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1
Content available An ant-based filtering random-finite-set approach to simultaneous localization and mapping
Li D., Zhu J., Xu B., Lu M., Li M.
International Journal of Applied Mathematics and Computer Science
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2018
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Vol. 28, no. 3
505--519
EN
Inspired by ant foraging, as well as modeling of the feature map and measurements as random finite sets, a novel formulation in an ant colony framework is proposed to jointly estimate the map and the vehicle trajectory so as to solve a feature-based simultaneous localization and mapping (SLAM) problem. This so-called ant-PHD-SLAM algorithm allows decomposing the recursion for the joint map-trajectory posterior density into a jointly propagated posterior density of the vehicle trajectory and the posterior density of the feature map conditioned on the vehicle trajectory. More specifically, an ant-PHD filter is proposed to jointly estimate the number of map features and their locations, namely, using the powerful search ability and collective cooperation of ants to complete the PHD-SLAM filter time prediction and data update process. Meanwhile, a novel fast moving ant estimator (F-MAE) is utilized to estimate the maneuvering vehicle trajectory. Evaluation and comparison using several numerical examples show a performance improvement over recently reported approaches. Moreover, the experimental results based on the robot operation system (ROS) platform validate the consistency with the results obtained from numerical simulations.
2
Content available remote Some Novel Pythagorean Fuzzy Interaction Aggregation Operators in Multiple Attribute Decision Making
Gao H., Lu M., Wei G., Wei Y.
Fundamenta Informaticae
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2018
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Vol. 159, nr 4
385--428
EN
In this paper, we investigate the multiple attribute decision making problems with Pythagorean fuzzy information. Then, we utilize arithmetic and geometric operations to develop some Pythagorean fuzzy interaction aggregation operators: Pythagorean fuzzy interaction weighted average (PFIWA) operator, Pythagorean fuzzy interaction weighted geometric (PFIWG) operator, Pythagorean fuzzy interaction ordered weighted average (PFIOWA) operator, Pythagorean fuzzy interaction ordered weighted geometric (PFIOWG) operator, Pythagorean fuzzy interaction hybrid average (PFIHA) operator, Pythagorean fuzzy interaction hybrid geometric (PFIHG) operator, Pythagorean fuzzy interaction correlate aggregation operators, Pythagorean fuzzy interaction induced aggregation operators, Pythagorean fuzzy interaction induced correlate aggregation operators, Pythagorean fuzzy interactive power arithmetic and geometric aggregation operators. The prominent characteristic of these proposed operators are studied. Then, we have utilized these operators to develop some approaches to solve the Pythagorean fuzzy multiple attribute decision making problems. Finally, a practical example for selecting the service outsourcing provider of communications industry is given to verify the developed approach and to demonstrate its practicality and effectiveness.
3
Content available 4-Amino-3-hydrazino-1,2,4-triazole: a Precursor for the Preparation of Divalent Energetic Materials
Lin Q., Wang P., Sun Q., Lu M.
Central European Journal of Energetic Materials
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2018
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Vol. 15, no. 1
18--29
EN
4-Amino-3-hydrazino-1,2,4-triazole (AHT) was developed as a divalent cation. The multivalent structure can be used to increase the number of nitrogen-rich heterocycles, thereby increasing the heat of formation and improving the detonation performance. Herein we report on a family of divalent energetic salts, which exhibit excellent properties, viz. acceptable density, good detonation performance, and desirable thermal and impact stabilities. The structural features of the salts were further determined by single-crystal X-ray diffraction. In addition, the detonation properties calculated for these energetic salts identified them as competitively energetic compounds.
4
Content available remote A rapid and sensitive UPLC–MS/MS method for determination of remimazolam and its main metabolite in human urine and its application in clinical urine recovery study
Zhou Y., Lu M., Jiang J.
Acta Chromatographica
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2018
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Vol. 30, no. 2
109--113
EN
Remimazolam is a new chemical entity belonging to the benzodiazepine class of sedative drugs. A sensitive and rapid method based on ultra-performance liquid chromatography–tandem mass spectrometry (UPLC–MS/MS) has been developed and validated for the determination of remimazolam and its major carboxylic acid metabolite (M1) in human urine. Urine samples were prepared by dilution and analyzed using an isocratic chromatographic separation. Inter- and intra-batch results for remimazolam were within 10.7% for accuracy and 5.5% for precision, and for M1, within 5.8% for accuracy and 4.2% for precision, respectively. This study represents the first reported example for the quantification of remimazolam and its main metabolite in human urine. Furthermore, this method has been successfully applied for the urine recovery study of remimazolam in Chinese healthy subjects. Only about 0.01% of the administered remimazolam dose was eliminated in the urine over the 24 h period in the form of unchanged remimazolam, and more than 75.1% of the administered dose was eliminated in the form of M1. Remimazolam is excreted mainly in the form of M1 in urine after intravenous administration, and there is no excessive accumulation in vivo after administration of remimazolam.
