Abstract：Online route planning could make the UAV in the dynamic environment quickly and efficiently generate suitable flight routes so that it is the necessary ability of UAV mission planning. This paper presents a three-dimensional online route planning method based on the adaptive artificial potential field method，which could cope with the UAV dynamic flight environment and quickly generate the real-time safety flight route that satisfies the task requirement. The route planning method uses the reference route gravitational field and the adaptive time disturbance factor in the process of constructing environment to help the UAV escape the trap when fall into the local minimum of potential field. And a virtual target method is proposed to help effectively solve the trapping problem. Computer simulation results show that the UAV online route planning method is easier to jump out of the local minimum of the potential field than the traditional method, and has better obstacle avoidance capability.

Abstract：With the increasing variety and enhancing function of unmanned aerial vehicle(UAV) payload, data recorder, as an important avionics equipment to record UAV flight status and payload information, is also faced with the challenges of increasing recording data, complex working environment and long working hours. The design of a versatile, reliable and accessible data recorder has become an inevitable requirement for the development of the industry. This paper makes improvements to the shortcomings of the traditional UAV data recorder, such as large power consumption, large volume, high cost, low storage efficiency and poor practicability, has firstly transplanted RT-Thread embedded real-time operating system on the STM32F4 microprocessor and the Fatfs file system to organize data, with SD card as the storage medium, has secondly put forward a multi-thread and multi-buffer strategy to storage data, has thirdly developed USB drive, making storaged data easily copied from the PC side for offline analysis. Finally, according to the software and hardware design, a small batch trial production is carried out. After the test, data recorder can accurately storage the multi-channel big data stream for a long time.

Abstract：This paper introduces the development and characteristics of multi-rotor unmanned aerial vehicles(UAVs). Aiming at the problems and limitations in its application in wireless communication relay, this paper creatively puts forward the basic scheme of constructing the tethered multi-rotor unmanned aerial vehicle by adding the tethered power supply system. The characteristics of sustainable and stable flight are more suitable for the construction of tactical communication wireless relay platform. Combined with the needs of military applications, the predicted values of the communication distance of typical tactical radio stations are analyzed and compared, under different terrain and with or without the use of multi-rotor unmanned aerial vehicle relay conditions. The comparison of the data results shows that the relay platform composed of tactical radio stations can be used to improve the communication coverage of tactical communication system, and the application and development prospect are broad.

Abstract：A method is proposed which combined the auto-disturbance-rejection control(ADRC) with the improved extended Kalman filter(EKF) for the problem that four rotorcraft system is strongly coupled, nonlinear and susceptible to external noise interference. The method uses a disturbance rejection controller to control a quadrotor,using improved EKF to filter out external noise. The optimal control amount of the ADRC output is taken as the control amount of the improved EKF,which outputs the attitude of the aircraft with the measurement of noise as a state variable for the improved EKF,more accurate attitude value can be output due to the improved EKF filter. The experimental results show that this method controls the attitude stabilization time of the aircraft to about 0.7 s,compared with cascade PID control. It′s attitude tracking curve is more stable,highly controlled settling time is reduced by 1.7 s and increased anti-jamming capability by 50%,so that the method enhances the stability and anti-interference ability of the four-rotor system,which meets the requirements of the four rotor attitude control.

Abstract：The detection of vehicles on road frontage is the main field of vehicle safety driving assist, and developing real-time testing methods with strong robustness is the effective way to realize the active safety early warning. Based on monocular vision and the vehicle ahead trapezoidal region of interest(ROI) determined by lane lines, a variable rectangular window adaptive mean variance difference method to calculate the threshold of shadows is put forward according to the characteristic of vehicle shadow. And then, based on the ground of trail width template, a horizontal traversing minimum mean method is presented to generate shadows and road intersection hypothesis. At last, the vehicle shadow line is verified by the gray value feature of the car bottom shadow, so as to detect the vehicle. The above methods are applied to the self-developed DSP experimental platform for verification. The results show that the average calculation period of the method is only 38.46 milliseconds, and the vehicle can be detected in different traffic environments and weather conditions. The method has good real-time performance and strong robustness.

Abstract：A programmable current limit circuit applied to LDO was presented, the current can achieve the accurate sense of the power MOSFET. The current can be operated under different input-output voltage and different load current by adjusting the current limiting resistor outside of the chip to change the current limit. The circuit was designed based on 0.25 μm BCD process and simulated with H-spice. Simulation results showed that LDO achieves maximum 3 A load current in the range of 2~5.5 V supply voltage and 1.2~5 V output voltage. The programmable current limiting was adjustable from 0.2 A to 4.5 A.

