分光再利用型激光多普勒测速仪及其与捷联惯导组合导航

为了抑制惯性导航系统的误差累积效应,提出了用激光多普勒测速仪与捷联惯导进行组合。基于分光再利用的思想设计了新型光路结构的激光多普勒测速仪,并详细讨论了激光测速仪与捷联惯导组合进行航迹推算的过程。理论分析和实验结果表明,分光再利用型激光多普勒测速仪测量精度高、数据有效性及稳定性好,将其用于车载惯性导航系统大大提高了导航精度,位置误差由纯捷联惯导2 h1166 m提高到组合系统2 h 20 m。     

GPS/SINS组合系统动态性能研究

本文讨论如何利用GPS接收机的高精度定位信息来标定和补偿捷联惯性导航系统(SINS,以下用缩写代替)的积累误差。文中叙述了GPS/SINS组合系统的主要特点、组成、设计和实现,同时给出了实验室静态测试数据和跑车试验中的主要结果。     

基于局部连续场的重力匹配辅助导航

重力匹配辅助惯性导航是一种在惯性导航系统定位信息基础上利用地球重力场特征获取载体位置信息的组合导航技术。一般匹配辅助导航方法都是建立在格网化离散场的基础上,考虑到用局部连续场逼近离散散场的可行性,提出了利用连续场实现相关极值匹配算法,建立了基于局部连续场的相关极值匹配算法模型,采用随机初值迭代方式改进拟牛顿方法以实现在置信范围内全局寻优。最后在三组不同仿真条件下对该算法进行了仿真实验。从实验结果可以看出,在观测误差、初始定位误差较大的情况下,通过该算法获得的匹配航迹仍能以较高的精度跟踪真实航迹,从而验证了算法的有效性。     

基于足部微惯性/地磁测量组件的个人导航方法

为降低个人导航定位对卫星导航系统(GNSS)的依赖性,研究了一种基于足部安装微惯性/地磁测量组件的个人导航定位方法.该方法通过微惯性测量组件信息进行捷联惯导解算获得人体足部的姿态、速度与位置信息,利用磁传感器确定运动的航向信息,并采用基于步态相位检测的零速修正方法,实时修正MEMS惯性导航系统的导航信息误差以及惯性传感器的随机误差,从而减缓惯性导航系统的定位误差随时间的积累.导航定位实验结果表明,直线与矩形行进路线的导航定位误差在行进约9 min时分别保持在2 m与6 m左右,分别占行进距离的1.1％与2.5％.该实验结果证明所提出的方法可有效提高个人导航系统的定位精度,在GNSS信号衰减或失效的环境中可实现较长时间的个人导航定位.     

基于雷达测距与角位置辅助的SINS空中对准方法

针对卫星导航受限条件下捷联惯性导航系统(SINS)空中初始对准问题,提出了一种基于雷达测量斜距-角位置匹配模型。推导了传统雷达位置匹配模型方案量测线性化过程,说明了线性化后量测噪声统计特性随斜距变化的缺陷,同时提出直接采用雷达测量的距离和角位置作为量测信息的对准方案。根据雷达与飞行器之间的相对位置关系,建立了雷达斜距与角位置信息辅助的捷联惯性导航系统初始对准量测方程,利用无迹卡尔曼滤波器(UKF)解决了量测方程非线性问题。最后通过200次蒙特卡洛分析仿真验证了算法的可行性,斜距大于50 km条件下,300 s时航向对准误差角统计均值为?0.0289°,统计标准差为0.0377°,同时有较高的水平对准精度,且明显优于传统位置匹配对准方案。     

车载定位定向系统误差在线补偿方法

针对里程计输出为位置增量,传统SINS/里程计组合方法会对位置增量进行微分或积分从而会产生一定噪声或误差,且里程计标定残差影响高精度定位定向系统性能的问题,提出了一种基于位置增量组合的定位定向系统误差在线估计和补偿方法。该方法除了将惯性器件误差列入状态量外,还将里程计安装误差残差、标度因数误差等纳入状态量进行实时估计,将惯性导航系统输出的速度增量进行积分获得位置增量,同时与里程计输出位置增量进行比对,构建量测方程。设计跑车试验对该方法进行了验证,结果表明该方法可以有效估计惯性器件误差和里程计参数误差,同时相比速度组合方法而言,定位精度可提高40%。     

基于外定位阻尼的捷联惯导算法设计

传统外阻尼惯导系统以外速度作为辅助参考,但在仅能提供外定位参考的条件下,为了避免由定位信号差分求取速度时造成噪声放大负面效应,推导了基于定位误差的罗经初始对准算法,并将它与捷联惯导姿态解算相结合,得到定位阻尼捷联惯导算法.该算法具有计算量小和稳定性好等优点,但与Kalman滤波组合导航相比,也有它自己的应用条件并存在一些不足之处.最后,利用GPS定位和激光捷联惯导系统进行了车载试验,验证了所提算法的有效性.     

