Relative positioning is one of the important techniques in collaborativerobotics, autonomous vehicles, and virtual/augmented reality (VR/AR)applications. Recently, ultra-wideband (UWB) has been utilized to calculatere...Relative positioning is one of the important techniques in collaborativerobotics, autonomous vehicles, and virtual/augmented reality (VR/AR)applications. Recently, ultra-wideband (UWB) has been utilized to calculaterelative position as it does not require a line of sight compared to a camerato calculate the range between two objects with centimeter-level accuracy.However, the single UWB range measurement cannot provide the relativeposition and attitude of any device in three dimensions (3D) because oflacking bearing information. In this paper, we have proposed a UWB-IMUfusion-based relative position system to provide accurate relative positionand attitude between wearable Internet of Things (IoT) devices in 3D. Weintroduce a distributed Euler angle antenna orientationwhich can be equippedwith the mobile structure to enable relative positioning. Moving average andmin-max removing preprocessing filters are introduced to reduce the standarddeviation. The standard multilateration method is modified to calculate therelative position between mobile structures. We combine UWB and IMUmeasurements in a probabilistic framework that enables users to calculatethe relative position between two nodes with less error. We have carried outdifferent experiments to illustrate the advantages of fusing IMU and UWBranges for relative positioning systems. We have achieved a mean accuracy of0.31m for 3D relative positioning in indoor line of sight conditions.展开更多
In the actual monitoring of deep hole displacement,the identification of slip surfaces is primarily based on abrupt changes observed in the inclinometric curve.In conventional identification methods,inclinometric curv...In the actual monitoring of deep hole displacement,the identification of slip surfaces is primarily based on abrupt changes observed in the inclinometric curve.In conventional identification methods,inclinometric curves exhibiting indications of sliding can be categorized into three types:B-type,D-type,and r-type.The position of the slip surface is typically determined by identifying the depth corresponding to the point of maximum displacement mutation.However,this method is sensitive to the interval of measurement points and the observation scale of the coordinate axes and suffers from unclear sliding surfaces and uncertain values.Based on the variation characteristics of these diagonal curves,we classified the landslide into three components:the sliding body,the sliding interval,and the immobile body.Moreover,three different generalization models were established to analyze the relationships between the curve form and the slip surface location based on different physical indicators such as displacement rate,relative displacement,and acceleration.The results show that the displacement rate curves of an r-type slope exhibit a clustering feature in the sliding interval,and by solving for the depth of discrete points within the step phase,it is possible to determine the location of the slip surface.On the other hand,D-type slopes have inflection points in the relative displacement curve located at the slip surface.The acceleration curves of B-type slopes exhibit clustering characteristics during the sliding interval,while the scattered acceleration data demonstrate wandering characteristics.Consequently,the slip surface location can be revealed by solving the depth corresponding to the maximum acceleration with cubic spline interpolation.The approach proposed in this paper was applied to the monitoring data of a landslide in Yunnan Province,China.The results indicate that our approach can accurately identify the slip surface location and enable computability of its position,thereby enhancing applicability and reliability of the deep-hole displacement monitoring data.展开更多
Based on the 6-pole outer stator(armature winding-stator),the influence of inner(permanent magnet-stator)/outer stator pole ratio n(n=NIS/NOS),stator relative positions and rotor pole number combinations on electromag...Based on the 6-pole outer stator(armature winding-stator),the influence of inner(permanent magnet-stator)/outer stator pole ratio n(n=NIS/NOS),stator relative positions and rotor pole number combinations on electromagnetic performance of partitioned stator switched flux permanent magnet(PM)machines(PS-SFPMMs)is investigated in this paper.Since the armature windings and PMs are located in two separated stators and PMs are stationary,PS-SFPMMs have high fault tolerance capabilities.To maximize the torque performance,the PM of inner stator pole should be aligned with outer stator pole when n is odd while the iron rib of inner stator pole should be aligned with outer stator pole when n is even.No matter what n is selected,the rotor pole number NR can be any integers except the phase number and its multiples.The analysis results indicate that the optimal NR is closed to(NIS+NOS)/2 and it is odd when n is odd while it is even when n is even.Meanwhile,symmetrical phase back-EMF waveform will be obtained when the ratio of Min(NOS,NIS)to the greatest common divisor of Min(NOS,NIS)and NR is even.Based on the optimal rotor pole numbers for 6-pole outer stator with different n and corresponding optimal relative position together with same rated copper loss,the average torque is improved by 18.4%,25.1%and 25.7%respectively in PS-SFPMMs with n equal to 2,3 and 4 when compared with PS-SFPMM with n equal to 1.The analyses are validated by experiment results of the prototype machine.展开更多
The study presents sampling interval impacts on variance components of the epoch-wise residual errors in relative GPS positioning. In the variance components estimation process, the 2-way nested ANOVA method was used....The study presents sampling interval impacts on variance components of the epoch-wise residual errors in relative GPS positioning. In the variance components estimation process, the 2-way nested ANOVA method was used. For that purpose, GPS observation data during four months at two permanent GPS stations, establishing a 40-km-long baseline as a part of the Montenegrin permanent network(Monte Pos), were used. The study results showed that there is no statistically significant impact of sampling interval changes on epoch-wise variance components related to the residual tropospheric and ionospheric delays(effect a) when it comes to such a baseline. However, it is not the case with epoch-wise variance components related to the interstation-distance-independent residual ‘far-field’ multipath effect(effect b). It turned out that the absolute values of relative differences of standard deviations of the effect a on the relative GPS coordinates(e, n and u) had maximum values 11.1%, 10.2% and 8.9%,respectively. Keeping the same order of presentation for the effect b, the values of 5.9%, 9.9% and 12.5%were obtained. In addition, absolute values of relative differences of standard deviations of horizontal and vertical position had maximum values of 3.8% and 7.7%, respectively.展开更多
