简介：ThecharacteristicsofsuspendedsedimentimagecanbereflectedbythecoefficientsofbiorthogonalwavelettransformofCDF(2,2).Basedonthepowerdistributionindifferentscales,anadaptivealgorithmisproposedinthispaper,wherebythecoefficientsareadjustednon-linearly.Theparticleinformationcanbewellretainedwhiletheuselessbackgroundisremoved.Inthisway,satisfactorybinaryimagecanbeobtainedforfurtheranalysisofthesedimentparticle.

简介：运用组合导航技术,将INS与GPS两者有机组合,能很好地克服各自的缺点,形成优势互补结构.在GPS/INS组合导航的基础上,引入协方差配置鲁棒滤波技术,不仅能有效提高导航的性能和精度,而且增强导航系统的鲁棒性,从而构成比较理想的组合导航系统.

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简介：TiO2@ZrO2@Y2O3:有coremultishell结构的Eu3+合成粒子通过layer-by-layer(LBL)的联合被综合自己组装方法和一个solgel过程。获得的样品与扫描电子被描绘显微镜学(SEM)，传播电子显微镜学(TEM)，X光检查光电子光谱学(XPS)，X光检查衍射(XRD)，和荧光spectrophotometry。结果证明合成粒子有coremultishell结构，球形的形态学，和狭窄的尺寸分布。TiO2核心上的ZrO2层的存在能有效地阻止在TiO2核心和Y2O3壳之间的反应；为在在TiO2@ZrO2@Y2O3的TiO2核心和Y2O3壳之间的反应的温度:Eucoremultishell黄磷能被300提高

简介：TheinfluenceofNa2SO4ontheformationofZnOwhiskerswasinvestigatedinthispaper.ZnOwhiskerswithaspectratiosofupto50weresynthesizedbydissolvingε-Zn（OH）2precursorinNaOH/Na2SO4solutionatroomtemperature,followedbyagingoftheresultingsolutionat140℃for6h.Fouriertransforminfraredspectroscopy,Ramanspectroscopy,andX-rayphotoelectronspectroscopyanalysesrevealedthatSO42-ionswereprimarilyadsorbedonthe（100）planeoftheZnOwhiskersviaanouter-spherecomplexconfiguration（O-H…O）,therebypromotingtheone-dimensionalgrowthofZnOwhiskersalongthec-axis.

简介：传统惯性/卫星紧组合导航系统采用载波相位平滑伪距可以有效提高伪距观测量精度，但平滑伪距后观测量噪声不符合白噪声特性而导致卡尔曼滤波器容易发散；同时由于周跳的存在会更加严重影响滤波器的稳定性。针对上述问题，分析了平滑伪距噪声特性并建立了噪声模型，在此基础上设计了鲁棒自适应滤波算法对观测噪声进行实时估计和补偿，结合抗差估计理论进行滤波以减小观测量噪声水平和模型不确定对滤波器带来的影响。理论分析和仿真结果表明，在复杂环境下，基于载波相位平滑伪距的鲁棒自适应紧组合导航系统定位精度提高了一倍以上。

简介：在时变通信延迟下研究了无人机群编队的鲁棒自适应控制问题。对于无人机编队系统中存在外部扰动和模型不确定性的情况,通过选取包含位置跟踪误差和速度跟踪误差的辅助变量,提出了一种适用于时变通信延迟的鲁棒自适应编队控制策略。提出了自适应律对无人机质量、外界扰动的上界等未知参数进行估计,并且利用Lyapunov稳定性理论分析了闭环系统的渐近稳定性,给出了系统渐近稳定所需要满足的条件。数值仿真结果表明,所提出的控制方法既能抑制外界扰动和模型不确定性对控制器的影响,同时队形跟踪和队形保持的稳态误差分别小于0.1m和0.05m。

简介：针对四旋翼无人机鲁棒自适应飞行问题,提出了一种基于指数收敛的控制方法。考虑到四旋翼系统的欠驱动、强耦合等非线性特性,采用线性化反馈控制策略实现对其轨迹追踪飞行能力的基本控制;针对线性化反馈控制易受系统内外部未知干扰等影响,采用基于指数收敛干扰观测器组合控制设计,实现四旋翼飞行的鲁棒与自适应控制;线性反馈及状态观测器控制系统基于指数收敛稳定。进行了仿真分析,结果表明,干扰观测器对四旋翼系统中存在的未知干扰具有很好的估计能力,所设计的基于指数收敛控制系统,结构简单,且具有较强的干扰抑制能力和较高的系统稳定性,满足四旋翼无人机的鲁棒及自适应飞行能力要求。

