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 .     

Protocol misbehavior detection framework using machine learning classification in vehicular Ad Hoc networks

Wireless Networks - A novel approach is proposed to detect protocol misbehavior using state-of-the-art machine learning frameworks and entropy. Nodes in Vehicular Ad Hoc Networks (VANETs) use...     

A survey and taxonomy on virtual data center embedding

The Journal of Supercomputing - Data center network virtualization is being considered as a promising technology to provide a performance guarantee for cloud computing applications. One important...     

LNG冷量优化集成利用技术

我国将相继在沿海地区建成多个LNG接收站，每年将进口数以千万吨计的LNG，同时携带数着巨额冷量，而这些冷量可用于发电、空气分离、制造干冰、低温冷库等众多领域。基于国外LNG冷量利用现状，指出我国即将展开和实施此项技术还存在着：过程火用损较大，缺乏系统、全面的LNG冷量利用技术的研发指导机制，以及宏观调控力度薄弱等问题，进而提出了发展LNG冷量的集成利用方案，可为此类技术的研发利用提供新思路。以福建即将进口的LNG为例，模拟了空气分离与干冰制备的集成工艺流程，结果表明：福建每年进口的260×10⁴t LNG可以冷却290×10⁴t空气，相当于60000 m³/h的氧气制备规模，还可以生产100×10⁴t的干冰，其过程火用损较小；其剩余的高温位冷量可应用于低温冻结库或冰灯等项目，这对主体装置的实施效果和过程火用损的影响较小。该技术的优点在于可灵活控制冷却空气的液化率，基本不用冷却循环水，流程简单，设备投资少，能耗低等。     

Why does it pay to be selfish in a MANET?

Routing protocols for a mobile ad hoc network have assumed that all mobile nodes voluntarily participate in forwarding others' packets. This was a reasonable assumption because all MNs in a MANET belonged to a single authority. In the near future, however, a MANET may consist of MNs that belong to many different organizations since numerous civilian applications are expected to crop up. In this situation, some MNs may run independently and purposely decide not to forward packets so as to save their own energy. This could potentially lead to network partitioning and corresponding performance degradation. To minimize such situations in MANETs, many studies have explored the use of both the carrot and the stick approaches by having reputation-based, credit-payment, and game theory schemes. This article summarizes existing schemes, identifies their relative advantages, and projects future directions     

Performance analysis of OFDMA uplink systems with symbol timing misalignment

This letter presents our investigation for the effect of symbol timing errors in orthogonal frequency-division multiple access (OFDMA) uplink systems. We express the symbol timing errors between users as the symbol timing misalignments with respect to the desired user. Then, we derive an explicit expression of the signal-to-noise ratio (SNR) as a function of the maximum value of the symbol timing misalignments. Analyses and simulation results show that, to achieve an SNR of 20 dB, the maximum value of the symbol timing misalignments must be less than the cyclic prefix duration plus 6.25% of the useful symbol duration. Based on the resulting SNR degradation, we evaluate the SNR gain with guard subcarriers in order to mitigate the effect of the symbol timing misalignments.     

A three-dimensional FE analysis of large deformations for impact loadings using tetrahedral elements

 A three-dimensional dynamic program for the anaysis of large deformations in contact-penetration problems is developed using the finite element Lagrangian method with explicit time integration. By incorporating a tetrahedral element, which allows a single-point integration without a special hourglass control scheme, this program can be more effective to the present problem. The position code algorithm is used to search contact surface. Eroding surfaces are also considered. The defense node algorithm was slightly modified for the calculation of contact forces. A study of obliquity effects on metallic plate perforation and ricochet processes in thin plates impacted by a sphere was conducted. It is well simulated that on separation of two parts of the sphere, the portion still within the crater tends to perforate, while the portion in contact with the plate surface ricochets. This deformation pattern is observed in experiments, especially at high obliquities. A long rod that impacts an oblique steel plate at high impact velocity was also simulated in order to study the dynamics of the rod caused by the three dimensional asymmetric contact. The agreement between simulated and experimental results is quite good. Fracture phenomena occuring at high obliquity deserves further investigations. Received: 20 February 2002 / Accepted: 20 September 2002