基于Matlab的轨迹发生器与惯导解算

捷联惯导自出现至今,一直在导航系统中扮演着重要角色。水下环境特殊、复杂,信号传输方式受限,因此,水下多用惯导作为主要导航设备。围绕捷联惯导的研究就此展开,主要研究方向为捷联惯导系统的误差抑制方法,从而取得更高的导航精度。研究方法有理论研究与实验研究两种。实际的跑车实验需要大量的人力、物力与财力。在研究初期,跑车实验并不是研究工作开展的最好方式。因此,利用Matlab矩阵实验室研究惯导系统的工作原理与工作过程,设计了一种基于Matlab的轨迹发生器,给出捷联惯导系统的比力输出与角速度输出。仿真结果表明,轨迹发生器可以模拟水下航行器的航行状态。同时,利用Matlab在已有运动轨迹的基础上进行惯导解算,给出并分析解算结果。

中考数学应用类图象选择题导解

应用类图象选择题是近两年中考数学中出现的一种新题型,这种试题设计新颖,取材广泛,创意性强,能灵活多样地考查函数的有关知识和实际应用、读图分析图等多方面的能力.为帮助初三同学系统地复习这一题型,本文以2002年中考试题为例,对这种试题的解题思路进行分析、归纳,供同学们参考.

基于解空间内计算机辅助导引技术的总体构形设计与计算

工业产品的设计要求确定许多相互之间发生影响的参数。设计师掌握的关于如何在诸多可能的解答中作出选择的知识，是确定最优化设计解答的重要前提条件。同时，设计师还必须熟悉这些制约其作出选择的产品参数的函数关系。柏林工业大学机床与工厂管理研究所研制了一套用于总体构形设计与计算的概念构架，在关于产品参数的函数关系方面，该概念构架保证了必需的直观可视性，此外，它还显著地降低了设计费用。对于特定的任务，因其各个参数都存在着变动的可能性，从而对设计师来说形成为一个设计活动空间，该设计活动空间在这里被解释和视觉化为一种几何空间。对此，该几何空间的解空间将包含有可供本项设计任务选择的解答，并且它还支持解答的最优化。

交互式捷联惯导仿真系统的设计与实现

捷联式惯导系统在军事领域应用广泛,为便于对捷联惯导算法及各种组合导航算法进行研究,设计了一套捷联惯导仿真系统。系统基于模块化思想设计,包括运动状态建模、轨迹仿真模块、惯性器件仿真模块和惯导解算模块4部分,具有良好的可移植性和拓展性;系统采用图形交互界面,实时操控载体的运动状态,能便捷、高效的生成各种运动轨迹;利用等效旋转矢量算法对仿真数据进行了解算分析,仿真实验结果表明:解算的姿态、速度和位置误差与理论值相符,验证了仿真模型的合理性以及仿真系统的可用性。

单轴旋转惯导系统建模与仿真

建立了单轴旋转式捷联惯导系统数学模型和仿真模型,采用的导航算法能有效避免转台测角误差对系统定位精度造成的影响;仿真结果表明旋转IMU能提高抑制惯导定位误差的累积,提高惯导定位精度、姿态精度和速度精度也同时得到提高。

VC环境下捷联惯导模拟器的开发

以捷联惯导系统为基础,在VC编译环境中,设计出可以模拟多种环境扩展性较强的模拟器,完成了对捷联惯导系统各种状态下的模拟,包括捷联惯导解算、传感器误差设置与测试、航迹状态设置等,为相关导航系统算法的验证提供了数据源.

Effect of sintering temperature and holding time on structure and properties of Li_(1.5)Ga_(0.5)Ti_(1.5)(PO_4)_(3)electrolyte with fast ionic conductivity

Li_(1.5)Ga_(0.5)Ti_(1.5)PO_(4))_(3)(LGTP)is recognized as a promising solid electrolyte material for lithium ions.In this work,LGTP solid electrolyte materials were prepared under different process conditions to explore the effects of sintering temperature and holding time on relative density,phase composition,microstructure,bulk conductivity,and total conductivity.In the impedance test under frequency of 1-10^(6) Hz,the bulk conductivity of the samples increased with increasing sintering temperature,and the total conductivity first increased and then decreased.SEM results showed that the average grain size in the ceramics was controlled by the sintering temperature,which increased from(0.54±0.01)μm to(1.21±0.01)μm when the temperature changed from 750 to 950°C.The relative density of the ceramics increased and then decreased with increasing temperature as the porosity increased.The holding time had little effect on the grain size growth or sample density,but an extended holding time resulted in crack generation that served to reduce the conductivity of the solid electrolyte.