简介：基于Krein空间的鲁棒Kalman滤波器与通过其它方法建立的鲁棒Kalman滤波器相比有较高稳态精度。文中将基于Krein空间的鲁棒Kalman滤波方法用于导弹捷联惯导系统动基座传递对准，并与标准Kalman滤波进行了比较。仿真结果表明，在垂直比力参数存在摄动的情况下，如果基于Krein空间的鲁棒Kalman滤波器的参数选取适当，它的精度鲁棒性优于标准Kalman滤波。

简介：TiO2nanoparticlesweresynthesizedbyahomogeneouscontrolledprecipitationmethodusingindustrialtitaniumsulfate(Ti(SO4)2).TheobtainedpowderswerecharacterizedbyX-raydiffraction(XRD),transmissionelectronmicroscope(TEM),Fouriertransforminfraredspectroscopy(FTIR)andICPplasmaspectrometer.EDTAwasusedascomplexingagenttoimprovethepurityandtheformationofTiO2nanoparticles.Experimentalresultsindicatedthatthehigh-purityTiO2nanoparticleswere20nminmeansizeandnearlymonodispersed.

简介：PureAl2O3-2SiO2powderswerepreparedbysol-gelandcoprecipitationmethods,andtheiralkaliactivationreactivitieswerecompared.Thealkali-activationreactivityofthepowderpreparedbythesol-gelmethodwashigherthanthatofthepowderpreparedbythecoprecipitationmethod.Thepowderswereinvestigatedby27AIand29Simagic-anglespinningnuclearmagneticresonancespectroscopy（MASNMR）tounderstandtherelationshipbetweentheirstructureandalkali-activationreactivity.The27AlMASNMRdatashowedthatthefive-coordinateAIcontentofthepowderpreparedbythesol-gelmethodwashigherthanthatofthepowderpreparedbycoprecipitation.Thehighercontentoffive-coordinateAlcorrespondedtohigheralkali-activationreactivity.The29SiMASNMRdatashowedthatforthepowderpreparedbythesol-gelmethod,siliconwasreplacedbyaluminumatsecondarycoordinationsitesofthecentralSiatomsduringcalcination.However,forthepowderpreparedbysingle-batchcoprecipitation,themainchangewasfromalowdegreeofpolycondensationtoahighdegreeofpolycondensation.

简介：针对四旋翼无人机轨迹追踪问题,提出了一种基于扩张状态观测器的鲁棒滑模控制方法。考虑无人机系统受到内外部扰动、线速度未知等不确定性影响,通过引入扩张状态观测器,对系统不确定因素进行实时估计并给予补偿,实现了系统对扰动的鲁棒性和对环境的高度适应性。同时,滑模控制通过引入切换函数来消除干扰及不确定项,但较大的切换增益会引起系统颤振,因此,干扰和不确定项是颤振的主要来源,利用扩张状态观测器来估计干扰及不确定项并加以补偿,消除了颤振。利用Lyapunov理论,证明了控制系统的稳定性。系统仿真实验结果表明,所提出的控制方法能够保证四旋翼无人机轨迹追踪的鲁棒性,旋翼转速最大跳变幅值降低86.4%-94.5%,提高了系统稳定性。

简介：HomogeneousNi2+-dopedtitaniagelwassynthesizedbyasol-gelprocess,andthexerogelwasthenobtainedthroughaginganddrying,leadingtotheformationofNi/TiO2nanocompositeafterheattreatmentunderasuitablereducingatmosphere.TheresultingnanocompositewascharacterizedbyTGA-DSC,TEM,XRDandBETmethods.Theresultsshowthatthestructureandgrainsizeofthenanocompositescouldbemanipulatedbyalteringtheheat-treatmentconditions,andthatthenanocompositepossessesamesoporousstructurewithaporeradiusofca.28nmandaspecifictheanatase-rutilephasetransformation.

