Cooperative Localization Based on Robust GPS and Radar Fusion for Multiple Aerial Vehicles

Xiaojie Zhao,Gang Wang,Shuzhi Sam Ge 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.2

This paper presents a localization framework for multiple aerial vehicles (AVs) based on sensor fusion ofglobal positioning system (GPS) and the identification friend-or-foe (IFF) Radar system. The IFF-Radar play tworoles: firstly, it detects the angle and the range between two AVs, and thus the path between the two vehicles can bemodeled as a curve. Secondly, it detects which AV helps form the above curve, and receives the corresponding GPSinformation from the friend vehicle. Through the cooperation of the multiple AVs, not only GPS can work wellwith fewer satellites due to the block of canyon environments, but also differential GPS (DGPS) performance canbe achieved when the place is beyond the coverage of the DGPS. Theoretical analysis shows that two GPS satellitesare sufficient to obtain the location information with the help of two or more friend vehicles, and the performanceis as accurate as DGPS with the help of two or more friend vehicles. Simulations show that the proposed approachcan achieve better localization by the cooperation among multiple aerial vehicles than single aerial vehicle.

Nitrogen and Phosphorus Rates Influence Growth, Flowering, and Nutrient Uptake in Iris germanica ‘Immortality’

Xiaojie Zhao,Guihong Bi,Tongyin Li,Richard L. Harkess,Eugene K. Blythe 한국원예학회 2021 원예과학기술지 Vol.39 No.6

In this study, the influence of nitrogen (N) and phosphorus (P) rates on plant growth, flowering, and uptake of essential nutrients was evaluated in container-grown tall bearded (TB) iris (Iris germanica) ‘Immortality’. Factorial combinations of three N (5, 10, or 15 mM) rates and three P (5, 10, or 15 mM) rates were applied to plants via fertigation twice per week from March to September 2013. Plant height, leaf SPAD reading, and flowering data were collected during the growing season. Plants were harvested in December 2013 to measure dry weight (DW) and analyze concentrations of essential mineral elements. Greater N rates had positive effects on plant height, leaf SPAD reading, flowering performance, and uptake of several essential elements, such as potassium (K), calcium (Ca), and iron (Fe). Phosphorous rate did not significantly affect most of the growth parameters. Greater P rates increased P concentration in leaves and roots and decreased boron (B) concentration in leaves but did not significantly influence net uptake of other nutrients except copper (Cu). The average N:P ratio ranged from 4.7 to 7.5, 2.4 to 4.0, and 6.0 to 8.7 in leaves, roots, and rhizomes, respectively.

Stereo-Vision based Obstacle Avoidance by Finding Safe Region

Xiaojie Zhao,Gang Wang,Maozhi Cai,Hongkun Zhou 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.3

This paper presents an online obstacle localization and avoidance scheme for aerial vehicles over theorder of seconds for general aviation. The scheme contains three stages. In the first stage, stereo visual odometry isadopted to locate the local positions of the obstacles, and the local positions are fused with global positioning system(GPS) or differential GPS to obtain global map information. In the second stage, we search the safety areas on thebasis of depth image obtained by semi-global Matching (SGM) algorithm and computing safety points of everyframe. In the third stage, the smooth trajectory is planned in real-time based on the map and those safety pointsthrough receding horizon control based mixed integer linear programming (MILP). Simulations and experimentsverified the feasibility of the proposed scheme.

ON C-STIELTJES INTEGRAL OF BANACH-VALUED FUNCTIONS

Xiaojie Zhang,Dafang Zhao,Guokju Ye 한국수학교육학회 2007 純粹 및 應用數學 Vol.14 No.2

In this paper, we define the C-Stieltjes integral of the functions mapping an interval [a,b] into a Banach space X with respect to g on [a,b], and the C-Stieltjes representable operators for the vector-valued functions which are the generalizations of the Henstock-Stieltjes representable operators. Some properties of the C-Stieltjes operators and the convergence theorems of the C-Stieltjes integral are given.