SINS/GPS/CNS 组合导航联邦滤波算法

针对飞行器在长航时高速巡航过程中,捷联惯性导航系统存在误差漂移,GPS 导航可能会丢星、信号失锁,天文导航系统易受环境干扰,组合系统模型线性化误差易导致滤波发散等问题,分析了三种导航系统的优缺点,提出了 SINS/GPS/CNS 组合导航联邦滤波算法,该算法可以取长补短,巧妙地将 GPS 定位和天文导航定姿精度高的优势辅助于捷联惯导系统,利用卡尔曼联邦滤波器对捷联惯导系统进行误差估计,并对联邦滤波算法进行了有效的改进.计算机仿真显示,该滤波器收敛速度快,具有一定的容错功能,其滤波精度较 SINS/GPS 组合导航系统在位置误差和速度误差上均有约5%左右的小幅提升,在平台角误差上更是提高了一个数量级.仿真结果验证了该组合导航方案的可行性和算法的有效性,有重要的工程应用价值.     

基于高斯混合模型的惯导/计程仪组合导航方法

针对长航时舰船航行过程中电磁计程仪误差变化较大,同时存在未知测量噪声,无法满足船用捷联惯导/电磁计程仪组合导航系统对计程仪要求的问题,提出了一种用于非线性非高斯系统状态估计的滤波方法。以无迹卡尔曼滤波为组合导航系统基本算法,测量噪声密度分布中引入高斯混合模型,提出了捷联惯导/电磁计程仪组合导航的高斯混合模型无迹卡尔曼滤波算法,达到实时准确估计并补偿惯性导航系统误差的目的。航行试验验证了基于高斯混合模型组合导航方法的可行性,使得捷联惯导/电磁计程仪组合导航系统的最大定位误差由水平阻尼的1213 m减小到392 m,且比传统无迹卡尔曼滤波方法进一步消除了计程仪误差的影响,定位精度提高了15%。     

基于车辆运动约束的里程计误差在线标定方法

为了降低里程计误差对捷联惯导/里程计组合定位定向精度的影响,提出了基于车辆运动约束条件的里程计误差在线标定方法。通过对里程计标度因数误差进行建模,推导建立了航位推算的误差模型,将航位推算的速度输出沿车体横向、垂向的投影作为量测的一部分,将捷联惯导输出的速度、位置信息与航位推算输出的对应信息相减作为另一部分量测,通过卡尔曼滤波获得里程计标度因数误差等状态量的最优估计值,实现里程计误差的在线标定。仿真结果表明,该方法能够有效地标定出里程计标度因数误差,从而确保了捷联惯导/里程计组合定位定向的精度。     

小肠内药物分布与吸收模型的解析解

Y.Miyamoto等人根据小肠的生理和解剖特点,忽略小肠的固有运动对药物分布与吸收的影响,提出了肠内药物分布与吸收的二维层流、可渗壁多孔圆管模型。他们应用数值方法进行了计算。本文给出了包括灭活作用在内的上述模型的稳态解析解。所得结果与他们的数值解是一致的。解析解揭示了模型中各生理参数之间的相互关系,刻划了药物和营养物通过肠壁吸收规律,为在体实验测定肠壁对药物和营养物的渗透和反射系数提供了理论分析基础。同时从理论上证明了一些极为重要的结论。     

Piezomagnetic and piezoelectric poling effects on mode I and II crack initiation behavior of magnetoelectroelastic materials

