Autonomous landing has become a core technology of unmanned aerial vehicle(UAV)guidance,navigation,and control system in recent years.This paper discusses the vision⁃based relative position and attitude estimation bet...Autonomous landing has become a core technology of unmanned aerial vehicle(UAV)guidance,navigation,and control system in recent years.This paper discusses the vision⁃based relative position and attitude estimation between fixed⁃wing UAV and runway,which is a key issue in autonomous landing.Images taken by a airborne camera was used and a runway detection method based on long⁃line feature and gradient projection is proposed,which solved the problem that the traditional Hough transform requires much calculation time and easily detects end points by mistake.Under the premise of the known width and length of the runway,position and attitude estimation algorithm used the image processing results and adopted an estimation algorithm based on orthogonal iteration.The method took the objective space error as error function and effectively improved the accuracy of linear algorithm through iteration.The experimental results verified the effectiveness of the proposed algorithms.展开更多
Water-soluble lignin-carbohydrate complex(LCC)rich in polysaccharides exhibits benign in vitro antioxidant activities and distinguishes high biocompatibility from lignin-rich LCC and lignin.However,the antioxidant act...Water-soluble lignin-carbohydrate complex(LCC)rich in polysaccharides exhibits benign in vitro antioxidant activities and distinguishes high biocompatibility from lignin-rich LCC and lignin.However,the antioxidant activity of water-soluble LCCs remains to be improved and its structure-antioxidant relationship is still uncertain.Herein,structurally diversified water-soluble LCCs were isolated under different ball-milling pretreatment durations(4,6,8 h),extraction pathways(ho-mogeneous and heterogeneous),and isolation routines(water extracts and residues after water extraction).Their structures were characterized by wet chemistry,chromatography and spec-troscopies.Antioxidant activities were evaluated by ferric reducing antioxidant power and 1,1-diphenyl-2-picrylhydrazyl radicals scavenging rate(RDPPH).Results show that altering ball-milling duration and isolation procedures cause varied structures and antioxidant activities of the water-soluble LCCs.Specifically,prolonging ball-milling duration to 8 hours and homogeneous extrac-tion can enhance their antioxidant activity through releasing more phenolic structures and pro-moting the extraction of high-molecular-weight LCCs via reducing mass-transfer resistance,re-spectively.As a result,the RDPPH of water-soluble LCCs reaches up to 97.35%,which is associated with the arabinan content with statistical significance(P<0.05).This study provides new insights into the structure-antioxidation relationship of herbaceous LCC as potential antioxidants.展开更多
基金Sponsored by the Fundamental Research Funds for the Central Universities(Grant No.NP2019105)the Funds from the Post⁃graduate Creative Base in Nanjing University of Aeronautics and Astronautics(Grant No.kfjj20190716).
文摘Autonomous landing has become a core technology of unmanned aerial vehicle(UAV)guidance,navigation,and control system in recent years.This paper discusses the vision⁃based relative position and attitude estimation between fixed⁃wing UAV and runway,which is a key issue in autonomous landing.Images taken by a airborne camera was used and a runway detection method based on long⁃line feature and gradient projection is proposed,which solved the problem that the traditional Hough transform requires much calculation time and easily detects end points by mistake.Under the premise of the known width and length of the runway,position and attitude estimation algorithm used the image processing results and adopted an estimation algorithm based on orthogonal iteration.The method took the objective space error as error function and effectively improved the accuracy of linear algorithm through iteration.The experimental results verified the effectiveness of the proposed algorithms.
基金support by National Natural Science Foundation of China (No.31670591)the fellowship of China Postdoctoral Science Foundation (No.2022M711229)+1 种基金Natural Science Foundation of Jiangsu Province (No.BK20160928)supported by the South Eastern Regional Sun Grant Centre and AgResearch at the University of Tennessee.
文摘Water-soluble lignin-carbohydrate complex(LCC)rich in polysaccharides exhibits benign in vitro antioxidant activities and distinguishes high biocompatibility from lignin-rich LCC and lignin.However,the antioxidant activity of water-soluble LCCs remains to be improved and its structure-antioxidant relationship is still uncertain.Herein,structurally diversified water-soluble LCCs were isolated under different ball-milling pretreatment durations(4,6,8 h),extraction pathways(ho-mogeneous and heterogeneous),and isolation routines(water extracts and residues after water extraction).Their structures were characterized by wet chemistry,chromatography and spec-troscopies.Antioxidant activities were evaluated by ferric reducing antioxidant power and 1,1-diphenyl-2-picrylhydrazyl radicals scavenging rate(RDPPH).Results show that altering ball-milling duration and isolation procedures cause varied structures and antioxidant activities of the water-soluble LCCs.Specifically,prolonging ball-milling duration to 8 hours and homogeneous extrac-tion can enhance their antioxidant activity through releasing more phenolic structures and pro-moting the extraction of high-molecular-weight LCCs via reducing mass-transfer resistance,re-spectively.As a result,the RDPPH of water-soluble LCCs reaches up to 97.35%,which is associated with the arabinan content with statistical significance(P<0.05).This study provides new insights into the structure-antioxidation relationship of herbaceous LCC as potential antioxidants.
