基于误差估值累加开环校正的诱导式欺骗检测方法

诱导式卫星欺骗干扰可诱导航空器逐渐偏离预定航迹，难以被发现，因此及时有效地检测干扰是飞行安全的保障。在现有紧组合导航体制基础上，设计了一种基于误差估值累加开环校正的紧组合导航结构，并证明了其性能与传统闭环校正紧组合导航性能等效。在此结构中，将紧组合导航系统与自适应序贯概率比检测方法结合，提出了一种基于误差估值累加开环校正的诱导式欺骗检测方法，融合紧组合导航信息与其他不受欺骗影响的导航信息，构建欺骗检测统计量进行诱导式欺骗检测。仿真结果表明，开环校正结构可避免随时间累加的惯性导航系统误差所导致的组合导航滤波器发散问题，同时欺骗检测方法可进一步提高算法对“最坏”情形下微小诱导式欺骗的检测效果。     

有砟轨道路基翻浆冒泥模型试验系统的研发与应用

为研究既有线有砟轨道路基的翻浆冒泥机理，自主研发了一套能够模拟循环荷载–湿化耦合作用的模型试验系统。模型试样直径500 mm，由厚度分别为350 mm的路基土和200 mm的道砟组成，整个试样在高强度透明有机玻璃模型筒中制备完成。模型试验系统配备有监测荷载、位移、体积含水率和孔隙水压力的4种传感器，并通过高清相机对颗粒迁移过程进行图像捕捉。基于所研发的试验系统，针对辛泰铁路典型翻浆冒泥病害路段土样，开展翻浆冒泥模型试验。试验结果表明：动孔隙水压力是导致翻浆冒泥病害产生的关键因素。随着体积含水率的增加，动孔隙水压力引起的颗粒迁移量逐渐增加；在饱和状态下，会引起大量颗粒迁移，翻浆冒泥现象显著。试验结束时，道砟污染指数达到25%，在实际工程中已严重影响铁路的正常运营，有必要对污染道砟进行换填。     

数字签名技术在医院电子病历中的设计与应用

为推进病历数字化发展,并确保其信息的安全性,将以HIS电子病历系统为基础,采用安信数字签名技术和PKI或PMI系统搭建相信并加以任用的授权服务,经过针对实际的PKC和CA的确认、委托与管控构建整体的数字签名平台,完成电子病历数字签名功能设计,以加强电子文件的完整性、真实性和不可抵赖性。最后以某医院的XML结构化的电子病历系统为基础进行项目实施,完成了医护人员通过HIS的快速身份认证,和准确地数字签名。     

Contribution of Drugs Interfering with Protein and Cell Wall Synthesis to the Persistence of Pseudomonas aeruginosa Biofilms: An In Vitro Model

The occurrence of Pseudomonas aeruginosa (PA) persisters, including viable but non-culturable (VBNC) forms, subpopulations of tolerant cells that can survive high antibiotic doses, is the main reason for PA lung infections failed eradication and recurrence in Cystic Fibrosis (CF) patients, subjected to life-long, cyclic antibiotic treatments. In this paper, we investigated the role of subinhibitory concentrations of different anti-pseudomonas antibiotics in the maintenance of persistent (including VBNC) PA cells in in vitro biofilms. Persisters were firstly selected by exposure to high doses of antibiotics and their abundance over time evaluated, using a combination of cultural, qPCR and flow cytometry assays. Two engineered GFP-producing PA strains were used. The obtained results demonstrated a major involvement of tobramycin and bacterial cell wall-targeting antibiotics in the resilience to starvation of VBNC forms, while the presence of ciprofloxacin and ceftazidime/avibactam lead to their complete loss. Moreover, a positive correlation between tobramycin exposure, biofilm production and c-di-GMP levels was observed. The presented data could allow a deeper understanding of bacterial population dynamics during the treatment of recurrent PA infections and provide a reliable evaluation of the real efficacy of the antibiotic treatments against the bacterial population within the CF lung.     

