基于误差估值累加开环校正的诱导式欺骗检测方法

诱导式卫星欺骗干扰可诱导航空器逐渐偏离预定航迹，难以被发现，因此及时有效地检测干扰是飞行安全的保障。在现有紧组合导航体制基础上，设计了一种基于误差估值累加开环校正的紧组合导航结构，并证明了其性能与传统闭环校正紧组合导航性能等效。在此结构中，将紧组合导航系统与自适应序贯概率比检测方法结合，提出了一种基于误差估值累加开环校正的诱导式欺骗检测方法，融合紧组合导航信息与其他不受欺骗影响的导航信息，构建欺骗检测统计量进行诱导式欺骗检测。仿真结果表明，开环校正结构可避免随时间累加的惯性导航系统误差所导致的组合导航滤波器发散问题，同时欺骗检测方法可进一步提高算法对“最坏”情形下微小诱导式欺骗的检测效果。     

干扰条件下的“北斗”信号解扩重构DOA估计

在干扰条件下，卫星导航抗干扰波束形成算法往往需要卫星信号波达方向（Direction-of-Arrival，DOA）的先验信息。但当存在低信噪比信号或主动干扰源时，常规的DOA估计算法性能急剧下降甚至失效。针对此问题，提出了一种被干扰信号压制的低信噪比“北斗”信号的DOA估计算法。该算法首先通过对接收信号进行子空间投影抑制干扰信号，然后对抑制干扰后的信号进行解扩重构处理，最后通过多重信号分类算法完成对“北斗”信号的DOA估计。仿真结果表明，在干扰信号干信比80 dB条件下，“北斗”信号DOA估计误差在5°以内，为下一步进行波束形成计算提供了高精度的入射角信息。     

Advances in bio-logging techniques and their application to study navigation in wild seabirds

ABSTRACT

This review summarizes the advances in bio-logging technology that enables us to monitor foraging behavior, movement, behavioral performance, physiological performance, and sociality in a wide range of bird species, as well as their habitat. Subsequently, navigation is discussed, using long-distance movements in streaked shearwaters as a case study. Moreover, challenges and future research directions in bio-logging science are presented, with focus on: multimodal recording, big data analysis, feedback logging, low-power consumption and power generation systems, logger effects, and capture–recapture methods.     

Perception‐aware autonomous mast motion planning for planetary exploration rovers

Highly accurate real‐time localization is of fundamental importance for the safety and efficiency of planetary rovers exploring the surface of Mars. Mars rover operations rely on vision‐based systems to avoid hazards as well as plan safe routes. However, vision‐based systems operate on the assumption that sufficient visual texture is visible in the scene. This poses a challenge for vision‐based navigation on Mars where regions lacking visual texture are prevalent. To overcome this, we make use of the ability of the rover to actively steer the visual sensor to improve fault tolerance and maximize the perception performance. This paper answers the question of where and when to look by presenting a method for predicting the sensor trajectory that maximizes the localization performance of the rover. This is accomplished by an online assessment of possible trajectories using synthetic, future camera views created from previous observations of the scene. The proposed trajectories are quantified and chosen based on the expected localization performance. In this study, we validate the proposed method in field experiments at the Jet Propulsion Laboratory (JPL) Mars Yard. Furthermore, multiple performance metrics are identified and evaluated for reducing the overall runtime of the algorithm. We show how actively steering the perception system increases the localization accuracy compared with traditional fixed‐sensor configurations.     

Research on Circular Area Search algorithm of multi-robot service based on SOA cloud platform

Considering autonomous mobile robots with a variety of specific functions as a kind of service, when there are many types and quantities of services and the density of regional services is large, proposing an algorithm of Circular Area Search (CAS) because of the problem of multi-robot service scheduling in various areas. Firstly, Django is used as the web framework to build the Service-Oriented Architecture (SOA) multi-robot service cloud platform, which is the basic platform for multi-service combination. Then, the service type, the latitude and longitude and the scoring parameters of the service are selected as the service search metrics to design the CAS algorithm that based on the existing service information registered in MySQL and the Gaode Map for screening optimal service, and then providing the service applicant with the best service. Finally, the service applicant applies for the self-driving tour service as an example to perform performance simulation test on the proposed CAS algorithm. The results show that the CAS algorithm of the multi-robot service cloud platform proposed in this paper is practical compared to the global search. And compared with the Greedy Algorithm experiment, the service search time is reduced about 58% compared with the Greedy Algorithm, which verifies the efficiency of CAS algorithm.     

