In this work,we sought to investigate constrained docking control during shipborne SideArm recovery of an Unmanned Aerial Vehicle(UAV)under preassigned safe docking constraints,rough ocean environments,and different i...In this work,we sought to investigate constrained docking control during shipborne SideArm recovery of an Unmanned Aerial Vehicle(UAV)under preassigned safe docking constraints,rough ocean environments,and different initial positions.The aim was to solve the UAV tracking-lag problem that manifests when attempting to dock with a rapidly moving SideArm and to improve the accuracy and rapidity of docking.First,together with the formulations of the shipborne SideArm system and environmental airflows,the affine nonlinear dynamics of the hook was established to reduce tracking lag.Then,echo state network approximators with good approximation capacity and low computational consumption were designed to accurately approximate the UAV’s unknown nonlinear dynamics.With feedforward compensation provided by these approximators,a nonlinear-mapping-based constrained docking control law was developed for shipborne SideArm recovery of UAVs.This approach to controlling the docking trajectory and the forward docking speed of the UAV can achieve rapid and exact docking with a moving SideArm,without violating the preassigned safe docking-constraint envelopes.Simulations under different docking scenarios were used to validate the effectiveness and advantages of the proposed docking-control algorithm.展开更多
It remains a challenging task to achieve ring-opening(co)polymerization(ROP)of macrolactones.Hence,we synthesized a series of Al-based catalysts and systemically investigated the effect of N-containing substituent on ...It remains a challenging task to achieve ring-opening(co)polymerization(ROP)of macrolactones.Hence,we synthesized a series of Al-based catalysts and systemically investigated the effect of N-containing substituent on the sidearms on ROP of macrolactones.Al3 possessing Nmethyl group could effectively achieve controlled ROP of pentadecalactone(PDL)and macro(di)lactone ethylene brassylate(EB)in combination with BnOH,furnishing polyethylene-like PPDL and PEB with M_(W)up to 90.3 and 321 kg/mol,respectively.Random copolymerization of PDL and small-ring lactonesε-caprolactone(e-CL)andδ-valerolactone(δ-VL)could prepare random copolyesters with tailored T_(m)in the range of 57-94℃by controlling the ratios of PDL and e-CL,6-VL.More importantly,well-defined block copolyesters could be obtained by sequential adding PDL andε-CL,δ-VL,which have been proved by GPC-MALLS,DSC and^(13)C-NMR.展开更多
A new type of trisoxazoline and bisthiazoline based ligands have been developed,which are absent of chiral motif on the parent skeleton and containa chiral backbone on sidearm.The ligands promote the amine nucleophili...A new type of trisoxazoline and bisthiazoline based ligands have been developed,which are absent of chiral motif on the parent skeleton and containa chiral backbone on sidearm.The ligands promote the amine nucleophilic ring opening reaction of 1,1-cyclopropane diesters smoothly,furnishing the γ-amino acid derivatives in high yield with moderate to good enantioselectivity.展开更多
A copper-catalyzed highly stereoselective cyclopropanation of 1,2-disubstituted olefins with α-nitrodiazo acetates has been developed, giving the desired products in up to 97 % yields, up to 〉99/1 dr and up to 98 % ...A copper-catalyzed highly stereoselective cyclopropanation of 1,2-disubstituted olefins with α-nitrodiazo acetates has been developed, giving the desired products in up to 97 % yields, up to 〉99/1 dr and up to 98 % ee, which provides an efficient access to the synthesis of optical active cyclopropane α-amino acids and unnatural α-amino acid derivatives.展开更多
Neurofilaments (NFs) are neuron-specific intermediate filaments. The NFs were isolated from bovine spinal cord by differential centrifugation. The NFs were detected with electron microscopy and scanning tunneling micr...Neurofilaments (NFs) are neuron-specific intermediate filaments. The NFs were isolated from bovine spinal cord by differential centrifugation. The NFs were detected with electron microscopy and scanning tunneling microscopy (STM) . Under STM, two kinds of sidearm of NFs were revealed: one was short, the other was long. They were arrayed along the 10-nm width core filaments one by one. The intervals between two adjacent long sidearms or two short sidearms were 20-22 nm, while those between two adjacent long and short sidearms were 10-ll nm. It was proposed that the rod domain of NF triplet proteins was 3/4-staggered. The assembly properties of NT triplet proteins were also studied. Immuno-colloidal-gold labeling assay showed that NF-M and NF-H are able to co-assemble into long filaments with NF-L. NF-M and NF-H can also co-constitute into winding filaments.展开更多
基金This study was supported by the National Key Laboratory of Science and Technology on UAV in NWPU,China(No.2022-JCJQ-LB-071)the National Natural Science Foundations of China(No.61903190)+2 种基金the Aeronautical Science Foundation(N2022Z023052003)the Fundamental Research Funds for the Central Universities,China(No.NS2023016)the Postgraduate Research&Practice Innovation Program of NUAA,China(No.xcxjh20230311).
