Scalable Yielding of Highly Stable Polyelectrolyte-Coated Copper Sulfide Nanoparticles by Flash Nanoprecipitation for Photothermal-Chemotherapeutics

Photothermal-chemotherapeutic nanoparticles (NPs) are attracting increasing attention and becoming more widely used for cancer therapy in the clinic due to their noninvasiveness, notable tissue penetration abilities, and low systemic adverse effects. However, functional ligands are conventionally modified onto photothermal NPs to well stabilize the inorganic particles suffering from complex chemical modifications, low productivity, and batch-to-batch inconsistencies, and thus significantly restricting their clinical applications. Herein, flash nanoprecipitation (FNP) is taken advantage of to afford rapid and uniform mixing for generating local supersaturated CuS clusters for small and highly stable CuS NPs effectively stabilized by polyacrylic acid through a continuous strategy. It greatly reduces the complexity for CuS NPs synthesis and functionalization in a facile intensified mixing process. These as-synthesized particles are high-drug loading, scalable, and most importantly, it is easy to control their sizes and charges through external conditions. Toxicity and tumor inhibition experiments confirm the high cell toxicity and good suppression of tumor growth under near-infrared irradiation indicating a promising prospect of FNP in the large-scale and continuous yielding of highly stable and high-performing photothermal-chemotherapeutic NPs for cancer therapy.     

可控中子及X射线源测井技术发展现状及趋势

随着核仪器技术的进步以及安全健康的工业发展需求，具有人工可控性的中子源及X射线源逐步在测井领域得到推广应用，为油气等矿产资源的勘探开发提供了关键技术手段。可控中子及X射线源测井技术是以中子发生器或X射线管产生的中子或X射线与地层物质作用，通过探测中子、伽马或X射线从而进行地层孔隙度、密度、油气饱和度和元素含量的测井技术。本文概述了可控中子及X射线源测井技术，回顾了其发展历程；介绍了可控中子及X射线测井技术在数值模拟、仪器研制及数据处理方法方面的研究现状及应用，并展望了可控中子及X射线源测井技术的发展前景，认为未来可控中子及X射线源测井技术可从以下三个方面开展研究：分析不同射线在能量、时间及空间的分布规律，开展探测理论基础研究；联合不同学科优势，开展多类型多模式的新型仪器研制；增强谱数据校正及解析方法研究，开展谱信息综合分析及应用。     

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 .     

不同粒度纳米碳酸钙的可控制备

不同粒度的纳米碳酸钙具有不同的特性和应用范围,目前不同粒度纳米碳酸钙的可控制备方法还未见报道。以氯化钙、碳酸铵为原料,以乙醇、柠檬酸和焦磷酸钠为分散剂,采用复分解法研究了不同制备条件对纳米碳酸钙粒径的影响规律,在此基础上制备出平均粒径为17~71 nm的碳酸钙,并对其进行了表征。实验结果表明,所制备的纳米碳酸钙均为球霰石型,纯度很高,而且形貌近似球形。制备条件对纳米碳酸钙的粒径有显著的影响：随着反应温度升高,纳米碳酸钙的粒径减小;随着氯化钙滴加时间的增加,纳米碳酸钙的粒径增大;随着反应物浓度的提高,纳米碳酸钙的粒径先减小后增大;当分散剂为柠檬酸和焦磷酸钠的混合溶液时所得纳米碳酸钙的粒径最小,当分散剂为乙醇和焦磷酸钠的混合溶液时所得纳米碳酸钙的粒径最大。利用这些影响规律通过控制制备条件可以实现所需粒径纳米碳酸钙的可控制备。     

基于聚集诱导发光效应的高固低黏丙烯酸荧光树脂的制备及其性能研究

为了研制一种具有荧光功能特性的高固低黏羟基丙烯酸树脂。从聚集诱导发光效应（AIE）出发，将具有 AIE性质的二对丙烯酸四苯乙烯酯荧光分子通过自由基共聚连接于聚合物链段。由于聚合物链段对荧光分子化学键固定以及聚合物链的包裹束缚作用，导致荧光分子运动受限，从而实现涂层在紫外灯下荧光发光。通过荧光光谱的实时跟踪，探索高固低黏羟基丙烯酸树脂的合成以及固化规律。此外，由于聚合物链段对外界刺激具有实时响应性，从而间接影响了所连接的荧光分子的荧光发光行为。因此，文中也探索了涂层在外界温度与化学气体的影响下所发生的荧光变化的规律，以探索其在功能涂层中应用的可行性。     

