Because the signals of global positioning system （GPS） satellites are susceptible to obstructions in urban environment with many high buildings around, the number of GPS useful satellites is usually less than six. I...Because the signals of global positioning system （GPS） satellites are susceptible to obstructions in urban environment with many high buildings around, the number of GPS useful satellites is usually less than six. In this case, the receiver autonomous integrity monitoring （RAIM） method earmot exclude faulty satellite. In order to improve the performance of RAIM method and obtain the reliable positioning results with five satellites, the series of receiver clock bias （RCB） is regarded as one useful satellite and used to aid RAIM method. From the point of nonlinear series, a grey-Markov model for predicting the RCB series based on grey theory and Markov chain is presented. And then the model is used for aiding RAIM method in order to exclude faulty satellite. Experimental results demonstrate that the prediction model is fit for predicting the RCB series, and with the clock-based RAIM method the faulty satellite can be correctly excluded and the positioning precision of GPS receiver can be improved for the case where there are only five useful satellites.展开更多
To overcome the deficiencies addressed in the conventional PID control and improve the dynamic performance and robustness of the system, a simple design and parameters tuning approach of internal model control-PID （I...To overcome the deficiencies addressed in the conventional PID control and improve the dynamic performance and robustness of the system, a simple design and parameters tuning approach of internal model control-PID （IMC-PID） controller was proposed for the first order plus time-delay （FOPTD） process and the second order plus time-delay （SOPTD） process. By approximating the time-delay term of the process model with the first-order Taylor series, the expressions for IMC-PID controller parameters were derived, and they had only one adjustable parameter 2 which was directly related to the dynamic performance and robustness of the system. Moreover, an analytical approach of selecting 2 was given based on the maximum sensitivity Ms. Then, the robust tuning of the system could be achieved according to the value of Ms. In addition, the proposed method could be extended to the integrator plus time-delay （IPTD） process and the first order delay integrating （FODI） process. Simulation studies were carried out on various processes with time-delay, and the results show that the proposed method could provide a better dynamic performance of both the set-point tracking and disturbance rejection and robustness against parameters perturbation.展开更多
In this paper, we integrate inertial navigation system (INS) with wireless sensor network (WSN) to enhance the accuracy of indoor localization. Inertial measurement unit (IMU), the core of the INS, measures the accele...In this paper, we integrate inertial navigation system (INS) with wireless sensor network (WSN) to enhance the accuracy of indoor localization. Inertial measurement unit (IMU), the core of the INS, measures the accelerated and angular rotated speed of moving objects. Meanwhile, the ranges from the object to beacons, which are sensor nodes with known coordinates, are collected by time of arrival (ToA) approach. These messages are simultaneously collected and transmitted to the terminal. At the terminal, we set up the state transition models and observation models. According to them, several recursive Bayesian algorithms are applied to producing position estimations. As shown in the experiments, all of three algorithms do not require constant moving speed and perform better than standalone ToA system or standalone IMU system. And within them, two algorithms can be applied for the tracking on any path which is not restricted by the requirement that the trajectory between the positions at two consecutive time steps is a straight line.展开更多
A simple, reliable and rapid isocratic liquid chromatography(LC)-mass spectrometric detection(MS) coupled with electrospray ionization(ESI) method for simultaneous separation and determination of calycosin-7-O-β-D-gl...A simple, reliable and rapid isocratic liquid chromatography(LC)-mass spectrometric detection(MS) coupled with electrospray ionization(ESI) method for simultaneous separation and determination of calycosin-7-O-β-D-glucoside, ononin, calycosin and formonometin in Astragali Radix was developed. After the samples were extracted with ethanol, the optimum separation conditions for these analytes were achieved using water and acetonitrile(70:30, v/v) containing 0.2%(v/v) acetic acid as a mobile phase and a 2.0 mm×150 mm Hypersil-Keystone C18 column. Selective ion monitoring(SIM) mode and [M+H]+ ions at m/z 447, 431, 285 and 269 were used for quantitative analysis of four main active components above mentioned. The calibration curves were linear in the range of 0.4-175.0 μg/mL for calycosin-7-O-β-D-glucoside, 0.2-146.0 μg/m L for ononin, 0.4-210.0 μg/mL for calycosin and 0.5-217.0 μg/mL for formonetion, respectively. The limits of quantification(LOQ) and detection(LOD) were 0.4 μg/mL and 0.08 μg/m L for calycosin-7-O-β-D-glucoside, 0.2 μg/mL and 0.06 μg/m L for ononin, 0.4 μg/mL and 0.1 μg/mL for calycosin, 0.5 μg/m L and 0.1 μg/m L formonetion, respectively. The standard recoveries were in the range of 96.5%-104.7%. The developed method has successfully been used for the determination of four main flavonoids in Astragali Radix from various sources and can be used for identification, differentiation and quality evaluation of Astragali Radix.展开更多
