Underwater square-root cubature attitude estimator by use of quaternion-vector switching and geomagnetic field tensor

This paper presents a kind of attitude estimation algorithm based on quaternion-vector switching and square-root cubature Kalman filter for autonomous underwater vehicle(AUV).The filter formulation is based on geomagnetic field tensor measurement dependent on the attitude and a gyro-based model for attitude propagation. In this algorithm, switching between the quaternion and the three-component vector is done by a couple of the mathematical transformations. Quaternion is chosen as the state variable of attitude in the kinematics equation to time update, while the mean value and covariance of the quaternion are computed by the three-component vector to avoid the normalization constraint of quaternion. The square-root forms enjoy a continuous and improved numerical stability because all the resulting covariance matrices are guaranteed to stay positively semidefinite. The entire square-root cubature attitude estimation algorithm with quaternion-vector switching for the nonlinear equality constraint of quaternion is given. The numerical simulation of simultaneous swing motions in the three directions is performed to compare with the three kinds of filters and the results indicate that the proposed filter provides lower attitude estimation errors than the other two kinds of filters and a good convergence rate.

Effect of Ti layer thickness on microstructure and magnetic properties of Ti/Co/Ti films

TiCoTi granular films were prepared by DC facing-target magnetron sputtering system onto glass substrates and subsequently in situ annealing in vacuum. Structural of Ti (t nm)/Co (40 nm)/Ti (t nm) films were investigated in detail, which shows that the majority Co nanograins are formed as the hexagonal-close-packed (HCP) structure. Vibrating sample magnetometer (VSM) and scanning probe microscope (SPM) were applied to study the magnetic properties, morphologies and domain structures of these samples. It has been found that the structure and magnetic properties of the Ti/Co/Ti films depend strongly on the Ti layer thickness. The out-of-plane coercivities (Hc) of the film is maximum about 78.8 kA·m-1 when t=5 nm with annealing at 300 ℃; the distributing of grains of the sample is uniformity; and the average size of particles is about 13 nm. The obtained results suggest that this system is perpendicular anisotropy and might be applicable to perpendicular magnetic recording media.

Preparation and Properties of CdTe Polycrystalline Films for Solar Cells

The structure and characteristics of CdTe thin filrns are closely dependent on the whole deposition process in close-space sublimation （CSS）. The physical mechanism of CSS was analyzed aud the temperature distribution in CSS system was measured, and the influences of the increasing-temperature process and pressure on the preliminary nucleus creation were studied. The resuits indicate ： tire samples deposited at different pressures hare a cubical structure of CdTe and the diffraction peaks of CdS and SnO2 ： F. As the atmosphere pressure increases, the crystal size of CdTe decreases, the rate of the transparency of the thin film decreases and the absorption side moves towards the short-wave direction. After a 4-minute depositing process with a substrate teraw.rature of 500℃ and a source temperature of 620 ℃, the polycostallinc thin films can be mmade , so the production of high-quality integrated cell with StrO2： F/ CdS/ CdTe/ Au structure is hopeful.

Microstructure and magnetic properties of Ti/Co/Ti films

The two series of as-deposited and annealed Ti/Co/Ti thin films were deposited by magnetron sputtering onto glass substrates at room temperature. The structural and magnetic properties of the films at room temperature were investigated as function of Co layer thickness. X-ray diffraction (XRD) profiles show Co nanograins are formed as the hexagonal-close-packed (hcp) structure. The perpendicular coercivity of the Ti(15 nm)/Co(30 nm)/Ti(15 nm) film annealed at 450 ℃ for 30 min is about 288 kA·m-1.

