Quaternion-Based Kalman Filter for Micro-machined Strapdown Attitude Heading Reference System

A Kalman filter used in strapdown AHRS (Attitude Heading Reference System) based on micro machined inertial sensors is introduced. The composition and principle of the system are described. The attitude algorithm and error model of the system are derived based on the quaternion formulation. The real time quaternion based Kalman filter is designed. Simulation results show that accuracy of the system is better than 0.04 degree without disturbance of lateral acceleration and reduced to 0.44 degree with l...

Light propagation properties of two-dimensional photonic crystal channel filters with elliptical micro-cavities

Light propagation through a channel filter based on two-dimensional photonic crystals with elliptical-rod defects is studied by the finite-difference time-domain method. Shape alteration of the defects from the usual circle to an ellipse offers a powerful approach to engineer the resonant frequency of channel filters. It is found that the resonant frequency can be flexibly adjusted by just changing the orientation angle of the elliptical defects. The sensitivity of the resonant wavelength to the alteration of the oval rods＇ shape is also studied. This kind of multi-channel filter is very suitable for systems requiring a large number of output channel filters.

Fast filtering algorithm based on vibration systems and neural information exchange and its application to micro motion robot

This paper develops a fast filtering algorithm based on vibration systems theory and neural information exchange approach. The characters, including the derivation process and parameter analysis, are discussed and the feasibility and the effectiveness are testified by the filtering performance compared with various filtering methods, such as the fast wavelet transform algorithm, the particle filtering method and our previously developed single degree of freedom vibration system filtering algorithm, according to simulation and practical approaches. Meanwhile, the comparisons indicate that a significant advantage of the proposed fast filtering algorithm is its extremely fast filtering speed with good filtering perfi^rmance. Further, the developed fast filtering algorithm is applied to the navigation and positioning system of the micro motion robot, which is a high real-time requirement for the signals preprocessing. Then, the preprocessing data is used to estimate the heading angle error and the attitude angle error of the micro motion robot. The estimation experiments illustrate the high practicality of the proposed fast filtering algorithm.

应用Micro-CT对小鼠全身脂肪扫描成像研究

目的 探讨扫描电压和X射线滤光片对小鼠全身脂肪扫描图像质量和对小鼠辐射剂量的影响。方法 选取C57BL/6小鼠6只,3只为正常对照小鼠,3只为高脂喂养的肥胖小鼠。应用Micro-CT对小鼠全身进行成像扫描,统计不同扫描条件下对小鼠的辐射剂量;使用Analyze12.0分析软件对小鼠皮下和内脏脂肪进行提取,然后评价扫描图像质量以及脂肪分布。结果 正常小鼠和肥胖小鼠的扫描结果表明,在扫描电压为70 kV和Al 1.0 mm X射线滤光片扫描条件下,小鼠皮下脂肪和内脏脂肪边界清晰且无伪影,图像质量高,辐射剂量小。使用Analyze 12.0软件分离的小鼠皮下脂肪和内脏脂肪连续且平滑,脂肪显示完整。结论本研究为临床研究患者皮下脂肪和内脏脂肪提供了理论依据,对CT扫描电压和X射线滤光片的选择提供了数据参考。在降低扫描电压和保证图像质量的前提下,最大限度的降低患者受到的辐射剂量。

Optical properties of the direct-coupled Y-branch filters by using photonic crystal slabs

We fabricated a new type of two-dimensional photonic crystal slab filter. The resonant cavities were directly put into the waveguide arms. The optical transmissions of the filters were measured and the results show that the optimized two-channel filters give good intensity distribution at the output ports of the waveguide. A minimum wavelength spacing of 5 nm of the filter outputs is realized by accurately controlling the size of the resonant cavities.

Multi-Object Tracking with Micro Aerial Vehicle

A simple yet efficient tracking framework is proposed for real-time multi-object tracking with micro aerial vehicles(MAVs). It's basic missions for MAVs to detect specific targets and then track them automatically. In our method, candidate regions are generated using the salient detection in each frame and then classified by an eural network. A kernelized correlation filter(KCF) is employed to track each target until it disappears or the peak-sidelobe ratio is lower than a threshold. Besides, we define the birth and death of each tracker for the targets. The tracker is recycled if its target disappears and can be assigned to a new target. The algorithm is evaluated on the PAFISS and UAV123 datasets. The results show a good performance on both the tracking accuracy and speed.

