3D Track-keeping Method for Autonomous Underwater Vehicle

In this paper, 3D track-keeping control method for autonomous underwater vehicle (AUV) with and without the influence of ocean current is investigated. Because the system to be controlled is highly nonlinear and strong coupled, an approach is used to divide it into two subsystems. One is to control the heading and the track error on the horizontal plane. The other is to control the pitch and the track error on the vertical plane. The results of computer simulation show that the autopilot works properly, it can capture the current waypoint and turns to track the next path automatically.

A DUAL-CAMERA VIDEO-TRACKING SYSTEM USING PROJECTION ALGORITHM

This paper presents a video-tracking system composed of two cameras. One camera acts for producing an in-focus image of the object and the other one ensures an extended vision field under monitoring. Such a system scheme can achieve an excellent tracking performance,especially under various unfavorable conditions. A projection algorithm is used for the calculation of the displacement of the moving object. As a result, the computational cost is reduced greatly.In order that the tracking action of the system persists even if the object is sheltered or ns acceleration is larger than a specified threshold, a dedicated tracking algorithm on the basis of the α-β filtering is designed. Experiments show that the algorithm is efficient and the system works very well.

Fundamental Properties and Optimal Gains of a Steady-State Velocity Measured <i>α</i>-<i>β</i>Tracking Filter

This paper clarifies the steady-state properties and performance of an α-β filter for moving target tracking using both position and velocity measurements. We call this filter velocity measured α-β (VM-α-β) filter. We first derive the stability condition and steady-state predicted errors as fundamental properties of the VM-α-β filter. The optimal gains for representative motion models are then derived from the Kalman filter equations. Theoretical and numerical analyses verify that VM-α-β filters with these optimal gains realize more accurate tracking than conventional α-β filters when the filter gains are relatively large. Our study reveals the conditions under which the predicted errors of the VM-α-β filters are less than those of conventional α-β filters. Moreover, numerical simulations clarify that the variance of the tracking error of the VM-α-β filters is approximately 3/4 of that of the conventional α-β filters in realistic situations, even when the accuracy of the position/velocity measurements is the same.

Comparison of three fluorescence labeling and tracking methods of endothelial progenitor cells in laser-injured retina

AIM： To compare three kinds of fluorescent probes for in vitro labeling and in vivo tracking of endothelial progenitor cells（EPCs） in a mouse model of laser-induced retinal injury.METHODS： EPCs were isolated from human umbilical cord blood mononuclear cells and labeled with three different fluorescent probes： 5-（and-6）-carboxyfluorescein diacetate succinimidyl ester（CFSE）, 1,1′-dilinoleyl-3,3,3′,3′-tetramethylindo-carbocyanine perchlorate linked acetylated low-density lipoprotein（Di I-Ac LDL）, and green fluorescent protein（GFP）. The fluorescent intensity of EPCs was examined by confocal microscopy. Survival rate of labeled EPCs was calculated with trypan blue staining, and their adhesive capability was assessed. A mouse model of retinal injury was induced by laser, and EPCs were injected into the vitreous cavity. Frozen section and fluorescein angiography on flat-mounted retinal samples was employed to track the labeled EPCs in vivo.RESULTS： EPCs labeled with CFSE and Di I-Ac LDL exhibited an intense green and red fluorescence at the beginning; the fluorescence intensity decreased gradually to 20.23% and 49.99% respectively, after 28 d. On the contrary, the florescent intensity of GFP-labeled EPCs increased in a time-dependent manner. All labeled EPCs showed normal morphology and no significant change in survival and adhesive capability. In the mouse model, transplantation of EPCs showed a protective effect against retinal injury. EPCs labeled with CFSE and Di I-Ac LDL were successfully tracked in mice during the development of retinal injury and repair; however, GFP-labeled EPCs were not detected in the laser-injured mouse retina.CONCLUSION： The three fluorescent markers used in this study have their own set of advantages and disadvantages. CFSE and Di I-Ac LDL are suitable for short-term EPClabeling, while GFP should be used for long-term labeling. The choice of fluorescent markers should be guided by the purpose of the study.

