Pose estimation for UAV aerial refueling with serious turbulences based on extended Kalman filter

In recent years, many pose estimation algorithms were developed, and have been successfully applied to solve unmanned aerial vehicle (UAV) aerial refueling pose estimation problems. This paper mainly focuses on solving this problem under serious turbulences circumstance. The extended Kalman filter is a set of mathematical equations to estimate the state of a process, which is able to support estimations of past, present, and even future states. In reference to previous papers and some simulations, we build up the noise models of refueling boom and atmospheric turbulence. Then, an extend Kalman filter is adopted to solve the pose estimation problem in UAV aerial refueling with serious turbulences. The experimental results demonstrate the feasibility and effectiveness of our proposed approach.     

Non-Gaussian water diffusion kurtosis imaging of prostate cancer

Purpose

To evaluate the non-Gaussian water diffusion properties of prostate cancer (PCa) and determine the diagnostic performance of diffusion kurtosis (DK) imaging for distinguishing PCa from benign tissues within the peripheral zone (PZ), and assessing tumor lesions with different Gleason scores.

Materials and Methods

Nineteen patients who underwent diffusion weighted (DW) magnetic resonance imaging using multiple b-values and were pathologically confirmed with PCa were enrolled in this study. Apparent diffusion coefficient (ADC) was derived using a monoexponential model, while diffusion coefficient (D) and kurtosis (K) were determined using a DK model. Differences between the ADC, D and K values of benign PZ and PCa, as well as those of tumor lesions with Gleason scores of 6, 7 and ≥ 8 were assessed. Correlations between parameters D and K in PCa were analyzed using Pearson’s correlation coefficient. ADC, D and K values were correlated with Gleason scores of 6, 7 and ≥ 8, respectively.

Results

ADC and D values were significantly (p < 0.001) lower in PCa (0.79 ± 0.14 μm²/ms and 1.56 ± 0.23 μm²/ms, respectively) compared to benign PZ (1.23 ± 0.19 μm²/ms and 2.54 ± 0.24 μm²/ms, respectively). K values were significantly (p < 0.001) greater in PCa (0.96 ± 0.20) compared to benign PZ (0.59 ± 0.08). D and K showed fewer overlapping values between benign PZ and PCa compared to ADC. There was a strong negative correlation between D and K values in PCa (Pearson correlation coefficient r = − 0.729; p < 0.001). ADC and K values differed significantly in tumor lesions with Gleason scores of 6, 7 and ≥ 8 (p < 0.001 and p = 0.001, respectively), although no significant difference was detected for D values (p = 0.325). Significant correlations were found between the ADC value and Gleason score (r = − 0.828; p < 0.001), as well as the K value and Gleason score (r = 0.729; p < 0.001).

Conclusion

DK model may add value in PCa detection and diagnosis. K potentially offers a new metric for assessment of PCa.     

内孤立波沿缓坡地形传播特性的实验研究

以南中国海东北部海域底部缓坡地形为背景, 在大型重力式分层流水槽中模拟了下凹型内孤立波沿缓坡地形传播过程中的浅化、破碎、分裂等现象, 利用分层染色标识方法和多点组合探头阵列技术对内孤立波沿缓坡地形演化特征进行了定性分析和定量测量. 实验表明: 浅化效应使内孤立波传播速度减小, 对大振幅内孤立波具有抑制作用, 对小振幅波具有放大效应; 浅化效应可导致内孤立波的剪切失稳及破碎, 还可导致大振幅内孤立波的分裂. 利用Miles稳定性理论可定性描述内孤立波沿缓坡地形传播时发生不稳定状态的位置, 实验结果与理论分析相符合. 关键词： 分层流 缓坡地形 内孤立波 不稳定性     

GPS/LEO掩星正则变换反演方法

利用无线电全息方法, 如正则变换方法或全谱反演方法, 可以有效地解决大气多路径条件下GPS掩星信号的反演问题. 本文采用正则变换方法反演掩星资料, 模拟仿真反演结果显示正则变换方法可以准确地反演包含大气多路径效应的信号. 在模拟信号的相位中加入不同程度的高斯相位噪声后, 正则变换方法的反演结果会受到不同程度的影响. 用正则变换方法对2007年第71天至73天共约4500个COSMIC数据进行处理. 将其折射率反演结果和atmPrf资料 (利用全谱反演方法计算得到) 一起, 与对应的ECMWF 分析场资料进行统计比较, 结果表明: 在5 km以下, 正则变换方法计算的折射率的相对误差的平均值普遍大于atmPrf资料. 其原因可能为: 正则变换方法将信号从LEO轨迹后传播至辅助屏, 造成孔径缩小, 精度下降. 同时也讨论了信号截断对低对流层中反演精度和掩星个数的影响. 关键词： 无线电掩星 大气多路径 多相位屏技术 正则变换方法     

