Architecture design and implementation of image based autonomous car: THUNDER-1

Autonomous driving with high velocity is a research hotspot which challenges the scientists and engineers all over the world. This paper proposes a scheme of indoor autonomous car based on ROS which combines the method of Deep Learning using Convolutional Neural Network (CNN) with statistical approach using liDAR images and achieves a robust obstacle avoidance rate in cruise mode. In addition, the design and implementation of autonomous car are also presented in detail which involves the design of Software Framework, Hector Simultaneously Localization and Mapping (Hector SLAM) by Teleoperation, Autonomous Exploration, Path Plan, Pose Estimation, Command Processing, and Data Recording (Co- collection). what’s more, the schemes of outdoor autonomous car, communication, and security are also discussed. Finally, all functional modules are integrated in nVidia Jetson TX1.

     

Porous Ni2P nanoflower supported on nickel foam as an efficient three-dimensional electrode for urea electro-oxidation in alkaline medium

Porous Ni₂P nanoflower supported on nickel foam (Ni₂P@Ni foam) electrodes are synthesized via a simple hydrothermal growth strategy accompanied with further phosphating treatment. The prepared electrodes are characterized by X-ray diffraction (XRD), scanning electron microscopy (SEM), energy dispersive X-ray spectroscopy (EDX) and transmission electron microscopy (TEM). Electro-catalytic performances towards urea electro-oxidation are tested by cyclic voltammetry (CV), chronoamperometry (CA) coupled with electrochemical impedance spectroscopy (EIS). By phosphating Ni(OH)₂ precursor, the final obtained Ni₂P@Ni foam electrode presents a porous Ni₂P nanoflower structure within abundant porosity, and so exposes a large amount of electro-catalytic active sites and electronic transmission channels to accelerate the interfacial reaction. Compared with Ni(OH)₂@Ni foam precursor, the Ni₂P@Ni foam catalyst exhibits more excellent electro-catalytic activity as well as lower onset oxidation potential. Remarkably, the Ni₂P@Ni foam catalyst reaches a peak current density of 750 mA cm^?2 with an onset oxidation potential of 0.24 V (vs. Ag/AgCl) accompanied by an excellent stability in 0.60 M urea with 5.00 M KOH solutions. Benefiting from the unique porous nanosheet structure, the as-synthesized Ni₂P@Ni foam catalyst performs a highly enhanced catalytic behavior for alkaline urea electro-oxidation, indicating that the material can be hopefully applied in direct urea fuel cells.     

Polyphenol composition and antioxidant capacity in pulp and peel of apricot fruits of various varieties and maturity stages at harvest

Polyphenol composition and antioxidant capacities of peel and pulp tissues of six apricot varieties were determined. Variations in polyphenol and antioxidant capacity based on variety (early‐maturing varieties and late‐maturing varieties) and harvest maturity (green mature and full mature) were assessed. The results of principal component analysis revealed that (+)‐catechin made the most important contributions to the antioxidant capacities of the pulp. As the (+)‐catechin content in ‘Dajie’ apricot decreased by 36.8% from green mature to full mature, the antioxidant capacities determined by ABTS free radical scavenging assay, DPPH free radical scavenging assay and cupric ion reducing antioxidant capacity assay decreased by 50.0%, 45.2% and 45.8%, respectively. Levels of phenolic compounds in the apricot peels were approximately 2–4 times higher than those of the pulps. Quercetin‐3‐rutinoside may be substantially responsible for the antioxidant capacities of the peels. The late‐maturing varieties tended to have higher levels of phenolic compounds and higher antioxidant capacities than the early‐maturing varieties. The antioxidant capacities in green mature apricots were much higher than those of full mature apricots.     

