Path planning and formation structure forming are two of the most important problems for autonomous underwater vehicles(AUVs) to collaborate with each other.In this work,a dynamic formation model was proposed,in which...Path planning and formation structure forming are two of the most important problems for autonomous underwater vehicles(AUVs) to collaborate with each other.In this work,a dynamic formation model was proposed,in which several algorithms were developed for the complex underwater environment.Dimension changeable particle swarm algorithm was used to find an optimized path by dynamically adjusting the number and the distribution of the path nodes.Position relationship based obstacle avoidance algorithm was designed to detour along the edges of obstacles.Virtual potential point based formation-keeping algorithm was employed by incorporating dynamic strategies which were decided by the current states of the formation.The virtual potential point was used to keep the formation structure when the AUV or the formation was deviated.Simulation results show that an optimal path can be dynamically planned with fewer path nodes and smaller fitness,even with a concave obstacle.It has been also proven that different formation-keeping strategies can be adaptively selected and the formation can change its structure in a narrow area and restore back after passing the obstacle.展开更多
An efficient and environmental-friendly one-pot procedure has been developed for the synthesis of 1,3,4-oxadiazole-5- thioethers by the reaction of acylhydrazine with carbon disulfide and organic halides or α, β-uns...An efficient and environmental-friendly one-pot procedure has been developed for the synthesis of 1,3,4-oxadiazole-5- thioethers by the reaction of acylhydrazine with carbon disulfide and organic halides or α, β-unsaturated carbonyl compounds. The reactions were carried out in water in the presence of potassium phosphate within 2-4 h to afford the expected products in excellent yields.展开更多
Requirement for dietary n-3 HUFA (n-3 highly unsaturated fatty acid) for growth and survival of black sea bream (Sparus macrocephalus) larvae was studied using rotifers and Artemia at various levels of n-3 HUFA. Five ...Requirement for dietary n-3 HUFA (n-3 highly unsaturated fatty acid) for growth and survival of black sea bream (Sparus macrocephalus) larvae was studied using rotifers and Artemia at various levels of n-3 HUFA. Five treatments with rotifers and Artemia differing in n-3 HUFA were prepared by enriching them with various oil emulsions. Results indicated that dietary n-3 HUFA significantly influence fish n-3 HUFA levels and are essential for growth and survival of black sea bream larvae. The results also indicated that the incorporation of n-3HUFA TG (triacylglycerols) into tissues of larval black sea bream was more effective from natural fish oil in comparison with n-3 HUFA fatty acid ethyl esters from ethyl-esterified oil.展开更多
This paper mainly discusses the protection of water resource environment in Three Gorge Water Reservoir, a systematic investigation and analysis of the landfill leachate's polluting components, hazardous and changing...This paper mainly discusses the protection of water resource environment in Three Gorge Water Reservoir, a systematic investigation and analysis of the landfill leachate's polluting components, hazardous and changing rule in landfill leachate from hinterland landfill located in the surrounding area have been carried out, and proposed the countermeasures for disposition the leachate furtherly.展开更多
State space approach is an effective method to mass-exchange network (MEN) synthesis. By decomposing the network into two interactive parts, a distribution network and a process operator, the synthesis problem can be ...State space approach is an effective method to mass-exchange network (MEN) synthesis. By decomposing the network into two interactive parts, a distribution network and a process operator, the synthesis problem can be formulated into a mixed integer nonlinear programming (MINLP) model. In this article, a generalized state space model based on typical MEN is established and verified in two cases. A new asymmetrical operator and cost index are also adopted to speed up the solution process. The results demonstrate the efficiency of the proposed approach.展开更多
Moulds have been reported to destroy volumes of timbers in buildings annually. As a result, timber components within the built environment decline and fail to fulfill their basic requirements. This research focused on...Moulds have been reported to destroy volumes of timbers in buildings annually. As a result, timber components within the built environment decline and fail to fulfill their basic requirements. This research focused on the isolation and evaluation of the prevalence and effects of deteriorating moulds in the rain forest and swampy rain forest regions of Nigeria where the water activity is as high as 0.7. To accomplish this, decayed timber samples were aseptically collected on buildings from six strategic locations. The samples were serially diluted and inoculated onto Sabouraud Dextrose Agar medium in Petal dishes. The Petri dishes were incubated for 72 h at 30 ~C. Thereafter, moulds were isolated through visual and microscopic observations. The commonly encountered moulds were evaluated and analyzed. It was observed that, prevalence of moulds on buildings used for non residential purpose were higher. There was no significant difference between the prevalence on the components located inside the building and those outside the building. Ceiba pentandra exhibited highest degradation while Masonia altissima resisted most. The most deteriorating moulds were Aspergillus, Mucor, Rhizopus and Gliocladium. The deteriorations of Ceiba pentandra, Afzelia africana, Lophira alata, Anogessus leocarpus and Gossweilerodendron balsamiferum timbers under Aspergillus attack were projected.展开更多
Based on the screening analysis for the first time in Montenegro, water samples for the presence of emergent wereanalyzed. Results from the locality Vukovci, the lower course of the river Morale, have shown the presen...Based on the screening analysis for the first time in Montenegro, water samples for the presence of emergent wereanalyzed. Results from the locality Vukovci, the lower course of the river Morale, have shown the presence of chemical components that indicate the presence of emergent in the water. Thus identification component is associated with the presence of fiziological groups of microorganisms at the site, which with its functional and significant role in many ways reduce environmental stress.展开更多
