Separated transmit and receive antennas are employed to improve transmit-receive isolation in conventional short-range radars, which greatly increases the antenna size and misaligns of the transmit/receive radiation p...Separated transmit and receive antennas are employed to improve transmit-receive isolation in conventional short-range radars, which greatly increases the antenna size and misaligns of the transmit/receive radiation patterns. In this paper,a dual circularly polarized(CP) monostatic simultaneous transmit and receive(MSTAR) antenna with enhanced isolation is proposed to alleviate the problem. The proposed antenna consists of one sequentially rotating array(SRA), two beamforming networks(BFN), and a combined decoupling structure. The SRA is shared by the transmit and receive to reduce the size of the antenna and to obtain a consistent transmit and receive pattern.The BFN achieve right-hand CP for transmit and left-hand CP for receive. By exploring the combined decoupling structure of uniplanar compact electromagnetic band gap(UC-EBG) and ringshaped defected ground structure(RS-DGS), good transmitreceive isolation is achieved. The proposed antenna prototype is fabricated and experimentally characterized. The simulated and measured results show good agreement. The demonstrate transmit/receive isolation is height than 33 dB, voltage standing wave ratio is lower than 2, axial ratio is lower than 3 dB, and consistent radiation for both transmit and receive is within4.25-4.35 GHz.展开更多
To analyze the chemical constituents of volatile oils from the fruit of Periploca forrestii Schltr.which were collected in Guizhou province.This volatile oils were extracted by simultaneous distillation extraction (SD...To analyze the chemical constituents of volatile oils from the fruit of Periploca forrestii Schltr.which were collected in Guizhou province.This volatile oils were extracted by simultaneous distillation extraction (SDE)and microwave assistant extraction(MAE) method,and ananlyzed by gas chromatography-mass spectrometry(GC-MS)method.The main chemical compounds were methyl salicylate,β-amyrin and β-amyrin acetate etc.The compounds from the volatile oils extracted with SDE and MAE are quite different.The results provide scientific proof for the further development and utilization of Periploca forrestii Schltr.展开更多
Simultaneous distillation-extractor was used for extracting the volatile substances in Llex Kudincha.26 volatile components were identified by gas chromatography mass spectrometry (GC-MS)method.The identified compound...Simultaneous distillation-extractor was used for extracting the volatile substances in Llex Kudincha.26 volatile components were identified by gas chromatography mass spectrometry (GC-MS)method.The identified compounds are 94.83 % of the total volatile substances.展开更多
In this paper we recall the different definitions of simultaneity, the coordinate time interval and the velocity. It is emphasized that the above second two definitions depend on the simultaneity. We review the test t...In this paper we recall the different definitions of simultaneity, the coordinate time interval and the velocity. It is emphasized that the above second two definitions depend on the simultaneity. We review the test theories on special relativity. It is shown that anisotropy (if possible) of one-way speed of light has not any ef- fects in the physical experiments. Therefore anisotropy of one-way speed of light cannot be determined by the experiments, except if an absolute (standard) simultaneity would be found.展开更多
Mining operation, especially underground coal mining, always has the remarkable risks of ground control. Passive seismic velocity tomography based on simultaneous iterative reconstructive technique （SIRT） inversion ...Mining operation, especially underground coal mining, always has the remarkable risks of ground control. Passive seismic velocity tomography based on simultaneous iterative reconstructive technique （SIRT） inversion is used to deduce the stress redistribution around the longwall mining panel. The mining-induced microseismic events were recorded by mounting an array of receivers on the surface, above the active panel. After processing and filtering the seismic data, the three-dimensional tomography images of the p-wave velocity variations by SIRT passive seismic velocity tomography were provided. To display the velocity changes on coal seam level and subsequently to infer the stress redistribution, these three-dimensional tomograms into the coal seam level were sliced. In addition, the boundary element method （BEM） was used to simulate the stress redistribution. The results show that the inferred stresses from the passive seismic tomograms are conformed to numerical models and theoretical concept of the stress redistribution around the longwall panel. In velocity tomograms, the main zones of the stress redistribution arotmd the panel, including front and side abutment pressures, and gob stress are obvious and also the movement of stress zones along the face advancement is evident. Moreover, the effect of the advance rate of the face on the stress redistribution is demonstrated in tomography images. The research result proves that the SIRT passive seismic velocity tomography has an ultimate potential for monitoring the changes of stress redistribution around the longwall mining panel continuously and subsequently to improve safety of mining operations.展开更多
