Concurrent collision probability of RFID tags in underground mine personnel position systems

According to the basic requirements of underground mine personnel position systems and the working characteristics of active RFID tags,we studied the cause of concurrent collision of RFID tags and leak reading probability,by means of theoretical analysis and computation.The result shows that the probability of wireless collision increases linearly with an increase in the number of tags.The probability of collision and leak reading can be reduced by extending the working period of the duty cycle and using a backoff algorithm.In a practical application,a working schedule for available labels has been designed according to the requirement of the project.

Effect of Altitude Error on Position Precision of Double-Star Position System

The effects of two kinds of methods for obtaining altitudes on the position precision are analyzed, and the error expressions are deduced. Many simulation results show that in the two cases, the effects of the same altitude errors on the positioning precision are identical, and the rules that the two altitude errors affect positioning precision can be expressed as that altitude error has little effect on the east-west position error, but has large effect on the south-north position error.

Hybrid pedestrian positioning system using wearable inertial sensors and ultrasonic ranging

Pedestrian positioning system(PPS)using wearable inertial sensors has wide applications towards various emerging fields such as smart healthcare,emergency rescue,soldier positioning,etc.The performance of traditional PPS is limited by the cumulative error of inertial sensors,complex motion modes of pedestrians,and the low robustness of the multi-sensor collaboration structure.This paper presents a hybrid pedestrian positioning system using the combination of wearable inertial sensors and ultrasonic ranging(H-PPS).A robust two nodes integration structure is developed to adaptively combine the motion data acquired from the single waist-mounted and foot-mounted node,and enhanced by a novel ellipsoid constraint model.In addition,a deep-learning-based walking speed estimator is proposed by considering all the motion features provided by different nodes,which effectively reduces the cumulative error originating from inertial sensors.Finally,a comprehensive data and model dual-driven model is presented to effectively combine the motion data provided by different sensor nodes and walking speed estimator,and multi-level constraints are extracted to further improve the performance of the overall system.Experimental results indicate that the proposed H-PPS significantly improves the performance of the single PPS and outperforms existing algorithms in accuracy index under complex indoor scenarios.

System error iterative identification for underwater positioning based on spectral clustering

The observation error model of the underwater acous-tic positioning system is an important factor to influence the positioning accuracy of the underwater target.For the position inconsistency error caused by considering the underwater tar-get as a mass point,as well as the observation system error,the traditional error model best estimation trajectory(EMBET)with little observed data and too many parameters can lead to the ill-condition of the parameter model.In this paper,a multi-station fusion system error model based on the optimal polynomial con-straint is constructed,and the corresponding observation sys-tem error identification based on improved spectral clustering is designed.Firstly,the reduced parameter unified modeling for the underwater target position parameters and the system error is achieved through the polynomial optimization.Then a multi-sta-tion non-oriented graph network is established,which can address the problem of the inaccurate identification for the sys-tem errors.Moreover,the similarity matrix of the spectral cluster-ing is improved,and the iterative identification for the system errors based on the improved spectral clustering is proposed.Finally,the comprehensive measured data of long baseline lake test and sea test show that the proposed method can accu-rately identify the system errors,and moreover can improve the positioning accuracy for the underwater target positioning.

Accurate Source-Receiver Positioning Method for a High-Resolution Deep-Towed Multichannel Seismic Exploration System

The near-seabed multichannel seismic exploration systems have yielded remarkable successes in marine geological disaster assessment,marine gas hydrate investigation,and deep-sea mineral exploration owing to their high vertical and horizontal resolution.However,the quality of deep-towed seismic imaging hinges on accurate source-receiver positioning information.In light of existing technical problems,we propose a novel array geometry inversion method tailored for high-resolution deep-towed multichannel seismic exploration systems.This method is independent of the attitude and depth sensors along a deep-towed seismic streamer,accounting for variations in seawater velocity and seabed slope angle.Our approach decomposes the towed line array into multiline segments and characterizes its geometric shape using the line segment distance and pitch angle.Introducing optimization parameters for seawater velocity and seabed slope angle,we establish an objective function based on the model,yielding results that align with objective reality.Employing the particle swarm optimization algorithm enables synchronous acquisition of optimized inversion results for array geometry and seawater velocity.Experimental validation using theoretical models and practical data verifies that our approach effectively enhances source and receiver positioning inversion accuracy.The algorithm exhibits robust stability and reliability,addressing uncertainties in seismic traveltime picking and complex seabed topography conditions.

