An LGMD Based Competitive Collision Avoidance Strategy for UAV

Building a reliable and efficient collision avoidance system for unmanned aerial vehicles (UAVs) is still a challenging problem. This research takes inspiration from locusts, which can fly in dense swarms for hundreds of miles without collision. In the locust’s brain, a visual pathway of LGMD-DCMD (lobula giant movement detector and descending contra-lateral motion detector) has been identified as collision perception system guiding fast collision avoidance for locusts, which is ideal for designing artificial vision systems. However, there is very few works investigating its potential in real-world UAV applications. In this paper, we present an LGMD based competitive collision avoidance method for UAV indoor navigation. Compared to previous works, we divided the UAV’s field of view into four subfields each handled by an LGMD neuron. Therefore, four individual competitive LGMDs (C-LGMD) compete for guiding the directional collision avoidance of UAV. With more degrees of freedom compared to ground robots and vehicles, the UAV can escape from collision along four cardinal directions (e.g. the object approaching from the left-side triggers a rightward shifting of the UAV). Our proposed method has been validated by both simulations and real-time quadcopter arena experiments

The Adsorption Potential of Cr from Water by ZnO Nanoparticles Synthesized by Azolla pinnata

Aqueous solutions containing toxic elements (TEs) (such as hexavalent chromium (Cr (VI)) can be toxic to humans even at trace levels. Thus, removing TEs from the aqueous environment is essential for the protection of biodiversity, hydrosphere ecosystems, and humans. For plant fabrication of zinc oxide nanoparticles (PF-ZnONPs), Azolla pinnata plants were used, and X-ray diffraction (XRD), energy dispersive spectroscopy (EDS), SEM, and FTIR techniques were used for the identification of PF-ZnONPs and ZnONPs, which were used to remove Cr (VI) from aqueous solution. A number of adsorption parameters were studied, including pH, dose, concentration of metal ions, and contact time. The removal efficiency of PF-ZnONPs for Cr (VI) has been found to be 96% at a time (60 min), 69.02% at pH 4, and 70.43% at a dose (10 mg·L-1). It was found that the pseudo-second-order model best described the adsorption of Cr (VI) onto PF-ZnONPs, indicating a fast initial adsorption via diffusion. The experimental data were also highly consistent with the Langmuir isotherm model calculations

Zonal Geochemistry and Elasticity Characteristics of Gallium- and Lithium-Rich No. 6 Coalbed in the Haerwusu Mine, North China

This paper presents the zonal geochemistry and elasticity characteristics of gallium- and lithium-rich No. 6 coalbed in the Haerwusu mine and discusses interpretation methodologies of coal-hosted gallium and lithium resources using lab-measured samples and field-measured wireline logs. The results demonstrate that both coal-composition-based and elastic-parameter-based classifications yield similar results, categorizing the coalbed into subzones related to coal quality. Material compositions, elastic properties, critical metals, and host minerals exhibit zonal distribution characteristics within the ultrathick No. 6 coalbed. Three-class classifications significantly enhance correlations among host minerals, elastic parameters, and critical metals, albeit with differing trends among classes. In classes II and III (ultralow- and low-ash-yield coals), boehmite and kaolinite primarily host gallium and lithium, respectively. In class I (medium-ash-yield coal), gallium is associated with kaolinite, while lithium lacks specific mineral associations. Constrained by wireline logs, a rock physics modeling strategy is proposed to link mesoscale coal compositions to macroscale elastic responses. Moreover, explicit correlations between host minerals and critical metals are established, connecting macroscale elastic responses to microscale gallium and lithium enrichments and exploring interpretation methods of coal-hosted critical metals. Preferred lithium interpretation methods include compositional ternary plots and elastic parameter cross plots, while preferred gallium interpretation methods involve boehmite-gallium and elastic parameter-gallium fitting. These findings may contribute to understanding the enrichment mechanisms and interpretation technologies of coal-hosted critical metals in ultrathick low-rank coalbeds

SIMULATION AND ANALYSIS OF TOOTH ENGAGEMENT PRESSURE OF SYNCHRONOUS BELT (MT)

