分布式遥感编队多星协同观测中的姿态控制

针对分布式遥感编队中的协同观测问题，本文开展了多星协同姿态控制研究。首先建立了参考航天器由对日定向到对目标凝视观测的期望姿态，设计了基于姿态、角速度偏差的比例-微分（PD）控制器，证明了闭环系统的李雅普诺夫稳定性。在此基础上，进一步建立了伴飞航天器的期望姿态，为使目标在不同航天器像平面上成像位置匹配，以伴飞航天器、参考航天器的姿态之差为基础设计了伴飞航天器的PD控制器，证明了系统的稳定性。最后，将理论结果进行了仿真验证，结果显示伴飞航天器、参考航天器姿态控制误差小于0.01°，精度满足分布式遥感多星协同观测的任务需求。     

Epos – an instrument for the assessment of the ethical position in software development

Digital technology becomes more powerful, intelligent, pervasive and ubiquitous. Ethical aspects of this development have not yet drawn the appropriate attention of researchers and engineers. This paper presents an instrument that aims at measuring the individual ethical position with regard to the design and development of computer software. The development of the Epos tool was based on two data collections. The data of the first survey (n₁ = 147 participants) were used to select items and to determine the factorial structure of the questionnaire. Results show that the Epos instrument reliably assesses peoples’ ethical opinion with respect to five central components: (1) regulation, (2) data privacy, (3) domain specific knowledge, (4) societal responsibility and (5) company responsibility. In the second survey, we determined the stability of the instruments factor structure by assessing a sample of n₂?=?196 participants. A confirmatory factor analysis (CFA) supported the initial factor structure. Next steps and further implications are discussed regarding the final version of the questionnaire.     

Systematic convergence of nonlinear stochastic estimators on the Special Orthogonal Group SO(3)

This paper introduces two novel nonlinear stochastic attitude estimators developed on the Special Orthogonal Group with the tracking error of the normalized Euclidean distance meeting predefined transient and steady‐state characteristics. The tracking error is confined to initially start within a predetermined large set such that the transient performance is guaranteed to obey dynamically reducing boundaries and decrease smoothly and asymptotically to the origin in probability from almost any initial condition. The proposed estimators produce accurate attitude estimates with remarkable convergence properties using measurements obtained from low‐cost inertial measurement units. The estimators proposed in continuous form are complemented by their discrete versions for the implementation purposes. The simulation results illustrate the effectiveness and robustness of the proposed estimators against uncertain measurements and large initialization error, whether in continuous or discrete form.     

自动捕捉平衡系数试验电流工具设计

在电梯平衡系数传统测量方法中,存在电梯轿厢和对重平衡点难以判断、人为因素导致测量误差偏大、测量不准导致效率低等问题,为解决这些问题,设计出一款基于光电传感器和霍尔传感器的电流自动捕捉工具,除能够高效准确识别电梯轿厢和对重平衡点的位置外,还能通过无线信号传输处理,利用钳形电流表精确捕捉平衡点位置的电流值。经测试使用,该工具系统消除了在平衡系数测量过程中捕捉电流值的人为因素影响,并解决了无机房不能准确判断平衡点问题,有效的提高了检验工作的准确性和效率。     

Output feedback tracking control for rigid body attitude via immersion and invariance angular velocity observers

A novel immersion and invariance (I&I) angular velocity observer is presented for the attitude tracking control of a rigid body with the lack of angular rate. Global exponential convergence of angular velocity estimate errors are guaranteed by an innovative filter design for the estimates' Euclidean norm. The proposed method requires fewer filter states compared with existing I&I angular velocity observer designs, which achieves a simpler closed-loop structure (dynamic reduction). The observer synthesis and convergence are independent of the control torque, which leads to much convenience in establishing “separation property” when combining a proportional-derivative attitude tracking controller driven by angular velocity estimates. A rigorous stability analysis is provided to ensure the (almost) global asymptotic convergence of the overall closed-loop tracking errors, and several numerical simulations are carried out to demonstrate the effectiveness of the combined implementation of proposed angular velocity observer and full-state feedback attitude tracking controller.     