采煤机惯性导航定位动态零速修正技术

基于捷联惯性导航与轴编码器组合的采煤机惯性导航定位是综采工作面可行的采煤机定位技术。惯性导航提供姿态角参数，轴编码器提供速度参数，采煤机惯性导航定位利用航位推算算法解算出东北天坐标系下的位置坐标。为了进一步提高定位精度，在消除确定性偏差的基础上，根据惯性导航姿态误差方程，以东、北、天3个方向的平台失准角为状态量构建状态方程，根据动态零速修正技术的非完整约束条件，以采煤机坐标系横向和垂直方向速度值为观测量构建量测方程，建立卡尔曼滤波模型，并进行移动平台模拟采煤机运行试验验证。在试验条件下，第3刀导航东、北方向最大误差分别由0.639 7，0.856 7 m减小为0.456 4，0.594 2 m。第4刀导航东、北方向最大误差分别由0.644 4，0.910 6 m减小为0.466 5，0.603 0 m。东、北方向定位精度提升了30%。     

Perception‐aware autonomous mast motion planning for planetary exploration rovers

Highly accurate real‐time localization is of fundamental importance for the safety and efficiency of planetary rovers exploring the surface of Mars. Mars rover operations rely on vision‐based systems to avoid hazards as well as plan safe routes. However, vision‐based systems operate on the assumption that sufficient visual texture is visible in the scene. This poses a challenge for vision‐based navigation on Mars where regions lacking visual texture are prevalent. To overcome this, we make use of the ability of the rover to actively steer the visual sensor to improve fault tolerance and maximize the perception performance. This paper answers the question of where and when to look by presenting a method for predicting the sensor trajectory that maximizes the localization performance of the rover. This is accomplished by an online assessment of possible trajectories using synthetic, future camera views created from previous observations of the scene. The proposed trajectories are quantified and chosen based on the expected localization performance. In this study, we validate the proposed method in field experiments at the Jet Propulsion Laboratory (JPL) Mars Yard. Furthermore, multiple performance metrics are identified and evaluated for reducing the overall runtime of the algorithm. We show how actively steering the perception system increases the localization accuracy compared with traditional fixed‐sensor configurations.     

α径迹法用于分辨高浓铀和Pu微粒的方法研究

擦拭样品微粒分析技术是核保障环境样品分析的一种主要手段，从大量灰尘颗粒中识别并定位含高浓铀（HEU）或含Pu微粒是微粒分析首先需要解决的问题。本文以HEU和Pu微粒为研究对象，建立了用于微粒α径迹测量的样品制备方法，采用CR-39固体径迹探测器为α径迹探测器，测量了不同蚀刻时间2种微粒产生的α径迹星的径迹参数。结果表明：可通过测量径迹短轴与曲率直径并作图来分辨HEU和Pu微粒，该方法对于蚀刻时间大于10 h的微粒径迹星，均能明显分辨，对于径迹非常密集的径迹星，也能准确分辨。     

基于船载卫星通信三轴天线的跟踪搜索技术

针对船载卫星通信三轴天线跟踪系统,介绍了船载三轴天线的系统组成,提出了一种基于捷联惯导的船载三轴天线跟踪搜索技术。天线以目标地理角为中心,通过坐标转换将目标地理角转换为天线的目标甲板角,调整AEC三轴使其及时准确地跟随目标甲板角。目前,该方法已经成功应用于多种船载三轴天线。实践表明,该方法能够快速准确地搜索到目标卫星,并实现对目标卫星的稳定跟踪。     

Inverse reinforcement learning-based time-dependent A* planner for human-aware robot navigation with local vision

In an environment where robots coexist with humans, mobile robots should be human-aware and comply with humans' behavioural norms so as to not disturb humans' personal space and activities. In this work, we propose an inverse reinforcement learning-based time-dependent A* planner for human-aware robot navigation with local vision. In this method, the planning process of time-dependent A* is regarded as a Markov decision process and the cost function of the time-dependent A* is learned using the inverse reinforcement learning via capturing humans' demonstration trajectories. With this method, a robot can plan a path that complies with humans' behaviour patterns and the robot's kinematics. When constructing feature vectors of the cost function, considering the local vision characteristics, we propose a visual coverage feature for enabling robots to learn from how humans move in a limited visual field. The effectiveness of the proposed method has been validated by experiments in real-world scenarios: using this approach robots can effectively mimic human motion patterns when avoiding pedestrians; furthermore, in a limited visual field, robots can learn to choose a path that enables them to have the larger visual coverage which shows a better navigation performance.