Particle Filter Data Fusion Enhancements for MEMS-IMU/GPS

This research aims at enhancing the accuracy of navigation systems by integrating GPS and Mi-cro-Electro-Mechanical-System (MEMS) based inertial measurement units (IMU). Because of the conditions re-quired by the large number of restrictions on empirical data, a conventional Extended Kalman Filtering (EKF) is limited to apply in navigation systems by integrating MEMS-IMU/GPS. In response to non-linear non-Gaussian dynamic models of the inertial sensors, the methods rely on a particle cloud representation of the filtering distribution which evolves through time using importance sampling and resampling ideas. Then Particle Filtering (PF) can be used to data fusion of the inertial information and real-time updates from the GPS location and speed of information accurately. The experiments show that PF as opposed to EKF is more effective in raising MEMS-IMU/GPS navigation system’s data integration accuracy.

Research and test of the adaptive quadrature demodulation technology for silicon micro-machined gyroscope

A program of adaptive quadrature demodulation is proposed to supply the gaps in the traditional analog detection technology of a silicon micro-machined gyroscope (SMG). This program is suitable for digital phase locked loop (DPLL) drive technology that proposed in other papers. In addition the program adopts an adaptive filtering algorithm, which selects the in-phase and quadrature components that are outputs of the DPLL of the SMG's drive mode as reference signals to update the amplitude of the in-phase and quadrature components of the input signal by iteratively. An objective of the program is to minimize the mean square error of the accurate amplitudes and the estimated amplitudes of SMG's detection mode. The simulation and test results prove the feasibility of the program that lays the foundation for the further improvement of the SMG's system performance and the implementation of the SMG system's self-calibration and self-demarcation in future.

Effect of the Design Parameters on the Performance of Inner-Recycling Continuous Sand Filter

A novel integrated water treatment facility, inner-recycling continuous sand filter, is discussed. The theory of micro-flocculation is applied in the sand-washing circulation system with continuous filtration and backwashing. The design and operation parameters, which affect the performance of the filter, are discussed. The key design parameters are provided as follows: diameter of filter material is 0.7 to 1.0 mm, depth of filter bed is 0.6 m, filtration velocity is less than 12 m/h, ratio of gas to water is 9:11 and sand recycling rate is 2 to 4 mm/min.

Method Investigation for Fabricating Micro-Optical Elements by Use of Half Tone Masks

Several approaches to fabricate micro optical elements by use of half tone masks are studied and compared. It is shown that half tone masks employed in filtering image systems can obtain gray patterns with considerably high precision, but it is hard to operate from the viewpoint of operation. The method using contacting lithography technology or laser ablation can be easily operated with the cost of reducing fabrication precision and the trouble of choosing appropriate materials. For all of these methods, the coding of half tone masks with corrections for the nonlinear characteristics of coding, imaging and photoresist is recommended.

麦秆基纳米纤维素过滤膜的制备及对微纳米颗粒的过滤性能

以麦秆为原料,采用对甲基苯磺酸(p-TsOH)结合酶辅助超声处理制备木质纤维素纳米纤丝(LCNFs),通过真空抽滤制备LCNFs过滤膜(LCNF-FM)。研究LCNF-FM的微观形貌、纯水通量、润湿性及对微纳米粒子的过滤性能。结果表明,LCNF-FM由相互交联的纳米纤维网络组成,平均孔径为30.2nm。该过滤膜对细菌及纳米TiO_(2)颗粒均具有良好的截留作用。初步应用于红葡萄酒过滤除菌,其对红葡萄酒中有效成分的保留率均在84%以上,对葡萄酒品质影响不大。该LCNFs及其过滤膜的制备方法绿色环保,在农业废弃物的资源化利用及水处理、食品饮料的净化等方面具有广泛的应用前景。

A New Design Method for Variable Digital Filter Based on Field Programmable Gate Array(FPGA)