Complementary Kalman Filter as a Baseline Vector Estimator for GPS-Based Attitude Determination

The Global Positioning System (GPS) offers the interferometer for attitude determination by processing the carrier phase observables. By using carrier phase observables, the relative positioning is obtained in centimeter level. GPS interferometry has been firstly used in precise static relative positioning, and thereafter in kinematic positioning. The carrier phase differential GPS based on interferometer principles can solve for the antenna baseline vector, defined as the vector between the antenna designated master and one of the slave antennas, connected to a rigid body. Determining the unknown baseline vectors between the antennas sits at the heart of GPS-based attitude determination. The conventional solution of the baseline vectors based on least-squares approach is inherently noisy, which results in the noisy attitude solutions. In this article, the complementary Kalman filter (CKF) is employed for solving the baseline vector in the attitude determination mechanism to improve the performance, where the receiversatellite double differenced observable was utilized as the measurement. By using the carrier phase observables, the relative positioning is obtained in centimeter level. Employing the CKF provides several advantages, such as accuracy improvement, reliability enhancement, and real-time assurance. Simulation results based on the conventional method where the least-squares approach is involved, and the proposed method where the CKF is involved are compared and discussed.     

综合医院电气节能技术措施探讨

以降低A综合医院电能损耗为目的,通过测算空调系统、照明系统、医疗器械等用电负荷,分析医院电耗现状,探讨综合医院电气节能技术措施,有针对性采取更换LED照明、新增电梯电能回馈装置、更换新型节能变压器等措施。通过节电前后的数据对比分析,取得了较好的节电效果,为其他医院电气系统安全可靠、节能经济地运行提供参考。     

公众素质、外部环境对公众再生水接受态度的影响

公众对再生水的接受态度是再生水推广的关键。构建公众素质、主观规范、信息公开、政策环境、再生水接受态度与再生水接受意愿的关系假设模型,并以356份来自西安市居民问卷作为调研对象,运用结构方程模型进行实证分析。结果表明,接受态度正向影响接受意愿,其中主观规范是影响再生水接受态度的主要因素,信息公开与公众素质是次要因素,政策环境对再生水接受态度的影响不显著。     

基于滑模的运载器主动段俯仰通道姿控系统设计

与传统比例-积分-微分（PID）控制方法相比，滑模控制（SMC）方法可以比较容易地将不确定性纳入控制器设计中，从而增强系统的鲁棒性。探索了SMC技术在运载器主动段姿态控制中的工程应用，首先通过分析基于趋近律的SMC系统，提出了降低不连续切换项系数的需求，然后研究了基于干扰上界的SMC方法。三通道小偏差仿真结果验证了两种方法的控制效果，表明第2种控制器的鲁棒性更好，稳态误差小，同时发动机喷管摆角需求较小。     

Using travel socialization and underlying motivations to better understand motorcycle usage in Taiwan

This study introduces self-determination theory (SDT) to refine previous models of vehicle usage motivation. We add travel socialization theory regarding parental influence on vehicle usage to enhance previous structural models describing motorcycle usage behavior. Our newly developed model was empirically verified in a sample of 721 motorcycle users in Taiwan. In addition to instrumental, symbolic, and affective motivations, perceived parental attitudes (PPAs) towards motorcycle riding were found to have a significant effect on individuals’ motorcycle use habits. Additionally, participants who perceived their parents to have more positive attitudes toward motorcycles were found to have more experience being chauffeured on motorcycles by their parents. Based on these results, we suggest means to confront the challenges brought on by the rapid growth of motorcycle usage, especially serious motorcycle traffic accidents. These results improve our understanding motorcycle usage in Taiwan and can be used by transportation professionals who are seeking solutions to the rapid growth of motorcycle usage.