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Research on dynamic ocean surface simulation based on 3D sonar image

Journal of Physics: Conference Series 2021年第1期1961卷

作者： Menglei Li Hejun Jiang Yingjiao Rong Shirui Wang Ping Sun CSSC Ocean Exploration Technology Institute Co. Ltd. Wuxi Jiangsu 214135 China Science and Technology on Near-Surface Detection Laboratory Wuxi Jiangsu 214035 China

The motion state of the ocean surface is changeable and has special irregularity. It is impossible to describe these characteristics in detail, which leads to the low accuracy of simulation for the sea surface. A simulation method of realistic dynamic ocean surface based on 3D sonar image algorithm is proposed. The number of adjacent points iteration of two adjacent images is calculated, and all the dynamic shallow surface sonar images are matched and combined. According to the edge coordinate information between the nearest adjacent images, the overlapping part between the two sonar image frames is analyzed. The two frames of sonar images beyond the threshold range of overlap are registered by ICP algorithm, The simulation of the dynamic ocean surface with the statistical model and FFT based wave generation method is carried out. The simulation results show that the research method of 3D sonar image algorithm is more accurate and can achieve more real simulation results.

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Sonar image reconstruction method based on adaptive compensation of very shallow water acoustic channel features

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Journal of Physics: Conference Series 2021年第1期1861卷

作者： Menglei Li Yingjiao Rong Shirui Wang Yuchen Wang Ping Sun CSSC Ocean Exploration Technology Institute Co. Ltd. Wuxi Jiangsu 214035 China Science and Technology on Near-Surface Detection Laboratory Wuxi Jiangsu 214135 China

Aiming at the problem of eliminating the influence of channel interference on the detection results in the process of using sonar to detect very shallow water targets, a sonar image reconstruction method based on adaptive compensation of very shallow water acoustic channel features is proposed. Standard acoustic source and remote server are used to complete the adaptive calibration process of channel characteristic parameters before detection. The calibrated channel characteristic parameters are used in the subsequent beamforming algorithm to compensate the channel interference. The time-of-flight parameters calculated by the compensation algorithm are used in the subsequent point cloud generation and image reconstruction. Simulation and field test show that the proposed compensation method can improve sonar target detection ability by 25% in very shallow water and complex acoustic channel environment, and the quality of sonar image reconstruction is significantly improved.

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Research on Dynamic Attitude Estimation and Control of Tricycle Based on MEMS Sensing

Research on Dynamic Attitude Estimation and Control of Tricy...

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International Conference on Micro/Nano Sensors for AI, Healthcare, and Robotics (NSENS)

作者： Yingjiao Rong Weixuan Ding Xinan Wang Guangyi Shi Science and Technology on Near-Surface Detection Laboratory Wuxi China Peking University Shenzhen Graduate School Shenzhen China

ISBN: (数字)9781728166520

ISBN: (纸本)9781728166537

Today's science and technology develop rapidly with the passage of time. In the highly competitive environment, everyone's time is twenty-four hours a day. No one can have more than one minute. Or less have a minute to go, so if you want to improve your competitiveness, efficient scheduling time is very important, people's daily needs for efficiency are also growing. In the process of moving these vehicles, how to move the same distance with others in less time, this demand and efficiency can also be seen from the tools we now use to produce vehicles (such as tricycles).In the high-precision control system design of the self-balancing vehicle of the tricycle vehicle, in addition to the high-precision inclination sensor to measure the dynamic inclination angle, the steering control has an absolute value encoder to learn the angle of the steering of the tricycle body. More importantly, in addition to the rear axle drive system on the wheel of the tricycle body itself, we also installed a stepper motor to control the balance of the tricycle body, so that the tricycle body can be at a higher speed. Under the steady steering, the tricycle body will not roll *** attitude measurement is a very important aspect in the design of high-precision control systems for self-balancing vehicles of tricycle vehicles. Because the motor is an open-loop system, we need to use the tilt sensor for attitude measurement to obtain high-precision angle values, and the obtained angle value and the motor form a closed-loop control system to achieve more precise motor control to control the tricycle body. balance. So we need to measure the angle change very accurately, because a single axial attitude tilt sensor can't meet our requirements, and because there are too many shortcomings, we can't get more accurate values in a dynamic environment, so we use A six-axis sensor that helps us get better precision and precision. Finally, we use the VEKF-based algorithm to eliminate the numerical

