Bayesian fusion of GNSS,ITS-G5 and IR–UWB data for robust cooperative vehicular localization

In the automotive domain, Cooperative Localization (CLoc) is a new promising paradigm that aims at outperforming conventional Global Navigation Satellite Systems (GNSS) in terms of positioning accuracy, robustness, and service continuity, by relying on Vehicle-to-Vehicle (V2V) communications and hybrid data fusion. However, the growing number and the variety of the sensors aboard vehicles raise unprecedented challenges, especially in the context of distributed fusion approaches. This paper thus compares parametric and nonparametric Bayesian data fusion engines (e.g., based on cooperative variants of the Extended Kalman Filter (EKF) and Particle Filter (PF), respectively), while validating a CLoc scheme suitable to Vehicular Ad Hoc Networks (VANETs). More particularly, absolute position information from both onboard GNSS receiver and ITS-G5 V2V messages, as well as relative distance measurements based on the Impulse Radio–Ultra-Wideband (IR–UWB) technology, are combined into a single location solution that is hopefully more robust and more accurate than that of standalone GNSS. First, we investigate V2V ranging accuracy on a highway under real mobility conditions. In the same environment, we then provide offline validations of CLoc positioning, confirming significant performance gains through cooperation over conventional GNSS, even in case of poor initialization. In this specific context, the PF solution is thus shown to yield even better accuracy in comparison with EKF, thanks to its fine robustness against faced non-linear dynamics and non-Gaussian noise processes. Finally, we illustrate the resilience of the proposed solution under temporary GNSS denial.     

HPLC测定蒙药沏其日甘-5中栀子苷的含量

建立了沏其日甘-5（化痰五味散）中栀子苷的含量测定方法。采用BDS（150×4.6mm,5μm）色谱柱,以乙腈-水（15∶85）为流动相,检测波长为238nm,流速为0.8mL/min。栀子苷在1.3—6.5μg范围内具有良好的线性关系,r=0.9998。     

红外光谱法测定聚(乳酸-苯丙氨酸)共聚物的含量

分别以苯丙氨酸和乳酸为原料合成了3-苯甲基-2,5-吗啉二酮(PMD)与丙交酯(LA),以PMD和LA作为聚合单体经开环聚合分别得到PMD均聚物(PPMD)、丙交酯均聚物(PLA)及聚(乳酸-苯丙氨酸)共聚物。对合成的均聚物进行红外分析,确定1 671.53和870.82 cm-1处的吸收峰分别为PPMD和PLA的特征峰。根据以上两种特征吸收峰并以朗伯-比耳定律为理论依据,建立了利用红外光谱法测定聚(乳酸-苯丙氨酸)共聚物含量的方法。实验测定的标准工作曲线为y=0.055 67x+0.1091,r=0.999 3。利用该标准工作曲线定量测定了共聚物组分含量,其结果与1H NMR测定值一致,相对误差在2％以内,证明红外光谱法可方便、快捷地测定聚(乳酸-苯丙氨酸)共聚物组分含量,且适用于其他聚(乳酸-氨基酸)共聚物的含量测定,具有一定的实用性及推广性。     

A high temperature diffraction study of synthetic titanite catiosio4

The results of a high temperature single crystal X-ray diffraction study of synthetic titanite within the stability field of the A2/a (C2/c) paraphase (T > 500 K) are reported. The structure has been refined using a conventional model and one in which the Ca atom is disordered over two positions. A break in thermal expansion near T _c = 825 K correlates with an effective volume contraction of the Ti octahedron. When refined with split Ca position a reorientation of the Ca displacement vector at T _c is found, resulting in a more symmetrical structural arrangement of the disordered Ca cations with respect to the surrounding Ti cations. In the conventional model this reorientation is seen as a break in the thermal elongation of the shortest Ti-Ca distance. The observed temperature of the isosymmetrical structural instability is in agreement with previous observations based on Hard Mode IR and Raman spectroscopic measurements. A possible mechanism causing the observed structural changes and similarities to the thermal behaviour of the iso-structural malayaite, CaSnSiO₅, are discussed.     

Research on the defect structure and g factors for the tetragonal (CrO4)3− impurity center in ZrSiO4: Cr5+ crystal

ABSTRACT

The EPR g factors g// and g⊥ for the tetragonal (CrO₄)^3? impurity center in ZrSiO4: Cr⁵⁺ crystal are studied from the high-order perturbation formulas based on the two-mechanism (the crystal field and charge-transfer mechanisms) model. The studies indicate that differing from the tetragonally-elongated host (SiO4)^4- tetrahedron, the dominant defect structure of the substitutional (CrO₄)^3? tetrahedron is tetragonally- compressed with the ground state |d_z² due to the Jahn-Teller distortion. Furthermore, the agreement of g factors between calculation and experiment requires a small admixture of the first excited state |d_x²_?y² to the ground state |d_z² due to the vibrational motion of ligands, which leads a compressed (CrO₄)^3? tetrahedron to become a twinkling elongated one, These results are discussed.     

