Trajectory stabilization control for aerial recovery of cable-drogue-UAV assembly

Unmanned aerial vehicles (UAVs) aerial recovery denotes the technology that UAVs are recovered in the air by the transport aircraft for reuse. During the recovery process, the multiple wind perturbations and fast-changing UAV’s engine shutdown will induce oscillations in the cable-drogue-UAV assembly (CDUA) with strong nonlinearities and tight coupling, which affects the safety and speed of the UAV aerial recovery. Aiming at this problem, this paper proposes a non-constraining force direction (NCFD)-based CDUA anti-disturbance trajectory control method for the first time. First, by transforming the CDUA trajectory control to the NCFD control, the coupling and nonlinear effects in the CDUA can be reduced, and the fast-changing disturbances caused by the engine shutdown can be compensated. Then, feed forward control is designed based on the relationship between the NCFD and cable shape, which is established based on the cable dynamics, to improve the response speed. Furthermore, a fixed-time anti-disturbance controller (FTADC) is designed for the flow angle of drogue-UAV assembly (DUA) given by the NCFD controller and compensates for the effects of wind and parameter perturbations. Finally, the stability of the proposed method is analyzed, and the effectiveness is demonstrated by abundant simulations.

     

Investigation of Suzuki–Miyaura catalyst‐transfer polycondensation of AB‐type fluorene monomer using coordination‐saturated aryl Pd(II) halide complexes as initiators

Novel triarylamine‐based coordination‐saturated aryl Pd(II) halide complexes ligated by PEt₃, PCy₃, and P(o‐tol)₃ were successfully synthesized by direct oxidative addition of aryl halide to the corresponding Pd(0) precursors. Suzuki–Miyaura coupling polymerization of 2‐(7‐halide‐9,9‐dioctylfluoren‐2‐yl)?1,3,2‐dioxaborinane with these Pd(II) complexes as initiators was investigated for the synthesis of poly(fluorene)s with triarylamine end group. Pd(II) complexes with PCy₃ or P(o‐tol)₃ exhibited catalytic activity and realized the catalyst‐transfer polycondensation at 75 °C and room temperature, respectively, while the polymerization using Pd(II) catalyst ligated by PEt₃ did not proceed, which indicated that the bulky phosphine ligands could facilitate the reductive elimination and further promote the polymerization. In addition, the dimeric Pd(II) complex with P(o‐tol)₃ can convert into monomeric Pd(II) intermediate with an open coordination site, which had a higher activity. The end groups of the afforded polyfluorene were analyzed by matrix‐assisted laser desorption ionization time‐of‐flight (MALDI‐TOF) mass spectrometry, in which the Ar/H end groups are indicative of the catalyst‐transfer polymerization. © 2015 Wiley Periodicals, Inc. J. Polym. Sci., Part A: Polym. Chem. 2015 , 53, 1457–1463     

Biohybrid Organic Heterostructure Based on Chlorophyll-Bacteriochlorophyll Aggregates for Ecofriendly Hydrogen Production

Hydrogen energy is an abundant, clean, sustainable and environmentally friendly renewable energy source. Therefore, the production of hydrogen by photocatalytically splitting water on semiconductors has been considered in recent years as a promising and sustainable strategy for converting solar energy into chemical energy to replace conventional energy sources and to solve the growing problem of environmental pollution and the global energy crisis. However, highly efficient solar-driven photocatalytic hydrogen production remains a huge challenge due to the poor visible light response of available photocatalytic materials and the low efficiency of separation and transfer of photogenerated electron-hole pairs. In the present work, organic heterojunction structures based on bacteriochlorophyll (BChl) and chlorophyll (Chl) molecules were introduced and used for solar-driven photocatalytic hydrogen production from water under visible light. Also, noble metal-free photocatalyst was successfully constructed on Ti₃C₂T_x nanosheets by simple successive deposition of Chl and BChl, which was used for the photocatalytic splitting water to hydrogen evolution reaction (HER). The results show that the optimal BChl@Chl@Ti₃C₂T_x composite has a high HER performance with 114 μmol/h/g_cat, which is much higher than the BChl@Ti₃C₂T_x and Chl@Ti₃C₂T_x composites.     

Stable blow-up dynamics in the -critical and -supercritical generalized Hartree equation

We study stable blow-up dynamics in the generalized Hartree equation with radial symmetry, which is a Schrödinger-type equation with a nonlocal, convolution-type nonlinearity: First, we consider the -critical case in dimensions and obtain that a generic blow-up has a self-similar structure and exhibits not only the square root blowup rate , but also the log-log correction (via asymptotic analysis and functional fitting), thus, behaving similarly to the stable blow-up regime in the -critical nonlinear Schrödinger equation. In this setting, we also study blow-up profiles and show that generic blow-up solutions converge to the rescaled , a ground state solution of the elliptic equation . We also consider the -supercritical case in dimensions . We derive the profile equation for the self-similar blow-up and establish the existence and local uniqueness of its solutions. As in the NLS -supercritical regime, the profile equation exhibits branches of nonoscillating, polynomially decaying (multi-bump) solutions. A numerical scheme of putting constraints into solving the corresponding ordinary differential equation is applied during the process of finding the multi-bump solutions. Direct numerical simulation of solutions to the generalized Hartree equation by the dynamic rescaling method indicates that the is the profile for the stable blow-up. In this supercritical case, we obtain the blow-up rate without any correction. This blow-up happens at the focusing level , and thus, numerically observable (unlike the -critical case). In summary, we find that the results are similar to the behavior of stable self-similar blowup solutions in the corresponding settings for the nonlinear Schrödinger equation. Consequently, one may expect that the form of the nonlinearity in the Schrödinger-type equations is not essential in the stable formation of singularities.     

