A lightweight autonomous MAV for indoor search and rescue

Micro Aerial Vehicles (MAVs) have great potentials to be applied for indoor search and rescue missions. In this paper, we propose a modular lightweight design of an autonomous MAV with integrated hardware and software. The MAV is equipped with the 2D laser scanner, camera, mission computer and flight controller, running all the computation onboard in real time. The onboard perception system includes a laser‐based SLAM module and a custom‐designed visual detection module. A dual Kalman filter design provides robust state estimation by multiple sensor fusion. Specifically, the fusion module provides robust altitude measurement in the circumstance of surface changing. In addition, indoor‐outdoor transition is explicitly handled by the fusion module. In order to efficiently navigate through obstacles and adapt to multiple tasks, a task tree‐based mission planning method is seamlessly integrated with path planning and control modules. The MAV is capable of searching and rescuing victims from unknown indoor environments effectively. It was validated by our award‐winning performance at the 2017 International Micro Air Vehicle Competition (IMAV 2017), held in Toulouse, France. The performance video is available on https://youtu.be/8H19ppS_VXM .     

Preparation and polymerization of isopimaric acid derivatives

Isopimaric acid is a typical rosin compound and can account for 30% of the total mass of slash pine rosin. The molecular structure of isopimaric acid derivatives features an unsaturated double bond at the C13 position, opening up the possibility of their industrial polymerization. In this study, isopimaric acid (95.4%), methyl isopimarate (99.5%), and allyl isopimarate (95.1%) were prepared as highly pure monomers. New experimental results are presented and mechanisms based on the investigation of free-radical polymerization under UV irradiation are proposed. New rosin monomers for potential value-added utilization of woody biomass are also identified. © 2019 Wiley Periodicals, Inc. J. Appl. Polym. Sci. 2019 , 136, 47817.     

细节决定采输卤的成败

通过认真学习《细节决定成败》，结合井矿盐开采的实际，分别以生产过程中的三个细节为主，讨论了在采输卤生产技术控制中的细节的重要性。     

N-苄基丙烯酰胺的合成

以丙烯腈和苯甲醇为原料，浓硫酸作催化剂，合成了N-苄基丙烯酰胺（N-BAA）。考察了反应温度、反应时间和催化剂用量等因素对产物收率的影响，得出了最佳反应条件：n（丙烯腈）：n（苯甲醇）：n（浓硫酸）=3：1：1．2，反应时间3h，反应温度60℃。在最佳条件下，N-BAA的收率可达92％。每100g粗产物用10％氢氧化钠溶液提纯，精制产物纯度可达99．80％，熔点为64～65℃。通过红外光谱对产物结构进行了表征。     

OA系统中的工作流技术及其新的模式

本文在对工作流技术的理论、实现和应用研究的基础上,提出了审批平台中应用的工作流管理模型,详细讨论了该技术的实现方法,并提出了工作流技术的新模式.     

基于VXI总线的超宽带线性调频信号源的设计

主要介绍了VXI总线C尺寸超宽带线性调频信号源的设计方法，重点描述了利用现场可编程逻辑器件FPAG和DSP设计VXI总线接口电路，以及数字波形存储直读技术在线性调频信号源中的应用。     

NSA-500-1型氩弧焊机VD9不同接法对引弧和稳弧的影响

从一起NSA－500－1型氩弧焊机故障，分析其高压脉冲旁路二极管VD9不同接法对引弧、稳弧及设备安全的影响。     

基于EDGE系统信道估计实现方案的研究

研究了基于ＥＤＧＥ系统接收机中信道估计的实现方案，并对算法的各项性能做出评估。首先论述了算法的采用及其理论依据。接着，说明了信道预估计的原理及方法。最后，针对ＭＡＴ－ＬＡＢ及 ＤＳＰ上的仿真结果，比较了各项系数对于系统性能改善所具有的影响和作用，对系统特性作了较为详细的分析总结。     

给水流量控制系统仿真辅助设计

本文将给水流量系统规范化，给出静、动态数学模型，通过计算机仿真计算建立起设计参数Ｓ与系统特性间关系数据库，这些数据可用于控制系统辅助设计。本文还介绍了在Ｓ较小时自动补偿系统增益和时间常数的自适应控制方法并给出仿真结果。     

葛洲坝水力发电厂自动化技术应用概述

以葛洲坝水力发电厂主要自动化技术应用与设备改造为线索，重点回顾 了该厂实现计算机实时监控、全面提高综合自动化水平的历程；全面总结了该厂为实现“无 人值班”（少人值守）而进行的自动化设备换型改造情况和自动化新技术的应用情况；简要 阐述了自动化技术应用给该厂在运行和管理方面带来的深刻变化；展望了该厂未来自动化技 术应用的前景。