一种北斗联合低轨星座的导航增强方法研究

单纯依靠北斗导航系统提供定位导航授时服务,存在卫星信号落地功率低、易受遮蔽和阻断的不足。针对此问题,研究了一种北斗联合低轨星座实现导航增强的系统架构;提出了一种新的适应严重遮蔽或干扰条件下,基于到达时间(TOA)和到达频率(FOA)联合观测的定位解算算法;对高中低轨混合星座条件下的覆盖特性和精度衰减因子进行了仿真分析。分析结果表明,用户可见星数平均增加了64.2%,位置精度衰减因子(PDOP)平均改善了28.7%。研究结果可为下一代北斗的论证设计与研制建设提供参考借鉴。     

Validation of performance of real-time kinematic PPP. A possible tool for deformation monitoring

Structural failures (bridge or building collapses) and geohazards (landslides, ground subsidence or earthquakes) are worldwide problems that often lead to significant economic and loss of life. Monitoring the deformation of both natural phenomena and man-made structures is a major key to assessing structural dynamic responses. Actually, this monitoring process is under real-time demand for developing warning and alert systems.One of the most used techniques for real-time deformation monitoring is the Global Navigation Satellite System (GNSS) real-time procedure, where the relative positioning approach, using a well-known reference station, has been applied.This study was conducted to evaluate the actual quality of the real-time kinematic Precise Point Positioning (PPP) GNSS solution for deformation monitoring, where it can be concluded that a promise tool is under development and should be taken into account on actual and near future real-time deformation monitoring studies and applications.     

基于宏观经济结构合理化的宁夏水资源合理配置

本文分析了宁夏目前经济结构下水资源利用效率及产出效益，研究在一定经济发展水平下，当资源配置最优时，最优的经济均衡增长途径。区域最优经济结构是由国民经济各部门相互依存的关联关系技术矩阵所决定的，其均衡增长率和均衡增长产出结构分别等于非负矩阵的弗罗比尼斯特征根和相对应的弗罗比尼斯向量。本文根据联合国经济发展统计数据，分析出宁夏未来调整第一产业与第二产业结构的比例，认为应适当减少宁夏高耗水水稻种植面积，逐渐把农业用水量向工业用水量转移。转变经济增长方式，从水资源的高效利用及配置出发走内涵式、节水型的社会发展道路，以解决宁夏水资源严重不足的问题。     

Tracing success: graphical methods for analysing successful collaborative problem solving

The aim of this paper is to evaluate the use of trace diagrams for analysing collaborative problem solving. The paper describes a study where trace diagrams were used to analyse joint navigation in a virtual environment. Ten pairs of undergraduates worked together on a distributed virtual task to collect five flowers using two bees with each participant controlling one of the bees. This task is used extensively in research on multi-robot systems. The joint navigation of the pairs was analysed using trace diagrams. They showed that more successful pairs divided the task up, showed very little overlap and very little backtracking. Whereas, the less successful pairs, showed no task division, there was significant overlap and extensive backtracking. From this analysis we developed numerical measures of task division, overlap and backtracking. Task division was significantly and negatively related with task performance. Backtracking and overlap were significantly and positively correlated.     

Safe and effective navigation of autonomous robots in hazardous environments

The development of autonomous mobile machines to perform useful tasks in real work environments is currently being impeded by concerns over effectiveness, commercial viability and, above all, safety. This paper introduces a case study of a robotic excavator to explore a series of issues around system development, navigation in unstructured environments, autonomous decision making and changing the behaviour of autonomous machines to suit the prevailing demands of users. The adoption of the Real-Time Control Systems (RCS) architecture (Albus, 1991) is proposed as a universal framework for the development of intelligent systems. In addition it is explained how the use of Partially Observable Markov Decision Processes (POMDP) (Kaelbling et al., 1998) can form the basis of decision making in the face of uncertainty and how the technique can be effectively incorporated into the RCS architecture. Particular emphasis is placed on ensuring that the resulting behaviour is both task effective and adequately safe, and it is recognised that these two objectives may be in opposition and that the desired relative balance between them may change. The concept of an autonomous system having “values” is introduced through the use of utility theory. Limited simulation results of experiments are reported which demonstrate that these techniques can create intelligent systems capable of modifying their behaviour to exhibit either ‘safety conscious’ or ‘task achieving’ personalities.     

