Path planning for unmanned aerial vehicles in surveillance tasks under wind fields

The optimal path planning for fixed-wing unmanned aerial vehicles(UAVs) in multi-target surveillance tasks(MTST) in the presence of wind is concerned.To take into account the minimal turning radius of UAVs,the Dubins model is used to approximate the dynamics of UAVs.Based on the assumption,the path planning problem of UAVs in MTST can be formulated as a Dubins traveling salesman problem(DTSP).By considering its prohibitively high computational cost,the Dubins paths under terminal heading relaxation are introduced,which leads to significant reduction of the optimization scale and difficulty of the whole problem.Meanwhile,in view of the impact of wind on UAVs' paths,the notion of virtual target is proposed.The application of the idea successfully converts the Dubins path planning problem from an initial configuration to a target in wind into a problem of finding the minimal root of a transcendental equation.Then,the Dubins tour is derived by using differential evolution(DE) algorithm which employs random-key encoding technique to optimize the visiting sequence of waypoints.Finally,the effectiveness and efficiency of the proposed algorithm are demonstrated through computational experiments.Numerical results exhibit that the proposed algorithm can produce high quality solutions to the problem.

Dynamics of Poly(methyl methacrylate)in Ionic Liquids with Different Concentration and Cationic Structures

The dynamic behavior of entangled poly(methyl methacrylate)(PMMA)chains in both the traditional monocationic ionic liquid(MIL)and synthetic dicationic ionic liquid(DIL)with the same anion bis[(trifluoromethyl)sulfonyl]imide([TFSI]−)has been examined over the wide composition range using differential scanning calorimetry and rheological measurements.PMMA/DIL and PMMA/MIL systems exhibit two glass transitions in the midrange of composition due to self-concentration effects.PMMA in DIL shows slower relaxation behavior,however,after the iso-free-volume correction,the terminal relaxation timeτ_(0)of PMMA in both the DIL and MIL presents the power law behaviorτ_(0)∼ϕ^(v)with exponent v conforming to experimental results for conventional polymer solutions(v=2.0±0.2).At high ILs concentration(70%),the entanglement molecular weight M_(e)of PMMA/DIL system is lower than that of PMMA/MIL system owing to the formation of additional physical network in DIL,while the difference of M_(e)is reversed at low ILs content.The composition dependence might be related to the fact that the probability of formation of physical cross-linking points in linked double imidazolium ring increases with the increase of DIL content.The recovered creep strain of PMMA/DIL is almost 18 times of PMMA/MIL,exhibiting significantly better viscoelastic behavior.

The optical properties of Tm^(3+) doped Na_5Lu_9F_(32) single crystal

Tm^(3+) doped Na_5Lu_9F_(32) single crystal with high optical quality was grown by an improved Bridgman method. The Judd-Ofelt intensity parameters ?_t(t=2, 4, 6) were calculated according to the measured absorption spectra and physical-chemical properties of the obtained Na_5Lu_9F_(32) single crystal. The stimulated emission cross-section of the ~3F_4→~3H_6 transition(～1.8 μm) is 0.35×10^(-20) cm^2 for Tm^(3+) doped Na_5Lu_9F_(32) single crystal. The emission spectra under the excitation of 790 nm laser diode(LD) and fluorescence lifetime at 1.8 μm were measured to reveal the fluorescence properties of Tm^(3+) doped Na_5Lu_9F_(32) single crystal. The research results show that the Tm^(3+) doped Na_5Lu_9F_(32) single crystal has larger stimulated emission cross-section compared with other crystals. All these spectral properties suggest that this kind of Tm^(3+)doped Na_5Lu_9F_(32) crystal with high physical-chemical stability and high-efficiency emission at 1.8 μm may be used as potential laser materials for optical devices.