Perfluorolyether is characterized by highly chemical inertness, oxidative stability, anticorrosion as well as radiation resistance. It can be used as lubricant especially in harsh environmental conditions. In this wor...Perfluorolyether is characterized by highly chemical inertness, oxidative stability, anticorrosion as well as radiation resistance. It can be used as lubricant especially in harsh environmental conditions. In this work, hexafluoropylene oxide was catalytically polymerized at low temperature using the methods of anionic polymerization, and perfluorolyethers were obtained with number-average degree of polymerization more than 15. CsF and RbF were used as catalysts and their catalytic activities were investigated. Experimental results show that perfluorolyethers with number-average molar masses up to 3 000 g/mol could be obtained using the two kinds of catalysts, respectively. As compared to CsF, the number-average degree of polymerization is higher and the relative molecular mass distribution interval is narrower when RbF is used as catalyst. The effect of factors such as impurities＇ content, reaction temperature and reaction time on the number-average degree of polymerization was also investigated. It is found that low impurities＇ content and low temperature are beneficial to the generation of high number-average degree of perfluorolyethers. The optimization reaction time is 24 h, and fiarther increase of reaction time does not significantly affect the average relative molecular mass. The product was characterized by IR, 19F NMR and GC-MS, and the catalytic mechanism was analyzed finally.展开更多
基金Project(20090580013) supported by the Aeronautic Science Foundation of ChinaProject(ZYGX2010J119) supported by the Fundamental Research Funds for the Central Universities,China
文摘Because the signals of global positioning system （GPS） satellites are susceptible to obstructions in urban environment with many high buildings around, the number of GPS useful satellites is usually less than six. In this case, the receiver autonomous integrity monitoring （RAIM） method earmot exclude faulty satellite. In order to improve the performance of RAIM method and obtain the reliable positioning results with five satellites, the series of receiver clock bias （RCB） is regarded as one useful satellite and used to aid RAIM method. From the point of nonlinear series, a grey-Markov model for predicting the RCB series based on grey theory and Markov chain is presented. And then the model is used for aiding RAIM method in order to exclude faulty satellite. Experimental results demonstrate that the prediction model is fit for predicting the RCB series, and with the clock-based RAIM method the faulty satellite can be correctly excluded and the positioning precision of GPS receiver can be improved for the case where there are only five useful satellites.
基金Project(2007011049) supported by the Natural Science Foundation of Shanxi Province,China
文摘To overcome the deficiencies addressed in the conventional PID control and improve the dynamic performance and robustness of the system, a simple design and parameters tuning approach of internal model control-PID （IMC-PID） controller was proposed for the first order plus time-delay （FOPTD） process and the second order plus time-delay （SOPTD） process. By approximating the time-delay term of the process model with the first-order Taylor series, the expressions for IMC-PID controller parameters were derived, and they had only one adjustable parameter 2 which was directly related to the dynamic performance and robustness of the system. Moreover, an analytical approach of selecting 2 was given based on the maximum sensitivity Ms. Then, the robust tuning of the system could be achieved according to the value of Ms. In addition, the proposed method could be extended to the integrator plus time-delay （IPTD） process and the first order delay integrating （FODI） process. Simulation studies were carried out on various processes with time-delay, and the results show that the proposed method could provide a better dynamic performance of both the set-point tracking and disturbance rejection and robustness against parameters perturbation.
