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101.
Kefei Liu João Paulo C.L. da Costa Hing Cheung So Florian Römer Martin Haardt Luiz F. de A. Gadêlha 《Digital Signal Processing》2013,23(3):701-711
Accurate estimation of the attitude of unmanned aerial vehicles (UAVs) is crucial for their control and displacement. Errors in the attitude estimate may misuse the limited battery energy of UAVs or even cause an accident. For attitude estimation, proprioceptive sensors such as inertial measurement units (IMUs) are widely applied, but they are susceptible to inertial guidance error. With antenna arrays currently being installed in UAVs for communication with ground base stations, we can take advantage of the array structure in order to improve the estimates of IMUs via data fusion. In this paper, we therefore propose an attitude estimation system based on a hexagon-shaped 7-element electronically steerable parasitic antenna radiator (ESPAR) array. The ESPAR array is well-suited for installment in the UAVs with broad wings and short bodies. Our proposed solution returns an estimation for the pitch and roll based on the inter-element phase delay estimates of the line-of-sight path of the impinging signal over the antenna array. By exploiting the parallel and centrosymmetric structure in the hexagon-shaped ESPAR array, the 3-dimensional Unitary ESPRIT algorithm is applied for phase delay estimation to achieve high accuracy as well as computational efficiency. We devise an attitude estimation algorithm by exploiting the geometrical relationship between the UAV attitude and the estimated phase delays. An analytical closed-form expression of the attitude estimates is obtained by solving the established simultaneous nonlinear equations. Simulations results show the feasibility of our proposed solution for different signal-to-noise ratio levels as well as multipath scenarios. 相似文献
102.
Leandro Madrazo 《Digital Creativity》2013,24(2):73-90
Abstract The course SDR: Sistemas de Representación(Systems of Representation), is the last stage of a line of work which has the objective of integrating information technologies in the education of architecture in a meaningful way. A distinctive mark of this pedagogic approach has been to look upon computer technology as an opportunity to rethink the methods, contents and goals of architecturaleducation,in thelight of contemporary culture. The course is structured in six themes, each one standing for a ‘system of representation’: ‘text’, ‘figure’, ‘object’, ‘image’, ‘space’ and ‘light’. Within every system, a variety of issues dealing with the concept of ‘representation’ are addressed in an interdisciplinary manner. It is a compulsory course lasting three semesters, in the second and third year of a five-year architectural program. It has been offered since the academic year 1999/2000. 相似文献
103.
Anderson da Silva Soares Telma Woerle de Lima Daniel Vitor de LuPcena Rogerio Lopes Salvini GustavoTeodoro Laureano Clarimar Jose Coelho 《计算机技术与应用:英文》2013,(9):466-475
The multiple determination tasks of chemical properties are a classical problem in analytical chemistry. The major problem is concerned in to find the best subset of variables that better represents the compounds. These variables are obtained by a spectrophotometer device. This device measures hundreds of correlated variables related with physicocbemical properties and that can be used to estimate the component of interest. The problem is the selection of a subset of informative and uncorrelated variables that help the minimization of prediction error. Classical algorithms select a subset of variables for each compound considered. In this work we propose the use of the SPEA-II (strength Pareto evolutionary algorithm II). We would like to show that the variable selection algorithm can selected just one subset used for multiple determinations using multiple linear regressions. For the case study is used wheat data obtained by NIR (near-infrared spectroscopy) spectrometry where the objective is the determination of a variable subgroup with information about E protein content (%), test weight (Kg/HI), WKT (wheat kernel texture) (%) and farinograph water absorption (%). The results of traditional techniques of multivariate calibration as the SPA (successive projections algorithm), PLS (partial least square) and mono-objective genetic algorithm are presents for comparisons. For NIR spectral analysis of protein concentration on wheat, the number of variables selected from 775 spectral variables was reduced for just 10 in the SPEA-II algorithm. The prediction error decreased from 0.2 in the classical methods to 0.09 in proposed approach, a reduction of 37%. The model using variables selected by SPEA-II had better prediction performance than classical algorithms and full-spectrum partial least-squares. 相似文献
104.
This work considers the open-loop control problem of steering a two-level quantum system from any initial to any final condition. The model of this system evolves on the state space , having two inputs that correspond to the complex amplitude of a resonant laser field. A symmetry preserving flat output is constructed using a fully geometric construction and quaternion computations. Simulation results of this flatness-based open-loop control are provided. 相似文献
105.
106.