Study on Qiang embroidery patterns creative design based on Shape Grammars

Ruiyu Li,Xiaojie Zhao 국제문화기술진흥원 2024 International Journal of Advanced Culture Technolo Vol.12 No.1

Qiang ethnic group is one of the fifty-six ethnic minorities in China, and Qiang embroidery, as an important achievement of Qiang's intangible cultural heritage, is the precipitation and testimony of the history and culture of the Qiang ethnic group. However, with the development of the times, traditional and ancient Qiang embroidery is facing a dilemma due to the problem of a single form of communication. Therefore, it is necessary to add new communication media for Qiang embroidery to help it spread and develop better. In this paper, we extract the core representative patterns of Qiang embroidery, use the "shape grammars" as the rules of morphological changes, and generate new decorative pattern patterns with the characteristics of Qiang embroidery by adding, deleting, mirroring, rotating, and other relevant rules of changes, and combine the new patterns with the rules of formal beauty to combine the layout, which is then applied in the design of different cultural creations and products. The new patterns are combined with the rules of formal beauty and applied in the design of different cultural and creative products. To provide a quantitative method for the digital protection of Qiang embroidery in the new era of Chinese traditional art, and also provide new ideas for the industrialization application.

Microcapsules derived from Pickering emulsions as thermal latent curing accelerator for epoxy resins

Bowen Zhang,Yingying Zhao,Xin Sun,Xiaoma Fei,Weiwei Wang,Xiaojie Li,Xiaoya Liu 한국공업화학회 2020 Journal of Industrial and Engineering Chemistry Vol.83 No.-

Organic-inorganic hybrid microcapsules encapsulating 2-phenylimidazole (2-PhIm) were prepared byPickering emulsion polymerization of styrene and divinyl benzene using methacryloyloxy silanemodifiedsilica particles as the stabilizer, and served as a thermal latent curing accelerator fordiglycidylether of bisphenol A epoxy/anhydride system. The one-component curing compositioncontaining 5 wt% of the microcapsules exhibited an excellent storage stability. The pot life at roomtemperature was as long as 30 days, while which of 2-PhIm curing system was only 2 days. At elevatedtemperature, the encapsulated 2-PhIm could be released from microcapsules effectively, and instantlyaccelerated the curing reaction. Meanwhile, the addition of microcapsules did not cause an adverse effecton the thermomechanical performance of the epoxy thermosets. In addition, the latency and curingbehavior could be facilely regulated at a wide range of temperature by adjusting monomer ratios of thepolymer matrix, to match different process temperatures. The microcapsules with robust cross-linkedpolystyrene matrix structure also showed good resistance to shearing forces, indicating their feasibilityfor high-speed mixing or kneading process in practical applications. It is suggested that the novel latentcuring accelerator is potential for high-performance one-pot epoxy formulations, particularlyrecommended for application in electronic packagingfields.

The fabrication of aminoquinoline-functionalized polydiacetylene-based hybrid vesicles with partially reversible thermochromic property

Yue Gao,Zhiguo Zhao,Xiaojie Huang,Huan Xing,Guang Yang 한국고분자학회 2024 Macromolecular Research Vol.32 No.3

The development of smart materials with reversible thermochromic properties is of great importance in the fields of sensors, displays and anticounterfeitings. In this article, a diacetylene monomer (AQDA) containing aminoquinoline as a head group was synthesized. Together with fluorescein-substituted diacetylene (FDA) and 10,12-pentacosadiynoic acid (PCDA), hybrid PDA vesicles were obtained through self-assembly and topochemical polymerization process. The hybrid PDA vesicles (FDA, AQDA and PCDA with molar ratio of 7:2:1) display an partially reversible green-to-orange red colorimetric change in a wider temperature range from 20 to 100 °C focusing on the stronger hydrogen bonding and aromatic interactions. This work may provide fundamental understanding of the mechanism and strategies for the design of reversible thermochromic PDA materials.

Wheat Rows Detection Based on Machine Vision

Changdong Ma,Hongtu Zhao,Xiaojie Wang 보안공학연구지원센터 2016 International Journal of Signal Processing, Image Vol.9 No.9

This study describes a new method for wheat rows detection at the middle growth stage based on Machine Vision. The algorithm includes three steps: (i) vegetation segmentation, (ii) centers points extraction and (iii) wheat rows detection. In the first step, color images were transformed into gray-level images and Otsu’s method was used to implement binarization. Based on the fact that the corresponding center points on two adjacent horizontal scanning lines can’t have a large deviation, in the second step, we firstly extracted the initial center points on the first scanning line based on a sliding window, and then gave a small shift based on positions of the initial center points which have been extracted on the previous scanning line to extract the center points for the next scanning line. Finally, the Randomized Hough transform (RHT) method was employed to locate the wheat rows. Test results indicate that the proposed method can effectively detect the wheat rows at the middle growth stage.