Machine Learning Approach Accelerates Search for Solid State Electrolytes

In the current aera of rapid development in the field of electric vehicles and electrochemical energy storage,solid-state battery technology is attracting much research and attention.Solid-state electrolytes,as the key component of next-generation battery technology,are favored for their high safety,high energy density,and long life.However,finding high-performance solid-state electrolytes is the primary challenge for solid-state battery applications.Focusing on inorganic solid-state electrolytes,this work highlights the need for ideal solid-state electrolytes to have low electronic conductivity,good thermal stability,and structural and phase stability.Traditional experimental and theoretical computational methods suffer from inefficiency,thus machine learning methods become a novel path to intelligently predict material properties by analyzing a large number of inorganic structural properties and characteristics.Through the gradient descent-based XGBoost algorithm,we successfully predicted the energy band structure and stability of the materials,and screened out only 194 ideal solid-state electrolyte structures from more than 6000 structures that satisfy the requirements of low electronic conductivity and stability simultaneously,which greatly accelerated the development of solid-state batteries.

ANALYTICAL SOLUTION OF AXIAL SYMMETRICAL WALL TEMPERATURE DISTRIBUTION FOR HOLLOW CYLINDER

Using the variable transformation method,the formulae of the axial symmetrical wall temperature distribution during steady heat conduction of a hollow cylinder are derived in this paper.The wall temperature distribution and the wall heat flux distribution in both axial and radial direction can be calculated by the temperature distribution of the liquid medium both inside and outside the cylinder with temperature changing in axial direction.The calculation results are almost consistent with the experience results.The applicative condition of the formulae in this paper consists with most of practice.They can be applied to the engineering calculation of the steady heat conduction.The calculation is simple and accurate.

Interpretation of magnetic anomalies by horizontal and vertical derivatives of the analytic signal

Magnetic anomalies are often disturbed by the magnetization direction, so we can＇t directly use the original magnetic anomaly to estimate the exact location and geometry of the source. The 2D analytic signal is insensitive to magnetization direction. In this paper, we present an automatic method based on the analytic signal horizontal and vertical derivatives to interpret the magnetic anomaly. We derive a linear equation using the analytic signal properties and we obtain the 2D magnetic body location parameters without giving a priori information. Then we compute the source structural index （expressing the geometry） by the estimated location parameters. The proposed method is demonstrated on synthetic magnetic anomalies with noise. For different models, the proposed technique can both successfully estimate the location parameters and the structural index of the sources and is insensitive to noise. Lastly, we apply it to real magnetic anomalies from China and obtain the distribution of unexploited iron ore. The inversion results are consistent with the parameters of known ore bodies.

紧耦合直接地理定位技术精度分析与应用

基于机载POS辅助的直接地理定位系统,可得到平面与高程分别优于10和15 cm的中误差成果。但这一过程的实现对飞行环境和地面基站的依赖度较高,在实际工作中,不仅降低了生产效率,还增加了工作成本。基于虚拟参考基站理论和惯导辅助动态模糊度解算技术的紧耦合直接地理定位技术,摆脱了对飞行条件和基站距离的限制,在卫星失锁、地面基站距离超过70 km和无基站的情况下,仍能获取满足精度的解算结果。本文采用该技术对辽宁沈阳城区进行了高分辨率的数字航空遥感工作,通过对其数据的解算结果显示,采用机载POS紧耦合方案得到的数据精度要明显优于松散组合,在无基站的情况下采用的紧耦合单点精密解算所得到的成果也能满足相应的成果规范。

