This paper proposed an algorithm on simultaneous position estimation and calibration of omnidirectional camera parameters for a group of multiple mobile robots. It is aimed at developing of exploration and information...This paper proposed an algorithm on simultaneous position estimation and calibration of omnidirectional camera parameters for a group of multiple mobile robots. It is aimed at developing of exploration and information gathering robotic system in unknown environment. Here, each mobile robot is not possible to know its own position. It can only estimate its own position by using the measurement value including white noise acquired by two omnidirectional cameras mounted on it. Each mobile robot is able to obtain the distance to those robots observed from the images of two omnidirectional cameras while making calibration during moving but not in advance. Simulation of three robots moving straightly shows the effectiveness of the proposed algorithm.展开更多
Previous studies with deletion and sequence analysis of JDV LTR showed that there is a putative AP-4 responsive element in LTR. By antisense transient assay and gel shifting assay, we for the first time demonstrated t...Previous studies with deletion and sequence analysis of JDV LTR showed that there is a putative AP-4 responsive element in LTR. By antisense transient assay and gel shifting assay, we for the first time demonstrated that AP-4 modulated JDV gene expression by binding DNA directly to bovine cells. The results, derived from site-directed mutagenesis experiments, suggest that the six base pairs of AP-4 binding site (CAGCTG) have different effects on JDV gene expression. When the first two base pairs changed to GC, JDV gene expression is severely decreased.展开更多
The paper investigates the effect of a single circumferential groove casing treatment(CGCT) on a transonic compressor rotor numerically.In particular,the effect of the groove at different axial locations on the flow f...The paper investigates the effect of a single circumferential groove casing treatment(CGCT) on a transonic compressor rotor numerically.In particular,the effect of the groove at different axial locations on the flow field is studied in detail and stall margin improvement is also discussed.The present results show that the groove close to the leading edge plays a crucial role in stabilizing the near stall flow structures and,hence,improves the stall margin.The groove at the mid-chord-section of the blade can help exchange and transfer momentums between different directions,and suppress the flow unsteadiness,leading to increased efficiency in rotor performance and extended operation range.The groove located near the blade trailing edge has limited effects on stall margin improvement and may cause additional penalty in efficiency.Through comparison with the recent work on CGCT,some common flow physics can be observed.展开更多
Numerical investigation on the self-induced unsteadiness of tip leakage flow(TLF) for an axial low-speed compressor with smooth wall and six single grooved casings are presented. A ten-passage numerical scheme is used...Numerical investigation on the self-induced unsteadiness of tip leakage flow(TLF) for an axial low-speed compressor with smooth wall and six single grooved casings are presented. A ten-passage numerical scheme is used to solve the unsteady Reynolds averaged Navier-Stokes(URANS) equations. It is found that the single grooves at various axial locations could have a large impact on the self-induced unsteadiness and the stall margin improvement(SMI) of compressor. The trend of SMI with groove center location demonstrates that the groove located near the mid of blade tip chord generates the best SMI. The worst groove is located about 20% Cax after the blade leading edge. The root-mean-squre of static pressure(RMSP) contours at 99.5% span and fast Fourier transform for the static pressure traces recorded in the tip clearance region for each casing are analyzed. The results demonstrate that the single groove location not only affects the oscillating strength but also the frequency of the unsteady tip leakage flow. At the near-stall point of smooth casing, the self-induced unsteadiness of TLF is enhanced most by the best grooved casing for SMI. While, the self-induced unsteadiness disappears when the worst groove for SMI is added. The characteristic frequency of TLF is about 0.55 blade passing frequency(BPF) with smooth casing. The frequency components become complicated as the single groove moves from the leading edge to the trailing edge of the blade.展开更多
文摘This paper proposed an algorithm on simultaneous position estimation and calibration of omnidirectional camera parameters for a group of multiple mobile robots. It is aimed at developing of exploration and information gathering robotic system in unknown environment. Here, each mobile robot is not possible to know its own position. It can only estimate its own position by using the measurement value including white noise acquired by two omnidirectional cameras mounted on it. Each mobile robot is able to obtain the distance to those robots observed from the images of two omnidirectional cameras while making calibration during moving but not in advance. Simulation of three robots moving straightly shows the effectiveness of the proposed algorithm.
基金国家自然科学基金，the High Educational Outstanding Teachers Help Plan
文摘Previous studies with deletion and sequence analysis of JDV LTR showed that there is a putative AP-4 responsive element in LTR. By antisense transient assay and gel shifting assay, we for the first time demonstrated that AP-4 modulated JDV gene expression by binding DNA directly to bovine cells. The results, derived from site-directed mutagenesis experiments, suggest that the six base pairs of AP-4 binding site (CAGCTG) have different effects on JDV gene expression. When the first two base pairs changed to GC, JDV gene expression is severely decreased.
基金supported by the GE Aviation under its University Strategic Alliance(USA) programsupported by the National Natural Science Foundation of China(Grant Nos.10932005 and 11272183)
文摘The paper investigates the effect of a single circumferential groove casing treatment(CGCT) on a transonic compressor rotor numerically.In particular,the effect of the groove at different axial locations on the flow field is studied in detail and stall margin improvement is also discussed.The present results show that the groove close to the leading edge plays a crucial role in stabilizing the near stall flow structures and,hence,improves the stall margin.The groove at the mid-chord-section of the blade can help exchange and transfer momentums between different directions,and suppress the flow unsteadiness,leading to increased efficiency in rotor performance and extended operation range.The groove located near the blade trailing edge has limited effects on stall margin improvement and may cause additional penalty in efficiency.Through comparison with the recent work on CGCT,some common flow physics can be observed.
基金supported by National Natural Science Foundation of China with project No.51010007,No.51106153
文摘Numerical investigation on the self-induced unsteadiness of tip leakage flow(TLF) for an axial low-speed compressor with smooth wall and six single grooved casings are presented. A ten-passage numerical scheme is used to solve the unsteady Reynolds averaged Navier-Stokes(URANS) equations. It is found that the single grooves at various axial locations could have a large impact on the self-induced unsteadiness and the stall margin improvement(SMI) of compressor. The trend of SMI with groove center location demonstrates that the groove located near the mid of blade tip chord generates the best SMI. The worst groove is located about 20% Cax after the blade leading edge. The root-mean-squre of static pressure(RMSP) contours at 99.5% span and fast Fourier transform for the static pressure traces recorded in the tip clearance region for each casing are analyzed. The results demonstrate that the single groove location not only affects the oscillating strength but also the frequency of the unsteady tip leakage flow. At the near-stall point of smooth casing, the self-induced unsteadiness of TLF is enhanced most by the best grooved casing for SMI. While, the self-induced unsteadiness disappears when the worst groove for SMI is added. The characteristic frequency of TLF is about 0.55 blade passing frequency(BPF) with smooth casing. The frequency components become complicated as the single groove moves from the leading edge to the trailing edge of the blade.