The volatile and semi-volatile components in tobacco flavor additives were extracted by both simultaneous distillation extraction and solid-phase micro-extraction. Extraction conditions for solid-phase micro-extractio...The volatile and semi-volatile components in tobacco flavor additives were extracted by both simultaneous distillation extraction and solid-phase micro-extraction. Extraction conditions for solid-phase micro-extraction were optimized with information theory. Then, detection were accomplished by gas chromatography-mass spectrometry. Characteristic of each method was compared. Qualitative analysis and quantitative analysis of 6# tobacco flavor sample were accomplished through both simultaneous distillation extraction and solid-phase micro-extraction. The experimental results show that solid-phase micro-extraction method is the first choice for qualitative analysis and simultaneous distillation extraction is another good selection for quantitative analysis. By means of simultaneous distillation extraction, 20 components are identified, accounting for 92.77% of the total peak areas. Through solid-phase micro-extraction, there are 17 components identified accounting for 91.49% of the total peak areas. The main aromatic components in 6# tobacco flavor sample are propanoic acid, 2-hydroxy-, ethyl ester, menthol and menthyl acetate. The presented method has been successfully used for quality control of tobacco flavor.展开更多
Up to present,the problem of the evaluation of fault diagnosability for nonlinear systems has been investigated by many researchers.However,no attempt has been done to evaluate the diagnosability of multiple faults oc...Up to present,the problem of the evaluation of fault diagnosability for nonlinear systems has been investigated by many researchers.However,no attempt has been done to evaluate the diagnosability of multiple faults occurring simultaneously for nonlinear systems.This paper proposes a method based on differential geometry theories to solve this problem.Then the evaluation of fault diagnosability for affine nonlinear systems with multiple faults occurring simultaneously is achieved.To deal with the effect of control laws on the evaluation results of fault diagnosability,a design scheme of the evaluation of fault diagnosability is proposed.Then the influence of uncertainties on the evaluation results of fault diagnosability for affine nonlinear systems with multiple faults occurring simultaneously is analyzed.The numerical simulation results are obtained to show the effectiveness of the proposed evaluation scheme of fault diagnosability.展开更多
At present,simultaneous localization and mapping(SLAM) for an autonomous underwater vehicle(AUV)is a research hotspot.Aiming at the problem of non-linear model and non-Gaussian noise in AUV motion,an improved method o...At present,simultaneous localization and mapping(SLAM) for an autonomous underwater vehicle(AUV)is a research hotspot.Aiming at the problem of non-linear model and non-Gaussian noise in AUV motion,an improved method of variance reduction fast simultaneous localization and mapping(FastSLAM) with simulated annealing is proposed to solve the problems of particle degradation,particle depletion and particle loss in traditional FastSLAM,which lead to the reduction of AUV location estimation accuracy.The adaptive exponential fading factor is generated by the anneal function of simulated annealing algorithm to improve the effective particle number and replace resampling.By increasing the weight of small particles and decreasing the weight of large particles,the variance of particle weight can be reduced,the number of effective particles can be increased,and the accuracy of AUV location and feature location estimation can be improved to some extent by retaining more information carried by particles.The experimental results based on trial data show that the proposed simulated annealing variance reduction FastSLAM method avoids particle degradation,maintains the diversity of particles,weakened the degeneracy and improves the accuracy and stability of AUV navigation and localization system.展开更多
Reagents are optimized for the simultaneous determination of trace amounts of Cu^(2+), Cd^(2+) and Co^(2+) in zinc sulfate solution, which contains an extremely large excess of Zn^(2+). First, the reagents and their d...Reagents are optimized for the simultaneous determination of trace amounts of Cu^(2+), Cd^(2+) and Co^(2+) in zinc sulfate solution, which contains an extremely large excess of Zn^(2+). First, the reagents and their doses for the experiment are selected according to the characteristics of the zinc sulfate solution. Then, the reagent doses are optimized by analyzing the influence of reagent dose on the polarographic parameters(i.e. half-wave potential E_(1/2) and limiting diffusion current I_p). Finally, the optimization results are verified by simultaneously determining trace amounts of Cu^(2+), Cd^(2+) and Co^(2+) in the presence of an extremely large excess of Zn^(2+). The determination results indicate that the optimized reagents exhibit wide linearity, low detection limits, high accuracy and good precision for the simultaneous determination of trace amounts of Cu^(2+), Cd^(2+) and Co^(2+) in the presence of an extremely large excess of Zn^(2+).展开更多
