Reliable flight performance assessment of multirotor based on interacting multiple model particle filter and health degree

Multirotor has been applied to many military and civilian mission scenarios. From the perspective of reliability, it is difficult to ensure that multirotors do not generate hardware and software failures or performance anomalies during the flight process. These failures and anomalies may result in mission interruptions, crashes, and even threats to the lives and property of human beings. Thus, the study of flight reliability problems of multirotors is conductive to the development of the drone industry and has theoretical significance and engineering value. This paper proposes a reliable flight performance assessment method of multirotors based on an Interacting Multiple Model Particle Filter (IMMPF) algorithm and health degree as the performance indicator. First, the multirotor is modeled by the Stochastic Hybrid System (SHS) model, and the problem of reliable flight performance assessment is formulated. In order to solve the problem, the IMMPF algorithm is presented to estimate the real-time probability distribution of hybrid state of the established SHS-based multirotor model, since it can decrease estimation errors compared with the standard interacting multiple model algorithm based on extended Kalman filter. Then, the reliable flight performance is assessed with health degree based on the estimation result. Finally, a case study of a multirotor suffering from sensor anomalies is presented to validate the effectiveness of the proposed method.     

Route generation and description using the notions of object's influence area and spatial conceptual map

In the GRAAD Project we aimed at creatinga system which could generate route directions thatare comparable to route directions created by humanparticipants. With this goal in mind, we started froma linguistic and cognitive study of route directionsproduced by people and the study of cognitive modelsof mental maps. We proposed a new qualitative spatialmodel that can support the spatial properties of humanroute directions. This model is based on the notion ofobject's influence area which is used to modelneighborhood, orientation and distance. The proposedapproach relies on the manipulation of spatialentities in a spatial conceptual map (SCM) which isthe computarized analog of a mental map used bypeople. We developped the GRAAD System, software thatgenerates routes in a SCM and describes them innatural language. Finally, we conducted an experimentin order to compare GRAAD's route directions androutes described by human participants in similarexperimental conditions. GRAAD's output was notdistinguishable from route directions created by humanparticipants. In this paper we present the mainresults obtained during all phases of the GRAADProject.     

多种失效模式相关的机构运动可靠度计算方法

机构运动中必然存在多种相关失效模式,多为影响机构运动的各类随机变量函数.为了在机构运动可靠性分析中有效考虑多种相关失效模式的影响,建立了考虑多种失效模式相关条件下的机构运动可靠度计算模型,并实现了对多种失效模式相关条件下的机构运动可靠度计算模型的求解,为考虑多种相关失效模式下的机构运动可靠性分析提供了一种有效途径.以6408滚动轴承为例,进行100 000抽样计算,考虑失效模式相关条件下运动可靠度为95.998 9%.该方法精度较高,具有一定的理论意义和应用价值.     

对外直接投资的贸易效应——基于中美比较的视角

20世纪80年代以来,伴随着改革开放和国际产业转移,发达国家加快了对外投资步伐,中国也抓住这一机会成为世界上最大的对外直接投资吸引地。经过三十多年来的发展,如今中国企业也开始了＂走出去＂的脚步。对外投资对于一国的贸易有何影响,学界对此有很多研究。文章对1984~2012年中国和美国之间的双边直接投资和贸易进行检验,利用协整模型进行计量分析。分析结果表明：中国对美国的直接投资会增加中国对美国的进口,美国对中国的直接投资则会增加中国对美国的出口。     

扇区繁忙时段交通流的不均衡度量化研究

以容流量及拥挤度等指标进行的空中交通运行评价无法全面反映空中交通的实际运行状况.在依据重要点对航路段进行分组的基础上,通过计算超容比,确定了扇区繁忙时段,基于多项式二次拟合分析了超容比与基尼系数以及泰尔指数之间的数量关系,基于3σ原则确定了不同超容比情况下的理想不均衡度的取值范围.应用方法对厦门1号扇区的实际运行数据进行了计算分析,验证了不均衡度量化方法的适用性.     

域k上三次一般方程式的解的计算

我们已经研究了域k上的n（n≥5）次一般方程在特征标为0的情形下关于幂根是不可解的，而对于n≤4是可解的。本文利用n次循环域的拉格朗日分解式及循环群σ∈G（K/k）的结构，推出域k上的三次一般方程在特征标为0的情形下一般解的计算公式。     

知识经济对会计假设的挑战

分析了知识经济时代对旧有会计假设的挑战，会计假设应作出相应修正和补充，以适应新的环境。     

知识经济对财务会计报告的影响

财务会计报告的发展表现为财务会计报告三因素即报告方式、报告时间、报告内容的变化。文中分析了知识经济对财务会计报告三因素产生的深刻影响。     

对航天职工薪酬满意度调查的分析

本文介绍了航天某军民结合型研究所现行的薪酬结构和分配办法,通过对单位员工的薪酬满意度调查,分析该薪酬结构的特点与不足,为下一步的薪酬设计奠定基础。     

论信息产业就业总量的核算方法

21世纪是知识经济的时代，知识经济最活跃的生产部门是那些广泛应用高新技术的新兴产业，信息产业是首当其冲的一个。信息产业的竞争追本溯源是知识与技术的竞争，也就是人才的竞争。因而人力资本核算在信息产业核算研究中有着重要的理论和现实意义，本文在说明有关统计指标的基础上，就信息产业的就业总量中纯信息部门就业总量核算、混合信息部门就业总量核算以及整个信息部门就业核算这几个方面进行了核算方法的研究。