Conventionally, the filtering technique for attitude estimation is performed using gyros or attitude dynamics

models. In order to extend the application range of an attitude filter, this paper proposes a quaternionbased

filtering framework for gyroless attitude estimation without an attitude dynamics model. The attitude

estimation system is established based on a quaternion kinematic equation and vector observation models.

The angular velocity in the system is determined through observation vectors from attitude sensors and the

statistical properties of the angular velocity error are analysed. A Kalman filter is applied to estimate the

attitude error such that the effect from the angular velocity error is compensated with its statistical properties

at each sampling moment. A numerical simulation example is presented to illustrate the performance of the

proposed algorithm.

When the distribution of water quality samples is roughly balanced, the Bayesian criterion model of water-inrush source generally can obtain relatively accurate results of water-inrush source identification. However, it is often difficult to achieve desired classification results when training samples are imbalanced. Sample imbalance is common in the source identification of mine water-inrush. Therefore, we propose a three-dimensional (3D) spatial resampling method based on rare water quality samples, which achieves the balance of water quality samples. Based on the virtual water sample points distributed by the 3D grid, the method uses the 3D Inverse Distance Weighting (IDW) method to interpolate the groundwater ion concentration of the virtual water samples to achieve oversampling of rare water samples. Case study in Gubei Coal Mine shows that the method improves overall discriminant accuracy of the Bayesian criterion model by 5.26%, from 85.26% to 90.69%. In particular, the discriminative precision of the rare class is improved from 0% to 83.33%, which indicates that the method can improve the discriminant accuracy of the rare class to large extent. In addition, this method increases the Kappa coefficient of the model by 19.92%, from 52.26% to 72.19%, increasing the degree of consistency from “general” to “significant”. Our research is of significance to enriching and improving the theory of prevention and treatment of mine water damage.

In order to realize constant current and constant voltage charging for batteries by inductively coupled power transfer (ICPT) technology, a single-switch CL/LCL circuit is designed. The single-switch CL/LCL circuit is composed of a CL/LCL compensation network and single-switch inverter. The proposed circuit is compared with the traditional constant current and constant voltage circuit in the structure. The operating process of the single-switch CL/LCL circuit and the principle to realize a zero-voltage switch (ZVS) are analysed in detail in this paper. The voltage gain and current gain of the circuit are cal- culated, which demonstrates that the circuit is able to suppress higher harmonics strongly. By using Fourier decomposition, the voltage on the primary-side compensation capaci- tor can be obtained. After constructing the equivalent mutual inductance model of the circuit, the formulas and parameters are deduced and calculated. Finally, an experiment platform is built to verify the proposed circuit can realize constant current and constant voltage.

Cu-2wt%Ag alloy with diameter of 10 mm was fabricated by induction heating directional solidification (IHDS). The effect of different mold temperatures on microstructure of IHDS Cu-2wt%Ag alloy was investigated. The results show that IHDS ­Cu-2wt%Ag alloy is mainly composed of coarse columnar grains at mold temperature of 1075°C. While the mold temperature is at 1100°C, 1150°C and 1200°C, respectively, the IHDS Cu-2wt%Ag alloy is composed of columnar grains and equiaxed grains and the number of grains increases. Meanwhile, the growth direction of columnar grains in the edge of alloys deviates from the direction of continuous casting to form “V” shape. While the mold temperature is controlled at high temperature, the induced current increases, which leads to the enhancement of eddy current in the mold. Therefore, the dendrites fall off to form new grains under the effect of eddy stirring, resulting in an increasing in the number of grains.

The grid integration of large-scale wind and solar energy affects the power flow of wind-PV-thermal-bundled power transmission systems and may introduce an unpredicted threat to the power system’s small signal stability. Meanwhile, a power system stabilizer (PSS) and static synchronous series compensator (SSSC) play an important role in improving the static and dynamic stability of the system. Based on this scenario and in view of the actual engineering requirements, the framework of wind-PV-thermal-bundled power transmitted by an AC/DC system with the PSS and SSSC is established considering the fluctuation of wind and photovoltaic power output and the characteristics of the PSS and SSSC. Afterwards, the situation model is constructed in the IEEE 2-area 4-unit system, and the influence of the PSS and SSSC on the system stability under different operating conditions is analyzed in detail through eigenvalue analysis and time-domain simulation. Finally, an index named the gain rate is defined to describe the improvement of the stability limitations of various wind-PV-thermal operating conditions with the PSS and SSSC. The results indicate (K) that the damping characteristics, dynamic stability and stability limitations for various wind-PV-thermal operating conditions of the wind-PV-thermal-bundled power transmission system can be significantly improved by the interaction of the PSS and SSSC.

Enterotoxigenic Escherichia coli (ETEC) is the causative agent of a wide range of diseases, which are the important cause of illness and mortality in piglets. ETEC strains expressing F4 fimbriae are frequently associated with post-weaning diarrhea (PWD) and lead to great economic losses in swine production industry worldwide. The aim of this study was to establish a rapid and effective isothermal amplification method for detection of F4 fimbriae. Loop-mediated isothermal amplification (LAMP), Polymerase spiral reaction (PSR) and cross-priming ampli- fication (CPA) were used to develop and optimize the detection method first time. Subsequently, the specificity and sensitivity of these methods were evaluated, and the clinical samples were detected with these methods. All the F4-positive samples could produce ladder-like amplifica- tions products and lead the chromogenic substrate SYBR Green I produce green fluorescence, while in blank control and negative samples lack of this pattern or remained orange. The sensi- tivity of LAMP and CPA were 10 times higher than PSR method. Meanwhile, these three methods were validated with clinical samples, 7 were found positive, while 125 samples were negative, the testing results were consisted with the real-time PCR method. These findings suggested that the isothermal amplification based on the F4 fimbriae is a rapid, effective and sensitive method under resource constrains.

The single-phase voltage loss is a common fault. Once the voltage-loss failure occurs, the amount of electrical energy will not be measured, but it is to be calculated so as to protect the interest of the power supplier. Two automatic calculation methods, the power substitution and the voltage substitution, are introduced in this paper. Considering the lack of quantitative analysis of the calculation error of the voltage substitution method, the grid traversal method and MATLAB tool are applied to solve the problem. The theoretical analysis indicates that the calculation error is closely related to the voltage unbalance factor and the power factor, and the maximum calculation error is about 6% when the power system operates normally. To verify the theoretical analysis, two three-phase electrical energy metering devices have been developed, and verification tests have been carried out in both the lab and field conditions. The lab testing results are consistent with the theoretical ones, and the field testing results show that the calculation errors are generally below 0.2%, that is correct in most cases.