Due to the complex material and shape of synchronous belt, it has complex mechanical behavior in normal operation. To solve this problem, propose a matrix model to calculate the tangential pressure of the meshing part between tooth and pulley. In the matrix model, use spring to replace the contact between synchronous belt and pulley, synchronous belt was discretized and separated into independent parts. In order to verify the model correctness, multi-body dynamics software RecurDyn was used to simulate the synchronous belt transmission system. The results show that the calculated results is closed to simulation results at the beginning and the end of the meshing part where the tangential pressure is larger, and there are some difference in the meshing part where the tangential pressure is smaller. Comparing with other methods, the matrix model has less computation, which solves the difficulty of calculating the tangential pressure of the belt, and provides a theoretical basis for the selection and design optimization of synchronous belt

Wave Propagation in Rotating Functionally Graded Microbeams Reinforced by Graphene Nanoplatelets

This paper presents a study on wave propagation in rotating functionally graded (FG) microbeams reinforced by graphene nanoplatelets (GPLs). The graphene nanoplatelets (GPLs) are considered to distribute in the diameter direction of the micro-beam in a gradient pattern, which leads to the functionally graded structure. By using the Halpin-Tsai micromechanics model and the rule of mixture, the effective material properties of the microbeam are determined. According to the Euler-Bernoulli beam theory and nonlocal elasticity theory, the rotating microbeams are modeled. A comprehensive parametric study is conducted to examine the effects of rotating speed, GPL distribution pattern, GPL length-to-thickness ratio, GPL length-to-width ratio, and nonlocal scale on the wavenumber, phase speed and group speed of the microbeam. The research findings can play an important role on the design of rotating graphene nanoplatelet (GPL) reinforced microbeams for better structural performance

Efficient Congo Red Removal Using Porous Cellulose/Gelatin/Sepiolite Gel Beads: Assembly, Characterization, and Adsorption Mechanism

Porous sustainable cellulose/gelatin/sepiolite gel beads were fabricated via an efficient ‘hydrophilic assembly–floating droplet’ two-step method to remove Congo red (CR) from wastewater. The beads comprised microcrystalline cellulose and gelatin, forming a dual network framework, and sepiolite, which acted as a functional component to reinforce the network. The as-prepared gel beads were characterized using FTIR, SEM, XRD, and TGA, with the results indicating a highly porous structure that was also thermally stable. A batch adsorption experiment for CR was performed and evaluated as a function of pH, sepiolite addition, contact time, temperature, and initial concentration. The kinetics and isotherm data obtained were in agreement with the pseudo-second-order kinetic model and the Langmuir isotherm, with a maximum monolayer capacity of 279.3 mg·g−1 for CR at 303 K. Moreover, thermodynamic analysis demonstrated the spontaneous and endothermic nature of the dye uptake. Importantly, even when subjected to five regeneration cycles, the gel beads retained 87% of their original adsorption value, suggesting their suitability as an efficient and reusable material for dye wastewater treatments

Feasibility of Tunnel TEM Advanced Prediction: A 3D Forward Modeling Study

The transient electromagnetic (TEM) method has long been applied in tunnel advanced prediction. However, it remains questionable to what extent a geologic anomaly body will influence the induced electromagnetic response in front of the heading face. The dilemma is partly because observed TEM data are frequently interpreted by empirical formulas or proportional relationships, and a quantitative measurement has not been established. In this paper, we strive to understand the TEM characteristics from a 3D finite-element time-domain (FETD) modeling aspect. The modeling algorithm is based on unstructured space meshing and unconditional stable time discretization, which ensures its accuracy and stability. The modeling algorithm is verified by a half-space model, in which the misfit of late-time channels that we are concerned with is generally below 1%. The algorithm has also been utilized to carry out the TEM response of tunnel models with different types of TEM devices. Through model studies, we find that both the traditional central-loop device and the recently developed weak-coupling opposing-coil device are feasible in tunnel advanced detection. Nevertheless, the latter type of device better distinguishes low-resistivity anomalies at 30 m ahead of the heading face with a relative difference (between models with and without the anomaly) of more than 1000% at certain time channels, compared with only a 10% difference of the central-loop device. Also, we conclude that the vertical electromagnetic field component should be recorded and interpreted together with the horizontal field to provide more convincing results

Jujuboside B Reduces Vascular Tension by Increasing Ca2+ Influx and Activating Endothelial Nitric Oxide Synthase.