关键词： Acceleration Vehicle dynamics Kalman filters Accelerometers Sensors Heuristic algorithms Dynamics

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Design of optical sighting telescope training system based on simulated target

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Journal of Physics: Conference Series 2021年第1期1848卷

In order to solve the practical operation training problem of an optical sighting telescope in certain weapon system, the application research of simulated target technology is carried out. According to the tactical and technical characteristics of sight and battlefield target, based on the embedded simulation framework, a series of simulation target technologies, such as constructing the optical characteristic model of target, fitting the target trajectory, encapsulating the characteristic information of target in the typical scene, are used to explore the technical route of actual combat training relying on actual equipment and simulation target, and realize the training scene and its model. The application results show that the method is feasible.

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Comparison of multi-beam bathymetric system and 3D sonar system in underwater detection of beach obstacles

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Journal of Physics: Conference Series 2021年第1期1961卷

作者： Shirui Wang Yingjiao Rong Hejun Jiang Menglei Li Ping Sun CSSC Ocean Exploration Technology Institute Co. Ltd. Wuxi Jiangsu 214135 China Science and Technology on Near-Surface Detection Laboratory Wuxi Jiangsu 214035 China

The instrument detection methods of underwater part of beach obstacle mainly include multi-beam bathymetric system and three-dimensional panoramic imaging sonar system. SeaBat T50-P multi beam bathymetry and BV5000-1350 sonar system are widely used in the area of underwater detection. The underwater part of beach obstacles is measured and analyzed, and the application scope of both equipment is discussed. The results show that the BV5000-1350 sonar system can be used to detect underwater incomplete obstacles with wider application scope, high accuracy, convenient installation of instruments, and no auxiliary equipment such as navigation, positioning and attitude sensor is needed; SeaBat T50-P multi-beam bathymetric system has high requirements for the structure of the measured object, moderate accuracy, and is more suitable for large-scale underwater obstacle survey.

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Algorithm Research of Magnetometer Assisted Inertial Navigation System for Mobile Robots

Algorithm Research of Magnetometer Assisted Inertial Navigat...

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International Conference on Micro/Nano Sensors for AI, Healthcare, and Robotics (NSENS)

作者： Yingjiao Rong Yentze Ko Xinan Wang Guangyi Shi Science and Technology on Near-Surface Detection Laboratory Wuxi China Shenzhen Graduate School Peking University Shenzhen China

ISBN: (数字)9781728166520

ISBN: (纸本)9781728166537

Mobile robots have broad application prospects in military, industrial, agricultural, commercial, transportation, and logistics fields. The core problem of mobile robot lies in the autonomous navigation ability of mobile robot. Inertial navigation system based on MEMS sensor is one of the research hotspots in the field of inertial navigation in recent years and one of the main research directions in the future. Aiming at the positioning of the mobile robot, this paper adopts the magnetometer assisted inertial navigation system, the navigation system consisting of a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetometer. The heading is calculated with three sensors, the velocity error is compensated, and calculate the position. In this paper, an Extended Kalman Filter for mobile robot navigation system is proposed to improve the position accuracy of the navigation system. Experiments are carried out to verify and analyze the filter with the experimental results.

关键词： Mathematical model Magnetometers Mobile robots Inertial navigation Kalman filters Robots Magnetic separation

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Gaussian Mixtures Match and Fusion Algorithms for Multi-Sensor Multi-Target Tracking

Gaussian Mixtures Match and Fusion Algorithms for Multi-Sens...

