The formation control of multiple unmanned aerial vehicles(multi-UAVs)has always been a research hotspot.Based on the straight line trajectory,a multi-UAVs target point assignment algorithm based on the assignment pro...The formation control of multiple unmanned aerial vehicles(multi-UAVs)has always been a research hotspot.Based on the straight line trajectory,a multi-UAVs target point assignment algorithm based on the assignment probability is proposed to achieve the shortest overall formation path of multi-UAVs with low complexity and reduce the energy consumption.In order to avoid the collision between UAVs in the formation process,the concept of safety ball is introduced,and the collision detection based on continuous motion of two time slots and the lane occupation detection after motion is proposed to avoid collision between UAVs.Based on the idea of game theory,a method of UAV motion form setting based on the maximization of interests is proposed,including the maximization of self-interest and the maximization of formation interest is proposed,so that multi-UAVs can complete the formation task quickly and reasonably with the linear trajectory assigned in advance.Finally,through simulation verification,the multi-UAVs target assignment algorithm based on the assignment probability proposed in this paper can effectively reduce the total path length,and the UAV motion selection method based on the maximization interests can effectively complete the task formation.展开更多
The satellite-based automatic identification system (AIS) receiver has to encounter the frequency offset caused by the Doppler effect and the oscillator instability. This paper proposes a non-coherent sequence detecti...The satellite-based automatic identification system (AIS) receiver has to encounter the frequency offset caused by the Doppler effect and the oscillator instability. This paper proposes a non-coherent sequence detection scheme for the satellite-based AIS signal transmitted over the white Gaussian noise channel. Based on the maximum likelihood estimation and a Viterbi decoder, the proposed scheme is capable of tolerating a frequency offset up to 5% of the symbol rate. The complexity of the proposed scheme is reduced by the state-complexity reduction, which is based on per-survivor processing. Simulation results prove that the proposed non-coherent sequence detection scheme has high robustness to frequency offset compared to the relative scheme when messages collision exists.展开更多
The use of genetically modified organisms (GMOs) as food products becomes more and more widespread. The European Union has implemented a set of very strict procedures for the approval to grow, import and/or utilize ...The use of genetically modified organisms (GMOs) as food products becomes more and more widespread. The European Union has implemented a set of very strict procedures for the approval to grow, import and/or utilize GMOs as food or food ingredients. Thus, analytical methods for detection of GMOs are necessary in order to verify compliance with labelling requirements. There are few effective screening methods for processed GM (genetically modified) products. Three anti-herbicide genes (CP4- EPSPS, BAR and PAT) are common exogenous genes used in commercialized transgenic soybean, maize and rice, In the present study, a new SYBR Green qPCR screening method was developed to simultaneously detect the three exogenous anti-herbicide genes and one endogenous gene in a run. We tested seven samples of representative processed products (soya lecithin, soya protein powder, chocolate beverage, infant rice cereal, maize protein powder, maize starch, and maize jam) using the developed method, and amplicons of endogenous gene and transgenic fragments were obtained from all the processed products, and the sensitivity was 0.1%. These results indicated that SYBR Green qPCR screening method was appropriate for qualitative detection of transgenic soybean, maize and rice in processed products.展开更多
A technology for unintended lane departure warning was proposed. As crucial information, lane boundaries were detected based on principal component analysis of grayscale distribution in search bars of given number and...A technology for unintended lane departure warning was proposed. As crucial information, lane boundaries were detected based on principal component analysis of grayscale distribution in search bars of given number and then each search bar was tracked using Kalman filter between frames. The lane detection performance was evaluated and demonstrated in ways of receiver operating characteristic, dice similarity coefficient and real-time performance. For lane departure detection, a lane departure risk evaluation model based on lasting time and frequency was effectively executed on the ARM-based platform. Experimental results indicate that the algorithm generates satisfactory lane detection results under different traffic and lighting conditions, and the proposed warning mechanism sends effective warning signals, avoiding most false warning.展开更多