Among fertilizer ingredients nitrogen is the one noted for biggest losses because its susceptibility to volatilize to the atmosphere and to be leached away from the soil. These losses depend on the level and mode of f...Among fertilizer ingredients nitrogen is the one noted for biggest losses because its susceptibility to volatilize to the atmosphere and to be leached away from the soil. These losses depend on the level and mode of fertilization. It appears that every year in Poland river waters transport to the Baltic Sea from the whole area about 180 thousand tons of the nutrient. The largest portion of this load is ascribed to agriculture. This study focused on the highland areas, which are commonly seen as a water supplying region owing to the fact that they cover about 35% of water need in the authors' country. Specificity of grassland fertilization in these lands is high contribution of natural fertilizers including dunging with fresh manure left by penned animals, particularly by sheep. Authors decided to assess the influence of dunging by folded sheep on meadow nitrogen balance and on its concentration in percolating water. It was demonstrated that a nitrogen balance was highly negative for each object, so the grassland plants supplied their needs in large part with nitrogen from mineralization of soil organic matter. Relatively high loads of nitrogen leached out of the folded objects indicate that nitrogen from mineral fertilizers is better utilized by grassland herbage and thus is much safer for soil and water environment.展开更多
The increasing growth of energy consumption and the limited fossil energy resources, as the main source of energy in Iran and other parts of the world, has persuaded the industrial societies to struggle more for suppl...The increasing growth of energy consumption and the limited fossil energy resources, as the main source of energy in Iran and other parts of the world, has persuaded the industrial societies to struggle more for supplying their needed energy at present and in future. More than 26% of energy in Iran is consumed by industry sector, in which cement section is an important subsectors highly depending on energy. Cement section is so dependent on energy, that more 15% of the related energy is consumed in this section, and its present conditions of energy consumption need a serious revision. Production management, changing the ingredients, finding alternative energy strategies, and importing modem technologies can result in reduction of energy consumption in this section. In this study, while investigating energy consumption of various machineries in the form of electricity and heat in a cement factory, the authors have studied the strategies for decreasing energy consumption in every stage of the production process. Recent studies in the field of cement industry are indicative of recent changes in production methods with priority of reducing energy consumption. Among these changes, we can refer to replacing wet method by dry method, or developing pre-heating center and pre-calcinators. In cement industry, nowadays, not only there is an emphasis on controlling the energy consumption for lower production costs, but as production of every 1 kg of cement gives out more than 0.7 kg CO2 and other pollution particles, environmental issues are also seriously considered. Therefore, if we use alternative fuels with less carbon in their structural formula, besides decreasing energy consumption and costs, there will be less pollutions in the environment as well.展开更多
基金Project(NS2013091)supported by the Basis Research Fund of Nanjing University of Aeronautics and Astronautics,China
文摘Path planning and formation structure forming are two of the most important problems for autonomous underwater vehicles(AUVs) to collaborate with each other.In this work,a dynamic formation model was proposed,in which several algorithms were developed for the complex underwater environment.Dimension changeable particle swarm algorithm was used to find an optimized path by dynamically adjusting the number and the distribution of the path nodes.Position relationship based obstacle avoidance algorithm was designed to detour along the edges of obstacles.Virtual potential point based formation-keeping algorithm was employed by incorporating dynamic strategies which were decided by the current states of the formation.The virtual potential point was used to keep the formation structure when the AUV or the formation was deviated.Simulation results show that an optimal path can be dynamically planned with fewer path nodes and smaller fitness,even with a concave obstacle.It has been also proven that different formation-keeping strategies can be adaptively selected and the formation can change its structure in a narrow area and restore back after passing the obstacle.
基金Natural Science Foundation of China (Grant No.20672009)the Major State Basic Research Development Program(Grant No.2004CB719900).
文摘An efficient and environmental-friendly one-pot procedure has been developed for the synthesis of 1,3,4-oxadiazole-5- thioethers by the reaction of acylhydrazine with carbon disulfide and organic halides or α, β-unsaturated carbonyl compounds. The reactions were carried out in water in the presence of potassium phosphate within 2-4 h to afford the expected products in excellent yields.
文摘Requirement for dietary n-3 HUFA (n-3 highly unsaturated fatty acid) for growth and survival of black sea bream (Sparus macrocephalus) larvae was studied using rotifers and Artemia at various levels of n-3 HUFA. Five treatments with rotifers and Artemia differing in n-3 HUFA were prepared by enriching them with various oil emulsions. Results indicated that dietary n-3 HUFA significantly influence fish n-3 HUFA levels and are essential for growth and survival of black sea bream larvae. The results also indicated that the incorporation of n-3HUFA TG (triacylglycerols) into tissues of larval black sea bream was more effective from natural fish oil in comparison with n-3 HUFA fatty acid ethyl esters from ethyl-esterified oil.