Electrical conductivity of NaF-AlF_3-CaF_2-Al_2O_3-ZrO_2 molten salts

The electrical conductivity of NaF-AlF3-CaF2-Al2O3-ZrO2 system was studied by a tube-type cell with fixed cell constant. The results show that the electrical conductivity of NaF-AlF3-3%Al2O3-3%CaF2-ZrO2 molten salt system decreases with increase of ZrO2 content in an interval of 0-5%. The increase of 1%ZrO2 results in a corresponding electrical conductivity decrease of 0.02 S/cm, and the equivalent conductivity increases with the increase of molar ratio of NaF to AlF3. When the temperature increases by 1 °C, the electrical conductivity increases by 0.004 S/cm. At last, the regression equations of electrical conductivity relative to temperature and ZrO2 are obtained by quadratic regression analysis.

Photolytic Model of Six Degradable Mulch Plastic Films

[Objective] This study aimed to solve the mulch plastic film pollution problems in Xinjiang, in order to provide reliable theoretical basis for the research on the degradation mechanism of biodegradable plastic films. [Method] The effect of illumination intensity on the decomposition of decomposable mulching films was investigated through simulating the field condition in laboratory. Regression analysis was employed to fit the processes of film decompositions. [Result] The weight loss ratios of different types of plastic films were closely related with the illumination. There was no sundry produced during the degradation process, but the weight was reduced, indicating that degradation produced gas, thus, ultraviolet rays had destructive effect on mulch plastic films. Different types of plastic films showed significant differences in the degradation speeds, and under the same conditions, the degradation speed of S4# with the induction period of 30 d was the fastest. With the extension of uv illumination time, the degradation became cumulative degradation process. [Conclusion] Under the uv rays, the weight loss ratio and illumination hours is regarded as a positive correlation relationship. The significant inspection shows that the data fitted degradation model can be described by the logistic model of Y = a/（1＋b×e -ct）, and all the parameters show significant differences （P0.01）.

INVERSE KINEMATICS FOR A 6 DOF MANIPULATOR BASED ON NEURAL NETWORK

A methodology is presented whereby a neural network is used to learn the inverse kinematic relationships of the position and orientation of a six joint manipulator. The arm solution for the orientation of a manipulator using a self organizing neural net is studied in this paper. A new training model of the self organizing neural network is proposed by thoroughly studying Martinetz, Ritter and Schulten′s self organizing neural network based on Kohonen′s self organizing mapping algorithm using a Widrow Hoff type error correction rule and closely combining the characters of the inverse kinematic relationship for a robot arm. The computer simulation results for a PUMA 560 robot show that the proposed method has a significant improvement over other methods documented in the references in self organizing capability and precision by training process.

A New Quasi 2-Dimensional Analytical Approach to Predicting Ring Junction Voltage,Edge Peak Fields and Optimal Spacing of Planar Junction with Single Floating Field Limiting Ring Structure

WT8.BZ]A new quasi 2-dimensional analytical approach to predicting the ring voltage,edge peak fields and optimal spacing of the planar junction with a single floating field limiting ring structure has been proposed,based on the cylindrical symmetric solution and the critical field concept.The effects of the spacing and reverse voltage on the ring junction voltage and edge peak field profiles have been analyzed.The optimal spacing and the maximum breakdown voltage of the structure have also been obtained.The analytical results are in excellent agreement with that obtained from the 2-D device simulator,MEDICI and the reported result,which proves the presented model valid.

Constrained least squares algorithm for channel vector estimation in 2-D RAKE receiver

Based on the fact that the variation of tile direction of arrival (DOA) isslower than that of the channel fading, the steering vector of the desired signal is estimatedfirstly using a subspace decomposition method and then a constrained condition is configured.Traffic signals are further employed to estimate the channel vector based on the constrained leastsquares criterion. We use the iterative least squares with projection (ILSP) algorithm initializedby the pilot to get the estimation. The accuracy of channel estimation and symbol detection can beprogressively increased through the iteration procedure of the ILSP algorithm. Simulation resultsdemonstrate that the proposed algorithm improves the system performance effectively compared withthe conventional 2-D RAKE receiver.

