植保无人机仿地定高飞行控制技术的应用现状及展望

随着中国农业信息化、智能化的发展,农业生产对植保无人机的作业质量越来越重视。植保无人机进行仿地定高飞行作业,是提升植保无人机作业质量的关键。回顾了多种传感器和多传感器信息融合技术的研究与应用的进展,概括和总结了超声波传感器、激光雷达、毫米波雷达、GNSS、气压传感器、视觉传感器和多传感器信息融合技术在定高飞行技术上的应用。并对上述传感器技术和仿地定高飞行控制方法进行了局限性分析,在此基础上,结合植保无人机作业场景的特点,提出对植保无人机仿地定高飞行进行区域划分,并提出姿态调整控制策略。通过对植保无人机仿地定高飞行的控制方法进行系统分析,探讨了适合植保无人机的适应性广、可靠性高且成本较低的测距方法及仿地控制方案,提出了多种传感器组合定位、人工智能场景识别定位、基于模型设计的高精度定高控制系统等解决方案,为植保无人机更好地实现精准作业提供有效的参考。

仿写 为作文启蒙导航

低年级的作文教学,是一个难点。孩子们词语贫乏,思路还不开阔,语文素养还不高。仿写能帮初涉作文的小学生,在写作一筹莫展时,找到前进的方向。

Modelling and simulation of high-speed milling chatter regeneration based on MATLAB

Considering the deficiency in milling process parameters selection, based on the modelling of dynamic milling force and the deduction of chatter stability limits, the chatter stability lobes simulation program for milling is developed with MAT- LAB. The simulation optimization application software of dynamics was designed using engineering simulation software Visio Basic. The chatter stability lobes for milling, which can be used as an instruction guide for the selection of process parameters, are simulated with frequency response functions （FRFs） gained by hammer test. The validation and accuracy of the simulation algorithm are verified by experiments. The simulation method has been used in a factory with an excellent application effect.

Performance Analysis of Fixed-Point Simulations on cdma2000-1x Downlink

Based on the physical layer standard of cdma2000, the performance analysis of fixed point simulations is presented in this paper on cdma2000 1x downlink. The effects of quantization and finite wordlength, which have typically been assumed negligible in floating point simulations, become significant for fixed point simulations. The complete fixed point simulation platform for cdma2000 1x downlink is developed by EDA tool - COSSAP. The structure and performance of the key component in cdma2000 systems, the RAKE receiver, are discussed in details. Comparisons of results between floating point and fixed point simulations lead to some important conclusions, which provide certain references for the implementation of practical systems.

ENHANCED UNSTEADY AND NONLINEAR ROTOR WAKE MODEL FOR REAL-TIME FLIG HT SIMULATION

WT5 'BZThis paper presents an unsteady and nonlinear wake model based on th e widely used Peters He finite state dynamic wake model with improvements. The swirl component in the tip trace plane (TTP) can be predicted, nonlinear items are added into the linear theory, and the old small angle assumption use d in matrix prediction is removed. All of these enha ncements are aimed at the low speed flight phase and formulations for the induce d velocity field just in the TTP frame are derived. The corresponding FORTRAN pr ogram is tested and optimized for the real time applications on PCs.

对小学语文作文教学的思考

作文教学只要坚持课内外相结合,让命题成为写作的诱因,让作文成为一种需要,必能让学生爱上写作、乐于写作,具体可以从重视学生的生活观察、引导学生广泛的去阅读吸取作文写作的营养,加上抓好读书笔记和仿写,是可以提高文教学的效果的。

Stability analysis for affine fuzzy system based on fuzzy Lyapunov functions

An analysis method based on the fuzzy Lyapunov functions is presented to analyze the stability of the continuous affine fuzzy systems. First, a method is introduced to deal with the consequent part of the fuzzy local model. Thus, the stability analysis method of the homogeneous fuzzy system can be used for reference. Stability conditions are derived in terms of linear matrix inequalities based on the fuzzy Lyapunov functions and the modified common Lyapunov functions, respectively. The results demonstrate that the stability result based on the fuzzy Lyapunov functions is less conservative than that based on the modified common Lyapunov functions via numerical examples. Compared with the method which does not expand the consequent part, the proposed method is simpler but its feasible region is reduced. Finally, in order to expand the application of the fuzzy Lyapunov functions, the piecewise fuzzy Lyapunov function is proposed, which can be used to analyze the stability for triangular or trapezoidal membership functions and obtain the stability conditions. A numerical example validates the effectiveness of the proposed approach.