Temperature dependent photoluminescence down to 4.2 K in EuTFC

The temperature dependence of photoluminescence in Europium tris[3-(trifluoro-methylhydroxymethylene)-(+)-camphorate] (EuTFC) embedded in polymer films has been examined from 40 K down to 4.2 K with the goal of preparing sensor films for low-temperature thermal imaging. The behavior of EuTFC showed significant difference when based on polystyrene compared to poly(n-alkyl methacrylate)s. In poly(n-alkyl methacrylate)s prepared by standard methods for imaging applications, the photoluminescence is fully saturated below 30 K, whereas in polystyrene films there is a strong temperature dependence even down to 4.2 K. By optimizing the preparation procedure for films made of poly(butyl methacrylate) (PBMA) and poly(methyl methacrylate), also these polymers became very sensitive down to liquid helium temperature. The maximum temperature sensitivity of EuTFC in PBMA is found to be 1.0%/K at 4.2 K. The problem of delamination and cracking of the polymer film at cryogenic temperature is also avoided by the special preparation method.     

两种新型二氯代苯基卟啉-5-氟尿嘧啶衍生物的合成与表征

用5-[4-(5-溴戊氧基)苯基]-10,15,20-三(3,4-二氯苯基)卟啉或5-[4-(6-溴己氧基)苯基]-10,15,20-三(3,4-二氯苯基)卟啉与5-氟尿嘧啶反应,合成了1-[5-(4-戊氧苯基)-10,15,20-三(3,4-二氯苯基)卟啉]-5-氟尿嘧啶(A)和1-[5-(4-己氧苯基)-10,15,20-三(3,4-二氯苯基)卟啉]-5-氟尿嘧啶(B),产率分别为29.92%和30.01%。并通过红外光谱、紫外可见光谱、核磁共振谱和质谱表征了其结构。对目标化合物的合成条件进行了研究,结果表明:以DMF为溶剂,反应温度为115℃,反应时间2h,产率较高;采用硅胶G(200—300目)装柱,以氯仿和氯仿∶乙醚(V∶V=50∶1)为洗脱液,柱层析,再用氯仿:丙酮(V∶V=7∶1)洗脱产品色带,分离效果较好。     

3dZ2基态铜(Ⅱ)冠醚配合物的粉末ESR谱

制备了两种不同基质的掺杂3d_Z²基态铜(Ⅱ)苯并15冠5配合物(Cu(Ⅱ)B15C5)的粉末样品,ESR测定结果表明,以B15C5为基质时,Cu(Ⅱ)B15C5的轴向配体是H₂O;而以Mg(Ⅱ)B15C5为基质时的轴向配体则是CIO₄^-.不同的轴向配体对ESR谱的线型有着较大的影响。利用Bleaney公式,计算了键参数,并对成键特性进行了讨论和比较。     

应变(Ge)5/(Si)5超晶格的光学增益

本文采用具有驰豫展宽的半导体激光器密度矩阵理论计算了(Ge)5/(Si)5超晶格的线性光增益和异质结激光器的国值电流密度,从理论上定量地比较了(Ge)5/(Si)5超晶格和GaAs体材料的线性光增益和阈值电流密度。     

基于6S模型的遥感影像逐像元大气纠正算法

大气纠正的目的是从遥感影像中去除大气影响,并反演获取地物真实反射率。介绍了一种逐像元对遥感影像进行大气纠正的算法,该算法基于6S(Second Simulation of the Satellite Signal in the Solar Spectrum)大气辐射传输模型计算建立的查找表(look-up table),并利用地面暗目标(dark object)进行陆地气溶胶光学厚度的自动反演,由于气溶胶的分布具有空间连续性,在获取地面暗目标气溶胶光学厚度值后,通过空间插值的方法计算影像中非暗目标像元的气溶胶光学厚度值,经过查找表二次插值计算,逐像元进行大气纠正并获取像元地表反射率值。以Landsat5遥感影像为例,介绍了算法流程,展示了大气纠正的结果。结果显示,利用查找表逐像元大气纠正的算法,能够在一定程度上去除云雾对影像的影响,更加精确的对遥感影像进行大气纠正并获取地物的真实反射率。