Self-alignment of full skewed RSINS：observability analysis and full-observable Kalman filter

Traditional orthogonal strapdown inertial navigation sys-tem （SINS） cannot achieve satisfactory self-alignment accuracy in the stationary base： taking more than 5 minutes and al the iner-tial sensors biases cannot get ful observability except the up-axis accelerometer. However, the ful skewed redundant SINS （RSINS） can not only enhance the reliability of the system, but also improve the accuracy of the system, such as the initial alignment. Firstly, the observability of the system state includes attitude errors and al the inertial sensors biases are analyzed with the global perspective method： any three gyroscopes and three accelerometers can be assembled into an independent subordinate SINS （sub-SINS）;the system state can be uniquely confirmed by the coupling connec-tions of al the sub-SINSs;the attitude errors and random constant biases of al the inertial sensors are observable. However, the ran-dom noises of the inertial sensors are not taken into account in the above analyzing process. Secondly, the ful-observable Kalman filter which can be applied to the actual RSINS containing random noises is established; the system state includes the position, ve-locity, attitude errors of al the sub-SINSs and the random constant biases of the redundant inertial sensors. At last, the initial self-alignment process of a typical four-redundancy ful skewed RSINS is simulated： the horizontal attitudes （pitch, rol ） errors and yaw error can be exactly evaluated within 80 s and 100 s respectively, while the random constant biases of gyroscopes and accelero-meters can be precisely evaluated within 120 s. For the ful skewed RSINS, the self-alignment accuracy is greatly improved, mean-while the self-alignment time is widely shortened.     

Spiking neural P systems with anti-spikes and without annihilating priority as number acceptors

Spiking neural P systems with anti-spikes （ASN P systems） are variant forms of spiking neural P systems, which are inspired by inhibitory impulses/spikes or inhibitory synapses. The typical feature of ASN P systems is when a neuron contains both spikes and anti-spikes, spikes and anti-spikes wil immediately annihilate each other in a maximal way. In this paper, a restricted variant of ASN P systems, cal ed ASN P systems without anni-hilating priority, is considered, where the annihilating rule is used as the standard rule, i.e., it is not obligatory to use in the neuron associated with both spikes and anti-spikes. If the annihilating rule is used in a neuron, the annihilation wil consume one time unit. As a result, such systems using two categories of spiking rules （identified by （a, a） and （a,a^-）） can achieve Turing completeness as number accepting devices.     

Collaborative Project Management: A Systemic Approach to Heavy Equipment Manufacturing Project Management

Quite often over the last decade, heavy equipment manufacturers are trying to improve their project management performance with the use of effective project management methods. However, the challenges encountered aren’t isolated problems and a systemic approach is required. This paper exemplifies how a systemic approach can be applied to heavy equipment manufacturing project (HEMP) management, through of a multifaceted vision. The findings present in the paper are based on a two-year case study in a metallurgic equipment manufacturing enterprise in China. Based on the analysis of HEMP management problems and the contributions on systemic approach application in project management, the paper enriches existing theory by: (1) interpreting the HEMP management system with the top-down disassembly method; (2) developing the collaborative project management approach with a systems view highlighting the project characteristics management and inter-departmental collaboration; (3) making suggestions for systemic approach application in project management. For practitioners and researchers, the findings are particularly meaningful for manufacturing project management and systemic approach application.     

一种改进的三角模糊数互补判断矩阵的排序方法

在传统的三角模糊数互补判断矩阵排序方法的基础上,结合三角模糊数均值的概念,提出了一种改进的排序方法。该方法通过三角模糊数互补判断矩阵以及相应的概率分布矩阵,计算得到模糊均值矩阵,从而将三角模糊数互补判断矩阵的排序问题转换为模糊均值矩阵的排序问题,然后对模糊均值矩阵利用权的最小平方法计算排序向量。通过计算三角模糊数均值,有效地减少了判断过程中的不确定性。给出了该方法的具体应用步骤,仿真算例表明该方法易于实现,具有很好的可操作性。     

嫦娥二号平动点间转移轨道方案研究

针对我国嫦娥二号卫星拓展任务需求,研究了卫星由日地L2点向L1点的转移轨道方案。基于卫星真实星历,考虑各种摄动因素,借助不变流形理论和微分修正方法,设计了嫦娥二号在日地平动点L1和L2之间的转移轨道,提出了便于理解和工程应用的平动点间直接转移方式,研究了真实力模型下平动点Lissajous轨道的不变流形转移方式,对比了两种转移方式的出发速度增量、转移时间与出发时刻的关系。研究表明,嫦娥二号可以通过直接转移方式或者借助不变流形进入日地L1点Lissajous轨道,直接转移方式下有42天出发机会,基于不变流形方式下最短转移时间为210天,对应速度增量5.776 m/s,最小速度增量可达0.024 m/s。研究结果可直接应用于我国嫦娥二号拓展任务的轨道设计与控制,并为我国后续平动点等深空探测任务提供有益借鉴.     