The ferrite and ferroelectric phase of magnetoelectroelastic (MEE) material can be selected and processed to control the macroscopic behavior of electron devices using continuum mechanics models. Once macro- and/or microdefects appear, the highly intensified magnetic and electric energy localization could alter the response significantly to change the design performance. Alignment of poling directions of piezomagnetic and piezoelectric materials can add to the complexity of the MEE material behavior to which this study will be concerned with.Appropriate balance of distortional and dilatational energy density is no longer obvious when a material possesses anisotropy and/or nonhomogeneity. An excess of the former could result in unwanted geometric change while the latter may lead to unexpected fracture initiation. Such information can be evaluated quantitatively from the stationary values of the energy density function dW/dV. The maxima and minima have been known to coincide, respectively, with possible locations of permanent shape change and crack initiation regardless of material and loading type. The direction of poling with respect to a line crack and the material microstructure described by the constitutive coefficients will be specified explicitly with reference to the applied magnetic field, electric field and mechanical stress, both normal and shear. The crack initiation load and direction could be predicted by finding the direction for which the volume change is the largest. In contrast to intuition, change in poling directions can influence the cracking behavior of MEE dramatically. This will be demonstrated by the numerical results for the BaTiO₃–CoFe₂O₄ composite having different volume fractions where BaTiO₃ and CoFe₂O₄ are, respectively, the inclusion and matrix.To be emphasized is that mode I and II crack behavior will not have the same definition as that in classical fracture mechanics where load and crack extension symmetry would coincide. A striking result is found for a mode II crack. By keeping the magnetic poling fixed, a reversal of electric poling changed the crack initiation angle from θ₀=+80° to θ₀=−80° using the line extending ahead of the crack as the reference. This effect is also sensitive to the distance from the crack tip. Displayed and discussed are results for r/a=10⁻⁴ and 10⁻¹. Because the theory of magnetoelectroelasticity used in the analysis is based on the assumption of equilibrium where the influence of material microstructure is homogenized, the local space and temporal effects must be interpreted accordingly. Among them are the maximum values of (dW/dV)_max and (dW/dV)_min which refer to as possible sites of yielding and fracture. Since time and size are homogenized, it is implicitly understood that there is more time for yielding as compared to fracture being a more sudden process. This renders a higher dW/dV in contrast to that for fracture. Put it differently, a lower dW/dV with a shorter time for release could be more detrimental.     

An analytical solution for the model of drug distribution and absorption in small intestine

According to the physiological and anatomical characteristics of small intestine, neglecting the effect of its motility on the distribution and absorption of drug and nutrient, Y. Miyamoto et al.^[1] proposed a model of two-dimensional laminar flow in a circular porous tube with permeable wall and calculated the concentration profile of drug by numerical analysis. In this paper, we give a steady state analytical solution of the above model including deactivation term. The obtained results are in agreement with the results of their numerical analysis. Moreover the analytical solution presented in this paper reveals the relation among the physiological parameters of the model and describes the basic absorption rule of drug and nutrient through the intestinal wall and hence provides a theoretical basis for determining the permeability and reflection coefficient through in situ experiments. The project supported by NSF of Shandong Province     

Impact phenomena of rotor-casing dynamical systems

Rubbing and impacting between a rotor and adjacent motion-constraining structures is a serious malfunction in rotating machinery. A shaver rotor-casing system with clearance and mass imbalance is modelled with two second-order ordinary differential equations and inelastic impact conditions. The dynamics is investigated analytically, as well as by numerical simulation. A Lyapunov exponent technique is developed to characterize the topologically different behavior as the parameters are varied. The dry friction coefficient and the eccentricity of the rotor imbalance were chosen to be the two variable parameters, the effect of which on the system dynamics is illustrated through phase plots, bifurcation diagrams, as well as Poincaré maps. The results demonstrate the existence of both rubbing and impacting behavior. Depending on values of the parameters, rubbing motion in both the clockwise and counter-clockwise directions may occur. Within the impact regime, the impact behavior could be periodic, quasi-periodic or chaotic, as confirmed by the calculation of Lyapunov exponents.     

Deterministic and Stochastic Oscillations of a Flexible Cylinder in Arrays of Static Tubes

This study concentrates on vortex-induced vibrations of one flexiblecylinder in an array of fixed tubes. To describe approximately thedynamics of this system we generalize a previously developed linearsemi-empirical model that includes memory effects. We choose a cubicdamping term to model adequately vortex-induced oscillations and weobtain thus a nonlinear integro-differential equation governing thedisplacement of the cylinder. We use a two-variable expansion to derivecriteria for the appearance of stable, periodic, nonlinear oscillations.This approach predicts the appearance of a limit cycle and gives acriterion for the stability of the oscillations. In a stochasticoscillation model we apply additive white noise to the otherwisedeterministic oscillator model. For small values of the noise intensitywe can approximately solve the Fokker–Planck equation. A comparison ofthis approximation with numerical simulations shows a satisfactorydegree of agreement.     