Experimental study of temperature gradient in track slab under outdoor conditions in Chengdu area

Temperature is one of the important loads for designing slab track. The characteristic of slab track tem- perature varies greatly with different regional climates. In this work, a bi-block slab track model was built under outdoor conditions in Chengdu area; the statistical characteristic of temperature gradient in track slab and the relationship between temperature gradient and surface air temperature were tested and analyzed. The results show that the track slab temperature gradient will vary periodically according to the surface air temperature, and show a clear nonlinearity along the height direction. The temperature gradient distribution is extremely uneven： the temperature gradient in the top part of the track slab is larger than that in the bottom part; the most frequently occurring temperature gradient of the track slab is around -3.5 ℃/m and more than 75 % locates in the level -10 to 10 ℃/m; concrete with a relatively good heat exchange condition with the surrounding air has a narrower band distribution. In addition, the frequency distribution histogram should exclude the time zone from 00：00 to 06：00 because there is almost no traffic in this period. The amplitude of track slab temperature variation is obviously lower than that of the air temperature variation, and the former is approximately linear with the latter.

Optimization of the carrier tracking loop for GPS high dynamic receivers

A carrier tracking loop which can adjust the loop parameters adaptively is proposed for high dynamic application. Three modules, called the α-β-γT filter model, adaptive loop structure mod- el and adaptive loop bandwidth model respectively, are added in the presented tracking loop com- pared with the traditional carrier tracking loop based on the second-order frequency lock loop （FLL） assisting third-order phase lock loop （PLL） loop filter. And the optimization methods for the track- ing bandwidth and the carrier loop order are analyzed. The real-time estimation methods of the dy- namic parameters, the velocity, acceleration and jerk along the line of sight （LOS） between the sat- ellite and the receiver＇ s antenna, and the measurement parameters are discussed based on the pres- ented α-β-γ filter algorithm. A method is introduced to improve the filter＇ s dynamic response to meet high dynamic application by self-adjusted α-β-γ filter coefficient used in the tracking loop. The performance of three cases with different carrier tracking loop is compared by simulation.

Overview and outlook on railway track stiffness measurement

Stiffness is one of the basic performance parameters for railway track. The efficient and accurate stiffness measurement has been considered as the foundation for further development of railway engineering, and therefore has great theoretical and practical significance. Based on a summary of the connotation and measurement of track stiffness, the state of the art of measurement methods for track stiffness was analyzed systematically. The standstill measurement of track stiffness can be performed with the traditional jack-loading method, impact hammer method, FWD （falling weight deflectometer） method, and track loading vehicle method. Although these methods can be adopted in stiffness measurement for a section of railway track, they are not desirable owning to small range and low efficiency. In the recent 20 years, researchers have proposed many methods like unbalancedloading laser displacement method, deflection basin deformation rate method, and eccentricity excitation method to continuously measure track stiffness; however, these methods have drawbacks like poor accuracy, low speed, and insufficient data analysis. In this work, the merits and demerits of these methods were summarized, and optimization suggestions were presented. Based on the wave transmission mechanism and principle of vibration energy harvesting, an overall conception on continuous measurement of stiffness and long-term stiffness monitoring for special sections was proposed.

STUDY OF PULSED DOPPLER SIGNAL PROCESSING AND VELOCITY TRACKING TECHNIQUE

This paper describes a signal processing system in a Pulsed Doppler (PD) radar. It mainly consists of a velocity tracking loop and a digital signal processing auxiliary channel. With many signal processing techniques, the system successfully solves the signal detection and tracking at low SNR and the interference identification and rejection. The idea of system design is introduced in detail. Finally, some simulation and experimental results are presented.

太阳电池最大功率恒压跟踪研究

通过单二极管五参数模型太阳电池的电流方程一阶导数,推导出光生电流变化而温度不变时的最大功率方程,并绘制最大功率曲线。太阳电池恒压跟踪(constant voltage tracking,CVT)的数学表述为dVm/dIm?0,即CVT仅是最大功率跟踪的特殊情况,通常情况下在最大功率曲线上仅是两个点。在CVT的点沿电流轴向两侧延伸,太阳电池最大功率点的电压变化不大而电流变化较大,就有了适用CVT的区间,其数学表述为dUm/dIm?0。该文给出了适用CVT的负载电流、光生电流区间,建议在不同的电流区间采用不同的恒定跟踪电压。从特性参数角度进行数值模拟指出,串联内阻越小、并联内阻越大、二极管反向饱和电流越小或二极管理想因子越大,适用CVT的区间就越宽。