针对变电站建设过程中设备种类多、布线复杂、场地施工难度大的问题,将建筑信息化模型(building information modeling,BIM)技术和虚拟现实技术相结合,建立施工现场3维模型,实现对变电站现场施工的精细化管理。根据变电站建筑、设备特征...针对变电站建设过程中设备种类多、布线复杂、场地施工难度大的问题,将建筑信息化模型(building information modeling,BIM)技术和虚拟现实技术相结合,建立施工现场3维模型,实现对变电站现场施工的精细化管理。根据变电站建筑、设备特征,进行设备模型族划分,采用Revit软件建立不同模型簇的3D模型,由BIM制定合理的停送电施工方案、进行3维碰撞试验检测,实现对具体施工步骤的实时监测和进度安排。结果表明:该方案可不断调整优化施工方案,有效缩短施工周期,降低施工成本。展开更多
In this paper,a novel train positioning method considering satellite raw observation data was proposed,which aims to promote train positioning performance from an innovative perspective of the train satellite-based po...In this paper,a novel train positioning method considering satellite raw observation data was proposed,which aims to promote train positioning performance from an innovative perspective of the train satellite-based positioning error sources.The method focused on overcoming the abnormal observations in satellite observation data caused by railway environment rather than the positioning results.Specifically,the relative positioning experimental platform was built and the zero-baseline method was firstly employed to evaluate the carrier phase data quality,and then,GNSS combined observation models were adopted to construct the detection values,which were applied to judge abnormal-data through the dual-frequency observations.Further,ambiguity fixing optimization was investigated based on observation data selection in partly-blocked environments.The results show that the proposed method can effectively detect and address abnormal observations and improve positioning stability.Cycle slips and gross errors can be detected and identified based on dual-frequency global navigation satellite system data.After adopting the data selection strategy,the ambiguity fixing percentage was improved by 29.2%,and the standard deviation in the East,North,and Up components was enhanced by 12.7%,7.4%,and 12.5%,respectively.The proposed method can provide references for train positioning performance optimization in railway environments from the perspective of positioning error sources.展开更多
基金supported by the Basic Scientific Research Business Expenses of Central Universities(3072022QBZ0806)。
文摘The formation control of multiple unmanned aerial vehicles(multi-UAVs)has always been a research hotspot.Based on the straight line trajectory,a multi-UAVs target point assignment algorithm based on the assignment probability is proposed to achieve the shortest overall formation path of multi-UAVs with low complexity and reduce the energy consumption.In order to avoid the collision between UAVs in the formation process,the concept of safety ball is introduced,and the collision detection based on continuous motion of two time slots and the lane occupation detection after motion is proposed to avoid collision between UAVs.Based on the idea of game theory,a method of UAV motion form setting based on the maximization of interests is proposed,including the maximization of self-interest and the maximization of formation interest is proposed,so that multi-UAVs can complete the formation task quickly and reasonably with the linear trajectory assigned in advance.Finally,through simulation verification,the multi-UAVs target assignment algorithm based on the assignment probability proposed in this paper can effectively reduce the total path length,and the UAV motion selection method based on the maximization interests can effectively complete the task formation.
文摘The satellite-based automatic identification system (AIS) receiver has to encounter the frequency offset caused by the Doppler effect and the oscillator instability. This paper proposes a non-coherent sequence detection scheme for the satellite-based AIS signal transmitted over the white Gaussian noise channel. Based on the maximum likelihood estimation and a Viterbi decoder, the proposed scheme is capable of tolerating a frequency offset up to 5% of the symbol rate. The complexity of the proposed scheme is reduced by the state-complexity reduction, which is based on per-survivor processing. Simulation results prove that the proposed non-coherent sequence detection scheme has high robustness to frequency offset compared to the relative scheme when messages collision exists.