Abstract：In view of the complexity and inflexibility of the traditional encoding and decoding algorithms, this paper studies the forward propagation algorithm and structure of autoencoder neural networks. A low power consumption and high speed decoder system is proposed, using the autoencoder neural network as the codec algorithm with FPGA implementation. The system realizes the decoding of characters, and can be applied to the decoding of various multimedia information. Through ModelSim simulation and Xilinx ISE implementation, the hardware measurement are carried out, and the calculation accuracy, resource consumption, calculation speed and power consumption are analyzed. Experimental results show that the designed decoder can decode data correctly, the algorithm is efficient, scalable, the proposed system has the characteristics of low power consumption and high speed, and it can be widely used in a variety of low power, portable products.

Abstract：In order to achieve a stable and high-precision micromechanical accelerometer system based on the system noise-shaping ability, a high precision accelerometer system with multi-bit quantization is proposed. A fourth-order multi-bit quantized micromechanical accelerometer topology is realized by applying an electrostatic feedback linearization circuit. The average noise level of the accelerometer system is lower than -120 dB/√Hz. The sensitivity and the equivalent input acceleration noise are about 0.63 V/g and 4 μg/√Hz, respectively. The input range of the accelerometer system is about ±3 g, which is limited by the supply voltage and system sensitivity.

Abstract：Aiming at the problems of the ring oscillator such as large power consumption, loud noise, linearity deficiency etc., a novel ring oscillator with cross feed forward structure is proposed based on TSMC 55 nm process. After the contribution percentage of device thermal noise and flicker noise on the output phase noise is analyzed, the capacitance filtering technique is applied to reduce the output phase noise. The linear current is obtained with the source negative feedback circuit to improve the linearity of the frequency modulation, and offers a wide tuning range.The Spectre RF simulation results show that the designed ring oscillator has a frequency coverage of 0.2 GHz～3.8 GHz, produces 8 phases. Its phase noise is -91.34 dBc/Hz@1 MHz, and the current consumption is 4.6 mA at the 1.2 V supply voltage. The results also indicate the good linearity.

Abstract：Phase frequency detector(PFD) is the key module of charge pump phase locked Loops(CPPLL).Dead zone which is one of the primary design considerations of PFD shows the capability of detecting the minimum phase error of the two input signals and it deteriorates the spurious performance of CPPLLs. A no dead zone PFD with a novel delay unit is designed based on TSMC 0.18 μm RF CMOS technology. A delay unit composed of transmission gates and an inverters achieving eight different delay time by three control bits is proposed, which can be flexibly configured and effectively eliminates dead zone. It is simple structure with advantages of small area, easy scalability and portability. The simulation results indicate the presented PFD can be applied to PLLs for eliminating dead zone.

Abstract：According to the shortcomings of simulation testing and physical testing method of FPGA software testing, a design of FPGA physical automatic testing environment based on simulation testing case was proposed. The Testbench used in simulation testing was parsed and processed into FPGA transmission signals used in physical testing. An actuator was designed to convert the testing data into real signals transmitted between FPGA under test and the testing environment. The design framework was validated by a physical automatic testing environment verification platform, and good results had been achieved.

Abstract：JESD204B protocol is a kind of high-speed series protocol to transmit data between data converter and FPGA or ASIC. Subclass1 is an important mode to implement deterministic latency of JESD204B protocol. This article analyzes the principle and timing requirement of the Subclass1 deterministic latency mode and summarizes a method to debug the clock of JESD204B protocol. The method is verified through the self-transmitting and self-receiving loopback of serial data based on Xilinx Virtex-7 FPGA. The result indicates that this method can meet the timing requirement of Subclass1 and guarantee the stable transmission and reception of data.

Abstract：The haze weather has seriously influenced the image quality of outdoor video systems. With the extensive and in-depth application of outdoor video systems, there is an urgent need for miniaturized and embedded real-time image defog systems. This paper proposes a real-time image defog method based on ZYNQ, in which the luminance component V is processed by the Retinex algorithm in the HSV color space. With the cooperation of software calculation and hardware operation, the algorithm control and simple operations, such as image color space conversion and logarithm operations, are performed in the ARM. In order to improve the speed of the algorithm, the parallel convolution algorithm between the Gaussian kernel function and two-dimensional image is executed in FPGA to estimate the ambient light illumination. The experimental results have shown that the proposed algorithm has the advantages of high speed, miniaturized, embedded, high portability and low power consumption, fulfilling the practical requirements of outdoor video systems.

