A unified approach of observability analysis for airborne SLAM

An unmanned aerial vehicle （UAV） is arranged to explore an unknown environment and to map the features it finds when GPS is denied.It navigates using a statistical estimation technique known as simultaneous localization and mapping （SLAM） which allows for the simultaneous estimation of the location of the UAV as well as the location of the features it sees.Obscrvability is a key aspect of the state estimation problem of SLAM.However,the dimension and variables of SLAM system might be changed with new features.To solve this issue,a unified approach of observability analysis for SLAM system is provided,through reorganizing the system model.The dimension and variables of SLAM system keep steady,then the PWCS theory can be used to analyze the local or total observability,and under special maneuver,some system states,such as the yaw angle,become observable.Simulation results validate the proposed method.     

Multistatic radar analysis based on ambiguity function and Cramér-Rao lower bounds

The primary goal of this work is to characterize the impact of weighting selection strategy and multistatic geometry on the multistatic radar performance. With the relationship between the multistatic ambiguity function （AF） and the multistatie Cram6r-Rao lower bound （CRLB）, the problem of calculating the multistatic AF and the multistatic CRLB as a performance metric for multistatic radar system is studied. Exactly, based on the proper selection of the system parameters, the multistatic radar performance can be significantly improved. The simulation results illustrate that the multistatic AF and the multistatic CRLB can serve as guidelines for future multistatic fusion rule development and multistatic radars deployment.     

Synthesis,characterization and biological activity in vitro of FeCrAl（f）/HA asymmetrical biological functionally gradient materials

FeCrAl（f）/HA biological functionally gradient materials（FGMs） were successfully fabricated by the hot pressing technique.Scanning electron microscope（SEM）,energy dispersive spectrometer（EDS） and bending strength test machine were utilized to characterize the microstructure,component,mechanical properties and the formation of the Ca-deficient apatite on the surface of these materials.The results indicate that an asymmetrical FeCrAl（f）/HA FGM,consolidating powders prepared by mixing HA with 3%–15%（volume fraction） is successfully prepared.Both of the matrix and FeCrAl fiber are integrated very tightly and bite into each other very deeply.And counter diffusion takes place to some extent in two phase interfaces.The elemental compositions of the FeCrAl（f）/HA FGM change progressively.Ca and P contents increase gradually with immersion time increasing,and thereafter approach equilibrium.The bone-like apatite layer forms on the materials surface,which possesses benign bioactivity,and the favorable biocompatibility can provide potential firm fixation between FeCrAl（f）/HA asymmetrical FGM implants and human bone.     

Distributed collaborative extremum response surface method for mechanical dynamic assembly reliability analysis

To make the dynamic assembly reliability analysis more effective for complex machinery of multi-object multi-discipline （MOMD）,distributed collaborative extremum response surface method （DCERSM） was proposed based on extremum response surface method （ERSM）.Firstly,the basic theories of the ERSM and DCERSM were investigated,and the strengths of DCERSM were proved theoretically.Secondly,the mathematical model of the DCERSM was established based upon extremum response surface function （ERSF）.Finally,this model was applied to the reliability analysis of blade-tip radial running clearance （BTRRC） of an aeroengine high pressure turbine （HPT） to verify its advantages.The results show that the DCERSM can not only reshape the possibility of the reliability analysis for the complex turbo machinery,but also greatly improve the computational speed,save the computational time and improve the computational efficiency while keeping the accuracy.Thus,the DCERSM is verified to be feasible and effective in the dynamic assembly reliability （DAR） analysis of complex machinery.Moreover,this method offers an useful insight for designing and optimizing the dynamic reliability of complex machinery.     

