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Free-walking:Pedestrian inertial navigation based on dual foot-mounted IMU

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Defence Technology（防务技术） 2024年第3期33卷 573-587页

作者： Qu Wang meixia Fu Jianquan Wang Lei Sun Rong Huang Xianda Li Zhuqing Jiang Yan Huang Changhui Jiang School of Automation Science and Electrical Engineering University of Science and Technology BeijingBeijing100083China Shunde Innovation School University of Science and Technology BeijingFo Shan528399China Research Institute of China Unicom Beijing100190China School of Artificial Intelligence Beijing University of Posts and TelecommunicationsBeijing100876China Department of Automation Tsinghua University Beijing100084China GEOLOC Laboratory Universite Gustave EiffelParis77454France

The inertial navigation system(INS),which is frequently used in emergency rescue operations and other situations,has the benefits of not relying on infrastructure,high positioning frequency,and strong real-time ***,the intricate and unpredictable pedestrian motion patterns lead the INS localization error to significantly diverge with *** paper aims to enhance the accuracy of zero-velocity interval(ZVI)detection and reduce the heading and altitude drift of foot-mounted INS via deep learning and equation constraint of dual *** at the observational noise problem of low-cost inertial sensors,we utilize a denoising autoencoder to automatically eliminate the inherent *** at the problem that inaccurate detection of the ZVI detection results in obvious displacement error,we propose a sample-level ZVI detection algorithm based on the U-Net neural network,which effectively solves the problem of mislabeling caused by sliding *** at the problem that Zero-Velocity Update(ZUPT)cannot suppress heading and altitude error,we propose a bipedal INS method based on the equation constraint and ellipsoid constraint,which uses foot-to-foot distance as a new observation to correct heading and altitude *** conduct extensive and well-designed experiments to evaluate the performance of the proposed *** experimental results indicate that the position error of our proposed method did not exceed 0.83% of the total traveled distance.

关键词： Indoor positioning Inertial navigation system(INS) Zero-velocity update(ZUPT) Internet of things(IoTs) Location-based service(LBS)

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超声波/铁-炭微电解协同降解苯酚

环境科学学报 2009年第5期29卷 1042-1048页

作者：董梅霞荆国华李艳周作明华侨大学环境科学与工程系厦门361021

采用超声波/铁-炭微电解联用体系,以苯酚为目标污染物,考察了苯酚溶液初始pH值、初始浓度、铁屑与活性炭投加量等因素对联用体系降解苯酚效果的影响.结果表明:考察范围内,苯酚降解率随其初始浓度和溶液初始pH值的增加而降低,随铁屑与活... 详细信息

采用超声波/铁-炭微电解联用体系,以苯酚为目标污染物,考察了苯酚溶液初始pH值、初始浓度、铁屑与活性炭投加量等因素对联用体系降解苯酚效果的影响.结果表明:考察范围内,苯酚降解率随其初始浓度和溶液初始pH值的增加而降低,随铁屑与活性炭投加量的增加而升高.当苯酚初始浓度由50mg·mL-1增至270mg·mL-1,溶液初始pH值由3.0增至9.0时,降解率分别由91.3%和78.4%降至34.7%和50.7%;铁屑投加量为每L苯酚溶液中40g、160g和320g,铁屑与活性炭体积比均为1∶1时,降解率依次为31.8%、51.9%和72.8%.对比实验及动力学分析表明:联用体系中超声波(US)和铁-炭微电解对苯酚降解具有明显的协同作用,协同因子E=5.12,且降解过程符合假一级动力学规律,并根据降解速率常数随各影响因素的变化关系确定了宏观动力学模型.

关键词：超声波铁-炭微电解苯酚协同效应动力学

皮革废水经微电解-SBR处理后的综合毒性变化

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环境工程学报 2009年第11期3卷 1985-1988页

作者：周作明李艳董梅霞华侨大学环境科学与工程系厦门361021

选择蛋白核小球藻(Chlorella pyrenoidosa Chick)为供试藻种,采用藻类急性毒性试验考察皮革废水经微电解-SBR工艺处理后的综合毒性变化情况。结果表明,皮革废水经微电解-SBR工艺处理后,其综合毒性显著降低。分别以细胞数和活体叶绿素a... 详细信息

选择蛋白核小球藻(Chlorella pyrenoidosa Chick)为供试藻种,采用藻类急性毒性试验考察皮革废水经微电解-SBR工艺处理后的综合毒性变化情况。结果表明,皮革废水经微电解-SBR工艺处理后,其综合毒性显著降低。分别以细胞数和活体叶绿素a含量计算得到的原水、微电解出水和SBR出水的EbC50值和EeC50值依次为16.6%、19.3%、52.6%和13.0%、15.6%和52.1%。根据Bu lich提出的毒性等级划分原则,经处理后最终出水的毒性级别由原水的Ⅰ级降为Ⅱ级。