To enhance the nitrogen removal,a systemic monitoring of the biological and hydrological parameters of Carrousel oxidation ditch in Chongqing Jingkou Wastewater Treatment Plant was carried out to study the feasibility...To enhance the nitrogen removal,a systemic monitoring of the biological and hydrological parameters of Carrousel oxidation ditch in Chongqing Jingkou Wastewater Treatment Plant was carried out to study the feasibility of simultaneous nitrification and denitrification(SND).The variation and distribution of parameters such as flow velocity,concentration of dissolved oxygen(DO) and mixed liquor suspended solids(MLSS) in oxidation ditch were monitored and analyzed,which were major control factors for SND.The results showed that,the dimensional distribution of flow velocity,DO and MLSS were affected significantly by the operation condition of the aeration wheels.With all the four aeration wheels being in operation,DO and flow velocity were higher and the mixing of MLSS was sufficient.With three aeration wheels being in operation,the flow velocity in most of the bottom areas was enough to meet the basic requirements of no deposition,and the anaerobic region and aerobic region could exist simultaneously in one oxidation ditch,which was helpful to the process of SND.According to spatial distribution characteristics of the flow velocity,DO and soluble components under optimized condition,different functional zones of biochemical reaction in the Carrousel oxidation ditch system were defined,which might contribute to the optimization control and SND of Carrousel oxidation ditch.展开更多
An extended Kalman filter approach of simultaneous localization and mapping(SLAM) was proposed based on local maps. A local frame of reference was established periodically at the position of the robot, and then the ob...An extended Kalman filter approach of simultaneous localization and mapping(SLAM) was proposed based on local maps. A local frame of reference was established periodically at the position of the robot, and then the observations of the robot and landmarks were fused into the global frame of reference. Because of the independence of the local map, the approach does not cumulate the estimate and calculation errors which are produced by SLAM using Kalman filter directly. At the same time, it reduces the computational complexity. This method is proven correct and feasible in simulation experiments.展开更多
An innovative multi-robot simultaneous localization and mapping(SLAM)is proposed based on a mobile Ad hoc local wireless sensor network(Ad-WSN).Multiple followed-robots equipped with the wireless link RS232/485module ...An innovative multi-robot simultaneous localization and mapping(SLAM)is proposed based on a mobile Ad hoc local wireless sensor network(Ad-WSN).Multiple followed-robots equipped with the wireless link RS232/485module act as mobile nodes,with various on-board sensors,Tp-link wireless local area network cards,and Tp-link wireless routers.The master robot with embedded industrial PC and a complete robot control system autonomously performs the SLAM task by exchanging information with multiple followed-robots by using this self-organizing mobile wireless network.The PC on the remote console can monitor multi-robot SLAM on-site and provide direct motion control of the robots.This mobile Ad-WSN complements an environment devoid of usual GPS signals for the robots performing SLAM task in search and rescue environments.In post-disaster areas,the network is usually absent or variable and the site scene is cluttered with obstacles.To adapt to such harsh situations,the proposed self-organizing mobile Ad-WSN enables robots to complete the SLAM process while improving the performances of object of interest identification and exploration area coverage.The information of localization and mapping can communicate freely among multiple robots and remote PC control center via this mobile Ad-WSN.Therefore,the autonomous master robot runs SLAM algorithms while exchanging information with multiple followed-robots and with the remote PC control center via this local WSN environment.Simulations and experiments validate the improved performances of the exploration area coverage,object marked,and loop closure,which are adapted to search and rescue post-disaster cluttered environments.展开更多