A novel SINR and mutual information based radar jamming technique

The improvements of anti-jamming performance of modem radar seeker are great threats to military targets. To protect the target from detection and estimation, the novel signal-to-interference-plus-noise ratio （SINR）-based and mutual information （Ml）-based jamming design techniques were proposed. To interfere with the target detection, the jamming was designed to minimize the S1NR of the radar seeker. To impair the estimation performance, the mutual information between the radar echo and the random target impulse response was used as the criterion. The spectral of optimal jamming under the two criteria were achieved with the power constraints. Simulation results show the effectiveness of the jamming techniques. SINR and MI of the SINR-based jamming, the MI-based jamming as well as the predefined jamming under the same power constraints were compared. Furthermore, the probability of detection and minimum mean-square error （MMSE） were also utilized to validate the jamming performance. Under the jamming power constraint of I W, the relative decrease of the probability of detection using S1NR-based optimal jamming is about 47%, and the relative increase of MMSE using Ml-based optimal jamming is about 8%. Besides, two useful jamming design principles are concluded which can be used in limited jamming power situations.     

Implementation of road horizontal alignment as a whole for CAD

Road horizontal alignment contains three elements： straight line, circular arc, and clothoid. In AutoCAD, clothoid can only be fitted by polyline or spline, and the graphics which are separated from the road data are independent of each other. Therefore, it is necessary to develop a new curve for road horizontal alignment. Firstly, the differential approximation and series integration methods for clothoid were discussed. Secondly, the geometric formulae for road line which contain the three elements were derived as a whole Then, the advantages and feasibility of customizing a road line class, which was derived from the curve base class, were analyzed based on ObjectARX （AutoCAD Runtime eXtension） techniques. Finally, the data structure and operations for the road line class were stressed. The experimental results show that the road line can integrate the road elements, graphics and data to implement the graphics-oriented design, which can be widely used in road alignment design.     

Joint adaptive waveform and baseline range design for bistatic radar

The problems of joint adaptive waveform design and baseline range design for bistatic radar to maximize the practical radar resolution were considered. Distinguishing from the conventional ambiguity function （AF）-based resolution which is only related with the transmitted waveform and bistatic geometry and could be regarded as the potential resolution of a bistatic radar system, the practical resolution involves the effect of waveform, signal-to-noise ratio （SNR） as well as the measurement model. Thus, it is more practical and will have further significant application in target detection and tracking. The constraint optimization procedure of joint adaptive waveform design and baseline range design for maximizing the practical resolution of bistatic radar system under dynamic target scenario was devised. Simulation results show that the range and velocity resolution are enhanced according to the adaptive waveform and bistatic radar configuration.     

Effect of catalyst on formation of poly（methyl methacrylate） brushes by surface initiated atom transfer radical polymerization

Poly （methyl methacrylate） （PMMA） brushes were synthesized from silicon wafers via surface initiated atom transfer radical polymerization （SI-ATRP）. Energy disperse spectroscopy （EDS） and atomic force microscopy （AFM） confirmed that PMMA brushes were successfully prepared on the silicon wafers, and the surface became more hydrophobic according to the contact angle of 69~. It is found that CuCI/1, 1, 4, 7, 10, 10-hexamethyl triethylenetetramine （HMTETA） system is more suitable than CuBr/N, N, N′, N″, N′″-pentamethyl diethylenetriamine （PMDETA） system to control the free radical polymerization of MMA in solution. Nevertheless, better control on the thickness of PMMA brushes was achieved in CuBr/PMDETA than in CuC1/HMTETA due to higher activity and better reversibility of the former system.     

Numerical simulation of transport phenomena during strip casting with EMBr in a single belt caster

A theoretical investigation of fluid flow, heat transfer and solidification （solidification transfer phenomena, STP） was presented which coupled with direct-current （DC） magnetic fields in a high-speed strip-casting metal delivery system. The bidirectional interaction between the STP and DC magnetic fields was simplified as a unilateral one, and the fully coupled solidification transport equations were numerically solved by the finite volume method （FVM）. While the magnetic field contours for a localized DC magnetic field were calculated by software ANSYS and then incorporated into a three-dimensional （3-D） steady model of the liquid cavity in the mold by means of indirect coupling. A new FVM-based direct-SIMPLE algorithm was adopted to solve the iterations of pressure-velocity （P-V）. The braking effects of DC magnetic fields with various configurations were evaluated and compared with those without static magnetic field （SMF）. The results show that 0.6 T magnetic field with combination configuration contributes to forming an isokinetic feeding of melt, the re-circulation zone is shifted towards the back wall of reservoir, and the velocity difference on the direction of height decreases from 0.1 m/s to 0. Furthermore, the thickness of solidified skull increases uniformly from 0.45 mm to 1.36 mm on the chilled substrate （belt） near the exit.     

