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。

基于星敏感器的卫星对地定姿误差分析

风云三号气象卫星上携带的一台星敏感器解算出的卫星对地姿态呈现出非正常的幅值约为0.15°的正弦周期性偏差。为解决上述问题,分析了影响卫星对地姿态的误差因素,对星敏感器本身的主点偏差、焦距误差、光轴不垂直、CCD面旋转、星表位置误差等对卫星对地姿态误差的影响规律进行了仿真和分析。结果表明:对于CCD为512×512、象元大小为17μm、视场为16°×16°、安装方位角、高角分别为107°、29°的星敏感器而言,主点偏差5像素,会对卫星对地姿态带来最大约为0.17°的固定系统偏差;焦距误差0.1mm、光轴不垂直0.1°、CCD面旋转0.1°等对卫星对地姿态的影响较小,误差不超过30";星表中恒星位置在不加岁差、章动修正的情况下,会造成卫星对地三轴姿态误差呈正弦周期性变化,且周期与卫星轨道周期一致。风云三号气象卫星的对地姿态周期性偏差现象是由于星敏感器的星表恒星位置未进行岁差、章动等修正引起的。

国产地洛他定治疗变应性鼻炎有效性及安全性的临床研究

目的 :评估国产地洛他定治疗变应性鼻炎的有效性和安全性。方法 :采用随机双盲、多中心、氯雷他定平行对照的临床研究 ,190例完成本研究。结果 :地洛他定组总有效率和显效率分别为 88.30 %、73.4 0 % ,氯雷他定组为 85 .4 2 %、6 5 .6 3% ,差别无统计意义 (P >0 .0 5 )。不良反应发生率地洛他定组和氯雷他定组分别为 8.5 %和 17.7% (P >0 .0 5 ) ,主要为轻度和短暂的嗜睡、口干和头痛。结论 :两种药物治疗变应性鼻炎疗效相似 ,但地洛他定的不良反应少于氯雷他定。国产地洛他定片治疗变应性鼻炎疗效可靠、安全性好。

Three-dimensional pseudo-dynamic reliability analysis of seismic shield tunnel faces combined with sparse polynomial chaos expansion

To address the seismic face stability challenges encountered in urban and subsea tunnel construction,an efficient probabilistic analysis framework for shield tunnel faces under seismic conditions is proposed.Based on the upper-bound theory of limit analysis,an improved three-dimensional discrete deterministic mechanism,accounting for the heterogeneous nature of soil media,is formulated to evaluate seismic face stability.The metamodel of failure probabilistic assessments for seismic tunnel faces is constructed by integrating the sparse polynomial chaos expansion method(SPCE)with the modified pseudo-dynamic approach(MPD).The improved deterministic model is validated by comparing with published literature and numerical simulations results,and the SPCE-MPD metamodel is examined with the traditional MCS method.Based on the SPCE-MPD metamodels,the seismic effects on face failure probability and reliability index are presented and the global sensitivity analysis(GSA)is involved to reflect the influence order of seismic action parameters.Finally,the proposed approach is tested to be effective by a engineering case of the Chengdu outer ring tunnel.The results show that higher uncertainty of seismic response on face stability should be noticed in areas with intense earthquakes and variation of seismic wave velocity has the most profound influence on tunnel face stability.

Redox mechanism of geobattery and related electrical signals using a novel real-time self-potential monitoring experimental platform

Controlled laboratory experiments are proved to be a valuable tool for investigating changes in underground physical properties and the related response of surface geophysical signals.The self-potential(SP)method is widely used in mineral resource exploration due to its direct correlation with underground electrochemical gradients.This paper presented the design and construction of an experimental platform based on a multi-channel SP monitoring system.The proposed platform was used to monitor the anodizing corrosion process of different metal blocks from a laboratory perspective,record the real-time SP signal generated by the redox reaction,as well as investigate the geobattery mechanism associated with the natural polarization process of metal mineral resources.The experimental results demonstrate that the constructed SP monitoring platform effectively captures time-series SP signals and provides direct laboratory evidence for the geobattery model.The measured SP data were quantitatively interpreted using the simulated annealing algorithm,and the inversion results closely match the real model.This finding highlights the potential of the SP method as a promising tool for determining the location and spatial distribution of underground polarizers.The study holds reference value for the exploration and exploitation of mineral resources in both terrestrial and marine environments.

