A Dead Reckoning Calibration Scheme Based on Optimization with an Adaptive Quantum-Inspired Evolutionary Algorithm for Vehicle Self-Localization

Parameter calibration is critical for self-localization based on dead reckoning in the control of intelligent vehicles such as autonomous driving. Most traditional calibration methods for robotics control based on dead reckoning rely on data collection with specially designed paths. For the calibration of parameters in the control of intelligent vehicles, the design of such paths is considered impossible due to the complexity of road conditions. To solve this problem, an optimization-based dead reckoning calibration scheme is introduced in this research using the differential global positioning system to obtain the actual positions of the intelligent vehicle. In this scheme, the difference between the positions obtained through dead reckoning and the positions obtained through the differential global positioning system is selected as the optimization objective function to be minimized. An adaptive quantum-inspired evolutionary algorithm is developed to improve the quality and efficiency of optimization. Experiments with an intelligent vehicle were also conducted to demonstrate the effectiveness of the developed calibration scheme. In addition, the newly introduced adaptive quantum-inspired evolutionary algorithm is compared with the classic genetic algorithm and the classic quantum-inspired evolutionary algorithm using eight benchmark test functions considering computation quality and efficiency.     

ON GENERALIZED BUFFON NEEDLE PROBLEM FOR LATTICES

Two new concepts, the generalized support function and restricted chord function, both referring to a convex set, were introduced in [1]. General formulae to yield the kinematic measure of a segment of fixed length in a convex set were established based on these concepts. In this article , using the partial intersection method, we consider the generalized Buffon problem for three kinds of lattices. We determine the probability of intersection of a body test needle of length l, l < a.     

带集中质量和弹性支承梁的横向固有振动分析

给出带集中质量和弹性支承梁横向固有振动的精确分析方法。示例表明,该法对于梁的固有振动分析具有较广的适用性。     

高硫煤中各种成因硫的光电子能谱研究

对煤中不同成因的黄铁矿和高有机硫煤进行ESCA测试分析。结果表明不同成因黄铁矿的氧谱峰形差异较大。后生黄铁矿氧谱峰形向高电子伏特方向呈不对称峰,主峰为533.0eV;而原生黄铁矿氧谱则以531.5eV峰为主;成岩期黄铁矿氧谱峰形宽,强度也不如前两种。半定量分析表明黄铁矿氧化比值与铁氧化率、氧含量呈正比,由原生→成岩→后生黄铁矿方向,氧化比值依次增加。高有机硫的四川南桐6号煤和贵州贵定煤的ESCA所测硫与湿式化学分析所测硫是相一致的,其中有机硫有脂类硫化物、噻吩和砜等,且主要为噻吩硫。运用光电子能谱法能较好地判断不同成因的黄铁矿。     

用于大面积薄膜研究的微波等离子体装置

本文详细介绍了自行研制成的电子回旋共振微波等离子体装置的结构，性能和技术指标。并应用高斯计，法拉第筒和朗缪探针对装置的磁场位形发布和等离子的电流及密度进行了测量。     

SOME DUAL KINEMATIC FORMULAS

In this article, some kinematic formulas for dual quermassintegral of star bodies and for chord power integrals of convex bodies are established by using dual mixed volumes. These formulas are the extensions of the fundamental kinematic formula involving quermassintegral to the case of dual quermassintegral and chord power integrals.     

二维二氧化硅改性聚环氧乙烷基固态聚合物电解质用于增强锂离子电池性能

通过改性由酸蚀二维蛭石制备的二维二氧化硅,得到带正电荷的二维介孔二氧化硅(PSN⁺)纳米片,并将PSN⁺用作聚环氧乙烷(PEO)基固体聚合物电解质(SPEs)的填料。由于PSN⁺具有丰富的正电荷,PSN⁺与锂盐解离的阴离子能够有效结合,从而促进锂离子的运输,获得较好的锂离子转移数。在50℃时,基于PSN⁺的SPEs表现出较高的离子电导率(7.5×10^-5 S·cm^-1),锂离子迁移数为0.30,稳定电压窗为4.41 V。因此,组装后的LiFePO₄锂电池在50℃、0.2C下具有优异的初始放电比容量(155.7 mAh·g^-1),在循环100次后容量保持率为97.1%。     

添加WO3提高铈锆固溶体的氨选择性催化还原NOx反应活性

采用程序升温氨脱附、程序升温还原和X射线光电子能谱分析手段表征了加入WO3前后CeO2-ZrO2颗粒催化剂的表面性能变化.结果表明,WO3一方面增加了催化剂的酸性,另一方面略微提高了催化剂的氧化还原性能.在氨选择性催化还原氮氧化物反应中,当NH3/NO=1,空速为90000h-1的条件下,CeO2-ZrO2催化剂上氮氧化物转化率低于65%,而10%WO3/CeO2-ZrO2催化剂催化活性大于80%,所对应的温度区间为220～420℃.通入10%CO2和10%H2O后,由于竞争吸附,CeO2-ZrO2催化剂上的氮氧化物转化率低于46%,而10%WO3/CeO2-ZrO2催化剂上的氮氧化物转化率大于80%的温度区间移至230～500℃.     

Facile rearrangement of N-(α-aminoacyl)cytidines to N-(4-cytidinyl)amino acid amides

Under near neutral and mildly basic conditions, primary N⁴-(α-aminoacyl)cytidines (4a-g) undergo a facile rearrangement to form N-(4-cytidinyl)amino acid amides (5a-g). Secondary aminoacyl derivatives rearrange with other competing pathways. Tertiary aminoacyl derivatives do not rearrange.     

宽带随机振动峰值应力分析与试验研究

考核结构件在宽带随机激励下的强度,需要考察结构的峰值应力响应. 利用随机振动 和正弦振动之间的峰值等效原理,通过正弦振动在共振频率点的应力响应来计算随机振动的 峰值应力. 以某结构件为例,利用有限元分析软件MSC.NASTRAN,对该结构件进行了模态分 析、频响分析、随机振动加速度响应及峰值应力响应分析;同时实施了随机激励下的应力测 试试验. 比较分析与试验的峰值应力,误差在10{\%}以内,表明了该工程分析方法和技术途 径是合理的.