Automatic UAV Positioning with Encoded Sign as Cooperative Target

In order to achieve the goal that unmanned aerial vehicle(UAV)automatically positioning during power inspection,a visual positioning method which utilizes encoded sign as cooperative target is proposed.Firstly,we discuss how to design the encoded sign and propose a robust decoding algorithm based on contour.Secondly,the Adaboost algorithm is used to train a classifier which can detect the encoded sign from image.Lastly,the position of UAV can be calculated by using the projective relation between the object points and their corresponding image points.Experiment includes two parts.First,simulated video data is used to verify the feasibility of the proposed method,and the results show that the average absolute error in each direction is below 0.02 m.Second,a video,acquired from an actual UAV flight,is used to calculate the position of UAV.The results show that the calculated trajectory is consistent with the actual flight path.The method runs at a speed of 0.153 sper frame.

Function of Cooperative Learning in Developing Positive Affect

This paper focus on the function of cooperative learning in developing positive affect,Including reducing anxiety,increasing motivation,facilitating the development of positive attitudes toward learning and language learning,promoting self-esteem,as well as supporting different learning styles and encouraging perseverance in the difficult and confusing process of learning a foreign language.

Improved GNSS Cooperation Positioning Algorithm for Indoor Localization

For situations such as indoor and underground parking lots in which satellite signals are obstructed,GNSS cooperative positioning can be used to achieve highprecision positioning with the assistance of cooperative nodes.Here we study the cooperative positioning of two static nodes,node 1 is placed on the roof of the building and the satellite observation is ideal,node 2 is placed on the indoor windowsill where the occlusion situation is more serious,we mainly study how to locate node 2 with the assistance of node 1.Firstly,the two cooperative nodes are located with pseudo-range single point positioning,and the positioning performance of cooperative node is analyzed,therefore the information of pseudo-range and position of node 1 is obtained.Secondly,the distance between cooperative nodes is obtained by using the baseline method with double-difference carrier phase.Finally,the cooperative location algorithms are studied.The Extended Kalman Filtering(EKF),Unscented Kalman Filtering(UKF)and Particle Filtering(PF)are used to fuse the pseudo-range,ranging information and location information respectively.Due to the mutual influences among the cooperative nodes in cooperative positioning,the EKF,UKF and PF algorithms are improved by resetting the error covariance matrix of the cooperative nodes at each update time.Experimental results show that after being improved,the influence between the cooperative nodes becomes smaller,and the positioning performance of the nodes is better than before.

Robot Position Control Using Force Information for Cooperative Work in Remote Robot Systems with Force Feedback

This paper proposes robot position control using force information for cooperative work between two remote robot systems with force feedback in each of which a user operates a remote robot by using a haptic interface device while observing work of the robot with a video camera. We also investigate the effect of the proposed control by experiment. As cooperative work, we deal with work in which two robots carry an object together. The robot position control using force information finely adjusts the position of the robot arm to reduce the force applied to the object. Thus, the purpose of the control is to avoid large force so that the object is not broken. In our experiment, we make a comparison among the following three cases in order to clarify how to carry out the control effectively. In the first case, the two robots are operated manually by a user with his/her both hands. In the second case, one robot is operated manually by a user, and the other robot is moved automatically under the proposed control. In the last case, the object is carried directly by a human instead of the robot which is operated by the user in the second case. As a result, experimental results demonstrate that the control can help each system operated manually by the user to carry the object smoothly.

A Stochastic Approach for Cooperative Position Estimation of Multiple Mobile Robots

This paper proposes the cooperative position estimation of a group of mobile robots, which pertbrms disaster relief tasks in a wide area. When searching the wide area, it becomes important to know a robot＇s position correctly. However, for each mobile robot, it is impossible to know its own position correctly. Therefore, each mobile robot estimates its position from the data of sensor equipped on it. Generally, the sensor data is incorrect since there is sensor noise, etc. This research considers two types of the sensor data errors from omnidirectional camera. One is the error of white noise of the image captured by omnidirectional camera and so on. Another is the error of position and posture between two omnidirectional cameras. To solve the error of latter case, we proposed a self-position estimation algorithm for multiple mobile robots using two omnidirectional cameras and an accelerometer. On the other hand, to solve the error of the former case, this paper proposed an algorithm of cooperative position estimation for multiple mobile robots. In this algorithm, each mobile robot uses two omnidirectional cameras to observe the surrounding mobile robot and get the relative position between mobile robots. Each mobile robot estimates its position with only measurement data of each other mobile robots. The algorithm is based on a Bayesian filtering. Simulations of the proposed cooperative position estimation algorithm for multiple mobile robots are performed. The results show that position estimation is possible by only using measurement value from each other robot.

Brief Analysis on the Application of Cooperative Principle in Hamlet

Cooperative Principle put forward by Grice has been widely used in our daily conversions. And the violation of Cooperative Principle is the source of humors and special connotations. Hamlet is one of the most famous plays in the world written by William Shakespeare. In the conversations of this play, Cooperative Principle and its violation is also widely used by the playwright.This article explores the application of the Cooperative Principle and its violation in Hamlet in details in order to make the readers interpret the play better.