简介：DrivenbycuriosityaboutpossibleflightoptionsfortheChang’e-2spacecraftafteritremainsattheSun-EarthL2point,effectiveapproachesweredevelopedfordesigningpreliminaryfuel-optimalnear-Earthasteroidflybytrajectories.Theapproachesincludetheuseofmodifiedunstablemanifolds,gridsearchofthemanifolds’parameters,andatwo-impulsemaneuverfororbitalphasematchingandz-axisbiaschange,andaredemonstratedtobeeffectiveinasteroidtargetscreeningandtrajectoryoptimization.Asteroidflybysareexpectedtobewithinadistanceof2×107kmfromtheEarthowingtotheconstrainedEarth-spacecraftcommunicationrange.Inthiscase,thespacecraft’sorbitalmotionissignificantlyaffectedbythegravitiesofboththeSunandtheEarth,andtherefore,theconceptofthe"heliocentricoscillating-Keplerorbit"isproposed,becausetheclassicalorbitalelementsoftheflybytrajectoriesreferencedintheheliocentricinertialframeoscillatesignificantlywithrespecttotime.Theanalysisandresultspresentedinthisstudyshowthat,amongtheasteroidswhoseorbitsarethemostaccuratelypredicted,"Toutatis","2005NZ6",or"2010CL19"mightbeencounteredbyChang’e-2inlate2012or2013withtotalimpulseslessthan100m/s.

简介：Lithium-aluminum-cobalt-nickeloxideLiAlxCoyNi1xyO2particles,generallyusedascathodeoflithiumbattery,werepreparedbychemicalcoprecipitationfromanaqueoussolutionofLiOH,Al(NO3)3,Co(NO3)2andNi(NO3)2withNH4OH.XRD,SEMandFTIRwereusedtoexaminetheeffectofnickelcontentontheproduct.FTIRpatternsshowedthatincreaseinnickelcontentdecreasedtheabsorptionstrengthofthepeakofspinelstructureoftheproduct,attributedtotheoccupationbynickelinthealuminumsites.Particlesizeandelectricalpropertiesofthelithium-aluminum-cobalt-nickeloxide(abbreviatedasLACNO)particleswerealsodetermined.

简介：The(2+1)-dimensionalBKPequationintheHirotabilinearformisstudiedduringthiswork.WronskianandGrammiantechniquesareappliedtotheconstructionofWronskianandGrammiansolutionsofthisequation,respectively.ItisshownthatthesesolutionscanbeexpressedasnotonlyPfaffiansbutalsoWronskiansandGrammians.

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简介：Thecoordinationpolymer,(Nd(H2O)5)2(2,6-AQDS)3·2H2Owhere2,6-AQDS=2,6-anthraquinonedisulfonate,hasbeensynthesisedviaahydrothermalroute.Structurally,itconsistsoflayersofmonomericNdpolyhedrawhicharelinkedby2,6-AQDSanionsformingapolymeric,three-dimensionalnetwork.EachNdatomisninecoordinate,bondingtofivewatermoleculesandtofouroxygenatomsfromfour2,6-AQDSanionswhichinturnpillarthelayersbybridgingtwoNdatomsinonelayer,andcoordinatingtoasingleNdintheother.

简介：NanocrystallineSnO2wassynthesizedbydirectmixingandgrindingofSnCI4-5H2OandNaOHatroomtemperature,followedbycalcinationatdifferenttemperaturesfordifferenttimesinair.ProductsampleswerecharacterizedbyX-raydiffractionandtransmissionelectronmicroscope,revealingthattheamorphousprecursorSnO2wastransformedtocrystalsat200℃for3h,andthattheaverageparticlesizeincreaseduponraisingthecalciningtemperatureorprolongingthecalciningtime.Themechanismofthephasetransformationoftheproductsisdiscussed.

简介：连贯的多角形的粒子的二维的分离元素模型(DEM)模拟被开发了估计点来源颤动的利益在楔形的hoppers导致流动。使用的particleparticle相互作用模型基于一个多接触原则。没有颤动，学习的第一部分在严肃下面调查了粒子分泌物决定批评的孔尺寸(Bc)就作为粒子形状的功能支撑流动。多角形形状的粒子比圆形的粒子需要一个更大的孔，这被显示出。当粒子顶点的数字增加，Bc减少，这也被显示出当粒子顶点的数字增加。圆形的粒子的增加以一种线性方式支持多角形的流动。学习的第二部分证明那颤动能提高流动，有效地减少Bc。模型表明了震荡器地点(高度)的重要性，与在提高的以前的连续统模型结果，和颤动振幅一致流动。