Abstract：The way about nRF24L01+ wireless module to transmit the data takes 32 B data as a data package, and each time it will transmit one data package. Overlapping and discontinuity always occur after receiving the data by the host computer, which will lead to the next data package damaged or missed. Taking the system of ball mill signal acquisition and wireless transmission as an example, the vibration signal should be received continuously, and make sure that the packets are spaced identically. In order to ensure the data′s integrity and instantaneity, a helical buffer zone model is proposed. The model constructs a ring queue, which can temporarily store a certain amount of data, so you can manipulate the data at any time when these data are in the circular queue. After verification, the data are only missed in asynchronous time, which is known by the buffer algorithm simulation in the model of software design. This algorithm greatly reduces the error rate of data receiving,and offers a stabilisation mechanism for a large amount of data receiving.

Abstract：Commercial-off-the-shelf(COTS) FPGAs are often advocated as the only solution to the increasing performance requirements in space applications. It also increases the circuit sensitivity to multiple bit upsets(MBU), thus specific design techniques must be applied to compensate this effect. This work tackles fault tolerance along three abstraction levels: user logic, configuration memory and control. At the user logic level, a new ultra-low overhead forward temporal redundancy(FTR) scheme is proposed for error detection in user logic. At the configuration memory level in the FPGA, this work leverages the opportunities brought by frame- and module-based dynamic partial reconfiguration(DPR) to handle configuration memory errors. At the control level, this work fully exploits the modern Xilinx ZYNQ system-on-chip FPGA which embeds a hard processor used for circuit state preservation with checkpointing and rollback. The overall topology is successfully validated with 99.997% reliability through fault-injection for a seven pipelined LEON3 processor at a global resource overhead only 85% in LUTs and 125% in flip-flops.

Abstract：As a new medical technology, radial shock wave therapy has unique advantages in orthopedics, sports medicine and other medical fields. However, an unified index is needed to evaluate the intensity of clinical treatment of radial shock wave therapy. Based on the principle of radial shock wave generation, the energy flow density was advanced as an index for evaluating the intensity of clinical treatment. High precision underwater dynamic pressure measurement system was established to measure the pressure waveform. Then the laser Doppler vibration measurement was used to measure the vibration wave of the wave source accurately. The correctness of the pressure waveform measured through the experimental system is proved by comparing the two kinds of waveform. Finally, the energy flow density was calculated according to the measured pressure waveform, which is helpful to effectively reduce the blindness because of simultaneous adjustment of multiple parameters, and it was advanced as an index for evaluating the intensity of shock wave, which has positive guiding significance for its clinical application.

Abstract：For the traditional autonomous navigation vehicle(AGV), the problem of high-precision path tracking and precise positioning of key points can not be satisfied. A combination method of key point precise location and path correction based on fuzzy control is proposed for the first time. Firstly, the four wheel differential kinematic model of AGV is established, position bias and angle deviation are used as inputs and the deviation rectification control is output. A two-dimensional fuzzy controller is designed to realize quick deviation correction. In addition, aiming at high-precision positioning requirements for special points, according to the size of each frame sampled image, the coordinate model is fixed. The two-dimensional code contour is obtained by three point positioning method, and then the offset is computed by the offset of the center point. Lastly, the precise positioning is got.

Abstract：In order to analyze the cerebral cortex activating by multimodal mental tasks with reading Chinese silently, electroencephalography(EEG) signals related to mental tasks are analyzed using the spatial source location. Firstly, the EEG signals of all electrodes are decomposed into independent components by independent component analysis. Each component can be considered from an equivalent dipole, and its position and direction are calculated in the cerebral cortex. Then, the dipole associated with the mental task is determined by time-frequency analysis. Finally, the differences of dipoles from multimodal mental tasks are analyzed and compared with single mode. After analyzing the results of 10 subjects, the average numbers of dipoles associated with two multimodal mental tasks are respectively calculated as 5 and 4.3, which are more than single mode tasks. The sorting of dipole numbers is consistent with the average classification accuracies of the four tasks. It suggests that more activation of the cerebral cortex is beneficial to improve the accuracy of classification. The validity and rationality of the experiment is also verified.

Abstract：In order to make up for the lack of existing products on the market for identifying table tennis and badminton sports state, this paper designs a racket wrist which can identify these two kinds of movement in a variety of state watches. It′s hardware mainly uses STM32F103C8T6 single chip, MPU6050 sensor, and Bluetooth serial module. The method of motion state recognition is as follows：firstly，the three-axis acceleration and the triaxial angular velocity are used to calculate the triaxial angle. The data are subjected to high-pass filtering, smoothing, and data preprocessing. And then according to the random forest classification recognition algorithm, a variety of states of table tennis and badminton in the process are identified. The watch has a low cost of hardware, small size, and low power consumption, and by test the recognition rate is up to 90%.