A distortion correction algorithm for fish-eye panoramic image of master-slave visual surveillance system

A master-slave visual surveillance system is composed of one fish-eye panoramic camera and one dynamic pan-tilt-zoom (PTZ) dome camera. In order to make PTZ dome camera zoom into all targets of interest in panoramic image, the fish-eye panoramic camera is fixed inclining towards the gravity direction, which may cause more obvious distortion. This paper proposed a novel method for the distortion correction of captured panoramic image based on the midpoint circle algorithm (MCA). The method uses incremental calculation of decision parameters to determine the pixel positions along a circle circumference, and both of the vertical and horizontal are rectilinearised. Experimental results show that our correction method based on MCA is efficient and effective. In particular, due to its low computational cost, our method can be applied on embedded camera platform without any extra hardware resources.     

Electrochemical performance of a nonaqueous rechargeable lithium-air battery

Nonaqueous rechargeable lithium-air battery has so high specific capacity and specific energy that it is being widely researched by academia, corporation, and different research institutes. When used in dried air and absorbing oxygen form the air, this battery is called lithium-air battery, and its specific capacity based on cathode active material (oxygen) is infinite. However, its cycle performance is very limited as reported by the state-of-the-art researches. This cycle problem is mainly caused by instability of electrolyte. Based on electroanalysis of materials’ electrochemical property, a stable electrolyte solvent (sulfolane) and a lithium salt LiBF₄ are selected as electrolytes in this work. Coupled with other eligible battery materials and careful assembly, the lithium-air battery exhibits favorable cycle performance. Above all, this lithium-air system is evaluated objectively in this paper.     

CCD对高空间分辨率波前干涉检测的影响

推导并用实验验证了光强与入射波前在单位像元面积里成近似线性关系,从而得到入射波前经CCD采样后的功率谱密度（PSD）公式.根据该公式,模拟分析了影响CCD采集系统的系统传递函数的各个因素：入射波前、CCD的填充因子及CCD的曝光时间,得出了他们与系统传递函数的定性关系,并且通过实验明确CCD曝光时间对高空间分辨率波前检测不确定度的影响,为高空间分辨率干涉设计提供了理论依据.     

Controllable synthesis of high aspect ratio Mg_2B_2O_5 nanowires and their applications in reinforced polyhydroxyalkanoate composites

Highly pure magnesium borate （Mg2B2O5） nanowires with an average diameter of - 30 nm, an average length of 15 μm, and a high aspect ratio of - 500 have been synthesized on a large scale via a two-step method. MgBO2（OH） nanowires with high aspect ratios were first prepared via a PVP-assisted hydrothermal technique. Using these nanowires as precursors, single crystalline Mg2B205 nanowires were synthesized by post-annealing treatment at a relatively low temperature of 700 ℃. The important effect of the MgBO2（OH）-Mg2B2O5 conversion process on the morphology of the Mg2B2O5 nanowires was investigated and it was indicated that the recrystallization process plays an important role in the protection of the one-dimensional （1D） nanostructure. Moreover, the rigidity and the toughness of the Mg2B2O5 nanowire- reinforced PHA composites were tremendously improved compared to those of the pure PHA. Our results demonstrate the effectiveness of Mg2B2O5 nanowires for reinforcement applications in polymer composites.     

A double toroidal analyzer for scanning probe electron energy spectrometer

An ultra-high vacuum(UHV) compatible electron spectrometer employing a double toroidal analyzer has been developed. It is designed to be combined with a custom-made scanning tunneling microscope(STM) to study the spatially localized electron energy spectrum on a surface. A tip–sample system composed of a piezo-driven field-emission tungsten tip and a sample of highly ordered pyrolytic graphite(HOPG) is employed to test the performance of the spectrometer.Two-dimensional images of the energy-resolved and angle-dispersed electrons backscattered from the surface of HOPG are obtained, the performance is optimized and the spectrometer is calibrated. A complete electron energy loss spectrum covering the elastic peak to the secondary electron peaks for the HOPG surface, acquired at a tip voltage of-140 V and a sample current of 0.5 pA, is presented, demonstrating the viability of the spectrometer.     

Quantum State Sharing of an Arbitrary Three-Atom State by Using Five-Atom Cluster State in Cavity QED

We present a scheme for implementing the deterministic quantum state sharing of an arbitrary three-atom state by using a five-atom cluster state and a Bell-state in cavity QED. In the scheme, it does not involve Bell-state measurement and only needs to perform the single-atom measurements. Our scheme is not sensitive to both the cavity decay and the atom radiation, which is of importance in view of decoherence.