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...     

Flexible poly(styrene-ethylene-butadiene-styrene) hybrid nanofibers for bioengineering and water filtration applications

Among the thermoplastic elastomers that play important roles in the polymer industry due to their superior properties, styrene-based species and polyurethane block copolymers are of great interest. Poly(styrene-ethylene-butadiene-styrene) (SEBS) as a triblock copolymer seems to have the potential to meet many demands in different applications due to various industrial requirements where durability, biocompatibility, breaking elongation, and interfacial adhesion are important. In this study, the SEBS triblock copolymer was functionalized with natural (Satureja hortensis, SH) and synthetic (nanopowder, TiO₂) agents to obtain composite nanofibers by electrospinning and electrospraying methods for use in biomedical and water filtration applications. The results were compared with thermoplastic polyurethane (TPU) composite nanofibers, which are commonly used in these fields. Here, functionalized SEBS nanofibers exhibited antibacterial effect while at the same time improving cell viability. In addition, because of successful water filtration by using the SEBS composite nanofibers, the material may have a good potential to be used comparably to TPU for the application.     

Effect of fortification with asparagus powder on the qualitative properties of processed cheese

The qualitative properties of processed cheese (PC) fortified with different levels of asparagus powder (AP) (0.5%, 1% and 1.5% wt/wt) were evaluated during storage. AP decreased the pH and lipolysis indexes and increased the phenolic content, antioxidant activity and proteolysis of the processed cheeses. AP made the structure of the cheese more elastic, increased the rigidity and decreased the spreadability compared with the control sample, which corresponded to the results obtained using dynamic oscillatory rheometry. The results showed that AP as a rich source of bioactive components could be used for the fortification of processed cheeses.     

A Novel Approach to Analyzing the Occupancy of the Geo/Geo/∞ Queueing System

Discrete time queueing systems have been successfully used to model packet queues in computer and digital communications systems. In this article we introduce a novel approach to analyzing the Geo^X/Geo^Y/∞ queueing system, which is suitable for modelling high speed computer and communications systems. The approach is based on characterizing the system by a functional equation which is then solved recursively to give identical results to those obtained using other approaches.     

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。