An adaptive prescribed performance control scheme is proposed for the drag free satellite in the presence of actuator saturation and external disturbances.The relative translation and rotation dynamics between the tes...An adaptive prescribed performance control scheme is proposed for the drag free satellite in the presence of actuator saturation and external disturbances.The relative translation and rotation dynamics between the test mass and outer satellite are firstly derived.To guarantee prescribed performance bounds on the transient and steady control errors of relative states,a performance constrained control law is formulated with an error transformed function.In addition,the requirements to know the system parameters and the upper bound of the external disturbance in advance have been eliminated by adaptive updating technique.A command filter is concurrently used to overcome the problem of explosion of complexity inherent in the backstepping control design.Subsequently,a novel auxiliary system is constructed to compensate the adverse effects of the actuator saturation constrains.It is proved that all signals in the closed?loop system are ultimately bounded and prescribed performance of relative position and attitude control errors are guaranteed.Finally,numerical simulation results are given to demonstrate the effectiveness of the proposed approach.展开更多
Glycation is a non-enzymatic post-translational modification which assigns sugar molecule and residues to a peptide.It is a clinically important attribute to numerous age-related,metabolic,and chronic diseases such as...Glycation is a non-enzymatic post-translational modification which assigns sugar molecule and residues to a peptide.It is a clinically important attribute to numerous age-related,metabolic,and chronic diseases such as diabetes,Alzheimer’s,renal failure,etc.Identification of a non-enzymatic reaction are quite challenging in research.Manual identification in labs is a very costly and timeconsuming process.In this research,we developed an accurate,valid,and a robust model named as Gly-LysPred to differentiate the glycated sites from non-glycated sites.Comprehensive techniques using position relative features are used for feature extraction.An algorithm named as a random forest with some preprocessing techniques and feature engineering techniques was developed to train a computational model.Various types of testing techniques such as self-consistency testing,jackknife testing,and cross-validation testing are used to evaluate the model.The overall model’s accuracy was accomplished through self-consistency,jackknife,and cross-validation testing 100%,99.92%,and 99.88%with MCC 1.00,0.99,and 0.997 respectively.In this regard,a user-friendly webserver is also urbanized to accumulate the whole procedure.These features vectorization methods suggest that they can play a critical role in other web servers which are developed to classify lysine glycation.展开更多
Impact of satellite elevation cutoff angle and position dilution of precision(PDOP)mask change on epoch-wise variance components of unmodeled effects that accompany relative Global Positioning System(GPS)positioning i...Impact of satellite elevation cutoff angle and position dilution of precision(PDOP)mask change on epoch-wise variance components of unmodeled effects that accompany relative Global Positioning System(GPS)positioning is presented herein.Data used for this study refer to the winter and summer periods of the years with minimal(2008)and maximal(2013)solar activity.These data were collected every 30 s in static mode,at two permanent GPS stations located in Montenegro,establishing a mediumdistance(116-km-long)baseline with a height difference of approximately 760 m between its endpoints.The study showed that changing satellite elevation cutoff angle,with a fixed PDOP mask,affects epochwise two-way nested ANOVA estimates of variances related to the‘far-field’multipath(considered as the nested factor herein)and the combined unmodeled effect of tropospheric and ionospheric refraction(considered as the nesting factor herein).However,changing of PDOP mask,with a fixed satellite elevation cutoff angle,doesn’t affect epoch-wise two-way nested ANOVA estimate of variance of the combined unmodeled effect of tropospheric and ionospheric refraction,but,generally,affects the estimate of variance of the‘far-field’multipath(possibly mixed with a part of a‘shorter-term’ionospheric refraction),which is especially pronounced for the summer period.It should also be noted that there is a significant influence of satellite elevation cutoff angle change on both epoch-wise horizontal and vertical position accuracy,only for the summer period,especially in the presence of maximal solar activity,while there is no significant impact of PDOP mask change on epoch-wise positional accuracy.展开更多
Selecting the optimal reference satellite is an important component of high-precision relat/ve positioning because the reference satellite directly influences the strength of the normal equation. The reference satelli...Selecting the optimal reference satellite is an important component of high-precision relat/ve positioning because the reference satellite directly influences the strength of the normal equation. The reference satellite selection methods based on elevation and positional dilution of precision (PDOP) value were compared. Results show that all the above methods cannot select the optimal reference satellite. We introduce condition number of the design matrix in the reference satellite selection method to improve structure of the normal equation, because condition number can indicate the ill condition of the normal equation. The experimental results show that the new method can improve positioning accuracy and reliability in precise relative positioning.展开更多
