Robust energy-to-peak sideslip angle estimation with applications to ground vehicles

In this paper, the observer design problem for the sideslip angle of ground vehicles is investigated. The sideslip angle is an important signal for the vehicle lateral stability, which is not measurable by using an affordable physical sensor. Therefore, we aim to estimate the sideslip angle with the yaw rate measurements by employing the vehicle dynamics. The nonlinear lateral dynamics is modeled firstly. As the tyre model is nonlinear and the road adhesive coefficient is subject to a large variation, the nonlinear lateral dynamics is transformed into an uncertain model. Considering the variation of longitudinal velocity, an uncertain linear-parameter-varying (LPV) system is obtained. Based on the LPV model, a gain-scheduling observer is proposed and the observer gain can be determined with off-line computation and on-line computation. The off-line computation includes the calculation of a set of linear matrix inequalities and the on-line computation contains several algebraic operations. The proposed design methodology is applied to a four-wheel-independent-drive electric vehicle in simulation. It infers from different maneuvers that the designed observer has a good performance on estimating the sideslip angle.     

单汽泡沸腾过程数值模拟的研究

利用Comsol Multiphysics软件中的Level Set方法对单汽泡沸腾过程进行了模拟,建立了微细结构网格,给出了边界条件,求解了质量、动量、能量和Level Set方程,得到了正确的模拟结果。分析了单汽泡沸腾过程中相含率、压力场、速度场和温度场随时间的变化规律;考察了接触角和壁面效应对汽泡脱离直径和汽泡生长周期的影响。模拟结果表明,当接触角小于12°时,汽泡脱离直径维持不变;当接触角大于12°时,接触角越大,汽泡脱离直径越大。汽泡生长周期随接触角的增大而延长。当加热装置的直径小于汽泡脱离直径时,汽泡受壁面效应的影响不易脱离;当加热装置的直径大于汽泡脱离直径时,汽泡脱离直径不随加热装置直径的增大而变化;汽泡生长周期随加热装置直径的增大而缩短。     

Design and performance study of phase‐locked loop using fractional‐order loop filter

The present work reports the realization of an analog fractional‐order phase‐locked loop (FPLL) using a fractional capacitor. The expressions for bandwidth, capture range, and lock range of the FPLL have been derived analytically and then compared with the experimental observations using LM565 IC. It has been observed that bandwidth and capture range can be extended by using FPLL. It has also been found that FPLL can provide faster response and lower phase error at the time of switching compared to its integer‐order counterpart. Copyright © 2014 John Wiley & Sons, Ltd.     

AHRS 的老人跌倒检测算法

独居老人如在室内或室外发生意外摔倒时,没有得到及时医疗救助治疗,将给老年人造成巨大的心理与身体的伤害。 将航姿参考系统(attitude and heading reference system,AHRS)应用在跌倒检测中,将跌倒的过程转变成姿态的变化,从而来判断 跌倒的程度。 AHRS 航姿系统比过去原有实验方案 3 种姿态角度均有所提升,俯仰角( pitch)提升 2. 371%,滚转角( roll)提升 9. 238%,偏航角(yaw)提升 4. 682%,加速度计最大值精确了 0. 171g,AHRS 航姿系统融合扩展卡尔曼滤波器在检测老年人跌倒 姿态中比过去原有实验方案在检测时间计算上提升了 1 s。 综上实验验证 AHRS 航姿融合在检测老年人跌倒上可以数据更精 确,计算时间更少,在研究人体真实跌倒姿态中更贴近了一步。     

基于火箭遥测的地面站接收信号情况预估方法

火箭尾焰造成的信号衰减是地面测量点位选择重点考虑的问题,通常采用传统β角确定火箭尾焰对遥测地面站接收信号的影响程度。针对新型固体火箭发射中β角分析法对遥测地面站接收信号情况预测不准确的问题,文中在分析影响遥测地面站信号接收因素的基础上,提出了一种采用信号衰减方向性预估遥测地面站接收信号情况的模型。通过分析火箭遥测实测飞行姿态、位置以及地面遥测设备实际跟踪信号情况确定了模型参数,并通过实例计算证明了该方法优的优越性。     

