Design of a broadband dielectric resonator antenna and its application in low sensitivity frequency beam‐scanning array with wide scanning angle and suppressed sidelobes

In this paper, a broadband dielectric resonator antenna (DRA) with a simple H‐slot feeding structure is proposed. The broad bandwidth (~45%) and uni‐directional radiation enable this DRA suitable to work as a radiation element in the construction of a beam‐scanning array with not only low frequency sensitivity which is important for accurate angle estimation of in‐coming targets, but also a wide scanning range. Moreover, stable coupling coefficients are established around all the above three resonances with respect to its corresponding feeding line, ensuring a low sidelobe level (SLL) across the whole operating frequency range. In order to realize such a DRA, a latticed rectangular structure is utilized to generate the lower two resonances, while the upper resonance is generated by its H‐shaped feeding slot. The shape of the latticed dielectric resonator is also modified according to a 3‐D printed fixing structure for an accurate installation. A 20‐element beam‐scanning prototype is demonstrated and manufactured. The range of scanning angle is from ?36° to +13° within the bandwidth of 10 to 16 GHz, corresponding to a frequency sensitivity of only 122.5 MHz/^o. The achieved SLL are smaller than 19 dB for all scanning beams. The above performance indicates that, this array is very suitable for near‐range radar systems requiring an accurate angle estimation.     

What localizes beneath: A metric multisensor localization and mapping system for autonomous underground mining vehicles

Robustly and accurately localizing vehicles in underground mines is particularly challenging due to the unavailability of GPS, variable and often poor lighting conditions, visual aliasing in long tunnels, and airborne dust and water. In this paper, we present a novel, infrastructure‐less, multisensor localization method for robust autonomous operation within underground mines. The proposed method integrates with existing mine site commissioning and operation procedures and includes both an offline map‐building process and an online localization algorithm. The approach combines the strengths of visual‐based place recognition, LIDAR‐based localization, and odometry in a particle filter fusion process. We provide an extensive experimental validation using new large data sets acquired in two operational Australian underground hard‐rock mines (including a 600m‐deep multilevel mine with approximately 33 km of mapping data and 7 km of vehicle localization) by actual mining vehicles during production operations. We demonstrate a significant increase in localization accuracy over prior state‐of‐the‐art SLAM research systems and real‐time operation, with processing times in the order of 10 Hz. We present results showing a mean error of 0.68 m from the Queensland Mine data set and 1.32 m from the New South Wales Mine data set and at least 86% reduction in error compared with prior state of the art. We also analyze the impact of the particle filter parameters with respect to localization accuracy. Together this study represents a new approach to positioning systems for currently deployed autonomous vehicles within underground mine environments.     

Dynamic analysis of a novel time‐lag four‐dimensional fractional‐order financial system

In this paper, a novel four‐dimensional fractional‐order financial system (FFS) with time delay is presented. Unlike traditional bifurcation analysis of financial systems, the selection rules of two bifurcation points within the system are discussed. In addition, the motion state of the system in the vicinity of two bifurcation points are analyzed separately, such that the dynamic analysis of this novel nonlinear fourth‐dimensional FFS is more comprehensive. The detailed dynamical behaviors of this financial system, such as oscillation, stability, and bifurcation points, are deduced via rigorous mathematical analysis. Finally, some simulations are performed to verify the dynamic characteristics of the FFS around the two bifurcation points which satisfy the selection conditions of the bifurcation point.     

Fixed‐time synchronization for complex‐valued BAM neural networks with time delays

In this paper, the fixed‐time synchronization for complex‐valued bidirectional associative memory (BAM) neural networks with time delays is studied. Based on the fixed‐time stability, the Lyapunov functional method and some inequality techniques, a new criterion is presented to guarantee that the addressed systems achieve synchronization in fixed time and a more accurate estimation independent of the initial conditions is given for the settling time. Meanwhile, a new nonlinear delayed controller different from the existing ones is designed. In the end, two numerical examples are provided to illustrate the effectiveness of the obtained result.     

Hierarchical inversion‐based output tracking control for uncertain autonomous underwater vehicles using extended Kalman filter

In this study, a hierarchical inversion‐based output tracking controller (HIOTC) is developed for an autonomous underwater vehicle (AUV) subject to random uncertainties (e.g., current disturbances, unmodeled dynamics, and parameter variations) and noises (e.g., process and measurement noises). The proposed HIOTC respectively utilizes a combination of feedforward and feedback controls in a hierarchical structure based on the kinematic and dynamic models of the system. Moreover, to obtain uncontaminated or unavailable states for implementing the proposed control law, the extended Kalman filter (EKF) is employed to estimate the system states. Then, the position outputs, orientation, and velocity of the AUV are reached with guaranteed asymptotic stability. The robustness of the proposed HIOTC is verified through injection of random uncertainties into the system model. The closed‐loop stability of the proposed individual subsystems is respectively guaranteed to have uniformly ultimately bounded (UUB) performance based on the Lyapunov stability criteria. In addition, the asymptotic tracking of the overall system is demonstrated using Barbalat's lemma. Finally, the feasibility and effectiveness of the proposed control scheme are evaluated through computer simulations and it is shown that the overall system achieves good asymptotic tracking performance.     