Holographic alloy positioning design system and holographic network phase diagrams of Au-Cu system

Taking Au?Cu system as an example, three discoveries and two methods were presented. First, a new way for boosting sustainable progress of systematic metal materials science (SMMS) and alloy gene engineering (AGE) is to establish holographic alloy positioning design (HAPD) system, of which the base consists of measurement and calculation center, SMMS center, AGE center, HAPD information center and HAPD cybernation center; Second, the resonance activating-sychro alternating mechanism of atom movement may be divided into the located and oriented diffuse modes; Third, the equilibrium and subequilibrium holographic network phase diagrams are blueprints and operable platform for researchers to discover, design, manufacture and deploy advanced alloys, which are obtained respectively by the equilibrium lever numerical method and cross point numerical method of isothermal Gibbs energy curves. As clicking each network point, the holographic information of three structure levels for the designed alloy may be readily obtained: the phase constitution and fraction, phase arranging structure and properties of organization; the composition, alloy gene arranging structure and properties of each phase and the electronic structures and properties of alloy genes. It will create a new era for network designing advanced alloys.

Criteria Selecting Knowledge Base in the FuzzyController of the Electrohydraulic Position Control System

Aim To analyse the influence of knowledge base on the performance of the fuzzy controller of the electrohydraulic position control system,and to determine their selection cri- teria. Methods Experiments based on different membership functions,scaling factors and con-trol rules were done separately.The experiment results and the influence of different know- ledge base on the control performance were analysed in theory so that criteria of selcting knowledge base can be summarized correctly.Results Knowledge base,including membershipfunctions, scaling factors and control rules,has a crucial effect on the fuzzy control system.Suitably selected knowledge base can lead to good control performance of fuzzy control sys-tem. Conclusion Being symmetric,having an intersection ratio of 1 and satisfying width con- dition are three necessities for selecting membership functions.Selecting scaling factors dependson both the system requirement and a comprehensive analysis in the overshoot,oscillation, rising time and stability. Integrity and continuity must be guaranteed when determining control rules.

Shunting branch of portal vein and stent position predict survival after transjugular intrahepatic portosystemic shunt

AIM: To evaluate the effect of the shunting branch of the portal vein (PV) (left or right) and the initial stent position (optimal or suboptimal) of a transjugular intrahepatic portosystemic shunt (TIPS).

Adaptive Backstepping Slide Mode Control of Pneumatic Position Servo System

With the price decreasing of the pneumatic proportional valve and the high performance micro controller, the simple structure and high tracking performance pneumatic servo system demonstrates more application potential in many fields. However, most existing control methods with high tracking performance need to know the model information and to use pressure sensor. This limits the application of the pneumatic servo system. An adaptive backstepping slide mode control method is proposed for pneumatic position servo system. The proposed method designs adaptive slide mode controller using backstepping design technique. The controller parameter adaptive law is derived from Lyapunov analysis to guarantee the stability of the system. A theorem is testified to show that the state of closed-loop system is uniformly bounded, and the closed-loop system is stable. The advantages of the proposed method include that system dynamic model parameters are not required for the controller design, uncertain parameters bounds are not need, and the bulk and expensive pressure sensor is not needed as well. Experimental performance, as compared with some existing methods. results show that the designed controller can achieve better tracking

Effect of initial stent position on patency of transjugular intrahepatic portosystemic shunt

AIM To evaluate the effect of initial stent position on transjugular intrahepatic portosystemic shunt(TIPS).METHODS We studied 425 patients from January 2004 to January 2015 with refractory ascites or variceal bleeding who required TIPS placement. Patients were randomly divided into group A(stent in hepatic vein, n = 57), group B(stent extended to junction of hepatic vein and inferior vena cava, n = 136), group C(stent in left branch of portal vein, n = 83) and group D(stent in main portal vein, n = 149). Primary unassisted patency was compared using Kaplan-Meier analysis, and incidence of recurrence of bleeding, ascites and hepatic encephalopathy(HE) were analyzed.RESULTS The mean primary unassisted patency rate in group B tended to be higher than in group A at 3, 6 and 12 mo(P = 0.001, 0.000 and 0.005), and in group D it tended to be lower than in group C at 3, 6 and 12 mo(P = 0.012, 0.000 and 0.028). The median shunt primary patency time for group A was shorter than for group B(5.2 mo vs 9.1 mo, 95%CI: 4.3-5.6, P = 0.013, logrank test), while for group C it was longer than for group D(8.3 mo vs 6.9 mo, 95%CI: 6.3-7.6, P = 0.025, log-rank test). Recurrence of bleeding and ascites in group A was higher than in group B at 3 mo(P = 0.014 and 0.020), 6 mo(P = 0.014 and 0.019) and 12 mo(P = 0.024 and 0.034. Recurrence in group D was higher than in group C at 3 mo(P = 0.035 and 0.035), 6 mo(P = 0.038 and 0.022) and 12 mo(P = 0.017 and 0.009). The incidence of HE was not significantly different among any of the groups(P = 0.965).CONCLUSION The initial stent position can markedly affect stent patency, which potentially influences the risk of recurrent symptoms associated with shunt stenosis or occlusion.

