The principle of the inertial navigation system(INS) with rotating inertial measurement unit (IMU) is analyzed. A new IMU is established to rotate round each axis in three directions. Then, the related error model...The principle of the inertial navigation system(INS) with rotating inertial measurement unit (IMU) is analyzed. A new IMU is established to rotate round each axis in three directions. Then, the related error models for the designed system during rotating are deduced and the improved system is built. Finally, the performance simulation of the proposed system is provided. The simulation result indicates that the designed system can improve the accuracy of the roll and the pitch as well as heading by rotating three axes, thus guaranting the heading accuracy. Moreover, based on the principle of rotation at six different positions, such structure can carry out real-time calibration, and improve the system performance.展开更多
Aim To design an ASIC based on CORDIC(coordinate rotations digital computer) to meet the requirement of coordinate conversion in high speed radar signal processing. Methods A new pipeline CORDIC architecture easi...Aim To design an ASIC based on CORDIC(coordinate rotations digital computer) to meet the requirement of coordinate conversion in high speed radar signal processing. Methods A new pipeline CORDIC architecture easily realized in VLSI was introduced. Results and Conclusion The results of hardware simulation with FPGA show that the pipeline CORDIC architecture meets the requirement.展开更多
Aim To extract harmonic frequencies of helicopter acoustic signal as features for hel icopter identification. Methods Estimation of signal parameters via rotational invariance techniques(ESPRIT) was selected to ext...Aim To extract harmonic frequencies of helicopter acoustic signal as features for hel icopter identification. Methods Estimation of signal parameters via rotational invariance techniques(ESPRIT) was selected to extract harmonic frequencies from really measured helicopter acoustic signal and an algorithm based on the SVD TLS was used. Results ESPRIT correctly extracted harmonic frequencies of helicopter using the data of limited length under the variousflight conditions. Conclusion ESPRIT is an effective method of extracting harmonic frequencies and using harmonic frequencies of helicopter acoustic signal to recognize helicopter is feasible.展开更多
The application of the response surface methodology and the central composite design(CCD) technique for modeling and optimization of the influence of some operating variables on copper,molybdenum and rhenium recover...The application of the response surface methodology and the central composite design(CCD) technique for modeling and optimization of the influence of some operating variables on copper,molybdenum and rhenium recoveries in a bioleaching process was investigated.Three main bioleaching parameters,namely pH,solid concentration and inoculum percent,were changed during the bioleaching tests based on CCD.The ranges of the bioleaching process variables used in the design were as follows:pH1.46-2.14,solid concentration 0.95%-11.05%,and inoculum percent 1.59%-18.41%.A total of 20 bioleaching tests were carried out by the CCD method according to software-based designed matrix.Empirical model equations were developed according to the copper,molybdenum and rhenium recoveries obtained with these three parameters.Model equations of responses at the base of parameters were achieved by using statistical software.The model equations were then individually optimized by using quadratic programming to maximize copper,molybdenum and rhenium recoveries individually within the experimental range.The optimum conditions for copper recovery were pH 1.68,solid concentration 0.95% and the inoculum 18.41%(v/v),while molybdenum and rhenium recoveries were 2.18% and 24.41%,respectively.The predicted values for copper,molybdenum and rhenium recoveries were found to be in good agreement with the experimental values.Also jarosite formation during bioleaching tests was also investigated.展开更多
To improve the accuracy of strapdown inertial navigation system(SINS) for long term applications,the rotation technique is employed to modulate the errors of the inertial sensors into periodically varied signals,and,a...To improve the accuracy of strapdown inertial navigation system(SINS) for long term applications,the rotation technique is employed to modulate the errors of the inertial sensors into periodically varied signals,and,as a result,to suppress the divergence of SINS errors.However,the errors of rotation platform will be introduced into SINS and might affect the final navigation accuracy.Considering the disadvantages of the conventional navigation computation scheme,an improved computation scheme of the SINS using rotation technique is proposed which can reduce the effects of the rotation platform errors.And,the error characteristics of the SINS with this navigation computation scheme are analyzed.Theoretical analysis,simulations and real test results show that the proposed navigation computation scheme outperforms the conventional navigation computation scheme,meanwhile reduces the requirement to the measurement accuracy of rotation angles.展开更多