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International Conference on Information Fusion

作者： Han Shen-Tu Yingjiao Rong Yunfei Guo Ji-An Luo Yifang Shi Institution of Information and Control Hangzhou Dianzi University Hangzhou China Science and Technology on Near-Surface Detection Laboratory Wuxi China

ISBN: (数字)9780996452786

ISBN: (纸本)9781728118406

The results of single sensor Gaussian Mixture PHD Tracker (GM-PHDT) will deteriorate when tracking targets in dense clutter and low detection rate environments. In this work, we propose three multi-sensor multi-target GM-PHD fusion algorithms. For the proposed algorithms, we obtain the multi-sensor posterior GMs by fusing the matched GMs from multiple sensors. Specifically, the GM matching and fusing methods are proposed to fullfill the applicable GM-PHD algorithms. The simulation results demonstrated the efficiency of the proposed algorithms.

关键词： Target tracking Mathematical model Clutter Probability Approximation algorithms Object detection Fuses

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The design of controller in permanent magnet linear synchronous motor

The design of controller in permanent magnet linear synchron...

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Chinese Automation Congress (CAC)

作者： Zhen Jia Jie Li Peichang Yu Jinhui Li Peng Leng Engineering Research Center of Maglev Technology National University of Defense Technology Changsha China Science and technology on near-surface detection laboratory Wuxi China

In this paper, the q-d axis currents in the vector control of permanent magnet synchronous linear motor are coupled with each other, which affects the control performance of the motor. By establishing a model of permanent magnet synchronous linear motor and analyzing the coupling reasons, a feedforward decoupling method is proposed to realize the current control of motor. On this basis, an anti-saturation integration algorithm is proposed to solve the saturation integral problem in motor speed-loop control. The system simulation results show that the decoupling current control performance is significantly improved, and the speed response performance is good.

关键词： Permanent magnet motors Synchronous motors Permanent magnets Steady-state Mathematical model Machine vector control Stators

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Search for the lepton favor violating decay J/ψ→eμ

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science China(Physics,Mechanics & Astronomy) 2023年第2期66卷 24-33页

作者： BESII Collaboratio Institute of High Energy Physics Beijing 100049 China Beihang University Beijing 100191 China Beijing Institute of Petrochemical Technology Beijing 102617 China Bochum Ruhr-University Bochum D-44780 Germany Carnegie Mellon University Pittsburgh 15213 USA Central China Normal University Wuhan 430079 China Central South University Changsha 410083 China China Center of Advanced Science and Technology Beijing 100190 China COMSATS University Islamabad Lahore Campus Defence Road Off Raiwind Road Lahore 54000 Pakistan Fudan University Shanghai 200433 China G.I. Budker Institute of Nuclear Physics SB RAS (BINP) Novosibirsk 630090 Russia GSI Helmholtzcentre for Heavy Ion Research GmbH Darmstadt D-64291 Germany Guangxi Normal University Guilin 541004 China Guangxi University Nanning 530004 China Hangzhou Normal University Hangzhou 310036 China Hebei University Baoding 071002 China Helmholtz Institute Mainz Staudinger Weg 18 Mainz D-55099 Germany Henan Normal University Xinxiang 453007 China Henan University of Science and Technology Luoyang 471003 China Henan University of Technology Zhengzhou 450001 China Huangshan College Huangshan 245000 China Hunan Normal University Changsha 410081 China Hunan University Changsha 410082 China Indian Institute of Technology Madras Chennai 600036 India Indiana University Bloomington 47405 USA INFN Laboratori Nazionali di Frascati INFN Laboratori Nazionali di Frascati Frascati I-00044 Italy INFN Laboratori Nazionali di Frascati INFN Sezione di Perugia Perugia I-06100 Italy INFN Laboratori Nazionali di Frascati University of Perugia Perugia I-06100 Italy INFN Sezione di Ferrara INFN Sezione di Ferrara Ferrara I-44122 Italy INFN Sezione di Ferrara University of Ferrara Ferrara I-44122 Italy Institute of Modern Physics Lanzhou 730000 China Institute of Physics and Technology Peace Avenue 54B Ulaanbaatar 13330 Mongolia Jilin University Changchun 130012 China Johannes Gutenberg Univers

We present a search for the lepton flavor violating decay J/ψ→e±μ?using 8.998×109J/ψevents collected with the BESⅢdetector at the BEPCⅡe+e-storage *** excess of signal above background is observed;we therefore set an upper limit on the branching fraction of B(J/ψ→e±μ?)<4.5×10-9at the 90%confidence *** the previous best result by a factor of more than 30,this measurement places the most stringent limit to date on lepton flavor violation in the heavy quarkonium sector.

