A route calculation for unmanned vessel

Рассматривается проблема определения маршрута движения безэкипажного судна с учетом жестких требований контроля положения и курса судна. Современные электронно-картографические навигационно-информационные системы в режиме управления траекторией определяют точку поворота для выхода на новый участок маршрута, что недостаточно для управления безэкипажным судном в автономном режиме. Для повышения точности предложено проводить расчет траектории движения безэкипажного судна в географических координатах c учетом движения судна по радиусу поворота между участками траектории без перевода в прямоугольную систему координат. Показано, что при движении в свободной акватории проблема может быть сведена к решению обратной геодезической задачи. Предложен универсальный алгоритм расчета траектории в виде сегментов дуг большого круга, позволяющий получить путевые точки маршрута с любой заданной точностью. В случае возникновения ограничений на движение между двумя участками по внутреннему радиусу необходимо рассчитать альтернативный маршрут обхода препятствия. Для данного случая предложен расчетный маневр, полученный на основе решения задачи Дубинса. Альтернативный маршрут формируется в виде последовательности криволинейных сегментов, соответствующих заданному радиусу поворота. Алгоритм расчета путевых точек позволяет получить траекторию обхода препятствия с любой степенью детализации. A route calculation problem for unmanned vessels is investigated according to the control position and course high requirements. Present day electronic chart display and information systems (ECDIS) operating on the track control regime provide wheel-of-point calculation to course changing. It is not enough to control unmanned ship on the route in the autonomous mode. To increase control precision a new route calculation routine is suggested. The routine provides route calculation in the geodesic coordinates without Cartesian reference system mapping. It is shown that in the empty water the routine can be reduced to an inverse survey computation. A universal route calculation algorithm providing great circle arc segmentation with any given accuracy is suggested. In the case of course changing restricted area, it is needed to calculate an alternate route for obstacle or collision avoidance. The algorithm of alternate route calculation based on Dubins problem solution is applied. The route is found as a sequence of great circle arcs according to the ship turn radius. The shown algorithm allows finding avoidance route waypoints with any given resolution.

Tunable and Recyclable Polyesters from CO2 and Butadiene

Carbon dioxide is inexpensive and abundant, and its prevalence as waste makes it attractive as a sustainable chemical feedstock. Although there are examples of copolymerizations of CO2 with high-energy monomers, the direct copolymerization of CO2 with olefins has not been reported. Herein, an alternate route to tunable, recyclable polyesters derived from CO2 and butadiene via an intermediary lactone, 3-ethyl-6-vinyltetrahydro-2H-pyran-2-one, is described. Catalytic ring-opening polymerization of the lactone by 1,5,7-triazabicyclo[4.4.0]dec-5-ene yields polyesters with molar masses up to 13.6 kg/mol and pendent vinyl sidechains that can undergo post-polymerization functionalization. The polymer has a low ceiling temperature of 138 ºC, allowing for facile chemical recycling. These results mark the first example of a well-defined polyester derived solely from CO2 and olefins, expanding access to new feedstocks that were once considered unfeasible.

Acoustic Magnifying Lens Based on Compact Non-Dispersive Spiral Metamaterial Array

Acoustic magnifying lenses are utilized in a diversity of applications, from nondestructive detection of damages in materials to biomedical imaging. Acoustic metamaterials (MMs) provide powerful control over sound waves by using periodic structures made from natural materials. Existing acoustic meta-lens are commonly associated with designing dispersive metamaterial or connect with local resonator, thus resulting in inevitable deformity of waveforms. Although the four-blade spiral MMs has non-dispersive properties, how to further improve the transmission and reduce the manufacturing difficulty in a compact size is important to construction of a meta-lens. We propose a single-blade spiral metamaterial, which has higher transmission and non-dispersion properties. Based on this meta-unit, we designed and manufactured a meta-lens with the ability to amplify sound signals at the focus point. Different from previous research, the meta-lens is established by periodic meta-helicoid unit and presents great focusing ability while maintaining a compact volume. We show, both theoretically and experimentally, the thin flat acoustic magnifier can turn normally incident signals focusing on the prescribed point and augmenting pressure amplitude about three times. Moreover, the diameter of each element is only 10 mm, and the thickness of the meta-lens is 48mm. Our new strategy may offer an alternate route to the design of novel meta-lens and devices for acoustic application in the future.

Synthesis of benzofuro- and benzothieno[2,3-c]pyridines via copper-catalyzed [4 + 2] annulation of ketoxime acetates with acetoacetanilide

An efficient copper-catalyzed annulation of ketoxime acetates with acetoacetanilide has been developed. This strategy provides an alternate route towards the synthesis of benzofuro- and benzothieno[2,3-c]pyridines with good functional group tolerance...