Reliability Allocation for Series-Parallel Systems subject to Potential Propagated Failures

To analyze the dependent failures in the early stage of system development, this paper considers the potential propagated failures in the reliability allocation process. Factors which can be used to not only measure the component importance but also to reflect the influence brought by propagated failures are proposed. Specifically, cooperative game theory is introduced to explore how the propagated failures affect the failure severity level. Failure rates are obtained by using the Alpha Factor Model with the consideration of dependence among components. Reliability improvement rate is also developed to proportionally assign the target improvement of system reliability to the corresponding components. Furthermore, reliability allocation frameworks for series, parallel and series-parallel systems are designed respectively to make the proposed model meet a wide range of applications. An illustrative example of a hydraulic cooling system is presented to show how the proposed approach is applied. The allocation results demonstrate that the proposed method can achieve a valid reliability improvement with the minimum error.     

A Continuously Tunable Solid-Like Convective Thermal Metadevice on the Reciprocal Line

The emerging thermal metamaterials and metadevices demonstrate significant potential to transform thermal conduction. However, the thermal conductivities of existing devices are all restricted at fixed values if the configuration or constituent materials are static. Thermal convection provides an additional tool to boost and flexibly modify the heat transfer in moving matter, but it is essentially distinct from thermal conduction since the Onsager reciprocity is generally broken in the former but preserved in the latter. Therefore, it is difficult to use convective components for sophisticated control of conductive heat. Here, it is shown that a convective system can be made undistinguishable from a conductive one in principle, by discovering and operating on the reciprocal line of mechanically rotating systems. The realized thermal metadevice can thus mimic a solid-like material whose thermal conductivity dynamically covers a wide range. It offers great possibilities of real-time smooth control over heat transfer for broad applications.     

Prediction of Glass Forming Ability Through High Throughput Calculation

In this work, high throughput calculation (HTC) is used to identify composition regions with good glass forming ability (GFA) in the Al-Cu-Zr, Cu-Ni-Zr, Cu-Ti-Zr, Cu-Ni-Ti-Zr, Al-Cu-Ni-Ti-Zr, Mg-Ca-Cu, and Mg-Ca-Ni systems. The predicted composition regions agree well with those observed by experiments in the ternary systems, while less satisfactory agreement is found in the Cu-Ni-Ti-Zr quaternary and the Al-Cu-Ni-Ti-Zr quinary systems. The possible causes that lead to the deviation in the higher order systems are discussed. The major advantage of the HTC method used in this study is that it is simple and can be easily applied to multicomponent systems. The color maps of liquidus temperature and solidification range obtained by HTC provide a valuable guidance to the experimentalists, thus they can focus on the composition regions with high potential of forming bulk metallic glasses, avoid unnecessary trial-and-error test and save time and cost. This approach can also be combined with other criteria to filter compositions with better GFA.     

滨海基岩矿床安全开采合理隔离层厚度的确定

针对滨海基岩矿床安全开采合理隔离层厚度留设问题，基于材料力学、结构力学等共七种理论计算方法综合确定隔离层厚度，利用点柱式上向水平分层充填法建立三维数值计算模型，通过结合FLAC3D数值模拟软件，分析理论计算结果的合理性，研究不同中段开采充填情况下第四系底部的稳定性特征，最终得出安全开采所需的隔离层厚度必须在12m以上，合理的开采上限必须在-57m以上。通过分析数值计算模型第四系底部的沉降变形，发现第四系底部最大沉降集中于中间采场 ，最大沉降量为13.73mm。研究成果为滨海基岩矿床安全开采，提高资源回采率提供了有益指导。     

Study on the stability of gas film in electrochemical discharge machining of ultra-white glass micro array holes

With the widespread application of non-conducting tough materials, such as ultra-white glass in MEMS recent years, many difficulties have arisen in the processing of these kind of material with eigen-structure characteristics. By analyzing the generation principle of interelectrode gas film of this kind of material, the breakdown characteristics of gas film under different power supply parameters are studied, and the relationship between the process parameters and the forming quality, material removal rate under the condition of gas film stability is further analyzed, so as to realize the optimal selection and the ultra-white glass micro array holes successfully machined.