Immune evolutionary algorithms with domain knowledge were presented to solve the problem of simultaneous localization and mapping for a mobile robot in unknown environments. Two operators with domain knowledge were de...Immune evolutionary algorithms with domain knowledge were presented to solve the problem of simultaneous localization and mapping for a mobile robot in unknown environments. Two operators with domain knowledge were designed in algorithms, where the feature of parallel line segments without the problem of data association was used to construct a vaccination operator, and the characters of convex vertices in polygonal obstacle were extended to develop a pulling operator of key point grid. The experimental results of a real mobile robot show that the computational expensiveness of algorithms designed is less than other evolutionary algorithms for simultaneous localization and mapping and the maps obtained are very accurate. Because immune evolutionary algorithms with domain knowledge have some advantages, the convergence rate of designed algorithms is about 44% higher than those of other algorithms.展开更多
Based on the impact of the stress perturbation effect created by simultaneous propagation of multiple fractures in the process of simultaneous hydraulic fracturing, a thorough research on the mechanism and adaptation ...Based on the impact of the stress perturbation effect created by simultaneous propagation of multiple fractures in the process of simultaneous hydraulic fracturing, a thorough research on the mechanism and adaptation of simultaneous fracturing of double horizontal wells in ultra-low permeability sandstone reservoirs was conducted by taking two adjacent horizontal wells(well Yangping-1 and well Yangping-2 located in Longdong area of China Changqing Oilfield) as field test wells. And simultaneous fracturing optimal design of two adjacent horizontal wells was finished and employed in field test. Micro-seismic monitoring analysis of fracture propagation during the stimulation treatment shows that hydraulic fractures present a pattern of complicated network expansion, and the well test data after fracturing show that the daily production of well Yangping-1 and well Yangping-2 reach105.8 t/d and 87.6 t/d, which are approximately 9.4 times and 7.8 times the daily production of a fractured vertical well in the same area, respectively. Field test reflects that simultaneous hydraulic fracturing of two adjacent horizontal wells can enlarge the expansion area of hydraulic fractures to obtain a lager drainage area and realize the full stimulation of ultra-low permeability sandstone reservoirs in China Changqing oilfield. Therefore, simultaneous fracturing of two adjacent horizontal wells provides a good opportunity in stimulation techniques for the efficient development of ultra-low permeability reservoirs in China Changqing oilfield,and it has great popularization value and can provide a new avenue for the application of stimulation techniques in ultra-low permeability reservoirs in China.展开更多
This paper investigates the jamming sensing performance of the simultaneous transmit and receive based cognitive anti-jamming(SCAJ) receiver impaired by phase noise in local oscillators(LO) over fading channels. First...This paper investigates the jamming sensing performance of the simultaneous transmit and receive based cognitive anti-jamming(SCAJ) receiver impaired by phase noise in local oscillators(LO) over fading channels. Firstly, energy detection(ED)based on the jamming to noise ratio(JNR) of the high frequency bands SCAJ receiver with phase noise under different channels is analyzed. Then, the probabilities of jamming detection and false alarm in closed-form for the SCAJ receiver are derived. Finally,the modified Bayesian Cramer-Rao bound(BCRB) of jamming sensing for the SCAJ receiver is presented. Simulation results show that the performance degradation of the SCAJ system due to phase noise is more severe than that due to the channel fading in the circumstances where the signal bandwidth(BW) is kept a constant. Moreover, the signal BW has an effect on the phase noise in LO, and the jamming detection probability of the wideband SCAJ receiver with lower phase noise outperforms that of the narrowband receiver using the same center frequency. Furthermore,an accurate phase noise estimation and compensation scheme can improve the jamming detection capability of the SCAJ receiver in high frequency bands and approach to the upper bound.展开更多
An improved method with better selection capability using a single camera was presented in comparison with previous method. To improve performance, two methods were applied to landmark selection in an unfamiliar indoo...An improved method with better selection capability using a single camera was presented in comparison with previous method. To improve performance, two methods were applied to landmark selection in an unfamiliar indoor environment. First, a modified visual attention method was proposed to automatically select a candidate region as a more useful landmark. In visual attention, candidate landmark regions were selected with different characteristics of ambient color and intensity in the image. Then, the more useful landmarks were selected by combining the candidate regions using clustering. As generally implemented, automatic landmark selection by vision-based simultaneous localization and mapping(SLAM) results in many useless landmarks, because the features of images are distinguished from the surrounding environment but detected repeatedly. These useless landmarks create a serious problem for the SLAM system because they complicate data association. To address this, a method was proposed in which the robot initially collected landmarks through automatic detection while traversing the entire area where the robot performed SLAM, and then, the robot selected only those landmarks that exhibited high rarity through clustering, which enhanced the system performance. Experimental results show that this method of automatic landmark selection results in selection of a high-rarity landmark. The average error of the performance of SLAM decreases 52% compared with conventional methods and the accuracy of data associations increases.展开更多
