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Multi-UAVs Collaborative Path Planning in the Cramped Environment

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IEEE/CAA Journal of Automatica Sinica 2024年第2期11卷 529-538页

作者： Siyuan Feng Linzhi Zeng Jining Liu Yi Yang Wenjie Song School of Automation Beijing Institute of TechnologyNanjing 210039China nanjing research institute of Electronics technology Nanjing 210039China Yichang Testing Technique research institute Yichang 443003China IEEE

Due to its flexibility and complementarity, the multiUAVs system is well adapted to complex and cramped workspaces, with great application potential in the search and rescue(SAR) and indoor goods delivery fields. However, safe and effective path planning of multiple unmanned aerial vehicles(UAVs)in the cramped environment is always challenging: conflicts with each other are frequent because of high-density flight paths, collision probability increases because of space constraints, and the search space increases significantly, including time scale, 3D scale and model scale. Thus, this paper proposes a hierarchical collaborative planning framework with a conflict avoidance module at the high level and a path generation module at the low level. The enhanced conflict-base search(ECBS) in our framework is improved to handle the conflicts in the global path planning and avoid the occurrence of local deadlock. And both the collision and kinematic models of UAVs are considered to improve path smoothness and flight safety. Moreover, we specifically designed and published the cramped environment test set containing various unique obstacles to evaluating our framework performance thoroughly. Experiments are carried out relying on Rviz, with multiple flight missions: random, opposite, and staggered, which showed that the proposed method can generate smooth cooperative paths without conflict for at least 60 UAVs in a few *** benchmark and source code are released in https://***/inin-xingtian/multi-UAVs-path-planner.

关键词： Collision avoidance conflict resolution multi-unmanned aerial vehicles(UAVs)system path planning

Additive manufacturing of NiTi lightweight porous structures bio-mimicking coral skeleton with enhanced mechanical properties and shape memory functions

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Science China(Technological Sciences) 2024年第8期67卷 2461-2474页

作者： LIU Xin GU DongDong YUAN LuHao ZHANG Han SUN JianFeng CHEN WenXin WANG Jie SHI KeYu Jiangsu Provincial research Center for Laser Additive Manufacturing of high-Performance Components College of Materials Science and TechnologyNanjing University of Aeronautics and AstronauticsNanjing 210016China

Concerning the high demand for lightweight and multifunctional properties of engineering structures, the coral skeleton-inspired sheet-based(CSS) structure, which was a novel bio-mimicking coral skeleton wall-septa architecture with a unique ability to resist wave shocks was fabricated using NiTi alloy by laser powder bed fusion(LPBF) technology. The effects of laser energy density(LED) on surface morphologies, microstructures, phase transformation behavior, and mechanical properties of LPBFfabricated CSS structures were systematically investigated. The results indicated that the size deviation was predominantly governed by powder adhesion and step effect. NiTi CSS structures with LED of 71 J·mm~(-3)possessed superior compressive modulus(~400 MPa), ultimate strength(~13 MPa), and energy absorption efficiency(~69%). The compression fracture mechanism of the LPBF-fabricated NiTi CSS structures was revealed to be predominantly brittle fracture accompanied by ductile fracture. Furthermore, the Ni_4Ti_3 nanoprecipitates induced the precipitation strengthening effect, enabling better shape memory response at LED of 71 J·mm~(-3), with a recoverable strain of 3.63% and recovery ratio of 90.8%, after heating under a pre-strain of 4%. This study highlights the importance of a bionic design strategy for enhancing the mechanical properties of NiTi components and offers the possibility to tailor its functional properties.

关键词： bioinspired structures laser powder bed fusion NiTi shape memory alloy mechanical performance

A novel matrix topology-based analysis method of thermal circuits for reliability optimization of HSER

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Chinese Journal of Aeronautics 2024年第4期37卷 479-492页

作者： Huimin LIANG Bo LI Jiaxin YOU Shan JIANG Mengtong ZHU Aobo WANG Department of Electrical Engineering Harbin Institute of TechnologyHarbin 150001China nanjing research institute of Electronics technology Nanjing 210008China

Hermetically Sealed Electromagnetic Relay(HSER), used in aviation and aerospace,demands high reliability due to its critical applications. Given its complex operating conditions, efficient thermal analysis is essential for optimizing reliability. The commonly used Finite Element Method(FEM) is often time-consuming and may not be efficient or adaptable for complex multi-dimensional system calculations and design processes. This paper introduces an analysis method for thermal networks based on matrix perspective technology, encompassing matrix transformation, backpropagation of the heat path model, temperature rise calculation, solution comparison, and product implementation. Using the similarity theory of heat circuits, a basic thermal unit is established. Based on the fundamental connection between key components, a thermal network for a typical HSER is designed. An experimental system is set up, and the thermal network model's accuracy is confirmed using test data. Employing the topology analysis method, the topology of the thermal network is analyzed under both coil-energized and de-energized states. Potential thermal paths are identified, leading to optimized solutions for the HSER. Utilizing these solutions, the thermal path matrix topology model is backpropagated to the thermal path for temperature rise calculations. When compared to prototype HSER test data, the efficiency and accuracy of this matrix topology-based analysis method are confirmed.