关键词：皮革废水综合毒性蛋白核小球藻微电解 SBR

国家赔偿中信赖利益保护的失范与规制--以“授益性行政赔偿案件”为切入镜像

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新疆社会科学 2022年第3期 124-134,179,180页

作者：刘焕芳董美霞苏州大学王健法学院江苏苏州215026 江西省景德镇市中院江西景德镇333000

信赖利益保护对合理协调法安定性带来的行政风险与权利救济之间的张力,举足轻重。能否将信赖利益纳入国家赔偿范围、如何认定与恰当适用,均系国家赔偿案件的疑难问题。文章通过检视实务,探寻授益行为信赖保护的多层理论空间,为信赖利益... 详细信息

信赖利益保护对合理协调法安定性带来的行政风险与权利救济之间的张力,举足轻重。能否将信赖利益纳入国家赔偿范围、如何认定与恰当适用,均系国家赔偿案件的疑难问题。文章通过检视实务,探寻授益行为信赖保护的多层理论空间,为信赖利益保护提供理论依据;通过多维度透视授益性行政赔偿案件,并依据法经济学中利益平衡原则与比例原则分别确定赔偿方式与赔偿标准,探寻国家赔偿领域内对不平等主体间利益受损予以信赖保护的空间与限度,以维护法的安定性与实质正义。

关键词：信赖利益国家赔偿法安定性比例原则

Resonance mechanism of flapping wing based on fluid structure interaction simulation

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Chinese Journal of Aeronautics 2024年第5期37卷 243-262页

作者： Yueyang GUO Wenqing YANG Yuanbo dong dong XUE National Key Laboratory of Science and Technology on Aerodynamic Design and Research School of AeronauticsNorthwestern Polytechnical UniversityXi'an 710072China Research&Development Institute of Northwestern Polytechnical University in Shenzhen Shenzhen 518063China Yangtze River Delta Research Institute of Northwestern Polytechnical University Taicang 215400China

Certain insect species have been observed to exploit the resonance mechanism of their *** order to achieve resonance and optimize aerodynamic performance,the conventional approach is to set the flapping frequency of flexible wings based on the Traditional Structural Modal(TSM)***,there exists controversy among researchers regarding the relationship between frequency and aerodynamic *** that the structural response of wings can be influenced by the surrounding air vibrations,an analysis known as Acoustic Structure Interaction Modal(ASIM)is introduced to calculate the resonant *** this study,Fluid Structure Interaction(FSI)simulations are employed to investigate the aerodynamic performance of flapping wings at modal frequencies derived from both TSM and ASIM *** performance is evaluated for various mass ratios and frequency ratios,and the findings indicate that the deformation and changes in vortex structure exhibit similarities at mass ratios that yield the highest aerodynamic ***,the flapping frequency associated with the maximum time-averaged vertical force coefficient at each mass ratio closely aligns with the ASIM frequency,as does the frequency corresponding to maximum ***,the ASIM analysis can provide an effective means for predicting the optimal flapping frequency for flexible ***,it enables the prediction that flexible wings with varying mass ratios will exhibit similar deformation and vortex structure *** paper offers a fresh perspective on the ongoing debate concerning the resonance mechanism of Flexible Flapping Wings(FFWs)and proposes an effective methodology for predicting their aerodynamic performance.

关键词： Flexible Flapping Wing(FFW) Acoustic Structure Interaction Modal(ASIM) Fluid Structure Interaction(FSI) Resonance mechanism Aerodynamic performance

基于博弈论视角的利益相关者协同创新策略研究

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工业技术经济 2013年第10期32卷 3-7页

作者：林莉王瑜杰董美霞大连交通大学大连116028

随着全球经济一体化程度不断加深,创新活动日益成为一个整体,产业利益相关者的协同创新无疑成为快速提升产业自主创新能力的重要途径。本文从协同创新过程中协作关系的分析入手,通过博弈模型构建,分析协同创新中产业发展中利益相关者的... 详细信息

随着全球经济一体化程度不断加深,创新活动日益成为一个整体,产业利益相关者的协同创新无疑成为快速提升产业自主创新能力的重要途径。本文从协同创新过程中协作关系的分析入手,通过博弈模型构建,分析协同创新中产业发展中利益相关者的策略与选择。通过模型分析与计算得出影响协同创新的三因素,并由此提出相应的对策和建议,以提升协同创新绩效,增强产业竞争力。

关键词：博弈论利益相关者协同创新

Copper slag assisted coke reduction of phosphogypsum for sulphur dioxide preparation

