基于误差估值累加开环校正的诱导式欺骗检测方法

诱导式卫星欺骗干扰可诱导航空器逐渐偏离预定航迹，难以被发现，因此及时有效地检测干扰是飞行安全的保障。在现有紧组合导航体制基础上，设计了一种基于误差估值累加开环校正的紧组合导航结构，并证明了其性能与传统闭环校正紧组合导航性能等效。在此结构中，将紧组合导航系统与自适应序贯概率比检测方法结合，提出了一种基于误差估值累加开环校正的诱导式欺骗检测方法，融合紧组合导航信息与其他不受欺骗影响的导航信息，构建欺骗检测统计量进行诱导式欺骗检测。仿真结果表明，开环校正结构可避免随时间累加的惯性导航系统误差所导致的组合导航滤波器发散问题，同时欺骗检测方法可进一步提高算法对“最坏”情形下微小诱导式欺骗的检测效果。     

Designing amorphous formulations of polyphenols with naringin by spray-drying for enhanced solubility and permeability

Naringin (NAR), a major flavanone (FVA) glycoside, is a component of food mainly obtained from grapefruit. We used NAR as a food additive to improve the solubility and permeability of hydrophobic polyphenols used as supplements in the food industry. The spray-dried particles (SDPs) of NAR alone show an amorphous state with a glass transition temperature (T_g) at 93.2 °C. SDPs of hydrophobic polyphenols, such as flavone (FVO), quercetin (QCT), naringenin (NRG), and resveratrol (RVT) were prepared by adding varying amounts of NAR. All SDPs of hydrophobic polyphenols with added NAR were in an amorphous state with a single T_g, but SDPs of hydrophobic polyphenols without added NAR showed diffraction peaks derived from each crystal. The SDPs with NAR could keep an amorphous state after storage at a high humidity condition for one month, except for SDPs of RVT/NAR. SDPs with NAR enhanced the solubility of hydrophobic polyphenols, especially NRG solubility, which was enhanced more than 9 times compared to NRG crystal. The enhanced solubility resulted in the increased membrane permeability of NRG. The antioxidant effect of the hydrophobic NRG was also enhanced by the synergetic effect of NAR. The findings demonstrated that NAR could be used as a food additive to enhance the solubility and membrane permeability of hydrophobic polyphenols.     

干扰条件下的“北斗”信号解扩重构DOA估计

在干扰条件下，卫星导航抗干扰波束形成算法往往需要卫星信号波达方向（Direction-of-Arrival，DOA）的先验信息。但当存在低信噪比信号或主动干扰源时，常规的DOA估计算法性能急剧下降甚至失效。针对此问题，提出了一种被干扰信号压制的低信噪比“北斗”信号的DOA估计算法。该算法首先通过对接收信号进行子空间投影抑制干扰信号，然后对抑制干扰后的信号进行解扩重构处理，最后通过多重信号分类算法完成对“北斗”信号的DOA估计。仿真结果表明，在干扰信号干信比80 dB条件下，“北斗”信号DOA估计误差在5°以内，为下一步进行波束形成计算提供了高精度的入射角信息。     

Advances in bio-logging techniques and their application to study navigation in wild seabirds

ABSTRACT

This review summarizes the advances in bio-logging technology that enables us to monitor foraging behavior, movement, behavioral performance, physiological performance, and sociality in a wide range of bird species, as well as their habitat. Subsequently, navigation is discussed, using long-distance movements in streaked shearwaters as a case study. Moreover, challenges and future research directions in bio-logging science are presented, with focus on: multimodal recording, big data analysis, feedback logging, low-power consumption and power generation systems, logger effects, and capture–recapture methods.     

Perception‐aware autonomous mast motion planning for planetary exploration rovers

Highly accurate real‐time localization is of fundamental importance for the safety and efficiency of planetary rovers exploring the surface of Mars. Mars rover operations rely on vision‐based systems to avoid hazards as well as plan safe routes. However, vision‐based systems operate on the assumption that sufficient visual texture is visible in the scene. This poses a challenge for vision‐based navigation on Mars where regions lacking visual texture are prevalent. To overcome this, we make use of the ability of the rover to actively steer the visual sensor to improve fault tolerance and maximize the perception performance. This paper answers the question of where and when to look by presenting a method for predicting the sensor trajectory that maximizes the localization performance of the rover. This is accomplished by an online assessment of possible trajectories using synthetic, future camera views created from previous observations of the scene. The proposed trajectories are quantified and chosen based on the expected localization performance. In this study, we validate the proposed method in field experiments at the Jet Propulsion Laboratory (JPL) Mars Yard. Furthermore, multiple performance metrics are identified and evaluated for reducing the overall runtime of the algorithm. We show how actively steering the perception system increases the localization accuracy compared with traditional fixed‐sensor configurations.     

