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Multi-UAVs Collaborative Path Planning in the Cramped Environment

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

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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

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Dual-channel mechano-phosphorescence:a combined locking effect with twisted molecular structures and robust interactions

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Light(Science & Applications) 2024年第4期13卷 738-746页

作者： Zongliang Xie Zhu Mao Hailan Wang Yuxin Xiao Xiayu Zhang Tao Yu Zhongfu An Wei Huang Frontiers Science Center for Flexible electronics Xi’an Institute of Flexible Electronics&Xi’an Institute of Biomedical Materials and EngineeringNorthwestern Polytechnical University127 West Youyi RoadXi’an 710072China. research&Development institute of Northwestern Polytechnical University in Shenzhen Shenzhen 518100China. Shenzhen institutes of Advanced Electronic Materials Shenzhen 518100China. Key Laboratory of Flexible electronics&institute of Advanced Materials Nanjing Tech University30 South Puzhu RoadNanjing 211816China

Organic mechanoluminescence materials,featuring dual emission and ultralong phosphorescence characteristics,exhibit significant potential for applications in real-time stress sensing,pressure-sensitive lighting,advanced security marking techniques,and material breakage ***,due to immature molecular design strategies and unclear luminescence mechanisms,these materials remain rarely *** this study,we propose a valuable molecular design strategy to achieve dual-channel *** introducing the arylphosphine oxide group into a highly twisted molecular framework,enhanced intra-and intermolecular interactions could be achieved within rigid structures,leading to dual-channel mechanoluminescence with greatly promoted ultralong *** investigations reveal the substantial boosting effect of intra-and intermolecular interactions on mechanoluminescence and ultralong phosphorescence properties by locking the highly twisted molecular *** work provides a concise and guiding route to develop novel smart responsive luminescence materials for widespread applications in material science.

关键词： channel luminescence locking

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What makes residents participate in the rural toilet revolution?

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Environmental Science and Ecotechnology 2024年第3期19卷 23-25页

作者： Yong Li Shikun Cheng Xingyu Chen Mingjun Gao Cong Chen Elisabeth-Maria Huba Zifu Li John Crittenden Tianxin Li School of Energy and Environmental Engineering Beijing Key Laboratory of Resource-oriented Treatment of Industrial PollutantsUniversity of Science and Technology BeijingXueyuan Road No.30Haidian DistrictBeijing100083PR China School of Economics and Management University of Science and Technology BeijingXueyuan Road No.30Haidian DistrictBeijing100083PR China German Toilet Organization Paulsenstr.2312163BerlinGermany Brook Byers institute for Sustainable Systems Georgia Institute of TechnologyAtlanta30332GAUnited States

Recent data reveals a staggering reality:as of 2020,approximately 3.6 billion individuals across the globe remain devoid of proper sanitation services[1].Worldwide governmental and nongovernmental organisations are dedicatedly engaged in the arduous task of ameliorating living standards by providing secure sanitation ***,a recurring challenge persists,with these initiatives frequently encountering setbacks,especially in rural areas.

关键词： services governmental rural

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All-optical suppression on the impact of Sun outage in laser satellite communication systems by using a nonlinear semiconductor optical amplifier

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Chinese Optics Letters 2024年第2期22卷 76-80页

作者：李晓亮刘荣科范峰 School of electronics and Information Engineering Beihang UniversityBeijing 100191China Beijing research institute of Telemetry Beijing 100094China

We introduce an all-optical approach,optical parametric amplification(OPA)processor to suppress the impact of Sun outage in laser satellite communication systems,which is implemented by only one nonlinear semiconductor optical amplifier driven by both electrical and optical *** optimized OPA processor,with a current of 539 mA and a pump-to-signal ratio of 16 dB,could significantly improve the signal quality by 3.5 dB in experiments for the elevation angle of Sun radiation of 0 *** signal quality improvement is observed in the whole range of the elevation angle,confirming the effectiveness of the proposed OPA processor in the field of Sun radiation mitigation.

