Time of arrival (TOA) is a widely used wireless cellular network ranging technology. How to perform accurate TOA estimation in multi-path and non-line-of-sight (NLOS) environments and then accurately calculating mobile terminal locations are two critical issues in positioning research. NLOS identification can be performed in the TOA measurement part and the position calculation part. In this paper, for the above two steps, two schemes for mitigating NLOS errors are proposed. First, a TOA ranging method based on clustering theory is proposed to solve the problem of line-of-sight (LOS) path estimation in multi-path channels. We model the TOA range as a Gaussian mixture model and illustrate how LOS and NLOS can be measured and identified based on non-parametric Bayesian methods when the wireless transmission environment is unknown. Moreover, for NLOS propagation channels, this paper proposes a user location estimator based on the maximum a posteriori criterion. Combined with the TOA estimation and user location computation scheme proposed in this paper, the terminal's positioning accuracy is improved. Experiments showed that the TOA measurement and localization algorithms presented in this paper have good robustness in complex wireless environments.

Hermetically sealed electromagnetic relays (EMR) are widely used for high reliability control and executive systems as a device mechanically transferring signals. Now they are more indispensable in space engineering, such as rockets, satellites and other ground attachment, but which mechanical atmosphere is too harsh. So dynamics response of EMR is needed to satisfy particularity of such mechanical atmosphere. In this paper, a typical hermetically sealed EMR structure is modeled by using finite element analysis software-Nastran. In the meantime the equivalent spring elements are introduced to simulate the contact of normally closed contacts, and the contact between armature and iron stopper. Therefore dynamic performance of EMR under different mechanical environment, including sinusoid vibration and shock condition is investigated completely. The factors affecting normal modes and dynamic response of EMR are analyzed. Comparisons show good correlation between experimental and numerical results.

Vibration characteristic of electromagnetic relay (EMR), including modal and frequency response are important for increasing operational reliability in mechanical environment. The switching contact system, as function execution component of EMR, is the important parts in this product. This paper presents a dynamic model of contact system by introducing Hertz contact theory, and discusses weakly nonlinear oscillation character. Quasilinear simulation analysis using by finite element analyzing software-NASTRAN is investigated. The factors affecting contact vibration characteristic are determined. Finally, theory analysis and simulation results are verified by the vibration test. The model starts from a typical contact system of EMR, but the approach can be applied to other switching electro-mechanical devices.

This paper presents the electrical contact behaviors of Au-plated material at super low making and breaking velocity conditions by introducing our new designed test rig. The fundamental phenomena in the contact voltage and contact force versus piezoactuator displacement curves were investigated under the load current of 1A and velocity of 50,nm/s. From the repetitive experimental results, we found that the adhesion phenomena during the unloading process are closely correlative with the initial contact stage in the loading process. Furthermore, a mathematical model which is relative to the variation of contact force in loading is built, thus the physical mechanism of adhesion and principal factors of gold-plated materials are discussed. Finally, the physical process of molten bridge under the no mechanical contact situation is also analyzed in detail.

The cooperative characteristics of electromagnetic relay's attraction torque and reaction torque are the key property to ensure its reliability, and it is important to attain better cooperative characteristics by analyzing and optimizing relay's electromagnetic system and mechanical system. From the standpoint of changing reaction torque of mechanical system, in this paper, adjusted parameters (armature's maximum angular displacement αarm_max, initial return spring's force Finiti_return_spring, normally closed (NC) contacts' force FNC_contacts, contacts' gap δgap, and normally opened (NO) contacts' over travel δNO_contacts) were adopted as design variables, and objective function was provided for with the purpose of increasing breaking velocities of both NC contacts and NO contacts. Finally, genetic algorithm (GA) was used to attain optimization of the objective function. Accuracy of calculation for the relay's dynamic characteristics was verified by experiment.

There has been increasing demand to research the measuring method to characterize the batch consistency of contact rivets. An automated test equipment has been described that makes it possible to measure the electrical contact resistance with high efficiency. The relationship between contact force and contact resistance during the loading and unloading process was measured explicitly using AgPd alloy, stainless steel and sapphire substrate material with Au coatings as sphere indenters separately. To explain the phenomena of contact resistance decreasing more slowly than the traditional theoretical results during loading, the indenter with coating and rivet are modeled by using the commercial FEM software COMSOL Multiphysics. Besides the constriction resistance, the transition region Au coating resistance and the bulk resistance of the substrate are deduced from the simulated current lines profiles and iso-potentials. The difference of electrical conductivity between indenter material and gold coating is the reason for the occurrence of the transition region.

Electrical life is an important parameter to estimate the reliability of a relay, and it is greatly affected by load current. In order to shorten the time of life test, load current stress accelerated life tests were carried out by using a life test system designed for relay in this paper. During the life test, many parameters such as the contact resistance, the closing time and the over-travel time of relay were measured for each operation to identify the failure modes. After the life test, the failure mechanisms under each current stress, which cause the same failure mode, were analyzed by investigating the variations of parameters and observing the morphology of contact surface. In addition, for the purpose of further studying the consistency of failure mechanisms between different current stress, a Weibull statistical analysis was adopted to estimate the shape parameter of Weibull distribution because the same shape parameter means the same failure mechanism. Finally, a statistical model for estimating the lifetime under load current stress was built. The research methods and conclusions mentioned in this paper are meaningful to perform the accelerated life tests for other types of relays.

Robot motion planning is an important part of the unmanned supermarket. The challenges of motion planning in supermarkets lie in the diversity of the supermarket environment, the complexity of obstacle movement, the vastness of the search space. This paper proposes an adaptive Search and Path planning method based on the Semantic information and Deep reinforcement learning (SPSD), which effectively improves the autonomous decision-making ability of supermarket robots. Firstly, based on the backbone of deep reinforcement learning (DRL), supermarket robots process real-time information from multi-modality sensors to realize high-speed and collision-free motion planning. Meanwhile, in order to solve the problem caused by the uncertainty of the reward in the deep reinforcement learning, common spatial semantic relationships between landmarks and target objects are exploited to define reward function. Finally, dynamics randomization is introduced to improve the generalization performance of the algorithm in the training. The experimental results show that the SPSD algorithm is excellent in the three indicators of generalization performance, training time and path planning length. Compared with other methods, the training time of SPSD is reduced by 27.42% at most, the path planning length is reduced by 21.08% at most, and the trained network of SPSD can be applied to unfamiliar scenes safely and efficiently. The results are motivating enough to consider the application of the proposed method in practical scenes. We have uploaded the video of the results of the experiment to https://www.youtube.com/watch?v=h1wLpm42NZk.