Adsorption behavior of cross-linked chitosan modified by graphene oxide for Cu（Ⅱ） removal

Cross-linked chitosan（CS）,cross-linked chitosan/graphene（CS/RGO10） and cross-linked chitosan/graphene oxide（CS/GO10） were prepared as adsorbents for Cu（Ⅱ）.The effects of pH,contact time,adsorbent dosage and initial concentration of Cu（Ⅱ） on the adsorbing abilities of CS,CS/RGO10 and CS/GO10 to Cu（Ⅱ） were investigated.The results demonstrate that the adsorption capacities of CS/GO10 and CS/RGO10 are greater than that of CS,especially at pH 5.0 and the adsorption capacities are 202.5,150 and 137.5 mg/g,respectively.Their behaviors obey the Freundlich isotherm model very well.Additionally,CS/GO10 has the shortest time to achieve adsorption equilibrium among them and can be used as a perspective adsorbent for Cu（Ⅱ）.     

Utilization of waste polyethylene terephthalate as a reducing agent in the reduction of iron ore composite pellets

The increasing consumption of plastics inevitably results in increasing amounts of waste plastics. Because of their long degradation periods, these wastes negatively affect the natural environment. Numerous studies have been conducted to recycle and eliminate waste plastics. The potential for recycling waste plastics in the iron and steel industry has been underestimated; the high C and H contents of plastics may make them suitable as alternative reductants in the reduction process of iron ore. This study aims to substitute plastic wastes for coal in reduction melting process and to investigate their performance during reduction at high temperature. We used a common type of waste plastic, polyethylene terephthalate （PET）, because of its high carbon and hydrogen contents. Composite pellets containing PET wastes, coke, and magnetite iron ore were reduced at selected temperatures of 1400 and 1450℃ for reduction time from 2 to 10 min to investigate the reduction melting behavior of these pellets. The results showed that an increased temperature and reduction time increased the reduction ratio of the pellets. The optimum experimental conditions for obtaining metallic iron （iron nuggets） were reduction at 1450℃ for 10 min using composite pellets containing 60% PET and 40% coke.     

Numerical simulation of dynamic process for liquid film spreading by lattice Boltzmann method and its experimental verification

Combined with the kinetic model of liquid film spreading, a new numerical method of solid-liquid-gas three-phase flow was developed for the moving of contact line, which was a hybrid method of computational fluid dynamics and lattice Boltzmalm method （LBM）. By taking the effect of molecule force in droplet and the wall surface on liquid film into account, the changing law of contact angle with different surface tensions was analyzed on glass and aluminum foil surfaces. Compared with experimental results, the standard deviation by using LBM is less than 0.5°, which validates the feasibility of LBM simulation on the dynamic process of liquid film spreading. In addition, oscillations are discovered both at the initial and end phases. The phenomenon of retraction is also found and the maximum retraction angle is 7.58°. The obtained result shows that the retraction is proved to be correlative with precursor film by tracking the volume change of liquid film contour. Furthermore, non-dimensional coefficient 2 is introduced to measure the liquid film retraction capacity.     

Adjustable transmission properties through ring-shaped nanotube arrays using finite-difference time-domain method

Metallic ring-shaped nanotube arrays are proposed and its optical transmission properties are studied by using finite-difference time-domain （FDTD） method. Compared with the transmission spectra of conventional circular nanotube arrays, two photonic band gaps are emerged in the transmission spectra offing-shaped nanotube arrays, the two band gaps and transmission spectra are adjusted by the length, inner radius, intertube spacing and the dielectric constants of the core and embedding medium, and magnitude modification, redshift and blueshift of the resonance modes are observed. A metallic ring-shaped nanotube arrays for subwavelength band-stop filter in the range of visible light can be achieved. To understand its physical origin, field-interference mechanism was suggested by the field distributions. The proposed nanostructures and results may have great potential applications in subwavelength near-field optics.     

