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 .     

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...     

Precipitating spinel into precursor glass and its assistance in crystallization

The crystallization phenomena of spinel in CaO-MgO-Al₂O₃-SiO₂-Fe₂O₃ glass have received much attention due to the particular role in preparation of glass-ceramic materials, which represent an effective option to manage hazardous waste. In this study, both preliminary spinel and secondary spinel were precipitated in the precursor glass. The formation of these spinel was meticulously assessed by a combination of X-ray diffractometry and scanning electron microscopy. The structure of the microenvironment in the precursor glass was characterized by Raman spectrums. These advanced techniques highlight the potential for one-step crystallization of the glass. The investigation, which focused on one-step crystallization, demonstrated the growth of pyroxene on spinel accompanying a migration of chromium. The results also show the microstructure of the obtained glass-ceramic was very dependent on the heat-treat temperature. This study not only unambiguously reveals the precipitation mechanisms of spinel but also provides more documentation for one-step crystallization in the glass-ceramics field.     

Microwave drying performance of lignite with the assistance of biomass-derived char

Microwave lignite drying with assistance of biomass-derived char was addressed and effect of bio-char on drying rate and energy consumption was investigated in this work. Effective diffusion coefficient and activation energy for the drying process were also analyzed. The results indicated the drying process was largely dependent on the variation of sample temperature. Bio-char originated from pine wood was most favorable for lignite drying, considering its better promoting effect and advanced security. There existed an optimal bio-char addition ratio for drying process at different power. The corresponding optimal ratio was 10% at 231?W and 15% at 385?W, at which the biggest drying rate and the least energy consumption were reached. It was compared lignite drying initiated at 385?W was better for energy conservation. Effective diffusivity was improved and activation energy was simultaneously reduced, with the addition of bio-char. The minimum activation energy was 15.54?W?·?g^?1, which was gained at bio-char addition ratio of 10%. The results revealed the effect of bio-char on depressing activation energy could rival that of metal-based additives. The drying process with assistance of microwave and bio-char could present technical and economical benefits on lignite upgrading.     

土耳其盐穴地下储气库大井眼钻井技术

土耳其Tuz G?lü盐矿区拟建造地下天然气储气库,存在2个可能性风险:矿床实际深度与原计划钻探深度的偏离;钻井与建腔过程中侵出CO2气体,因此该气库建造存在一定的地质及工程风险。为加快该项目进展,满足盐穴储气库钻井要求,通过优化方案采用国内没有应用过的生产套管大尺寸井眼井身结构,采用液压扩孔器扩眼,并形成钻井配套技术。文中从井身结构、钻头优选及螺杆钻具应用、钻井液体系优选、固井以及钻探效果等方面,阐述Tuz G?lü天然气地下储气库钻井技术。通过实施,有效降低了钻井事故复杂时率、缩短钻井周期,机械钻速得到提高,取得了显著的经济效益。     

Structural,morphological, dielectric and magnetic properties of Zn-Zr co-doping yttrium iron garnet

In this study, yttrium iron garnet co-doped with Zn and Zr atoms with a chemical formula Y₃Zn_xZr_xFe_(5−2x)O₁₂ (x = 0.0-0.3) has been successfully prepared by the solid-state reaction method. The effects of doping concentration on the microstructure, crystal structure, magnetic properties, and dielectric properties of Y₃Zn_xZr_xFe_(5−2x)O₁₂ were investigated. The microstructure analysis indicates that co-doping of YIG with Zn and Zr can effectively reduce the grain size of the ceramic. The crystal structure results reveal that the doping concentration of Zn–Zr has substantial influence on the lattice parameters of YIG, such as, increases the lattice constant, crystal cell size, and interplanar spacing. However, the second phase of ZrO₂ appears once x ≥ 0.15. Additionally, the dielectric properties of YIG ferrite can be regulated using this Zn–Zr co-doping method. Zn–Zr co-doping can improve the dielectric stability and reduce the dielectric loss at high temperature. The magnetization measurement shows that the saturation magnetization is stabilized at x < 0.15, and the magnetic loss is decreased with the increase in the doping concentration. Overall, the findings show that the ceramic with x = 0.1 exhibits better properties included high saturation magnetization (24.607 emu/g), low magnetic loss (0.0025 @ 1 MHz), and relatively low dielectric loss (496 @ 400°C).     

Corrosion resistance of Al–Cr-slag containing chromium–corundum refractories to slags with different basicity

Al–Cr slag is the solid waste generated by the smelting of Cr metal. It presents a range of environmental hazards. This study addressed the corrosion resistance of Al–Cr slag containing chromium–corundum refractories to slags with different basicity. Herein, we provide suggestions for the use of Cr–corundum of different basicity in kilns. Al–Cr slag, brown fused Al₂O₃, and chrome green were used as the raw materials, with pure calcium aluminate cement being used as a binder. The brick samples, prepared using different blends of chrome green and corundum, were fired at 1600?°C, and subsequently subjected to a slag corrosion test. After corrosion by slag of different basicity, the phase composition and microstructure of the sample were analyzed by X-ray diffraction, energy dispersive spectrometer and scanning electron microscopy. There were two major findings. First, Cr–corundum brick made from Al–Cr slag has a better slag corrosion resistance than that made from Cr₂O₃ and brown fused Al₂O₃. Second, Cr–corundum brick made from Al–Cr slag has superior corrosion resistance to slag with a CaO:SiO₂ ratio of 2:1.