Bending and buckling of a class of nonlinear fiber composite rods

An investigation of the mechanics of bending and buckling is carried out for a class of nonlinear fiber composite rods composed of embedded unidirectional fibers parallel to the rod axis. The specific class of composite considered is one in which the fibers interact with the matrix through a nonlinear Needleman-type cohesive zone [Needleman, A., 1987. A continuum model for void nucleation by inclusion debonding. ASME J. Appl. Mech. 54, 525-531; Needleman, A., 1992. Micromechanical modelling of interfacial decohesion. Ultramicroscopy 40, 203-214]. The primary decohesive mechanism active in bending and buckling of these composite rods is shear slip along the fiber-matrix interfaces allowing the use of a previously developed constitutive relation for antiplane shear response [Levy, A.J., 2000b. The fiber composite with nonlinear interface—part II: antiplane shear. ASME J. Appl. Mech. 67, 733-739]. The formulation requires the specification of a potential interface force-slip law that is assumed to permit interface failure in shear.Four cases of the bending and shearing of beams (concentrated or uniform load on a cantilever or a simply supported beam) are analyzed, each of which exhibits qualitatively distinct response. For certain values of interface parameters, the beam deflection or its gradient at a fixed location can change discontinuously with load. Furthermore, for interface parameter values within a certain range, singular surfaces will exist in uniformly loaded beams where there is a non-uniform distribution of shear stress along the beam length. These singular surfaces divide the beam into regions of maximal and minimal fiber slip and propagate with a rate that varies inversely as the square of the applied load. For other parameter values, singular surfaces will not exist and fiber slip will be diffuse.For the class of nonlinear composite considered, bifurcation and imperfection buckling of pinned-pinned columns is analyzed. For bifurcation buckling, a nonlinear eigenvalue problem is derived and the solution is obtained by Galerkin's method. It is demonstrated that critical loads are influenced by the initial slope, and hence the linear portion, of the interface force-slip relation but the post-buckling response, which in some sense resembles that of plastic buckling, is affected by the entire interface constitutive relation. Imperfection buckling is analyzed in a similar manner by assuming a slight initial curvature of the rod. Sensitivity of the response to imperfection magnitude is discussed as well.     

Numerical and geometrical analysis of bifurcation and chaos for an asymmetric elastic nonlinear oscillator

An asymmetric nonlinear oscillator representative of the finite forced dynamics of a structural system with initial curvature is used as a model system to show how the combined use of numerical and geometrical analysis allows deep insight into bifurcation phenomena and chaotic behaviour in the light of the system global dynamics.Numerical techniques are used to calculate fixed points of the response and bifurcation diagrams, to identify chaotic attractors, and to obtain basins of attraction of coexisting solutions. Geometrical analysis in control-phase portraits of the invariant manifolds of the direct and inverse saddles corresponding to unstable periodic motions is performed systematically in order to understand the global attractor structure and the attractor and basin bifurcations.     

A method to compute ship exhaust plumes with waves and wind

Thermal and concentration transport models are implemented in CFDShip‐Iowa version 4.5, a semi‐coupled solver for air/water free surface flow (Int. J. Numer. Meth. Fluids 2008; 58 (6):591–624), to investigate the exhaust plume around ship superstructures. An incompressible, variable density approximation is implemented where the density can change in all governing equations due to temperature variations only. The thermal and concentration models are tested for the cases of steady and unsteady flow with thermal and solution transport in a 2D square cavity, and for a 3D thermal plume in an open environment, showing good agreement between computational results and experimental data. To test the method in an extreme motions condition, the exhaust plume of the ONR Tumblehome model DTMB 5613 is studied, showing complicated vortical structures in air including a pair of counter‐rotating vortices downstream of the stack for cross‐flow, and bended bird‐plume shape in the symmetry plane and varying arc‐shape in axial sections both for temperature and NO_x concentration fields. Effects of smoke exhaust speed and wind speed on the temperature and concentration distributions are studied. Finally, a smoke downwash computation is performed for a ship free to move in 6 degrees of freedom in a sea state 8 condition. Copyright © 2010 John Wiley & Sons, Ltd.     

Nonlinear delay difference equations for housing dynamics assuming heterogeneous backward-looking expectations

China's first interest rate hike during the last decade, aiming to cool down the seemingly overheated real estate market, had aroused more caution on housing market. This paper aims to analyze the housing price dynamics after an unanticipated economic shock, which was believed to have similar properties with the back ward- looking expectation models. The analysis of the housing price dynamics is based on the cobweb model with a simple user cost affected demand and a stock-flow supply assumption. Several nth-order delay rational difference equations are set up to illustrate the properties of housing dynamics phenomena, such as the equilibrium or oscillations, overshoot or undershoot and convergent or divergent, for a kind of heterogeneous backward-looking expectation models. The results show that demand elasticity is less than supply elasticity is not a necessary condition for the occurrence of oscillation. The housing price dynamics will vary substantially with the heterogeneous backward-looking expectation assumption and some other endogenous factors.