Soft magnetic properties of (Ni_(50)Fe_(50)) SiO_2 granular thin films for high frequency application

A series of (Ni50Fe50)x(SiO2)(1-x) films with different volume fraction x was fabricated by magnetron co-sputtering technique. The microstructure, magnetic and electrical properties were investigated systematically by using X-ray diffraction, transmission electronic microscope, vibrating sample magnetometer and the traditional four point measurement method of resistivity. The results show that the samples consist of nano-scaled Ni50Fe50 metallic particles with fcc structure uniformly embedded in amorphous insulating SiO2 matrix, and the particle size decreases with the decrease of x. The rapid change of coercivity with x is observed, and a minimum value 160 A·m-1 of Hc was obtained for the sample of x=0.83 with film thickness of 180 nm, which can be contributed to the exchange coupling between nano-scaled Ni50Fe50 particles. At the frequency lower than 1 GHz, the real part μ′ of complex permeability keeps about 110 and the image part μ″ is less than 15. Besides, this film exhibits high resistivity ρ=263 μΩ·cm, high saturation magnetization 4πMs=1.25 T, high in-plane magnetic anisotropy field Hk=6.37 kA·m-1, and the ferromagnetic resonance (FMR) frequency is estimated to be 2.8 GHz. Therefore, this film can be used in high frequency devices operating over 2 GHz.

Dynamics of Dust in a Plasma Sheath with Magnetic Field

Dynamics of dust in a plasma sheath with a magnetic field was investigated using a single particle model. The result shows that the radius, initial position, initial velocity of the dust particles and the magnetic field do effect their movement and equilibrium position in the plasma sheath. Generally, the dust particles with the same size, whatever original velocity and position they have, will locate at the same position in the end under the net actions of electrostatic, gravitational, neutral collisional, and Lorentz forces. But the dust particles will not locate in the plasma sheath if their radius is beyond a certain value.

ZnO and Zn1-xMnxO Minicrystal by CVT and Temporal Process of Photoelectrons

The ZnO and Zn1-xMnxO minicrystal were synthesized by chemical vapor transport (CVT). The electron trap structure (donor level) and process on the temporal behavior of photoelectrons of materials were respectively studied by thermo-luminescence and microwave absorption dielectric spectrometry. There are two peaks in the thermo-luminescence spectra in pure ZnO, one is -183 ℃ and the other is -127 ℃, which shows two kinds of electron trap energy level produced by the intrinsic defects in ZnO;but obtain very low thermo-luminescence that only equals to ten percent of pure ZnO in Zn1-xMnxO, which shows that its intensity of electron trap is less. The studies of microwave absorption dielectric spectrometry show that conduction band photoelectrons are two-step exponential decay process in ZnO, the lifetime of rapid process is 83 ns, while slow process is 828 ns, the reason of delay is relaxation effects of electron trap to conduction band photoelectrons. The intensity of electron trap is less in Zn1-xMnxO minicrystal, the relaxation effects of conduction band photoelectrons from electron trap is little, so electrons disappeared quickly at conduction band, and the decay process of photoelectrons is only 10～20 ns.

Self-assembled structure of cyanine dyes: J-aggregates characteristics on optical information storing microcrystals

Dye sensitization is a fundamental function for solar cell and silver halide (AgX) microcrystal to increase the optoelectronic conversion efficiency. In this paper, the spectral properties and self-assembled structure of three types of cyanine dyes, adsorbed both on (100) surface of 0.4 μm AgBr cubic crystal and (111) surface of 1.8 μm AgBr tabular crystal, were studied with combination of spectroscopy and atomic force microscopy (AFM) technique. Rectangular aggregation structure is formed on the crystal faces of (100) and (111) for both anionic and cationic dyes, while herringbone-stacking structure is formed by anionic-cationic dye, and a J-band spectrum is correspondingly detected. The photoelectron property of dye-sensitized samples was also investigated with microwave absorption and dielectric spectrum detection technology. After excited by a 355 nm fast-pulse laser, the photoelectron decay process of anionic-cationic dye sensitized sample is the fastest. This indicates that the affection of anionic-cationic dye aggregates to the photoelectron decay is the biggest, and the sensitization is more efficient.

