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 .     

The effect of Na addition on the first hydrogen absorption kinetics of cast hypoeutectic Mg–La alloys

With superior properties of Mg such as high hydrogen storage capacity (7.6 wt% H/MgH₂), low price, and low density, Mg has been widely studied as a promising candidate for solid-state hydrogen storage systems. However, a harsh activation procedure, slow hydrogenation/dehydrogenation process, and a high temperature for dehydrogenation prevent the use of Mg-based metal hydrides for practical applications. For these reasons, Mg-based alloys for hydrogen storage systems are generally alloyed with other elements to improve hydrogen sorption properties. In this article, we have added Na to cast Mg–La alloys and achieved a significant improvement in hydrogen absorption kinetics during the first activation cycle. The role of Na in Mg–La has been discussed based on the findings from microstructural observations, crystallography, and first principles calculations based on density functional theory. From our results in this study, we have found that the Na doped surface of Mg–La alloy systems have a lower adsorption energy for H₂ compared to Na-free surfaces which facilitates adsorption and dissociation of hydrogen molecules leading to improvement of absorption kinetic. The effect of Na on the microstructure of these alloys, such as eutectic refinement and a density of twins is not highly correlated with absorption kinetics.     

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。     

Assay of oral vaccination of dogs against rabies in Tunisia with the vaccinal strain SADBern

The possibility of immunizing dogs orally against rabies, using SADBern, an attenuated strain, was tested on dogs in the field in Tunisia. This strain induced high neutralizing antibody titres and conferred to all vaccinated dogs total resistance against a challenge with a Maghrebian strain. However, an excretion of virus of vaccinal origin was observed in one dog, hampering the use of SADBern in dogs. Nevertheless, this work demonstrates for the first time that dogs in developing countries, especially those which are inaccessible to parenteral vaccination, could be efficiently immunized against rabies by the oral route.     

Moment arms and lengths of human upper limb muscles as functions of joint angles

Modeling of musculoskeletal structures requires accurate data on anatomical parameters such as muscle lengths (MLs), moment arms (MAs) and those describing the upper limb position. Using a geometrical model of planar arm movements with three degrees of freedom, we present, in an analytical form, the available information on the relationship between MAs and MLs and joint angles for thirteen human upper limb muscles. The degrees of freedom included are shoulder flexion/extension, elbow flexion/extension, and either wrist flexion/extension (the forearm in supination) or radial/ulnar deviation (the forearm in mid-pronation). Previously published MA/angle curves were approximated by polynomials. ML/angle curves were obtained by combining the constant values of MLs (defined by the distance between the origin and insertion points for a specific upper limb position) with a variable part obtained by multiplying the MA (joint radius) and the joint angle. The MAs of the prime wrist movers in radial/ulnar deviation were linear functions of the joint angle (R2 > or = 0.9954), while quadratic polynomials accurately described their MAs during wrist flexion/extensions. The relationship between MAs and the elbow angle was described by 2nd, 3rd or 5th-order polynomials (R2 > or = 0.9904), with a lesser quality of fit for the anconeus (R2 = 0.9349). In the full range of angular displacements, the length of wrist, elbow and shoulder muscles can change by 8.5, 55 and 200%, respectively.     

基于过程能量综合优化的延迟焦化装置扩大生产能力改造策略

根据延迟焦化流程的特点，分析了延迟焦化装置扩大生产能力的瓶颈，探讨了基于能量综合优化的装置扩能解除瓶颈的策略方法，基于过程能量综合优化，运用流程模拟技术，通过配套的加热炉优化，分馏塔操作优化，换热网络柔性设计等手段，实现了装置扩大生产能力的目的，并运用所提出的策略对某延迟焦化装置进行了基于能量系统优化的扩能改造，在原流程与设备的基础上，装置处理量增大18．2％，装置物耗，能耗大幅度降低，改造设备投资少，说明能量综合优化对工艺装置扩能改造具有重要意义。     

A new boundary finite element method for fluid–structure interaction problems

In order to study problems on fluid–structure interaction, we have used a mixed formulation which couples the classical functional of the structure with a new variational formulation by integral equations for the fluid. This formulation has the advantage over the finite element methods of avoiding the discretization of the fluid domain. Furthermore, unlike collocation methods, the explicit calculation of the Hadamard finite part of the singular integrals is avoided. This leads after discretization by boundary finite elements to a small and symmetrical algebraic system. Typical examples are presented that demonstrate the efficiency of this variational formulation by studying the sound transmission through a baffled plane structure and through a flexible panel backed by a rigid cavity. These include the calculation of the transmission loss factor and the determination of which modes dominate the noise transmission. Good agreement is obtained between numerical results and analytical results found in the literature.