English Euphemism and its Linguistic Analysis from the Cooperative Principle Perspective

Euphemism is a common phenomenon in languages.It's a more mild and polite way to say something unpleasant and embarrassing.It's a figure of speech as well as a cultural phenomenon.Euphemism functions to enhance the effect of communication and maintain harmonious interpersonal relations.With the development of modern society,it has become an indispensable element in people's interactions.Many linguists and scholars have studied this linguistic phenomenon from different angles.Based on their achievements,the author has a tentative analysis of the three kinds of negative effects by using euphemism from the perspective of Cooperative Principle.

Cooperative localization against GPS signal loss in multiple UAVs flight

Based on multiple unmanned aerial vehicles（UAVs） flight at a constant altitude,a fault-tolerant cooperative localization algorithm against global positioning system（GPS） signal loss due to GPS receiver malfunction is proposed.Contrast to the traditional means with single UAV,the proposed method is based on the use of inter-UAV relative range measurements against GPS signal loss and more suitable for the small-size and low-cost UAV applications.Firstly,for re-localizing an UAV with a malfunction in its GPS receiver,an algorithm which makes use of any other three healthy UAVs in the cooperative flight as the reference points for re-localization is proposed.Secondly,by using the relative ranges from the faulty UAV to the other three UAVs,its horizontal location can be determined after the GPS signal is lost.In order to improve an accuracy of the localization,a Kalman filter is further exploited to provide the estimated location of the UAV with the GPS signal loss.The Kalman filter calculates the variance of observations in terms of horizontal dilution of positioning（HDOP） automatically.Then,during each discrete computing time step,the best reference points are selected adaptively by minimizing the HDOP.Finally,two simulation examples in Matlab/Simulink environment with five UAVs in cooperative flight are shown to evaluate the effectiveness of the proposed method.

Global asymptotic stability of positive equilibrium in a 3-species cooperating model with time delay

The asymptotic behavior of the time-dependent solution for a 3-species cooperating model was investigated with the effects of both diffusion and time delay taken into consideration. We proved the global asymptotic stability of a positive steady-state solution to the model problem by using coupled upper and lower solutions for a more general reaction-diffusion system that gives a common framework for 3-species cooperating model problems. The result of global asymptotic stability implies that the model system coexistence is permanent. Some global asymptotic stability results for 2-species cooperating reaction-diffusion systems are included in the discussion, and some known results are extended.

Analysis on Cooperative Principle in Chinese Context

Some examples of flouting Cooperative Principle (CP) in Chinese people's greeting, requesting, and accepting compliment are presented and the cultural reasons for these violations are explained in this article. By analyzing the Chinese way of flouting CP, the author explores the unique characteristics of CP in Chinese context.

A whole-net cooperative positioning method based on CDGNSS and inter-vehicle ranging

Relative positioning is recognized as an important issue for vehicles in urban environments.Multi-vehicle Cooperative Positioning(CP)techniques which fuse the Global Navigation Satellite System(GNSS)and inter-vehicle ranging have attracted attention in improving the performance of baseline estimation between vehicles.However,current CP methods estimate the baselines separately and ignore the interactions among the positioning information of different baselines.These interactions are called’information coupling’.In this work,we propose a new multivehicle precise CP framework using the coupled information in the network based on the Carrier Differential GNSS(CDGNSS)and inter-vehicle ranging.We demonstrate the benefit of the coupled information by deriving the Cramer-Rao Lower Bound(CRLB)of the float estimation in CP.To fully use this coupled information,we propose a Whole-Net CP(WN-CP)method which consists of the Whole-Net Extended Kalman Filter(WN-EKF)as the float estimation filter,and the Partial Baseline Fixing(PBF)as the ambiguity resolution part.The WN-EKF fuses the measurements of all baselines simultaneously to improve the performance of float estimation,and the PBF strategy fixes the ambiguities of the one baseline to be estimated,instead of full ambiguity resolution,to reduce the computation load of ambiguity resolution.Field tests involving four vehicles were conducted in urban environments.The results show that the proposed WN-CP method can achieve better performance and meanwhile maintain a low computation load compared to the existing methods.

高速铁路CPⅢ交会网必要测量精度的仿真计算

为合理布设CPⅢ网的测量网形,确定CPⅢ网中观测值的必要精度,结合CPⅢ网的标准和改进测量网形,采用边角网间接平差的严密精度估算方法,对CPⅢ网的相对点位精度进行仿真计算,并据此确定了CPⅢ网中观测值的必要测量精度:方向测量精度≤±1,″距离测量精度≤±(1+1×10-6)mm.研究结果对高速铁路测量规范的修订和在建高速铁路CPⅢ网的测量具有重要参考价值.