On keys' meanings and modes: the impact of different key solutions on children's efficiency using a mobile phone

The present study investigates the impact of different key solutions of mobile phones on users' effectiveness and efficiency using the devices. In the first experiment, 36 children (9 - 14 years) and in the second experiment 45 young adults (19 - 33 years) completed four common phone tasks twice consecutively on three simulated phones that had identical menus, but different key solutions. An approach was undertaken to quantify the complexity of keys in three models, incorporating different factors contributing to the keys' complexity (number of key options, number of modes and number of modes with a semantically dissimilar meaning), in order to predict users' performance decrements. As a further main factor, the degree of the users' locus of control (LOC) was measured and interactions with performance outcomes were studied. As dependent measures, the number of inefficient keystrokes, the number of tasks solved and the processing time were determined. Results showed a significant effect of control key solutions on users' efficiency and effectiveness for both children and young adults. Moreover, children's LOC values significantly interacted with performance: children with low LOC values showed the lowest performance and no learnability, especially when using keys with a high complexity. From the three factors contributing to the complexity of keys, keys exerting different functions with semantically inconsistent meanings had the worst effect on performance. It is concluded that in mobile user interface design keys with semantically inconsistent meanings should be generally avoided.     

高坝通航技术在水口工程的新发展

水口水电站坝高101m,航运过坝采用一线三级船闸和一线垂直升船机。水口升船机是当时国内已建和在建同类升船机中总体规模最大的升船机,也是我国第一座自行设计、制造、施工和安装的大型升船机。在塔楼结构动力分析和试验研究、塔楼滑框倒模施工、升船机整体模型试验研究、承船厢整体制造和浮运、船厢安全锁定装置和船厢对接密封装置试验研究、整机安装及联调试验等方面充分体现了水口升船机的建成是高坝通航技术的新发展。     

A Knowledge-Navigation System for Dimensional Metrology

Geometric dimensioning and tolerancing (GD&T) is a method to specify the dimensions and form of a part so that it will meet its design intent. GD&T is difficult to master for two main reasons. First, it is based on complex 3D geometric entities and relationships. Second, the geometry is associated with a large, diverse knowledge base of dimensional metrology with many interconnections. This paper describes an approach to create a dimensional metrology knowledge base that is organized around a set of key concepts and to represent those concepts as virtual objects that can be navigated with interactive, computer visualization techniques to access the associated knowledge. The approach can enable several applications. First is the application to convey the definition and meaning of GD&T over a broad range of tolerance types. Second is the application to provide a visualization of dimensional metrology knowledge within a control hierarchy of the inspection process. Third is the application to show the coverage of interoperability standards to enable industry to make decisions on standards development and harmonization efforts. A prototype system has been implemented to demonstrate the principles involved in the approach.     

旋转导向钻井偏心稳定器横向振动研究

旋转导向钻井偏心稳定器横向振动研究是国家863“可控(闭环)三维轨迹钻井技术”课题研究的部分内容。选取偏心稳定器的心轴作为研究对象,以偏心稳定器心轴连续梁系统的横向振动模型受力分析为基础,根据课题研究中所设计的心轴结构形式,建立了与实际情况较为接近的三铰支点的连续梁系统横向振动方程;并分析了偏心稳定器横向振动对钻井工具和钻具系统的影响,为合理进行心轴设计以及偏心稳定器样机在现场的正确使用和钻井参数的合理选择,提供了科学的理论依据和实用的计算方法。计算实例表明,当钻压范围选择在80~250kN时,215.9mm井眼钻进中的确存在19~20、61~63、162~163r/min前三阶横向共振转速区间,因此在选择钻井参数时应通过钻压与转速的配合,尽可能避开横向共振转速,以保证下部钻具组合系统及作业安全。     

三维数字城市的建设

提出了一种应用三维技术和虚拟现实交互技术来构建三维数字城市的设计思想和实施方案，探讨了具体实现三维数字城市系统而积累的实践经验，介绍了综合运用3DS MAX、AUTOCAD和CULT3D对“实例”进行制作的具体方法和步骤，并给出了部分制作结果。结果表明该系统获得了较好的实时浏览和交互浏览功能，且有良好的视觉效果。