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Chinese Journal of Chemical Engineering 2024年第1期65卷 43-53页

作者： dong Ma Qinhui Wang State Key Laboratory of Clean Energy Utilization Institute for Thermal Power EngineeringZhejiang UniversityHangzhou 310027China

The reduction of phosphogypsum(PG)to lime slag and SO_(2)using coke can effectively alleviate the environmental problems caused by ***,the PG decomposition temperature remains high and the product yield remains *** adding additives,the decomposition temperature can be further reduced and PG decomposition rate and product yield can be ***,the use of current additives such as Fe_(2)O_(3)and SiO_(2)brings the problem of increasing economic ***,it is proposed to use solid waste copper slag(CS)as a new additive to reduce PG to prepare SO2,which can reduce the cost and meet the environmental benefits at the same *** effects of proportion,temperature and thermostatic time on PG decomposition are investigated by experimental and kinetic analysis combined with FactSage thermodynamic calculations to optimize the roasting ***,the reaction mechanism is *** is found that adding CS to the coke and PG system can increase the rate of PG decomposition and SO_(2)yield while lowering the PG decomposition *** example,when the CS/PG mass ratio increases from 0 to 1,PG decomposition rate increases from 83.38%to 99.35%,SO_(2)yield increases from 78.62%to 96.81%,and PG decomposition temperature decreases from 992.4℃to 949.6℃.The optimal reaction parameters are CS/PG mass ratio of 1,Coke/PG mass ratio of 0.06 at 1100℃for 20 min with 99.35%PG decomposition rate and 96.81%SO_(2) *** process proceeds according to the following reactions:2CaSO_(4)+ 0.7C + 0.8Fe_(2)SiO_(4)→0.8Ca_(2)SiO_(4)+ 0.2Ca_(2)Fe_(2)O_(5)+ 0.4Fe_(3)O_(4)+2SO_(2)+ 0.7CO_(2)Finally,a process for decomposing PG with coke and CS is proposed.

关键词： Phosphogypsum Sulfur dioxide Copper slag Fluidized-bed Reduction Waste treatment

Resilient control of flexible hypersonic vehicles against unmatched distributed faults

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Chinese Journal of Aeronautics 2024年第5期37卷 60-70页

作者： dong ZHAO Wenjing REN School of Artificial Intelligence Anhui UniversityHefei 230601China Key Laboratory of System Control and Information Processing Ministry of EducationShanghai Jiao Tong UniversityShanghai 200240China School of Electrical Engineering and Automation Hefei University of TechnologyHefei 230009China

This paper studies a robust fault compensation and vibration suppression problem of flexible hypersonic *** controlled plant is represented by a cascade system composed of a nonlinear Ordinary Differential Equation(ODE)and an Euler-Bernoulli Beam Equation(EBBE),in which the vibration dynamics is coupled with the rigid dynamics and suffers from distributed faults.A state differential transformation is introduced to transfer distributed faults to an EBBE boundary and a longitudinal dynamics is refined by utilizing T-S fuzzy IF-THEN rules.A novel T-S fuzzy based fault-tolerant control algorithm is developed and related stability conditions are *** robust exponential stability and well-posedness are proved by using the modified l_(0)-semigroup based Lyapunov direct approach.A simulation study on the longitudinal dynamics of flexible hypersonic vehicles effectively verifies the validity of the developed theoretical results.

关键词： Flexible hypersonic vehicles ODE-EBBE cascade Robust exponential stability Unmatched distributed fault compensation Vibration suppression

Finite-time Prescribed Performance Time-Varying Formation Control for Second-Order Multi-Agent Systems With Non-Strict Feedback Based on a Neural Network Observer

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IEEE/CAA Journal of Automatica Sinica 2024年第4期11卷 1039-1050页

作者： Chi Ma Dianbiao dong the School of Mechanical Engineering Northwestern Polytechnical UniversityXi’an 710072China

This paper studies the problem of time-varying formation control with finite-time prescribed performance for nonstrict feedback second-order multi-agent systems with unmeasured states and unknown *** eliminate nonlinearities,neural networks are applied to approximate the inherent dynamics of the *** addition,due to the limitations of the actual working conditions,each follower agent can only obtain the locally measurable partial state information of the leader *** address this problem,a neural network state observer based on the leader state information is ***,a finite-time prescribed performance adaptive output feedback control strategy is proposed by restricting the sliding mode surface to a prescribed region,which ensures that the closed-loop system has practical finite-time stability and that formation errors of the multi-agent systems converge to the prescribed performance bound in finite ***,a numerical simulation is provided to demonstrate the practicality and effectiveness of the developed algorithm.

关键词： Finite-time control multi-agent systems neural network prescribed performance control time-varying formation control