4-{4-Methyl-2-[(meth­yl)(2-methyl­phen­yl)amino]-1,3-thia­zol-5-yl}-N-(3-methyl­phen­yl)pyrimidin-2-amine

In the title compound, C23H23N5S, the thia­zole ring and pyrimidine ring are almost coplanar, making a dihedral angle of 4.02 (9)°. in the crystal, weak inter­molecular N—H⋯N inter­actions link pairs of molecules into centrosymmetric dimers

Effects of geometric features of highway horizontal alignment on steering behavior of passenger car

In order to elucidate the effects of the features of horizontal curves on the steering behavior of passenger car, the vehicle driving behavior when negotiating simple curves (tangent + circular section + tangent) was investigated. A complete dynamic model of a passenger car was developed using the Automatic Dynamic Analysis of Mechanical Systems (ADAMS) software. Virtual driving tests were conducted on simple curves with different parameters for two driving patterns: curve cutting and lane keeping. Based on the variation in the amplitude of the angle input of the steering wheel, the steering process of a passenger car was divided into three stages: curve entry, maintenance, and curve exit. The steering lengths and steering times corresponding to the vehicle entering, remaining in, and exiting curves were obtained for each driving pattern. The relationship between the two parameters and the curve radius as well as that between the two parameters and the deflection angle was thus determined. On the one hand, this study can be a guide for selecting the parameters for curve geometry design and, in particular, for determining an appropriate value of the spiral length. On the other hand, the correspondence between the steering wheel angle and the trajectory curvature should allow one to identify the three driving states, namely, straight driving, variable-curvature driving, and circular-curve driving. This should help in improving driver behavior and hence driving safety

A Real-time Range Finding System with Binocular Stereo Vision

To acquire range information for mobile robots, a TMS320DM642 DSP-based range finding system with binocular stereo vision is proposed. Firstly, paired images of the target are captured and a Gaussian filter, as well as improved Sobel kernels, are achieved. Secondly, a feature-based local stereo matching algorithm is performed so that the space location of the target can be determined. Finally, in order to improve the reliability and robustness of the stereo matching algorithm under complex conditions, the confidence filter and the left-right consistency filter are investigated to eliminate the mismatching points. In addition, the range finding algorithm is implemented in the DSP/BIOS operating system to gain real-time control. Experimental results show that the average accuracy of range finding is more than 99% for measuring single-point distances equal to 120cm in the simple scenario and the algorithm takes about 39ms for ranging a time in a complex scenario. The effectivity, as well as the feasibility, of the proposed range finding system are verified