文摘In this work,we sought to investigate constrained docking control during shipborne SideArm recovery of an Unmanned Aerial Vehicle(UAV)under preassigned safe docking constraints,rough ocean environments,and different initial positions.The aim was to solve the UAV tracking-lag problem that manifests when attempting to dock with a rapidly moving SideArm and to improve the accuracy and rapidity of docking.First,together with the formulations of the shipborne SideArm system and environmental airflows,the affine nonlinear dynamics of the hook was established to reduce tracking lag.Then,echo state network approximators with good approximation capacity and low computational consumption were designed to accurately approximate the UAV’s unknown nonlinear dynamics.With feedforward compensation provided by these approximators,a nonlinear-mapping-based constrained docking control law was developed for shipborne SideArm recovery of UAVs.This approach to controlling the docking trajectory and the forward docking speed of the UAV can achieve rapid and exact docking with a moving SideArm,without violating the preassigned safe docking-constraint envelopes.Simulations under different docking scenarios were used to validate the effectiveness and advantages of the proposed docking-control algorithm.
基金the National Natural Science Foundation of China(Nos.22225104,22071077,21871107 and 21975102)China Postdoctoral Science Foundation(Nos.2022TQ0115 and 2022M711297)。
文摘It remains a challenging task to achieve ring-opening(co)polymerization(ROP)of macrolactones.Hence,we synthesized a series of Al-based catalysts and systemically investigated the effect of N-containing substituent on the sidearms on ROP of macrolactones.Al3 possessing Nmethyl group could effectively achieve controlled ROP of pentadecalactone(PDL)and macro(di)lactone ethylene brassylate(EB)in combination with BnOH,furnishing polyethylene-like PPDL and PEB with M_(W)up to 90.3 and 321 kg/mol,respectively.Random copolymerization of PDL and small-ring lactonesε-caprolactone(e-CL)andδ-valerolactone(δ-VL)could prepare random copolyesters with tailored T_(m)in the range of 57-94℃by controlling the ratios of PDL and e-CL,6-VL.More importantly,well-defined block copolyesters could be obtained by sequential adding PDL andε-CL,δ-VL,which have been proved by GPC-MALLS,DSC and^(13)C-NMR.
基金We are grateful for the financial support from the Natural Science Foundation of China(Nos.21121062,and 21272250),and Chinese Academy of Sciences.
文摘A new type of trisoxazoline and bisthiazoline based ligands have been developed,which are absent of chiral motif on the parent skeleton and containa chiral backbone on sidearm.The ligands promote the amine nucleophilic ring opening reaction of 1,1-cyclopropane diesters smoothly,furnishing the γ-amino acid derivatives in high yield with moderate to good enantioselectivity.
基金supported by the National Natural Science Foundation of China(21421091,21432011 and21272250)the Chinese Academy of Sciences
文摘A copper-catalyzed highly stereoselective cyclopropanation of 1,2-disubstituted olefins with α-nitrodiazo acetates has been developed, giving the desired products in up to 97 % yields, up to 〉99/1 dr and up to 98 % ee, which provides an efficient access to the synthesis of optical active cyclopropane α-amino acids and unnatural α-amino acid derivatives.
基金Project supported by the Doetor Foundation of Ministry of Education of China.
文摘Neurofilaments (NFs) are neuron-specific intermediate filaments. The NFs were isolated from bovine spinal cord by differential centrifugation. The NFs were detected with electron microscopy and scanning tunneling microscopy (STM) . Under STM, two kinds of sidearm of NFs were revealed: one was short, the other was long. They were arrayed along the 10-nm width core filaments one by one. The intervals between two adjacent long sidearms or two short sidearms were 20-22 nm, while those between two adjacent long and short sidearms were 10-ll nm. It was proposed that the rod domain of NF triplet proteins was 3/4-staggered. The assembly properties of NT triplet proteins were also studied. Immuno-colloidal-gold labeling assay showed that NF-M and NF-H are able to co-assemble into long filaments with NF-L. NF-M and NF-H can also co-constitute into winding filaments.