基于深度卷积神经网络的视觉里程计研究

视觉里程计利用视频信息来估计相机运动的位姿参数，实现对智能体的定位。传统视觉里程计方法需要特征提取、特征匹配/跟踪、外点剔除、运动估计、优化等流程，解算非常复杂，因此，提出了基于卷积神经网络的方法来实现端对端的单目视觉里程计。借助卷积神经网络对彩色图片自动学习提取图像帧间变化的全局特征，将用于分类的卷积神经网络转化为帧间时序特征网络，通过三层全连接层输出相机的帧间相对位姿参数。在KITTI数据集上的实验结果表明，提出的Deep-CNN-VO模型可以较准确地估计车辆的运动轨迹，证明了方法的可行性。在简化了复杂模型的基础上，与传统的视觉里程计系统相比，该模型的精度也有所提高。     

低觉醒脑电识别与唤醒的可穿戴系统研究

为智能化地识别警戒作业人员出现的低觉醒、注意力下降的生理状态，本文介绍了一种基于FPGA和脑电信号处理的低觉醒状态检测与唤醒系统，系统通过传感器从大脑头皮采集脑电信号，转换为数字信号，经傅里叶变换获取了脑电信号的θ相对能量、α相对能量、重心频率、谱熵等4个特征量，由4个特征量表征低觉醒状态并运用支持向量机对低警戒状态进行识别，当识别出低觉醒状态时采用声音报警模块发出声音，唤醒警戒作业人员。设计系统能够较好地识别出低觉醒状态，识别率达90.8%，可为提高警戒作业工作绩效提供一种可穿戴的智能装备。     

1,5-己二烯交联烯烃聚合物的合成及其抗剪切稳定性

以金属配合物为催化剂、1,5-己二烯为交联剂,采用本体聚合法合成了交联超高相对分子质量烯烃类聚合物(简称交联聚合物)。用傅里叶变换红外光谱、核磁共振、凝胶渗透色潜表征交联聚合物的结构和相对分子质量。用旋转黏度计和超声波仪研究了1,5-己二烯用量对交联聚合物溶液表观黏度的影响及交联聚合物的相对分子质量对交联聚合物溶液抗剪切稳定性的影响。实验结果表明,在最佳聚合条件(单体80mL、助催化剂0．4mL、CS-1催化剂0．090g、1,5-己二烯0．40mL、0℃、24 b)下所合成的交联聚合物的重均相对分子质量为7．7×106,数均相对分子质量3．6×106。加入少量1,5-己二烯能提高交联聚合物的抗剪切能力,同时也能提高交联聚合物的相对分子质量。交联聚合物的相对分子质量越大,抗剪切稳定性越好。1,5-己二烯用量约为0．1 mL时(单体40 mL),交联聚合物溶液的表观黏度达到最大值(16．8 mPa·s)。     

重力坝模型的尺寸效应

利用两个不同比尺预制缝重力坝模型的试验成果，以有限元富集技术进行非线性断裂分析，建立了极限承载力和长度比尺的确定性尺寸效应公式。混凝土重力坝的断裂尺寸效应满足指数衰减关系，用三次指数衰减公式可以准确地预测原型的极限承载力。断裂过程区的相对长度是引起模型试验尺寸效应的主要原因。数值计算结果表明，断裂过程区相对长度不仅是与材料有关的参数，能否充分发展还取决于结构尺寸和几何形状；断裂过程区相对长度的尺寸效应不同于统计尺寸效应和断裂参数尺寸效应，具有尺寸范围效应。断裂过程区相对长度在小试件、大试件和相对无穷大试件的发展程度不同。     

On keys' meanings and modes: the impact of different key solutions on children's efficiency using a mobile phone

The present study investigates the impact of different key solutions of mobile phones on users' effectiveness and efficiency using the devices. In the first experiment, 36 children (9 - 14 years) and in the second experiment 45 young adults (19 - 33 years) completed four common phone tasks twice consecutively on three simulated phones that had identical menus, but different key solutions. An approach was undertaken to quantify the complexity of keys in three models, incorporating different factors contributing to the keys' complexity (number of key options, number of modes and number of modes with a semantically dissimilar meaning), in order to predict users' performance decrements. As a further main factor, the degree of the users' locus of control (LOC) was measured and interactions with performance outcomes were studied. As dependent measures, the number of inefficient keystrokes, the number of tasks solved and the processing time were determined. Results showed a significant effect of control key solutions on users' efficiency and effectiveness for both children and young adults. Moreover, children's LOC values significantly interacted with performance: children with low LOC values showed the lowest performance and no learnability, especially when using keys with a high complexity. From the three factors contributing to the complexity of keys, keys exerting different functions with semantically inconsistent meanings had the worst effect on performance. It is concluded that in mobile user interface design keys with semantically inconsistent meanings should be generally avoided.