【正文】 ability of MEMS sensors, the QEKF gauss nonlinear filter algorithm is applied to the whole system through puting the plicated Hessian matrix related to the secondorder form of nonlinear carrying on a numerical simulation, the optimal estimates of parameters are achieved as expected, that is(viz.), the root mean squares(RMS)of attitude error and position error never exceed 90“ and 3m respectively, even if the accuracy of the sensors is modest, which thus demonstrates that the QEKF yields to accurate estimates and it is proved to be feasible for this lowcost AHRS/GPS following investigation will focus on the improvement of the accuracy of micro inertial sensors, if the accurate results are Inclass practise:以低成本陸用航姿參考系統(tǒng)(AHRS)/ GPS緊耦合系統(tǒng)為研究對(duì)象,建立了基于偽距、偽距率、航向角的組合觀測(cè)數(shù)學(xué)模型。引入強(qiáng)跟蹤濾波(STF)算法,利用漸消因子的作用,增強(qiáng)濾波器對(duì)狀態(tài)快速變化的跟蹤能力。同時(shí),針對(duì)微慣性器件漂移過(guò)大的缺點(diǎn),采用二階EKF(QEKF)方法,通過(guò)對(duì)Hessian 矩陣的求解,補(bǔ)償系統(tǒng)觀測(cè)方程線性化的二階截?cái)嗾`差。仿真表明: STQEKF 方法可高速準(zhǔn)確地逼近系統(tǒng)非線性模型,實(shí)現(xiàn)陸地載體導(dǎo)航控制,在傳感器精度有限的情況下,使姿態(tài)和位置的控制效果較標(biāo)準(zhǔn)EKF %～ % %～ %。幻燈片34Time delay of the internet is characterized as random, unbounded, and different for both branches in the control loop [9, 10] and it may cause instability of the , researchers developed some methods to deal with time delay, including passivity theorybased and control theorybased approaches [11].Anderson and Spong [12] derived a control law based on passivity and scattering theory to ensure teleoperative stability subject to any time and Slotine [13] proposed the wave variablesbased approach to address timedelay in [14] addressed time delay in a fourchannel bilateral and Ueda [15] used scattering theory to assess the stability of four conventional teleoperation and Book [16] incorporated a Smith predictor and Kalman filter to improve the performance of a wavebased teleoperator in the presence of a varyingtime l 互聯(lián)網(wǎng)時(shí)延的特點(diǎn)是隨機(jī)的、不受限的，并且在控制回路中的分支間是不同的，這可能導(dǎo)致系統(tǒng)的不穩(wěn)定。因此，針對(duì)時(shí)延，研究者開(kāi)發(fā)了一些方法，包括基于無(wú)源性理論和控制理論的方法。安德森和斯幫推導(dǎo)出一個(gè)控制律，這個(gè)規(guī)律是基于無(wú)源性和散射理論的，它能確保在任何時(shí)延的情況下的遙操作的穩(wěn)定性。尼邁耶和斯洛坦提出了波變量方法來(lái)處理遙操作中的時(shí)延。勞倫斯解決了四通道雙邊遙操作中的時(shí)延。吉川和上田使用散射理論來(lái)研究四個(gè)傳統(tǒng)遙操作架構(gòu)的穩(wěn)定性。穆尼爾和布克將史密斯預(yù)估器和卡爾曼濾波器結(jié)合起來(lái)，以此來(lái)提高波在變化的時(shí)延情況下的遙操作性能。幻燈片36 Abstract: The theoretical study due to the giant magnetoimpedance(GMI)effect of Corich amorphous wire sensor is a practical device, this sensor may be used to sense the Earth’s magnetic field and to provide a measure of the attitude of a moving is proposed a multivibrator bridge should be adopted as the structure measuring principle of the sensor is stressed, which is acplished by means of establishing corresponding mathematic sequence, with a numerical simulation being carried out, a good linear characteristic between voltage and measured field in the range of is achieved, which demonstrates this sensor is a linear one, and it is capable of measuring weak signal of magnetic addition, the application of this sensor for the attitude and heading reference system(AHRS)with the micro inertial measurement units(MIMUs)is studied, providing an effective method for low cost solidstate AHRS with high accuracy 鈷基非晶絲傳感器的巨磁阻抗影響已經(jīng)有了相關(guān)理論性研究，作為一個(gè)實(shí)用裝置，該傳感器可被用于感知地球磁場(chǎng)以及測(cè)量行駛中小車(chē)的姿態(tài)，并提出多諧振蕩橋應(yīng)該用于結(jié)構(gòu)模塊。