基于改进人工势场法的服务机器人路径规划

人工势场法是服务机器人路径规划算法中一种简单有效的方法.针对传统人工势场法存在的目标不可达问题,通过在原来的斥力函数中加入一个调节因子的方法解决,同时采用遍历搜索法解决局部极小值问题,并引入安全距离以及改进调节因子以提高机器人路径规划过程中的安全性能.最后,利用Matlab软件将改进后的人工势场法应用于服务机器人路径规划并进行了仿真实验.仿真结果表明,基于改进人工势场法的服务机器人路径规划有效地解决了机器人不能到达目标点的问题.     

氢气/氧气/稀释气混合气高温高压下层流燃烧速度的测量

利用定容燃烧弹和高速纹影摄像系统,研究了高温高压条件下,不同稀释气和稀释系数对氢气/氧气/稀释气混合气层流燃烧速度的影响,获得了当量比为0.6~4.0,初始压力为0.1~0.5MPa,稀释系数为4~8的氢气/氧气/稀释气混合气的层流燃烧速度,并对其进行了数值模拟。实验和模拟均发现,在当量比小于1.0和大于3.0的范围内,层流燃烧速度均随初始压力升高而降低。而在当量比为1.0~3.0范围内,层流燃烧速度随初始压力升高呈现非单调变化的规律。通过敏感性分析发现三体反应（R15）在氮气作为稀释气的时候是抑制反应,而在氩气和氦气作为稀释气时是促进反应,主要是由于各稀释气热物性不同引起的。在当量比为1.0~3.0范围内,层流燃烧速度随初始压力升高呈现的非单调变化主要是链分支反应R1和链终止反应R15相互竞争的结果。      

一种新的卫星通信系统中的载波频率同步技术

针对卫星通信中传统载波频偏估计算法精度低的问题,提出一种新的频偏估计方法。该方法首先利用传统方法在解调前端进行初始频偏估计,然后充分利用译码信息对残留频偏进行进一步估计和补偿。仿真结果表明,该方法可有效抑制传统频偏估计方法带来的残留频偏的波动,减少残留频偏对系统性能的影响,提高了系统译码性能,降低了解调门限,在不占用系统频带的同时,提高了系统功率利用率。     

Ionospheric response of equatorial and low latitude F-region during the intense geomagnetic storm on 24–25 August 2005

In this investigation, we present and discuss the response of the ionospheric F-region in the South American and East Asian sectors during an intense geomagnetic storm in August 2005. The geomagnetic storm studied reached a minimum Dst of −216 nT at 12:00 UT on 24 August. In this work ionospheric sounding data obtained of 24, 25, and 26 August 2005 at Palmas (PAL; 10.2° S, 48.2° W; dip latitude 6.6° S), São José dos Campos (SJC, 23.2° S, 45.9° W; dip latitude 17.6° S), Brazil, Ho Chi Minh City, (HCM; 10.5° N, 106.3° E; dip latitude 2.9° N), Vietnam, Okinawa (OKI; 26.3° N, 127.8° E; dip latitude 21.2° N), Japan, are presented. Also, the GPS observations obtained at different stations in the equatorial and low-latitude regions in the Brazilian sector are presented. On the night of 24–25 August 2005, the h′F variations show traveling ionospheric disturbances associated with Joule heating in the auroral zone from SJC to PAL. The foF2 variations show a positive storm phase on the night of 24–25 August at PAL and SJC during the recovery phase. Also, the GPS-VTEC observations at several stations in the Brazilian sector show a fairly similar positive storm phase on 24 August. During the fast decrease of Dst (between 10:00 and 11:00 UT) on 24 August, there is a prompt penetration of electric field of magnetospheric origin that result in abrupt increase (∼12:00 UT) in foF2 at PAL, SJC (Brazil) and OKI (Japan) and in VTEC at IMPZ, BOMJ, PARA and SMAR (Brazil). OKI showed strong oscillations of the F-region on the night 24 August resulted to the propagation of traveling atmospheric disturbances (TADs) by Joule heating in the auroral region. These effects result a strong positive observed at OKI station. During the daytime on 25 August, in the recovery phase, the foF2 observations showed positive ionospheric storm at HCM station. Some differences in the latitudinal response of the F-region is also observed in the South American and East Asian sectors.     