Hydrolysis Mechanism of the NAMI-A-type Antitumor Complex （HL）[trans-RuCl4L（dmso-S）] （L=1-methyl-l,2,4-triazole）

The hydrolysis process of Ru（III） complex （HL）[trans-RuC14L（dmso-S）] （L=l-methyl-l,2,4- triazole and dmso-S=S-dimethyl sulfoxide） （1）, a potential antitumor complex similar to the well-known antitumor agent （Him）[trans-RuC14 （dmso-S）（im）] （NAMI-A, im=imidazole）, was investigated using density functional theory combined with the conductor-like polarizable continuum model approach. Tile structural characteristics and the detailed energy profiles for the hydrolysis processes of this complex were obtained. For the first hydrolysis step, complex 1 has slightly higher barrier energies than the reported anticancer drug NAMI-A, and the result is in accordance with the experimental evidence indicating larger half-life for complex 1. For the second hydrolysis step, the formation of cis-diaqua species is thermodynamic preferred to that of trans isomers. In addition, on the basis of the analysis of electronic characteristics of species in the hydrolysis process, the trend in nucleophilic attack abilities of hydrolysis products by pertinent biomolecules is revealed and predicted.

Removal of Co(Ⅱ) from aqueous solution by complexation-ultrafiltration and shear stability of PAA-Co complex

Removal of Co(Ⅱ) from aqueous solutions by complexation-ultrafiltration was investigated using polyacrylic acid sodium(PAAS) as complexing agent with the help of rotating disk membrane,and the shear ability of PAA-Co complex was studied. The effects of the mass ratio of PAAS to Co(Ⅱ)(P/M) and pH on the rejection of Co(Ⅱ) were studied,and the optimum conditions were P/M=8 and pH=7. The rejection of Co(Ⅱ) was over 97% when the rotating speed of the disk(n)was less than 710 r/min at the optimum P/M and pH. The distribution of the forms of cobalt on the membrane surface was established by the membrane partition model, and the critical shear rate,the smallest shear rate at which the PAA-Co complex begins to dissociate,was calculated to be1.4×10^4 s^-1,and the corresponding rotating speed was 710 r/min.The PAA-Co complex dissociated when the shear rate was greater than the critical one. The regeneration of PAAS and recovery of Co(Ⅱ) were achieved by shear-induced dissociation and ultrafiltration.

A1∑＋ State Lifetime and Predissociation of Cull

A combined cavity ringdown （CRD） and laser induced fluorescence （LIF） spectroscopic study on the A1∑＋-X1∑＋ transition of Cull has been presented. The Cull molecule, as well as its deuterated isotopologue CuD, are produced in a supersonic jet expansion by discharging H2 （or D2） and Ar gas mixtures using two copper needles. Different profiles of relative line intensities are observed between the measured LIF and CRD spectra, providing an experimental evidence for the predissociation behavior in the A1∑＋ state of Cull. The lifetimes of individual upper rotational levels are measured by LIF, in which the J＇-dependent predisso- ciation rates are obtained. Based on the previous theoretical calculations, a predissociation mechanism is concluded due to the strong spin-orbit coupling between the A1∑＋ state and the lowest-lying triplet 3∑＋ state, and a tunneling effect may also be involved in the predis- sociation. Similar experiments are also performed for CuD, showing that the A1∑＋ state of CuD does not undergo a predissociation process.

Composite Cathode based on Mn-doped Perovskite Niobate-Titanate for Efficient Steam Electrolysis

Redox-active Mn is introduced into the B site of redox-stable perovskite niobate-titanate to improve the electrocatalytic activity of composite cathode in an oxide-ion-conducting solid oxide electrolyzer. The XRD and XPS results reveal the successful partial replacement of Ti/Nb by Mn in the B site of niobate-titanate. The ionic conductivities of the Mndoped niobate-titanate are significantly improved by approximately 1 order of magnitude in reducing atmosphere and 0.5 order of magnitude in oxidizing atmosphere compared with bare niobate-titanate at 800 ℃. The current efficiency for Mn-doped niobate-titanate cathode is accordingly enhanced by ,-25% and 30% in contrast to the bare cathode with and without reducing gas flowing over the cathode under the applied voltage of 2.0 V at 800 ℃ in an oxide-ion-conducting solid oxide electrolyzer, respectively.