Microstructure and magnetic properties of Ti/Ni/Ti in dependence on Ni layer thickness

The films of Ti(15 nm)/Ni(t nm)/Ti(15 nm)(t=20, 30, 40, 50) were prepared by dc magnetron sputtering at room temperature and subsequent annealing at 400 ℃ for 30 min. Scanning probe microscope (SPM), vibrating sample magnetometer (VSM) and X-ray diffraction (XRD) were applied to study the magnetic properties and microstructure. AFM images show that small and uniform grains and some clusters appear with the increase of Ni thickness, also MFM images show that the size of domain first decreases and then increases. The coercivity reaches the maximum 48 kA·m-1 at t=30 nm. The XRD profiles show stronger fcc (111) orientation peak of Ni and weak hcp structure peaks of Ni3Ti. This results reveal that the crystal lines have the prefer orientation and achieve the ordered.

The Structure and Magnetic Properties of Co₇₇Zr₁₈W₅Melt-Spun Ribbons

Based on X-ray diffraction, microscopic and magnetic analysis, the structure and magnetic properties of Co77Zr18W5 melt-spun ribbons were studied in this paper. A new element to stabilize the metastable Co5Zr phase was found and the coercivity observed in Co-Zr alloys can be obviously enhanced by proper tungsten substitution. The Curie temperature of Co77Zr18W5 ribbons is 475℃ which suggests that W doped Co-Zr alloys may become an attractive candidate perma- nent magnets for practical applications in high temperature. Annealing of the Co77Zr18W5 ribbons results in a decrease of the coercivity which confirmed that the hard magnetic phase is Co5Zr phase in 77Zr18W5 melt-spun ribbons.

Establishment and adjustment of monsoon-driven circulation in the South China Sea

The mechanisms of establishment and adjustment of the basin-scale circulation in the South China Sea (SCS) during the monsoon-forced spin-up are investigated using a high resolu-tion circulation model in this paper. The process, in which the upper layer in the SCS evolved from the motionless state to the one when the basin-scale circulation initially established, was described, and the participation of various Kelvin and Rossby waves and their traveling time scales in differ-ent stages was revealed. It shows that the coastal trapped Kelvin waves and the westward propa-gating Rossby waves play important roles in the adjustment of the basin-scale circulation. Fur-thermore, the characteristic timescale of establishment for the basin-scale circulation in the upper layer of the SCS was obtained.

Lepton-Flavor Violating Processes li → ljγ in Topcolor-Assisted Technicolor Models

We consider the lepton-flavor violating (LFV) processes li → ljγ in the framework of topcolor-assistedtechnicolor (TC2) models. We find that the new gauge boson Z' predicted by TC2 models can give significantlycontributions to these processes via the flavor-changing couplings Z'lilj. The present experimental bound on the LFVprocess μ→ eγ gives severe constraints on the TC2 models. Using other experimental constraints on the Z' mass Mz,we obtain constraints on the lepton mixing factors KTμ and KTe. The future LFV experiments will probe into TC2models.

A novel microwave absorption and dielectric spectrum detection technology in photoelectron dynamic study for solar cells

The photoelectron property is directly related to the light-energy conversion efficiency of solar cells. In this paper, the photoelectron dynamic of semiconductor was analyzed. The diffusion of electrons has influence on the dielectric function of the solar cell material. And the amplitude variance of the imaginary and real part of the dielectric function is in direct proportion to the dynamic process of free and shallow-trapped electrons. Based on the untouched detection technique, the method is present to detect the amplitude change of the microwave signal which is passing through the material whose dielectric function changes after exposure. A 35 GHz oscillator was used as a microwave source. The absorption and dispersion microwave signals, which contain the dynamic information of free and shallow-trapped electron signal, are split respectively with phase-sensitive instrument. The photoelectron character of n-type Si(100) thin film was investigated by the novel equipment, and the lifetime of different kinds of electrons with the resolution of 1 ns was obtained. The equipment can be directly used in the study of the optoelectronic conversion mechanism of solar cells.

