Investigation on pressure sensitivity of fiber optic mandrel hydrophone - art. no. 659544

Pressure sensitivity of the fiber optic mandrel hydrophone is analyzed in this paper. Based on the theory of elasticity, the mechanism of the pressure response is studied. The influence of the optical fiber on the compliant mandrel on the pressure response is taken into consideration for the first time. The radial deformation of the mandrel under the pressure of the fiber optic and the underwater pressure is analyzed in details. Based on the theory of photo-elasticity, the phase shift of the Mach-Zehnder interferometer is given. The pressure sensitivity is evaluated both theoretically and experimentally, and the results show a good correlation between the theoretical and experimental results.

A direct-conversion mixer with DC-offset cancellation for IEEE 802.11a WLAN receiver

A DC-offset cancellation scheme in the 5GHz direct-conversion receiver compliant with IEEE 802.11a wireless LAN standard is described in this paper. It uses the analog feedback loop to eliminate the DC-offset at the output of the double-balanced mixer. The mixer has a simulation voltage conversion gain of IMB at 5.2GHz, noise figure of 9.67dB, IIP3 of 7.6dBm. The solution provides 39.1dB reduction according to the leakage value at LO and mixer load resistors, the additional noise figure added to mixer is less than 0.9dB, the added power dissipation is 0.1mW and was fabricated in 60GHz 0.35 mu m SiGe BiCMOS technology.

可信密码模块符合性测试方法研究

提出了一种可信密码模块(TCM)符合性测试的形式化方法,采用基于扩展有限状态机(EFSM)模型与测试向量相结合的方式对TCM的标准进行形式化建模.由于该建模方法结合TCM自身特点给出了命令依赖关系图的获取算法以及EFSM模型与测试向量获取算法,所以能够更好地对标准进行形式化建模,并用于测试用例的产生.通过测试结果分析以及与其他相关工作的对比,表明该方法能够有效地产生测试用例,并提高TCM符合性测试的错误检测率.

全地形轮式移动机器人运动学建模与分析

提出全地形轮式移动机器人的正逆运动学问题。将机器人看成一个混合串-并联多刚体系统,从每个轮-地接触点到机器人车体分别构成一个串联子系统,抛弃车轮纯滚动假设,在轮-地接触点处建立瞬时坐标系,考虑车轮的平面滑移,从而对每个串联子系统形成一个封闭的速度链。对于每个速度闭链,可直接在驱动轮轮心处写出从机器人各驱动轮到机器人本体之间的运动方程,将每个速度闭链的运动方程合并即可得到机器人的整体运动学模型。以一个具有被动柔顺机构的六轮全地形移动机器人为对象进行推导,该方法既考虑了地形不平的影响,又考虑了车轮的前向、侧向及转向滑移,已知机构参数后就可以直接写出机器人的速度方程,且便于运动学求解。该方法对于轮式移动机器人的运动学建模具有一般性,且具有物理意义明确、推导过程简洁等特点。

全地形移动机器人轮-地几何接触角估计

研究全地形移动机器人在不平坦地形中轮-地几何接触角的实时估计问题.本文以带有被动柔顺机构的六轮全地形移动机器人为对象,抛弃轮-地接触点位于车轮支撑臂延长线上这一假设,通过定义轮-地几何接触角δ来反映轮-地接触点在轮缘上位置的变化和地形不平坦给机器人运动带来的影响,将机器人看成是一个串-并联多刚体系统,基于速度闭链理论建立考虑地形不平坦和车轮滑移的机器人运动学模型,并针对轮-地几何接触角δ难以直接测量的问题,提出一种基于模型的卡尔曼滤波实时估计方法.利用卡尔曼滤波对机器人内部传感器的测量值进行噪声处理,基于机器人整体运动学模型对各个轮-地几何接触角进行实时估计,物理实验数据的处理结果验证了本文方法的有效性,从而为机器人运动学的精确计算和高质量的导航控制奠定了基础.

10-14岁超常儿童的亲社会行为特点及影响因素

Is prosocial behavior of supernormal children distinguished from normal children? Is there any difference between the supernormal children’s prosocial behavior from different educational placement? What are the mechanisms underlying the difference? The aim of this study was to examine these issues. With multiple methods of prosocial behavior, including other-rating, self-rating and hypothetical dilemma, we investigated the 10 to 14 year-old children. Firstly, the development of prosocial behavior and its relationship with prosocial behavior was examined. Secondly, we investigated the features of supernormal children’s prosocial behavior and analysed its difference with normal children. Finally, we tried to find the difference of supernormal children’s prosocial behaviour from different educational placement, and the mechanisms underlying the difference, such as social value orientation and peer relation. The results are as follows: 1)The altruistic and compliant prosocial tendency of 14 year-old children was obviously lower than those younger children. Intelligence was positively related with altruistic and emotional prosocial tendency for 10 year-olds, and with prosocial behaviour of peer nominated for 12 year-olds. 2)There was no significant difference of prosocial behaviour between supernormal and normal children. The peer nominated prosocial behaviour of 12 year-old supernormal children was higher than of 11 and 13 years old supernormal children. In addition, girls’ other-rating prosocial behaviour was significantly higher than boys’, but no gender difference was detected in the prosocial behaviour of self-rating and hypothetical dilemma. 3)With regard to the supernormal children’s prosocial behaviour in different educational placement, we found that the prosocial degree of the supernormal children of homogeneous groups was higher than that of heterogeneous groups in the role-change of ultimatum game. 4)The supernormal children from different educational placement had different social value orientation. More supernormal children of homogeneous groups belonged to the type of group enhancement, while more supernormal children of heterogeneous groups belonged to the type of equality. The types of social value orientation did not have impact on the supernormal children’s prosocial behaviour from different educational placement. 5)Peer relation moderated the impact of different educational placement on supernormal children’s prosocial behaviour.