基金supported by Guangdong Natural Science Foundation(2019A1515011622)Guangdong Provincial Laboratory of Southern Marine Science and Engineering (Zhuhai)(SML2021SP407)。
文摘Separated transmit and receive antennas are employed to improve transmit-receive isolation in conventional short-range radars, which greatly increases the antenna size and misaligns of the transmit/receive radiation patterns. In this paper,a dual circularly polarized(CP) monostatic simultaneous transmit and receive(MSTAR) antenna with enhanced isolation is proposed to alleviate the problem. The proposed antenna consists of one sequentially rotating array(SRA), two beamforming networks(BFN), and a combined decoupling structure. The SRA is shared by the transmit and receive to reduce the size of the antenna and to obtain a consistent transmit and receive pattern.The BFN achieve right-hand CP for transmit and left-hand CP for receive. By exploring the combined decoupling structure of uniplanar compact electromagnetic band gap(UC-EBG) and ringshaped defected ground structure(RS-DGS), good transmitreceive isolation is achieved. The proposed antenna prototype is fabricated and experimentally characterized. The simulated and measured results show good agreement. The demonstrate transmit/receive isolation is height than 33 dB, voltage standing wave ratio is lower than 2, axial ratio is lower than 3 dB, and consistent radiation for both transmit and receive is within4.25-4.35 GHz.
文摘To analyze the chemical constituents of volatile oils from the fruit of Periploca forrestii Schltr.which were collected in Guizhou province.This volatile oils were extracted by simultaneous distillation extraction (SDE)and microwave assistant extraction(MAE) method,and ananlyzed by gas chromatography-mass spectrometry(GC-MS)method.The main chemical compounds were methyl salicylate,β-amyrin and β-amyrin acetate etc.The compounds from the volatile oils extracted with SDE and MAE are quite different.The results provide scientific proof for the further development and utilization of Periploca forrestii Schltr.
文摘Simultaneous distillation-extractor was used for extracting the volatile substances in Llex Kudincha.26 volatile components were identified by gas chromatography mass spectrometry (GC-MS)method.The identified compounds are 94.83 % of the total volatile substances.
文摘In this paper we recall the different definitions of simultaneity, the coordinate time interval and the velocity. It is emphasized that the above second two definitions depend on the simultaneity. We review the test theories on special relativity. It is shown that anisotropy (if possible) of one-way speed of light has not any ef- fects in the physical experiments. Therefore anisotropy of one-way speed of light cannot be determined by the experiments, except if an absolute (standard) simultaneity would be found.
文摘Mining operation, especially underground coal mining, always has the remarkable risks of ground control. Passive seismic velocity tomography based on simultaneous iterative reconstructive technique （SIRT） inversion is used to deduce the stress redistribution around the longwall mining panel. The mining-induced microseismic events were recorded by mounting an array of receivers on the surface, above the active panel. After processing and filtering the seismic data, the three-dimensional tomography images of the p-wave velocity variations by SIRT passive seismic velocity tomography were provided. To display the velocity changes on coal seam level and subsequently to infer the stress redistribution, these three-dimensional tomograms into the coal seam level were sliced. In addition, the boundary element method （BEM） was used to simulate the stress redistribution. The results show that the inferred stresses from the passive seismic tomograms are conformed to numerical models and theoretical concept of the stress redistribution around the longwall panel. In velocity tomograms, the main zones of the stress redistribution arotmd the panel, including front and side abutment pressures, and gob stress are obvious and also the movement of stress zones along the face advancement is evident. Moreover, the effect of the advance rate of the face on the stress redistribution is demonstrated in tomography images. The research result proves that the SIRT passive seismic velocity tomography has an ultimate potential for monitoring the changes of stress redistribution around the longwall mining panel continuously and subsequently to improve safety of mining operations.