Separation of isorhamnetin 3‐sulphate and astragalin from Flaveria bidentis (L.) Kuntze using macroporous resin and followed by high‐speed countercurrent chromatography

D4020 resin offered the best dynamic adsorption and desorption capacity for total flavonoids based on the research results from ten kinds of macroporous resin. A column packed with D4020 resin was used to optimize the separation of total flavonoids from Flaveria bidentis (L.) Kuntze extracts. The content of flavonoids in the product was increased from 4.3 to 30.1% with a recovery yield of 90%. After the treatment with gradient elution on D4020 resin, the contents of isorhamnetin 3‐sulfate and astragalin were increased from 0.49 to 8.70% with a recovery yield of 74.1% and 1.16 to 30.8%, with a recovery yield of 92.2%, respectively. Further purification was carried out by one‐run high‐speed countercurrent chromatography yielding 4.5 mg of isorhamnetin 3‐sulfate at a high purity of 96.48% and yielding 24.4 mg of astragalin at a high purity of over 98.46%.     

基于MFC的翻转测试平台控制软件的设计

针对MEMS加速度传感器只能对单一方向进行标定而不足以实现自动批量化的问题,设计了基于MFC的MEMS加速度传感器翻转实验平台的控制软件;该软件是通过串口与DSP之间按照规定的协议进行通信,对DSP进行了有效的控制并实时显示分析DSP传送回来的数据,实现对步进电机运转情况以及翻转台状态的实时显示,根据倾角传感器自带的协议,模拟7段数码管图形化的显示了倾角传感器的实时数据,进一步对翻转台的状态进行了解析,达到了实时同步、直观显示、易于控制的效果。     

Stable Ti3+ Defects in Oriented Mesoporous Titania Frameworks for Efficient Photocatalysis

By introducing a compatible reducing agent (2‐ethylimidazole) into a mono‐micelle assembly process, we present a type of ordered mesoporous TiO₂ microspheres that combines radially aligned mesostructure with Ti³⁺ defects in mesoporous frameworks. Such reductant acts as a building block of mesostructured frameworks and reduces Ti⁴⁺ in situ to generate defects during calcination, giving rise to the coexistence of bulk Ti³⁺ defects and an ordered mesostructure. The mesoporous TiO₂ has both excellent mesoporosity (a high surface area of 106 m² g^?1, a mean pore size of 18.4 nm) and stable defects with an extended photoresponse. Such integration of unique mesoscopic architecture and atomic vacancies provide both effective mass transportation and enhanced light utilization, leading to a remarkable increase in H₂ generation rate. A maximum H₂ evolution rate of 19.8 mmol g^?1 h^?1 can be achieved, along with outstanding stability under solar light.     

聚乙二醇对哈维氏弧菌疫苗免疫效果的影响

以聚乙二醇( PEG)作为超声介质及疫苗载体,用超声波瞬间高温、高压及剪切力作为灭活方式,将哈维氏弧菌制成PEG结合疫苗,该疫苗与传统疫苗分别经腹腔注射免疫接种锦鲤成鱼,检测了锦鲤血细胞吞噬百分率、吞噬指数、抗菌活力、抗体效价及免疫保护力等指标,评价疫苗效果.结果表明,PEG6000作为载体制备的疫苗,其各指标统计比较...     

PFOS对哈维氏弧菌生长及外毒素基因的影响

探讨了全氟辛烷磺酸盐(PROS)对哈维氏弧菌密度及外毒素基因表达的影响.用含有不同浓度PFOS(5、50、500 mmol/L)的培养基培养哈维氏弧菌,分别在6、15、24 h取适量菌液,经4 000 r/min离心,磷酸盐缓冲液(PBS)洗涤3次,制成PBS菌悬液.采用实时荧光定量PCR检测其胞外蛋白酶、溶血素及保守...     

Starburst substituted hexaazatriphenylene compounds: synthesis, photophysical and electrochemical properties

Starburst-substituted hexaazatriphenylene compounds have been designed and synthesized by introducing various peripheral aryl substituents to the central heterocyclic core. The effects of various substituent groups on the photophysical and electrochemical properties of the substituted hexaazatriphenylene have been investigated. Significant red-shifts of the absorption peak (from 413 nm to 530 nm) and emission peak (from 432 nm to 700 nm) were observed when the electron-donating ability of the aryl substituents was increased, corresponding to a decrease in the band gap from 2.90 eV to 2.05 eV. Introducing bulky substituents with weak electron-donating ability enhances the fluorescence quantum yield from 23% to 87%. In contrast, incorporating aryl substituents with strong electron-donating ability decreases the fluorescence quantum yield. Also, due to the extended conjugation between the aryl substituents and the hexaazatriphenylene core, the reduction potentials of the compounds were reduced and the LUMO levels were thus increased.