低觉醒脑电识别与唤醒的可穿戴系统研究

为智能化地识别警戒作业人员出现的低觉醒、注意力下降的生理状态，本文介绍了一种基于FPGA和脑电信号处理的低觉醒状态检测与唤醒系统，系统通过传感器从大脑头皮采集脑电信号，转换为数字信号，经傅里叶变换获取了脑电信号的θ相对能量、α相对能量、重心频率、谱熵等4个特征量，由4个特征量表征低觉醒状态并运用支持向量机对低警戒状态进行识别，当识别出低觉醒状态时采用声音报警模块发出声音，唤醒警戒作业人员。设计系统能够较好地识别出低觉醒状态，识别率达90.8%，可为提高警戒作业工作绩效提供一种可穿戴的智能装备。     

Experimental and theoretical study of density jumps on smooth and rough beds

Hydraulic jumps in density currents are technically referred to density jumps. These jumps significantly influence the dynamic and quality characteristics of the gravity currents. The density jump is studied theoretically and experimentally in this study by considering the bed roughness. Experiments were performed in a rectangular laboratory flume (0.4 m width; 0.9 m depth; 8.3 m length). Four rough beds comprised of closely packed gravel particles glued onto the horizontal part of the bed were examined. For both smooth and rough beds, a simple relationship was obtained for estimating the conjugate depth ratio as a function of the relative roughness and the upstream densimetric Froude number. The conjugate depth ratio was found to decrease with increasing relative roughness. The results also indicated that, if the entrainment ratio is specified, the minimum value of the upstream densimetric Froude number increases with increasing relative bed roughness. An equation for calculating the maximum possible value of the relative roughness was also determined. The spatial development of the density current for smooth beds was analysed in both super‐critical and sub‐critical flow regimes. Good similarity collapses of velocity and concentration profiles were obtained for the super‐critical section just upstream of the jump. The concentration distributions located just downstream of the jump, however, exhibited a large scattering of measured data, especially near the bed. It was found that this scattering decreases with the distance from the end of the jump. The results of the experimental runs also indicated that, at a distance about nine times the post‐jump current thickness from the end of the jump, the non‐dimensional vertical profile of mean velocity has a shape similar to that at the pre‐jump section. A new reliable relationship was also proposed for calculating the local velocity inside both the wall and jet regions.     

计及运动副间隙的双曲柄六杆压力机机构动力学仿真向量键合图法

针对计及运动副间隙的双曲柄六杆压力机机构动力学仿真问题,提出了相应的向量键合图法.基于修正非线性连续接触碰撞力的混合模型,推导出间隙运动副的相对碰撞速度向量方程.在此基础上,建立了可以更精确描述间隙运动副的向量键合图模型,具有通用性强、模块化的特点,便于嵌入到系统的向量键合图模型中.由机构运动副的约束关系,将各构件的向...     

考虑多因素的低渗透岩石相对渗透率

相对渗透率是制定油气田开发方案的重要基础资料。通常用非稳态流方法测定和用JBN方法计算它,但未考虑非达西流及毛管力的影响,故只适合于中高渗透岩石达西渗流的情形,且要求非稳态相对渗透率实验驱替速度较高。针对水湿和油湿岩心两种情形,分别导出了同时考虑启动压力梯度、毛管力及重力的相对渗透率公式,不受实验驱替速度较高的限制,解决了低渗透岩石非稳态相对渗透率的实验测定和计算方法问题。     

相关噪声中随机信号的Robust检测

本文重点讨论了在平稳ｍ相依噪声中弱随机信号的最佳无记忆Ｒｏｂｕｓｔ检测问题；并且以渐近功效函数为测度准则得到了最大最小无记忆非线性Ｒｏｂｕｓｔ检测器。     

新型机载光电平台内部载荷相对姿态测量方法

针对新型无人机载光电平台内部载荷的安装特点及三轴万向节支撑结构,提出了一种使用高精度距离传感器进行平台内部载荷相对姿态的测量方法。首先,利用偏心旋转的基本原理建立了偏心测角的数学模型,导出了利用偏心法进行小角度测量时角度与距离变化的近线性关系;然后,结合机载光电平台内部载荷相对外框架运动的特点,通过巧妙的偏心结构设计建立载荷沿方位与俯仰方向上相对姿态测量方案;利用双偏心球面及多传感器组合有效地消除了系统径跳等误差对测量精度的影响;最后,使用高精度传感器与本文的测量方法对测量方案进行了验证。理论分析与实验结果表明,本文测量方法简单可行,测量精度优于15″,测量带宽达1.24kHz,完全满足某新型机载光电平台载荷内姿态的测量要求。具有很好的应用价值。     