文摘The volatile and semi-volatile components in tobacco flavor additives were extracted by both simultaneous distillation extraction and solid-phase micro-extraction. Extraction conditions for solid-phase micro-extraction were optimized with information theory. Then, detection were accomplished by gas chromatography-mass spectrometry. Characteristic of each method was compared. Qualitative analysis and quantitative analysis of 6# tobacco flavor sample were accomplished through both simultaneous distillation extraction and solid-phase micro-extraction. The experimental results show that solid-phase micro-extraction method is the first choice for qualitative analysis and simultaneous distillation extraction is another good selection for quantitative analysis. By means of simultaneous distillation extraction, 20 components are identified, accounting for 92.77% of the total peak areas. Through solid-phase micro-extraction, there are 17 components identified accounting for 91.49% of the total peak areas. The main aromatic components in 6# tobacco flavor sample are propanoic acid, 2-hydroxy-, ethyl ester, menthol and menthyl acetate. The presented method has been successfully used for quality control of tobacco flavor.
基金the Natural Science Foundation of Fujian Province,China(2019J05024)the Education Department Foundation of Fujian Province,China(JAT170091).
文摘Up to present,the problem of the evaluation of fault diagnosability for nonlinear systems has been investigated by many researchers.However,no attempt has been done to evaluate the diagnosability of multiple faults occurring simultaneously for nonlinear systems.This paper proposes a method based on differential geometry theories to solve this problem.Then the evaluation of fault diagnosability for affine nonlinear systems with multiple faults occurring simultaneously is achieved.To deal with the effect of control laws on the evaluation results of fault diagnosability,a design scheme of the evaluation of fault diagnosability is proposed.Then the influence of uncertainties on the evaluation results of fault diagnosability for affine nonlinear systems with multiple faults occurring simultaneously is analyzed.The numerical simulation results are obtained to show the effectiveness of the proposed evaluation scheme of fault diagnosability.
基金supported by the National Science Fund of China under Grants 61603034China Postdoctoral Science Foundation under Grant 2019M653870XB+1 种基金Beijing Municipal Natural Science Foundation (3182027)Fundamental Research Funds for the Central Universities,China,FRF-GF-17-B44,and XJS191315
文摘At present,simultaneous localization and mapping(SLAM) for an autonomous underwater vehicle(AUV)is a research hotspot.Aiming at the problem of non-linear model and non-Gaussian noise in AUV motion,an improved method of variance reduction fast simultaneous localization and mapping(FastSLAM) with simulated annealing is proposed to solve the problems of particle degradation,particle depletion and particle loss in traditional FastSLAM,which lead to the reduction of AUV location estimation accuracy.The adaptive exponential fading factor is generated by the anneal function of simulated annealing algorithm to improve the effective particle number and replace resampling.By increasing the weight of small particles and decreasing the weight of large particles,the variance of particle weight can be reduced,the number of effective particles can be increased,and the accuracy of AUV location and feature location estimation can be improved to some extent by retaining more information carried by particles.The experimental results based on trial data show that the proposed simulated annealing variance reduction FastSLAM method avoids particle degradation,maintains the diversity of particles,weakened the degeneracy and improves the accuracy and stability of AUV navigation and localization system.
基金Projects(61533021,61321003,61273185)supported by the National Natural Science Foundation of ChinaProject(2015CX007)supported by the Innovation-driven Plan in Central South University,ChinaProject(13JJ8003)supported by the Joint Fund of Hunan Provincial Natural Science Foundation of China
文摘Reagents are optimized for the simultaneous determination of trace amounts of Cu^(2+), Cd^(2+) and Co^(2+) in zinc sulfate solution, which contains an extremely large excess of Zn^(2+). First, the reagents and their doses for the experiment are selected according to the characteristics of the zinc sulfate solution. Then, the reagent doses are optimized by analyzing the influence of reagent dose on the polarographic parameters(i.e. half-wave potential E_(1/2) and limiting diffusion current I_p). Finally, the optimization results are verified by simultaneously determining trace amounts of Cu^(2+), Cd^(2+) and Co^(2+) in the presence of an extremely large excess of Zn^(2+). The determination results indicate that the optimized reagents exhibit wide linearity, low detection limits, high accuracy and good precision for the simultaneous determination of trace amounts of Cu^(2+), Cd^(2+) and Co^(2+) in the presence of an extremely large excess of Zn^(2+).
