Journals >Electronics Optics & Control
Contents
2016
Volume: 23 Issue 8
23 Article(s)
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Research Article
Optical Measurement and Control of Micro Displacement for A Piezoelectric Device
GAO Zhi-shan, WANG Ruo-yan, and CHENG Xiao-qiang
Micro displacement is precisely produced either directly by squirm movement, or indirectly by the enlargement effect from the lever with microstructure, driving by the external force, electric field or magnetic field on the micro displacement devices. For example, the piezoelectric transducer is driven by the voltage, Micro displacement is precisely produced either directly by squirm movement, or indirectly by the enlargement effect from the lever with microstructure, driving by the external force, electric field or magnetic field on the micro displacement devices. For example, the piezoelectric transducer is driven by the voltage, to squirm with micro displacement, based on the converse piezoelectric effect. In this article, we summarize measurement and calibration methods of micro displacement of the PZT used as phase shifter of the interferometer to guarantee a phase-shifting step of λ/8(λ=632. 8nm), based on the researches of our group in recent years. The precise positioning with resolution better than 10 nm is achieved by displacement sensing utilizing the feedback of a capacitor on the PZT..
Electronics Optics & Control
- Publication Date: Jan. 26, 2021
- Vol. 23, Issue 8, 1 (2016)
Discontinuous Pseudo Range Constrained Inertial/Double Satellites Integrated Positioning
WANG Wei-yang1, ZHANG Hai1, and WU Ping2
Considering the problems of the accuracy decline and the divergence of integrated filtering during outages of satellite signal in GNSS/INS integrated navigation, we proposed a new integrated navigation algorithm. With only two visible satellites, the algorithm can obtain stable and reliable positioning result by utilizConsidering the problems of the accuracy decline and the divergence of integrated filtering during outages of satellite signal in GNSS/INS integrated navigation, we proposed a new integrated navigation algorithm. With only two visible satellites, the algorithm can obtain stable and reliable positioning result by utilizing the position information and discontinuous pseudo ranges of the two satellites, and the relative movement information at different moments. The positioning result is independent of the existing inertial navigation errors. The correctness and effectiveness of this algorithm are verified through simulations..
Electronics Optics & Control
- Publication Date: Jan. 26, 2021
- Vol. 23, Issue 8, 6 (2016)
Time Spectrum Information Based Threat Assessment in Warship Air Defense
JI Ao1, JIANG Li-ping2, and WU Qiang2
The distribution characteristic of the target spatial state changing with the time is defined as the time spectrum of the target. By using the time spectrum information of the target, including its trajectory, speed, maneuverability, and the space coordinate information, the accuracy of ship to air target threat assessThe distribution characteristic of the target spatial state changing with the time is defined as the time spectrum of the target. By using the time spectrum information of the target, including its trajectory, speed, maneuverability, and the space coordinate information, the accuracy of ship to air target threat assessment can be improved. In this paper, the objective approach is used together with the subjective one to judge the state of the aerial targets and achieve the purpose of threat sequencing. Examples show that, the proposed method for warship air defense threat assessment can make reasonable use of reconnaissance information, and provide an effective assistant means to the naval commanders for making decision timely..
Electronics Optics & Control
- Publication Date: Jan. 26, 2021
- Vol. 23, Issue 8, 10 (2016)
An Improved Noise Variance Estimation Method Based on Second Order Mutual Differential
ZHANG Yi-xin, ZHANG Hai, and WU Ping
Aimed at the statistical property estimation of measurement noise in the adaptive Kalman filtering, a method based on α-β-γ filter and second order mutual difference estimation is proposed to estimate measurement noise variance.By constructing a virtual redundant measurement sequence with α-β-γ filter, the second orderAimed at the statistical property estimation of measurement noise in the adaptive Kalman filtering, a method based on α-β-γ filter and second order mutual difference estimation is proposed to estimate measurement noise variance.By constructing a virtual redundant measurement sequence with α-β-γ filter, the second order mutual difference method only adaptive to redundant measurement is extended to single measurement.Based on which, the calculation precision is improved through selection of data and optimization of α-β-γ filter.Experimental result indicates that: compared with traditional adaptive Kalman filter, this method can compute the measurement noise variance more accurately, and restrain the filtering divergence..