生、熟中华绒螯蟹肝胰腺和性腺中的挥发性成分比较

采用新型材料固相萃取整体捕集剂,提取中华绒螯蟹的挥发性成分。利用气相色谱-质谱联用仪对雄性中华绒螯蟹生、熟2 个部位（肝胰腺和性腺）中的挥发性成分进行分离鉴定,共得到8 类90 种挥发性物质。对这些物质进行显著性差异比较发现,除芳香族外,其他7 类挥发性物质在生、熟肝胰腺和性腺中均表现显著性差
异,且生样变成熟样的过程中,有大量的醛类、呋喃类、含氮类、含硫类化合物产生,推断这些物质是在加热过程中由风味前体物质反应分解生成。此后,通过相对气味活性值法,在这4 种样品中筛选出15 种主要挥发性物质和9 种主体呈香化合物。通过比较,其中癸醛、三甲胺、壬醛、辛醛被认为在生、熟肝胰腺和性腺呈香过程中都起到关键作用。     

徒步导航系统中的自适应步态优化检测方法研究

针对步态检测的可靠性和准确性成为制约个人徒步导航定位系统高精度定位的主要因素,提出一种基于K均值聚类参数调整的自适应步态检测算法。首先研究行走过程的足部运动规律,并分析惯性测量单元输出加速度和角速率的数据特征,提出采用比力幅值滑动方差作为检测依据的步伐检测方案;分析滑动方差窗口参数、初始检测阈值参数和误检修正时间参数对于检测结果的影响并指出三者的关系,确定窗口参数、初始阈值选择的一般准则以及利用K均值聚类自适应确定时间参数以纠正初始检测结果中误检步态的可行性。利用实验室现有MEMS传感器开展了5组不同状态下的徒步实验,实验结果验证了步态检测算法的可行性和有效性。     

Motion Control of Mobile Robots—From Static Targets to Fast Drives in Moving Crowds

Motion control of vehicles under uncertain, noisy, and discontinuous positioning is essential in autonomous navigation in unknown environments. This article suggests two methods for motion control, where the initial parameters of the on-line control are physically explainable, the resulting trajectory as well as the control parameters are asymptotically converging and glitches in the localization are handled robustly. The differences to a known method based on Lyapunov functions are discussed theoretically as well as in terms of actual motion measurements. Physical experiments with landbound vehicles show the reliability and limitations of these different methods in setups employing static attractors, systematically moving targets and fast, unpredictable moving targets in highly dynamical environments. Mainly due to the physical meaning of the control parameters the adaptation to actual kinematics and dynamics is significantly simplified.     

小型无人飞行器机动过程中航姿互补滤波算法研究

磁惯导系统(MINS)广泛应用于小型无人飞行器的导航控制,能对加速度计、磁强计和陀螺仪等传感器的数据进行融合,得到航向与姿态信息,也被称为航姿参考系统(AHRS)。在频域实现数据融合的互补滤波算法是AHRS中的一种可靠姿态估计方法,具有简捷高效的优点。将基于不同传递函数及各种航姿表示形式的姿态互补滤波归纳为统一的广义互补滤波算法(GCF),分析该类算法中的乘性姿态误差,并引入运动加速度补偿方法,可以改善载体机动状态下的姿态精度。数值仿真及实验结果显示,GCF的滤波效果与无人机常用的卡尔曼滤波算法相当,而处理时间仅为后者的1/20,且GCF具有良好的数值稳定性,配合运动加速度补偿算法可有效消除线加速度对航姿测量的不利影响,尤其适合低成本、小型无人机应用场合。