基金Supported by the Funds of the Scientific Research Foundation of Northeast Agricultural University(2010RCB53)
文摘The use of genetically modified organisms (GMOs) as food products becomes more and more widespread. The European Union has implemented a set of very strict procedures for the approval to grow, import and/or utilize GMOs as food or food ingredients. Thus, analytical methods for detection of GMOs are necessary in order to verify compliance with labelling requirements. There are few effective screening methods for processed GM (genetically modified) products. Three anti-herbicide genes (CP4- EPSPS, BAR and PAT) are common exogenous genes used in commercialized transgenic soybean, maize and rice, In the present study, a new SYBR Green qPCR screening method was developed to simultaneously detect the three exogenous anti-herbicide genes and one endogenous gene in a run. We tested seven samples of representative processed products (soya lecithin, soya protein powder, chocolate beverage, infant rice cereal, maize protein powder, maize starch, and maize jam) using the developed method, and amplicons of endogenous gene and transgenic fragments were obtained from all the processed products, and the sensitivity was 0.1%. These results indicated that SYBR Green qPCR screening method was appropriate for qualitative detection of transgenic soybean, maize and rice in processed products.
基金Project(51175159)supported by the National Natural Science Foundation of ChinaProject(2013WK3024)supported by the Science andTechnology Planning Program of Hunan Province,ChinaProject(CX2013B146)supported by the Hunan Provincial InnovationFoundation for Postgraduate,China
文摘A technology for unintended lane departure warning was proposed. As crucial information, lane boundaries were detected based on principal component analysis of grayscale distribution in search bars of given number and then each search bar was tracked using Kalman filter between frames. The lane detection performance was evaluated and demonstrated in ways of receiver operating characteristic, dice similarity coefficient and real-time performance. For lane departure detection, a lane departure risk evaluation model based on lasting time and frequency was effectively executed on the ARM-based platform. Experimental results indicate that the algorithm generates satisfactory lane detection results under different traffic and lighting conditions, and the proposed warning mechanism sends effective warning signals, avoiding most false warning.
文摘针对变电站建设过程中设备种类多、布线复杂、场地施工难度大的问题,将建筑信息化模型(building information modeling,BIM)技术和虚拟现实技术相结合,建立施工现场3维模型,实现对变电站现场施工的精细化管理。根据变电站建筑、设备特征,进行设备模型族划分,采用Revit软件建立不同模型簇的3D模型,由BIM制定合理的停送电施工方案、进行3维碰撞试验检测,实现对具体施工步骤的实时监测和进度安排。结果表明:该方案可不断调整优化施工方案,有效缩短施工周期,降低施工成本。
基金Project(52272339)supported by the National Natural Science Foundation of ChinaProject(2023YFB390730303)supported by the National Key Research and Development Program of China+2 种基金Project(L2023G004)supported by the Science and Technology Research and Development Program of China State Railway Group Co.,Ltd.Project(QZKFKT2023-005)supported by the State Key Laboratory of Heavy-duty and Express High-power Electric Locomotive,ChinaProject(2022JZZ05)supported by the Open Foundation of MOE Key Laboratory of Engineering Structures of Heavy Haul Railway(Central South University),China。
文摘In this paper,a novel train positioning method considering satellite raw observation data was proposed,which aims to promote train positioning performance from an innovative perspective of the train satellite-based positioning error sources.The method focused on overcoming the abnormal observations in satellite observation data caused by railway environment rather than the positioning results.Specifically,the relative positioning experimental platform was built and the zero-baseline method was firstly employed to evaluate the carrier phase data quality,and then,GNSS combined observation models were adopted to construct the detection values,which were applied to judge abnormal-data through the dual-frequency observations.Further,ambiguity fixing optimization was investigated based on observation data selection in partly-blocked environments.The results show that the proposed method can effectively detect and address abnormal observations and improve positioning stability.Cycle slips and gross errors can be detected and identified based on dual-frequency global navigation satellite system data.After adopting the data selection strategy,the ambiguity fixing percentage was improved by 29.2%,and the standard deviation in the East,North,and Up components was enhanced by 12.7%,7.4%,and 12.5%,respectively.The proposed method can provide references for train positioning performance optimization in railway environments from the perspective of positioning error sources.