Electronics Optics & Control
- Publication Date: Jan. 26, 2021
- Vol. 23, Issue 8, 13 (2016)
On Multi-UAV Cooperation for Moving Target Searching
WANG Xun, YAO Pei-yang, and MEI Quan
In multiple Unmanned Aerial Vehicles (UAVs) cooperation for target area coverage searching, the traditional searching strategy can not make effective detection to moving targets. To solve the problem, a multi-UAV oblique line cooperative searching strategy is proposed, aimed at reducing dead zone and improving the effeIn multiple Unmanned Aerial Vehicles (UAVs) cooperation for target area coverage searching, the traditional searching strategy can not make effective detection to moving targets. To solve the problem, a multi-UAV oblique line cooperative searching strategy is proposed, aimed at reducing dead zone and improving the effective coverage area of UAV formation. The UAV sensor model is given, analysis is made to the principle of moving target searching, and the scanning probability model is built up. Simulation results show that the improved searching strategy can accomplish the searching task more effectively. Comparison proves the advantages of the proposed method..
Electronics Optics & Control
- Publication Date: Jan. 26, 2021
- Vol. 23, Issue 8, 18 (2016)
Consensus for Multi-agent Systems with Nonlinear Output Network
LIU Shuang, WEI Chen, and LUO Man-qing
Consensus problem for multi-agent systems has become a hot topic in the control community, and many research achievements have been reported. Most of the literatures mainly consider the case of linear algorithms and measurable agent states, but it is difficult to measure states of the agents directly in some real appliConsensus problem for multi-agent systems has become a hot topic in the control community, and many research achievements have been reported. Most of the literatures mainly consider the case of linear algorithms and measurable agent states, but it is difficult to measure states of the agents directly in some real applications. Consensus problem for second-order, multi-agent systems with nonlinear output network is studied in the paper. To the multi-agent system difficult to measure directly, a consensus protocol design method is proposed respectively for second-order, multi-agent systems with a leader and without a leader. Consensus convergence is proved by using invariant set theorem, and the decision value is derived for the case of multi-agent system without a leader. Finally, the numerical simulations and analysis on different conditions are given to verify the effectiveness of theoretical results..
Electronics Optics & Control
- Publication Date: Jan. 26, 2021
- Vol. 23, Issue 8, 23 (2016)
Optimal Event-Triggered Control for Networked Stochastic System
LIU Yun, ZHANG He-xin, LI Guo-liang, ZHOU Xin, and HU Xiao-xiang
An optimal Linear Quadratic Gaussian (LQG) control method under event-triggered sampling mechanism is proposed for the linear, discrete stochastic process with white Gaussian noise in networked stochastic system. Considering the joint design of optimum control law and optimum event-trigger law, it is proved that an optAn optimal Linear Quadratic Gaussian (LQG) control method under event-triggered sampling mechanism is proposed for the linear, discrete stochastic process with white Gaussian noise in networked stochastic system. Considering the joint design of optimum control law and optimum event-trigger law, it is proved that an optimal LQG control law based on event-triggered sampling mechanism can also satisfy the separation theorem. Then, performance cost function is derived, and based on which the optimum event-trigger law and the minimum value of the cost function are obtained by deterministic dynamic programming. Simulation results show that, compared with the optimal time-triggered LQG control under the same conditions, the proposed optimal event-triggered LQG control can save communication resources, decrease the transmission times, and improve the whole control performance at the same time..
Electronics Optics & Control
- Publication Date: Jan. 26, 2021
- Vol. 23, Issue 8, 28 (2016)
Research on Influence of Clock Synchronization Accuracy to TTE Real-Time Performance
YANG Jun-xiong, XU Ya-jun, HE Feng, and LIU Zhi-dan
As the basis of deterministic delivery of Time-Triggered Ethernet(TTE), the accurate clock synchronization is influenced by synchronization mechanism, clock drift and receive window. A model of node and switch supporting synchronization service was designed to transmit multi-class messages. The time determinability of As the basis of deterministic delivery of Time-Triggered Ethernet(TTE), the accurate clock synchronization is influenced by synchronization mechanism, clock drift and receive window. A model of node and switch supporting synchronization service was designed to transmit multi-class messages. The time determinability of TTE was studied by theoretical analysis and computer simulation, which verified that TTE could be a deterministic network. Through the study of the effect of clock synchronization accuracy on time triggered communication, the synchronization cycle boundary and receive window boundary of TT message loss event were find, which forms a basis for TTE synchronization parameter settings..
