In order to achieve an automatic leveling function for work platforms of aerial vehicles with mixed-booms( MAV) in full elevating domain,an auto-leveling mechanism for the platform is proposed based on a control metho...In order to achieve an automatic leveling function for work platforms of aerial vehicles with mixed-booms( MAV) in full elevating domain,an auto-leveling mechanism for the platform is proposed based on a control method of booms-constraint,where mixed-boom structures and elevating characteristics are considered. Three models of constraint strategies include non-constraint model,elevating constraint model and lowering constraint model,which is designed to meet the leveling requirements in full working extent. Through the hydro-mechatronic unified modeling,a virtual prototype model is set up based on the auto-leveling mechanism,and leveling performances of the platform are studied during booms elevating to the maximum working height and extent. Simulation results show that the control method of booms-constraint can realize auto-leveling of the platform under two typical working conditions,meanwhile a leveling deviation appears at the constrained point,but the platform inclination is adjusted in the permissible range. The control method does not only restrict booms' freedom elevating to a certain extent,but also impacts the booms extending to the maximum working range. Experimental results verify that the auto-leveling mechanism based on booms-constraint control is valid and rational,which provides an effective technology approach for development of the platform leveling of MAV.展开更多
Based on the advantages and disadvantages of the standard median filter and the standard wean filter, a new Adaptive Weighted Mean Filter（AWFM） was proposed in this paper. The filter window＇s size of every pixel wa...Based on the advantages and disadvantages of the standard median filter and the standard wean filter, a new Adaptive Weighted Mean Filter（AWFM） was proposed in this paper. The filter window＇s size of every pixel was adaptively adjusted. Then the suspidons noise points were examined by certain rules. After that, the authors calculate the weighting factors of the pixels by weighting function which was canstructed according to the differences between their gray values and the median value of all elements in the window. Finally they use the weighted average of gray values to substitute the gray value of the central pixel in the window. The results indicate that this filtering method is not only effective for impulse noise like median filter, but also better than the standard median filters. Compared with conventional filter, this filter methed can effectivdy suppress the mixture noise of images, and protect image＇s details well.展开更多
In this paper,potential use of perfect but delayed channel estimates for variable-power discrete-rate adaptive modulation is explored.Research is concentrated on block by block adaptation.At first,a new quantity-TAUD(...In this paper,potential use of perfect but delayed channel estimates for variable-power discrete-rate adaptive modulation is explored.Research is concentrated on block by block adaptation.At first,a new quantity-TAUD(Tolerable Average Use Delay)is defined,it quantifies the performance of an adaptation scheme in tolerating the delay of channel estimates.Then,the research on TAUD shows that the delay tolerating performance declines with the increase in average power,the scheme working with more modulation modes can tolerate a longer delay,and such improvement will be more significant with the increase of average power.Finally,it shows that,as the delay tolerating performance determines the maximum block length,it has a great effect on the maximum spectral efficiency.The criterion for determining the block length appropriate for the target BER is described and a simple method of calculating the maximum block length is presented.展开更多
Direct observation is arguably the preferred way to investigate the interactions between two molecular complexes. With the development of high speed atomic force microscopy （AFM）, it is becoming possible to observe ...Direct observation is arguably the preferred way to investigate the interactions between two molecular complexes. With the development of high speed atomic force microscopy （AFM）, it is becoming possible to observe directly DNA-protein interactions with relevant spatial and temporal resolutions. These interactions are of central importance to biology, bionanotechnology, and functional biologically inspired materials. As in all microscopy studies, sample preparation plays a central role in AFM observation and minimal perturbation of the sample is desired. Here, we demonstrate the ability to tune the interactions between DNA molecules and the surface to create an association strong enough to enable high-resolution AFM imaging while also providing sufficient translational freedom to allow the relevant protein-DNA interactions to take place. Furthermore, we describe a quantitative method for measuring DNA mobility, while also determining the individual forces contributing to DNA movement. We found that for a weak surface association, a significant contribution to the movement arises from the interaction of the AFM tip with the DNA. In combination, these methods enable the tuning of the surface translational freedom of DNA molecules to allow the direct study of a wide range of nucleo-protein interactions by high speed atomic force microscopy.展开更多