关键词： BESⅢ decay limit

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Luminosities and energies of e+e- collision data taken between ■=4.61 GeV and 4.95 GeV at BESⅢ

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Chinese Physics C 2022年第11期46卷 70-81页

作者：麦迪娜 M.N.Achasov P.Adlarson M.Albrecht R.Aliberti A.Amoroso 安美儒安琪白旭红白羽 O.Bakina Ferroli R.Baldini I.Balossino 班勇 V.Batozskaya D.Becker K.Begzsuren N.Berger M.Bertani D.Bettoni F.Bianchi J.Bloms A.Bortone I.Boyko R.A.Briere A.Brueggemann 蔡浩蔡啸 A.Calcaterra 曹国富曹宁 S.A.Cetin 常劲帆常万玲 G.Chelkov 陈琛陈超陈刚陈和生陈玛丽陈申见陈少敏 T.Chen 陈旭荣 X.T.Chen 陈元柏陈卓俊成伟帅初晓 G.Cibinetto F.Cossio 崔佳佳代洪亮代建平 A.Dbeyssi Boer R.E.de D.Dedovich 邓子艳 A.Denig I.Denysenko M.Destefanis Mori F.De 丁勇董静董燎原董明义董翔杜书先 P.Egorov 范玉兰方建房双世方文兴方易 R.Farinelli L.Fava F.Feldbauer G.Felici 封常青冯俊华 K Fischer M.Fritsch C.Fritzsch 傅成栋高涵高原宁高扬 S.Garbolino I.Garzia 葛潘婷葛振武耿聪 E.M.Gersabeck A Gilman K.Goetzen 龚丽龚文煊 W.Gradl M.Greco 谷立民顾旻皓顾运厅关春懿郭爱强郭立波郭如盼郭玉萍 A.Guskov 韩婷婷韩文颖郝喜庆 F.A.Harris 何凯凯何康林 F.H.Heinsius C.H.Heinz 衡月昆 C.Herold M.Himmelreich 侯国一侯颖锐侯治龙胡海明 J.F.Hu 胡涛胡誉黄光顺黄凯旋黄麟钦黄麟钦黄性涛黄燕萍黄震 T.Hussain N Hüsken W.Imoehl M.Irshad J.Jackson S.Jaeger S.Janchiv 纪全姬清平季晓斌季筱璐吉钰瑶贾泽坤姜侯兵姜赛赛江晓山 Y.Jiang 焦健斌焦铮金山金毅荆茂强 T.Johansson N.Kalantar-Nayestanaki 康晓珅 R.Kappert 柯百谦 I.K.Keshk A.Khoukaz P.Kiese R.Kiuchi R.Kliemt L.Koch O.B.Kolcu B.Kopf M.Kuemmel M.Kuessner A.Kupsc W.Kühn J.J.Lane J.S.Lange P.Larin A.Lavania L.Lavezzi 雷祚弘 H.Leithoff M.Lellmann T.Lenz 李翠李聪李春花李澄李德民李飞李刚李慧李贺李海波李惠静 H.N.Li J.Q.Li 李静舒李井文李科李林健李龙科李蕾李明浩李培荣李素娴栗帅迎李腾李卫东李卫国李旭红李晓玲李晓宇梁昊梁浩梁浩梁勇飞梁羽铁廖广睿廖龙洲 J.Libby A.Limphirat 林创新林德旭 T.Lin 刘北江刘春秀 D.Liu 刘福虎刘芳刘峰 G.M.Liu H.Liu 刘宏邦刘怀民刘欢欢刘汇慧刘建北刘佳俊刘晶译刘凯刘魁勇刘珂刘亮刘露刘美宏刘佩莲刘倩刘树彬刘桐刘维克刘卫民刘翔刘英刘玉斌刘振安刘智青娄辛丑卢飞翔吕海江吕军光陆小玲卢宇卢云鹏 Z.H.Lu 罗成林罗民兴罗涛罗小兰吕晓睿吕翌丰马凤才马海龙马连良马明明马秋梅马润秋马瑞廷马骁妍马尧 F.E.Maas M.Maggiora S.Maldaner S.Malde Q.A.Malik A.Mangoni 冒亚军毛泽普 S.Marcello 孟召霞 J.G.Messchendorp G.Mezzadri H.Miao 闵天觉 R.E.Mitchell 莫晓虎 N.Yu.Muchnoi Y.Nefedov F.Nerling I.B.Nikolaev 宁哲 S.Nisar 牛艳 S.L.Olsen 欧阳群 S.Pacetti 潘祥潘越 A.Pathak M.Pelizaeus 彭海平 K.Peters 平加伦平荣刚 S.Plura S.Pogodin V.Prasad 齐法制齐航漆红荣祁鸣齐天钰钱森钱文斌钱圳乔从丰秦佳佳秦丽清覃潇平秦小帅秦中华邱进发屈三强 K.H.Rashid C.F.Redmer 任旷洁 A.Rivetti V.Rodin M.Rolo 荣刚 Ch.Rosner Institute of High Energy Physics G. I. Budker Institute of Nuclear Physics SB RAS (BINP) the Novosibirsk State University Uppsala University Bochum Ruhr-University Johannes Gutenberg University of Mainz University of Turin INFN Liaoning Normal University State Key Laboratory of Particle Detection and