The paper introduces an electroencephalography(EEG) driven online position control scheme for a robot arm by utilizing motor imagery to activate and error related potential(ErrP) to stop the movement of the individual...The paper introduces an electroencephalography(EEG) driven online position control scheme for a robot arm by utilizing motor imagery to activate and error related potential(ErrP) to stop the movement of the individual links, following a fixed(pre-defined) order of link selection. The right(left)hand motor imagery is used to turn a link clockwise(counterclockwise) and foot imagery is used to move a link forward. The occurrence of ErrP here indicates that the link under motion crosses the visually fixed target position, which usually is a plane/line/point depending on the desired transition of the link across 3D planes/around 2D lines/along 2D lines respectively. The imagined task about individual link's movement is decoded by a classifier into three possible class labels: clockwise, counterclockwise and no movement in case of rotational movements and forward, backward and no movement in case of translational movements. One additional classifier is required to detect the occurrence of the ErrP signal, elicited due to visually inspired positional link error with reference to a geometrically selected target position. Wavelet coefficients and adaptive autoregressive parameters are extracted as features for motor imagery and ErrP signals respectively. Support vector machine classifiers are used to decode motor imagination and ErrP with high classification accuracy above 80%. The average time taken by the proposed scheme to decode and execute control intentions for the complete movement of three links of a robot is approximately33 seconds. The steady-state error and peak overshoot of the proposed controller are experimentally obtained as 1.1% and4.6% respectively.展开更多
Existing image captioning models usually build the relation between visual information and words to generate captions,which lack spatial infor-mation and object classes.To address the issue,we propose a novel Position...Existing image captioning models usually build the relation between visual information and words to generate captions,which lack spatial infor-mation and object classes.To address the issue,we propose a novel Position-Class Awareness Transformer(PCAT)network which can serve as a bridge between the visual features and captions by embedding spatial information and awareness of object classes.In our proposal,we construct our PCAT network by proposing a novel Grid Mapping Position Encoding(GMPE)method and refining the encoder-decoder framework.First,GMPE includes mapping the regions of objects to grids,calculating the relative distance among objects and quantization.Meanwhile,we also improve the Self-attention to adapt the GMPE.Then,we propose a Classes Semantic Quantization strategy to extract semantic information from the object classes,which is employed to facilitate embedding features and refining the encoder-decoder framework.To capture the interaction between multi-modal features,we propose Object Classes Awareness(OCA)to refine the encoder and decoder,namely OCAE and OCAD,respectively.Finally,we apply GMPE,OCAE and OCAD to form various combinations and to complete the entire PCAT.We utilize the MSCOCO dataset to evaluate the performance of our method.The results demonstrate that PCAT outperforms the other competitive methods.展开更多
For the improvement of accuracy and better fault-tolerant performance, a global position system (GPS)/vision navigation (VISNAV) integrated relative navigation and attitude determination approach is presented for ...For the improvement of accuracy and better fault-tolerant performance, a global position system (GPS)/vision navigation (VISNAV) integrated relative navigation and attitude determination approach is presented for ultra-close spacecraft formation flying. Onboard GPS and VISNAV system are adopted and a federal Kalman filter architecture is used for the total navigation system design. Simulation results indicate that the integrated system can provide a total improvement of relative navigation and attitude estimation performance in accuracy and fault-tolerance.展开更多
To realize high accurate control of relative position and attitude between two spacecrafts, the coupling between position and attitude must be fully considered and a more precise model should be established. This pape...To realize high accurate control of relative position and attitude between two spacecrafts, the coupling between position and attitude must be fully considered and a more precise model should be established. This paper breaks the traditional divide and conquer idea, and uses a mathematical tool, namely dual quaternion to establish the integrated 6 degree-of-freedom(6-DOF) model of relative position and attitude, which describes the coupled relative motion in a compact and efficient form and needs less information of the target. Considering the complex operation rules and the unclarity of the current relative motion model in dual quaternion, necessary mathematical foundations are given at first, followed by clear and detailed modeling process and analysis. Finally a generalized proportion-derivative(PD) controller law is designed. The simulation results show that based on the integrated model established by dual quaternion, this control law can achieve a high control accuracy of relative motion.展开更多
In turbomachinery,strong secondary flow can produce significant losses of total pressure near the endwall and reduce the efficiency of the considered turbomachine.In this study,splitters located at different positions...In turbomachinery,strong secondary flow can produce significant losses of total pressure near the endwall and reduce the efficiency of the considered turbomachine.In this study,splitters located at different positions with respect to the main blade have been used to reduce such losses and improve the efficiency of the outlet guide vane(OGV).Three different relative positions have been considered assuming a NACA 65-010 profile for both the main blade and the splitter.The numerical results indicate that splitters can effectively reduce the total pressure loss by suppressing the secondary flow around the main blade,but the splitters themselves also produce flow losses,which are caused by flow separation effects.展开更多
In recent years,WiFi indoor positioning technology has become a hot research topic at home and abroad.However,at present,indoor positioning technology still has many problems in terms of practicability and stability,w...In recent years,WiFi indoor positioning technology has become a hot research topic at home and abroad.However,at present,indoor positioning technology still has many problems in terms of practicability and stability,which seriously affects the accuracy of indoor positioning and increases the complexity of the calculation process.Aiming at the instability of RSS and the more complicated data processing,this paper proposes a low-frequency filtering method based on fast data convergence.Low-frequency filtering uses MATLAB for data fitting to filter out low-frequency data;data convergence combines the mean and multi-data parallel analysis process to achieve a good balance between data volume and system performance.At the same time,this paper combines the position fingerprint and the relative position method in the algorithm,which reduces the error on the algorithm system.The test results show that the strategy can meet the requirements of indoor passive positioning and avoid a large amount of data collection and processing,and the average positioning error is below 0.5 meters.展开更多