基金Supported by the National Natural Science Foundation of China(No.51509006)National Key Technology R&D Program(No.2015BAF07B08)Fundamental Research Funds for the Central Universities of Chang’an University(No.310825161008)
文摘In order to achieve an automatic leveling function for work platforms of aerial vehicles with mixed-booms( MAV) in full elevating domain,an auto-leveling mechanism for the platform is proposed based on a control method of booms-constraint,where mixed-boom structures and elevating characteristics are considered. Three models of constraint strategies include non-constraint model,elevating constraint model and lowering constraint model,which is designed to meet the leveling requirements in full working extent. Through the hydro-mechatronic unified modeling,a virtual prototype model is set up based on the auto-leveling mechanism,and leveling performances of the platform are studied during booms elevating to the maximum working height and extent. Simulation results show that the control method of booms-constraint can realize auto-leveling of the platform under two typical working conditions,meanwhile a leveling deviation appears at the constrained point,but the platform inclination is adjusted in the permissible range. The control method does not only restrict booms' freedom elevating to a certain extent,but also impacts the booms extending to the maximum working range. Experimental results verify that the auto-leveling mechanism based on booms-constraint control is valid and rational,which provides an effective technology approach for development of the platform leveling of MAV.
基金supported by the University Independent innovation program of Jinan(No.200906005)the National Natural Science Foundation of Shandong Province(No.Y2008G31)
文摘Based on the advantages and disadvantages of the standard median filter and the standard wean filter, a new Adaptive Weighted Mean Filter（AWFM） was proposed in this paper. The filter window＇s size of every pixel was adaptively adjusted. Then the suspidons noise points were examined by certain rules. After that, the authors calculate the weighting factors of the pixels by weighting function which was canstructed according to the differences between their gray values and the median value of all elements in the window. Finally they use the weighted average of gray values to substitute the gray value of the central pixel in the window. The results indicate that this filtering method is not only effective for impulse noise like median filter, but also better than the standard median filters. Compared with conventional filter, this filter methed can effectivdy suppress the mixture noise of images, and protect image＇s details well.
基金supported by National Natural Science Foundation of China(No.61071087)Chun Lei 2009BWZ037 from SDUST,China
文摘In this paper,potential use of perfect but delayed channel estimates for variable-power discrete-rate adaptive modulation is explored.Research is concentrated on block by block adaptation.At first,a new quantity-TAUD(Tolerable Average Use Delay)is defined,it quantifies the performance of an adaptation scheme in tolerating the delay of channel estimates.Then,the research on TAUD shows that the delay tolerating performance declines with the increase in average power,the scheme working with more modulation modes can tolerate a longer delay,and such improvement will be more significant with the increase of average power.Finally,it shows that,as the delay tolerating performance determines the maximum block length,it has a great effect on the maximum spectral efficiency.The criterion for determining the block length appropriate for the target BER is described and a simple method of calculating the maximum block length is presented.
文摘Direct observation is arguably the preferred way to investigate the interactions between two molecular complexes. With the development of high speed atomic force microscopy （AFM）, it is becoming possible to observe directly DNA-protein interactions with relevant spatial and temporal resolutions. These interactions are of central importance to biology, bionanotechnology, and functional biologically inspired materials. As in all microscopy studies, sample preparation plays a central role in AFM observation and minimal perturbation of the sample is desired. Here, we demonstrate the ability to tune the interactions between DNA molecules and the surface to create an association strong enough to enable high-resolution AFM imaging while also providing sufficient translational freedom to allow the relevant protein-DNA interactions to take place. Furthermore, we describe a quantitative method for measuring DNA mobility, while also determining the individual forces contributing to DNA movement. We found that for a weak surface association, a significant contribution to the movement arises from the interaction of the AFM tip with the DNA. In combination, these methods enable the tuning of the surface translational freedom of DNA molecules to allow the direct study of a wide range of nucleo-protein interactions by high speed atomic force microscopy.