Stochastic Air Traffic Flow Management for Demand and Capacity Balancing Under Capacity Uncertainty

This paper introduces an innovative approach to the synchronized demand-capacity balance with special focus on sector capacity uncertainty within a centrally controlled collaborative air traffic flow management(ATFM)framework.Further with previous study,the uncertainty in capacity is considered as a non-negligible issue regarding multiple reasons,like the impact of weather,the strike of air traffic controllers(ATCOs),the military use of airspace and the spatiotemporal distribution of nonscheduled flights,etc.These recessive factors affect the outcome of traffic flow optimization.In this research,the focus is placed on the impact of sector capacity uncertainty on demand and capacity balancing(DCB)optimization and ATFM,and multiple options,such as delay assignment and rerouting,are intended for regulating the traffic flow.A scenario optimization method for sector capacity in the presence of uncertainties is used to find the approximately optimal solution.The results show that the proposed approach can achieve better demand and capacity balancing and determine perfect integer solutions to ATFM problems,solving large-scale instances(24 h on seven capacity scenarios,with 6255 flights and 8949 trajectories)in 5-15 min.To the best of our knowledge,our experiment is the first to tackle large-scale instances of stochastic ATFM problems within the collaborative ATFM framework.

Global stability coefficient of large underground caverns under static loading and earthquake wave condition

Underground energy and resource development,deep underground energy storage and other projects involve the global stability of multiple interconnected cavern groups under internal and external dynamic disturbances.An evaluation method of the global stability coefficient of underground caverns based on static overload and dynamic overload was proposed.Firstly,the global failure criterion for caverns was defined based on its band connection of plastic-strain between multi-caverns.Then,overloading calculation of the boundary geostress and seismic intensity on the caverns model was carried out,and the critical unstable state of multi-caverns can be identified,if the plastic-strain band appeared between caverns during these overloading processes.Thus,the global stability coefficient for the multi-caverns under static loading and earthquake was obtained based on the corresponding overloading coefficient.Practical analysis for the Yingliangbao(YLB)hydraulic caverns indicated that this method can not only effectively obtain the global stability coefficient of caverns under static and dynamic earthquake conditions,but also identify the caverns’high-risk zone of local instability through localized plastic strain of surrounding rock.This study can provide some reference for the layout design and seismic optimization of underground cavern group.

A GIS-based Study on Suitability Estimation of Tea Cultivation in Qimen County

On the basis of data from Soil Test and Formula Fertilization project in Qimen county,we employed Geographic Information System Software ArcGIS 9.2 and CLRMIS（Cultivated Land Resource Management Information System at County Scale） to establish region-specific estimation index system for tea cultivation in Qimen County by determining the estimation units,and carried out quantitative estimation analysis on tea cultivation there via comprehensive evaluation indices for natural elements of cultivated land.The results showed that the highly suitable,suitable,reluctantly suitable and unsuitable acreages are 5 665.8,8 327.1,8 415.9 and 11 979.9 hm2 respectively,accounting for 24.0%,35.3%,35.7% and 5.1% of the total acreage of cultivated land.These results would facilitate the production of high yield and quality tea in Qimen County.

Deformation caused by the 2011 eastern Japan great earthquake monitored using the GPS single-epoch precise point positioning technique

Crustal deformation can provide constraints for studying earthquake rupture and shock wave transmission for the Mw9.0 eastern Japan great earthquake. Using the single- epoch precise point positioning （PPP） method and the appropriate positioning flow, we process GPS data from six IGS （International GNSS Service） sites （e.g., MIZU, TSK2, USUD, MTKA, AIRA and KSMV） located in Japan and obtain the positioning results with centimeter scale precision. The displacement time series of the six sites are analyzed using the least squares spectral analysis method to estimate deformations caused by the Mw9.0 mainshock and the Mw7.9 aftershock, and the cumulative displacements after 1 day. Mainshock displacements at station MIZU, the nearest site to the mainshock in the North （N）, East （E）, and Up （U） directions, are -1.202 m, 2.180 m and -0.104 m, respectively, and the cumulative deformations after 1 day are -1.117 m, 2.071 m and -0.072 m, respectively. The displacements at station KSMV, the nearest site to the Mw7.9 aftershock in the N, E and U directions, are -0.032 m, 0.742 m and -0.345 m, respectively. The other sites obviously experienced eastern movements and subsidence. The deformation vectors indicate that the horizontal displacements caused by the earthquake point to the epicenter and rupture. Elastic bounds evidently took place at all sites. The results indicate that the crustal movements and earthquake were part of a megathrust caused by the Pacific Plate sinking under the North American Plate to the northeast of Japan island arc.

