Aiming to address the Unmanned Aerial Vehicle(UAV) formation collision avoidance problem in Three-Dimensional(3-D) low-altitude environments where dense various obstacles exist, a fluid-based path planning framework n...Aiming to address the Unmanned Aerial Vehicle(UAV) formation collision avoidance problem in Three-Dimensional(3-D) low-altitude environments where dense various obstacles exist, a fluid-based path planning framework named the Formation Interfered Fluid Dynamical System(FIFDS) with Moderate Evasive Maneuver Strategy(MEMS) is proposed in this study.First, the UAV formation collision avoidance problem including quantifiable performance indexes is formulated. Second, inspired by the phenomenon of fluids continuously flowing while bypassing objects, the FIFDS for multiple UAVs is presented, which contains a Parallel Streamline Tracking(PST) method for formation keeping and the traditional IFDS for collision avoidance. Third, to rationally balance flight safety and collision avoidance cost, MEMS is proposed to generate moderate evasive maneuvers that match up with collision risks. Comprehensively containing the time and distance safety information, the 3-D dynamic collision regions are modeled for collision prediction. Then, the moderate evasive maneuver principle is refined, which provides criterions of the maneuver amplitude and direction. On this basis, an analytical parameter mapping mechanism is designed to online optimize IFDS parameters. Finally, the performance of the proposed method is validated by comparative simulation results and real flight experiments using fixed-wing UAVs.展开更多
Various models exist to explain the formation of the Tibetan Plateau,including“tectonic escape”,“pure shear thickening”,“convective removal of the lithospheric mantle”,and“lower crustal flow”model.The first tw...Various models exist to explain the formation of the Tibetan Plateau,including“tectonic escape”,“pure shear thickening”,“convective removal of the lithospheric mantle”,and“lower crustal flow”model.The first two models are primarily constructed on pure mechanical models but are unable to reasonably explain the tension and shear phenomena inside the plateau.The latter two are rheological dynamic models based on deep geophysical observations.However,the spatial range of the lower crustal flow and its role in the plateau formation/uplift remain controversial.Five multi-terrane viscoplastic thermomechanical models were constructed to simulate the uplift and lithospheric structure change of the Tibetan Plateau during the post-collision stage(since 35 Ma)under the convergence of the Indian Plate.Results show that the plateau's formation begins with crustal thickening,blocked by strong terranes at the northern plateau,and expanded laterally to the east.The lithosphere thickens gradually and experiences delamination at its base,elevating temperature within the crust and forming partial melting layers in the central plateau.As convergence persists on the southern side,the northern plateau's lithosphere bends downward and undergoes delamination,further heating the crust and promoting the northward and eastward flow of partial melting layers,leading to secondary uplift around the plateau.展开更多
The implementation of the South-to-North Water Diversion Project (SNWDP) has alleviated groundwater resource pressure in North China to some extent, resulting in a gradual deceleration of land subsidence and even rebo...The implementation of the South-to-North Water Diversion Project (SNWDP) has alleviated groundwater resource pressure in North China to some extent, resulting in a gradual deceleration of land subsidence and even rebound in some areas. To investigate the spatiotemporal evolution characteristics of land subsidence in the eastern plain of Beijing following the SNWDP, this study employs Ascending (ASC) and Descending (DES) InSAR data combined with a Strain Model (SM) to obtain a Three-Dimensional (3-D) deformation field from 2016 to 2018. Through analysis of the 3-D deformation characteristics and spatiotemporal evolution of land subsidence in this region from 2016 to 2018, the results reveal a shift in the distribution of subsiding areas after the South-to-North Water Diversion, with a marked decrease in subsidence rates in certain areas. The maximum subsidence rate in the Beijing area has decreased to 110 mm/yr, accompanied by horizontal deformation at a rate of 12 mm/yr. Additionally, by examining the spatial relationship between major active faults and subsidence deformation in this region, the study further elucidates the influence of fault activity on the spatial distribution of subsidence deformation.展开更多
The synthesis of new 4-imino-4H-chromeno[2,3-d]pyrimidin-3(5H)-amine in four steps including one step under microwave dielectric heating is reported. The structural identity of the synthesized compounds was establishe...The synthesis of new 4-imino-4H-chromeno[2,3-d]pyrimidin-3(5H)-amine in four steps including one step under microwave dielectric heating is reported. The structural identity of the synthesized compounds was established according to their spectroscopic analysis, such as FT-IR, NMR and mass spectroscopy. These new compounds were tested for their antiproliferative activities on seven representative human tumoral cell lines (Huh7 D12, Caco2, MDA-MB231, MDA-MB468, HCT116, PC3 and MCF7) and also on fibroblasts. Among them, only the compounds 6c showed micromolar cytotoxic activity on tumor cell lines (1.8 50 50 > 25 μM). Finally, in silico ADMET studies ware performed to investigate the possibility of using of the identified compound 6c as potential anti-tumor compound.展开更多
A novel algorithm of 3-D surface image registration is proposed. It makes use of the array information of 3-D points and takes vector/vertex-like features as the basis of the matching. That array information of 3-D po...A novel algorithm of 3-D surface image registration is proposed. It makes use of the array information of 3-D points and takes vector/vertex-like features as the basis of the matching. That array information of 3-D points can be easily obtained when capturing original 3-D images. The iterative least-mean-squared （LMS） algorithm is applied to optimizing adaptively the transformation matrix parameters. These can effectively improve the registration performance and hurry up the matching process. Experimental results show that it can reach a good subjective impression on aligned 3-D images. Although the algorithm focuses primarily on the human head model, it can also be used for other objects with small modifications.展开更多
基金supported in part by the National Natural Science Foundations of China(Nos.61175084,61673042 and 62203046)the China Postdoctoral Science Foundation(No.2022M713006).
