几种滤波器跟踪性能的比较

现阶段,卡尔曼滤波是信息融合领域中广泛使用的融合算法,它在线性高斯模型下能得到最优估计,但在非线性非高斯的模型下不能达到理想的效果.在这种情况下,非线性目标跟踪已被人们广泛重视.扩展卡尔曼滤波器(EKF)是将卡尔曼滤波器(KF)进行Taylor展开,算法简单,计算快捷,适用于非线性程度不强,高斯的环境下.不敏卡尔曼滤波(UKF)是先对状态向量的后验概率密度函数(PDF)进行近似化然后再在标准卡尔曼滤波框架下进行递推滤波.粒子滤波是一种基于蒙特卡罗模拟和递推贝叶斯估计的滤波方法.这种滤波的方法和其他滤波的方法一样,都是可以通过系统的模型方程从测量空间一步步递推得到其相应的状态空间.它可以处理模型方程为非线性、噪声分布为非高斯分布的问题,在许多领域得到了成功的应用.论文中通过仿真试验,进行跟踪性能的比较,结果证明在复杂的非高斯非线性环境中,粒子滤波器的性能要明显优于扩展卡尔曼滤波器.     

An improved model predictive control approach based on extended non-minimal state space formulation

This paper presents a new design method of model predictive control (MPC) based on extended non-minimal state space models, in which the measured input and output variables, their past values together with the defined output errors are chosen as the state variables. It shows that this approach does not need the design of an observer to access the state information any more and by augmenting the process model and its objective function to include the changes of the system state variables, the control performances are superior to those of the controller that does not bear this feature. Furthermore, closed-loop transfer function representation of the model predictive control system facilitates the use of frequency response analysis methods for the nominal control performances of the system.     

薄壁壳体件的快速成型技术开发研究

快速成型技术是集计算机辅助设计、数控技术、精密机械、电子技术、激光技术,以及材料科学于一体的跨多学科领域的新型制造技术。在农机零部件的开发制造过程中,快速成型技术能够结合农机零部件铸型尺寸大、结构复杂的特点,通过铸件三维模型剖分、分块加工、坎合组装浇注等工艺技术,快速完成单件、小批量新产品的试制。在制造过程中,利用无模数字化快速成型机及激光烧结机,可加工出任意复杂形状的铸型,大幅缩短复杂铸件的开发周期,对促进企业产品创新、降低新产品研发成本、提高产品竞争力具有重大意义。     

Enhanced Priming for Trauma-Related Material in Posttraumatic Stress Disorder.

Intrusive reexperiencing in posttraumatic stress disorder (PTSD) has been linked to perceptual priming for trauma-related material. A prospective longitudinal study (N = 69) investigated perceptual priming for trauma-related, general threat, and neutral words in assault survivors with and without PTSD, using a new version of the word-stem completion task. Survivors with PTSD showed enhanced priming for trauma-related words. Furthermore, priming for trauma-related words measured soon after the trauma was associated with subsequent PTSD severity at 3, 6, and 9 months. The enhanced priming effect was specific to trauma-related words. Enhanced perceptual priming for traumatic material appears to be one of the cognitive processes operating in PTSD. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Deagglomeration and functionalisation of detonation nanodiamond with long alkyl chains

We have achieved the covalent functionalisation of detonation nanodiamond by an esterification reaction of carboxylic acid chlorides on hydroxylated nanodiamond. The resulting “nanodiamond esters” with a surface loading of 0.3–0.4 mmol g^− 1 of alkyl groups have been characterized by FTIR spectroscopy, thermogravimetry and elemental analysis. They exhibit a significantly improved dispersibility in organic solvents such as tetrahydrofurane and dichloromethane.     

Produktion von Milchsäure durch die kaskadische Nutzung von Bioabfall

Cascading usage of organic waste can efficiently produce secondary raw materials and energy sources. Following the separation of solids and liquids, the solids are fermented and the liquid phase is used for the production of lactic acid. Subsequent treatment of the liquid produced from the organic waste can be used to make PLA (polylactic acid) and other organic products (e.g. bio-additives for fuel). The “BioKasEn” project currently being carried out at the Environmental Technology Department, part of the University of Innsbruck’s Institute for Infrastructure, is investigating the energy influences of cascading organic waste (particularly municipally collected organic waste) on the fermentation and production of renewable energy (biogas). In addition, the use of the fluid phase of organic waste to produce lactic acid is being researched, along with further processing and quality improvements. The microbiological research on the production of lactic acid from organic waste and on its further processing to pure lactic acid as the basis for PLA and other organic products is a joint effort together with the Institute of Microbiology at the University of Innsbruck.     

Comparison of the Activity of a Rhodium‐Biphephos Catalyst in Thermomorphic Solvent Mixtures and Microemulsions

Tunable solvent systems provide optimal reaction conditions for homogeneous catalysis as well as appropriate conditions for separating the product from the catalyst via temperature switches. Two tunable solvent systems are presented based on different thermodynamic concepts, namely thermomorphic multicomponent solvent systems and dispersions of immiscible liquids, stabilized by nonionic surfactants as microemulsions. Both systems were applied for the regioselective hydroformylation of the model substrate 1‐dodecene with a Rhodium/ligand catalyst system. The accessibility of the catalyst for the reactants was compared between the molecularly dispersed mixtures and the colloidally dispersed microemulsion systems which are heterogeneous on the microscopic level.     

Hydrogel composites with temperature induced phase transition for biocatalysis

BACKGROUND: This paper focuses on the development of temperature induced phase transition hydrogels based on poly(N‐isopropylocrylamide (PNIPA) copolymers and their application as an immobilization matrix for biocatalysts. RESULTS: PNIPA‐co‐AAc and PNIPA‐co‐MAAc hydrogels were synthesized with different comonomer concentrations and analysed. In order to evaluate the capacity of hydrogels to take up or to release liquids the mass exchange capacity is introduced. In the presented work mass exchange capacities up to 22.4 were realized. To enhance the mechanical stability, composites of hydrogels and cellulosic fleeces were prepared. The enzyme Lipozyme ^® TL 100 L (Thermomyces languniosa Lipase) was successfully inserted into the hydrogels and into the hydrogel composites. Lipase‐catalysed transesterification of rapeseed oil with ethanol to the corresponding ethyl ester was investigated to prove the activity of immobilized enzyme and thus, the concept. The activity was found to be similar to that of free enzyme. CONCLUSION: Smart hydrogel composites were used for the transesterification of oil. Based on the results obtained, reversible loadable and mechanical stable hydrogel composites could be developed for continuous working reactor concepts. Copyright © 2010 Society of Chemical Industry