Electronics University of Science and Technology of China University of Jinan Southeast University Joint Institute for Nuclear Research INFN Laboratori Nazionali di Frascati INFN Sezione di Ferrara Peking University State Key Laboratory of Nuclear Physics and Technology Peking University National Centre for Nuclear Research Institute of Physics and Technology University of Muenster Carnegie Mellon University Wuhan University University of Chinese Academy of Sciences Istinye University the Moscow Institute of Physics and Technology Nankai University Soochow University Nanjing University Tsinghua University Institute of Modern Physics Hunan University School of Physics and Electronics Hunan University Shandong University Yunnan University Helmholtz Institute Mainz Liaoning University Zhengzhou University University of Eastern Piedmont Sun Yat-Sen University University of Oxford University of Ferrara University of Manchester GSI Helmholtzcentre for Heavy Ion Research GmbH Guangxi University Nanjing Normal University Shandong Normal University Fudan University Key Laboratory of Nuclear Physics and Ion-beam Application (MOE) and Institute of Modern Physics Fudan University Henan Normal University University of Hawaii Suranaree University of Technology Goethe University Frankfurt South China Normal University Guangdong Provincial Key Laboratory of Nuclear Science Institute of Quantum Matter South China Normal University University of South China University of the Punjab Indiana University Huangshan College University of Groningen Justus-Liebig-Universitaet Giessen Ⅱ.Physikalisches Institut Indian Institute of Technology Madras Qufu Normal University Shanxi Normal University Beijing Institute of Petrochemical Technolo

From December 2019 to June 2021,the BESⅢ experiment collected approximately 5.85 fb-1of data at center-of-mass energies between 4.61 and 4.95 *** is the highest collision energy BEPCⅡ has reached to *** accumulated e+e-annihilation data samples are useful for studying charmonium（-like） states and charmed-hadron *** adopting a novel method of analyzing the production of ■ pairs in e+e-annihilation,the center-of-mass energies are measured with a precision of ～0.6 *** luminosities are measured with a precision of better than 1% by analyzing the events of large-angle Bhabha *** measurements provide important inputs to analyses based on these data samples.

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