The thermodynamic properties of xanthone(XTH) and 135 polybrominated xanthones(PBXTHs) in the standard state have been calculated at the B3LYP/6-31G* level using Gaussian 03 program.The isodesmic reactions were d...The thermodynamic properties of xanthone(XTH) and 135 polybrominated xanthones(PBXTHs) in the standard state have been calculated at the B3LYP/6-31G* level using Gaussian 03 program.The isodesmic reactions were designed to calculate the standard enthalpy of formation(△fHθ) and standard free energy of formation(△fGθ) of PBXTH congeners.The relations of these thermodynamic parameters with the number and position of Br atom substitution(NPBS) were discussed,and it was found that there exist high correlation between thermodynamic parameters(entropy(Sθ),△fHθ and △fGθ) and NPBS.According to the relative magnitude of their △fGθ,the relative stability order of PBXTH congeners was theoretically proposed.The relative rate constants of formation reactions of PBXTH congeners were calculated,Moreover,the values of molar heat capacity at constant pressure(Cp,m) from 200 to 1000 K for PBXTH congeners were also calculated,and the temperature dependence relation of them was obtained,suggesting very good relationships between Cp,m and temperature(T,T^1 and T^2) for almost all PBXTH congeners.展开更多
Unmanned clusters can realize collaborative work,fexible confguration,and efcient operation,which has become an important development trend of unmanned platforms.Cluster positioning is important for ensuring the norma...Unmanned clusters can realize collaborative work,fexible confguration,and efcient operation,which has become an important development trend of unmanned platforms.Cluster positioning is important for ensuring the normal operation of unmanned clusters.The existing solutions have some problems such as requiring external system assistance,high system complexity,poor architecture scalability,and accumulation of positioning errors over time.Without the aid of the information outside the cluster,we plan to construct the relative position relationship with north alignment to adopt formation control and achieve robust cluster relative positioning.Based on the idea of bionics,this paper proposes a cluster robust hierarchical positioning architecture by analyzing the autonomous behavior of pigeon focks.We divide the clusters into follower clusters,core clusters,and leader nodes,which can realize fexible networking and cluster expansion.Aiming at the core cluster that is the most critical to relative positioning in the architecture,we propose a cluster relative positioning algorithm based on spatiotemporal correlation information.With the design idea of low cost and large-scale application,the algorithm uses intra-cluster ranging and the inertial navigation motion vector to construct the positioning equation and solves it through the Multidimensional Scaling(MDS)and Multiple Objective Particle Swarm Optimization(MOPSO)algorithms.The cluster formation is abstracted as a mixed direction-distance graph and the graph rigidity theory is used to analyze localizability conditions of the algorithm.We designed the cluster positioning simulation software and conducted localizability tests and positioning accuracy tests in diferent scenarios.Compared with the relative positioning algorithm based on Extended Kalman Filter(EKF),the algorithm proposed in this paper has more relaxed positioning conditions and can adapt to a variety of scenarios.It also has higher relative positioning accuracy,and the error does not accumulate over time.展开更多
The influence maximization(IM)problem aims to find a set of seed nodes that maximizes the spread of their influence in a social network.The positive influence maximization(PIM)problem is an extension of the IM problem...The influence maximization(IM)problem aims to find a set of seed nodes that maximizes the spread of their influence in a social network.The positive influence maximization(PIM)problem is an extension of the IM problem,which consider the polar relation of nodes in signed social networks so that the positive influence of seeds can be the most widely spread.To solve the PIM problem,this paper proposes the polar and decay related independent cascade(IC-PD)model to simulate the influence propagation of nodes and the decay of information during the influence propagation in signed social networks.To overcome the low efficiency of the greedy based algorithm,this paper defines the polar reverse reachable(PRR)set and devises a signed reverse influence sampling(SRIS)algorithm.The algorithm utilizes the ICPD model as well as the PRR set to select seeds.There are two phases in SRIS.One is the sampling phase,which utilizes the IC-PD model to generate the PRR set and a binary search algorithm to calculate the number of needed PRR sets.The other is the node selection phase,which uses a greedy coverage algorithm to select optimal seeds.Finally,Experiments on three real-world polar social network datasets demonstrate that SRIS outperforms the baseline algorithms in effectiveness.Especially on the Slashdot dataset,SRIS achieves 24.7% higher performance than the best-performing compared algorithm under the weighted cascade model when the seed set size is 25.展开更多
The distribution performance of the gravity-type liquid distributor(GTLD) significantly affects column operation efficiency and the consequent product quality. In industrial settings, maldistribution is normally consi...The distribution performance of the gravity-type liquid distributor(GTLD) significantly affects column operation efficiency and the consequent product quality. In industrial settings, maldistribution is normally considered to be caused by vertical positional or coplanarity errors stemming from deflections associated with manufacture and installation, or even by excessive weight. The lack ofestimation protocols or standards impedes the description ofthis error, which influences the corresponding outflow rates. Given this situation, the paper proposes a lumped parameter, orifice position deviation(OPD), to facilitate the calculation of the relative discharge rate error(RDRE)based on a formula derivation, which allows the systematic analysis of the influence ofa single orifice or weir OPD.The paper introduces a sensitivity factor K as a concise and unified expression in theoretical RDREs for calibrating the influence of OPD on the RDREs ofgeometrically different orifices and weirs. With respect to the GTLD, a larger K indicates the need for more strict OPD requirements. The paper verifies that the extent of GTLD outflow nonuniformity is associated with diverging tendencies regarding its morphology, especially in the orifice and weir, which can be determined using our proposed procedures.展开更多
基金supported by Samsung Advanced Institute of Technology and partly supported by the National Research Foundation of Korea (NRF)grant funded by the Korean government (MSIT) (2022R1F1A1063662).