关键词： Thermal networks HSER(Hermetically Sealed Electromagnetic Relay) Heat-circuit topology model Heat-circuit matrix Optimization design

Surface morphologies of Mg-Gd alloy particle during its reactions with O_(2) and Teflon

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Defence technology（防务技术） 2024年第3期33卷 209-221页

作者： Yifan Li Hongtao Yang Aifeng Jiang Dongming Song Yanchun Li Department of Chemical Engineering Nanjing University of Science and TechnologyNanjing 210097China Xi'an Modern Chemistry research institute Xi'an 710065China Southwest technology and Engineering research institute Chongqing 400039China

Mg-Gd alloy particle has exhibited its unique combustion properties as the fuel of Mg/Teflon/Viton(MTV).Mg-Gd alloy/Teflon/Viton(MGTV)could burn at lower ambient pressure than *** further investigate the reaction of MGTV in air,it was investigated via thermo gravity-differential scanning calorimetry(TG-DSC).Meanwhile,the morphologies and element distributions on the alloy surface during the reaction of MGTV in air were investigated via scanning electronic microscope-mapping-electronic differential ***,a similar experimental protocol on the Mg-Gd alloy particle during oxidation was also *** results showed that owning to a protective oxide shell,the onset oxidation temperature of Mg-Gd alloy is higher than ***,the onset oxidation temperature of the exceeded Mg-Gd alloy in MGTV is significantly lower than that of the exceeded Mg in *** was due to the existence of GdOF,which could significantly lower the oxidation temperature of the exceeded ***,a possible reaction mechanism was *** fascinating oxidation properties of Mg-Gd alloy suggested its promising applications in energetic materials.

关键词： Mg-Gd alloy Energetic materials Morphology EDS GdOF

Extension of Flow Behaviour and Damage Models for Cast Iron Alloys with Strain Rate Effect

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Chinese Journal of Mechanical Engineering 2024年第3期37卷 297-310页

作者： Chuang Liu Dongzhi Sun Xianfeng Zhang Florence Andrieux Tobias Gersterc School of Mechanical Engineering Nanjing University of Science and TechnologyNanjing 210094China Fraunhofer institute for Mechanics of Materials(IWM) 79108 FreiburgGermany Fraunhofer institute for high Speed Dynamics Ernst-Mach-Institute(EMI)79104 FreiburgGermany

Cast iron alloys with low production cost and quite good mechanical properties are widely used in the automotive *** study the mechanical behavior of a typical ductile cast iron(GJS-450)with nodular graphite,uni-axial quasi-static and dynamic tensile tests at strain rates of 10^(-4),1,10,100,and 250 s^(-1)were carried *** order to investigate the influence of stress state on the deformation and fracture parameters,specimens with various geometries were used in the *** strain curves and fracture strains of the GJS-450 alloy in the strain rate range of 10^(-4)to 250 s^(-1)were obtained.A strain rate-dependent plastic flow model was proposed to describe the mechanical behavior in the corresponding strain-rate *** available damage model was extended to take the strain rate into account and calibrated based on the analysis of local fracture *** with the proposed plastic flow model and the damage model were conducted to observe the deformation and fracture *** results show that the strain rate has obviously nonlinear effects on the yield stress and fracture strain of GJS-450 *** predictions with the proposed plastic flow and damage models at various strain rates agree well with the experimental results,which illustrates that the rate-dependent plastic flow and damage models can be used to describe the mechanical behavior of cast iron alloys at elevated strain *** proposed plastic flow and damage models can be used to describe the deformation and fracture analysis of materials with similar properties.

关键词： Dynamic behavior of materials Strain rate dependency Damage model Voce model Cast iron

Abelmoschus manihot polysaccharide fortifies intestinal mucus barrier to alleviate intestinal inflammation by modulating Akkermansia muciniphila abundance

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Acta Pharmaceutica Sinica B 2024年第9期14卷 3901-3915页

作者： Yumeng Wang Chengxi Li Jianping Li Shu Zhang Qinyu Zhang Jinao Duan Jianming Guo Jiangsu Collaborative Innovation Center of Chinese Medicinal Resources Industrialization Nanjing University of Chinese MedicineNanjing 210023China Jiangsu Key Laboratory for high technology research of TCM Formulae Nanjing University of Chinese MedicineNanjing 210023China

The intestinal mucus barrier is an important line of defense against gut *** to this barrier brings bacteria into close contact with the epithelium,leading to intestinal ***,its restoration is a promising strategy for alleviating intestinal *** study showed that Abelmoschus manihot polysaccharide(AMP)fortifies the intestinal mucus barrier by increasing mucus production,which plays a crucial role in the AMP-mediated amelioration of ***-10-deficient mouse models demonstrated that the effect of AMP on mucus production is dependent on ***,bacterial depletion and replenishment confirmed that the effects of AMP on IL-10 secretion and mucus production were mediated by Akkermansia *** findings suggest that plant polysaccharides fortify the intestinal mucus barrier by maintaining homeostasis in the gut *** demonstrates that targeting mucus barrier is a promising strategy for treating intestinal inflammation.