Electronics Optics & Control
- Publication Date: Jan. 26, 2021
- Vol. 23, Issue 8, 33 (2016)
Distributed Interference Path Planning for Electronic Warfare UAVs
YANG Ji-geng, DONG Wen-feng, YU Guo-wen, and YANG Ji-wu
A new path planning method is proposed for the electronic warfare UAVs to find the optimum interference path. The model of a UAV's interference to radar early warning is established. Then, according to the angular velocities of the UAV and the aircraft for penetration relative to the early warning radar and other cA new path planning method is proposed for the electronic warfare UAVs to find the optimum interference path. The model of a UAV's interference to radar early warning is established. Then, according to the angular velocities of the UAV and the aircraft for penetration relative to the early warning radar and other constraints, the optimum path for a single UAV is obtained. The simulation results show that: the method makes full use of the UAV's speed for covering the aircraft penetration, and can save UAV resources greatly..
Electronics Optics & Control
- Publication Date: Jan. 26, 2021
- Vol. 23, Issue 8, 39 (2016)
Robustness Optimization Approach for Control Parameter of Small UAVs
XU Guo-dong, DIAO Zhao-shi, and LI Zhi-tao
To the optimization problem of control parameters for the lateral channel of small UAV(SUAV), H2/H∞ robust optimization design is studied with bandwidth as the control quality index and singular value as the robustness index, and analysis is made to the law of parameter optimization of H2/H∞ robust control. An optimizaTo the optimization problem of control parameters for the lateral channel of small UAV(SUAV), H2/H∞ robust optimization design is studied with bandwidth as the control quality index and singular value as the robustness index, and analysis is made to the law of parameter optimization of H2/H∞ robust control. An optimization control objective function is constructed by using Gram stability method, and the weighting coefficients of the objective function are optimized. The feasible region of the objective function is restricted by penalty function to obtain the unique solution for system control parameters. Simulations verify the feasibility and validity of the proposed method, and there can be a trade-off between flying control quality and robustness. The controller designed for lateral channel of small UAV utilizing this method has very good control quality and high anti-disturbance performance, which reaches the expected goal..
Electronics Optics & Control
- Publication Date: Jan. 26, 2021
- Vol. 23, Issue 8, 44 (2016)
Quad-Rotor Aircraft Hovering Mode ITAE Optimal PID Control
ZHANG Tian-yi, ZHAO Qing-zhan, and LIU Wei
In attitude control of quad-rotor aircraft, the conventional Proportion-Integration-Differentiation (PID)closed-loop algorithm has the problems of complex parameter tuning, and large overshoot due to closed-loop zero. According to the system dynamic performance requirements, and by improving the traditional PID controlIn attitude control of quad-rotor aircraft, the conventional Proportion-Integration-Differentiation (PID)closed-loop algorithm has the problems of complex parameter tuning, and large overshoot due to closed-loop zero. According to the system dynamic performance requirements, and by improving the traditional PID control algorithm, an optimal PID algorithm with pre-filtering performance is designed based on the time and the Integral Absolute Error (ITAE) indicators. Matlab-Simulink is used for making contrast experiment to the traditional PID control and optimal PID control with pre-filtering algorithm. The results showed that: 1) The optimal PID control with pre-filter has an adjusting time less than 0. 5 s, and overshoot less than 5%, which can effectively suppressing the impact of closed-loop zero on the overshoot while guaranteeing rapid system response; and 2) The proposed method has higher control quality, and is better than traditional PID control..
Electronics Optics & Control
- Publication Date: Jan. 26, 2021
- Vol. 23, Issue 8, 48 (2016)
Test Pattern Design for Active Decoy Hardware-in-the-Loop Simulation
WANG Yan, YUAN Lu, NIE Xiao-liang, and PENG Yan
This paper briefly introduces the characteristics and test status of active decoy system, as well as decoying efficiency test requirements. The main problems of test pattern of active decoy hardware-in-the-loop simulation are discussed based on existing simulation resource extension. On the basis of the design idea of This paper briefly introduces the characteristics and test status of active decoy system, as well as decoying efficiency test requirements. The main problems of test pattern of active decoy hardware-in-the-loop simulation are discussed based on existing simulation resource extension. On the basis of the design idea of the overall process closed-loop countermeasure and situation simulation using real active decoy system and anti-radiation missiles, the active decoy hardware-in-the-loop simulation test pattern is established..
