简介:针对随机时滞和异步相关噪声情况下的状态估计问题,提出了一种改进的高斯滤波算法(GF),并给出了其适用于高维系统的实现形式—随机时滞和异步相关容积卡尔曼滤波器(CKF-RDCN)。首先,通过满足Bernoulli分布的互不相关随机序列,来描述系统观测数据中可能存在的随机时滞现象,将量测噪声作为状态变量用以实现对观测时滞后验概率密度的估计。其次,利用一阶斯特林插值公式来近似估计,由于过程噪声和量测噪声异步相关,而导致的含有随机变量的多维积分问题。最后,依据三阶球径容积法则,给出了CKF-RDCN滤波算法的详细设计。此外,经典GF算法是所提出的改进GF算法的特例,其作为一个通用的非线性滤波算法框架,根据不同的后验概率密度估计方法,可以有不同的实现形式。仿真结果表明,相比于扩展卡尔曼滤波算法(EKF)以及容积卡尔曼滤波算法(CKF),CKF-RDCN在解决含有观测时滞和相关噪声系统的状态估计问题时,具有更高的精度和更好的数值稳定性。
简介:TheinfluenceofNa2SO4ontheformationofZnOwhiskerswasinvestigatedinthispaper.ZnOwhiskerswithaspectratiosofupto50weresynthesizedbydissolvingε-Zn(OH)2precursorinNaOH/Na2SO4solutionatroomtemperature,followedbyagingoftheresultingsolutionat140℃for6h.Fouriertransforminfraredspectroscopy,Ramanspectroscopy,andX-rayphotoelectronspectroscopyanalysesrevealedthatSO42-ionswereprimarilyadsorbedonthe(100)planeoftheZnOwhiskersviaanouter-spherecomplexconfiguration(O-H…O),therebypromotingtheone-dimensionalgrowthofZnOwhiskersalongthec-axis.
简介:PureAl2O3-2SiO2powderswerepreparedbysol-gelandcoprecipitationmethods,andtheiralkaliactivationreactivitieswerecompared.Thealkali-activationreactivityofthepowderpreparedbythesol-gelmethodwashigherthanthatofthepowderpreparedbythecoprecipitationmethod.Thepowderswereinvestigatedby27AIand29Simagic-anglespinningnuclearmagneticresonancespectroscopy(MASNMR)tounderstandtherelationshipbetweentheirstructureandalkali-activationreactivity.The27AlMASNMRdatashowedthatthefive-coordinateAIcontentofthepowderpreparedbythesol-gelmethodwashigherthanthatofthepowderpreparedbycoprecipitation.Thehighercontentoffive-coordinateAlcorrespondedtohigheralkali-activationreactivity.The29SiMASNMRdatashowedthatforthepowderpreparedbythesol-gelmethod,siliconwasreplacedbyaluminumatsecondarycoordinationsitesofthecentralSiatomsduringcalcination.However,forthepowderpreparedbysingle-batchcoprecipitation,themainchangewasfromalowdegreeofpolycondensationtoahighdegreeofpolycondensation.
简介:Commerciallyavailablelatticescontainvariouskindsofmorphologicalimperfectionswhichresultingreatdegradationinlattices’mechanicalproperties,therefore,toobtainimperfectioninsensitivelatticestructureisobviouslyapracticalresearchsubject.Hierarchicalstructurematerialswerefoundtobeaclassofpromisinganti-defectmaterials.Thispaperbuildshierarchicallatticebyaddingsoftadhesiontolattice’scelledgesandnumericalresultsshowthatitsimperfectionsensitivitytomissingbarsisminorcomparedwiththeclassiclattice.Softadhesionwithappropriatepropertiesreinforcecelledge’sbendingstiffnessandthusreducethebendingdeformationinlatticecausedbymissingbarsdefect,whichisconfirmedbystatisticalanalysisofnormalizednodedisplacementsofimperfectlatticesunderhydrostaticcompressionandshearloads.
简介:Thereisaneedtostandardizemethodsassociatedwiththedispersionofnanomaterialsinnano(eco)toxicologicalinvestigations.Thefirststeptowardthisgoalistounderstandthedegreeofvariabilitythatexistsinnanomaterialdispersionspreparedbyusingdifferentprotocols.Usingtwocasestudies,thedegreeofvariabilityinTiO2nanomaterialdispersionswasassessedbydifferentialcentrifugalsedimentation(DCS)methods.Casestudy1addressesthevariabilitythatarisesfromvariationswithinoneprotocol,investigatingtheeffectsofdispersionaging,sonicationexposuretime,sonicationinthepresence/absenceofanicebath,materialsubsampling,particleconcentrationandhavingapre-wettingstep.Casestudy2addressesthevariabilitybetweenfourdifferentprotocolsdevelopedthroughpastresearchactivitiesandprojects.Theresultsindicatethatthereisalargedegreeofvariability(relativestandarddeviation(RSD)ofmeanparticlediameter=26%)inthedispersionofTiO2nanomaterialsbetweenthefourdifferentprotocolsstudiedandthatseveralstepsinadispersionprotocolarepotentialsourcesofvariation,withfinalparticleconcentrationbeingthemostsignificant.Theimplicationofthisstudyisclear:forthepurposeofdatacomparability,thereisaneedtoprovidetheexactdetailsofallstepsinvolvedinadispersionprotocol.
