The authors proposed a moving long baseline algorithm based on the extended Kalman filter （EKF） for cooperative navigation and localization of multi-unmanned underwater vehicles （UUVs）. Research on cooperative nav...The authors proposed a moving long baseline algorithm based on the extended Kalman filter （EKF） for cooperative navigation and localization of multi-unmanned underwater vehicles （UUVs）. Research on cooperative navigation and localization for multi-UUVs is important to solve navigation problems that restrict long and deep excursions. The authors investigated improvements in navigation accuracy. In the moving long base line （MLBL） structure, the master UUV is equipped with a high precision navigation system as a node of the moving long baseline, and the slave UUV is equipped with a low precision navigation system. They are both equipped with acoustic devices to measure relative location. Using traditional triangulation methods to calculate the position of the slave UUV may cause a faulty solution. An EKF was designed to solve this, combining the proprioceptive and exteroceptive sensors. Research results proved that the navigational accuracy is improved significantly with the MLBL method based on EKF.展开更多
An ultracompact 3 dB coupler is designed and fabricated in silicon on insulator,based on 1×2 line tapered multimode interference (MMI) coupler.Comparing with the conventional straight MMI coupler,the device is...An ultracompact 3 dB coupler is designed and fabricated in silicon on insulator,based on 1×2 line tapered multimode interference (MMI) coupler.Comparing with the conventional straight MMI coupler,the device is ～40% shorter in length.The device exhibits uniformity of 1 3dB and excess loss of 2 5dB.展开更多
A multiple antenna GPS system integrated with MEMS-based INS is proposed by data fusion. The system is applied to attitude determination due to its high accuracy, the high output rate, low latency, quick initializatio...A multiple antenna GPS system integrated with MEMS-based INS is proposed by data fusion. The system is applied to attitude determination due to its high accuracy, the high output rate, low latency, quick initialization, and good robustness and redundancy. The mathematical method for realizing the system is given. The system can provide attitude and other navigation information even without GPS measurement for a period of time. Experimental results show that, under the condition of 200 Hz, the attitude, the position, the velocity, the acceleration, and the angular rate can achieve 0. 08°/s, 1.5 m, 0. 1 m/s, 0. 12 m/s^2 and 0. 1°/s.展开更多
The fabrication of the oxidized porous silicon waveguide prism is reported by selectively electrochemical anodisation process. The direction changes of light beams in TE and TM polarization out of this waveguide prism...The fabrication of the oxidized porous silicon waveguide prism is reported by selectively electrochemical anodisation process. The direction changes of light beams in TE and TM polarization out of this waveguide prism were respectively measured,and the experimental results were analyzed.展开更多
Grains in the slurry can be brought into cutting zone by steel wire with a certain speed to achieve the purpose of removing the workpiece material in the free abrasive wire sawing machining. Because its own of multi- ...Grains in the slurry can be brought into cutting zone by steel wire with a certain speed to achieve the purpose of removing the workpiece material in the free abrasive wire sawing machining. Because its own of multi- strands characteristics, we use it to replace the steel wire to do slicing experiment. In this paper, multi-strands wire is made by seven metal wires and has many grooves on its surface. Compared with steel wire, it can carry more grains into cutting zone which is conducive to improving the slicing efficiency. We do some comparative slic- ing experimcnts by applying multi-strands wire （~b0.25 mm） and steel wire （~b0.25 mm） to cut optical glass （K9）. The results show that slicing efficiency and the surface roughness of the workpiece sliced by using multi-strands wire are better than that by using steel wire. but the kerf width of the former is wider than that of the latter in the same experimental conditions.展开更多
Multiple fractured horizontal well(MFHW) is widely applied in the development of shale gas. To investigate the gas flow characteristics in shale, based on a new dual mechanism triple continuum model, an analytical sol...Multiple fractured horizontal well(MFHW) is widely applied in the development of shale gas. To investigate the gas flow characteristics in shale, based on a new dual mechanism triple continuum model, an analytical solution for MFHW surrounded by stimulated reservoir volume(SRV) was presented. Pressure and pressure derivative curves were used to identify the characteristics of flow regimes in shale. Blasingame type curves were established to evaluate the effects of sensitive parameters on rate decline curves, which indicates that the whole flow regimes could be divided into transient flow, feeding flow, and pseudo steady state flow. In feeding flow regime, the production of gas well is gradually fed by adsorbed gases in sub matrix, and free gases in matrix. The proportion of different gas sources to well production is determined by such parameters as storability ratios of triple continuum, transmissibility coefficients controlled by dual flow mechanism and fracture conductivity.展开更多
Mitochondrial DNA introgression has been suggested to be responsible for the maternal consistent implications. Study on mt-DNA （mitochondrial DNA） variation in the yellowfin tuna （Thunnus albacares） using RFLP （r...Mitochondrial DNA introgression has been suggested to be responsible for the maternal consistent implications. Study on mt-DNA （mitochondrial DNA） variation in the yellowfin tuna （Thunnus albacares） using RFLP （restriction fragment length polymorphisms） has provided the evidence of maternal inheritance of yellowfin tuna in captivity. Eggs were collected in every spawning in 2004-2006 season. The mt-DNA genotypes of broodstock were compared with their eggs and the maternal inheritance of these females was determined from genotypes in the eggs. The result showed that six genotypes of female broodstock were observed in eggs and four of them were found to share a single female＇s identity and one type was shared by two females. The same genotype was observed in almost every sampling throughout the year. The female broodstocks spawned almost daily throughout the season.展开更多
基金Supported by the National Natural Science Foundation of China under Grant No.60875071the High Technology Research and Development Program of China under Grant No.2007AA0676the Program for New Century Excellent Talents in University under Grant No.NCET-06-0877
文摘The authors proposed a moving long baseline algorithm based on the extended Kalman filter （EKF） for cooperative navigation and localization of multi-unmanned underwater vehicles （UUVs）. Research on cooperative navigation and localization for multi-UUVs is important to solve navigation problems that restrict long and deep excursions. The authors investigated improvements in navigation accuracy. In the moving long base line （MLBL） structure, the master UUV is equipped with a high precision navigation system as a node of the moving long baseline, and the slave UUV is equipped with a low precision navigation system. They are both equipped with acoustic devices to measure relative location. Using traditional triangulation methods to calculate the position of the slave UUV may cause a faulty solution. An EKF was designed to solve this, combining the proprioceptive and exteroceptive sensors. Research results proved that the navigational accuracy is improved significantly with the MLBL method based on EKF.
