Finite-time disturbance observer-based trajectory tracking control for quadrotor unmanned aerial vehicle with obstacle avoidance

This paper investigates the problem of trajectory tracking control for quadrotor unmanned aerial vehicle (UAV) in the presence of dynamic obstacles and external disturbance forces/torques. More specifically, two new sliding mode disturbance observers are firstly designed to estimate the external disturbances, in which the observation errors can converge to zero in finite time. Furthermore, utilizing the observation information, a new sliding mode surface-like variable-based position tracking control scheme and a novel nonsingular terminal sliding mode-based attitude synchronization control scheme are developed to drive the UAV tracking the reference trajectory with obstacle avoiding. Moreover, the tracking errors of the close-loop control system can converge to zero within finite time by the analyses of Lyapunov methodology. Finally, the numerical simulation results are presented to illustrate the effectiveness of the proposed control schemes.     

主动隔振中气动压力跟踪的预测控制研究

气动伺服系统的压力跟踪是主动隔振系统中的一个重要环节。本文根据气动伺服系统的特点，建立了系统压力工作点的模型，应用基于状态空间的预测控制方法对系统压力进行了轨迹跟踪控制。首先，提出了一种控制器切换的方法来消除压力跟踪过程中的稳态误差；其次，通过对预测控制算法的改进减小了滞后对闭环系统动态性能和稳定性的影响。实验表明，本文提出的方法有效地解决了主动隔振系统中的气动压力跟踪问题。     

A novel technique for time-resolved detection and tracking of interfacial and matrix fracture in layered materials

A novel experimental technique is developed for time-resolved detection and tracking of damage in the forms of delamination and matrix cracking in layered materials such as composite laminates. The technique is non-contact in nature and uses dual or quadruple laser interferometers for high temporal resolution. Simultaneous measurements of differential displacement and velocity at individual locations are obtained to analyze the initiation and progression of interfacial fracture and/or matrix cracking/delamination in a polymer matrix composite laminate system reinforced by graphite fibers. The measurements at multiple locations allow the speeds at which interfacial crack front (mode-I) or matrix cracking/delamination front (mode-II dominated) propagates to be determined. Experiments carried out use three-point bend configurations. Impact loading is achieved using a modified Kolsky bar apparatus with a complete set of diagnostics for load, deformation, deformation rate, and input energy measurement. This technique is used to characterize the full process of damage initiation and growth. The experiments also focused on the quantification of the speed at which delamination or damage propagates under primarily mode-I and mode-II conditions. The results show that the speed of delamination (mode-I) or the speed of matrix cracking/delamination (primarily mode-II) increases linearly with impact velocity. Furthermore, speeds of matrix failure/delamination under primarily mode-II conditions are much higher than the speeds of mode-I crack induced delamination under mode-I conditions.     

Cyclometalated Iridium(III) Complexes as Two‐Photon Phosphorescent Probes for Specific Mitochondrial Dynamics Tracking in Living Cells

Five cyclometalated iridium(III) complexes with 2‐phenylimidazo[4,5‐f][1,10]phenanthroline derivatives ( IrL1 – IrL5 ) were synthesized and developed to image and track mitochondria in living cells under two‐photon (750 nm) excitation, with two‐photon absorption cross‐sections of 48.8–65.5 GM at 750 nm. Confocal microscopy and inductive coupled plasma‐mass spectrometry (ICP‐MS) demonstrated that these complexes selectively accumulate in mitochondria within 5 min, without needing additional reagents for membrane permeabilization, or replacement of the culture medium. In addition, photobleaching experiments and luminescence measurements confirmed the photostability of these complexes under continuous laser irradiation and physiological pH resistance. Moreover, results using 3D multicellular spheroids demonstrate the proficiency of these two‐photon luminescent complexes in deep penetration imaging. Two‐photon excitation using such novel complexes of iridium(III) for exclusive visualization of mitochondria in living cells may substantially enhance practical applications of bioimaging and tracking.     