5
Content available Mild Method to Synthesize TATB by Amination of 1,3,5-Trialkoxy-2,4,6-Trinitrobenzene under Phase Transfer Catalysis Conditions
Chang T., Li B., Chen L., Ge L., Lu M.
Central European Journal of Energetic Materials
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2017
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Vol. 14, no. 1
47--59
EN
Nucleophilic amination, as a vital step in the synthesis of 1,3,5-triamino-2,4,6-trinitrobenzene (TATB) using 1,3,5-trialkoxy-2,4,6-trinitrobenzene (TORTNB) and aqueous ammonia as the starting materials and catalyzed by phase transfer catalysis (PTCs) under mild conditions is described. Various phase transfer catalysts, such as crown ethers, tertiary amines, quaternary ammonium salts, poly ethers and cyclodextrin, and various experimental parameters, such as no. of equivalents of PTC, mole ratio of ammonium hydroxide to the starting material, reaction time, reaction temperature and cycle times of the organic phase were investigated. The crown ethers, especially 18-crown-6, show good catalytic activity and re-usability for the amination of 1,3,5-triethoxy-2,4,6-trinitrobenzene giving a yield of 96.52%. This makes for a safe process and suitable for scale-up, because the reactions are carried out under atmospheric conditions. The material synthesised by the new system was characterized by DSC, SEM and LPS.
6
Content available Dual hesitant pythagorean fuzzy Hamacher aggregation operators in multiple attribute decision making
Wei G., Lu M.
Archives of Control Sciences
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2017
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Vol. 27, no. 3
365--395
EN
In this paper, we investigate the multiple attribute decision making (MADM) problem based on the Hamacher aggregation operators with dual Pythagorean hesitant fuzzy information. Then, motivated by the ideal of Hamacher operation, we have developed some Hamacher aggregation operators for aggregating dual hesitant Pythagorean fuzzy information. The prominent characteristic of these proposed operators are studied. Then, we have utilized these operators to develop some approaches to solve the dual hesitant Pythagorean fuzzy multiple attribute decision making problems. Finally, a practical example for supplier selection in supply chain management is given to verify the developed approach and to demonstrate its practicality and effectiveness.
7
Content available remote An on-line phase measuring profilometry based on modulation
Wu Y., Cao Y., Lu M., Li K.
Optica Applicata
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2012
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Vol. 42, nr 1
31-41
EN
An on-line phase measuring profilometry (PMP) based on Stoilov's algorithm which can be used for on-line 3-D shape inspection is proposed in this paper. A stationary sinusoidal grayscale fringe pattern is projected onto the object kept on the production line, and an immobile charge-coupled device (CCD) is used to capture five deformed patterns equidistantly. The phase distribution is calculated by using Stoilov's algorithm, and the height distribution of the inspected object is obtained through the relation of phase-height mapping. When inspected object moves, the positions of images in different deformed patterns change, so the pixel matching is implemented to acquire the equivalent phase-shifting which meets the requirement of Stoilov's algorithm. Modulation which represents the contour of inspected object is used as the template to perform the pixel matching for the first time in this paper. Computer simulation and experiment verified the effectiveness of the method.
8
Content available remote Dyeing Kinetics of Vinylon Modified with β-Cyclodextrin
Lu M., Liu Y P
Fibres & Textiles in Eastern Europe
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2011
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Vol. 19, no. 5 (88)
133--135
EN
In this paper, dyeing experiments were performed on vinylon modified with β-cyclodextrin using a reactive dye. The kinetics of the dyeing process for vinylon modified with β-cyclodextrin was researched by measuring the dye uptake, time of half dyeing, dyeing rate constant and the diffusion coefficient. The results show that grafting β-cyclodextrin onto vinylon enables to increase the diffusion and uptake of reactive dyestuffs from a bath, and that the degree of grafting is closely related to the improvement of diffusion and uptake of dyestuffs.