Resolution performance analysis of cumulants-based rank reduction estimator in presence of unexpected modeling errors

Compared to the rank reduction estimator （RARE） based on second-order statistics （called SOS-RARE）, the RARE employing fourth-order cumulants （referred to as FOC-RARE） is capable of dealing with more sources and mitigating the negative influences of the Gaussian colored noise. However, in the presence of unexpected modeling errors, the resolution behavior of the FOC-RARE also deteriorate significantly as SOS-RARE, even for a known array covariance matrix. For this reason, the angle resolution capability of the FOC-RARE was theoretically analyzed. Firstly, the explicit formula for the mathematical expectation of the FOC-RARE spatial spectrum was derived through the second-order perturbation analysis method. Then, with the assumption that the unexpected modeling errors were drawn from complex circular Gaussian distribution, the theoretical formulas for the angle resolution probability of the FOC-RARE were presented. Numerical experiments validate our analytical results and demonstrate that the FOC-RARE has higher robustness to the unexpected modeling en＇ors than that of the SOS-RARE from the resolution point of view.     

Thermogravimetric characteristics and different kinetic models for medical waste composition containing polyvinyl chloride-transfusion tube简

Thermogravimetric study of medical transfusion tube （MTT） waste containing polyvinyl chloride （PVC） was carried out using the thermogravimetric analyser （TGA） with N2, at different heating rates of 5, 10, 20, 30, 50 ℃/min. The purpose is to obtain pyrolysis characteristics and kinetic parameters of medical waste. The experimental results indicate that the pyrolysis behavior of the MTT sample is in agreement with its main ingredient of PVC, appearing two stair stepping stages. The influence of the additives in MTT on pyrolysis behavior was also revealed, which could improve MTT pyrolysis at lower temperature in the first stage, and cause obvious unsmoothness and asymmetry of the second DTG peak. Four n-order kinetic models of Coats-Redfern, Ozawa, Kissinger and Freeman-carroll were used to get the kinetic parameters. Furthermore, a novel ＂two-step four-reaction model＂ was established to simulate the whole continuous process. The different methods and the kinetic parameters thus obtained were discussed and compared with each other in literatures. The reasons of deviation among kinetic values were tried to be elucidated. The new established model could more satisfactorily describe the pyrolysis process of MTT, being more mechanistic and conveniently serving for the engineering.     

Spatial quality evaluation for drinking water based on GIS and ant colony clustering algorithm简

To develop a better approach for spatial evaluation of drinking water quality, an intelligent evaluation method integrating a geographical information system （GIS） and an ant colony clustering algorithm （ACCA） was used. Drinking water samples from 29 wells in Zhenping County, China. were collected and analyzed. 35 parameters on water quality were selected, such as chloride concentration, sulphate concentration, total hardness, nitrate concentration, fluoride concentration, turbidity, pH, chromium concentration, COD, bacterium amount, total coliforms and color. The best spatial interpolation methods for the 35 parameters were found and selected from all types of interpolation methods in GIS environment according to the minimum cross-validation errors. The ACCA was improved through three strategies, namely mixed distance function, average similitude degree and probability conversion functions. Then, the ACCA was carried out to obtain different water quality grades in the GIS environment. In the end, the result from the ACCA was compared with those from the competitive Hopfield neural network （CHNN） to validate the feasibility and effectiveness of the ACCA according to three evaluation indexes, which are stochastic sampling method, pixel amount and convergence speed. It is shown that the spatial water quality grades obtained from the ACCA were more effective, accurate and intelligent than those obtained from the CHNN.     

