状态变换扩展卡尔曼平滑算法在AUV水下航迹修正中的应用

水下自主潜航器(AUV)在水下勘测过程中常采用定期上浮的方式利用卫星定位信息(GNSS)校正惯性/多普勒测速仪(SINS/DVL)组合导航造成的位置误差,并通过平滑算法校正之前计算的水下航迹。针对AUV上浮前的水下航迹矫正问题,提出一种基于计算地理坐标系的状态变换扩展卡尔曼平滑算法(STEKF-RTS)。首先推导状态变换扩展卡尔曼滤波器的系统误差状态方程,并分别以GNSS信息和DVL速度为观测信息构建量测方程,以此系统模型进行前向滤波。完成前向滤波后,即潜航器上浮GNSS校正完成后,采用RTS平滑算法对水下航行阶段的航迹进行修正。实验结果表明,STEKF相较于EKF能减缓位置误差积累,STEKF-RTS相比EKF-RTS平滑算法能够进一步有效校正航线误差,1 h上浮时间间隔情况下,勘测航迹精度可控制在0.5%D以内。     

旋转工况下小型液冷源设计

设计了一种适用于旋转工况的小型液冷源,该液冷源采用强迫风冷换热器的原理。液冷源液路循环采用闭式系统设计以适应旋转工况的要求,液位检测采用光电式液位传感器,通过单向阀和电磁阀的组合使用可有效防止水锤效应。该系统具有体积小、重量轻、环境适应性强等优点。     

Form Invariance and Noether Symmetries of Rotational Relativistic Birkhoff Systems

Under the infinitesimal transformations of groups,a form invariance of rotational relativistic Birkhoff systems is studied and the definition and criteria are given,In view of the invariance of rotational relativistic Pfaff-Birkhoff-D‘ Alembert principle under the infinitesimal transformations of groups,the theory of Noether symmetries of rotational relativistic Birkhoff systems are constructed.The relation between the form invariance and the Noether symmetries is studied ,and the conserved quantities of rotational relativistic Birkhoff systems are obtained.     

基于旋转描述的三维几何造型方法

提出了一种能用凸四边形表示并可作平面展开的三维实体造型的设计方法。该方法用旋转描述表把二维平面展开图和三维实体联系起来，模拟人工折叠过程，由二维平面展开图逐次旋转变换完成三维造型重建。造型重建后，再通过纹理映射将平面设计图案映射到实体的各个面上，完成对实体着色渲染，生成具有真实感的三维实体。     

Gamow—Teller Resonance of 90Zr in a Relaztivistic Approach

We establish the formalism of nuclear spin-isospin excitations,especially the Gamow-Teller resonance in a fully consstent relativistic random-phase approximation.A relativistic form of the Landau-Migdal parameter g‘ is adopted as a residual spin-isospin correlation force.In the non-relativistic limit it reproduces the excitation energy of the giant Gamow-Teller resonance state obtained in the non-relativistic model.The Gamow-Teller resonance for finite nuclei is investigated in a relativistic approach for the first time.It is found that the Ikeda sum rule of 90Zr is quenched about 8% in the Hartree as well as the correlated strengths due to the poles of the negative Dirac states at energies above 1 GeV.     

Rotational Deformation of Neutron Stars

The rotational deformations of two kinds of neutron stars are calculated by using Hartle‘s slow-rotation formulism. The results show that only the faster rotating neutron star gives an obvious deformation. For the slow rotating neutron star with a period larger than hundreds of millisecond, the rotating deformation is very weak.     

Optimal Control of Non-well-posed Heat Equations

This work is concerned with Pontryagin＇s maximum principle of optimal control problems governed by some non-well-posed semilinear heat equations. A type of approach to the non-well-posed optimal control problem is given.     

巧用两只弹簧的组合 加深对简谐振动的理解

如果放在光滑桌面上的物体只受一只弹簧的作用，那么物体所作的运动是简揩运动．简谐运动是一种最简单的基本运动，它的动力学特点是物体所受合力满足F=-kx，该力叫回复力．简谐运动的特点是具有周期性，周期T=2π√m/k，其中m是振动物体质量，k是回复力     

Experimental Creation of Entanglement Using Separable States

We experimentally demonstrate that the entanglement can be created on two distant particles using separable states. We show that two working particles can share some entanglement, while one ancilla particle always remains separable from the two working particles during the experimental evolution of the system. Our experiment can be viewed as a benchmark to illustrate the idea that no prior entanglement is necessary to create entanglement.