Electronics Optics & Control
- Publication Date: Jan. 26, 2021
- Vol. 23, Issue 8, 53 (2016)
A Low-Light-Level Image Enhancement Method for Moving Object
LIU Lei1'2, REN Jian-yue2, WANG Jun-qi1'2, and ZHANG Yu2
In order to improve the capability of low-light-level imaging system for image processing of moving object, a self-adaptive image enhancement algorithm was proposed. This method is based on the combination of multi-frame image processing and target speed estimation, which can decrease the image flicker noise effectivelIn order to improve the capability of low-light-level imaging system for image processing of moving object, a self-adaptive image enhancement algorithm was proposed. This method is based on the combination of multi-frame image processing and target speed estimation, which can decrease the image flicker noise effectively, improve the image contrast, and is applicable for moving target image processing. Test was made to the method on a platform with a Field Programming Gate Array(FPGA) as the core device. The result shows that: With the help of this processing method, the Signal to Noise Ratio (SNR) of images improves a lot from 2. 1 dB to 11. 5 dB when target is still; and the SNR will not decrease as dramatically as general methods do when the target is moving.
Electronics Optics & Control
- Publication Date: Jan. 26, 2021
- Vol. 23, Issue 8, 57 (2016)
A New Composite Amplitude Limiting Method for Gyroscopic Theodolite
YAN Shao-shi, GUO Xiao-song, and WANG Zhen-ye
To solve the problem of long time north-finding of gyroscopic theodolite, a new composite, rapid and accurate amplitude limiting scheme was designed. Taking a certain type of gyroscope theodolite as the prototype, we added a liquid cup on lock-release cup, and installed a damper under pendulous to limit the amplitude rTo solve the problem of long time north-finding of gyroscopic theodolite, a new composite, rapid and accurate amplitude limiting scheme was designed. Taking a certain type of gyroscope theodolite as the prototype, we added a liquid cup on lock-release cup, and installed a damper under pendulous to limit the amplitude roughly. Through monitoring the amplitude of swing, the stepped limiting method was used to accomplish accurate amplitude limiting when it reaches 20′. This method can shorten the north-finding time of the gyroscope theodolite and guarantee the precision, which can accomplish the amplitude limiting in 120 s with an accuracy of 1′..
Electronics Optics & Control
- Publication Date: Jan. 26, 2021
- Vol. 23, Issue 8, 61 (2016)
A Method for Cockpit Head Posture Tracking Based on Data Fusion
LIU Yan-xin, LIU Shi-liang, DING Quan-xin, and ZHANG Jin-feng
Aiming at the problem that the tracking data of visual head posture tracker involve time-varying noise, a method for cockpit head posture tracking based on data fusion is designed. According to the corresponding relationship between the space points and image points, orthogonal iteration algorithm is used at first to sAiming at the problem that the tracking data of visual head posture tracker involve time-varying noise, a method for cockpit head posture tracking based on data fusion is designed. According to the corresponding relationship between the space points and image points, orthogonal iteration algorithm is used at first to solve PNP problem. Then, the problem of the time-varying noise is solved by using Sage-Husa adaptive filter instead of EKF. Finally, a linear weighted fusion algorithm is used to fuse head posture data of the Outside-in tracker and Inside-out tracker to obtain head posture with more stable accuracy. Empirical data are used in a series of simulation, the results show that the tracking accuracy of the system is greatly improved and the system is stable and reliable..
Electronics Optics & Control
- Publication Date: Jan. 26, 2021
- Vol. 23, Issue 8, 65 (2016)
Design of Circularly Polarized Antenna Based on Substrate Integrated Waveguide
LI Xue-jiana, DUAN Xiao-xia, ZHU Yong-zhongb, and LI Pingb
A new type of circularly polarized antenna based on Substrate Integrated Waveguide (SIW) is introduced. HFSS simulation software is used for the optimization of the antenn The maximum gain is 7. 3 dB, and the Axial Ratio (AR) is 1. 03 dB when central frequency is 12 GHz. The simulation result shows that the new antennaA new type of circularly polarized antenna based on Substrate Integrated Waveguide (SIW) is introduced. HFSS simulation software is used for the optimization of the antenn The maximum gain is 7. 3 dB, and the Axial Ratio (AR) is 1. 03 dB when central frequency is 12 GHz. The simulation result shows that the new antenna has high gain and low AR, and also has the advantages of cheap and easy to fabricate..