文摘Relative positioning is one of the important techniques in collaborativerobotics, autonomous vehicles, and virtual/augmented reality (VR/AR)applications. Recently, ultra-wideband (UWB) has been utilized to calculaterelative position as it does not require a line of sight compared to a camerato calculate the range between two objects with centimeter-level accuracy.However, the single UWB range measurement cannot provide the relativeposition and attitude of any device in three dimensions (3D) because oflacking bearing information. In this paper, we have proposed a UWB-IMUfusion-based relative position system to provide accurate relative positionand attitude between wearable Internet of Things (IoT) devices in 3D. Weintroduce a distributed Euler angle antenna orientationwhich can be equippedwith the mobile structure to enable relative positioning. Moving average andmin-max removing preprocessing filters are introduced to reduce the standarddeviation. The standard multilateration method is modified to calculate therelative position between mobile structures. We combine UWB and IMUmeasurements in a probabilistic framework that enables users to calculatethe relative position between two nodes with less error. We have carried outdifferent experiments to illustrate the advantages of fusing IMU and UWBranges for relative positioning systems. We have achieved a mean accuracy of0.31m for 3D relative positioning in indoor line of sight conditions.
基金supported by the Scientific and Technological Research and Development Programs of China Railway Group Limited(Grant No.2022 Major Special Project-07)Gansu Provincial Technology Innovation Guidance Program-Special Funding for Capacity Building of Enterprise R&D Institutions(Grant No.23CXJA0011)Key R&D and transformation plan of Qinghai Province,China(Special Project for Transformation of Scientific and Technological Achievements No.2022-SF-158).
文摘In the actual monitoring of deep hole displacement,the identification of slip surfaces is primarily based on abrupt changes observed in the inclinometric curve.In conventional identification methods,inclinometric curves exhibiting indications of sliding can be categorized into three types:B-type,D-type,and r-type.The position of the slip surface is typically determined by identifying the depth corresponding to the point of maximum displacement mutation.However,this method is sensitive to the interval of measurement points and the observation scale of the coordinate axes and suffers from unclear sliding surfaces and uncertain values.Based on the variation characteristics of these diagonal curves,we classified the landslide into three components:the sliding body,the sliding interval,and the immobile body.Moreover,three different generalization models were established to analyze the relationships between the curve form and the slip surface location based on different physical indicators such as displacement rate,relative displacement,and acceleration.The results show that the displacement rate curves of an r-type slope exhibit a clustering feature in the sliding interval,and by solving for the depth of discrete points within the step phase,it is possible to determine the location of the slip surface.On the other hand,D-type slopes have inflection points in the relative displacement curve located at the slip surface.The acceleration curves of B-type slopes exhibit clustering characteristics during the sliding interval,while the scattered acceleration data demonstrate wandering characteristics.Consequently,the slip surface location can be revealed by solving the depth corresponding to the maximum acceleration with cubic spline interpolation.The approach proposed in this paper was applied to the monitoring data of a landslide in Yunnan Province,China.The results indicate that our approach can accurately identify the slip surface location and enable computability of its position,thereby enhancing applicability and reliability of the deep-hole displacement monitoring data.
文摘Based on the 6-pole outer stator(armature winding-stator),the influence of inner(permanent magnet-stator)/outer stator pole ratio n(n=NIS/NOS),stator relative positions and rotor pole number combinations on electromagnetic performance of partitioned stator switched flux permanent magnet(PM)machines(PS-SFPMMs)is investigated in this paper.Since the armature windings and PMs are located in two separated stators and PMs are stationary,PS-SFPMMs have high fault tolerance capabilities.To maximize the torque performance,the PM of inner stator pole should be aligned with outer stator pole when n is odd while the iron rib of inner stator pole should be aligned with outer stator pole when n is even.No matter what n is selected,the rotor pole number NR can be any integers except the phase number and its multiples.The analysis results indicate that the optimal NR is closed to(NIS+NOS)/2 and it is odd when n is odd while it is even when n is even.Meanwhile,symmetrical phase back-EMF waveform will be obtained when the ratio of Min(NOS,NIS)to the greatest common divisor of Min(NOS,NIS)and NR is even.Based on the optimal rotor pole numbers for 6-pole outer stator with different n and corresponding optimal relative position together with same rated copper loss,the average torque is improved by 18.4%,25.1%and 25.7%respectively in PS-SFPMMs with n equal to 2,3 and 4 when compared with PS-SFPMM with n equal to 1.The analyses are validated by experiment results of the prototype machine.