Acoustic location echo signal extraction of buried non-metallic pipelines based on EMD and wavelet threshold joint denoising

In the acoustic detection process of buried non-metallic pipelines,the echo signal is often interfered by a large amount of noise,which makes it extremely difficult to effectively extract useful signals.An denoising algorithm based on empirical mode decomposition(EMD)and wavelet thresholding was proposed.This method fully considered the nonlinear and non-stationary characteristics of the echo signal,making the denoising effect more significant.Its feasibility and effectiveness were verified through numerical simulation.When the input SNR(SNRin)is between-10 dB and 10 dB,the output SNR(SNRout)of the combined denoising algorithm increases by 12.0%-34.1%compared to the wavelet thresholding method and by 19.60%-56.8%compared to the EMD denoising method.Additionally,the RMSE of the combined denoising algorithm decreases by 18.1%-48.0%compared to the wavelet thresholding method and by 22.1%-48.8%compared to the EMD denoising method.These results indicated that this joint denoising algorithm could not only effectively reduce noise interference,but also significantly improve the positioning accuracy of acoustic detection.The research results could provide technical support for denoising the echo signals of buried non-metallic pipelines,which was conducive to improving the acoustic detection and positioning accuracy of underground non-metallic pipelines.

Measurement and comparison of glycyrrhizic acid contents in root of licorice(Glycyrrhiza uralensis Fisch.)from different cultivating areas

The samples of licorice (Glycyrrhiza uralensis Fisch.) from 14 different cultivated areas were determined by the method of high Performance Capillary Electrophoresis (HPCE) for the contents of glycyrrihizic acid (GA) in root. The results showed that the licorice plants come from various cultivated areas of China has different contents of GA. The GA content of licorice from Zhaodong in Heilongjiang Province is the highest, followed by those from E抰uoke, Chifeng, and Hangjin Banner in Inner Mongolia. Some suggestions for establishing the production base of licorice were put forward based on the study.

On simulation of precise orbit determination of HY-2 with centimeter precision based on satellite-borne GPS technique

The HY-2 satellite carrying a satellite-borne GPS receiver is the first Chinese radar altimeter satellite, whose radial orbit determination precision must reach the centimeter level. Now HY-2 is in the test phase so that the observations are not openly released. In order to study the precise orbit determination precision and procedure for HY-2 based on the satellite- borne GPS technique, the satellite-borne GPS data are simulated in this paper. The HY-2 satellite-borne GPS antenna can receive at least seven GPS satellites each epoch, which can validate the GPS receiver and antenna design. What＇s more, the precise orbit determination processing flow is given and precise orbit determination experiments are conducted using the HY-2-borne GPS data with both the reduced-dynamic method and the kinematic geometry method. With the 1 and 3 mm phase data random errors, the radial orbit determination precision can achieve the centimeter level using these two methods and the kinematic orbit accuracy is slightly lower than that of the reduced-dynamic orbit. The earth gravity field model is an important factor which seriously affects the precise orbit determination of altimeter satellites. The reduced-dynamic orbit determination experiments are made with different earth gravity field models, such as EIGEN2, EGM96, TEG4, and GEMT3. Using a large number of high precision satellite-bome GPS data, the HY-2 precise orbit determination can reach the centimeter level with commonly used earth gravity field models up to above 50 degrees and orders.

Coherence cube enhancement based on local histogram specification

Coherence analysis is a powerful tool in seismic interpretation for imaging geological discontinuities such as faults and fractures. However, subtle faults or fractures of one stratum are difficult to be distinguished on coherence sections （time slices or profiles） due to interferences from adjacent strata, especially these with strong reflectivity. In this paper, we propose a coherence enhancement method which applies local histogram specification （LHS） techniques to enhance subtle faults or fractures in the coherence cubes. Unlike the traditional histogram specification （HS） algorithm, our method processes 3D coherence data without discretization. This method partitions a coherence cube into many sub-blocks and self-adaptively specifies the target distribution in each block based on the whole distribution of the coherence cube. Furthermore, the neighboring blocks are partially overlapped to reduce the edge effect. Applications to real datasets show that the new method enhances the details of subtle faults and fractures noticeably.

Predicting pillar stability for underground mine using Fisher discriminant analysis and SVM methods

The purpose of this study is to apply some statistical and soft computing methods such as Fisher discriminant analysis （FDA） and support vector machines （SVMs） methodology to the determination of pillar stability for underground mines selected from various coal and stone mines by using some index and mechanical properties, including the width, the height, the ratio of the pillar width to its height, the uniaxial compressive strength of the rock and pillar stress. The study includes four main stages： sampling, testing, modeling and assessment of the model performances. During the modeling stage, two pillar stability prediction models were investigated with FDA and SVMs methodology based on the statistical learning theory. After using 40 sets of measured data in various mines in the world for training and testing, the model was applied to other 6 data for validating the trained proposed models. The prediction results of SVMs were compared with those of FDA as well as the measured field values. The general performance of models developed in this study is close; however, the SVMs exhibit the best performance considering the performance index with the correct classification rate Prs by re-substitution method and Pcv by cross validation method. The results show that the SVMs approach has the potential to be a reliable and practical tool for determination of pillar stability for underground mines.

