外军地面无人装备发展现状与趋势研究

随着通信、计算机、人工智能和传感器等技术的飞速发展与广泛应用，地面无人装备日趋活跃在作战、搜救和消防等多种军民用任务场景中。对于军事领域而言，地面无人装备是陆军和其他地面作战部队迈向无人化、智能化战场的核心装备，将在未来陆战场各类作战任务中发挥不可替代的作用。通过对外军各类典型地面无人装备发展现状进行深入分析，总结出该装备领域的发展特点与趋势，对地面无人装备发展有一定的借鉴意义。     

iRGD-reinforced,photo-transformable nanoclusters toward cooperative enhancement of intratumoral penetration and antitumor efficacy

Nano Research - Insufficient intratumoral penetration greatly hurdles the anticancer performance of nanomedicine. To realize highly efficient tumor penetration in a precisely and spatiotemporally...     

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 .     

Within-class multimodal classification

Multimedia Tools and Applications - In many real-world classification problems there exist multiple subclasses (or clusters) within a class; in other words, the underlying data distribution is...     

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.     

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。     

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。     

土石过水围堰过水期最不利工况及其流量确定

本文系统分析了影响土石过水围堰溢流工况的主要因素，提出衡量最不利工况的指标和确定员不利流量的方法，为土石过水围堰堰体下游护坡结构及消能防冲设施设计提供了理论依据。通过理论计算结果与模型试验现场观测资料数据对比分析，说明提出的过水期最不利流量判别方法是符合实际情况的。