Polar-Cartesian Hybrid Transforms: A novel 2D range scan registration algorithm

Registration of range scans is commonly required in many localization and mapping algorithms. In this paper, we introduce a novel approach called Polar-Cartesian Hybrid Transforms for pair-wise registration of range scans. The proposed algorithm iteratively establishes correspondences by searching the points with closest polar angles in the polar coordinate frame. An angular look-up table is constructed based on the properties of the laser range finder to accelerate the searching procedure. In order to speed up the convergence, we compute the difference of polar range of every matched point pair to select the most contributing correspondences. After the correspondences are determined, the transformation is computed in Cartesian coordinate frame using a point-to-line metric. Combining the advantages of the polar and Cartesian coordinate frames, both robustness and efficiency are greatly improved compared with an up-to-date ICP algorithm.     

Sampled-data output feedback control of a class of uncertain nonlinear systems

In this paper, we study the problem of sampled-data output feedback control for a class of uncertain nonlinear systems. The main contributions of this work are two-fold: (i) we develop a systematic design procedure of sampled-data output feedback controller; and (ii) we provide a theoretical analysis of the sampled-data closed-loop system, which shows that the state of the plant can be regulated into any given neighborhood of the origin by an appropriate choice of design parameters and sampling period. Furthermore, the bound of the neighborhood is proportionally dependent on the sampling period. Finally, an illustrative example is given to demonstrate the effectiveness of the presented method.     

Sliding-mode observers for nonlinear systems with unknown inputs and measurement noise

This paper deals with the design of observers for Lipschitz nonlinear systems with not only unknown inputs but also measurement noise when the observer matching condition is not satisfied. First, an augmented vector is introduced to construct an augmented system, and an auxiliary output vector is constructed such that the observer matching condition is satisfied and then a high-gain sliding mode observer is considered to get the exact estimates of both the auxiliary outputs and their derivatives in a finite time. Second, for nonlinear system with both unknown inputs and measurement noise, an adaptive robust sliding mode observer is developed to asymptotically estimate the system’s states, and then an unknown input and measurement noise reconstruction method is proposed. Finally, a numerical simulation example is given to illustrate the effectiveness of the proposed methods.     

Stability and static output feedback stabilization for a class of nonlinear discrete-time singular switched systems

In this paper, the stability and static output feedback stabilization problems for a class of nonlinear discrete-time singular switched systems are discussed. First, based on Lyapunov theory and the implicit function theorem, linear matrix inequalities sufficient conditions are developed which guarantee that the nonlinear discrete-time singular switched systems are regular, causal, have unique solution in a neighborhood of the origin, and are uniformly asymptotically stable. Then, with these conditions, and based on singular value decomposition approach, the design method of static output feedback controllers is given. Last, numerical examples are provided to illustrate the effectiveness of the proposed methods.     

An efficient quantum search engine on unsorted database

We consider the problem of finding one or more desired items out of an unsorted database. Patel has shown that if the database permits quantum queries, then mere digitization is sufficient for efficient search for one desired item. The algorithm, called factorized quantum search algorithm, presented by him can locate the desired item in an unsorted database using O( $log_4N$ ) queries to factorized oracles. But the algorithm requires that all the attribute values must be distinct from each other. In this paper, we discuss how to make a database satisfy the requirements, and present a quantum search engine based on the algorithm. Our goal is achieved by introducing auxiliary files for the attribute values that are not distinct, and converting every complex query request into a sequence of calls to factorized quantum search algorithm. The query complexity of our algorithm is O( $log_4N$ ) for most cases.     

Multipartite electronic entanglement purification using quantum-dot spin and microcavity system

This paper presents an entanglement purification protocol of multipartite electronic spin entangled state resorting to quantum-dot (QD) spin and micro cavity coupled system. The QD and microcavity coupling system is used to construct parity check detectors which provides a novel experimental platform of quantum information processing with photon and solid qubit. In this proposed protocol, the mixed multi-electron entangled state ensemble can be purified efficiently.     

Tripartite entanglement of a spin star model with Dzialoshinski–Moriya interaction

The effect of Dzialoshinski–Moriya (DM) interaction on the tripartite thermal entanglement of a spin-star model with four spins has been analyzed by an entanglement measure of the tripartite negativity. Our results imply that the tripartite thermal entanglement can be established among the three surrounding parties which do not interact with each other but interact with the central party independently. From the results, we find that the strong DM interaction can enhance the tripartite thermal entanglement while the high temperature can shrink it. The effect of the inhomogeneous coupling on the tripartite thermal entanglement is also discussed.     

Maintaining stimulant waveforms in large-volume microfluidic cell chambers

Stimulation of cells with temporal waveforms can be used to observe the frequency-dependent nature of cellular responses. The ability to produce and maintain the temporal waveforms in spite of the broadening processes that occur as the wave travels through the microfluidic system is critical for observing dynamic behaviors. Broadening of waves in microfluidic channels has been examined, but the effect that large-volume cell chambers have on the waves has not. In this report, a sinusoidal glucose wave delivered to a 1-mm diameter cell chamber using various microfluidic channel structures was simulated by finite element analysis with the goal of minimizing the broadening of the waveform in the chamber and maximizing the homogeneity of the concentration in the chamber at any given time. Simulation results indicated that increasing the flow rate was the most effective means to achieve these goals, but at a given volumetric flow rate, geometries that deliver the waveform to multiple regions in the chamber while maintaining a high linear velocity produced sufficient results. A 4-inlet geometry with a 220-μm channel width gave the best result in the simulation and was used to deliver glucose waveforms to a population of pancreatic islets of Langerhans. The result was a stronger and more robust synchronization of the islet population as compared with when a non-optimized chamber was used. This general strategy will be useful in other microfluidic systems examining the frequency-dependence nature of cellular behavior.     

弹炮结合防空武器系统服务效能评估研究

武器系统服务效能的评估是其整体作战效能评估的一个重要方面;给出了弹炮结合防空武器系统服务概率的定义,在分析其对空袭目标服务过程的基础上,建立了具有二级串联服务结构的随机服务系统模型;在基本约定的前提下,从时间和空间上分别讨论了导弹分系统和高炮分系统对目标服务的可行性条件;结合分系统的击毁效率,利用数学工具推导出整个系统的服务效能,为弹炮结合防空武器系统的整体作战效能评估提供了定量分析的依据。     

基于FPGA的飞控系统数据存储器的设计与实现

数据存储器的广泛应用,对飞行器的的技术发展至关重要,因此提出了以FPGA为核心的数据存储器设计方法,探讨了一种RS-422的硬件接口电路,并对信号采用光耦隔离及施密特整形,保持了信号的准确性;同时分析了存储器的程序工作逻辑设计及FIFO的读取模式,保证了数据存储的完整性,最后阐述了一种FLASH存储模块的防护技术;试验表明了存储器可以完整记录飞行器发送的实时数据,证明了其应用的可行性,为飞行器的改进与维护提供了有效的依据。