Effects of tissue absorption on calculation of mean photon path length using modified Beer-Lambert law

The mean path length(MPL)of photons is a critical parameter to calculate tissue absorption coefficient as well as blood oxygenation using modified Beer-Lambert law,where in the differential path factor(DPF)is often assumed as constant over range of tissue absorption.By utilizing the Monte Carlo(MC)simulation of photon migrations in the leg,this study used four approaches to estimate MPL,and compared them with that determined by the MPL definition.The simulation results indicate that the DPF is remarkably affected by tissue absorption,at approximate 10% variation.A linear model is suggested to calculate MPL for measurements of tissue absorption as well as blood oxygenation using modified Beer-Lambert law.

A Comprehensive Dynamic and Transient Voltage Stability Study by Digital Simulation Techniques

In this paper, digital simulation techniques for dynamic and transient voltage performance studies, using accurate load and synchronous generator models have been proposed. Particular attention has been paid to the induction motor load model. Accurate models of voltage supporting devices including OLTC transformer are derived. The system of differential equations based on the above models are converted into linear algebraic equations by use of the trapezoidal approximation formula. These are then written as difference equations to facilitate computational programming. For various contingencies a numerical iterative technique is used to obtain a simulation of the system voltage and angle profile. Various contingency tests on a 9-bus sample system and a 22-bus system prove the applicability of the package.

Qualitative Algebra and Graph Theory Methods for Dynamic Trend Analysis of Continuous System

Qualitative algebraic equations are the basis of qualitative simulation,which are used to express the dynamic behavior of steady-state continuous processes.When the values and operation of qualitative variables are redefined,qualitative algebraic equations can be transformed into signed direct graphs,which are frequently used to predict the trend of dynamic changes.However,it is difficult to use traditional qualitative algebra methods based on artificial trial and error to solve a complex problem for dynamic trends.An important aspect of modern qualitative algebra is to model and characterize complex systems with the corresponding computer-aided automatic reasoning.In this study,a qualitative affection equation based on multiple conditions is proposed,which enables the signed di-rect graphs to describe complex systems better and improves the fault diagnosis resolution.The application to an industrial case shows that the method performs well.

Numerical Simulation of Unsteady-State Flowsin Bubble Column Reactors

Unsteady-state operation has been widely applied in chemical engineering, such as optimizing a process, increasing yield and saving energy, etc. But the knowledge of the flow characteristics in bubble column reactors(BCRs) under unsteady state control is far from enough. In order to study the flow structures in this operation, the volume of fluid (VOF) model and the standard k-ε model to simulate the evolution of gas-liquid flow in BCRs under the start-up state are combined. For both the symmetry and asymmetry flow, the layout of the gas-inlets, the gas-in velocity, the liquid viscosity and the aspect ratio of the BCR all have effects on the liquid velocity distribution. The simulation results could provide some information for the design and scale-up of the BCRs.

Equivalent Stiffness of Metal Clip⁃Like Piezoelectric Spring Structure

Piezoelectric ceramic is hard to be integrated with the normal spring structure.To address the above problem,this paper proposed a new geometry of a clip‑like spring which is very similar to binder clip in our daily life.The equivalent stiffness of the designed piezoelectric clip‑like spring is thoroughly researched and discussed through the theoretical model,the finite element simulation and the experimental measurement.The results confirm the possibility of designing a compact piezoelectric clip‑like spring,and the equivalent stiffness can be tuned through the several key geometric parameters.Finally,theoretical predictions confirmed by experimental results show that the equivalent stiffness of the spring structure is as function of the instantaneous angle of the clip,this stiffness variation caused by the geometric nonlinearity can be ignored in some practical engineering applications,which means it is possible to linearize the clip‑like spring and simplify the following dynamic model of the corresponding piezoelectric oscillators.

Consequence Identification for Maloperation in Batch Process

Batch processes are important in chemical industry,in which operators usually play a major role and hazards may arise by their inadvertent acts.In this paper,based on hazard and operability study and concept of qualitative simulation,an automatic method for adverse consequence identification for potential maloperation is proposed.The qualitative model for production process is expressed by a novel directed graph.Possible operation deviations from normal operating procedure are identified systematically by using a group of guidewords.The proposed algorithm is used for qualitative simulation of batch processes to identify the effects of maloperations.The method is illustrated with a simple batch process and a batch reaction process.The results show that batch processes can be simulated qualitatively and hazards can be identified for operating procedures including maloperations.After analysis for possible plant maloperations,some measures can be taken to avoid maloperations or reduce losses resulted from maloperations.