In order to obtain variable characteristics,the digital filter's type,number of taps and coefficients should be changed constantly such that the desired frequency-domain characteristics can be obtained.This paper proposes a method for self-programmable variable digital filter(VDF) design based on field programmable gate array(FPGA).We implement a digital filter system by using custom embedded micro-processor,programmable finite impulse response(P-FIR) macro module,coefficient-loader,clock manager and analog/digital(A/D) or digital/analog(D/A) controller and other modules.The self-programmable VDF can provide the best solution for realization of digital filter algorithms,which are the low-pass,high-pass,band-pass and band-stop filter algorithms with variable frequency domain characteristics.The design examples with minimum 1 to maximum 32 taps FIR filter,based on Modelsim post-routed simulation and onboard running on XUPV5-LX110T,are provided to demonstrate the effectiveness of the proposed method.

不同尺寸砂石过滤器内部流场数值模拟

针对不同结构和尺寸的砂石过滤器影响微灌用砂石过滤器水力性能,利用FloEFD流体仿真软件并采用多孔介质模型,对3种不同尺寸过滤器的流场进行数值模拟。结果表明:对4寸的砂石过滤器进行数值模拟所得到的结果,与实际的试验结果相比较,最大相对误差为8.94%,平均相对误差为6.47%,说明采用多孔介质模型及边界条件设置合理,所选模拟具有较好可靠度和准确性;由模拟结果可知不同尺寸的过滤器内部流场分布基本一致,确定不同尺寸的过滤器最佳进水流量范围,根据灌溉面积、水质情况以及泵功率等因素为选择合理的过滤器尺寸提供依据。

射流清洗对微灌过滤器滤网清洗效果及损伤研究

为探究射流清洗技术在农业微灌过滤器清洗过程中的应用,开展射流清洗试验研究,分析入射压力、喷嘴口径、喷嘴扩散角度等3个参数对微灌过滤器滤网清洗效果及表面损伤程度的影响规律.试验结果表明:清洗效果随入射压力、喷嘴口径、喷嘴扩散角度的增大而提升,但提升幅度不断减小;滤网表面损伤程度随入射压力、喷嘴口径的增大而增大,随喷嘴扩散角度的增大而减小,其幅度逐渐减小;通过方差分析可知,射流参数对清洗效果影响程度从大到小依次为喷嘴口径、入射压力、喷嘴扩散角度,对滤网表面损伤影响程度从大到小依次为喷嘴口径、喷嘴扩散角度、入射压力;通过TOPSIS综合评价得到最佳射流参数组合为入射压力0.3 MPa,喷嘴口径3 mm,喷嘴扩散角度80°.

Multisensor fusion for an experimental airship based on strong tracking filter

To improve the independent ability of attitude determination and positioning for an unmanned experimental airship platform, a micro inertial measurement system (MIMS) is expected to integrate with the existing system, which incorporates a digital magnetic compass and a differential pseudorange GPS receiver. The navigation error of the low-precision MIMS will be calibrated using nondrift DGPS receiver and magnetic compass. This paper proposes an adaptive strong tracking filter to perform multisensor fusion to assure state-error estimation of convergence under some uncertain conditions. These uncertainties include model simplification, unknown microsensor stochastic characteristics, a large-scale initial filtering parameter variation, and state sudden change. Monte Carlo simulations demonstrate the filter has strong robustness to all the uncertainties mentioned above. By this filtering approach, the navigation errors of MIMS are limited to a certain range. Accordingly, the whole integrated measurement system will respond to dynamics, and its automotive navigation ability is also enhanced.

不同改性方法对生物砂滤池生物膜特性及处理受污染原水效果的影响

通过对普通石英砂(QS)进行氨基及铝钙双氢氧化物改性制得氨基改性砂(AMS)和铝钙双氢氧化物改性砂(CAS),分别以QS、AMS、CAS为滤料填充滤池进行挂膜,研究了不同石英砂表面的生物膜量、生物活性、胞外聚合物(EPS)的特性及对受污染原水的处理效果。结果表明,挂膜成功后CAS表面的生物活性最高,为42.00 mgO_(2)/(g·h),生物膜量和胞外聚合物的含量最大,分别为12.43 mg/g、105.09 mg/(g·SS),对COD_(Cr)、NH^(+)_(4)-N的去除率分别稳定在58.20%、89.50%;AMS表面的生物活性、生物膜量、EPS平均含量分别为32.97 mgO_(2)/(g·h)、9.07 mg/g、93.41 mg/(g·SS),对COD_(Cr)、NH^(+)_(4)-N的去除率分别为54.60%、85.10%。三种石英砂表面生物量分布均沿水流方向递减,EPS的含量从溶解性胞外聚合物(SL-EPS)到紧密附着性胞外聚合物(TB-EPS)呈上升趋势。

