RESUMO
This study presents three distributed beamforming algorithms to address the challenges of positioning and signal phase errors in unmanned aerial vehicle (UAV) arrays that hinder effective beamforming. Firstly, the array's received signal phase error model was analyzed under near-field conditions. In the absence of navigation data, a beamforming algorithm based on the Extended Kalman Filter (EKF) was proposed. In cases where navigation data were available, Taylor expansion was utilized to simplify the model, the non-Gaussian noise of the compensated received signal phase was approximated to Gaussian noise, and the noise covariance matrix in the Kalman Filter (KF) was estimated. Then, a beamforming algorithm based on KF was developed. To further estimate the Gaussian noise distribution of the received signal phase, the noise covariance matrix was iteratively estimated using unscented transformation (UT), and here, a beamforming algorithm based on the Unscented Kalman Filter (UKF) was proposed. The proposed algorithms were validated through simulations, illustrating their ability to suppress the malign effects of errors on near-field UAV array beamforming. This study provides a reference for the implementation of UAV array beamforming under varying conditions.
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Algoritmos , Distribuição NormalRESUMO
In this work, a novel Fe-modified coconut shell biochar (Fe-CSB) was synthesized and utilized to remove phosphate from aqueous solution. Characterization results confirmed that the iron in the Fe(iii)-impregnated CSB existed mainly in the amorphous phase, as ferrihydrite and amorphous hydroxide, which substantially enhanced the phosphate adsorption. Batch experiments indicated that phosphate adsorption on the Fe-CSB was highly dependent on the pH, the humic acid, and temperature, while it was less affected by the nitrate. Phosphate adsorption by the CSB and Fe-CSB could be well described by the pseudo n-th order and Langmuir-Freundlich models. The fitting of the experimental data with the intra-particle diffusion model revealed that surface adsorption and inner-sphere diffusion were involved in the phosphate adsorption process, and that the latter was the rate-controlling step. Batch adsorption experiments and post-adsorption characterization results revealed that the phosphate adsorption by Fe-CSB was primarily governed by four mechanisms: ligand exchange, electrostatic attraction, chemical precipitation, and inner-sphere complexation. This work demonstrated that the modified Fe-CSB is an environmentally friendly and cost-effective bioretention medium and could open up new pathways for the removal of phosphorus from stormwater, as well as solve the problem of waste biomass pollution.
RESUMO
Rectorite is a kind of rare clay mineral. In this work, the sorption of Cu(II) on Ca-rectorite and the effects of static magnetic fields on the sorption have been studied. The results from this study indicated that (1) apparent equilibrium for the sorption of copper onto Ca-rectorite is attained within the first hour; (2) magnetic treatment enhances the zeta potential of Ca-rectorite suspensions in the absence of Cu and reduces that of the suspension in the presence of Cu; (3) magnetic treatment promotes the sorption of Cu onto Ca-rectorite, especially at low Cu concentrations; (4) the effects of static magnetic fields decrease the pH of Ca-rectorite suspensions whether they contain copper or not. The effect mechanisms of static magnetic field on the sorption of Cu onto Ca-rectorite were discussed.