar. As such, it is important to develop a generic thermal error model which is capable of evaluating the positioning error induced by different operating parameters. This paper ultimately aims at the development of a comprehensive prediction model that can predict the thermal characteristics under different operating conditions (feeding speed, load and preload of ballscrew) in a feed system. A novel wavelet neural network based on feedback linearization autoregressive moving averaging (NARMA-L2) model is introduced to predict the temperature rise of sensitive points and thermal positioning errors considering the different operating conditions as the model inputs. Particle swarm optimization(PSO) algorithm is brought in as the training method. According to ISO230-2 Positioning Accuracy Measurement and ISO230-3 Thermal Effect Evaluation standards, experiments under different operating conditions were carried out on a self-made quasi high-speed feed system experimental bench HUST-FS-001 by using Pt100 as temperature sensor, and the positioning errors were measured by Heidenhain linear grating scale. The experiment results show that the recommended method can be used to predict temperature rise of sensitive points and thermal positioning errors with good accuracy. The work described in this paper lays a solid foundation of thermal error prediction and compensation in a feed system based on varying operating conditions and machine tool characteristics.
基金funded by the National Natural Science Foundation of China(Grant No.11303062)
文摘Five-hundred-meter Aperture Spherical radio Telescope(FAST)is the world’s largest single dish radio telescope,which is located in Guizhou Province,in southwest China.The FAST feed cabin is supported and positioned by six steel cables.The deviation of the feed position and orientation would lead to loss in the telescope efficiency.In this paper,a series of electromagnetic(EM)simulations of the FAST facility with varying feed positions and orientation offsets was performed.The maximum gain of FAST is about 82.3 dBi and the sibelobe is–32 dB with respect to the main beam at 3 GHz.The simulation results have demonstrated that the telescope efficiency loss is more sensitive to the lateral feed deviation compared with the axial deviation.The telescope efficiency would decrease by 8.2%due to the FAST feed position deviation of 10 mm rms when the observing frequency is 3 GHz.The FAST feed deviation basically has no effect on the sidelobes and cross polarization characteristic according to the simulations.
基金supported by the National Natural Science Foundation of China(61201391)
文摘The measurement of the rolling angle of the projectile is one of the key technologies for the terminal correction projectile.To improve the resolution accuracy of the rolling angle in the laser seeker weapon system, the imaging model of the detector, calculation model of the position and the signal-to-noise ratio(SNR) model of the circuit are built to derive both the correlation between the resolution error of the rolling angle and the spot position, and the relation between the position resolution error and the SNR. Then the influence of each parameter on the SNR is analyzed at large,and the parameters of the circuit are determined. Meanwhile, the SNR and noise voltage of the circuit are calculated according to the SNR model and the decay model of the laser energy. Finally,the actual photoelectric detection circuit is built, whose SNR is measured to be up to 53 d B. It can fully meet the requirement of0.5° for the resolution error of the rolling angle, thereby realizing the analysis of critical technology for photoelectric detection of laser seeker signals.
文摘Receiver Autonomous Integrity Monitoring (RAIM) is a software algorithm available in some GPS receivers which gives an indication if the position solution given by the GPS receiver is suitable to use. The detail algorithm of the parity space method of RAIM technique is presented. Using FDI and FDE methods, the simulations of RAIM performance have been done in three different phases independently with respect to the bias of the fault satellite. Case study of simulation results is discussed and each performance of RAIM is analyzed. According to the analysis of simulation results, the parity space method of RAIM can meet the integrity requirements for nonprecision, terminal and enroute flight phase. It also indicates that the results of performance of FDE are better than that of FDI.
