Coverage path planning for UAVs based on enhanced exact cellular decomposition method

In this paper, an enhanced exact cellular decomposition method to plan the coverage path of UAVs in a polygon area is proposed. To be more specific, the contributions of the paper are: firstly, the turning motion of UAVs is shown to be less efficient from the viewpoints of route length, duration and energy. Secondly, the problem of coverage Path Planning (CPP) in a convex polygon area is transformed to width calculation of the convex polygon, and a novel algorithm to calculate the widths of convex polygons with time complexity of O(n) is developed. The path of the least number of turns for an UAV based on the widths of convex polygons is devised. Thirdly, a convex decomposition algorithm for minimum width sum based on the greedy recursive method which revolves around decomposing the concave area into convex subregions is developed. It is proved that the algorithm is a polynomial time algorithm. To avoid unnecessary back and forth motion, some entirely adjacent subregions are combined. Finally, comparing different weights of two joint-points, a subregion connection algorithm based on minimum traversal of weighted undirected graph is proposed to connect the coverage paths of the subregions. Simulation results show that the proposed method is feasible and effective.     

转台自动控制仪设计

为了实现转台控制的自动化,需在上位机和转台之间设计接收上位机指令、输出相应脉宽调制信号的控制设备,基于这类需求设计本控制仪。就转台自动控制仪的系统设计及工作原理做了详细介绍,通过对基于单片机控制技术和光电编解码技术、滤波等的控制系统设计,实现了对转台正反转及启停控制、角度脉冲信号采集和向上位机反馈角度数据的自动化,较之原有手动控制方式,在准确性、工作效率等方面均有大幅度的提高,具有现实应用价值。     

Catalysis of heteropoly acidic salts for synthesis of diethylene glycol ethyl ether with diethylene glycol and ethanol

Ag₃PW₁₂O₄₀ and Ag₄SiW₁₂O₄₀ showed high activity and stability in the synthesis of diethylene glycol ethyl ether with diethylene glycol and ethanol, on which the conversion is 80.2% and 78.4%, respectively, and the selectivity of diethylene glycol ether is 75.4% and 80.6%, respectively. After the third reaction cycle, Ag₃PW₁₂O₄₀ and Ag₄SiW₁₂O₄₀) still showed higher activity and selectivity, on which the conversion is 72. 6% and 77.5% respectively. But the activity of Ag₃PMo₁₂O₄₀ is lower, the conversion is only 21.0%. IR, XRD, TG and n‐butylamine titrimetry showed that the catalysis may be connected with two kinds of acidic centers owned by heteropoly acidic salt.     

Microcalorimetric Character of Inhibition of Salicylaldehyde Glucosamine Schiff Base SG on Bacterial Metabolism

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Boundedness and convergence of perturbed corrections for helium-like ions in ground states

Applying the improved Rayleigh SchrSdinger perturbation theory based on an integral equation to helium-like ions in ground states and treating electron correlations as perturbations, we obtain the second-order corrections to wavefunctions consisting of a few terms and the third-order corrections to energicity. It is demonstrated that the corrected wavefunctions are bounded and quadratically integrable, and the corresponding perturbation series is convergent. The results clear off the previous distrust for the convergence in the quantum perturbation theory and show a reciprocal development on the quantum perturbation problem of the ground state helium-like systems.     

Double-Alekseev inverse scattering method in the stationary axi-symmetric vacuum gravitation field equations

We present a new improvement to the Alekseev inverse scattering method. This improved inverse scattering method is extended to a double form, followed by the generation of some new solutions of the double-complex Kinnersley equations. As the double-complex function method contains the Kramer-Neugebauer substitution and analytic continuation, a pair of real gravitation soliton solutions of the Einstein’s field equations can be obtained from a double N-soliton solution. In the case of the flat Minkowski space background solution, the general formulas of the new solutions are presented.      

On the Automorphism Groups of Cayley Graphs of Finite Simple Groups

Let G be a finite nonabelian simple group and let be a connectedundirected Cayley graph for G. The possible structures for thefull automorphism group Aut are specified. Then, for certainfinite simple groups G, a sufficient condition is given underwhich G is a normal subgroup of Aut. Finally, as an applicationof these results, several new half-transitive graphs are constructed.Some of these involve the sporadic simple groups G = J₁, J₄,Ly and BM, while others fall into two infinite families andinvolve the Ree simple groups and alternating groups. The twoinfinite families contain examples of half-transitive graphsof arbitrarily large valency.     

Highly enantioselective alkynylzinc addition to aromatic aldehydes catalyzed by self-assembled titanium catalysts

A highly enantioselective catalyst generated by a combination of BINOL and another ligand with Ti(OiPr)4 was found to be highly effective for the alkynylzinc addition to aromatic aldehydes with enantioselectivities as high as >99%.     

Dependence of enhanced Kerr nonlinearity on coupling power in a three-level atomic system

We study the enhanced Kerr-nonlinear coefficient in a three-level A-type atomic system for various coupling-beam powers. The Kerr-nonlinear coefficient behaves very differently in the strong and the weak coupling power regions and changes sign when the coupling or probe frequency detuning changes sign. Comparisons of Kerr-nonlinear coefficients as functions of probe frequency detuning, coupling power, and coupling frequency detuning are presented.     

1053 nm掺Yb3+双包层光纤放大器脉冲放大特性研究

从掺Yb^3＋光纤放大器（YDFA）的功率传输方程出发，采用有限差分法对掺Yb^3＋双包层光纤放大器在1053nm的脉冲放大特性进行数值分析。模拟计算了在977nm前向抽运下，光纤放大器中的上能级粒子数，抽运光和放大自发辐射（ASE）在光纤中的稳态分布。分析了掺Yb^3＋双包层光纤放大器的单脉冲波形畸变以及控制输入脉冲形状来产生需要的超高斯输出脉冲形状。讨论了最佳长度以及抽运方式差别等问题。