5 000 t公务船调距桨桨叶数选型研究

针对国内外调距桨桨叶数选型依靠经验为主，对不同桨叶数对推进器整体性能的影响始终缺乏定量分析的现状，以某5 000 t公务船为目标船型，通过调距桨分别配置不同的桨叶数，分析不同桨叶数对目标船型综合性能的影响。总结了公务船调距桨桨叶数选型的方法，归纳了不同叶数调距桨的优劣，可为后续新造船桨叶数的选取提供参考。     

A multilevel sampled‐data approach for resilient navigation and control of autonomous systems

Autonomous systems are rapidly becoming an integrated part of the modern life. Safe and secure navigation and control of these systems present significant challenges in the presence of uncertainties, physical failures, and cyber attacks. In this paper, we formulate a navigation and control problem for autonomous systems using a multilevel control structure, in which the high‐level reference commands are limited by a saturation function, whereas the low‐level controller tracks the reference by compensating for disturbances and uncertainties. For this purpose, we consider a class of nested, uncertain, multiple‐input–multiple‐output systems subject to reference command saturation, possibly with nonminimum phase zeros. A multirate output‐feedback adaptive controller is developed as the low‐level controller. The sampled‐data (SD) design of this controller facilitates the direct implementation on digital computers, where the input/output signals are available at discrete time instances with different sampling rates. In addition, stealthy zero‐dynamics attacks become detectable by considering a multirate SD formulation. Robust stability and performance of the overall closed‐loop system with command saturation and multirate adaptive control are analyzed. Simulation scenarios for navigation and control of a fixed‐wing drone under failures/attacks are provided to validate the theoretical findings.     

可控中子孔隙度测井仪器设计

源距与屏蔽体厚度是直接影响可控中子孔隙度测井仪器测量准确性的重要参数。源距不仅影响测井仪器的测量误差，还影响测井仪器对地层孔隙度的灵敏度。屏蔽体厚度是保障测井响应完全反映地层的重要参数。从灵敏度、屏蔽率以及误差3个方面确定可控中子孔隙度测井仪器的源距与屏蔽体厚度。研究结果表明:近探测器源距越小，测井仪器灵敏度越高；近远探测器的间距对测量误差的影响随间距的增大，先减小再增大；当屏蔽率在70%以上且屏蔽率随厚度的变化较为缓慢时的屏蔽体厚度可作为屏蔽体最低厚度。     

适应于自动驾驶的计算结构与平台综述

信息与通信技术领域的不断发展,推动了自动驾驶汽车的巨大进步。自动驾驶汽车有效解决了用户对出行日益提高的安全、便捷、舒适、高效等个性化需求,有着巨大的商业前景和应用价值。首先从自动驾驶的定义出发,对自动驾驶汽车计算任务进行了分类总结,阐述了自动驾驶汽车集移动端、边缘节点和云端一体的计算结构。然后分类讨论了目前自动驾驶汽车移动端计算平台,呈现出异构多核的特点,并对当前主流的底层计算平台进行了对比分析。最后,从性能与成本和信息安全两个方面总结目前自动驾驶汽车计算结构和平台遇到的问题与挑战。     

基于领航跟随法的多AUV编队控制算法研究

针对已知路径下基于领航者的多自主水下机器人(AUV)编队队形控制问题,提出了一种AUV路径控制和编队协调控制相结合的新型编队控制器。其中,AUV的路径跟踪控制采用反步滑模控制器,将AUV位置、姿态和时变速度跟踪转化虚拟速度控制,使AUV能达到期望的位置、速度等,避免了反步控制中的奇异值问题,并能够很好实现不确定的模型的控制,同时又提高了跟随者协同定位精度;在路径跟踪控制基础上,编队协调控制器将领航者与跟随者的位置误差控制转化为跟随者的速度误差控制,使跟随者能快速达到期望位置,从而使所有AUV实现期望的队形并保持。仿真实验对该控制策略进行了可行性验证,结果表明,该算法提高了编队的响应速度、控制精度和稳定性;再应用3台AUV进行了湖上试验验证,证明了该控制策略的有效性,能有效应用到实际中。