A rotating disc column (RDC) with inner diameter 68 mm and 28 compartments is used in this study. Parameters including Sauter mean diameter, hold-up and mass transfer coefficient are measured experimentally un-der dif...A rotating disc column (RDC) with inner diameter 68 mm and 28 compartments is used in this study. Parameters including Sauter mean diameter, hold-up and mass transfer coefficient are measured experimentally un-der different operating conditions. The correlations in literature for molecular diffusion and enhancement factor equation including eddy diffusion, circulation and oscillation of drops are evaluated. A new equation for the effec-tive diffusion coefficient as a function of Reynolds number is proposed. The calculated values of mass transfer co-efficient and column height from the previous equations and present equation are compared with the experimental data. The results from the present equation are in very good agreement with the experimental results, which may be used in designing RDC columns.展开更多
In many circumstances,dissimilar metals have to be bonded together and the resulting joint interfaces must typically sustain mechanical and/or electrical forces without failure,which is not possible by fusion welding ...In many circumstances,dissimilar metals have to be bonded together and the resulting joint interfaces must typically sustain mechanical and/or electrical forces without failure,which is not possible by fusion welding processes.The melting points of magnesium(Mg)and copper(Cu)have a significant difference(nearly 400℃)and this may lead to a large difference in the microstructure and joint performance of Mg-Cu joints.However,diffusion bonding can be used to join these alloys without much difficulty.This work analyses the effect of parameters on diffusion layer thickness,hardness and strength of magnesium-copper dissimilar joints.The experiments were conducted using three-factor,five-level,central composite rotatable design matrix.Empirical relationships were developed to predict diffusion layer thickness,hardness and strength using response surface methodology.It is found that bonding temperature has predominant effect on bond characteristics.Joints fabricated at a bonding temperature of 450℃, bonding pressure of 12 MPa and bonding time of 30 min exhibited maximum shear strength and bonding strength of 66 and 81 MPa, respectively.展开更多
The main purpose of the present study was to provide a practical, convenient drillability prediction model based on rock mass characteristics, geological sampling from blast holes, and drill operational factors. Empir...The main purpose of the present study was to provide a practical, convenient drillability prediction model based on rock mass characteristics, geological sampling from blast holes, and drill operational factors. Empirical equations that predict drill penetration rate have been developed using statistical analyses of data from the Sarcheshmeh Copper Mine. Seven parameters of the rock or rock mass, including uniaxial compressive strength (UCS) of the rock, Schmidt hammer hardness value, quartz content, fragment size (dso), alteration, and joint dip, are included in the model along with two operational parameters of the rotary drill, bit rotational speed and thrust. These parameters were used to predict values of the newly developed Specific Rock Mass Drillability (SRMD) index. Comparing measured SRMD values to those pre- dicted by the multi-parameter linear, or nonlinear, regression models showed good agreement. The cor- relation coefficients were 0.82 and 0.81. resoectively.展开更多
The displacement of the origin of the accelerometer coordinate system relative to the origin of the base coordinate system is calculated by homogeneous transformation. The second order derivative of this displacement ...The displacement of the origin of the accelerometer coordinate system relative to the origin of the base coordinate system is calculated by homogeneous transformation. The second order derivative of this displacement is the acceleration of the origin to the accelerometer coordinate system. By means of the attitude relationship between the base coordinate system and the accelerometer coordinate system, the acceleration components on the three coordinate axes is obtained. Utilizing the Coriolis rotation coordinate theorem, the three components are also calculated. The homogeneous transtbrmation method and vector differential method lead to identical results.展开更多
The topic of offshore wind energy is attracting more and more attention as the energy crisis heightens.The blades are the key components of offshore wind turbines,and their dynamic characteristics directly determine t...The topic of offshore wind energy is attracting more and more attention as the energy crisis heightens.The blades are the key components of offshore wind turbines,and their dynamic characteristics directly determine the effectiveness of offshore wind turbines.With different rotating speeds and blade length,the rotating blades generate various centrifugal stiffening effects.To directly analyze the centrifugal stiffening effect of blades,the Rayleigh energy method (REM) was used to derive the natural frequency equation of the blade,including the centrifugal stiffening effect and the axial force calculation formula.The axial force planes and the first to third order natural frequency planes which vary with the rotating speed and length were calculated in three-dimensional coordinates.The centrifugal stiffening coefficient was introduced to quantitatively study the relationship between the centrifugal stiffening degree and the rotating speed,and then the fundamental frequency correction formula was built based on the rotating speed and the blade length.The analysis results show that the calculation results of the fundamental frequency correction formula agree with the theoretical calculation results.The error of calculation results between them is less than 0.5%.展开更多