Abstract：Several in common use flowrate control methods in semiconductor wafer clean tool are introduced in this paper, including the flowrate control of process chamber and chemical proportioning, then corresponding control methods are brought forward according to different applications. The chemical flowrate is directly used as the feedback signal of closed control in single chamber clean tool, and the fluctuation of chemical flowrate is reduced when the pneumatic valve is switched by controlling the balance between dispense and return tube opening. The pressure closed loop control method is adopted to control the flowrate indirectly in multi-chamber clean tool, the series control design of magnetic suspension pump can effectively improve the service life and pressure stability of the pump, and by adjusting the needle valve in each chamber, the difference of the flowrate of each chamber is reduced. Generally, by controlling the injection flowrate of each chemical, a variety of chemical mix functions can be realized. Flowrate precision directly affects the accuracy of the composition of process chemical. Clean tool integration control based on PLC has the features of flexble in use, good stability, and high dependability, and is applicable for real-time and precise control of different module.

Abstract：This paper designs a parallel coupled microstrip bandpass filter at the ends of the hybrid frequency synthesizer of PLL+DDS mixing in the outside of the feedback loop systems. This filter is used to suppress the frequency synthesizer′s spurs and harmonic in the output spectrum. The band pass filter is designed by the parallel coupled microstrip line. The measuring results show the center frequency is 2 350 MHz and the bandwidth is 50 MHz. And the maximum loss is -5 dB in the passband. In the external bandpass, the loss of 2 200 MHz is -47.7 dB, while at the 2 285 MHz，the loss is -29.0 dB. By measuring the filter and the output signals of the hybrid frequency synthesizer, it is proved the effectivity of the filter to suppress spurs and harmonic in the output spectrum of the frequency synthesizer.

Abstract：In order to improve the heterogeneous network video transmission quality, this paper proposes a joint source channel coding for heterogeneous network video transmission based on six corner lattice quantization. Firstly, the multiple description independent parallel channel transmission framework for Gauss video source transmission is established by using the parallel channel transmission scheme of multi source channel coding. Secondly, the six corner lattice quantization method is used to improve the performance of the heterogeneous network video transmission, which can be used to reduce the bandwidth of the analog map under the condition of the presence or absence of the decoder. Finally, by comparation with VPS, FMS and DMUS three kinds of algorithm in the index of encoding redundancy, encoding rate, peak signal-to-noise ratio, the end-to-end delay and the loss of effective video frame rate, the effectiveness of the proposed method is verifred.

Abstract：A novel compact printable chipless RFID tag is presented in this paper. The tag is etched on the substrate by several right-angel-shaped regularly arranged resonators.The tag has good stability for incident waves in a variety of polarized directions. A novel chipless tag encoding method to double the encoding capacity without increasing the mutual coupling between resonators is proposed. The RFID tag operates in the UWB band, and a high encoding density of 3.3 bit/cm2 is obtained on the area of 22 mm×11 mm. RCS curve of the tag has been given by simulation, the agreement between the simulation and the theoretical analysis validates this new concept of design. These tags are single-sided，have higher data density compared to the existing printable chipless tags，and can be directly printed on the ID cards and papers.

Abstract：A dynamic cell clustering-based resource allocation algorithm is proposed in this paper aiming at the interference at the same layer between femtocells and the cross-layer interference between femtocell and macrocell. The algorithm includes two steps. In the first step, a subchannel allocation algorithm based on rate fairness is used to allocate subchannels for macro users, followed by power allocation with the water-filling algorithm. In the second step, it firstly conducts clustering for FAPs by utilizing the genetic simulated annealing algorithm according to the size of the weight of the interference among femtocells, and then allocates sub-channels for FUEs by utilizing the heuristic channel allocation algorithm, and then allocates power for users by adopting KKT conditions. According to simulation results, this algorithm can restrain both of the two interferences effectively, satisfying the demands of users on speed and improving the network spectrum effectiveness.