Electronics Optics & Control
- Publication Date: Jan. 26, 2021
- Vol. 23, Issue 8, 70 (2016)
Design of a Wireless Angle Measurement System Based on CC1101
XU Yong, LI Kun, HE Xiao-mei, and WANG Yi-zhang
In angle measurement, the rotation of measured vector may cause cable winding. To solve the problem, a wireless angle measurement system is put forward based on CC1101 Radio Frequency(RF) chip. The tilt sensor is used to collect the angle data in real time, and data transmission is realized by wireless module. Finally,In angle measurement, the rotation of measured vector may cause cable winding. To solve the problem, a wireless angle measurement system is put forward based on CC1101 Radio Frequency(RF) chip. The tilt sensor is used to collect the angle data in real time, and data transmission is realized by wireless module. Finally, analysis and processing are made to the data received, and the real-time moving state of turntable or platform is obtained. The composition and working principle of the system are presented, a wireless inclination measurement prototype is established based on CC1101 RF chip. The wireless communication module drive program and measurement system application program are given, and angle measurement test is made. Experimental results verify the feasibility of the measurement system..
Electronics Optics & Control
- Publication Date: Jan. 26, 2021
- Vol. 23, Issue 8, 73 (2016)
Adaptive Backstepping Control of a Hypersonic Vehicle Subject to Parametric Uncertainties
WANG Xue-hou1, WAN Ming-juan1, WEI Gang2, and BU Xiang-wei2
An adaptive backstepping controller is exploited for a hypersonic vehicle in the presence of uncertain parameters and flexible dynamics. The control laws of velocity subsystem and altitude subsystem are proposed respectively based on dynamic inversion and backstepping design procedure. Low-pass first order filters are An adaptive backstepping controller is exploited for a hypersonic vehicle in the presence of uncertain parameters and flexible dynamics. The control laws of velocity subsystem and altitude subsystem are proposed respectively based on dynamic inversion and backstepping design procedure. Low-pass first order filters are introduced to obtain the time derivatives of virtual control laws in altitude subsystem, thus to avoid the explosion of differentiation terms in traditional backstepping design. The uncertain parameters are updated adaptively by using a projection operator, and the possible parameter drift problem is eliminated. Simulation results show that the developed controller is robust to the model uncertain parameters and the flexible effects, and moreover, it can provide fine tracking performance of the velocity and altitude reference trajectories..
Electronics Optics & Control
- Publication Date: Jan. 26, 2021
- Vol. 23, Issue 8, 76 (2016)
A Backlight Dimming Algorithm Based on Shot Characteristics
ZHANG Leia>b, FENG Qi-bina>c, and LYU Guo-qiang^
The video is composed of many shots, which may have different brightness and main gray level. To effectively increase energy saving rate of different video, a backlight dimming algorithm based on shot characteristics is proposed. The shot segmentation is implemented by using brightness and main gray level. Then classifThe video is composed of many shots, which may have different brightness and main gray level. To effectively increase energy saving rate of different video, a backlight dimming algorithm based on shot characteristics is proposed. The shot segmentation is implemented by using brightness and main gray level. Then classification is performed for each shot based on its brightness and contrast. Different dimming parameters of backlight control are applied for different type of shots. The simulation results for different kinds of video show that the average detection rate is 67. 21% and the average precision is 81. 81%. An engineering prototype was developed to test different kinds of video．The result shows that the overall average energy saving rate is 24. 89%．.
Electronics Optics & Control
- Publication Date: Jan. 26, 2021
- Vol. 23, Issue 8, 81 (2016)
Implementation of DDR3 Controller in High-Speed Image Compression System
CHEN Zhan-liang, JIN Long-xu, TAO Hong-jiang, and HAN Shuang-li
Digital remote sensing images have the features of real-time processing and huge amount of data. To meet the needs of high-capacity and high bandwidth in image processing system, DDR3 controller in spartan6 FPGA is used to realize reading/writing operation to DDR3 memory, which converts the complicated timing operationDigital remote sensing images have the features of real-time processing and huge amount of data. To meet the needs of high-capacity and high bandwidth in image processing system, DDR3 controller in spartan6 FPGA is used to realize reading/writing operation to DDR3 memory, which converts the complicated timing operation into a simple user interface. The features of DDR3 memory and the principle of DDR3 controller are introduced, and the hardware test to the DDR3 controller shows that it can work steadily. The controller is used successfully in the real-time image compression system by parameter configuration and interface design. With high-capacity and high bandwidth, DDR3 memory has found a wide application..
