车载移动测量系统定位准确度测试方法研究

阐述了移动测量系统的定位准确度需求,对圆概率法、均方差法和中误差法三种位置准确度评估方法进行分析比较,并在标准试验场内开展了车载GNSS/INS定位准确度测试。实验证明:中误差法的评估结果最准确,其误差小于1 m,明显优于圆概率法和均方差法。     

基于虚拟导航线的农业机器人精确视觉导航方法

针对农田、野外环境中无人工标记情况下的导航问题，提出了一种基于虚拟导航线的农业机器人精确视觉导航方法。该方法不需要铺设导航线或者路标即可引导机器人行走直线。首先，根据需求确定需要跟踪的目标区域，之后控制机器人调整方向直到目标移至视野中央；其次，根据机器人和目标的位置确定参照目标，并依据两个目标的位置确定虚拟导航线；然后，动态更新导航线，并结合虚拟定标线和虚拟导航线确定偏移角度和偏移距离；最后，利用偏移参数构建模糊控制表，并以此实现对机器人旋转角度和行走速度的调整。实验结果表明，该算法能较为精确地实现对导航路线的识别，进而利用模糊控制策略使机器人沿直线向目标行走，且导航精度在10 cm以内。     

镁对非调质钢中组织及硫化物的影响

摘要：为了探究不同镁含量对非调质钢中组织和硫化物形态、尺寸、分布及成分的影响，采用蔡司金相显微镜、扫描电子显微镜、小样电解等方法，分析了经高温电阻炉冶炼不同镁添加量的49MnVS3非调质钢。结果表明，由于镁蒸气压较高，在实验室冶炼中大量挥发，导致钢中镁的实际平均收得率仅为310%；镁的质量分数为0～22×10-6时，随着镁的质量分数的增加，钢中硫化物形态由Ⅱ类逐渐向Ⅰ类、Ⅲ类转变；钢中硫化物尺寸增大，硫化物的分布均匀性得到显著改善；钢中复合夹杂物比例明显增加，但MnS的比例出现下降；形成了细小弥散的氧化物，增加了奥氏体形核质点，具有细化组织的趋势。     

Impact of non‐solvent on regeneration of cellulose dissolved in 1‐(carboxymethyl)pyridinium chloride ionic liquid

Cellulose dissolved in ionic liquid (1‐(carboxymethyl)pyridinium chloride)/water (60/40 w/w) mixture is regenerated in various non‐solvents, namely water, ethanol, methanol and acetone, to gain more insight into the contribution of non‐solvent medium to the morphology of regenerated cellulose. To this end, the initial and regenerated celluloses were characterized with respect to crystallinity, thermal stability, chemical structure and surface morphology using wide‐angle X‐ray diffraction, thermogravimetric analysis, Fourier transform infrared spectroscopy and scanning electron microscopy. According to the results, regardless of non‐solvent type, all regenerated samples have the same chemical structure and lower crystallinity in comparison to the initial cellulose, making them a promising candidate for efficient biofuel production based on enzymatic hydrolysis of cellulose. The reduction in crystallinity of regenerated samples is explained based on the potential of the non‐solvent to break the hydrogen bonds between cellulose chains and ionic liquid molecules as well as the affinity of water and non‐solvent which can be evaluated based on Hansen solubility parameter. The latter also determines the phase‐separation mechanism during the regeneration process, which in turn affects surface morphology of the regenerated cellulose. The pivotal effect of regenerated cellulose crystallinity on its thermal stability is also demonstrated. Regenerated cellulose with lower crystallinity is more susceptible to molecular rearrangement during heating and hence exhibits enhanced thermal stability. © 2019 Society of Chemical Industry     

User-friendly search interface for older adults: supporting search goal refreshing in working memory to improve information search strategies

ABSTRACT

This study investigates how a search interface that displays users’ ultimate query (i.e. users’ current search goal) can cope with the age-related decrease of fluid abilities and support older users’ search behaviours. 30 young and 18 older adults completed 9 search problems with a regular web browser or with the experimental search interface. Results showed that older adults spent longer time on the search engine result pages, they needed more time to reformulate, and they had more difficulties exploring the search paths elaborated. Age-differences also appeared as soon as the beginning of the search. The support tool helped older users reformulate their queries more rapidly and elaborate more flexible search strategies at the beginning of the activity. Indeed, older adults who interacted with the support tool switched to the processing of a new search path more rapidly instead of exploiting their initial query (i.e. they visited fewer websites for the initial query produced and reformulated a query instead of keeping on conducting a deeper investigation of the search results provided in the search engine result page). Implications of these findings for the design of effective support tools for older users are discussed.     

Off‐grid DoA estimation method of wideband signals

In this paper, an off‐grid direction of arrival (DoA) estimation method is proposed for wideband signals. This method is based on the sparse representation (SR) of the array covariance matrix. Similar to the time domain DoA estimation methods, the correlation function of the sources was assumed to be the same and known. A new measurement vector is obtained using the lower‐left triangular elements of the covariance matrix. The DoAs are estimated by quantizing the entire range of continuous angle space into discrete grid points. However, the exact DoAs may be located between two grid points; therefore, this estimation has errors. The accuracy of DoA estimation is improved by the minimization of the difference between the new measurement vector and its estimated values. Simulation results revealed that the proposed method can enhance the DoA estimation accuracy of wideband signals.     

Enhancing stability region of time‐delayed smart power grids by non‐integer controllers

In this study, the impacts of non‐integer order controller on the stable parameter space of the microgrid (MG) frequency control system with fixed communication time delay are investigated and discussed with the help of the stability boundary locus (SBL) method. This study proposes a non‐integer order controller for the load frequency control (LFC) of the MG systems. To that end, the load frequency model of the MG is formulated and then the characteristic equations of this model are obtained. Then, with the help of this characteristic equation, the stable parameter space of the non‐integer controller is determined with regard to different time delay (τ ) and fractional integral order values (α ) using the SBL method. In order to show the accuracy of the obtained stable parameter space, time domain and generalized modified Mikhailov (GMM) criterion studies are carried out for different values of (τ ) and (α ). According to the results obtained, the areas of stable parameter space according to different α values and τ = 1.6 are calculated as 444.8860 for α = 0.4 , 342.9728 for α = 0.7 , 259.3578 for α = 1 , 216.2541 for α = 1.3 and 159.6826 for α = 1.6 . In addition, the areas of stable parameter space according to different τ values and α = 1.4 are calculated as 784.5222 for τ = 1 , 106.3219 for τ = 2 , 29.6959 for τ = 3 and 11.5946 for τ = 4 . Despite the extreme variability arising from nature of resources that make up the MG, the designed non integer order controller with the values selected within the stable parameter space stably carries out LFC control of the MG.