Abstract：Phase array antenna guidance has become a hot topic for new generation air-to-air missile. In this paper, to exert its performance advantages, a waveform strategy for integration of radar and communication was presented based on eigenvalue decomposition algorithms，so that the correlation between radar and communication waveforms was decreased greatly. The communication link performance was also analyzed according to existing technology level in detail. Analysis results indicated that with the support of ADBF algorithm, communication rate can attain 2 Mb/s under 30 km operating distance, and the normalized EbN0 margin was about 10 dB. Whole radar/communication combined waveform’s modulating/demodulating BER performance was also implemented in simulated environment, which proved that the new strategy can attain equivalent capability of FSK generally. Besides, good compatibility of presented design makes it appealing in others radar/communication combined system of tactical missile.

Abstract：Aiming at the shortcomings of traditional PID control method, such as parameter perturbation and poor anti-jamming ability of double-rotor permanent magnet synchronous motor, a single neuron fuzzy PID control method is proposed. Firstly, a mathematical model of double-rotor permanent magnet synchronous motor is established, and a single neuron fuzzy PID controller is designed. And then the system is designed and simulated by MATLAB. Finally, the simulation results of traditional PID and single neuron fuzzy PID control are compared and analyzed.The simulation results show that the single neuron fuzzy PID control can improve the robustness of the system effectively, so that the double rotor permanent magnet synchronous motor control system has better dynamic and static performance and anti-interference ability.

Abstract：Dividing a region into grids or equally divided cells is usually the model basis for considering the allocation of pre-hospital emergency resources, such as first-aid sites and emergency vehicles, i.e., pre-hospital homogenization model. So far, it is still our basic thinking to understand the problem of pre-hospital resources based on the homogenization model. This paper mainly takes the Shenzhen Baoan People′s Hospital pre-hospital department as the observation object. By means of data analysis, three spatial data characteristics of pre-hospital medical are proposed, i.e. non-uniform, relative stability, and individual difference. These three characteristics provide us with a new method and a new basis for decision making. In this paper, based on the pre-hospital characteristic, a modeling method of non-uniform relative stability model is proposed, and the optimized distribution of hospital site is discussed by applying planning mathematics.

Abstract：Correct non-standard protocol format recognition is the foundation of protocol security analysis, which is an important part of industrial control system(ICS) information security content. Due to current situation of ICS and protocol features of structure determination, transmission repeat and semantic limited, a method based on net-trace is proposed. The formats of protocol are gotten by single message processing for a preliminary clustering, packet processing for sequence alignment, key fields to infer semantics. Verification results show that the method can reverse recognition non-standard ICS protocol format.

Abstract：Anti-collision algorithm is one of key technologies of RFID. This paper proposes a new anti-collision algorithm called InnerQ, based on the Q-algorithm in the EPC Gen2 standard. The proposed algorithm solves the problem of Q value changed frequently and improves the throughput of the system breaking the bottleneck of the ALOHA-based algorithm whose throughput is limited to 36.8%, using the method of reprocessing the collision slots, thus improves the system performance.

Abstract：In view of the fact that the traditional method is not expanding well in human behavior recognition, this paper proposes a serialization research idea. A sequence which can represent the dynamic action is generated by using SVM to train and recognize static action whose feature vectors of skeleton map extracts from Kinect. Therefore, as long as the static action library is rich, a variety of dynamic actions can be identified, and it has good scalability. In order to reduce the influence of the error recognition of static motion, this paper proposes an error correction algorithm based on front and back information. Experiments show that the algorithm has higher recognition accuracy, and has better robustness and real-time.

Abstract：In order to solve the problem of the secondary power disturbance in grid-connected photovoltaic system, a power decoupling circuit with three-port is proposed based on a flyback micro-inverter. One of the ports can be used to replace the short lifetime capacitor with long lifetime film capacitor to achieve power decoupling and improve the overall life of the inverter. Simulation and experiment verify the feasibility and stability of the decoupling circuit.

Abstract：To overcome the shortcomings of the full-bridge DC/DC converter topology for on-board charger, an improved phase-shifted full-bridge converter topology is suggested，and its working principle is analyzed when it operates in the discontinuous current mode(DCM), the key components parameters design is researched in the condition of 2 kW operating conditions, and then, the switching element average model method is proposed to set up the ideal small-signal model of improved phase-shifted full-bridge converter operating in DCM, moreover, the sweep frequency method is used to validate the rationality of modeling methods and established models.

Abstract：When the traditional unloaded boost-buck LED driver power supply has a high power factor, it will produce significant low-frequency ripple current. Based on the buck-boost topology, this paper presents an innovative LED drive power technology. This technology greatly reduces the low-frequency ripple current without affecting the performance of the power factor, and the advantages of high efficiency and low cost of the traditional boost-buck LED driver power supply are also preserved. Finally, a 10 W, 50 V-0.2 A experimental prototype is used to verify the performance of this new technology.