Electronics Optics & Control
- Publication Date: Jan. 27, 2021
- Vol. 23, Issue 8, 85 (2016)
An Image Registration Method Based on SIFT and Moment Features
SU Pei-feng, HUANG Shi-qi, WANG Yi-ting, and LIU Dai-zhi
The speed and the precision are the two most important criteria for the result of image registration. Scale Invariant Feature Transform (SIFT) is a classical algorithm for feature extraction and description. The SIFT has the characteristics of scale invariance and rotation invariance, while the 128D descriptor has a biThe speed and the precision are the two most important criteria for the result of image registration. Scale Invariant Feature Transform (SIFT) is a classical algorithm for feature extraction and description. The SIFT has the characteristics of scale invariance and rotation invariance, while the 128D descriptor has a big adverse effect on the speed of image registration. To improve the time-consuming descriptor, we propose a novel method. The SIFT feature points are extracted at first. Then, ORB algorithm is used to define the main orientation of the points. Based on the moments features of the feature points'neighborhood image block, a 8D descriptor is formed for describing the SIFT feature points of the image and realize SAR image registration. The experimental results demonstrate that the proposed method can improve the registration speed greatly while keeping the image registration precision..
Electronics Optics & Control
- Publication Date: Jan. 26, 2021
- Vol. 23, Issue 8, 89 (2016)
Aircraft Target Identification Based on Infrared Image and Feature Fusion
LI Ping, ZHANG Bo, and SHANG Yi-jun
The high complexity of shape, attitude and size of the infrared images of the aerial aircrafts may result in low recognition rate and processing speed to the classical infrared target recognition methods. To solve the problem, we proposed a method for the aircraft target recognition based on infrared images and featureThe high complexity of shape, attitude and size of the infrared images of the aerial aircrafts may result in low recognition rate and processing speed to the classical infrared target recognition methods. To solve the problem, we proposed a method for the aircraft target recognition based on infrared images and feature fusion. The proposed method made full use of the algorithms of scale invariant feature transform and singular value decomposition. The recognition features of infrared image were extracted at first, and then the fusion feature vector was constructed. The aircrafts were recognized by BP neural network. Based on infrared image database of five types of aircraft, we made experiments for comparision of our method with the classifical methods. The result show the effectiveness and feasibility of the method..
Electronics Optics & Control
- Publication Date: Jan. 26, 2021
- Vol. 23, Issue 8, 92 (2016)
Step Auto-regression Kernel Principal Component Analysis and Its Application
ZHANG Min-long, WANG Tao, WANG Xu-ping, and CHANG Hong-wei
A large number of false positives and false negatives may emerge when using traditional kernel principal component analysis to make fault diagnosis to dynamic systems. To solve the problem, a step auto-regression Kernel Principal Component Analysis (KPCA) algorithm is proposed. The method establishes a fault diagnosis A large number of false positives and false negatives may emerge when using traditional kernel principal component analysis to make fault diagnosis to dynamic systems. To solve the problem, a step auto-regression Kernel Principal Component Analysis (KPCA) algorithm is proposed. The method establishes a fault diagnosis model based on step dynamic strategy. Based on sliding window mechanism and exponential weighting idea, it updates the diagnosis model by continuously adding weighted, real-time data. T2and SPE statistic are used to detect whether the system has faults or not. The method is applied to fault detection of diesel engine valve, and the results indicate that the algorithm can not only make full use of original data and real-time dynamic information to update the model automatically, but also reduce the calculation cost, detect abnormal working status earlier, and improve the accuracy of fault diagnosis. Furthermore, the method can make diagnosis result more accurate and reliable by increasing the fault sensitivity..
Electronics Optics & Control
- Publication Date: Jan. 26, 2021
- Vol. 23, Issue 8, 97 (2016)
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