On the Systematic Position of Eosipterus yangi Ji et Ji,1997 among Pterodactyloids

A comparison of the new specimen with the holotype of Eosipterus from western Liaoning Province indicates that Eosipterus is a valid genus, which belongs to the family Ctenochasmatidae. The revised diagnosis of Eosipterus includes the wing span is less than 1.25 meters, the length of the ulna is nearly equal to these of wing phalanx 2 and the tibia, humerus is longer than tibia, and the ratio of metatarsal to tibia is approximately 0.40.

Systematic positions of Lamiophlomis and Paraphlomis(Lamiaceae) based on nuclear and chloroplast sequences

Genera Lamiophlomis and Paraphlomis were originally separated from genus Phlomis s.1. on the basis of particular morphological characteristics. However, their relationship was highly contentious, as evidenced by the literature. In the present paper, the systematic positions of Lamiophlomis, Paraphlomis, and their related genera were assessed based on nuclear internal transcribed spacer （ITS） and chloroplast rpl16 and trnL-F sequence data using maximum parsimony （MP） and Bayesian methods. and outgroup were sampled. Analyses of both separate In total, 24 species representing six genera of the ingroup and combined sequence data were conducted to resolve the systematic relationships of these genera. The results reveal that Lamiophlomis is nested within Phlomis sect. Phlomoides and its generic status is not supported. With the inclusion ofLamiophlomis rotata in sect. Phlomoides, sections Phlomis and Phlomoides of Phlomis were resolved as monophyletic. Paraphlomis was supported as an independent genus. However, the resolution of its monophyly conflicted between MP and Bayesian analyses, suggesting the need for expended sampling and further evidence.

Robust Position Anti-Interference Control for PMSM Servo System With Uncertain Disturbance

Aiming to suppress the influence of uncertain disturbances in the drive control of permanent magnet synchronous machines(PMSM),such as the parameter uncertainties and load disturbance,a robust anti-interference control for the angular position tracking control of a PMSM servo system has been proposed in this paper.During the position tracking,uncertain system disturbances being regarded as a lumped unknown term will be online observed by a nonlinear disturbance observer(NDOB),of which the influence will consequently be counteracted by a robust backstepping compensator(RBC).The asymptotical stability of proposed control scheme is analyzed and designed according to the Lyapunov stability criterion,and its convergence against the system uncertain disturbance is verified on a prototype PMSM servo platform and shows good performance in rotor angular position tracking and anti-interference.

Optimization of the cavity beam-position monitor system for the Shanghai soft X-ray free-electron laser user facility

To achieve high-efficiency operation of the highgain free-electron laser(FEL),the electron beams and radiated photon beams need to be overlapped precisely and pass through the entire undulator section.Therefore,a high-resolution beam-position monitor(BPM)is required.A cavity BPM(CBPM)with a resonant cavity structure was developed and used in the Shanghai Soft X-ray FEL(SXFEL)test facility and can achieve a position resolution of<1μm.The construction and operation of the SXFEL user facility also bring about higher requirements for beamposition measurement.In this case,the factors that affect the performance of the CBPM system were further analyzed.These included the amplitude and phase stability of the local oscillator,stability of the trigger signal,performance of the radio frequency front-end,signal processing electronics,and signal processing algorithms.Based on the upgrade and optimization of the system,a beam test platform was built at the end of the linear acceleration section of the SXFEL,and the experimental results show that the position resolution of the system can reach 177 nm at a bunch charge of 500 pC,and the dynamic range is controlled within±300μm,and the relative measurement uncertainty of the bunch charge can reach 0.021%,which are significant improvements compared to the attributes of the previous system.