該傳感器的測(cè)量原則強(qiáng)調(diào)要通過(guò)建立相應(yīng)的數(shù)學(xué)模型來(lái)完成測(cè)量。通過(guò)進(jìn)行逐一的數(shù)值仿真，實(shí)現(xiàn)了電壓和測(cè)量范圍間能具有良好的線性特性，這也表明了該傳感器是線性的，并且能夠測(cè)量磁場(chǎng)的微弱信號(hào)。此外，對(duì)該傳感器在姿態(tài)航向參考系統(tǒng)與微慣性測(cè)量單元的應(yīng)用也進(jìn)行了研究，并在理論上為高精度低成本的固態(tài)姿態(tài)航向系統(tǒng)提供了一種有效的方法。幻燈片38 Inclass practise: l Healthy sensors are essential for the reliable monitoring and control of building automation systems(BAS).This paper presents a diagnostic tool to be used to assist building automation systems for online sensor heath monitoring and fault diagnosis of airhandling tool employs a robust sensor fault detection and diagnosis(FDD)strategy based on the Principal Component Analysis(PCA) PCA models are built corresponding to the heat balance and pressureflow balance of an airhandling faults are detected using the Qstatistic and diagnosed using an isolationenhanced PCA method that bines the Qcontribution plot and knowledgebased PCA models are updated using a conditionbased adaptive scheme to follow the normal shifts in the process due to changing operating sensor FDD strategy, the implementation of the diagnostic tool and experimental results in an existing building are presented in this l 優(yōu)良的傳感器對(duì)于可靠監(jiān)控和樓宇自動(dòng)化系統(tǒng)是至關(guān)重要的。本文提出了一種診斷工具，用來(lái)協(xié)助樓宇自動(dòng)化系統(tǒng)進(jìn)行在線傳感器優(yōu)良檢測(cè)以及空氣處理單元的故障診斷。該工具采用基于主成分分析方法的魯棒傳感器故障檢測(cè)及診斷策略。構(gòu)建的兩個(gè)主成分分析模型與空氣處理過(guò)程的熱平衡以及壓力流量平衡相對(duì)應(yīng)。傳感器故障是用Q統(tǒng)計(jì)量來(lái)檢測(cè)并用隔離加強(qiáng)的主成分分析法來(lái)診斷的，并結(jié)合了Q貢獻(xiàn)圖和只是分析。由于變化的操作狀態(tài)，該主成分分析模型是通過(guò)使用基于自適應(yīng)方案條件跟蹤正常移距來(lái)完成矯正的。本文還提出了該傳感器故障檢測(cè)和診斷策略、診斷工具的實(shí)現(xiàn)以及在現(xiàn)有建筑中的試驗(yàn)結(jié)果。幻燈片40 40 Inclass practise: Conclusion：本文提出了一種基于自適應(yīng)進(jìn)化學(xué)習(xí)的約束多目標(biāo)粒子群優(yōu)化算法。該算法根據(jù)不符合約束條件粒子的約束違反程度修正多目標(biāo)粒子群優(yōu)化算法的進(jìn)化學(xué)習(xí)公式，有效地提高了算法在約束邊界區(qū)域的搜索能力；引入了一種基于擁擠距離的Pareto最優(yōu)解分布性動(dòng)態(tài)維護(hù)策略，在不增加算法復(fù)雜度的前提下，改進(jìn)了Pareto前沿的分布性。實(shí)驗(yàn)結(jié)果表明，在處理帶約束多目標(biāo)優(yōu)化問(wèn)題時(shí)，基于自適應(yīng)學(xué)習(xí)的約束多目標(biāo)粒子群優(yōu)化算法可以獲得具有更好收斂性、分布性和多樣性的Pareto前沿?；脽羝?1將下列Abstract翻譯為中文l Metabolism provides a basis for using first principles of physics, chemistry, and biology to link the biology of individual organisms to the ecology of populations, munities, and rate, the rate at which organisms take up, transform, and expend energy and materials, is the most fundamental biological have developed a quantitative theory for how metabolic rate varies with body size and theory predicts how metabolic rate, by setting the rates of resource uptake from the environment and resource allocation to survival, growth, and reproduction, controls ecological processes at all levels of organization from individuals to the 邀請(qǐng)信（Invitation letter）l Dear : lIt is my pleasure to invite you to International Heat Transfer Conference(IHTC14/2010), which is being held in Washington , WA, USA on 08/08/201008/13/You will be presenting the paper(s), Paper :22747 ”Study on Biocorrosion Induced by SulfateReducing Bacteria on Heat Exchanger Material in Cooling Water“.ASME is the premier organization for the promotion of the art, science, and practice of mechanical engineering throughout the mission is to promote and enhance the technical petency and professional wellbeing of our members, and through quality programs and activities in