文摘The study presents sampling interval impacts on variance components of the epoch-wise residual errors in relative GPS positioning. In the variance components estimation process, the 2-way nested ANOVA method was used. For that purpose, GPS observation data during four months at two permanent GPS stations, establishing a 40-km-long baseline as a part of the Montenegrin permanent network(Monte Pos), were used. The study results showed that there is no statistically significant impact of sampling interval changes on epoch-wise variance components related to the residual tropospheric and ionospheric delays(effect a) when it comes to such a baseline. However, it is not the case with epoch-wise variance components related to the interstation-distance-independent residual ‘far-field’ multipath effect(effect b). It turned out that the absolute values of relative differences of standard deviations of the effect a on the relative GPS coordinates(e, n and u) had maximum values 11.1%, 10.2% and 8.9%,respectively. Keeping the same order of presentation for the effect b, the values of 5.9%, 9.9% and 12.5%were obtained. In addition, absolute values of relative differences of standard deviations of horizontal and vertical position had maximum values of 3.8% and 7.7%, respectively.
文摘An adaptive prescribed performance control scheme is proposed for the drag free satellite in the presence of actuator saturation and external disturbances.The relative translation and rotation dynamics between the test mass and outer satellite are firstly derived.To guarantee prescribed performance bounds on the transient and steady control errors of relative states,a performance constrained control law is formulated with an error transformed function.In addition,the requirements to know the system parameters and the upper bound of the external disturbance in advance have been eliminated by adaptive updating technique.A command filter is concurrently used to overcome the problem of explosion of complexity inherent in the backstepping control design.Subsequently,a novel auxiliary system is constructed to compensate the adverse effects of the actuator saturation constrains.It is proved that all signals in the closed?loop system are ultimately bounded and prescribed performance of relative position and attitude control errors are guaranteed.Finally,numerical simulation results are given to demonstrate the effectiveness of the proposed approach.
基金the Research Management Center,Xiamen University Malaysia under XMUM Research Program Cycle 4(Grant No.XMUMRF/2019-C4/IECE/0012).
文摘Glycation is a non-enzymatic post-translational modification which assigns sugar molecule and residues to a peptide.It is a clinically important attribute to numerous age-related,metabolic,and chronic diseases such as diabetes,Alzheimer’s,renal failure,etc.Identification of a non-enzymatic reaction are quite challenging in research.Manual identification in labs is a very costly and timeconsuming process.In this research,we developed an accurate,valid,and a robust model named as Gly-LysPred to differentiate the glycated sites from non-glycated sites.Comprehensive techniques using position relative features are used for feature extraction.An algorithm named as a random forest with some preprocessing techniques and feature engineering techniques was developed to train a computational model.Various types of testing techniques such as self-consistency testing,jackknife testing,and cross-validation testing are used to evaluate the model.The overall model’s accuracy was accomplished through self-consistency,jackknife,and cross-validation testing 100%,99.92%,and 99.88%with MCC 1.00,0.99,and 0.997 respectively.In this regard,a user-friendly webserver is also urbanized to accumulate the whole procedure.These features vectorization methods suggest that they can play a critical role in other web servers which are developed to classify lysine glycation.
文摘Impact of satellite elevation cutoff angle and position dilution of precision(PDOP)mask change on epoch-wise variance components of unmodeled effects that accompany relative Global Positioning System(GPS)positioning is presented herein.Data used for this study refer to the winter and summer periods of the years with minimal(2008)and maximal(2013)solar activity.These data were collected every 30 s in static mode,at two permanent GPS stations located in Montenegro,establishing a mediumdistance(116-km-long)baseline with a height difference of approximately 760 m between its endpoints.The study showed that changing satellite elevation cutoff angle,with a fixed PDOP mask,affects epochwise two-way nested ANOVA estimates of variances related to the‘far-field’multipath(considered as the nested factor herein)and the combined unmodeled effect of tropospheric and ionospheric refraction(considered as the nesting factor herein).However,changing of PDOP mask,with a fixed satellite elevation cutoff angle,doesn’t affect epoch-wise two-way nested ANOVA estimate of variance of the combined unmodeled effect of tropospheric and ionospheric refraction,but,generally,affects the estimate of variance of the‘far-field’multipath(possibly mixed with a part of a‘shorter-term’ionospheric refraction),which is especially pronounced for the summer period.It should also be noted that there is a significant influence of satellite elevation cutoff angle change on both epoch-wise horizontal and vertical position accuracy,only for the summer period,especially in the presence of maximal solar activity,while there is no significant impact of PDOP mask change on epoch-wise positional accuracy.
基金partially sponsored by the National 973 Project of China(2013CB733303)partially supported by the postgraduate independent exploration project of Central South University(2014zzts249)
文摘Selecting the optimal reference satellite is an important component of high-precision relat/ve positioning because the reference satellite directly influences the strength of the normal equation. The reference satellite selection methods based on elevation and positional dilution of precision (PDOP) value were compared. Results show that all the above methods cannot select the optimal reference satellite. We introduce condition number of the design matrix in the reference satellite selection method to improve structure of the normal equation, because condition number can indicate the ill condition of the normal equation. The experimental results show that the new method can improve positioning accuracy and reliability in precise relative positioning.