This letter introduces a 4th order active RC complex filter with 1.SMHz center frequency and 1MHz bandwidth. The total harmonic distortion of the filter is less than -60dB and the image rejection ratio is greater than...This letter introduces a 4th order active RC complex filter with 1.SMHz center frequency and 1MHz bandwidth. The total harmonic distortion of the filter is less than -60dB and the image rejection ratio is greater than 60dB. A novel technique is also proposed in this letter to automatically adjust the variation of the time constant. The advantages of the proposed method are its high precision and simplicity. Using 5bits control words, the tuning error is less than ±1.6%.展开更多
Temporal and three-dimensional(3 D) spatial information is important for the characterization of wireless channels. In this paper, the commonly used array signal processing(ASP) methods to estimate channel parameters ...Temporal and three-dimensional(3 D) spatial information is important for the characterization of wireless channels. In this paper, the commonly used array signal processing(ASP) methods to estimate channel parameters are summarized. Firstly, algorithms that can be used to estimate azimuth angle of arrival(AAo A) and elevation Ao A(EAo A) are introduced. They include multiple signal classification(MUSIC), estimation of signal parameter via rotational invariance techniques(ESPRIT), and Unitary ESPRIT algorithms. Secondly, algorithms that can be used to jointly estimate delay, AAo A, and EAo A are given. They include joint angle and delay estimation(JADE) MUSIC, JADE ESPRIT, shift-invariance(SI) JADE, and space-alternating generalized expectation-maximization(SAGE) algorithms. We also propose an improved SIJADE algorithm to further reduce computation complexity by incorporating with the Unitary ESPRIT algorithm. Performance of the above algorithms to extract only spatial information and to jointly extract temporal and spatial information is compared in both synthetic and 60 GHz real channel environments. Simulation results show that with the inclusion of delay estimation, the joint temporal and spatial estimation algorithms can provide better resolution than algorithms estimating only angles.Measurement data processing results show that MUSIC algorithm can provide comparable results with SAGE algorithm in estimating AAoA and EAoA. SI-JADE and the improved SI-JADE algorithms are also applicable to process 60 GHz channel measurement data.However, MUSIC, SI-JADE, and the improved SI-JADE algorithms can greatly reduce computational burden compared with SAGE algorithm. At last, some future directions are pointed out.展开更多
For eliminating the negative effects of lock-in region and optical elements in cavity,the non-planar structure is strongly needed in laser gyro. In this paper,the theoretical formula of rotatory effect in non-planar c...For eliminating the negative effects of lock-in region and optical elements in cavity,the non-planar structure is strongly needed in laser gyro. In this paper,the theoretical formula of rotatory effect in non-planar cavity is presented deducing from basic light propagating law. Based on the 8-like plane cavity,a novel non-planar structure is designed and numerically calculated. The results show that for obtaining the required rotatory angle,it just needs to adjust the structural parameters of the original 8-like plane cavity. The four-frequency-differential laser gyro which adopts the non-planar 8-like structure has the same advantages as those with the planar 8-like structure,such as the gain region locates at one leg,the position of Faraday rotator has better spatial symmetry and the coating films of the output mirror is easily designed.展开更多
基金Supported by the National Natural Science Foundation of China(60702003)~~
文摘The principle of the inertial navigation system(INS) with rotating inertial measurement unit (IMU) is analyzed. A new IMU is established to rotate round each axis in three directions. Then, the related error models for the designed system during rotating are deduced and the improved system is built. Finally, the performance simulation of the proposed system is provided. The simulation result indicates that the designed system can improve the accuracy of the roll and the pitch as well as heading by rotating three axes, thus guaranting the heading accuracy. Moreover, based on the principle of rotation at six different positions, such structure can carry out real-time calibration, and improve the system performance.
文摘Aim To design an ASIC based on CORDIC(coordinate rotations digital computer) to meet the requirement of coordinate conversion in high speed radar signal processing. Methods A new pipeline CORDIC architecture easily realized in VLSI was introduced. Results and Conclusion The results of hardware simulation with FPGA show that the pipeline CORDIC architecture meets the requirement.
文摘Aim To extract harmonic frequencies of helicopter acoustic signal as features for hel icopter identification. Methods Estimation of signal parameters via rotational invariance techniques(ESPRIT) was selected to extract harmonic frequencies from really measured helicopter acoustic signal and an algorithm based on the SVD TLS was used. Results ESPRIT correctly extracted harmonic frequencies of helicopter using the data of limited length under the variousflight conditions. Conclusion ESPRIT is an effective method of extracting harmonic frequencies and using harmonic frequencies of helicopter acoustic signal to recognize helicopter is feasible.
