Assessing pre- and post-deformation in the southern Arava Valley segment of the Dead Sea Transform, Israel by differential interferometry

Differential radar interferometry, using archived ERS data over the region of the Dead Sea Transform, allows to detect ground movement (subsidence or uplift) in playas within the southern Arava Valley segment of the Dead Sea Rift. These measurements are consistent with a mean displacement rate of about 0.4 cm/month, in the direction of the radar beam, during the 8-month period preceding the Nuweiba earthquake of 22 November 1995. In the 3 years following the earthquake, the measured rate was smaller by a factor of 10. These movements are not related to salt diapirs or water pumping activities in the area. The exact location, along faults, suggests a possible correlation with pre-seismic and post-seismic fault deformation.A simple fault model consistent with the observed phenomena associates the observed subsidence/uplift to right and left stepping en-echelon fault patterns related to inter-seismic tensional accumulation along the faults. Further observations are necessary on this site and similar fault areas to corroborate the correlation between seismic activity and the observed phenomena. Monitoring of these sites should continue with differential Global positioning system (GPS) measurements and radar interferometric analysis using Envisat and Radarsat as well as archived data (including J-ERS).     

抽真空截止点的位置对压铸件气孔的影响

在真空压铸中 ,抽真空截止点的确定对压铸件的品质影响很大 ,过早和过迟将影响压铸的连续生产和不利于减少铸件的气孔。抽真空截止点应设在冲头快压射前 15～ 2 0mm处 ,真空压铸可以提高铸件的密度 1%以上。     

基于磁场指纹辅助的手机室内定位系统

针对当前室内无线定位信号强度易受干扰、设备部署维护成本高等缺点,以及手机在室内航位推算过程中定位误差随时间累积的问题,本文提出了基于粒子滤波磁场匹配的室内定位方法。相比于传统的航位推算方法,通过改进步态判断方式,并提出了动态步长估计算法和卡尔曼滤波航向估计算法,有效减少步态误判和定位误差。同时通过结合航位推算位置选择粒子滤波算法中的重采样区域,加快粒子收敛速度。最后,通过仿真分析和实际室内环境测试结果表明,本文提出的定位方法能够有效地减小定位误差,并实现2米的定位精度。     

Design and implementation of a block‐backstepping based tracking control for nonholonomic wheeled mobile robot

This paper presents formulation of a novel block‐backstepping based control algorithm to overcome the challenges posed by the tracking and the stabilization problem for a differential drive wheeled mobile robot (WMR). At first, a two‐dimensional output vector for the WMR has been defined in such a manner that it would decouple the two control inputs and, thereby, allow the designer to formulate the control laws for the two inputs one at a time. Actually, the decoupling has been carried out in a way to convert the system into block‐strict feedback form. Thereafter, block‐backstepping control algorithm has been utilized to derive the expressions of the control inputs for the WMR system. The proposed block‐backstepping technique has further been enriched by incorporating an integral action for enhancing the steady state performance of the overall system. Global asymptotic stability of the overall system has been analyzed using Lyapunov stability criteria. Finally, the proposed control algorithm has been implemented on a laboratory scale differential drive WMR to verify the effectiveness of the proposed control law in real‐time environment. Indeed, the proposed design approach is novel in the sense that it has judiciously exploited the nonholonomic constraint of the WMR to result in a reduced order block‐backstepping controller for the WMR, and thereby, it has eventually yielded a compact expression of the control law that is amenable to real‐time implementation. Copyright © 2015 John Wiley & Sons, Ltd.     

利用DCS实现风阀电动执行器的开关量控制

简述了退火窑电动执行器的控制原理,通过分析电动执行器的故障特点,介绍了越于西门予S7-400H系统对执行器的改造方案,并重点叙述了该系统的硬件结构和控制程序的组态与设计等。     

基于序贯处理的航位推算组合导航算法研究

对由捷联惯导和测速设备所搭建的航位推算系统进行了研究,提出了一种基于航位推算系统的组合导航算法。该算法在传统的航位推算算法的基础上,利用惯组中加速度计组合的输出和航位推算给出的位置与姿态完成了惯导速度更新。将惯导速度与航位推算速度构造的速度量测和由航位推算位置与地标点给出的位置参考构成的位置量测输入卡尔曼滤波器,采用序贯处理完成了对姿态误差的估计。这种方法较好的解决了组合导航系统具有多个输出频率差异很大的量测时信息融合的问题。最后通过半实物仿真对该算法的有效性进行了验证。     

推算定位算法在拦截策略中的研究与应用

机器人足球比赛中,研究有效的拦截对方球员的进攻和防守是一项关键的战术,以往开发的拦截策略中存在"漏拦"和"错拦"等现象,造成拦截成功率很低.将推算定位(Dead Reckoning,DR)算法用到拦截策略的研究中,有效估算出对方球员和球的下一步动向,实施有效拦截,提高了比赛过程中拦截判断的精度.对DR算法中的阈值的确定进行了分析和改进,提出一种判据函数,有效地解决动态门选取的问题;针对算法执行和网络的延时给予了延时补偿,提高系统的实时性,使拦截能够快速准确地实现.利用DR算法推算出赛场球和球员的运动趋势,指导赛场策略的生成并和队员的动作与位置的部署.实验数据表明,方法具有很强的优越性.     

车载惯导航位推算组合导航系统误差补偿研究

当惯组(IMU)安装到车体上时存在安装偏差,推导了安装偏差及刻度系数误差对里程计速度的影响,进而导出了航位推算(DR)的位置误差方程及位置更新算法;建立了SINS/DR组合导航的状态方程和量测方程,以捷联惯导的位置与航位推算的位置之差作为组合导航卡尔曼滤波器的输入,估计出安装偏差和刻度系数误差的值并对航位推算进行补偿;仿真及跑车数据的验证分析结果表明了误差估计方法的有效性和正确性.     

电弧炉电极调节系统的自适应死区补偿控制

电弧炉电极调节系统存在死区非线性,这将给控制系统带来稳态误差,甚全会造成系统不稳定.为此,针对断点不对称且斜率不相等的死区特性,提出一种自适心死区补偿方法.通过引入死区逆非线性环节,并在线更新未知的死区逆参数,达到完全补偿死区的效果.利用Lyapunov方法证明了参数估计误差的收敛性.仿真结果验证了所提出方法的有效性.