基金Project(61301181) supported by the National Natural Science Foundation of China
文摘In this paper, we integrate inertial navigation system (INS) with wireless sensor network (WSN) to enhance the accuracy of indoor localization. Inertial measurement unit (IMU), the core of the INS, measures the accelerated and angular rotated speed of moving objects. Meanwhile, the ranges from the object to beacons, which are sensor nodes with known coordinates, are collected by time of arrival (ToA) approach. These messages are simultaneously collected and transmitted to the terminal. At the terminal, we set up the state transition models and observation models. According to them, several recursive Bayesian algorithms are applied to producing position estimations. As shown in the experiments, all of three algorithms do not require constant moving speed and perform better than standalone ToA system or standalone IMU system. And within them, two algorithms can be applied for the tracking on any path which is not restricted by the requirement that the trajectory between the positions at two consecutive time steps is a straight line.
基金Project(21472110)supported by the National Natural Science Foundation of ChinaProject(LY15B050008)supported by the Natural Science Foundation of Zhejiang Province,ChinaProject(2013Y003)supported by Quzhou Technology Projects,China
文摘A simple, reliable and rapid isocratic liquid chromatography(LC)-mass spectrometric detection(MS) coupled with electrospray ionization(ESI) method for simultaneous separation and determination of calycosin-7-O-β-D-glucoside, ononin, calycosin and formonometin in Astragali Radix was developed. After the samples were extracted with ethanol, the optimum separation conditions for these analytes were achieved using water and acetonitrile(70:30, v/v) containing 0.2%(v/v) acetic acid as a mobile phase and a 2.0 mm×150 mm Hypersil-Keystone C18 column. Selective ion monitoring(SIM) mode and [M+H]+ ions at m/z 447, 431, 285 and 269 were used for quantitative analysis of four main active components above mentioned. The calibration curves were linear in the range of 0.4-175.0 μg/mL for calycosin-7-O-β-D-glucoside, 0.2-146.0 μg/m L for ononin, 0.4-210.0 μg/mL for calycosin and 0.5-217.0 μg/mL for formonetion, respectively. The limits of quantification(LOQ) and detection(LOD) were 0.4 μg/mL and 0.08 μg/m L for calycosin-7-O-β-D-glucoside, 0.2 μg/mL and 0.06 μg/m L for ononin, 0.4 μg/mL and 0.1 μg/mL for calycosin, 0.5 μg/m L and 0.1 μg/m L formonetion, respectively. The standard recoveries were in the range of 96.5%-104.7%. The developed method has successfully been used for the determination of four main flavonoids in Astragali Radix from various sources and can be used for identification, differentiation and quality evaluation of Astragali Radix.
基金Project(53110704012) supported by the Fundamental Research Funds for the Central Universities,China
文摘Perfluorolyether is characterized by highly chemical inertness, oxidative stability, anticorrosion as well as radiation resistance. It can be used as lubricant especially in harsh environmental conditions. In this work, hexafluoropylene oxide was catalytically polymerized at low temperature using the methods of anionic polymerization, and perfluorolyethers were obtained with number-average degree of polymerization more than 15. CsF and RbF were used as catalysts and their catalytic activities were investigated. Experimental results show that perfluorolyethers with number-average molar masses up to 3 000 g/mol could be obtained using the two kinds of catalysts, respectively. As compared to CsF, the number-average degree of polymerization is higher and the relative molecular mass distribution interval is narrower when RbF is used as catalyst. The effect of factors such as impurities＇ content, reaction temperature and reaction time on the number-average degree of polymerization was also investigated. It is found that low impurities＇ content and low temperature are beneficial to the generation of high number-average degree of perfluorolyethers. The optimization reaction time is 24 h, and fiarther increase of reaction time does not significantly affect the average relative molecular mass. The product was characterized by IR, 19F NMR and GC-MS, and the catalytic mechanism was analyzed finally.
