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The Keda Torus eXperiment (KTX) is a medium-sized reversed field pinch (RFP) device under construction at the University of Science and Technology of China. The KTX has a major radius of 1.4 m and a minor radius of 0.4 m with an Ohmic discharge current up to 1 MA. The expected electron density and temperature are, respectively, 2 × 10 19 m −3 and 800 eV. A combination of a stainless steel vacuum chamber and a thin copper shell (with a penetration time of 20 ms) surrounding the plasma provides an opportunity for studying resistive wall mode instabilities. The unique double-C design of the KTX vacuum vessel allows access to the interior of the KTX for easy first-wall modifications and investigations of power and particle handling, a largely unexplored territory in RFP research leading to demonstration of the fusion potential of the RFP concept. An active feedback mode control system is designed and will be implemented in the second phase of the KTX program. The recent progress of this program will be presented, including the design of the vacuum vessel, magnet systems and power supplies.

Temperature changes have a strong effect on Hemispherical Resonator Gyro (HRG) output; therefore, it is of vital importance to observe their influence and then make necessary compensations. In this paper, a temperature compensation model for HRG based on the natural frequency of the resonator is established and then temperature drift compensations are accomplished. To begin with, a math model of the relationship between the temperature and the natural frequency of HRG is set up. Then, the math model is written into a Taylor expansion expression and the expansion coefficients are calibrated through temperature experiments. The experimental results show that the frequency changes correspond to temperature changes and each temperature only corresponds to one natural frequency, so the output of HRG can be compensated through the natural frequency of the resonator instead of the temperature itself. As a result, compensations are made for the output drift of HRG based on natural frequency through a stepwise linear regression method. The compensation results show that temperature-frequency method is valid and suitable for the gyroscope drift compensation, which would ensure HRG's application in a larger temperature range in the future.

The relaxation process of the discharge channel near the anode in a long air gap was observed using a Schlieren system with a temporal resolution of 5 µs and a spatial resolution of 70 µm. The dynamic characteristics of the decay process in the vicinity of the anode are obtained. The discharge channel evolves just as a growing mushroom in nature during the relaxation phase. Two physical quantities, angle θ and velocity v, are defined to describe the process in this paper. The average value of the angle and velocity under lightning impulses are 71.7° and 3.3 m s −1 respectively, while 7.7 m s −1 under switching impulses. A simplified model was established to simulate the formation of mushroom-shaped channel. The simulation and experimental results show that the formation and development of the mushroom-shaped channel are due to two factors. One is the convection of the high temperature and high pressure air near the anode produced by the first corona discharge; the other is the ionic migration. These two factors result in the phenomena that the cooling process in the vicinity of the anode is much more efficient than further into the gap, whereas the thermal conductivity of the anode may have little contribution to that.

Wind velocity (strength and direction) is an important parameter for unmanned aerial vehicle (UAV)-based environmental monitoring tasks. A novel wind velocity estimation method is proposed for rotorcrafts. Based on an extended state observer, this method derives the wind disturbance from rotors’ speeds and rotorcraft’s acceleration and position. Then the wind disturbance is scaled to calculate the airspeed vector, which is substituted into a wind triangle to obtain the wind velocity. Easy-to-implement methods for calculating the rotorcraft’s thrust and drag coefficient are also proposed, which are important parameters to obtain the wind drag and the airspeed, respectively. Simulations and experiments using a quadrotor in both hovering and flight conditions have validated the proposed method.

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Gyroscopes based on micro-electromechanical system (MEMS) technology suffer in high-dynamic applications due to obvious g-sensitivity errors. These errors can induce large biases in the gyroscope, which can directly affect the accuracy of attitude estimation in the integration of the inertial navigation system (INS) and the Global Positioning System (GPS). The observability determines the existence of solutions for compensating them. In this paper, we investigate the observability of the INS/GPS system with consideration of the g-sensitivity errors. In terms of two types of g-sensitivity coefficients matrix, we add them as estimated states to the Kalman filter and analyze the observability of three or nine elements of the coefficient matrix respectively. A global observable condition of the system is presented and validated. Experimental results indicate that all the estimated states, which include position, velocity, attitude, gyro and accelerometer bias, and g-sensitivity coefficients, could be made observable by maneuvering based on the conditions. Compared with the integration system without compensation for the g-sensitivity errors, the attitude accuracy is raised obviously.

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