Structured document storage and refined declarative and navigational access mechanisms in HyperStorM

The combination of SGML and database technology allows to refine both declarative and navigational access mechanisms for structured document collection: with regard to declarative access, the user can formulate complex information needs without knowing a query language, the respective document type definition (DTD) or the underlying modelling. Navigational access is eased by hyperlink-rendition mechanisms going beyond plain link-integrity checking. With our approach, the database-internal representation of documents is configurable. It allows for an efficient implementation of operations, because DTD knowledge is not needed for document structure recognition. We show how the number of method invocations and the cost of parsing can be significantly reduced. Edited by Y.C. Tay. Received April 22, 1996 / Accepted March 16, 1997     

自治Agents的面向服务的协商模型

提出了一个基于自治Agents的面向服务的协商模型。模型主要包括两大模块：首先定义了一系列的战略和战术过程，使得Agents可以产生初始建议，评价对方的建议，以及在此基础上做出反建议；其次，定义了两个层次的Agent通信机制。二者相辅相成，实现了Agents间合作的动态形成和随机协调，使得Agents可以承担因环境的不确定性而需动态协作的复杂任务。     

Characterizing navigation maps for web applications with the NMM approach

This paper presents the Navigation Maps Modeling approach (NMM), which provides platform independent models for characterizing navigation maps of web applications. The NMM approach is conceived to obtain a trade off between high and low-level design notations. As high-level design notations, NMM models permit architectural details that may hinder the overall understanding of the web application to be left out. As low-level design notations, NMM models can easily be transformed into detailed architectural designs, which are very valuable at coding and maintenance stages.     

Self-calibration based on invariant view recognition: Dynamic approach to navigation

We extend a dynamic approach of behavior generation to the representation of spatial information. Two levels of dynamics integrate dead-reckoning, dominant far from home bases, and piloting, dominant near home bases. When the view-based piloting system recognizes a home base, visual place information recalibrates the dead-reckoning system, inverting the hierarchical ordering of the two dynamic levels by time scale inversion. Reference views taken at discrete home bases are recognized invariantly under rotation of views. This process yields compass information. Continuous translational information is obtained as a neural place representation built from view correlations with a scattered set of local views. This self-calibrating cognitive map couples into a dynamics of heading direction integrating the behaviors of obstacle avoidance and target acquisition. Targets can be designated in terms of the cognitive map. We demonstrate the dynamical model in simulation.     

Seasonal variation in light penetration and subsurface chlorophyll-α in southern Lake Michigan observed by a glider

The Cooperative Institute for Great Lakes Research (CIGLR) in collaboration with the Great Lakes Observing System and National Oceanic and Atmospheric Administration, Great Lakes Environmental Research Laboratory (NOAA GLERL) deployed an autonomous underwater glider in southern Lake Michigan several times per year between 2012 and 2019 to collect offshore (>30 m depth) limnological measurements, including temperature, photosynthetically active radiation (beginning during 2015), and chlorophyll-α fluorescence. From these data, we calculated mixed layer depth, several measures of light penetration (diffuse attenuation coefficient, first optical depth, euphotic zone depth), and depth of the subsurface chlorophyll-α maxima. During summer, mean offshore mixed layer depth was typically 10–15 m, K_d for PAR was 0.1–0.17 m^?1, first optical depth was 6–9 m, euphotic zone depth was 35–40 m, and depth of subsurface chlorophyll-α maxima was 30–35 m. We also observed substantial spatial and temporal variation in these values across the basin and within and among seasons. Glider-based observations provide a wider horizontal and vertical perspective than other methods (e.g., ship- and satellite-based observations, buoys, and fixed moorings), and are therefore a valuable, complementary tool for Great Lakes limnology. The set of observations reported here provide seasonal and basin-scale information that may help to identify anomalies useful for future glider-assisted investigation into the role of biophysical processes in Great Lakes limnology and ecology.