基金supported by the National Iranian Copper Industry Co. and Geological Survey of Iran
文摘The application of the response surface methodology and the central composite design(CCD) technique for modeling and optimization of the influence of some operating variables on copper,molybdenum and rhenium recoveries in a bioleaching process was investigated.Three main bioleaching parameters,namely pH,solid concentration and inoculum percent,were changed during the bioleaching tests based on CCD.The ranges of the bioleaching process variables used in the design were as follows:pH1.46-2.14,solid concentration 0.95%-11.05%,and inoculum percent 1.59%-18.41%.A total of 20 bioleaching tests were carried out by the CCD method according to software-based designed matrix.Empirical model equations were developed according to the copper,molybdenum and rhenium recoveries obtained with these three parameters.Model equations of responses at the base of parameters were achieved by using statistical software.The model equations were then individually optimized by using quadratic programming to maximize copper,molybdenum and rhenium recoveries individually within the experimental range.The optimum conditions for copper recovery were pH 1.68,solid concentration 0.95% and the inoculum 18.41%(v/v),while molybdenum and rhenium recoveries were 2.18% and 24.41%,respectively.The predicted values for copper,molybdenum and rhenium recoveries were found to be in good agreement with the experimental values.Also jarosite formation during bioleaching tests was also investigated.
基金Project(60604011) supported by the National Natural Science Foundation of China
文摘To improve the accuracy of strapdown inertial navigation system(SINS) for long term applications,the rotation technique is employed to modulate the errors of the inertial sensors into periodically varied signals,and,as a result,to suppress the divergence of SINS errors.However,the errors of rotation platform will be introduced into SINS and might affect the final navigation accuracy.Considering the disadvantages of the conventional navigation computation scheme,an improved computation scheme of the SINS using rotation technique is proposed which can reduce the effects of the rotation platform errors.And,the error characteristics of the SINS with this navigation computation scheme are analyzed.Theoretical analysis,simulations and real test results show that the proposed navigation computation scheme outperforms the conventional navigation computation scheme,meanwhile reduces the requirement to the measurement accuracy of rotation angles.
文摘A rotating disc column (RDC) with inner diameter 68 mm and 28 compartments is used in this study. Parameters including Sauter mean diameter, hold-up and mass transfer coefficient are measured experimentally un-der different operating conditions. The correlations in literature for molecular diffusion and enhancement factor equation including eddy diffusion, circulation and oscillation of drops are evaluated. A new equation for the effec-tive diffusion coefficient as a function of Reynolds number is proposed. The calculated values of mass transfer co-efficient and column height from the previous equations and present equation are compared with the experimental data. The results from the present equation are in very good agreement with the experimental results, which may be used in designing RDC columns.
基金support rendered through a Major Research Project No. F-31-51/2005(SR)
文摘In many circumstances,dissimilar metals have to be bonded together and the resulting joint interfaces must typically sustain mechanical and/or electrical forces without failure,which is not possible by fusion welding processes.The melting points of magnesium(Mg)and copper(Cu)have a significant difference(nearly 400℃)and this may lead to a large difference in the microstructure and joint performance of Mg-Cu joints.However,diffusion bonding can be used to join these alloys without much difficulty.This work analyses the effect of parameters on diffusion layer thickness,hardness and strength of magnesium-copper dissimilar joints.The experiments were conducted using three-factor,five-level,central composite rotatable design matrix.Empirical relationships were developed to predict diffusion layer thickness,hardness and strength using response surface methodology.It is found that bonding temperature has predominant effect on bond characteristics.Joints fabricated at a bonding temperature of 450℃, bonding pressure of 12 MPa and bonding time of 30 min exhibited maximum shear strength and bonding strength of 66 and 81 MPa, respectively.
文摘The main purpose of the present study was to provide a practical, convenient drillability prediction model based on rock mass characteristics, geological sampling from blast holes, and drill operational factors. Empirical equations that predict drill penetration rate have been developed using statistical analyses of data from the Sarcheshmeh Copper Mine. Seven parameters of the rock or rock mass, including uniaxial compressive strength (UCS) of the rock, Schmidt hammer hardness value, quartz content, fragment size (dso), alteration, and joint dip, are included in the model along with two operational parameters of the rotary drill, bit rotational speed and thrust. These parameters were used to predict values of the newly developed Specific Rock Mass Drillability (SRMD) index. Comparing measured SRMD values to those pre- dicted by the multi-parameter linear, or nonlinear, regression models showed good agreement. The cor- relation coefficients were 0.82 and 0.81. resoectively.