简介:Afacilemethodforthesynthesisofsilver-silica(Ag-SiO2)Janusparticleswithfunctionalitiessuitablefortextileapplicationsisreported.SilicananoparticlespreparedbytheStobermethodwerefunctionalizedwithepoxy,amine,andthiolgroups,whichwereconfirmedbyFouriertransforminfraredanalysis.ThefunctionalizedsilicananoparticleswereusedtoproducePickeringemulsions,andtheexposedsurfacewasusedfortheattachmentofsilvernanoparticles(AgNPs)viathelow-temperaturechemicalreductionmethod.ThemorphologyandstructureoftheAg-SiO2Janusparticleswerecharacterizedbyscanningelectronmicroscopy,scanningtransmissionelectronmicroscopy,high-resolutiontransmissionelectronmicroscopy,energy-dispersiveX-rayanalysis,andUV-visspectroscopy.Becauseoftheirspecificfunctionalities,theseAg-SiO2Janusparticlesareproposedforapplicationsontextilesubstrates,astheycanovercomeseveraldrawbacksofdirectapplicationofAgNPsontextiles,suchasleaching,agglomeration,andinstabilityduringstorage.
简介:Nanostructuredtransitionmetaloxidesarepromisingalternativeanodesforlithiumionbatteries.Li-ionstorageperformanceisexpectedtoimproveifhighpackingdensityenergyparticlesareavailable.Herein,Mn2O3microsphereswithaca.18μmdiameterandatappeddensityof1.33g/cm3weresynthesizedbyafacilesolvothermal-thermalcoversionroute.SphericalMnCO3precursorswereobtainedthroughsolvothermaltreatmentandtheydecomposedandconvertedintoMn2O3microspheresatanannealingtemperatureof700C.TheMn2O3microspheresconsistedofMn2O3nanoparticleswithanaverage40nmdiameter.TheseporousMn2O3microspheresallowgoodelectrolytepenetrationandprovideanionbufferreservoirtoensureaconstantelectrolytesupply.TheMn2O3microsphereshavereversiblecapacitiesof590and320mAh/gat50and400mA/g,respectively.Wethusreportanefficientrouteforthefabricationofenergyparticlesforadvancedenergystorage.
简介:针对传统无陀螺捷联惯导系统角速度求解复杂,解算效率低,惯性元件安装精度要求高等问题,提出一种新型的无陀螺捷联惯导导航方案,将8-UPS型并联式六维加速度传感器作为其惯性元件,直接测量出运载体的六维绝对加速度。基于矢量力学理论,推导了其惯导基本方程;通过数值积分运算来提取载体的线运动参量;运用空间几何理论建立姿态方程,实时更新捷联矩阵以获取载体的角运动参量,从而完成了导航建模与解算。仿真结果表明该系统能满足航行体中精度实时导航的要求,是有效可行的。与同类导航相比,该系统具有结构紧凑、解算效率高、物理模型误差敏感性低等优势。
简介:针对SINS/GPS组合导航系统中的GPS故障,结合GPS导航定位信息的特点,提出了基于改进型灰色预测的GPS故障预测模型,实现了GPS故障预测;结合SINS/GPS组合导航系统数学模型,进行了基于改进型灰色预测的SINS/GPS组合导航系统仿真。仿真结果表明,GPS位置数据预测残差小于1.5m;在GPS短暂故障期间,由预测数据取代GPS故障数据,可以有效提高SINS/GPS组合导航系统的抗干扰能力,保证其导航精度;比较GPS故障数据和预测数据,并根据故障数据的持续时间和变化特点等,可以诊断GPS故障是硬件故障还是外部干扰的影响,有助于实现GPS的故障判别与隔离。
简介:针对空地武器攻击时敏目标半实物仿真系统的应用需求,以往所采用的纯数字仿真系统及方法已无法满足和实现所需要的功能,现有的半实物仿真技术又存在功能单一、接口有限、二次开发难的缺陷,提出了一种空地武器攻击时敏目标半实物仿真系统方案,重点设计了传递对准算法和GPS/INS组合导航算法。以空地制导炸弹为例,系统仿真功能涵盖了从载机挂弹飞行、系统自检、传递对准、热电池激活、数据链开启、炸弹投放、弹体姿态稳定、弹翼张开、滑翔中制导、中末交班、导引头开启、末制导直到命中时敏目标结束的全工作流程,针对该复杂系统的时间统一问题,提出了一种全系统投弹前后的传递对准时间同步方法。最后的模拟投弹试验结果表明:所设计的半实物仿真系统结构合理、实时性好、功能齐全,可为后期空地制导武器的研制提供一种非常有效的半实物仿真试验方法。
简介:针对CNS/INS组合导航系统中缩短初始对准时间的问题,设计了一种CNS/INS组合导航系统组合对准新方法。在CNS/INS姿态四元数组合算法的基础上,推导CNS/INS组合系统线性化状态方程,分析了INS和CNS姿态四元数差值构建量测方程。利用递推最小二乘原理实现了对该组合系统的信息融合,设计了基于该估计原理的组合导航系统初始对准方法,考虑到大气层内动基座条件下对于星敏感器造成的干扰因素增加了加权处理环节,最后通过仿真实验验证了递推加权最小二乘法在处理组合导航系统初始对准中的有效性。仿真结果表明在微晃基座条件下,与传统的滤波方法相比较该估计方法能够有效地缩短约25%的对准时间。