关键词： Plant polysaccharide Abelmoschus manihot Intestinal inflammation Mucus barrier Interleukin 10 Gut microbiota A.muciniphila Mucin 2

Guaranteed Cost Attitude Tracking Control for Uncertain Quadrotor Unmanned Aerial Vehicle Under Safety Constraints

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IEEE/CAA Journal of Automatica Sinica 2024年第6期11卷 1447-1457页

作者： Qian Ma Peng Jin Frank L.Lewis School of Automation Nanjing University of Science and TechnologyNanjing 210094China UTA research institute University of Texas at ArlingtonFort WorthTexas 76118 USA IEEE

In this paper,guaranteed cost attitude tracking con-trol for uncertain quadrotor unmanned aerial vehicle(QUAV)under safety constraints is ***,an augmented system is constructed by the tracking error system and reference *** transformation aims to convert the tracking control prob-lem into a stabilization control ***,control barrier function and disturbance attenuation function are designed to characterize the violations of safety constraints and tolerance of uncertain disturbances,and they are incorporated into the reward function as penalty *** on the modified reward function,the problem is simplified as the optimal regulation problem of the nominal augmented system,and a new Hamilton-Jacobi-Bellman equation is ***,critic-only rein-forcement learning algorithm with a concurrent learning tech-nique is employed to solve the Hamilton-Jacobi-Bellman equa-tion and obtain the optimal *** proposed algorithm can not only ensure the reward function within an upper bound in the presence of uncertain disturbances,but also enforce safety *** performance of the algorithm is evaluated by the numerical simulation.

关键词： Attitude tracking control quadrotor unmanned aerial vehicle(QUAV) reinforcement learning safety constraints uncertain disturbances.

Torque Limit-based Inertial Control Method Based on Delayed Support for Primary Frequency Control of Wind Turbines

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Journal of Modern Power Systems and Clean Energy 2024年第2期12卷 561-570页

作者： Wei Gu Zaiyu Chen Qun Li Minghui Yin Qiang Li Yun Zou School of Automation Nanjing University of Science and TechnologyNanjing 210094China State Grid Jiangsu Electric Power Co. Ltd.Research InstituteNanjing 211103China

To avoid the secondary frequency dip caused by the steep drop of the electrical power of wind turbines(WTs)at the end of frequency support stage,the torque limit-based iner-tial control(TLIC)method sets the power reference as a linear function of rotor speed,rather than the step form for the step-wise inertial ***,the compensation effect on the frequency nadir(FN)caused by the load surge is weakened as the TLIC power is no longer in the step ***,the maximum point of the frequency response component(FRC)contributed by TLIC occurs earlier than the minimum point of FRC corresponding to the load surge,so that the FN cannot be adequately ***,this paper first investigates the relation between the peak and nadir times of FRCs stimulated by the TLIC and load *** this basis,with the compensation principle of matching the peak and nadir times of FRCs,the improved TLIC method based on delayed support is ***,the effectiveness of the proposed method is validated via the experiments on the test bench of wind-integrated power system.

关键词： Wind turbine frequency response component torque limit inertial control delayed support

Durable Design of Superhydrophobic Coatings with TiO_(2)Particles and Al_(2)O_(3)Whiskers for the Enhanced Anti-icing Performance

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Journal of Bionic Engineering 2024年第3期21卷 1360-1374页

作者： Weilan Liu Kunlong Li Yizhou Shen Huanyu Zhao Yaru Ni Zeyu Cai Lingfeng Zhao Zhen Wang institute of Advanced Materials(IAM) School of Materials Science and EngineeringNanjing Tech UniversityNanjing211816China College of Materials Science and technology Nanjing University of Aeronautics and AstronauticsNanjing211100China Aviation Industry Aerodynamics research institute of China Shenyang110000China

Superhydrophobic coatings with high non-wetting properties are widely applied in anti-icing ***,the micro-nanostructures on the surfaces of superhydrophobic coatings are fragile under external forces,resulting in reduced ***,mechanical strength and durability play a crucial role in the utilization of superhydrophobic *** this study,we employed a two-step spraying method to fabricate superhydrophobic FEVE-based coatings with exceptional mechanical durability,utilizing fluorinated TiO_(2)nanoparticles and fluorinated Al_(2)O_(3)microwhiskers as the *** composite coating exhibited commendable non-wetting properties,displaying a contact angle of 164.84°and a sliding angle of 4.3°.On this basis,the stability of coatings was significantly improved due to the interlocking effect of Al_(2)O_(3)*** 500 tape peeling cycles,500 sandpaper abrasion tests,and 50 kg falling sand impact tests,the coatings retained superhydrophobicity,exhibiting excellent durability and application ***,the ice adhesion strength on the coatings was measured at only 65.4 kPa,while the icing delay time reached 271.8 s at-15℃.In addition,throughout 500 freezing/melting cycles,statistical analysis revealed that the superhydrophobic coatings exhibited a freezing initiation temperature as low as-17.25℃.

关键词： Superhydrophobic coatings Anti-icing Mechanical durability