A correlative classifiers approach based on particle filter and sample set for tracking occluded target

Target tracking is one of the most important issues in computer vision and has been applied in many fields of science, engineering and industry. Because of the occlusion during tracking, typical approaches with single classifier learn much of occluding background information which results in the decrease of tracking performance, and eventually lead to the failure of the tracking algorithm. This paper presents a new correlative classifiers approach to address the above problem. Our idea is to derive a group of correlative classifiers based on sample set method. Then we propose strategy to establish the classifiers and to query the suitable classifiers for the next frame tracking. In order to deal with nonlinear problem, particle filter is adopted and integrated with sample set method. For choosing the target from candidate particles, we define a similarity measurement between particles and sample set. The proposed sample set method includes the following steps. First, we cropped positive samples set around the target and negative samples set far away from the target. Second, we extracted average Haar-like feature from these samples and calculate their statistical characteristic which represents the target model. Third, we define the similarity measurement based on the statistical characteristic of these two sets to judge the similarity between candidate particles and target model. Finally, we choose the largest similarity score particle as the target in the new frame. A number of experiments show the robustness and efficiency of the proposed approach when compared with other state-of-the-art trackers.     

基于射频前端的GPS软件接收机设计与验证

介绍了基于硬件射频前端的GPS软件接收机设计与验证。针对GPS串行的搜索算法速度慢的缺点，采用了高速的并行码相位搜索算法；设计和实现了码跟踪环和载波跟踪环，并用载波环路来辅助码跟踪环路；综合考虑接收机的动态性和噪声影响，采用最优化设计思想，设计了GPS软件接收机最优环路带宽。采用GPS中频信号采样器采集实际GPS数据，对搜索和跟踪算法进行了验证。测试结果证明所设计的搜索和跟踪方法是有效的，使得用户在微弱信号处理、多路径处理和发展新的算法等方面具有更大的灵活性，为实际的高性能硬件GPS接收机设计提供的重要的基础。     

Validating a GIS-based multi-criteria method for potential road identification

This paper investigated the validation of a multi-criteria method for identifying potential roads, and demonstrated the capability of analyzing GPS vehicle tracking data for identifying vehicle movement patterns and potential roads. The multi-criteria method was evaluated by comparing the predictions to the site visit results on 34 selected road segments meeting different criteria levels. Results show that locations meeting higher criteria levels have higher possibilities to be roads: an approximately 91% possibility of road existence for the locations meeting all five criteria; 55% for the locations meeting four criteria; and 14% for those meeting criteria level two or three. This approach provides an opportunity for land managers to update existing GIS roads map, or identify newly formed roads that may need either rehabilitation or inclusion into the roads maintenance program.     

自适应卡尔曼滤波在惯性测量组合误差补偿中的应用

惯性元件误差是捷联惯导系统的主要误差源，必须在导航过程中加以补偿。根据机动目标跟踪理论和惯性测量组合动态模型，分别建立状态方程和观测方程，利用机动频率自适应的算法进行卡尔曼滤波，以此达到惯性测量组合动态误差和随机误差补偿的目的。仿真结果说明该方法可行有效，优于传统的误差补偿算法，能较好地提高系统导航精度。     

Direct numerical simulations of two-layer viscosity-stratified flow

Two-dimensional simulations of flow instability at the interface of a two-layer, density-matched, viscosity-stratified Poiseuille flow are performed using a front-tracking/finite difference method. We present results for the small-amplitude (linear) growth rate of the instability at small to medium Reynolds number for varying thickness ratio n, viscosity ratio m, and wavenumber. We also present results for large-amplitude non-linear evolution of the interface for varying viscosity ratio and interfacial tension. For the linear case, the interfacial mode is neutrally stable for as predicted by analysis. The growth rate is proportional to Reynolds number for small Re, and increases with viscosity ratio. The growth rate also increases when the thickness of the more viscous layer is reduced. Strong non-linear behavior is observed for relatively large initial perturbation amplitude. The higher viscosity fluid is drawn out as a finger that penetrates into the lower viscosity layer. The simulated interface shape compares well with previously reported experiments. Increasing interfacial tension retards the growth rate of the interface as expected, whereas increasing the viscosity ratio enhances it. Drop formation at the small Reynolds number considered in this study is precluded by the two-dimensional nature of the calculations.