An RGB-D Camera Based Visual Positioning System for Assistive Navigation by a Robotic Navigation Aid

There are about 253 million people with visual impairment worldwide.Many of them use a white cane and/or a guide dog as the mobility tool for daily travel.Despite decades of efforts,electronic navigation aid that can replace white cane is still research in progress.In this paper,we propose an RGB-D camera based visual positioning system(VPS)for real-time localization of a robotic navigation aid(RNA)in an architectural floor plan for assistive navigation.The core of the system is the combination of a new 6-DOF depth-enhanced visual-inertial odometry(DVIO)method and a particle filter localization(PFL)method.DVIO estimates RNA’s pose by using the data from an RGB-D camera and an inertial measurement unit(IMU).It extracts the floor plane from the camera’s depth data and tightly couples the floor plane,the visual features(with and without depth data),and the IMU’s inertial data in a graph optimization framework to estimate the device’s 6-DOF pose.Due to the use of the floor plane and depth data from the RGB-D camera,DVIO has a better pose estimation accuracy than the conventional VIO method.To reduce the accumulated pose error of DVIO for navigation in a large indoor space,we developed the PFL method to locate RNA in the floor plan.PFL leverages geometric information of the architectural CAD drawing of an indoor space to further reduce the error of the DVIO-estimated pose.Based on VPS,an assistive navigation system is developed for the RNA prototype to assist a visually impaired person in navigating a large indoor space.Experimental results demonstrate that:1)DVIO method achieves better pose estimation accuracy than the state-of-the-art VIO method and performs real-time pose estimation(18 Hz pose update rate)on a UP Board computer;2)PFL reduces the DVIO-accrued pose error by 82.5%on average and allows for accurate wayfinding(endpoint position error≤45 cm)in large indoor spaces.

Model Predictive Controller Design for the Dynamic Positioning System of a Semi-submersible Platform

This paper researches how to apply the advanced control technology of model predictive control （MPC） to the design of the dynamic positioning system （DPS） of a semi-submersible platform. First, a linear low-frequency motion model with three degrees of freedom was established in the context of a semi-submersible platform. Second, a model predictive controller was designed based on a model which took the constraints of the system into account. Third, simulation was carried out to demonstrate the feasibility of the controller. The results show that the model predictive controller has good performance and good at dealing with the constraints or the system.

Ultrasonic positioning system for the calibration of central detector

A thorough detector response calibration using radioactive sources is necessary for the Jiangmen Underground Neutrino Observatory. Herein, we discuss the design of a source positioning system based on ultrasonic technology, aiming for a 3-cm precision over the entire35-m diameter detector sphere. A prototype system is constructed and demonstrated for the experiment.

Double Position Servo Synchronous Drive System Based on Cross-Coupling Integrated Feedforward Control for Broacher

Synchronization errors directly deteriorate the machining accuracy of metal parts and the existed method cannot keep high synchronization precision because of external disturbances. A new double position servo synchronous driving scheme based on semi-closed-loop cross- coupling integrated feedforward control is proposed. The scheme comprises a position error cross-coupling feedfor-ward control and a load torque identification with feed- forward control. A digital integrated simulation system for the dual servo synchronous drive system is established. Using a 20 t servo broacher, performance analysis of the scheme is conducted based on this simulation system and the simulation results show that systems with traditional parallel or single control have problems when the work- table works with an unbalanced load. However, the system with proposed scheme shows good synchronous perfor- mance and positional accuracy. Broaching tests are performed and the experimental results show that the maximum dual axis synchronization error of the system is only 8μm during acceleration and deceleration processes and the error between the actual running position and the given position is almost zero. A double position servo synchronous driving scheme is presented based on crosscoupled integrated feedforward compensation control, which can improve the synchronization precision.

The linear position tracking servo systemusing a linear voice-coil motor

More and more linear servo systems have been used in servo applications. Direct drive technology can greatly increase the bandwidth and the tracking accuracy. A position servo-system based on linear voice-coil motor was designed for one linear oscillation movement application. Besides the conventional position, speed and current control loops, the speed and acceleration feed-forward control of command position signal were also used. The experimental test proved the correctness of the design, and the system can track the given periodic sinusoid position command signal of 15Hz with high accuracy. The linear voice-coil motor is very suitable for short stroke position tracking application with high dynamic response.

Fiber Migration and Distribution of Twist at Different Radial Positions of Rotor Yarn-by Hi-Scope Video Microscope System

This paper describes systematic measurement of fiber migration and distribution pattern of twist at different radial positions of rotor spun yarn mixed tracer fiber by Hi-Scope Video Microscope System. The positions of tracer fibers were measured in three dimensions accurately, and the migration index and the twist distribution at different radial positions of rotor yarn were calculated and analyzed. This research result serves to provide useful references for further study on the structural mechanics of rotor spun yarn.