窄间隙焊接钨极动态运动轨迹多自由度控制

在厚壁管、压力容器及电站锅炉的窄间隙全位置焊接中 ,钨极运动轨迹是动态的。根据窄间隙全位置焊接工艺要求 ,从钨极运动轨迹角度 ,提出了钨极运动轨迹综合控制方案 ,通过对钨极柔性接触引弧轨迹上的各参数作用机理研究 ,提出钨极柔性接触引弧控制方法 ;根据钨极摆动轨迹分析 ,提出基值电压控制弧长和基、峰值电压值分别控制弧长两种方案 ;为避免在窄间隙U形坡口两侧壁出现”爬弧现象” ,设计了焊缝横向运动轨迹计算机控制自动跟踪系统 ;根据全位置焊接重力对钨极纵向运动轨迹影响特点 。

履带轮转换技术的应用现状与发展趋势

介绍了可更换三角履带轮的结构组成、分析了其使用特点。主要包括轻便、低震动、低接地比压、高通过性、高行驶速度、可快速更换等。对可更换三角履带轮按照不同标准进行了系统的分类,分析了可更换三角履带轮的应用现状、发展前景,提出了其未来的研究发展趋势。

基于步态规律的康复训练机器人机构设计与分析

针对目前康复训练机器人的训练轨迹现状,研制了一款适于偏瘫患者使用的轨迹可变的康复训练机器人。首先探索人体正常的步态规律,结合偏瘫患者所需的步态训练运动轨迹特点,提出了基于四杆机构实现固定步态运动轨迹的设计思路,并进行了仿真验证;在此基础上,针对四杆康复训练器难以满足不同患者、不同康复阶段个性化训练需求的矛盾,分析影响四杆机构运动的主要因素;综合分析结果,设计了一款基于二自由度五杆变胞机构的康复训练机器人,并进行了样机制作及试验验证。试验结果证明,所设计的康复训练机器人能够满足偏瘫患者个性化训练要求。

月球探测中通信跟踪(C&T)技术遇到的新问题

以技术成熟的GEO以下近地轨道的C&T技术为参照点,提出月球探测遇到的新问题———长时间、远距离地月转移轨道测量、环月轨道段测量和月面登陆段测量中的新问题,给出解决这些问题的合理方法。

可变粒度需求跟踪的研究与实现

需求管理是软件项目管理中的重要一环,在软件配置管理中占有重要地位。需求跟踪是需求管理和变更控制的基础。该文以基于过程的可变粒度的配置管理为背景,针对可变粒度的需求跟踪问题,提出一种需求跟踪的实现机制,使项目管理人员可以更全面地把握项目进展状况,有效降低需求变更带来的风险。

Super-resolution imaging and tracking of TGF-β receptor II on living cells

Single-particle tracking photoactivated local- ization microscopy （sptPALM） has recently emerged as a powerful tool for high-density imaging and tracking of individual molecules in living cells. In this work, we have monitored and compared the diffusion dynamics of TGF-β type II receptor （TβRII） at high expression level using both traditional single-particle tracking （SPT） and sptPALM. The ligand-induced aggregation of TβRII oligomers was further indicated by sptPALM. Due to the capacity of distinguishing and tracking single molecules within diffraction limit, sptPALM outperforms traditional SPT by providing more accurate biophysical information,

Tracking of CFSE-labeled endothelial progenitor cells in laser-injured mouse retina

Background Endothelial progenitor cells （EPCs） transplantation is a promising therapeutic strategy for ischemic retinopathy. The current study aimed to establish a simple, reliable and fluorescent labeling method for tracking EPCs with 5-（and-6）-carboxyfluorescein diacetate succinimidyl ester （CFSE） in laser-injured mouse retina. Methods EPCs were isolated from human umbilical cord blood mononuclear cells, cultivated, and labeled with various concentrations of CFSE. Based on fluorescence intensity and cell morphology, a 15 minutes incubation with 5 μmol/L CFSE at 37℃ was selected as the optimal labeling condition. The survival capability and the apoptosis rate of CFSE-labeled EPCs were measured by Trypan blue staining and Annexin V/PI staining assay respectively. Fluorescence microscopy was used to observe the label stability during the extended culture period. Labeled EPCs were transplanted into the vitreous cavity of pigmented mice injured by retinal laser photocoagulation. Evans Blue angiography and flat mounted retinas were examined to track the labeled cells.Results EPCs labeled with 5 μmol/L CFSE presented an intense green fluorescence and maintained normal morphology, with no significant changes in the survival capability or apoptosis rate after being labeled for 2 days, 1 and 4 weeks, The fluorescence intensity gradually decreased in the cells at the end of 4 weeks. Evans Blue angiography of the retina displayed the retinal capillarity network clearly and fluorescence leakage was observed around photocoagulated spots in the laser-injured mouse model. One week after transplantation of labeled EPCs, the fluorescent cells were identified around the photocoagulated lesions. Four weeks after transplantation, fluorescent tube-like structures were observed in the retinal vascular networks.Conclusion EPCs could be labeled by CFSE in vitro and monitored in vivo for at least 4 weeks, and participate in the repair of injured retinal vessels.