基金Project(2009ZX07315-002-01) supported by the Water Pollution Control and Management of Major Special Science and Technology, China Project(CDJXS11210001) supported by the Scientific and Technical Innovation Project of Chongqing University Graduation Foundation, China
文摘To enhance the nitrogen removal,a systemic monitoring of the biological and hydrological parameters of Carrousel oxidation ditch in Chongqing Jingkou Wastewater Treatment Plant was carried out to study the feasibility of simultaneous nitrification and denitrification(SND).The variation and distribution of parameters such as flow velocity,concentration of dissolved oxygen(DO) and mixed liquor suspended solids(MLSS) in oxidation ditch were monitored and analyzed,which were major control factors for SND.The results showed that,the dimensional distribution of flow velocity,DO and MLSS were affected significantly by the operation condition of the aeration wheels.With all the four aeration wheels being in operation,DO and flow velocity were higher and the mixing of MLSS was sufficient.With three aeration wheels being in operation,the flow velocity in most of the bottom areas was enough to meet the basic requirements of no deposition,and the anaerobic region and aerobic region could exist simultaneously in one oxidation ditch,which was helpful to the process of SND.According to spatial distribution characteristics of the flow velocity,DO and soluble components under optimized condition,different functional zones of biochemical reaction in the Carrousel oxidation ditch system were defined,which might contribute to the optimization control and SND of Carrousel oxidation ditch.
基金Project(60234030) supported by the National Natural Science Foundation of China project(A1420060159) supported by the National Basic Research
文摘An extended Kalman filter approach of simultaneous localization and mapping(SLAM) was proposed based on local maps. A local frame of reference was established periodically at the position of the robot, and then the observations of the robot and landmarks were fused into the global frame of reference. Because of the independence of the local map, the approach does not cumulate the estimate and calculation errors which are produced by SLAM using Kalman filter directly. At the same time, it reduces the computational complexity. This method is proven correct and feasible in simulation experiments.
基金Projects(61573213,61473174,61473179)supported by the National Natural Science Foundation of ChinaProjects(ZR2015PF009,ZR2014FM007)supported by the Natural Science Foundation of Shandong Province,China+1 种基金Project(2014GGX103038)supported by the Shandong Province Science and Technology Development Program,ChinaProject(2014ZZCX04302)supported by the Special Technological Program of Transformation of Initiatively Innovative Achievements in Shandong Province,China
文摘An innovative multi-robot simultaneous localization and mapping(SLAM)is proposed based on a mobile Ad hoc local wireless sensor network(Ad-WSN).Multiple followed-robots equipped with the wireless link RS232/485module act as mobile nodes,with various on-board sensors,Tp-link wireless local area network cards,and Tp-link wireless routers.The master robot with embedded industrial PC and a complete robot control system autonomously performs the SLAM task by exchanging information with multiple followed-robots by using this self-organizing mobile wireless network.The PC on the remote console can monitor multi-robot SLAM on-site and provide direct motion control of the robots.This mobile Ad-WSN complements an environment devoid of usual GPS signals for the robots performing SLAM task in search and rescue environments.In post-disaster areas,the network is usually absent or variable and the site scene is cluttered with obstacles.To adapt to such harsh situations,the proposed self-organizing mobile Ad-WSN enables robots to complete the SLAM process while improving the performances of object of interest identification and exploration area coverage.The information of localization and mapping can communicate freely among multiple robots and remote PC control center via this mobile Ad-WSN.Therefore,the autonomous master robot runs SLAM algorithms while exchanging information with multiple followed-robots and with the remote PC control center via this local WSN environment.Simulations and experiments validate the improved performances of the exploration area coverage,object marked,and loop closure,which are adapted to search and rescue post-disaster cluttered environments.
基金Projects(60234030 60404021) supported by the National Natural Science Foundation of China
文摘Immune evolutionary algorithms with domain knowledge were presented to solve the problem of simultaneous localization and mapping for a mobile robot in unknown environments. Two operators with domain knowledge were designed in algorithms, where the feature of parallel line segments without the problem of data association was used to construct a vaccination operator, and the characters of convex vertices in polygonal obstacle were extended to develop a pulling operator of key point grid. The experimental results of a real mobile robot show that the computational expensiveness of algorithms designed is less than other evolutionary algorithms for simultaneous localization and mapping and the maps obtained are very accurate. Because immune evolutionary algorithms with domain knowledge have some advantages, the convergence rate of designed algorithms is about 44% higher than those of other algorithms.
