Multi-autonomous underwater vehicles (AUVs) cooperative localization has become a research hotspot in the marine navigation field. In this paper, filtering algorithm for slave AUV with compass failure is proposed based on 'two-master-one slave' model. algorithm, course angle unknown, and non-Gaussian measurement noise caused by outliers considered. The model reconstructed, derived whose performance will not be affected unknown angle. Moreover, maximum information potential (MIP) criterion...

This paper proposes a new quaternion calibration algorithm to calibrate large misalignment angles between Strapdown Inertial Navigation System (SINS) and Doppler Velocity Log (DVL) in SINS/DVL integrated navigation system. A SINS/DVL/GPS system is derived complete the SINS alignment calibration. Different from traditional model, are described by quaternion, according physical properties of angle scale factor error, measurement equation derived: zero observation vector used estimate angles,...

As the research on smart cities matures and thrives, focusing rural development has also emerged into spotlight in recent years. An increasing number of scholars have called for extending discussion context. In response, this paper aims to conduct a comprehensive scientometric review current academic literature areas, centering concept village, which is most recognized existing practices. The contributions study are threefold. First, an overview implementation understanding village...

The present work aimed at the problems of less negative samples and more positive in rail fastener fault diagnosis low detection accuracy heavy manual patrol inspection tasks. Exploiting capacity a Convolution Neural Network (CNN) to process unbalanced data solve tedious inefficient processing, method based on Generative Adversarial (GAN) Residual (ResNet) was developed. First, GAN used track distribution failure data. To study noise distribution, mapping relationship between image...

In this article, a novel robust Gaussian approximation smoother based on expectation-maximization (EM) algorithm is proposed for cooperative localization (CL) with faulty Doppler velocity log (DVL) and heavy-tailed measurement noise. our model, the autonomous underwater vehicle (AUV) information that not available due to DVL failure bias in acoustic modem are considered as unknown inputs. Then, Student's t distribution used model An EM also developed state-space The state, noise covariance...

In this study, to cope with time-varying delay in acoustic communication under non-Gaussian noise caused by outliers, a novel robust filtering algorithm is proposed for cooperative localization of autonomous underwater vehicles (AUVs). First, the modified measurement equations nonlinear location system are derived, and information processing propagation modem converted into bias. Second, improve robustness outliers abnormal values Doppler Velocity Log (DVL), statistical similarity measure...

Abstract A novel robust filter called a Huber M-estimation delay Kalman is proposed for strapdown inertial navigation system/ultra-short baseline (SINS/USBL) integrated system to deal with time-varying in underwater acoustic communication and simultaneously cope non-Gaussian noises induced by outliers. First, considering the influence of platform error angle, an SINS/USBL constructed and, according characteristics USBL communication, model based on state inversion derived observations....

The objective of the swing motion control an industrial hydraulic excavator is to regulate supplied flow rate motors such that follows velocity command given by human driver with a smooth acceleration/deceleration in spite various uncertainties. Difficulties design high performance controller are: (i) inertia time-varying and unknown due movement linkage payload bucket; (ii) parameters as bulk modulus exhibits large variations during actual operation; (iii) system subjected mild extent...

In order to supply a gap of current resonance vibration and STFT demodulation method applied rolling bearing fault feature extraction city rail vehicle, diagnosis for is presented, which based on the integration improved wavelet packet, frequency energy analysis Hilbert marginal spectrum. When faults occur in bearing, signal would change correspondingly, while spectrum can exactly provide distribution certain with time frequency. Thus, information be extracted effectively from packet The...

In the study of railway rolling bearing fault diagnosis model, this paper proposed a wavelet packet and fuzzy means clustering method (FCM) with method. This first do noise reduction collected signals, then signals were decomposed by to get feature vectors, which used for samples, using FCM cluster them. And measuring resulting DUT data can be classified intellectually efficiently, determine type achieve intelligent diagnosis. achievement just need small sample different neural networks...

Abstract This paper combines the fuzzy cognitive diagnostic model and four-parameter Logistics to analyze students’ states of ideology, politics English education. Following that, a design method based on mapping is proposed diagnosis theory educational goal classification theory, construction process learners’ specified from three perspectives: course knowledge construction, level diagnosis, visualization. Finally, personalized learning platform with style tendency test, quantitative...

Abstract With active hydraulic fracturing performed since 2012, the Fuling shale gas field in China is one of largest fields outside North America. Recently, a Casing-in-Casing (CiC) refracturing treatment was successfully implemented, resulting production beyond expectations. This first successful application CiC horizontal well this region, thus providing new option for wells China. Bullheading diversion with diverting balls previously attempted high initial observed; however, inconsistent...

In the past few years, immersive theater has one of innovative trend for modern performance. theater, design surroundings and set is a crucial which assist to transport audience into worldwide However, quick development numerous songs dances, its complex peoples rapidly discover dance music that adapts their personal interest. The attentive on increasing visual integration over through developments like 3D technologies. this paper, Modified Particle Swarm Optimization (MPSO) proposed viewing...

Higher alignment accuracy and faster speed are crucial for the whole navigation system. The popular in-motion methods strapdown inertial system (SINS) estimation state error by kalman filter (KF), however, it takes a long time to converge can't work with large misalignment angle condition. In paper, fast method on moving base aided of b-frame is proposed. First, based specific force equation attitude matrix decomposition, velocity assisted determination derived; Second, second scheme...

Aimed at the problem of exoatmospheric kinetic kill vehicle( KKV) guidance law design for intercepting targets,a novel missile sliding mode with nonlinear disturbance observer( NDO)was derived base on collision course. Through steering angle attack missile,the direction velocity always pointed expected point. Missile could intercept target lower overload,faster speed via NDO,which was currently estimating and dynamically compensating to acceleration.Moreover,comparison two interception...

Time-space-source dynamic controlling sand theory emphasized the size, supply and distribution of source changes with time space. Based on this theory, ramp-type, half-graben type slots, grooves parallel-type control modes were established at Surennuoer oil field. According to attribute maps sandstone thickness maps, scope nantun group can be determined, after identified point by using fault throw statistic 3D visualization technology. Sedimentary facies single well integrated histogram used...