融合UWB与INS的消防员室内定位与NLOS检测算法

融合超宽带（UWB）和惯性导航系统（INS）能够实现消防员室内精确定位。为实现UWB的非视距（NLOS）误差检测,设计一种双级EKF框架。该框架以松耦合形式实现UWB/INS的数据融合,通过INS获取的初始位置估计坐标以检测UWB测量值的NLOS误差,根据检测结果计算残差矩阵来动态调整融合滤波器的测量噪声矩阵,以达到缓解NLOS误差的目的。实验结果表明,与三角不等式原理检测算法和无NLOS检测的UWB/INS简单融合算法相比,所提NLOS检测算法具备良好的检测能力、较强的稳定性及较高的定位精度。     

新疆科研投入现状及问题分析

本文基于新疆2001—2013年科学与实验研究投入数据的统计,并且对新疆与全国的科研经费、科研投入强度、科研产出等方面进行差异比较分析,发现新疆科研投入存在的不足和问题,最后在此基础上提出拓展经费融资渠道、加大政府科研投入力度、保护科研人员知识产权等相关政策建议。     

GPS自主导航原理、算法及应用

针对超小型飞行器的特点，详细研究了采用GPS实现超小型飞行器自主导航的原理和算法，并介绍了地面计算机在Windows环境下利用Visual Basic6．0接收和处理GPS定位数据的方法。     

拱泥机器人定位系统研究

拱泥机器人是一种在水下泥土中按规划轨迹运动的水下特种机器人，用于替代目前沉船打捞中潜水员攻打千斤洞的手工作业。精确且可靠的定位系统是拱泥机器人研究中的一项关键技术。本文通过对机器人的结构与运动过程分析，设计了拱泥机器人的定位系统。利用卡尔曼滤波对机器人冗余的位置信息进行数据融合，数据融合算法的仿真结果表明该方法能有效地提高定位精度，同时提高了定位系统的可靠性。     

自主导航巡逻机器人的行走系统研究

研制了巡逻机器人的行走系统，包括导航系统和双电机驱动系统和控制系统。首先介绍了巡逻机器人的导航系统，包括循线子系统和超声波测障子系统，然后研究了机器人的驱动系统，包括转速检测子系统和驱动电路子系统，最后介绍了行走系统的控制系统结构。根据实验结果证明系统性能良好。     

When adults without university education search the Internet for health information: The roles of Internet-specific epistemic beliefs and a source evaluation intervention

In the present research, N = 48 adults without university education were tasked to conduct two web searches on unfamiliar health-related issues. Three research objectives were examined: the predictive value of individuals’ Internet-specific epistemic beliefs for their navigation behavior and post-search decisions in Web Search Task 1; the effects of a short source evaluation intervention on individuals’ navigation behavior and post-search decisions in Web Search Task 2; and the effects of the source evaluation intervention on individuals’ Internet-specific epistemic beliefs. Results showed that beliefs concerning the justification by multiple sources were positively related to the time spent on reliable objective web pages and to the likelihood to make a post-search decision that was in accordance with the objective pages. Beliefs that the Internet is a reliable knowledge resource were also positively related to the time spent on objective pages as well as to greater certainty in the post-search decision. Second, in Web Search Task 2, the intervention group spent more time on objective web pages, was more likely to make a decision that was in accordance with these pages, and was more certain of their decision than the control group. Third, one week after the intervention, individuals possessed stronger beliefs concerning the justification by multiple sources than before. In conclusion, the present research indicates that both adaptive Internet-specific beliefs and a short source evaluation intervention have positive effects on non-university educated adults’ online health information seeking and that their Internet-specific epistemic beliefs can be fostered through such an intervention.     

Modeling and multiobjective optimization of traction performance for autonomous wheeled mobile robot in rough terrain

Application of terrain-vehicle mechanics for determination and prediction of mobility performance of autonomous wheeled mobile robot(AWMR) in rough terrain is a new research area currently receiving much attention for both terrestrial and planetary missions due to its significant role in design,evaluation,optimization,and motion control of AWMRs.In this paper,decoupled closed form terramechanics considering important wheel-terrain parameters is applied to model and predict traction.Numerical analysis of traction performance in terms of drawbar pull,tractive efficiency,and driving torque is carried out for wheels of different radii,widths,and lug heights,under different wheel slips.Effects of normal forces on wheels are analyzed.Results presented in figures are discussed and used to draw some conclusions.Furthermore,a multiobjective optimization(MOO) method for achieving optimal mobility is presented.The MOO problem is formulated based on five independent variables including wheel radius r,width b,lug height h,wheel slip s,and wheel rotation angle θ with three objectives to maximize drawbar pull and tractive efficiency while minimizing the dynamic traction ratio.Genetic algorithm in MATLAB is used to obtain optimized wheel design and traction control parameters such as drawbar pull,tractive efficiency,and dynamic traction ratio required for good mobility performance.Comparison of MOO results with experimental results shows a good agreement.A method to apply the MOO results for online traction and mobility prediction and control is discussed.     

The Information Navigation System

Abstract

Today's instruction and reference librarians face new challenges as the gatekeepers to information. The information explosion requires that we create strategies for our customers to navigate through a maze of material. This paper describes a reference tool developed at The Johns Hopkins University Applied Physics Laboratory to meet the information needs of our researchers and offers practical advice to other librarians interested in providing a similar service.     

广西郁江老口航运枢纽工程泄水闸坝门型设计方案选择

介绍了广西郁江老口航运枢纽工程对泄水闸坝闸门门型的选型设计.文中提出了平板闸门和弧形闸门的比较方案,通过对泄流能力、环境影响、施工条件及后期运行管理务件的分析,最终推荐采用了弧形闸门方案.