ICRF Heated Long-Pulse Plasma Discharges in LHD

A long-pulse plasma discharge for more than 30 min. was achieved on the Large Helical Device （LHD）. A plasma of ne = 0.8 × 10^19 m^-3 and T10 = 2.0 keV was sustained with PICH = 0.52 MW, PECH = 0.1 MW and averaged PNBI = 0.067 MW. Total injected heating energy was 1.3 G J, which was a quarter of the prepared RF heating energy. One of the keys to the success of the experiment was a dispersion of the local plasma heat load to divertors, accomplished by shifting the magnetic axis inward and outward.

Research on Miniature Hexapod Bio-robot

This paper described the structure and control of a new kind of miniature hexap od bio-robot, analyzed the moving principle of the robot. The robot is based on the principle of bionics, its structure is simple, design novel, unique. It can mov e forwards and backwards. The external dimensions of bio-robot is: length 30 mm , width 40 mm, height 20 mm, weight 6.3 g. Some tests about the model robot were made. The experimental results show that the robot has good mobility.

A sensor-based motion planner: Situated-Bug

Propose a new sensor-based motion planning approach of Situated-Bug, which is composed of goal-oriented behavior, boundary following behavior and goal-oriented obstacle avoidance behavior, which are based on fuzzy control. The situated-Bug selects its behaviors according to robot orientation, instead of positions and hit points like other Bug algorithms, and its convergence proves robust to sensor noise, and it can guide the robots running for long rang traverse. At the same time, the design of the Situated-Bug is presented. Simulation results show that the approach is effective and practical.

A model and simulation of cathode flooding and drying on unsteady proton exchange membrane fuel cell

A water balance has a significant impact on the overall system performance in proton exchange membrane fuel cell.An actual fuel cell application has a dynamic electrical load which means also dynamic electrical current.Therefore,since this electrical current is known,the water production from the fuel cell reaction is also able to be predicted.As long as the fuel cell water transportation model is provided,the present liquid water inside the porous medium is also able to be modeled.A model of the liquid water saturation level in a fuel cell in unsteady load condition was proposed.This model is a series of the water transportation model of water saturation level for the final output of proton exchange membrane(PEM) fuel cell to predict the flooding or drying of PEM fuel cell.The simulation of vehicle fuel cell in different dynamic load profiles and different inlet air conditions was done using this model.The simulation result shows that PEM fuel cell with different dynamic load profiles has different liquid water saturation level profiles.This means that a dynamic load fuel cell requires also a dynamic input air humidification.

Transient Stability Assessment of Synchronous Generator in Power System with High-Penetration Photovoltaics （Part 2）

In the previous paper [1], the transient stability of synchronous generator in power system with high-penetration PV （photovoltaic） was assessed by simulation analysis of a single-machine infinite-bus system model. Through the simulation analysis, we have obtained some conclusions in terms of the impact of high-penetration PV on the stability. However, for more accurate assessment of the transient stability, it is necessary to analyze various simulation models considering many other power system conditions. This paper presents the results of the analysis for the transient stability simulation performed for IEEE 9-bus system model, in which the effects of various conditions, such as variety of power sources （inverter or rotational machine）, load characteristics, existence of LVRT （low-voltage ride-through） capability and fault locations, on the transient stability are investigated.

Stability margin of the quadruped bionic robot with spinning gait

Spinning gait is valuable for quadruped robot,which can be used to avoid obstacles quickly for robot walking in unstructured environment. A kind of bionic flexible body is presented for quadruped robot to perform the spinning gait. The spinning gait can be achieved by coordinated movement of body laterally bending and legs swing,which can improve the mobility of robot walking in the unstructured environments. The coordinated movement relationship between the body and the leg mechanism is presented. The stability of quadruped robot with spinning gait is analyzed based on the center of gravity( COG) projection method. The effect of different body bending angle on the stability of quadruped robot with spinning gait is mainly studied. For the quadruped robot walking with spinning gait,during one spinning gait cycle,the supporting polygon and the trajectory of COG projection point under different body bending angle are calculated. Finally,the stability margin of quadruped robot with spinning gait under different body bending angle is determined,which can be used to evaluate reasonableness of spinning gait parameters.

Modeling and Simulation of Coke Combustion Regeneration for Coked Cr2O3/Al2O3 Propane Dehydrogenation Catalyst

A heterogeneous model is developed for the regeneration of the Cr2O3/Al2O3 catalyst for the propane dehydrogenation process by considering the internal mass transfer and external mass/heat transfer during the coke combustion.Simulation shows that under practical operating conditions,multi-steady states exist for the catalyst pellets and the catalyst temperature is sensitive to gas temperature.However,at increased mass flow rate or lowered oxygen concentration,multi-steady states will not appear.Under the strong influences of film diffusion,the coke in the packed bed reactor will first be exhausted at the inlet,while if the film diffusion resistance is decreased,the position of first coke exhaustion moves toward the outlet of the reactor.