基金supported by UGC Sponsored UPE-ⅡProject in Cognitive Science of Jadavpur University,Kolkata
文摘The paper introduces an electroencephalography(EEG) driven online position control scheme for a robot arm by utilizing motor imagery to activate and error related potential(ErrP) to stop the movement of the individual links, following a fixed(pre-defined) order of link selection. The right(left)hand motor imagery is used to turn a link clockwise(counterclockwise) and foot imagery is used to move a link forward. The occurrence of ErrP here indicates that the link under motion crosses the visually fixed target position, which usually is a plane/line/point depending on the desired transition of the link across 3D planes/around 2D lines/along 2D lines respectively. The imagined task about individual link's movement is decoded by a classifier into three possible class labels: clockwise, counterclockwise and no movement in case of rotational movements and forward, backward and no movement in case of translational movements. One additional classifier is required to detect the occurrence of the ErrP signal, elicited due to visually inspired positional link error with reference to a geometrically selected target position. Wavelet coefficients and adaptive autoregressive parameters are extracted as features for motor imagery and ErrP signals respectively. Support vector machine classifiers are used to decode motor imagination and ErrP with high classification accuracy above 80%. The average time taken by the proposed scheme to decode and execute control intentions for the complete movement of three links of a robot is approximately33 seconds. The steady-state error and peak overshoot of the proposed controller are experimentally obtained as 1.1% and4.6% respectively.
基金supported by the National Key Research and Development Program of China[No.2021YFB2206200].
文摘Existing image captioning models usually build the relation between visual information and words to generate captions,which lack spatial infor-mation and object classes.To address the issue,we propose a novel Position-Class Awareness Transformer(PCAT)network which can serve as a bridge between the visual features and captions by embedding spatial information and awareness of object classes.In our proposal,we construct our PCAT network by proposing a novel Grid Mapping Position Encoding(GMPE)method and refining the encoder-decoder framework.First,GMPE includes mapping the regions of objects to grids,calculating the relative distance among objects and quantization.Meanwhile,we also improve the Self-attention to adapt the GMPE.Then,we propose a Classes Semantic Quantization strategy to extract semantic information from the object classes,which is employed to facilitate embedding features and refining the encoder-decoder framework.To capture the interaction between multi-modal features,we propose Object Classes Awareness(OCA)to refine the encoder and decoder,namely OCAE and OCAD,respectively.Finally,we apply GMPE,OCAE and OCAD to form various combinations and to complete the entire PCAT.We utilize the MSCOCO dataset to evaluate the performance of our method.The results demonstrate that PCAT outperforms the other competitive methods.
文摘For the improvement of accuracy and better fault-tolerant performance, a global position system (GPS)/vision navigation (VISNAV) integrated relative navigation and attitude determination approach is presented for ultra-close spacecraft formation flying. Onboard GPS and VISNAV system are adopted and a federal Kalman filter architecture is used for the total navigation system design. Simulation results indicate that the integrated system can provide a total improvement of relative navigation and attitude estimation performance in accuracy and fault-tolerance.
基金supported by the National Natural Science Foundation of China(6107412761427809)
文摘To realize high accurate control of relative position and attitude between two spacecrafts, the coupling between position and attitude must be fully considered and a more precise model should be established. This paper breaks the traditional divide and conquer idea, and uses a mathematical tool, namely dual quaternion to establish the integrated 6 degree-of-freedom(6-DOF) model of relative position and attitude, which describes the coupled relative motion in a compact and efficient form and needs less information of the target. Considering the complex operation rules and the unclarity of the current relative motion model in dual quaternion, necessary mathematical foundations are given at first, followed by clear and detailed modeling process and analysis. Finally a generalized proportion-derivative(PD) controller law is designed. The simulation results show that based on the integrated model established by dual quaternion, this control law can achieve a high control accuracy of relative motion.
基金the Natural Science Foundation from Hubei Province of China[Grant No.2019CFC866]the Guiding Project of Scientific Research Plan of Hubei Education Department of China[Grant No.B2020227]+2 种基金the Collaborative Innovation Team of Discipline Characteristics of Jianghan University[Grant No.03100061]the Research Start-up Funds of Jianghan University[Grant No.101906320001]and the Research Start-up Funds of Jianghan University[101906270002].
文摘In turbomachinery,strong secondary flow can produce significant losses of total pressure near the endwall and reduce the efficiency of the considered turbomachine.In this study,splitters located at different positions with respect to the main blade have been used to reduce such losses and improve the efficiency of the outlet guide vane(OGV).Three different relative positions have been considered assuming a NACA 65-010 profile for both the main blade and the splitter.The numerical results indicate that splitters can effectively reduce the total pressure loss by suppressing the secondary flow around the main blade,but the splitters themselves also produce flow losses,which are caused by flow separation effects.
文摘In recent years,WiFi indoor positioning technology has become a hot research topic at home and abroad.However,at present,indoor positioning technology still has many problems in terms of practicability and stability,which seriously affects the accuracy of indoor positioning and increases the complexity of the calculation process.Aiming at the instability of RSS and the more complicated data processing,this paper proposes a low-frequency filtering method based on fast data convergence.Low-frequency filtering uses MATLAB for data fitting to filter out low-frequency data;data convergence combines the mean and multi-data parallel analysis process to achieve a good balance between data volume and system performance.At the same time,this paper combines the position fingerprint and the relative position method in the algorithm,which reduces the error on the algorithm system.The test results show that the strategy can meet the requirements of indoor passive positioning and avoid a large amount of data collection and processing,and the average positioning error is below 0.5 meters.