Day-to-day variability of equatorial anomaly in GPS-TEC during low solar activity period

The ionospheric total electron content (TEC) in the northern hemispheric equatorial ionization anomaly (EIA) crest region is investigated by using dual-frequency signals of the Global Positioning System (GPS) acquired from Rajkot (Geog. Lat. 22.29°N, Geog. Long. 70.74°E; Geom. Lat. 14.21°N, Geom. Long. 144.90°E), India. The day-to-day variability of EIA characteristics is examined during low solar activity period (F10.7∼83 sfu). It is found that the daily maximum TEC at EIA crest exhibits a day-to-day and strong semi-annual variability. The seasonal anomaly and equinoctial asymmetry in TEC at EIA is found non-existent and weaker, respectively. We found a moderate and positive correlation of daily magnitude of crest, Ic with daily F10.7 and EUV fluxes with a correlation coefficient of 0.43 and 0.33, respectively indicating an existence of a short-term relation between TEC at EIA and the solar radiation even during low solar activity period. The correlation of daily Ic with Dst index is also moderate (r = −0.35), whereas no correlation is found with the daily Kp index (r = 0.14) respectively. We found that the magnitude of EIA crest is moderately correlated with solar flux in all seasons except winter where it is weakly related (0.27). The magnitude of EIA crest is also found highly related with EEJ strength in spring (r = 0.69) and summer (r = 0.65) than autumn (0.5) and winter (r = 0.47), though EEJ is stronger in autumn than spring.     

Relativistic electron fluxes and dose rate variations during April–May 2010 geomagnetic disturbances in the R3DR data on ISS

Space radiation has been monitored successfully using the Radiation Risks Radiometer-Dosimeter (R3D) installed at the ESA EXPOSE-R (R3DR) facility outside of the Russian Zvezda module of the International Space Station (ISS) between March 2009 and January 2011. R3DR is a Liulin type spectrometer–dosimeter with a single Si PIN detector 2 cm² of area and 0.3 mm thick. The R3DR instrument accumulated about 2 million measurements of the absorbed dose rate and flux of 10 s resolution. The total external and internal shielding before the detector of R3DR device is 0.41 g cm⁻². The calculated stopping energy of normally incident particles to the detector is 0.78 MeV for electrons and 15.8 MeV for protons. After the Coronal Mass Ejection (CME) at 09:54 UTC on 3 April 2010, a shock was observed at the ACE spacecraft at 0756 UTC on 5 April, which led to a sudden impulse on Earth at 08:26 UTC. Nevertheless, while the magnetic substorms on 5 and 6 of April were moderate; the second largest in history of GOES fluence of electrons with energy >2 MeV was measured. The R3DR data show a relatively small amount of relativistic electrons on 5 April. The maximum dose rate of 2323 μGy day⁻¹ was reached on 7 April; by 9 April, a dose of 6600 μGy was accumulated. By the end of the period on 7 May 2010 a total dose of 11,587 μGy was absorbed. Our data were compared with AE-8 MIN, CRESS and ESA-SEE1 models using SPENVIS and with similar observations on American, Japanese and Russian satellites.     

Comparison of ionosphere characteristic parameters obtained by ionosonde with IRI-2007 model over Southeast Asia

In this work, the foF2 and hmF2 parameters at the conjugate points near the magnetic equator of Southeast Asia are studied and compared with the International Reference Ionosphere (IRI) model. Three ionosondes are installed nearly along the magnetic meridian of 100°E; one at the magnetic equator, namely Chumphon (10.72°N, 99.37°E, dip angle 3.0°N), and the other two at the magnetic conjugate points, namely Chiang Mai (18.76°N, 98.93°E, dip angle 12.7°N) and Kototabang (0.2°S, 100.30°E, dip angle 10.1°S). The monthly hourly medians of the foF2 and hmF2 parameters are calculated and compared with the predictions obtained from the IRI-2007 model from January 2004 to February 2007. Our results show that: the variations of foF2 and hmF2 predicted by the IRI-2007 model generally show the similar feature to the observed data. Both parameters generally show better agreement with the IRI predictions during daytime than during nighttime. For foF2, most of the results show that the IRI model overestimates the observed foF2 at the magnetic equator (Chumphon), underestimates at the northern crest (Chiang Mai) and is close to the measured ones at the southern crest of the EIA (Kototabang). For hmF2, the predicted hmF2 values are close to the hmF2(M3000F2_OBS) during daytime. During nighttime, the IRI model gives the underestimation at the magnetic equator and the overestimation at both EIA crests. The results are important for the future improvements of the IRI model for foF2 and hmF2 over Southeast Asia region.     

平面工艺功率型半导体晶体管铝迁移实验

在平面工艺制造的功率型半导体晶体管芯片表面,发现高强度电场条件下存在跨越0.05 mm半绝缘硅带的铝迁移现象,对此开展了一系列实验研究. 通过开帽物理观察与分析、低温测试与烘干验证、迁移物质分析对比,确定了迁移现象中的迁移物质,同时分别取证环境温度、湿度、芯片表面污染物以及器件局部结构与此迁移现象的关联性,以此提出了迁移机理假说,为在不同的诱发条件下对此迁移机理进行确认和量化研究提供指导.