Dynamic assets allocation based on market microstructure model with variable-intensity jumps简

In order to characterizc large fluctuations of the financial markets and optimize financial portfolio, a new dynamic asset control strategy was proposed in this work. Firstly, a random process item with variable jump intensity was introduced to the existing discrete microstructure model to denote large price fluctuations. The nonparametric method of LEE was used for detecting jumps. Further, the extended Kalman filter and the maximum likelihood method were applied to discrete microstructure modeling and the estimation of two market potential variables： market excess demand and liquidity. At last, based on the estimated variables, an assets allocation strategy using evolutionary algorithm was designed to control the weight of each asset dynamically. Case studies on IBM Stock show that jumps with variable intensity are detected successfully, and the assets allocation strategy may effectively keep the total assets growth or prevent assets loss at the stochastic financial market.     

Competitive adsorption of Cu（Ⅱ） and Pb（Ⅱ） ions from aqueous solutions by Ca-alginate immobilized activated carbon and Saccharomyces cerevisiae

To establish a theoretical foundation for simultaneous removal of multi-heavy metals,the adsorption of Cu（Ⅱ） and Pb（Ⅱ） ions from their single and binary systems by Ca-alginate immobilized activated carbon and Saccharomyces cerevisiae （CAS） was investigated.The CAS beads were characterized by Scanning electron microscope （SEM） and Fourier transformed infrared spectroscopy （FTTR）.The effect of initial pH,adsorbent dosage,contact time and initial metal ions concentration on the adsorption process was systematically investigated.The experimental maximum contents of Cu（Ⅱ） and Pb（Ⅱ） uptake capacity were determined as 64.90 and 166.31 mg/g,respectively.The pseudo-second-order rate equation and Langmuir isotherm model could explain respectively the kinetic and isotherm experimental data of Cu（Ⅱ） and Pb（Ⅱ） ions in single-component systems with much satisfaction.The experimental adsorption data of Cu（Ⅱ） and Pb（Ⅱ） ions in binary system were best described by the extended Freundlich isotherm and the extended Langmuir isotherm,respectively.The removal of Cu（lⅡ） ions was more significantly influenced by the presence of the coexistent Pb（Ⅱ） species,while the Pb（Ⅱ） removal was affected slightly by varying the initial concentration of Cu（Ⅱ）.The CAS was successfully regenerated using 1 mol/L HNO3 solution.     

Human action recognition based on chaotic invariants

A new human action recognition approach was presented based on chaotic invariants and relevance vector machines （RVM）. The trajectories of reference joints estimated by skeleton graph matching were adopted for representing the nonlinear dynamical system of human action. The C-C method was used for estimating delay time and embedding dimension of a phase space which was reconstructed by each trajectory. Then, some chaotic invariants representing action can be captured in the reconstructed phase space. Finally, RVM was used to recognize action. Experiments were performed on the KTH, Weizmann and Ballet human action datasets to test and evaluate the proposed method. The experiment results show that the average recognition accuracy is over 91.2%, which validates its effectiveness.     

Effects of coagulation bath temperature on structure and performance of poly （vinyl butyral） hollow fiber membranes via thermally induced phase separation

Poly （vinyl butyral） （PVB） hollow fiber membranes were fabricated via thermally induced phase separation （TIPS）. The effects of coagulation bath temperature （CBT） on the structure and performance of membranes were investigated in detail. The morphologies of the membranes were studied by scanning electron microscopy （SEM）, the performances of water permeability, rejection, breaking strength and elongation were measured, respectively. The results indicate that all the membranes have the asymmetric morphology and the thickness of the skin layer decreases and the pore size of the outer layer increases with the increase of CBT. The permeability of membranes prepared at air gap 1.0 cm and take-up speed 0.253 m/s increases from 1.047×10-7 to 5.909×10-7 m3/（m2·s-kPa） with the CBT increasing from 20 ℃ to 40℃, and sharply increases to 35.226×10 7 m3/（m2.s.kPa）once the CBT arrives at 50 ℃. While the carbonic ink rejections have no significant decrease, totally exceed 98%, but that of acid-maleic acid copolymer greatly decreases with the increase of CBT. Both the breaking strength and elongation decrease with the increase of CBT.