文摘The displacement of the origin of the accelerometer coordinate system relative to the origin of the base coordinate system is calculated by homogeneous transformation. The second order derivative of this displacement is the acceleration of the origin to the accelerometer coordinate system. By means of the attitude relationship between the base coordinate system and the accelerometer coordinate system, the acceleration components on the three coordinate axes is obtained. Utilizing the Coriolis rotation coordinate theorem, the three components are also calculated. The homogeneous transtbrmation method and vector differential method lead to identical results.
基金Supported by the National Natural Science Foundation of China under Grant No.50708015the foundation of State Key Laboratory of Coastal and Offshore Engineering, Dalian University of Technology
文摘The topic of offshore wind energy is attracting more and more attention as the energy crisis heightens.The blades are the key components of offshore wind turbines,and their dynamic characteristics directly determine the effectiveness of offshore wind turbines.With different rotating speeds and blade length,the rotating blades generate various centrifugal stiffening effects.To directly analyze the centrifugal stiffening effect of blades,the Rayleigh energy method (REM) was used to derive the natural frequency equation of the blade,including the centrifugal stiffening effect and the axial force calculation formula.The axial force planes and the first to third order natural frequency planes which vary with the rotating speed and length were calculated in three-dimensional coordinates.The centrifugal stiffening coefficient was introduced to quantitatively study the relationship between the centrifugal stiffening degree and the rotating speed,and then the fundamental frequency correction formula was built based on the rotating speed and the blade length.The analysis results show that the calculation results of the fundamental frequency correction formula agree with the theoretical calculation results.The error of calculation results between them is less than 0.5%.
基金Supported by the Key Project of the National Natural Science Foundation of China (No.60437030) the Tianjin Natural Science Foundation (No.05YFJMJC01400).
文摘This letter introduces a 4th order active RC complex filter with 1.SMHz center frequency and 1MHz bandwidth. The total harmonic distortion of the filter is less than -60dB and the image rejection ratio is greater than 60dB. A novel technique is also proposed in this letter to automatically adjust the variation of the time constant. The advantages of the proposed method are its high precision and simplicity. Using 5bits control words, the tuning error is less than ±1.6%.
基金support from the Natural Science Foundation of China (Grant No. 61210002, 61371110)EU H2020 ITN 5G Wireless project (No. 641985)+1 种基金EU H2020 RISE TESTBED project (No. 734325)EPSRC TOUCAN project (Grant No. EP/L020009/1)
文摘Temporal and three-dimensional(3 D) spatial information is important for the characterization of wireless channels. In this paper, the commonly used array signal processing(ASP) methods to estimate channel parameters are summarized. Firstly, algorithms that can be used to estimate azimuth angle of arrival(AAo A) and elevation Ao A(EAo A) are introduced. They include multiple signal classification(MUSIC), estimation of signal parameter via rotational invariance techniques(ESPRIT), and Unitary ESPRIT algorithms. Secondly, algorithms that can be used to jointly estimate delay, AAo A, and EAo A are given. They include joint angle and delay estimation(JADE) MUSIC, JADE ESPRIT, shift-invariance(SI) JADE, and space-alternating generalized expectation-maximization(SAGE) algorithms. We also propose an improved SIJADE algorithm to further reduce computation complexity by incorporating with the Unitary ESPRIT algorithm. Performance of the above algorithms to extract only spatial information and to jointly extract temporal and spatial information is compared in both synthetic and 60 GHz real channel environments. Simulation results show that with the inclusion of delay estimation, the joint temporal and spatial estimation algorithms can provide better resolution than algorithms estimating only angles.Measurement data processing results show that MUSIC algorithm can provide comparable results with SAGE algorithm in estimating AAoA and EAoA. SI-JADE and the improved SI-JADE algorithms are also applicable to process 60 GHz channel measurement data.However, MUSIC, SI-JADE, and the improved SI-JADE algorithms can greatly reduce computational burden compared with SAGE algorithm. At last, some future directions are pointed out.
文摘For eliminating the negative effects of lock-in region and optical elements in cavity,the non-planar structure is strongly needed in laser gyro. In this paper,the theoretical formula of rotatory effect in non-planar cavity is presented deducing from basic light propagating law. Based on the 8-like plane cavity,a novel non-planar structure is designed and numerically calculated. The results show that for obtaining the required rotatory angle,it just needs to adjust the structural parameters of the original 8-like plane cavity. The four-frequency-differential laser gyro which adopts the non-planar 8-like structure has the same advantages as those with the planar 8-like structure,such as the gain region locates at one leg,the position of Faraday rotator has better spatial symmetry and the coating films of the output mirror is easily designed.