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基于深度视觉的多旋翼无人机障碍物检测研究
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作者 彭雪松 赵金星 +1 位作者 徐成昊 王义文 《建模与仿真》 2024年第3期2023-2038,共16页
随着多旋翼无人机的智能化发展,在无人机执行任务过程中,无论是对动态还是静态障碍物都要进行感知和规避,而且感知系统作为无人机自主飞行过程中的第一步,也是极其重要的部分。针对这个问题,本文主要研究了无人机对动、静态障碍物的检... 随着多旋翼无人机的智能化发展,在无人机执行任务过程中,无论是对动态还是静态障碍物都要进行感知和规避,而且感知系统作为无人机自主飞行过程中的第一步,也是极其重要的部分。针对这个问题,本文主要研究了无人机对动、静态障碍物的检测。首先,使用目标检测算法实时地检测图像中障碍物,并确定其在像素级别上的位置,结合立体匹配算法估计障碍物的深度信息,从而得到障碍物的三维坐标;实现了基于深度视觉的障碍物检测。本文的研究内容可以为无人机及其它机器人在复杂、动态的环境中安全运行提供重要的方法论指导,具有重要的工程实践意义。 展开更多
关键词 多旋翼无人机 目标检测 立体匹配 深度视觉 软件在环仿真
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2D/2D Ti_(3)C_(2) MXene/HTiNbO5 nanosheets Schottky heterojunction for boosting photothermal-assisted solar-driven photodegradation of tetracycline hydrochloride
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作者 Wen Xiao Huan Yu +6 位作者 chenghao xu Zhongyi Pu Xiangyu Cheng Fang Yu Chao Liu Qinfang Zhang Zhigang Zou 《Journal of Materials Science & Technology》 SCIE EI CAS CSCD 2024年第13期193-206,共14页
Developing high-efficiency photocatalysts for tetracycline hydrochloride(TCH)degradation is of great sig-nificance to ecosystems and human beings.In this work,a two-step process of exfoliation and re-stacking was perf... Developing high-efficiency photocatalysts for tetracycline hydrochloride(TCH)degradation is of great sig-nificance to ecosystems and human beings.In this work,a two-step process of exfoliation and re-stacking was performed to prepare re-stacked HTiNbO_(5) nanosheets(R-HTNS)and then coupled with Ti_(3)C_(2) MXene to construct Ti_(3)C_(2) MXene/R-HTNS(MX/RTS)with a 2D/2D Schottky heterojunction.These 2D/2D het-erostructures between Ti_(3)C_(2) MXene and R-HTNS can produce an internal electric field and provide max-imum interface area for efficient charge transfer across the intimate interface.The photocatalytic perfor-mance of samples was evaluated by TCH degradation under simulated sunlight.The MX/RTS composites,with an optimal sample of 3-MX/RTS,show enhanced photocatalytic activity for TCH degradation com-pared with R-HTNS.The characterization results reveal that the introduction of Ti_(3)C_(2) MXene can signif-icantly increase specific surface area for providing more reactive sites and broaden the light absorption region.Besides,the incident light energy is absorbed by the Ti_(3)C_(2) MXene component in MX/RTS compos-ites to generate photothermal energy(heat),which facilitates the charge carrier separation and surface reaction kinetics.Thus,the enhanced TCH photodegradation activity for MX/RTS composites is due to the introduction of Ti_(3)C_(2) MXene,which possesses the synergistic effect of the increased specific surface area,improved light-harvesting capacity,2D/2D Schottky heterojunction,and photothermal energy effect.Additionally,the TCH photodegradation behavior is deliberated with a detailed discussion on various co-existing ions.During TCH photodegradation,the active radical species are determined for 3-MX/RTS.Ac-cording to the characterization results,the possible TCH photodegradation pathway and mechanism over 3-MX/RTS are explored.This work may offer a novel insight for constructing MXene-based heterostruc-tured photocatalysts with high efficiency. 展开更多
关键词 HTiNbO_(5) Ti_(3)C_(2)MXene Schottky heterojunction PHOTODEGRADATION Phototherma
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