基金Project(51404204)supported by the National Natural Science Foundation of ChinaProject(20135121120002)supported by Specialized Research Fund for the Doctoral Program of Higher Education of ChinaProject(2014QHZ005)supported by Scientific Research Starting Projecting of SWPU,China
文摘Based on the impact of the stress perturbation effect created by simultaneous propagation of multiple fractures in the process of simultaneous hydraulic fracturing, a thorough research on the mechanism and adaptation of simultaneous fracturing of double horizontal wells in ultra-low permeability sandstone reservoirs was conducted by taking two adjacent horizontal wells(well Yangping-1 and well Yangping-2 located in Longdong area of China Changqing Oilfield) as field test wells. And simultaneous fracturing optimal design of two adjacent horizontal wells was finished and employed in field test. Micro-seismic monitoring analysis of fracture propagation during the stimulation treatment shows that hydraulic fractures present a pattern of complicated network expansion, and the well test data after fracturing show that the daily production of well Yangping-1 and well Yangping-2 reach105.8 t/d and 87.6 t/d, which are approximately 9.4 times and 7.8 times the daily production of a fractured vertical well in the same area, respectively. Field test reflects that simultaneous hydraulic fracturing of two adjacent horizontal wells can enlarge the expansion area of hydraulic fractures to obtain a lager drainage area and realize the full stimulation of ultra-low permeability sandstone reservoirs in China Changqing oilfield. Therefore, simultaneous fracturing of two adjacent horizontal wells provides a good opportunity in stimulation techniques for the efficient development of ultra-low permeability reservoirs in China Changqing oilfield,and it has great popularization value and can provide a new avenue for the application of stimulation techniques in ultra-low permeability reservoirs in China.
基金supported by the Program of the Aeronautical Science Foundation of China(2013ZC15003)
文摘This paper investigates the jamming sensing performance of the simultaneous transmit and receive based cognitive anti-jamming(SCAJ) receiver impaired by phase noise in local oscillators(LO) over fading channels. Firstly, energy detection(ED)based on the jamming to noise ratio(JNR) of the high frequency bands SCAJ receiver with phase noise under different channels is analyzed. Then, the probabilities of jamming detection and false alarm in closed-form for the SCAJ receiver are derived. Finally,the modified Bayesian Cramer-Rao bound(BCRB) of jamming sensing for the SCAJ receiver is presented. Simulation results show that the performance degradation of the SCAJ system due to phase noise is more severe than that due to the channel fading in the circumstances where the signal bandwidth(BW) is kept a constant. Moreover, the signal BW has an effect on the phase noise in LO, and the jamming detection probability of the wideband SCAJ receiver with lower phase noise outperforms that of the narrowband receiver using the same center frequency. Furthermore,an accurate phase noise estimation and compensation scheme can improve the jamming detection capability of the SCAJ receiver in high frequency bands and approach to the upper bound.
文摘An improved method with better selection capability using a single camera was presented in comparison with previous method. To improve performance, two methods were applied to landmark selection in an unfamiliar indoor environment. First, a modified visual attention method was proposed to automatically select a candidate region as a more useful landmark. In visual attention, candidate landmark regions were selected with different characteristics of ambient color and intensity in the image. Then, the more useful landmarks were selected by combining the candidate regions using clustering. As generally implemented, automatic landmark selection by vision-based simultaneous localization and mapping(SLAM) results in many useless landmarks, because the features of images are distinguished from the surrounding environment but detected repeatedly. These useless landmarks create a serious problem for the SLAM system because they complicate data association. To address this, a method was proposed in which the robot initially collected landmarks through automatic detection while traversing the entire area where the robot performed SLAM, and then, the robot selected only those landmarks that exhibited high rarity through clustering, which enhanced the system performance. Experimental results show that this method of automatic landmark selection results in selection of a high-rarity landmark. The average error of the performance of SLAM decreases 52% compared with conventional methods and the accuracy of data associations increases.
