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.     

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。     

数值试井在白6-2井测试资料分析评价中的应用

数值试井是在近来发展的一项新的试井解释技术，具有处理非均质，复杂边界油气藏问题的优点，弥补了常规解析试井技术的不足。运用数值试井解释技术，结合动、静态资料，通过对白6-1断块白6-2井测试资料的综合分析评价，确定了储层渗流参数，落实了该气藏的边界情况，为该断块下一步开发提供可靠依据。     

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。     

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。     

Group-blind intersymbol multiuser detection for downlink CDMA with multipath

Group-blind multiuser detectors for uplink code-division multiple-access (CDMA) were recently developed by Wang and Host-Madsen. These detectors make use of the spreading sequences of known users to construct a group constraint to suppress the intracell interference. However, such techniques demand the estimation of the multipath channels and the delays of the known users. In this paper, several improved blind linear detectors are developed for CDMA in fading multipath channels. The proposed detectors utilize the correlation information between consecutively received signals to generate the corresponding group constraint. It is shown that by incorporating this group constraint, the proposed detectors can provide different performance gains in both uplink and downlink environments. Compared with the previously reported group-blind detectors, our new methods only need to estimate the multipath channel of the desired user and do not require the channel estimation of other users. Simulation results demonstrate that the proposed detectors outperform the conventional blind linear multiuser detectors.