Taxonomic note on two Lyristes cicadas(Hemiptera:Cicadidae) described by E. Schmidt from China

The identity of two Lyristes species described by Schmidt is readdressed based on examination of the type materials. Lyristes wui Schmidt, 1932 is recognized to be a junior synonym of Salvazana mirabilis Distant, 1913, and Lyristes altaiensis Schmidt, 1932 is a junior synonym of a North American species, Neotibicen resh （Haldeman, 1852）. Lyristes altaiensis may have been erroneously recorded from China most possibly due to the mislabeling of the holotype.

Simultaneous Determination of Ticlopidine Hydrochloride and Nitrendipine in a New Tablet Formulation by HPLC

An accurate, simple and sensitive high performance liquid chromarographic (HPLC) method for simultaneous determination of ticlopidine hydrochloride and nitrendipine in a new tablet formulation is described. Chromatographic separation of ticlopidine hydrochloride and nitrendipine was achieved on a Hypersil BDS C18 column using a mobile phase consisting of acetonitrile-methanol-10 mmol/L ammonium acetate (60∶10∶30(V/V), pH 6.5) at a flow rate of 1.0 mL/min. Absorbance was monitored at 236 nm where both drugs have significant absorption. The proposed method was validated with respect to linearity, selectivity, accuracy, precision, and limits of detection and quantitation. The linear ranges for ticlopidine hydrochloride and nitrendipine were found to be 75-750 μg/mL and 1-10 μg/mL, respectively. The mean recoveries were 100.1%(S R=0.6%,n=9) for ticlopidine hydrochloride and 99.9%(S R=0.7%,n=9) for nitrendipine. The within-day precision and between-day precision for ticlopidine hydrochloride and nitrendipine were 0.63% and 0.89%, and 0.74% and 1.0%, respectively. The proposed HPLC method can be used for the simultaneous determination of both drugs in pharmaceutical preparations.

Mathematical Definitions of Operators for Cartographic Generalization

This paper puts forword 11 cartographic generalization operator models and introduces their mathematical definitions,and thus a precise mathematical form and quantitative description has been given to these formerly limited qualitative concepts.The meaning of mathematical definition of operators for cartographic generalization and the application prospect in computer_aided cartography (CAC) is stated.ract The Jurassic strata in Jingyan of Sichuan containing the Mamenchinsaurus fauna are dealt with and divided in this paper. The Mamenchisaurus fossils contained there are compared in morphological features and stratigraphically with other types of the genus on by one. The comprehensive analysis show that the Mamenchisaurus fauna of Jingyan appeared in the early Late Jurassic and is primitive in morphology. The results of the morphological identification and stratigraphical study agree with each other. Their evolutionary processes in different apoches of the Late Jurassic also made clear. Key words Jingyan, Sichuan, Mamenchisaurus Fauna, stratigraphy, evolution

第一次做 '麦糊烧'

麦糊烧是江浙闽一带的家常美食.每当我想起它的油香扑鼻、金软松脆便口水连连.俗话说'一技在手,吃喝不愁'.我暗暗地定下决心:一定要学会做麦糊烧.

Seismic data reconstruction based on CS and Fourier theory

Traditional seismic data sampling follows the Nyquist sampling theorem. In this paper, we introduce the theory of compressive sensing （CS）, breaking through the limitations of the traditional Nyquist sampling theorem, rendering the coherent aliases of regular undersampling into harmless incoherent random noise using random undersampling, and effectively turning the reconstruction problem into a much simpler denoising problem. We introduce the projections onto convex sets （POCS） algorithm in the data reconstruction process, apply the exponential decay threshold parameter in the iterations, and modify the traditional reconstruction process that performs forward and reverse transforms in the time and space domain. We propose a new method that uses forward and reverse transforms in the space domain. The proposed method uses less computer memory and improves computational speed. We also analyze the antinoise and anti-aliasing ability of the proposed method, and compare the 2D and 3D data reconstruction. Theoretical models and real data show that the proposed method is effective and of practical importance, as it can reconstruct missing traces and reduce the exploration cost of complex data acquisition.