基于多传感器信息融合的水下运动体速度测量

针对水下运动体测速中存在的难度大、精度低等问题,提出一种基于加速度计和机械测速装置的融合测速方法。该方法实质上是一种改良的模糊自适应卡尔曼滤波,在常规卡尔曼滤波的基础上,引入了自适应参数,并通过模糊控制器对残差的监控来实时调整自适应参数。经Matlab仿真和实际试验证实:该方法可以有效地提高卡尔曼滤波器的跟踪性,并改善滤波效果,适用于通用的水下运动体测速。     

Sub-ambient cold-start emissions reduction using SwRI® PO x catalyst technology

This paper describes the application of SwRI’s cold-start PO _x catalyst technology to reduce cold-start hydrocarbon emissions from a US Tier 2 vehicle at −7 °C. A reduction in −7 °C (20 °F) cold-start hydrocarbons will help US Tier 2 vehicles meet the proposed EPA NMOG standards. Improvements in cold temperature hydrocarbon emissions would also be beneficial in many parts of Europe during the winter months. In this work, a total hydrocarbon reduction of 19% was realized at 24 °C, in line with previous results, but only up to 3% at −7 °C. Insufficient oxygen in the engine-out exhaust gas at −7 °C was determined to be the reason why the PO _x catalyst failed to significantly reduce HC emissions. Addition of supplemental oxygen to the exhaust during the cold-start, to simulate an adjustment in the engine calibration to less rich operation, resulted in a total hydrocarbon reduction of 18% with the PO _x catalysts in place, but no benefit when the PO _x catalysts were removed. Hence, the PO _x catalyst approach can be used to good effect, even under sub-ambient cold-start conditions.     

在线红外检测仪在头孢噻肟酸合成中的应用

利用在线红外检测仪ReactIRTM4000在线监测以7-氨基头孢烷酸(7-ACA)与2-甲氧亚氨基-2-(2-氨基-4-噻唑基)-硫代乙酸苯并噻唑酯(MEAM)为原料,用二甲基乙酰胺(DMA)作催化剂,一步合成头孢噻肟酸的实验过程,主要考察了反应时间对反应的影响。在最佳反应条件下(催化剂用量、反应物用量、结晶pH已经优化)头孢噻肟酸的合成摩尔收率超过98%。     

基于一致性的小型四旋翼机群自主编队分布式运动规划

设计一种小型四旋翼无人机群起飞后自主形成正多边形编队的分布式运动规划方法.在四旋翼无人机的串级控制系统框架下,分布式编队控制器以简化agent模型为基础,同时采用平均一致性算法和有领导一致性算法,共同产生各无人机位置与偏航角的期望轨迹.讨论了达成最终协调目标队形的拓扑条件,并给出一种基于有向Hamilton环的通信拓扑设计方案.最后通过数值仿真验证了所提出算法的有效性.     

随机时变路网下的城市应急服务车辆路径分析

针对城市应急服务车辆（110、119、120等）的最优路径选择问题及路网的随机性与时变性,利用鲁棒优化理论,考虑路网在最坏情况下的行程时间,建立了随机时变条件下的应急车辆路径选择模型,并对 Dijkstra算法进行改进,将算法的路阻矩阵进行实时更新,以在时变条件下实现对路径选择模型的求解。经算例分析表明,该模型能有效解决随机时变路网环境下的应急车辆最优路径问题,与基于概率分布的期望行程时间最短的方法相比,该模型拥有更高的鲁棒性和易操作性。     

基于VB6.0的红外甲烷检测仪串行通信的实现

针对煤矿安全生产中存在的瓦斯爆炸问题,该文以MSP430系列单片机为核心,设计了红外甲烷检测仪.其中着重介绍了检测仪的串行通信,编写了串行通信程序,使检测仪能实现与PC机的数据通信功能,并使用VB6.0编写了人机交互界面,以方便用户及时观察和处理数据,实现对检测仪的校准、复位和阈值设置等操作功能.实验结果表明,编写的串行通信程序能实现检测仪与PC的数据通信功能,检测仪能快速、准确地检测出甲烷气体的浓度,具有较高的实用价值.     

国外柴油车减少排放污染的发展趋势

叙述了美国和欧共体柴油车排放法规和最新发展及世界主要固定柴油质量和规格的最新发展趋势，报道了柴油组成和性质对排放物影响的主要研究结果；分析了减少柴油车排放污染的主要措施，例如改进发动机、改进炼油工艺、采用尾气处理、采用颗粒物过滤－捕集器及采用减少尾气排污的三类柴油添加剂，最后提出了几点建议。     

Sliding-mode and proportional-derivative-type motion control with radial basis function neural network based estimators for wheeled vehicles

An obstacle avoidance problem of rear-steered wheeled vehicles in consideration of the presence of uncertainties is addressed. Modelling errors and additional uncertainties are taken into consideration. Controller designs for driving and steering motors are designed. A proportional-derivative-type driving motor controller and a sliding-mode steering controller combined with radial basis function neural network (RBFNN) based estimators are proposed. The convergence properties of the RBFNN-based estimators are proven by the Stone–Weierstrass theorem. The stability of the proposed control law is proven using Lyapunov stability analysis. The obstacle avoidance strategy utilising the sliding surface adjustment to an existing navigation method is presented. It is concluded that the driving velocity and steering-angle performances of the proposed control system are satisfactory.     

Adaptive tracking control of an autonomous underwater vehicle

This paper presents the trajectory tracking control of an autonomous underwater vehicle(AUV). To cope with parametric uncertainties owing to the hydrodynamic effect, an adaptive control law is developed for the AUV to track the desired trajectory. This desired state-dependent regressor matrix-based controller provides consistent results under hydrodynamic parametric uncertainties.Stability of the developed controller is verified using the Lyapunov s direct method. Numerical simulations are carried out to study the efficacy of the proposed adaptive controller.