中美中小学数学课程标准的定量比较研究——基于合作问题解决(CPS)的视角

合作问题解决(即CPS)是信息社会必备的基本核心素养之一。以《美国学校数学教育的原则和标准》(2000版)《美国州际核心数学课程标准》(2010版)和中国《义务教育数学课程标准》(2011版)为比较对象,从CPS的呈现量、呈现比例、呈现效果三方面对其进行定量刻画、定性诠释表明:先于PISA2015颁布的三版课程标准已或多或少呈现了CPS,虽有意为之,但仍有较大的改进空间,CPS的课程样态和教学路径是今后研究的焦点;中国2011版和美国2000版的部分内容,相对高效地呈现了CPS,功能指向良好;从美国2000版到美国2010版,CPS的呈现量及效果不仅大幅下降,而且其观点与美国2000版完全相左,折射出美国数学课程改革似乎正摇摆不定。

超网络中心性度量的υ-Position值方法

利用合作博弈理论的分配规则如Shapley值、Banzhaf值等来度量政治、经济和社会网络中节点的中心性或者重要性是识别网络中关键节点的一类重要方法。考虑到在超网络中代表各类组织的超边在网络中发挥的作用不同,本文研究了超网络博弈上一类广义Position值的分配规则,被称为υ-position值。它可以作为网络中度值测度的一类推广,以此来度量网络中参与者的中心性和相对重要性。其次,证明了超网络结构上类Shapley-position值可由分支超边指数和局部平衡超边贡献两个性质所唯一刻画。最后,举例分析了υ-position值在超网络中心性测度中的应用。

南京大胜关长江大桥CPⅢ点位随温度变化的模型研究

以京沪高铁南京大胜关长江大桥CPⅢ高精密测量为工程背景,经过坐标变换后计算得出各个点位的膨胀值,利用概率与统计理论分析处理,得到可用于建模的点对数据(ΔS,ΔT)。根据一定的假设条件,建立了测量点位的位移随环境温度变化的线性回归模型,从而得出大桥CPⅢ位置POS与温度T之间的关系。利用该模型修正并评价测量数据,结果表明其较差完全符合要求,区间预测模型可用。并编程实现了CPⅢ点位位置随环境温度变化的自动化预测,能够方便地为大桥的变形观测、定期复测和实际胀缩效果分析提供一定的参考。

具有超图合作结构的赋权Position值

具有超图交流结构的可转移效用合作对策,也称为超图对策,它由一个三元组(N,v,H)所组成,其中(N,H)是一个可转移效用对策(简称TU-对策),而(N,H)是一个超图(超网络)。在超图对策中,除Myerson值(Myerson)外,Position值(Meessen)是另一个重要的分配规则。该模型要求把超图结构中每条超边Shapley的值平均分配给它所包含的点,而不考虑每个点的交流能力或合作水平。本文引入超图结构中点的度值来度量每条超边中每个点的交流能力或合作水平,并结合Haeringer提出用于推广Shapley值的权重系统,并由此定义了具有超图合作结构的赋权Position值。我们证明了具有超图合作结构的赋权Position值可以由“分支有效性”、“冗余超边性”、“超边可分解性”、“拟可加性”、“弱积极性”和“弱能转换”六个性质所唯一确定,并且发现参与者获得的支付随其度值的增加而增加,参与者分摊的成本随其度值的增加而降低。

具有联盟结构的position值

position值是图对策中著名的分支有效解,该值充分体现了图的边在合作中的贡献,因而也可作为网络中心性的一种测度方法。本文基于van den Brink等提出的具有联盟结构与图结构的合作对策,将position值推广到具有联盟结构的图对策上,提出了具有联盟结构的position值,该值可以作为受优先联盟约束的网络中心性的一种测度方法。本文首先证明了具有联盟结构的position值可以由分割分支有效性和平衡边贡献性所唯一刻画。其次,以跨国天然气管道网的收益分配为例,对这个值与其他值做了比较分析。

基于CPS信号评价内燃机怠速燃烧稳定性方法

提出利用CPS信号计算曲轴角加速度参数评价内燃机怠速燃烧稳定性方法。识别CPS信号的缺齿位置并对缺齿处零点进行补充;利用CPS信号计算曲轴角速度、角加速度;选择小波阈值去噪方法对角速度、角加速度进行滤波;分析角加速度参数及相应气缸压力参数间线性相关性。角加速度参数及气缸压参数之间为高度正相关,说明用CPS信号计算角加速度参数评价内燃机怠速燃烧稳定性方法是可行的。

4-CPS/UPU并联机构运动学分析与仿真

提出了一种用于并联机床领域的4-CPS/UPU并联机构。基于旋量理论,建立了该并联机构的运动和约束螺旋系,该机构具有5个自由度,可实现三移两转功能;通过修正的K-G公式对其自由度进行了验证;进一步分析了并联机构的位置正逆解、工作空间;运用Adams软件对其进行了仿真分析。该机构工作空间连续,形状近似四棱台,规则对称,无空洞,且仿真得到的位移和速度曲线光滑,表明该机构具有良好的运动性能。研究结果为其在并联机床领域的参数化设计提供了一定的理论基础。