Detecting Toppion via a Flavor-Changing Single Top Quark Production Process

In the framework of topcolor-assisted technicolor (TC2) theory, we study a flavor changing single top quarkproduction process pp(pp) →Ⅱ0t → tc(tc) at upgraded Tevatron and LHC. The results show that with the flavor changingcoupling of neutral toppion to top and charm quark, toppion provides a large te-channel resonance effect. The signal ofsingle top production could be detected at LHC. Otherwise, the narrow peak in the invariant mass distribution could beclearly detected both at upgraded Tevatron and LHC. Therefore, such single top production process provides a uniqueway to test TC2 model via the detection of tc-channel neutral toppion contribution.

Multilayered gradient CrN/ZrN coatings synthesized by magnetron sputtering

The multilayer gradient CrN/ZrN coatings were synthesized by a dual cathode DC magnetron sputtering.The influence of different species of reaction gases and partial pressures on structure and mechanical properties was investigated using XRD, AES, XPS, and nanoindentation. The results show that N2-NH3 mixture process gas is of benefit to the synthesis of superhard multilayered gradient CrN/ZrN coatings. The presence of the preferred orientations of CrN(111), (200) and ZrN (111), (220) in the structure is a main reason for superhardness of multilayered gradient coatings.

Strange Quasi-Repeller in a Kicked Rotor

A new kind of crisis was observed in a system where a transition from conservative to quasi-dissipative can be observed. The crisis signifies a sudden and intrinsic change of a stochastic web, which is formed by the end-results of the images of the discontinuous borderlines of the system function. In the crisis, a strange quasi-repeller can be defined. When changing the controlling parameter, the variation of the fractile dimension of the quasi-repeller obeys a logarithmic rule.

A Fat Strange Repeller

This article reports an observation on a fat strange repeller, which appears after a characteristic crisis observed in a kicked rotor subjected to a piecewise continuous force field. The discontinuity border in the definition range of the two-dimensional mapping, which describes the system, oscillates as the discrete time develops. At a threshold of a control parameter a fat chaotic attractor suddenly transfers to a fat transient set. The strange repeller, which appears after the crisis, is also a fat fractal. This is the reason why super-transience happens

Comparison between different reactions of group IV hydride with H

The four-dimensional time-dependent quantum dynamics calculations for reactions of group IV hydride with H are carried out by employing the semirigid vibrating rotor target model and the time-dependent wave packet method. The reaction possibility, cross section and rate constants for reactions (H+SiH_4 and H+GeH_4) in different initial vibrational and rotational states are obtained. The common feature for such kind of reaction process is summarized. The theoretical result is consistent with available measurement, which indicates the credibility of this theory and the potential energy surface.

Simulation of gas phase reactions for microcrystalline silicon films fabricated by PECVD

We present a numerical gas phase reaction model for hydrogenated microcrystalline silicon(μc-Si:H) films from SiH4 and H2 gas mixtures with plasma enhanced chemical vapor deposition(PECVD).Under the typical μc-Si:H deposition conditions,the concentrations of the species in the plasma are calculated and the effects of silane fraction(SF=[SiH4]/[H2+SiH4]) are investigated.The results show that SiH3 is the key precursor for μc-Si:H films growth,and other neutral radicals,such as Si2H5,Si2H4 and SiH2,may play some roles in the film deposition.With the silane fraction increasing,the precursor concentration increases,but H atom concentration decreases rapidly,which results in the lower H/SiH3 ratio.

The trapping effect of sulfur sensitization center Ag_2S cluster on T-grain AgBrI microcrystals

The microwave absorption dielectric-spectrum technique was used to study the decay kinetics of photoelectrons in sulfur-sensitized silver halide crystals. The time-resolution spectrum of free electrons and shallow-trapped electrons generated in sulfur-sensitized AgBrl crystals has been obtained. The relationship of the trapping effect of sensitization centers Ag2S and sensitization time or temperature in emulsions has been duscussed. With the increase in the sensitization time and temperature, the trap effect of sulfur sensitization centers varies from hole trap to shallow electron trap, and deep electron trap.