Mathematical simulation has been widely used in biomedical and biological sciences. In the case of the surface electromyographic (SEMG) activity, some models have been proposed aiming to study muscle contraction strategies that are used during different tasks and conditions. Most of SEMG simulators are based on energy modulation of a Gaussian noise. This work proposes a novel simulator in which the user-defined parameters are associated with the motor units (MUs) recruitment and their firing rate. Comparison between the mean spectrum of real SEMG signals collected in isometric contraction of the muscle biceps brachii and the mean spectrum obtained from simulated SEMG signals showed a good agreement, pointing the proposed simulator seems to be capable to generate consistent electromyographic signals in time and frequency domains and that can be used in many studies, in particular in the evaluation of automatic methods aimed to detect muscular contraction. 相似文献
107.
Redox and acid–base properties of thionine immobilized in crosslinked chitosan films are analyzed. The experimental conditions for the preparation of the films are described. Results obtained with cyclic voltammetry, spectroelectrochemistry and spectrophotometry indicate that the immobilized dye retains the redox and acid–base activity of free thionine. An acid dissociation constant (Ka) for the immobilized dye of Ka = 2.7 × 10−11 was obtained.
Due to the stable and reversible pH dependent optical signal of the studied film, this membrane can be used as a building component of an optical pH sensor. 相似文献
108.
Guilherme T. de Assis Alberto H. F. Laender Marcos André Gonçalves Altigran S. da Silva 《World Wide Web》2009,12(3):285-319
Focused crawlers have as their main goal to crawl Web pages that are relevant to a specific topic or user interest, playing
an important role for a great variety of applications. In general, they work by trying to find and crawl all kinds of pages
deemed as related to an implicitly declared topic. However, users are often not simply interested in any document about a
topic, but instead they may want only documents of a given type or genre on that topic to be retrieved. In this article, we
describe an approach to focused crawling that exploits not only content-related information but also genre information present
in Web pages to guide the crawling process. This approach has been designed to address situations in which the specific topic
of interest can be expressed by specifying two sets of terms, the first describing genre aspects of the desired pages and
the second related to the subject or content of these pages, thus requiring no training or any kind of preprocessing. The
effectiveness, efficiency and scalability of the proposed approach are demonstrated by a set of experiments involving the
crawling of pages related to syllabi of computer science courses, job offers in the computer science field and sale offers
of computer equipments. These experiments show that focused crawlers constructed according to our genre-aware approach achieve
levels of F1 superior to 88%, requiring the analysis of no more than 65% of the visited pages in order to find 90% of the
relevant pages. In addition, we experimentally analyze the impact of term selection on our approach and evaluate a proposed
strategy for semi-automatic generation of such terms. This analysis shows that a small set of terms selected by an expert
or a set of terms specified by a typical user familiar with the topic is usually enough to produce good results and that such
a semi-automatic strategy is very effective in supporting the task of selecting the sets of terms required to guide a crawling
process. 相似文献
109.
Sant'Anna C Pereira MG Lemgruber L de Souza W Cunha e Silva NL 《Microscopy research and technique》2008,71(8):599-605
Reservosomes are late endosomes present only in members of the Schizotrypanum subgenus of the Trypanosoma genus and are defined as the site of storage of endocytosed macromolecules and lysosomal enzymes. They have been extensively described in Trypanosoma cruzi epimastigote: are bounded by a membrane unit, present an electron-dense protein matrix with electron-lucent lipid inclusions, being devoid of inner membranes. Here we performed a detailed ultrastructural analysis of these organelles using a variety of electron microscopy techniques, including ultrathin sectioning, uranyl acetate stained preparations, and freeze fracture, either in intact epimastigotes or in isolated reservosomes. New informations were obtained. First, both isolated and in situ reservosomes presented small profiles of inner membranes that are morphologically similar to the membrane surrounding the organelle. In uranyl acetate stained preparations, internal membrane profiles turned out to be longer than they appeared in ultrathin section images and traversed the organelle diameter. Internal vesicles were also found. Second, endocytosed cargo are not associated with internal vesicles and reach reservosomes on board of vesicles that fuse with the boundary membrane, delivering cargo directly into reservosome lumen. Third, electron-lucent bodies with saturated lipid core surrounded by a membrane monolayer and with unusual rectangular shape were also observed. Fourth, it was possible to demonstrate the presence of intramembranous particles on the E face of both internal vesicles and the surrounding membrane. Collectively, these results indicate that reservosomes have a complex internal structure, which may correlate with their multiple functions. 相似文献
110.
In this paper we present two tests which can decide whether a given pointx
0
N
is locally efficient or not with respect to a given finite set of real valued continuously differentiable functions defined on
N
. Examples indicate that the tests may fail on a nowhere dense set. 相似文献