Jujuboside B has been reported to have protective effect on many cardiovascular diseases. However, the effects of Jujuboside B on vascular tension and endothelial function are unknown. The present study investigated the effects of Jujuboside B on reducing vascular tension, protecting endothelial function and the potential mechanisms. The tension of isolated rat thoracic aorta ring was measured by Wire myograph system. The concentration of nitric oxide (NO) and the activity of endothelial nitric oxide synthase (eNOS) in human aortic endothelial cells (HAECs) were determined by Griess reagent method and enzyme-linked immune sorbent assay. The protein levels of eNOS and p-eNOS at Serine-1177 were determined by western blot analysis. Intracellular Ca2+ concentration in HAECs was measured by laser confocal imaging microscopy. Results showed that Jujuboside B reduced the tension of rat thoracic aorta rings with intact endothelium in a dose-dependent manner. L-NAME, KN93, EGTA, SKF96365, iberiotoxin and glibenclamide significantly attenuated Jujuboside B-induced vasodilation in endothelium-intact tissues. In contrast, indometacin and 4-DAMP had no such effects. Jujuboside B also promoted NO generation and increased eNOS activity, which were attenuated by L-NAME, EGTA and SKF96365. Moreover, Jujuboside B increased intracellular Ca2+ concentration dose-dependently, which was inhibited by EGTA and SKF96365. Besides, Jujuboside B induced a rapid Ca2+ influx instantaneously after depleting intracellular Ca2+ store, which was significantly inhibited by SKF96365. In conclusion, this study preliminarily confirmed that Jujuboside B reduced vascular tension endothelium-dependently. The underlying mechanisms involved that Jujuboside B increased extracellular Ca2+ influx through endothelial transient receptor potential cation (TRPC) channels, phosphorylated eNOS and promoted NO generation in vascular endothelial cells. In addition, Jujuboside B-induced vasodilation involved endothelium-dependent hyperpolarizaiton through endothelial potassium channels. Jujuboside B is a natural compound with new pharmacological effects on improving endothelial dysfunction and treating vascular diseases

Jujuboside B Reduces Vascular Tension by Increasing Ca2+ Influx and Activating Endothelial Nitric Oxide Synthase.

Jujuboside B has been reported to have protective effect on many cardiovascular diseases. However, the effects of Jujuboside B on vascular tension and endothelial function are unknown. The present study investigated the effects of Jujuboside B on reducing vascular tension, protecting endothelial function and the potential mechanisms. The tension of isolated rat thoracic aorta ring was measured by Wire myograph system. The concentration of nitric oxide (NO) and the activity of endothelial nitric oxide synthase (eNOS) in human aortic endothelial cells (HAECs) were determined by Griess reagent method and enzyme-linked immune sorbent assay. The protein levels of eNOS and p-eNOS at Serine-1177 were determined by western blot analysis. Intracellular Ca2+ concentration in HAECs was measured by laser confocal imaging microscopy. Results showed that Jujuboside B reduced the tension of rat thoracic aorta rings with intact endothelium in a dose-dependent manner. L-NAME, KN93, EGTA, SKF96365, iberiotoxin and glibenclamide significantly attenuated Jujuboside B-induced vasodilation in endothelium-intact tissues. In contrast, indometacin and 4-DAMP had no such effects. Jujuboside B also promoted NO generation and increased eNOS activity, which were attenuated by L-NAME, EGTA and SKF96365. Moreover, Jujuboside B increased intracellular Ca2+ concentration dose-dependently, which was inhibited by EGTA and SKF96365. Besides, Jujuboside B induced a rapid Ca2+ influx instantaneously after depleting intracellular Ca2+ store, which was significantly inhibited by SKF96365. In conclusion, this study preliminarily confirmed that Jujuboside B reduced vascular tension endothelium-dependently. The underlying mechanisms involved that Jujuboside B increased extracellular Ca2+ influx through endothelial transient receptor potential cation (TRPC) channels, phosphorylated eNOS and promoted NO generation in vascular endothelial cells. In addition, Jujuboside B-induced vasodilation involved endothelium-dependent hyperpolarizaiton through endothelial potassium channels. Jujuboside B is a natural compound with new pharmacological effects on improving endothelial dysfunction and treating vascular diseases