文摘An ultracompact 3 dB coupler is designed and fabricated in silicon on insulator,based on 1×2 line tapered multimode interference (MMI) coupler.Comparing with the conventional straight MMI coupler,the device is ～40% shorter in length.The device exhibits uniformity of 1 3dB and excess loss of 2 5dB.
文摘A multiple antenna GPS system integrated with MEMS-based INS is proposed by data fusion. The system is applied to attitude determination due to its high accuracy, the high output rate, low latency, quick initialization, and good robustness and redundancy. The mathematical method for realizing the system is given. The system can provide attitude and other navigation information even without GPS measurement for a period of time. Experimental results show that, under the condition of 200 Hz, the attitude, the position, the velocity, the acceleration, and the angular rate can achieve 0. 08°/s, 1.5 m, 0. 1 m/s, 0. 12 m/s^2 and 0. 1°/s.
文摘The fabrication of the oxidized porous silicon waveguide prism is reported by selectively electrochemical anodisation process. The direction changes of light beams in TE and TM polarization out of this waveguide prism were respectively measured,and the experimental results were analyzed.
基金National Natural Science Foundation of China(No.51075367)Natural Science Foundation of Zhejiang Province(No.Y1090931)
文摘Grains in the slurry can be brought into cutting zone by steel wire with a certain speed to achieve the purpose of removing the workpiece material in the free abrasive wire sawing machining. Because its own of multi- strands characteristics, we use it to replace the steel wire to do slicing experiment. In this paper, multi-strands wire is made by seven metal wires and has many grooves on its surface. Compared with steel wire, it can carry more grains into cutting zone which is conducive to improving the slicing efficiency. We do some comparative slic- ing experimcnts by applying multi-strands wire （~b0.25 mm） and steel wire （~b0.25 mm） to cut optical glass （K9）. The results show that slicing efficiency and the surface roughness of the workpiece sliced by using multi-strands wire are better than that by using steel wire. but the kerf width of the former is wider than that of the latter in the same experimental conditions.
基金Project(2011ZX05015)supported by Important National Science and Technology Specific Projects of the "Twelfth Five-years" Plan Period,China
文摘Multiple fractured horizontal well(MFHW) is widely applied in the development of shale gas. To investigate the gas flow characteristics in shale, based on a new dual mechanism triple continuum model, an analytical solution for MFHW surrounded by stimulated reservoir volume(SRV) was presented. Pressure and pressure derivative curves were used to identify the characteristics of flow regimes in shale. Blasingame type curves were established to evaluate the effects of sensitive parameters on rate decline curves, which indicates that the whole flow regimes could be divided into transient flow, feeding flow, and pseudo steady state flow. In feeding flow regime, the production of gas well is gradually fed by adsorbed gases in sub matrix, and free gases in matrix. The proportion of different gas sources to well production is determined by such parameters as storability ratios of triple continuum, transmissibility coefficients controlled by dual flow mechanism and fracture conductivity.
文摘Mitochondrial DNA introgression has been suggested to be responsible for the maternal consistent implications. Study on mt-DNA （mitochondrial DNA） variation in the yellowfin tuna （Thunnus albacares） using RFLP （restriction fragment length polymorphisms） has provided the evidence of maternal inheritance of yellowfin tuna in captivity. Eggs were collected in every spawning in 2004-2006 season. The mt-DNA genotypes of broodstock were compared with their eggs and the maternal inheritance of these females was determined from genotypes in the eggs. The result showed that six genotypes of female broodstock were observed in eggs and four of them were found to share a single female＇s identity and one type was shared by two females. The same genotype was observed in almost every sampling throughout the year. The female broodstocks spawned almost daily throughout the season.