PL
Przeprowadzono próby barwienia barwnikami reaktywnymi włókien winylowych modyfikowanych β–cyklodekstrynami. Kinetykę procesu określano mierząc zużycie barwnika, połowiczny czas barwienia, stała prędkość barwienia oraz współczynnik dyfuzji. Wyniki wykazały, że pokrycie włókien ß–cyklodekstrynami pozwoliło na zwiększenie dyfuzji barwnika i zuzycie stosowanych barwnikow reaktywnych oraz, że stopień pokrycia jest skorelowany z poprawa dyfuzji i zużycia barwników.
9
Content available remote Ustalanie pozycji i naprowadzanie maszyn mikrotunelowych w czasie rzeczywistym
Shen X., Lu M., Chen W., Chan W.
Inżynieria Bezwykopowa
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2010
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nr 1
54-60
PL
Rosnące zapotrzebowanie na podziemną infrastrukturę lepszej jakości i w większej ilości, w tym na instalację, konserwację i wymianę różnego rodzaju rur i kabli, przyczyniło się do szybkiego rozwoju i rosnącego wykorzystania technologii bezwykopowych w XX wieku. Zaawansowane tarcze drążące oraz maszyny służące do drążenia mikrotuneli pozwalają uzyskać większą kontrolę nad trasą i poziomem tunelu, a także przyczyniają się do przyspieszenia procesu drążenia Maszyny mikrotunelowe znalazły szerokie zastosowanie przede wszystkim w różnorodnych projektach obejmujących przeciskanie rur i drążenie mikrotuneli.
EN
Micro Tunnel Boring Machines (MTBM) have seen wide applications in pipe jacking and microtunnelling projects. Accurate MTBM positioning and attitude measurement are crucial to guiding the MTBM's advance, controlling line and level of the subsurface tunnel, and tracking MTBM's production progress. In this paper, we first evaluate pros and cons of available MTBM guidance systems. Our evaluation covers prevalent passive and active laser targeting systems for short and straight drives, along with gyroscope-based inertial navigation systems specifically designed for curve drive. We then propose a real-time, automated solution to MTBM guidance by application of state-of-the-art robotic total stations.
10
Content available remote Crease resistant finishing of cotton fabric with a complex of fibroin and citric acid
Lu M.
Fibres & Textiles in Eastern Europe
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2010
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Vol. 18, no. 3 (80)
86--88
EN
A complex of fibroin and citric acid was prepared and used for the crease resistant finishing of cotton fabrics, which increased the crease resistance of cotton and avoided fabric yellowing caused by citric acid as a finishing agent for cotton. An orthogonal experiment design and variance analysis were adopted to investigate optimum processing parameters for the multiple quality characteristics of treated cotton fabrics. According to range and variance analyses from the orthogonal experiments, fibroin was the most sensitive factor influencing the whiteness index of the fabrics, and citric acid had a more marked effect on crease recovery. The optimum combination of the processing parameters was 4% fibroin, 20 g/dm3 of citric acid, 5% sodium dihydrogen phosphate, a pH 6 finishing bath and a curing temperature of 130°C.
PL
Przygotowano kompleks fibroiny i kwasu cytrynowego dla przeciwgniotliwego wykańczania tkanin bawełnianych. Celem zastosowania kompleksu było zwiększenie odporności tkanin na gniecenie oraz nie powodowanie żółknięcia występującego przy stosowaniu samego kwasu cytrynowego. Zastosowano ortogonalny system analizy eksperymentu dla określenia optymalnych jakościowych parametrów badanych tkanin. Zgodnie z analizą rang i analizą wariancji stwierdzono, że fibroina jest czynnikiem najbardziej wpływającym na indeks bieli tkanin a kwas cytrynowy ma zwiększony wpływ na odprężenie tkanin. Stwierdzono, że optymalny skład preparacji to 4% fibroiny, 20 g kwasu cytrynowego na cm3 roztworu i 5% dwuwodoro fosforanu sodowego, a warunki końcowej kąpieli to pH 6 i temperatura 130°C.
11
Content available remote Synthesis in aqueous phase and characterization of silver nanorods and nanowires
Zhou J., Zhou G., Wang R., Lu M.
Materials Science Poland
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2009
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Vol. 27, No. 1
73--78
EN
Silver nanorods and nanowires have been synthesized via a chemical process in aqueous phase by using ascorbic acid as a reducing agent and anionic surfactant dodecyl benzene sulfonic acid sodium (SDBS) as a capping agent. The products were characterized by X-ray diffraction (XRD) techniques and transmission electron microscopy (TEM). Experimental results indicated that the concentration of ascorbic acid played a critical role in the formation of the silver nanorods and nanowires. The optical properties were investigated. The prepared nanostructures displayed a very strong absorption band at room temperature.
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