环氧树脂涂层表面亲水性对微藻黏附性能的影响

在固体材料表面黏附成膜是微藻细胞的一种生理特性。近些年基于微藻生物膜的生物过程，如生物膜贴壁培养和防附着技术受到了很多关注。微藻在固体材料表面的黏附受藻细胞与材料表面之间的相互作用的影响，建立黏附强度与材料表面性质参数间的关系对于通过材料选择来强化或控制微藻生物膜具有非常重要的意义。本工作的目的是揭示和明确材料亲疏水性对微藻黏附的影响，提出了一种双酚A环氧(EP)树脂表面亲疏水改性的方法。通过将亲水性的二乙醇胺(DEA)或疏水性的聚甲基聚硅氧烷(PMHS)加入到EP树脂中反应，EP树脂表面水接触角在36.80?~98.34?范围内可通过加入不同量的DEA或PMHS实现任意可调，材料的表面水接触角与DEA或PMHS加入量之间有线性关系。重要的是这种改性方法获得的材料，其形貌、结构、表面粗糙度等表面性质几乎没有变化，从而在研究和关联微藻黏附量与材料表面亲疏水性(表面水接触角)之间的关系时可以排除亲疏水性之外的其他表面性质的影响；其次，考察了小球藻和栅藻在不同亲疏水性材料表面的黏附行为，结果表明小球藻和栅藻在亲水性和疏水性材料表面均能黏附成膜，但在亲水性材料表面黏附更多更快；建立了微藻最大黏附容量与材料表面接触角之间关联关系，表明微藻最大黏附容量随材料表面水接触角的增大而线性降低，栅藻的表面黏附容量比小球藻大。     

Strength and deformation properties of frozen sand under a true triaxial stress condition

In recent years, the mechanical properties of frozen soils under complex stress states have attracted significant attention; however, limited by the test apparatus, true triaxial tests on frozen soils have rarely been conducted. To study the strength and deformation properties of frozen sand under a true triaxial stress state, a novel frozen soil testing system, i.e., a true triaxial apparatus, was developed. The apparatus is mainly composed of a temperature control system, a servo host system, a hydraulic servo loading system, and a digital control system. Several true triaxial tests were conducted at a constant minor principal stress (σ₃) and constant intermediate principal stress ratio (b) to study the effect of intermediate principal stress (σ₂) on the mechanical properties of frozen sand. The test results showed that the stress–strain curve can be mainly divided into three stages, with evidence of strain hardening characteristics. The strength, elastic modulus, and friction angle increased with the increase in b from 0 to 0.6, but decreased when increasing b from 0.6 to 1, whereas the cohesion varied little with the variation in b. The deformation in the direction of σ₂ changed from dilative to compressive and that in the direction of σ₃ remained dilative throughout.     

基于压迫感分析的城市高架桥美学设计研究

为解决城市高架桥对其地面道路及周边地块产生的压迫感这一问题,并且指导城市高架桥的设计和规划,使之在满足交通功能和用地要求的同时兼顾美学的考虑,研究根据压迫感主要来源为建筑对视野限制的推论,分析了压迫感的主要影响因素为建筑在视野中形成的视角,讨论了现有立体角理论模型的适用性,并且结合城市高架桥视角的特点,将立体角理论模型简化为平面视角理论模型以增强其适用性。建立了桥梁的结构尺寸与影响点的视角的关系式,以压迫感接受率表征压迫感的大小,再根据调查统计数据拟合,确定视角与压迫感接受率的关系曲线,从而得到桥梁的结构尺寸与影响点压迫感接受率的关系式。在规划和设计时,可根据该公式合理确定桥梁下地面道路的红线宽度或两侧地块的退红净距。     

Three-dimensional surface profile measurement of a cylindrical surface using a multi-beam angle sensor

To investigate the application of the multi-beam angle sensor (MBAS) to high-precision optical aspheric and freeform surfaces, which are critical components in optical systems, we present a method of using an MBAS to reconstruct an aspheric surface from angle data. The MBAS is based on a multi-autocollimator system with a microlens array, which can split the beam into several spots and can convert centroid detection of the light intensity into an angle measurement. The MBAS is designed to address the curvature-range problem via a circumferential scan better than other methods and automatically eliminates the tilt error caused by rotation of a workpiece. Using a tracking technique, the MBAS can automatically determine focal spot positions from the centroid measurement of the light intensity. This is directly related to the accuracy of the angular difference measurement. The experimental results confirm the feasibility of using an MBAS for 3D surface profile measurements of cylindrical surfaces.     

基于 ＮＡＯ 机器人的行走约束研究

针对为了控制支撑脚与地面接触的零力矩点（ＺＭＰ）而无法控制骨盆与自由足的运动的问题， 以腿部１１个自由度的 ＮＡＯ 机器人为研究对象，在对 ＮＡＯ 机器人进行运动规划过程中必须适当考虑骨盆 与自由足的运动限制，采用了 Ｂｒｙａｎｔ角度进行限制和对骨盆的平移运动能够改善单支撑阶段的ＺＭＰ控制， 并同时合成骨盆的旋转运动，对自由足姿态实现全面控制。