An H∞non‐fragile observer‐based adaptive sliding mode controller design for uncertain fractional‐order nonlinear systems with time delay and input nonlinearity

In this paper the problem of non‐fragile adaptive sliding mode observer design is addressed for a class of nonlinear fractional‐order time‐delay systems with uncertainties, external disturbance, exogenous noise, and input nonlinearity. An H_∞ observer‐based adaptive sliding mode control considering the non‐fragility of the observer is proposed for this system. The sufficient asymptotic stability conditions are derived in the form of linear matrix inequalities. It is proven that the sliding surface is reachable in finite time. An illustrative example is provided which corroborates the effectiveness of the theoretical results.     

Coupling watershed modeling,public engagement,and soil analysis improves decision making for targeting P retention wetland locations

Constructed and restored wetlands can be effective sinks for particulate and dissolved phosphorus (P) if properly managed, but identifying suitable P retention wetland locations remains challenging. From a landscape perspective, Soil and Water Assessment Tool (SWAT) models identify locations within target watersheds with high nutrient loads that exhibit appropriate site characteristics and hydrodynamics. However, soil properties vary at the field scale, dictating the capacity of wetland systems to remove P and ultimately determining if a given wetland will operate as a sink or source of P over time. Land ownership and site access further complicate identification of P retention wetland locations. As a result, optimization and identification of P retention wetland locations requires analysis at both 1) watershed and 2) field scales, and 3) public engagement. In response, a survey effort linked SWAT model results that identified locations with target watersheds with field soil P storage capacity data and interested landowners. Results suggest that several locations recommended for their high SWAT-predicted P loading and landowner interest were in fact not well suited for project implementation due to soil P saturation and legacy P constraints. These findings highlight the need to couple watershed models with field scale soils analysis to identify locations for P retention wetlands in order to avoid unintended P release. Additionally, increased collaboration with social scientists and others familiar with public engagement strategies is needed to improve outreach activities targeting regional water quality improvements. Practical applications for nutrient retention wetland site selection are also discussed.     

季节冻土区渠道水分迁移规律及冻胀特性试验研究

为了量化渠基土体中的水分在冻融过程中的迁移及其分布规律,揭示渠基土体的微观冻胀特性,选取渠基土体不同部位的原状土样,进行冻融试验,采用CT扫描技术,监测研究渠基土样冻融过程中的水分迁移及其孔隙水分布规律,进一步探究渠基土体的微观冻胀特性。结果表明:冻融过程中土样深度16～18 cm处的含水率较高,产生了水分积聚。冻结过程中,土体的微观孔隙结构发生了明显变化,同时发生了裂缝的张开和闭合。在融化阶段,由于冻结水快速融化,土体发生融沉,最大融沉量为6.78 mm。研究成果揭示了渠基土体单向冻融过程中的水分迁移规律、孔隙水的分布状态及其冻胀微观特性,为季节冻土区输水渠道的抗冻胀设计提供了理论基础。     

京津冀水资源与经济社会协调度分析

为了实现京津冀三地水资源-经济-社会系统协调发展的目的,构建了京津冀水资源-经济-社会系统耦合协调度模型,以2007～2016年为研究时间段,综合运用熵值法、AHP法、耦合度与耦合协调度计算等分析了各子系统和综合系统的发展水平以及系统的协调程度。通过分析,可以得出以下结论:①区域内部存在着分化现象,综合发展水平由高到低依次为北京、天津、河北;河北水资源相对丰富而经济社会相对落后,天津的水资源水平发展最慢。②三地耦合度均高于耦合协调度,整体而言,水资源-经济-社会系统水平朝向愈加协调的方向发展,2016年天津、河北达到了高水平-高度协调状态,北京达到了高水平-极度协调状态。基于上述分析结果,从各子系统的发展角度提出了相应的对策及建议,以期促进京津冀三地的水资源-经济-社会系统的协调发展。     

乌东德水电站表孔体型优化研究

乌东德水电站坝址处河谷狭窄,覆盖层深厚,施工详图设计阶段拱坝厚高比增加,表、中孔相对位置发生变化,存在表孔自由溢流水体击打中孔弧门、表中孔水舌碰撞后形成的横向溅水冲击透水边坡及水垫塘底板冲刷较深等问题。通过1〖DK(〗∶〖DK)〗50水工整体模型试验及方案比选,对表孔出口位置、型式进行了优化研究,使表孔水舌横向扩散,纵向分层明晰,表中孔碰撞消能后水垫塘底板冲刷轻微,边坡横向溅水强度基本与自然降水相当。研究成果可为工程设计及安全运行提供技术支撑。