关键词： nonlinear optics Sun outage laser satellite communication

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Wideband spectrum sensing using step-sampling based on the multipath nyquist folding receiver

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Defence Technology（防务技术） 2024年第1期31卷 523-536页

作者： Kai-lun Tian Kai-li Jiang Sen Cao Jian Gao Ying Xiong Bin Tang Xu-ying Zhang Yan-fei Li University of Electronic Science and Technology of china Chengdu611731China china electronics Technology Group Corporation 29th research institute Chengdu610036China

Wideband spectrum sensing with a high-speed analog-digital converter(ADC) presents a challenge for practical *** Nyquist folding receiver(NYFR) is a promising scheme for achieving cost-effective real-time spectrum sensing,which is subject to the complexity of processing the modulated *** this case,a multipath NYFR architecture with a step-sampling rate for the different paths is *** different numbers of digital channels for each path are designed based on the Chinese remainder theorem(CRT).Then,the detectable frequency range is divided into multiple frequency grids,and the Nyquist zone(NZ) of the input can be obtained by sensing these ***,high-precision parameter estimation is performed by utilizing the NYFR *** with the existing methods,the scheme proposed in this paper overcomes the challenge of NZ estimation,information damage,many computations,low accuracy,and high false alarm *** simulation experiments verify the effectiveness of the proposed architecture in this paper.

关键词： Wideband spectrum sensing Sub-Nyquist sampling Step-sampling Nyquist folding receiver(NYFR) Multisignal processing

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Molecular dynamics study of primary radiation damage in TiVTa concentrated solid-solution alloy

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Chinese Physics B 2024年第3期33卷 530-535页

作者：赵永鹏豆艳坤贺新福曹晗王林枫邓辉球杨文 Reactor Engineering Technology research Division China Institute of Atomic EnergyBeijing 102413China School of Physics and electronics Hunan UniversityChangsha 410082China

The primary radiation damage in pure V and TiVTa concentrated solid-solution alloy(CSA)was studied using a molecular dynamics *** have performed displacement cascade simulations to explore the generation and evolution behavior of irradiation *** results demonstrate that the defect accumulation and agglomeration in TiVTa CSA are significantly suppressed compared to pure *** peak value of Frenkel pairs during cascade collisions in TiVTa CSA is much higher than that in pure V due to the lower formation energy of point ***,the longer lifetime of the thermal spike relaxation and slow energy dissipation capability of TiVTa CSA can facilitate the recombination of point *** defect agglomeration rate in TiVTa CSA is much lower due to the lower binding energy of interstitial clusters and reduced interstitial ***,the occurrence probability of dislocation loops in TiVTa CSA is lower than that in pure *** reduction in primary radiation damage may enhance the radiation resistance of TiVTa CSA,and the improved radiation tolerance is primarily attributed to the relaxation stage and long-term defect evolution rather than the ballistic *** results can provide fundamental insights into irradiation-induced defects evolution in refractory CSAs.

关键词： concentrated solid-solution alloy primary radiation damage molecular dynamics simulation

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Real-time monitoring of oxygenation in deep brain tissue using a wireless photoelectric probe

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Science china Materials 2024年第4期67卷 1361-1362页

作者： Hao Pang Qilin Hua Guozhen Shen School of Integrated Circuits and electronics Beijing Institute of TechnologyBeijing 100084China institute of Flexible electronics Beijing Institute of TechnologyBeijing 102488China

Oxygen(O2) supply to the brain is of utmost importance for human health, as cerebral hypoxia can result in irreversible brain damage. Neurodegenerative diseases, such as epilepsy, are closely associated with cerebral hypoxia [1,2]. Real-time monitoring of cerebral oxygenation holds significant value in neuroscience research and clinical diagnostics [3–10].

关键词： epilepsy cerebral diseases

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Tianmouc vision chip designed for open-world sensing

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Science china Materials 2024年第9期67卷 3046-3048页

作者： Haotian Li Qilin Hua Guozhen Shen School of Integrated Circuits and electronics Beijing Institute of TechnologyBeijing100081China institute of Flexible electronics Beijing Institute of TechnologyBeijing102488China

Driven by the forward development of highly interactive applications like autonomous robots and artificial intelligence[1,2],image sensors are continuously demanded to improve in terms of high speed,high resolution,wide dynamic range,and high precision[3].However,due to inherent limitations in power and bandwidth,significant enhancements in one aspect often necessitates compromises in others[4].

关键词： artificial interactive autonomous

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Wireless multisite sensing systems for continuous physiological monitoring

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Science china Materials 2024年第6期67卷 2045-2047页

作者： Ruilai Wei Qilin Hua Guozhen Shen School of Integrated Circuits and electronics Beijing Institute of TechnologyBeijing 100081China institute of Flexible electronics Beijing Institute of TechnologyBeijing 102488China

Respiratory diseases rank as the third leading cause of adult mortality[1],while cardiopulmonary and gastrointestinal issues are the primary cause of death within the first five years of a child’s life[2].The monitoring of cardiac,respiratory,and gastrointestinal sounds plays a vital role in routine care,as alterations or absence of these body sounds can serve as indicators of underlying diseases.

关键词： routine continuous monitoring

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