A Photosensitivity-Enhanced Plant Growth Algorithm for UAV Path Planning.

With the rise and development of autonomy and intelligence technologies, UAVs will have increasingly significant applications in the future. It is very important to solve the problem of low-altitude penetration of UAVs to protect national territorial security. Based on an S-57 electronic chart file, the land, island, and threat information for an actual combat environment is parsed, extracted, and rasterized to construct a marine combat environment for UAV flight simulation. To address the problem of path planning for low-altitude penetration in complex environments, a photosensitivity-enhanced plant growth algorithm (PEPG) is proposed. Based on the plant growth path planning algorithm (PGPP), the proposed algorithm improves upon the light intensity preprocessing and light intensity calculation methods. Moreover, the kinematic constraints of the UAV, such as the turning angle, are also considered. The planned path that meets the safety flight requirements of the UAV is smoother than that of the original algorithm, and the length is reduced by at least 8.2%. Finally, simulation tests are carried out with three common path planning algorithms, namely, A*, RRT, and GA. The results show that the PEPG algorithm is superior to the other three algorithms in terms of the path length and path quality, and the feasibility and safety of the path are verified via the autonomous tracking flight of a UAV.

CO2 introduced the coagulation-flocculation of oil acidized wastewater: pollutant removal and cost analysis.

It is difficult to adjust the pH of oil acidized wastewater rich in Ca2+, thus hindering the polyacrylamide (PAM) flocculation. This study aims at accelerating the flocculation process by introducing CO2 into the water to induce the formation of CaCO3 nuclei. The order in which CO2 and NaOH were added affected the floc structures. Compared with CO2-NaOH-PAM, the flocs of NaOH-CO2-PAM were more compact and more CaCO3 crystals were formed. The aqueous Ca2+ involved in the reaction reached 20%, and CO2 utilization was enhanced. The settling time was shortened by half (from 20 to 3 min), and NaOH consumption was reduced by one-tenth (from 0.03 to 0.003 mol), hence significantly reducing the costs. Due to the higher settling rate and shorter contact time, the NaOH-CO2-PAM flocs adsorbed less so that the residual oil was 124 mg·L-1, while in the case of CO2-NaOH-PAM it was 88 mg·L-1. As a promising coagulation aid, CO2 can also be used to mineralize pollutants in wastewater.