基金supported in part by the National Key R&D Program of China under Grant 2019YFB1503700in part by the National Natural Science Foundation of China under Grant 51977191。
文摘Inductance asymmetry,which is brought by inherent asymmetric parameters,manufacture tolerance,winding fault,cables with unequal lengths,etc.,of permanent-magnet synchronous machines(PMSMs)can cause current harmonics and inaccurate position estimation.This paper proposes an enhanced fundamental model based sensorless control strategy for PMSMs with asymmetric inductances.The proportional-integral-resonant current regulator is introduced to reduce the second-order harmonics of currents,but there are still negative sequence components in the estimated back-electromotive forces(EMFs),which can cause the position estimated error.Differing from conventional methods in which negative sequences are filtered out before the phase-locked loop(PLL)module,the proposed method directly applies the estimated back-EMF with negative sequences as the reference input of PLL.An improved PLL with a bi-quad filter is proposed to attenuate the arising second harmonic position error and heighten the steady-state accuracy.Then,this position error is used for asymmetric inductance identification and its result is utilized to update the observer model.Furthermore,the dynamic performance is improved by the output limitation on the bi-quad filter as well as the implementation of a fast-locking technique in the PLL.The effectiveness of the proposed scheme is verified by experimental results.
基金the National High Technology Research and Development Program of China(863 Program:2012AA022602)the 111 Project(B07014)and Tianjin Natural Science Foundation(No.16JCZDJC31200).
文摘Previous results show that the floating reference theory(FRT)is an effective tool to reduce the infuence of interference factors on noninvasive blood glucose sensing by near infrared spectros-copy(NIRS).It is the key to measure the floating reference point(FRP)precisely for the application of FRT.Monte Carlo(MC)simulation has been introduced to quantitatively in-vestigate the effects of positioning errors and light source drifts on measuring FRP.In this article,thinning and calculating method(TCM)is proposed to quantify the positioning error.Mean-while,the normalization process(NP)is developed to significantly reduce the error induced by light source drift.The results according to TCM show that 7 purm deviations in positioning can generate about 10.63%relative error in FRP.It is more noticeable that 1%fluctuation in light source intensity may lead to 12.21%relative errors.Gratifyingly,the proposed NP model can effectively reduce the error caused by light source drift.Therefore,the measurement system for FRPs must meet that the positioning error is less than 7 purm,and the light source drift is kept within 1%.Furthermore,an improvement for measurement system is proposed in order to take advantage of the NP model.
文摘This paper presents a method of rapid machine tool error modeling, separation, and compensation using grating ruler. A robust modeling procedure for geometric errors is developed and a fast data processing algorithm is designed by using the error separation technique. After compensation with the new method, the maximum position error of the experiment workbench can be reduced from 400 μm to 15 μm. The experimental results show the effectiveness and accuracy of this method.
文摘The influences of joints' error, motion history, speed and robot posture on repeatability are analyzed and the mathematical expressions of the quantity, direction and distribution of the stochastic positional error are derived . Using this model the magnitude and direction of the stochastic positional error after any motion can be preestimated and compensated .
文摘The ionosphere is one of the major error sources in Global Navigation Satellite System (GNSS) posi- tioning, navigation and timing. Estimating the ionospheric delays precisely is of great interest in the GNSS community. To date, GNSS observables for ionospheric estimation are most commonly based on carrier phase smoothed code measurements. However, leveling errors, which affect the performance of ionospheric modeling and differential code bias (DCB) estimation, exist in the carrier phase smoothed code observations. Such leveling errors are caused by the multipath and the short-term variation of DCB. To reduce these leveling errors, this paper investigates and estimates the ionospheric delays based on carrier phase measurements without the leveling errors. The line-of-sight ionospheric observables with high precision are calculated using precise point positioning (PPP) techniques, in which carrier phase measurements are the principal observables. Ionosphere-free and UofC PPP models are applied and compared for their effectiveness to minimize the leveling errors. To assess the leveling errors, single difference of ionospheric observables for a short baseline is examined. Results show that carrier phase- derived ionospheric observables from PPP techniques can effectively reduce the leveling errors. Furthermore, we compared the PPP ionosphere estimation model with the conventional carrier phase smoothed code method to assess the bias consistency and investigate the biases in the ionospheric observables.
文摘In this paper, the main effective factors of engine assembly quality have been analyzed in detail. It provided a mathematical model of engine life span based on the laws of the changirng of friction pairs gap and running-in analysis. On the basis of a EQ6100 engine test, the applied spectral analysis technique, it gained efficient technique measures to enhance the engine 's life span, and provided a proposal value and an allowed value of integrated position precision error.