轨距对轨道结构受力特性的影响

"一带一路"沿线国家的铁路轨距存在差异,这使得列车行驶过程中产生更大的线路不平顺,同时轨道部件的拉、压应力的变化对轨道部件的使用寿命造成影响.通过建模分析可知:轨距变化主要影响轨枕、道床的位移与受力,对钢轨的影响较小.轨道各部件的位移在标准轨距时较小,与标准轨距时相比,轨枕的位移最高增加了300%,道床的位移最高增加了38%,而钢轨竖向位移最大增量仅为4%.不同轨距下的轨道部件拉、压应力存在较大差异,轨枕拉应力最大增加了59%,道床的拉应力最大增加了214%,轨枕的压应力最大增加了55%,道床的压应力最大增加了312%,而钢轨拉、压应力无变化.为改变轨距对轨枕与道床的位移、拉应力、压应力影响,延长轨道部件的使用寿命,需在轨距过渡处合理设置轨道刚度过渡.

枕底垫碴轨道测试报告

本文通过对铁道线路养护维修方法——枕底垫碴作业的现场试验测试、理论分析,探讨了该方法对轨道参数、结构强度及稳定性的影响,阐述了其应用条件与技术要求,论述了这一方法的优点。对生产实践具有指导意义。

Improvement of railway performance： a study of Swedish railway infrastructure

The volume of rail traffic was increased by 5 % from 2006 to 2010, in Sweden, due to increased goods and passenger traffic. This increased traffic, in turn, has led to a more rapid degradation of the railway track, which has resulted in higher maintenance costs. In general, degradation affects comfort, safety, and track quality, as well as, reliability, availability, speed, and overall railway performance. This case study investigated the needs of railway stakeholders responsible for analysing the track state and what information is necessary to make good maintenance decisions. The goal is to improve the railway track per- formance by ensuring increased availability, reliability, and safety, along with a decreased maintenance cost. Inter- views of eight experts were undertaken to learn of general areas in need of improvement, and a quantitative analysis of condition monitoring data was conducted to find more specific information. The results show that by implement- ing a long-term maintenance strategy and by conducting preventive maintenance actions maintenance costs would be reduced. In addition to that, problems with measured data, missing data, and incorrect location data resulted in increased and unnecessary maintenance tasks. The conclusions show that proactive solutions are needed to reach the desired goals of improved safety, improved availability, and improved reliability. This also includes thedevelopment of a visualisation tool and a life cycle cost model for maintenance strategies.

Early Cretaceous dinosaur and other tetrapod tracks of southwestern China

In recent years the Lower Cretaceous red beds of southwestern China have yielded more than 20 significant dinosaur-dominated tracksites. More than half occur in the Jiaguan Formation with the remainder in the Feitianshan and Xiaoba formations. Collectively these sites provide evidence of at least 13 distinct dinosaurian trackmaker morphotypes, in addition to two avian theropod(bird)morphotypes and pterosaur and turtle tracks. Together these total 17 morphotypes provide a data base of 479 potential trackmakers, probably representing the same number of individuals. Such an ichnological database provides a useful proxy paleoecological census of tetrapod communities in the area during the Early Cretaceous, and is especially significant given the complete absence or scarcity of skeletal remains reported from these formations.The composition of ichnofaunas in all three formations is heavily saurischian(theropod and sauropod) dominated with a high diversity of distinctive theropod morphotypes,mostly assignable to known ichnogenera. Moreover, ichnofaunal data from multiple sites are generally consistent between sites and an indication of the reliability and repeatability of track census data. Such regionally-widespread data are rapidly superseding the information available from the skeletal record in the corresponding area, and must therefore be considered of high paleontological value.