基金Supported by the NNSFC (20737001, 20977046)NSF of Zhejiang Province (2008Y507280)
文摘The thermodynamic properties of xanthone(XTH) and 135 polybrominated xanthones(PBXTHs) in the standard state have been calculated at the B3LYP/6-31G* level using Gaussian 03 program.The isodesmic reactions were designed to calculate the standard enthalpy of formation(△fHθ) and standard free energy of formation(△fGθ) of PBXTH congeners.The relations of these thermodynamic parameters with the number and position of Br atom substitution(NPBS) were discussed,and it was found that there exist high correlation between thermodynamic parameters(entropy(Sθ),△fHθ and △fGθ) and NPBS.According to the relative magnitude of their △fGθ,the relative stability order of PBXTH congeners was theoretically proposed.The relative rate constants of formation reactions of PBXTH congeners were calculated,Moreover,the values of molar heat capacity at constant pressure(Cp,m) from 200 to 1000 K for PBXTH congeners were also calculated,and the temperature dependence relation of them was obtained,suggesting very good relationships between Cp,m and temperature(T,T^1 and T^2) for almost all PBXTH congeners.
基金Science and Technology on Complex System Control and Intelligent Agent Cooperative Laboratory foundation(201101).
文摘Unmanned clusters can realize collaborative work,fexible confguration,and efcient operation,which has become an important development trend of unmanned platforms.Cluster positioning is important for ensuring the normal operation of unmanned clusters.The existing solutions have some problems such as requiring external system assistance,high system complexity,poor architecture scalability,and accumulation of positioning errors over time.Without the aid of the information outside the cluster,we plan to construct the relative position relationship with north alignment to adopt formation control and achieve robust cluster relative positioning.Based on the idea of bionics,this paper proposes a cluster robust hierarchical positioning architecture by analyzing the autonomous behavior of pigeon focks.We divide the clusters into follower clusters,core clusters,and leader nodes,which can realize fexible networking and cluster expansion.Aiming at the core cluster that is the most critical to relative positioning in the architecture,we propose a cluster relative positioning algorithm based on spatiotemporal correlation information.With the design idea of low cost and large-scale application,the algorithm uses intra-cluster ranging and the inertial navigation motion vector to construct the positioning equation and solves it through the Multidimensional Scaling(MDS)and Multiple Objective Particle Swarm Optimization(MOPSO)algorithms.The cluster formation is abstracted as a mixed direction-distance graph and the graph rigidity theory is used to analyze localizability conditions of the algorithm.We designed the cluster positioning simulation software and conducted localizability tests and positioning accuracy tests in diferent scenarios.Compared with the relative positioning algorithm based on Extended Kalman Filter(EKF),the algorithm proposed in this paper has more relaxed positioning conditions and can adapt to a variety of scenarios.It also has higher relative positioning accuracy,and the error does not accumulate over time.
基金supported by theYouth Science and Technology Innovation Personnel Training Project of Heilongjiang(No.UNPYSCT-2020072)the FundamentalResearch Funds for the Universities of Heilongjiang(Nos.145109217,135509234)+1 种基金the Education Science Fourteenth Five-Year Plan 2021 Project of Heilongjiang(No.GJB1421344)the Innovative Research Projects for Postgraduates of Qiqihar University(No.YJSCX2022048).
文摘The influence maximization(IM)problem aims to find a set of seed nodes that maximizes the spread of their influence in a social network.The positive influence maximization(PIM)problem is an extension of the IM problem,which consider the polar relation of nodes in signed social networks so that the positive influence of seeds can be the most widely spread.To solve the PIM problem,this paper proposes the polar and decay related independent cascade(IC-PD)model to simulate the influence propagation of nodes and the decay of information during the influence propagation in signed social networks.To overcome the low efficiency of the greedy based algorithm,this paper defines the polar reverse reachable(PRR)set and devises a signed reverse influence sampling(SRIS)algorithm.The algorithm utilizes the ICPD model as well as the PRR set to select seeds.There are two phases in SRIS.One is the sampling phase,which utilizes the IC-PD model to generate the PRR set and a binary search algorithm to calculate the number of needed PRR sets.The other is the node selection phase,which uses a greedy coverage algorithm to select optimal seeds.Finally,Experiments on three real-world polar social network datasets demonstrate that SRIS outperforms the baseline algorithms in effectiveness.Especially on the Slashdot dataset,SRIS achieves 24.7% higher performance than the best-performing compared algorithm under the weighted cascade model when the seed set size is 25.
文摘The distribution performance of the gravity-type liquid distributor(GTLD) significantly affects column operation efficiency and the consequent product quality. In industrial settings, maldistribution is normally considered to be caused by vertical positional or coplanarity errors stemming from deflections associated with manufacture and installation, or even by excessive weight. The lack ofestimation protocols or standards impedes the description ofthis error, which influences the corresponding outflow rates. Given this situation, the paper proposes a lumped parameter, orifice position deviation(OPD), to facilitate the calculation of the relative discharge rate error(RDRE)based on a formula derivation, which allows the systematic analysis of the influence ofa single orifice or weir OPD.The paper introduces a sensitivity factor K as a concise and unified expression in theoretical RDREs for calibrating the influence of OPD on the RDREs ofgeometrically different orifices and weirs. With respect to the GTLD, a larger K indicates the need for more strict OPD requirements. The paper verifies that the extent of GTLD outflow nonuniformity is associated with diverging tendencies regarding its morphology, especially in the orifice and weir, which can be determined using our proposed procedures.