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Path planning has always been a crucial issue for UAV. The UAVs path planning in multiple missions involves the solution of an optimization problem. Genetic algorithms (GAs) are well applied to solve such problems as a stochastic search method. In this paper, a new method based on genetic algorithm is presented to generate path for UAV in the existence of(More)
New porous metal-organic framework (MOF) films based on the flexible ligand 1,3,5-tris[4-(carboxyphenyl)oxamethyl]-2,4,6-trimethylbenzene (H3TBTC) were fabricated on α-Al2O3 substrates under solvent thermal conditions. The factors affecting the fabrication of films, such as the temperature of pre-activation and the dosage of the reagents, were investigated.(More)
A series of four coordination polymers showing entangled architectures based on cobalt and mixed N-donor/O-donor ligands, namely [Co(4,4'-BPIPA)(TP)]·2DMF (1), [Co(4,4'-BPIPA)(2,6-NDC)(DMF)]·DMF (2), [Co(4,4'-BPIPA)(2,6-NDC)]·2DMF (3) and [Co(4,4'-BPIPA)(4,4'-BPDC)]·2DMF (4) (4,4'-BPIPA = N,N'-bis-4-pyridinyl-isophthalamide, TP = terephthalic acid, 2,6-NDC(More)
Three inorganic-organic hybrid solids based on tetravanadate polyanions, {V(4)O(12)}(4-) and cucurbituril, Me(10)Q[5] and Q[5], namely (NH(4))(4)[(V(4)O(12))·(Me(10)Q[5]@0.5H(2)O)(2)]·∼13H(2)O (1), Li(4)(H(2)O)(5)[(V(4)O(12))·(Me(10)Q[5]@H(2)O)(2)]·∼20H(2)O (2), and Na(4)(H(2)O)(2)[(V(4)O(12))·(Q[5])(2)]·∼15H(2)O (3), have been synthesized under(More)
A series of tartrazine-lanthanide dye compounds has been synthesized and characterized. Structural studies reveal that the light rare-earth elements La, Ce, Pr and Nd form coordination compounds with tartrazine ligands in a 1:1 ratio and result in 1-D 'fish-bone' chain-like structures having uncoordinated organosulfonate groups on each side of the chain.(More)
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