Poly-Acrylic Acid Derivatives as Diesel Flow Improver for Paraffin-Based Daqing Diesel

Since the diesel products from paraffin-based Daqing crude oil showed low sensitivity to certain commercial diesel pour point depressant （PPDs） that resulted from the high content of paraffin, certain poly-acrylic acid derivatives （PADE） with-COOR, -COOH,-CONHR, and -COO-NH3^＋R groups by molecular design on the mechanics of diesel; PPDs were synthesized and evaluated as cold flow improver for Daqing 0^# diesel in this paper. The pure PADE was superior to the commercial PPDs and displayed a substantial ability of wax crystals dispersion. There was a synergistic effect among the PADE and T1804 and secondary amine. The synergism clearly improved the low temperature performance of Daqing diesel products and could reduce the cold filter plugging point of 0^# diesel by 6-7 ℃.

A new alternating copolymerized derivative as a cold flow improver for diesel fuel

Synthesis of a cold flow improver （MAVA-a） for diesel fuel and its effect on solidifying point （SP） and cold filter plugging point （CFPP） of diesel fuels were investigated, The cold flow improver was prepared by using maleic anhydride （MA） and vinyl acetate （VA） as raw materials, toluene as solvent, dibenzoyl peroxide （BPO） as initiator, through alternating polymerization under nitrogen to obtain a binary-polymer and then through aminolysis by using a higher carbon amine as aminating agent at a temperature of 80 ℃. A cold flow improver was designed and prepared for No. 0 diesel fuel from Zhang Jia-Gang Petrochemical Company according to the contents of n-paraffin and its carbon number distribution in the No. 0 diesel fuel. It was also used together with two kinds of ethene-vinyl acetate copolymer improvers （EVA） separately. The test result showed that the CFPP of the No. 0 diesel fuel could be lowered by 3-5 ℃ when the improver MAVA-a was used. The CFPP was lowered by 8℃ when the improver MAVA-a was used together with EVA-2.

Point mass filter based matching algorithm in gravity aided underwater navigation

Gravity-aided inertial navigation is a hot issue in the applications of underwater autonomous vehicle(UAV). Since the matching process is conducted with a gravity anomaly database tabulated in the form of a digital model and the resolution is 2’ × 2’,a filter model based on vehicle position is derived and the particularity of inertial navigation system(INS) output is employed to estimate a parameter in the system model. Meanwhile, the matching algorithm based on point mass filter(PMF) is applied and several optimal selection strategies are discussed. It is obtained that the point mass filter algorithm based on the deterministic resampling method has better practicability. The reliability and the accuracy of the algorithm are verified via simulation tests.

Cubature Kalman filters: Derivation and extension

This paper focuses on the cubature Kalman filters （CKFs） for the nonlinear dynamic systems with additive process and measurement noise. As is well known, the heart of the CKF is the third-degree spherical–radial cubature rule which makes it possible to compute the integrals encountered in nonlinear filtering problems. However, the rule not only requires computing the integration over an n-dimensional spherical region, but also combines the spherical cubature rule with the radial rule, thereby making it difficult to construct higher-degree CKFs. Moreover, the cubature formula used to construct the CKF has some drawbacks in computation. To address these issues, we present a more general class of the CKFs, which completely abandons the spherical–radial cubature rule. It can be shown that the conventional CKF is a special case of the proposed algorithm. The paper also includes a fifth-degree extension of the CKF. Two target tracking problems are used to verify the proposed algorithm. The results of both experiments demonstrate that the higher-degree CKF outperforms the conventional nonlinear filters in terms of accuracy.

Quadrature Kalman Filter(QKF) and Reduced Quadrature Kalman Filter(R-QKF)in Ballistic Target Tracking

Recently there have been researches about new efficient nonlinear filtering techniques in which the nonlinear filters generalize elegantly to nonlinear systems without the burdensome lineafization steps. Thus, truncation errors due to linearization can be compensated. These filters include the unscented Kalman filter （UKF）, the central difference filter （CDF） and the divided difference filter （DDF）, and they are also called Sigma Point Filters （SPFs） in a unified way. For higher order approximation of the nonlinear function. Ito and Xiong introduced an algorithm called the Gauss Hermite Filter, which is revisited in [5]. The Gauss Hermite Filter gives better approximation at the expense of higher computation burden, although it＇s less than the particle filter. The Gauss Hermite Filter is used as introduced in [5] with additional pruning step by adding threshold for the weights to reduce the quadrature points.

Towards uniform point distribution in feature-preserving point cloud filtering

While a popular representation of 3D data,point clouds may contain noise and need filtering before use.Existing point cloud filtering methods either cannot preserve sharp features or result in uneven point distributions in the filtered output.To address this problem,this paper introduces a point cloud filtering method that considers both point distribution and feature preservation during filtering.The key idea is to incorporate a repulsion term with a data term in energy minimization.The repulsion term is responsible for the point distribution,while the data term aims to approximate the noisy surfaces while preserving geometric features.This method is capable of handling models with fine-scale features and sharp features.Extensive experiments show that our method quickly yields good results with relatively uniform point distribution.

Study on Dibehenyl Fumarate-Vinyl Acetate Copolymer for Lowering Cold Filter Plugging Point of Diesel Fuel

In the practice of petroleum industry, adding cold flow improver （CFI） to lower the fuel＇s cold filter plugging point （CFPP） is an effective and economic way for improving the cold flow performance of diesel fuel. This paper described the synthesis and evaluation of the performance of dibehenyl fumarate-vinyl acetate （FV） copolymer for improving the cold flow performance of the tested diesel fuels. The carbon distribution in n-alkanes of the tested diesel samples were analyzed by gas phase chromatography. The structure of the copolymer was confirmed by the 1H NMR spectroscopy. The wax crystals morphologies with and without adding the FV additive were investigated by means of polarizing microscope. The test results indicated that the FV additive could depress CFPP of the tested diesel samples by 2℃ and 4℃, respectively, when dosage of the additive was 0.08 m%. The additive can modify the size and shape of the wax crystals and inhibit the formation of larger wax crystal lattices.

A Measure System of Zero Moment Point Using Wearable Inertial Sensors

Keeping balance is the premise of human walking. ZMP(zero moment point) is a point where total torque achieves balance. It is an important evaluation parameter of balance ability in walking, since it can be used to better reflect the dynamic balance during walking. ZMP can be used in many applications, such as medical rehabilitation, disease diagnosis, treatment and etc. In this paper, wearable inertial sensors system based on MEMS is used to measure ZMP(zero moment point) during walking, which is cheap, convenient, and free from the restriction of lab. Our wearable ZMP measurement system consists of inertial measurement subsystem and PC real-time monitoring station. Inertial measurement subsystem includes 9-axis inertial sensing nodes, the body communication network and the central node. Inertial sensing nodes are mounted on different parts of the body to collect body posture information in real-time, and then the best estimation of current posture are obtained by Kalman filter. The data from sensors is aggregated to the central node through the CAN bus, and then ZMP is calculated. Finally, it can be showed in the PC monitoring station. Experiments prove the system can achieve real-time ZMP detection during walking.