文摘This paper mainly discusses the protection of water resource environment in Three Gorge Water Reservoir, a systematic investigation and analysis of the landfill leachate's polluting components, hazardous and changing rule in landfill leachate from hinterland landfill located in the surrounding area have been carried out, and proposed the countermeasures for disposition the leachate furtherly.
基金Supported by the National Natural Science Foundation of China (NSF 29836140).
文摘State space approach is an effective method to mass-exchange network (MEN) synthesis. By decomposing the network into two interactive parts, a distribution network and a process operator, the synthesis problem can be formulated into a mixed integer nonlinear programming (MINLP) model. In this article, a generalized state space model based on typical MEN is established and verified in two cases. A new asymmetrical operator and cost index are also adopted to speed up the solution process. The results demonstrate the efficiency of the proposed approach.
文摘Moulds have been reported to destroy volumes of timbers in buildings annually. As a result, timber components within the built environment decline and fail to fulfill their basic requirements. This research focused on the isolation and evaluation of the prevalence and effects of deteriorating moulds in the rain forest and swampy rain forest regions of Nigeria where the water activity is as high as 0.7. To accomplish this, decayed timber samples were aseptically collected on buildings from six strategic locations. The samples were serially diluted and inoculated onto Sabouraud Dextrose Agar medium in Petal dishes. The Petri dishes were incubated for 72 h at 30 ~C. Thereafter, moulds were isolated through visual and microscopic observations. The commonly encountered moulds were evaluated and analyzed. It was observed that, prevalence of moulds on buildings used for non residential purpose were higher. There was no significant difference between the prevalence on the components located inside the building and those outside the building. Ceiba pentandra exhibited highest degradation while Masonia altissima resisted most. The most deteriorating moulds were Aspergillus, Mucor, Rhizopus and Gliocladium. The deteriorations of Ceiba pentandra, Afzelia africana, Lophira alata, Anogessus leocarpus and Gossweilerodendron balsamiferum timbers under Aspergillus attack were projected.
文摘Based on the screening analysis for the first time in Montenegro, water samples for the presence of emergent wereanalyzed. Results from the locality Vukovci, the lower course of the river Morale, have shown the presence of chemical components that indicate the presence of emergent in the water. Thus identification component is associated with the presence of fiziological groups of microorganisms at the site, which with its functional and significant role in many ways reduce environmental stress.
文摘Among fertilizer ingredients nitrogen is the one noted for biggest losses because its susceptibility to volatilize to the atmosphere and to be leached away from the soil. These losses depend on the level and mode of fertilization. It appears that every year in Poland river waters transport to the Baltic Sea from the whole area about 180 thousand tons of the nutrient. The largest portion of this load is ascribed to agriculture. This study focused on the highland areas, which are commonly seen as a water supplying region owing to the fact that they cover about 35% of water need in the authors' country. Specificity of grassland fertilization in these lands is high contribution of natural fertilizers including dunging with fresh manure left by penned animals, particularly by sheep. Authors decided to assess the influence of dunging by folded sheep on meadow nitrogen balance and on its concentration in percolating water. It was demonstrated that a nitrogen balance was highly negative for each object, so the grassland plants supplied their needs in large part with nitrogen from mineralization of soil organic matter. Relatively high loads of nitrogen leached out of the folded objects indicate that nitrogen from mineral fertilizers is better utilized by grassland herbage and thus is much safer for soil and water environment.
文摘The increasing growth of energy consumption and the limited fossil energy resources, as the main source of energy in Iran and other parts of the world, has persuaded the industrial societies to struggle more for supplying their needed energy at present and in future. More than 26% of energy in Iran is consumed by industry sector, in which cement section is an important subsectors highly depending on energy. Cement section is so dependent on energy, that more 15% of the related energy is consumed in this section, and its present conditions of energy consumption need a serious revision. Production management, changing the ingredients, finding alternative energy strategies, and importing modem technologies can result in reduction of energy consumption in this section. In this study, while investigating energy consumption of various machineries in the form of electricity and heat in a cement factory, the authors have studied the strategies for decreasing energy consumption in every stage of the production process. Recent studies in the field of cement industry are indicative of recent changes in production methods with priority of reducing energy consumption. Among these changes, we can refer to replacing wet method by dry method, or developing pre-heating center and pre-calcinators. In cement industry, nowadays, not only there is an emphasis on controlling the energy consumption for lower production costs, but as production of every 1 kg of cement gives out more than 0.7 kg CO2 and other pollution particles, environmental issues are also seriously considered. Therefore, if we use alternative fuels with less carbon in their structural formula, besides decreasing energy consumption and costs, there will be less pollutions in the environment as well.