文摘Aiming to address the Unmanned Aerial Vehicle(UAV) formation collision avoidance problem in Three-Dimensional(3-D) low-altitude environments where dense various obstacles exist, a fluid-based path planning framework named the Formation Interfered Fluid Dynamical System(FIFDS) with Moderate Evasive Maneuver Strategy(MEMS) is proposed in this study.First, the UAV formation collision avoidance problem including quantifiable performance indexes is formulated. Second, inspired by the phenomenon of fluids continuously flowing while bypassing objects, the FIFDS for multiple UAVs is presented, which contains a Parallel Streamline Tracking(PST) method for formation keeping and the traditional IFDS for collision avoidance. Third, to rationally balance flight safety and collision avoidance cost, MEMS is proposed to generate moderate evasive maneuvers that match up with collision risks. Comprehensively containing the time and distance safety information, the 3-D dynamic collision regions are modeled for collision prediction. Then, the moderate evasive maneuver principle is refined, which provides criterions of the maneuver amplitude and direction. On this basis, an analytical parameter mapping mechanism is designed to online optimize IFDS parameters. Finally, the performance of the proposed method is validated by comparative simulation results and real flight experiments using fixed-wing UAVs.
基金sponsored by the National Key R&D Program of China(No.2021YFA0715100)the Shenzhen Fundamental Research Program,China(No.JCYJ20220818102601004)+1 种基金the National Natural Science Foundation of China(No.41774145)the Pre-research Project on Civil Aerospace Technologies(No.D020101)of CNSA。
文摘Various models exist to explain the formation of the Tibetan Plateau,including“tectonic escape”,“pure shear thickening”,“convective removal of the lithospheric mantle”,and“lower crustal flow”model.The first two models are primarily constructed on pure mechanical models but are unable to reasonably explain the tension and shear phenomena inside the plateau.The latter two are rheological dynamic models based on deep geophysical observations.However,the spatial range of the lower crustal flow and its role in the plateau formation/uplift remain controversial.Five multi-terrane viscoplastic thermomechanical models were constructed to simulate the uplift and lithospheric structure change of the Tibetan Plateau during the post-collision stage(since 35 Ma)under the convergence of the Indian Plate.Results show that the plateau's formation begins with crustal thickening,blocked by strong terranes at the northern plateau,and expanded laterally to the east.The lithosphere thickens gradually and experiences delamination at its base,elevating temperature within the crust and forming partial melting layers in the central plateau.As convergence persists on the southern side,the northern plateau's lithosphere bends downward and undergoes delamination,further heating the crust and promoting the northward and eastward flow of partial melting layers,leading to secondary uplift around the plateau.
文摘The implementation of the South-to-North Water Diversion Project (SNWDP) has alleviated groundwater resource pressure in North China to some extent, resulting in a gradual deceleration of land subsidence and even rebound in some areas. To investigate the spatiotemporal evolution characteristics of land subsidence in the eastern plain of Beijing following the SNWDP, this study employs Ascending (ASC) and Descending (DES) InSAR data combined with a Strain Model (SM) to obtain a Three-Dimensional (3-D) deformation field from 2016 to 2018. Through analysis of the 3-D deformation characteristics and spatiotemporal evolution of land subsidence in this region from 2016 to 2018, the results reveal a shift in the distribution of subsiding areas after the South-to-North Water Diversion, with a marked decrease in subsidence rates in certain areas. The maximum subsidence rate in the Beijing area has decreased to 110 mm/yr, accompanied by horizontal deformation at a rate of 12 mm/yr. Additionally, by examining the spatial relationship between major active faults and subsidence deformation in this region, the study further elucidates the influence of fault activity on the spatial distribution of subsidence deformation.
文摘The synthesis of new 4-imino-4H-chromeno[2,3-d]pyrimidin-3(5H)-amine in four steps including one step under microwave dielectric heating is reported. The structural identity of the synthesized compounds was established according to their spectroscopic analysis, such as FT-IR, NMR and mass spectroscopy. These new compounds were tested for their antiproliferative activities on seven representative human tumoral cell lines (Huh7 D12, Caco2, MDA-MB231, MDA-MB468, HCT116, PC3 and MCF7) and also on fibroblasts. Among them, only the compounds 6c showed micromolar cytotoxic activity on tumor cell lines (1.8 50 50 > 25 μM). Finally, in silico ADMET studies ware performed to investigate the possibility of using of the identified compound 6c as potential anti-tumor compound.
文摘A novel algorithm of 3-D surface image registration is proposed. It makes use of the array information of 3-D points and takes vector/vertex-like features as the basis of the matching. That array information of 3-D points can be easily obtained when capturing original 3-D images. The iterative least-mean-squared （LMS） algorithm is applied to optimizing adaptively the transformation matrix parameters. These can effectively improve the registration performance and hurry up the matching process. Experimental results show that it can reach a good subjective impression on aligned 3-D images. Although the algorithm focuses primarily on the human head model, it can also be used for other objects with small modifications.
