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。     

对位酚类衍生物作为化学发光分析的增强剂研究

在化学发光分析中，常常要用到碱性条件下鲁米诺与过氧化氢的反应系统，通过催化剂辣根过氧化物酶使反应顺利进行。如果再加入适当的增强剂，则灵敏度提高且发光时间延长，可改善测定的重现性。实验证明，对位酚类衍生物，如：对叔丁基苯酚，对甲苯酚的发光增强作用明显，其发光效率可上升几十倍，发光时间也获得有效延长。     

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.     

Dissociative Chemisorption of an H2（v,j） Molecule on Rigid Ni （100） Surface： Dependence on Surface Topologies and Initial Rovibrational States of the Molecules

The H2(v,j) Ni(100) collision system has been studied to understand the effects of the surface sites and initial rovibrational states of the molecule on molecule-surface interactions, by a quasiclassical molecular dynamic simulation method. Dissociative adsorption of an H2 molecule on the rigid Ni(100) surface is investigated at topologically different three sites of the surface. Interaction between the molecule and Ni surface was described by a London-Eyring-Polani-Sato (LEPS) potential. Dissociative chemisorption probabilities of the H2(v, j) molecule on various sites of the surface are presented as a function of the translation energies between 0.001-1.0eV. The probabilities obtained at each collision site have unique behaviour. At lower collision energies, indirect processes enhance the reactivity, effects of the rotational excitations and impact sites on the reactivity are more pronounced. The results are compared with the available studies. The physical mechanisms underlying the results and quantum effects are discussed.     

耦合映像格子中时空混沌的状态反馈控制

利用状态反馈的方法，实现了耦合映像格子中时空混沌的稳定控制.反馈方式可以是没有延迟的，也可以是有延迟的；控制方式可以是连续的，也可以是脉冲的.数值模拟结果证明了状态反馈方法的有效性. 关键词： 耦合映像格子 时空混沌 状态反馈控制     

Crystal Structures of Two Potential Tumor Imaging Agents and Therapeutic Agents Copper（Ⅱ） Ternary Complexes with Salicylidene-tyrosinato Schiff Base and Nitrogen-donor Chelating Lewis Base

The crystal structures of two potential tumor imaging agents and therapeutic agents -copper(Ⅱ) complexes with salicylidene-tyrosinato Schiff base and nitrogen-donor chelating Lewis base, [Cu(sal-tyr)(bipy)] 1 and [Cu(sal-tyr)(phen)]2CH3OH 2 are presented. Our work is helpful to get deep understanding of novel 64Cu tumor imaging agents and therapeutic agents.     

NECESSARY CONDITIONS FOR OPTIMAL CONTROLS OF SEMILINEAR ELLIPTIC VARIATIONAL INEQUALITIES INVOLVING STATE CONSTRAINT

This paper deals with maximum principle for some optimal control problem governed by some elliptic variational inequalities. Some state constraints are discussed. The basic techniques used here are based on those in [1] and a new penalty functional defined in this paper.