求解0-1背包问题的二进制狼群算法

狼群算法(wolf pack algorithm, WPA)源于狼群在捕食及其猎物分配中所体现的群体智能,已被成功应用于复杂函数求解。在此基础上,通过定义运动算子,对人工狼位置、步长和智能行为重新进行二进制编码设计,提出了一种解决离散空间组合优化问题的二进制狼群算法（binary wolf pack algorithm, BWPA）。该算法保留了狼群算法基于职责分工的协作式搜索特性,选取离散空间的经典问题--0-1背包问题进行仿真实验,具体通过10组经典的背包问题算例和BWPA算法与经典的二进制粒子群算法、贪婪遗传算法、量子遗传算法在求解3组高维背包问题时的对比计算,例证了算法具有相对更好的稳定性和全局寻优能力。     

Q690低碳微合金钢热变形微观组织演变及加工图

利用Gleeble-3800数字控制热/力模拟试验机研究了Q690低碳微合金钢在变形温度850～1150℃,应变速率0.01～30s-1条件下的高温单道次压缩变形行为.建立了基于动态材料模型(DMM)的加工图,结合OM观察变形体微观组织确定了该钢种的高温热变形机制.结果表明:应变量0.7及以下的加工图中包含2个峰区(1 000～1 120℃,0.01～0.37s-1和1 100～1 150℃,3.16～30s-1)和3个加工失稳区(850～900℃,0.01～0.32s-1和850～900℃,10～30s-1以及1 000～1 085℃,1～30s-1).应变量超过0.8的加工图包含2个峰区(1 025～1 100℃,0.01～0.38s-1和1 100～1 150℃,3～30s-1),失稳区为低温(850～900℃,0.01～30s-1)以及应变速率1s-1以上的中低温度(850～1 100℃)范围,在这两个峰区峰值点附近的热变形显微组织为均匀的完全动态再结晶组织,因此,这两个区域均适合Q690钢的热加工变形.     

结构钢开孔管断裂试验及数值分析

为研究金属的断裂机理及抗断设防,对10个结构钢开孔管进行了断裂试验和数值模拟．试验显示：裂纹起始于孔边,沿与荷载垂直方向迅速扩展,断面垂直于荷载方向,并有明显的剪切破坏痕迹,显示出断裂的定性规律：孔径越大,起始裂纹出现越早,开裂后的残余延性越大,双孔管断裂延性低于单孔管,结构钢开孔管断裂试验的数值分析表明：金属椭球面断裂准则对预测结构钢开孔管宏观初始开裂具有较高的精度,与试验结果吻合较好,但对双孔管断裂预测略偏于保守,该试验具有一定的工程意义．     

非理想条件下MMC-DVR的PBC和SMC混合控制策略

动态电压调节器(DVR)与模块化多电平转换器(MMC)组合的MMC-DVR可用于解决中高电压的动态电压补偿问题。但当电网电压不平衡较大时,采用传统的PID控制或者单一的无源性控制（PBC）或单一的滑模控制（SMC）均难以很好地对动态电压进行补偿控制。为此,提出了PBC+SMC两种控制方法的混合控制方法能够很好地解决电网电压不平衡时动态电压补偿问题。首先,推导出不平衡电网下MMC-DVR的数学模型;接着,针对目前控制方法存在问题,提出了PBC与SMC的混合控制策略用于MMC-DVR的动态电压补偿,解决了单一PBC控制方法的难以精确控制、响应速度慢、补偿效果不佳等问题;最后,在实验平台上将本文的PBC+SMC控制与PBC、PID两种控制进行实验效果比较,实验结果表明,本文的MMC-DVR混合控制系统能够快速、准确地自动补偿动态电压,且该系统具有鲁棒性强、控制精度高等特点,从而验证了本文混合控制方法的有效性和优越性。     

菊粉珍珠奶茶的研制

将一种功能性食品基料—菊粉,分别添加到珍珠奶茶中,制备新型珍珠奶茶产品;以茶叶与水的比例、浸提温度、一次浸提时间、二次浸提时间进行正交试验,优化茶汁的浸提条件;以珍珠感官评定得分为指标,考察菊粉的添加量、红糖的添加量、淀粉糊化温度、淀粉糊化时间、进行单因素和正交试验选出珍珠的优化配方和制作工艺.