不同流量下泵前微压网式过滤器内部流场的数值模拟

泵前微压网式过滤器作为一种新型的灌溉过滤装置,具有结构简单、适配性高以及能耗低等优点。为了探究泵前微压网式过滤器内部流场的运行状态,采用了物理模型试验、数值计算及理论分析的方法,从微观角度对清水条件下泵前微压网式过滤器在不同流量(5、8、11、14、17 m^(3)/h)的水力性能和水流运动状态进行分析。结果表明:标准k-ε模型可作为模拟泵前微压网式过滤器清水流场的湍流模型;滤网内部流速分布不均匀,随流量呈现不同形态的“火烛”形态,出水口对过滤器内部影响范围随流量增加而增大;过滤器内部同时出现高压区和负压区,滤网底部为水头损失主要发生位置。研究成果可为泵前过滤设备的浑水数值模拟和结构优化提供理论和技术支撑。

静电纺聚酰胺6/聚苯乙烯复合纳米纤维膜制备及其空气过滤性能

针对空气过滤纤维材料的过滤效率、阻力和使用寿命难以平衡的问题,采用多喷头静电纺丝技术,制备了不同直径、形貌纤维及不同纤维沉积顺序的聚酰胺6/聚苯乙烯(PA6/PS)复合纳米纤维膜,测试了复合膜的平均孔径及孔隙率,建立了纤维结构与过滤效率及阻力的构效关系;结合扫描电镜表征探讨了不同形貌、直径纤维的叠加次序对过滤寿命及细颗粒物沉积行为的影响,系统研究了过滤风速、细颗粒物尺寸对过滤性能的影响。结果表明:在5.33 cm/s的风速下,以多喷头静电纺丝方式制备的PA6/PS复合膜具有更好的抵抗风速变化的能力,在长期使用中阻力增加较缓慢,其具有93.13%的过滤效率,30.67 Pa的过滤阻力和0.0889 Pa-1的品质因子,综合过滤性能优于同等条件下H10等级(过滤效率>90%)的商业玻璃纤维过滤膜。

MEMS传感器及其在引信高动态环境中的应用

当前在引信环境力敏感中,常使用高动态环境下过载作为一级动作要素,通常以惯性模块在过载加速度下的运动行程来作为一级动作使用,惯性模块受限于机械运动,在电气系统中不易集成、可测试性较差。针对以上问题提出并设计了一种基于微机电系统(Micro-Electro-Mechanical System,MEMS)传感器技术,实现引信高动态环境下的动作,介绍了MEMS过载识别系统原理、组成及功能、软件工作流程及地面试验验证情况。试验结果表明,该环境力识别方式适用范围广,可以显著提升引信系统设计灵活性,易于系统集成。

流量与含沙量对浮筒网式旋转过滤器水力性能与过滤性能的影响

过滤器是保障微灌系统正常运行的核心设备,而水头损失与过滤效率是评价其性能的2个关键指标。为探明泵前过滤器—浮筒网式旋转过滤器的水力性能和过滤性能,采用方差分析、极差分析、主效应多重比较法对比分析了浮筒网式旋转过滤器在滤网孔径为0.150 mm时,5种不同含沙量、5种不同流量下的水头损失与过滤效率,并确定了试验条件下的最优工况。结果表明:对水头损失而言,流量比含沙量影响大;对过滤效率而言,含沙量的影响更大,且水头损失与过滤效率均随含沙量与流量的增大而增大;最优工况为流量930 L/h、含沙量2.0 g/L,此工况下对应的水头损失为0.281 m,过滤效率为84.01%,可以保证在有良好的过滤效率的同时具有较小的水头损失,从而实现节能减排,高效灌溉的目的。