Path planning under 2D map is a key issue in robot applications. However, most related algorithms rely on point-by-point traversal. This causes them usually cannot find the strict shortest path, and their time cost increases dramatically as the map scale increases. So we proposed RimJump to solve the above problem, and it is a new path planning method that generates the strict shortest path for a 2D map. RimJump selects points on the edge of barriers to form the strict shortest path. Simulation and experimentation prove that RimJump meets the expected requirements.

The issue on the muzzle blast flow with gas-particle mixtures was numerically investigated in this paper. The propellant gas in the cannon was assumed to be gas-particle mixtures consisting of a variety of gaseous species and particles. The model made use of the Eulerian-Eulerican approach, where the particle were modeled as a second fluid with parameters like bulk density, velocity and temperature, interacting with the gas flow. A high-resolution upwind scheme(AUSMPW+) and detailed reaction kinetics model were employed to solve the chemical non-equilibrium Euler equations for gas phase. The Euler equations for particle phase were solved by MacCormack scheme. The particle diameter and the mass fraction of particle were tested to show their effects on the development process of muzzle blast flow with gas-particle mixtures. The distribution of the main flow parameters of both gas and particle were obtained at different time intervals. The results show the evolution of the muzzle blast flow with gas-particle mixtures and demonstrate the effects of key parameter on the flow field of the gas-particle flow. This paper is a significant investigation for understanding the muzzle blast flow with gas-particle mixtures, which can provide valuable reference for the research on the muzzle blast flow.

Solid solutions 0.7Bi1−xLax (Fe0.9Cr0.1) O3–0.1BaTiO3–0.2PbTiO3 (BLxFOC-BT-PT, with x = 0, 0.03, 0.05, 0.07) solid solutions were prepared by the traditional ceramic process. X-ray diffraction results reveal that all samples show pure pseudocubic perovskites structure. The lattice parameter of the solid solutions increases linearly with the La content, indicating that La ions have entered crystal lattices to form a solid solution. The Curie temperature of the solid solutions decreases with the La content. Room-temperature polarization–electric field (P–E) curves indicate that the samples with x = 0.03 and 0.05 exhibit saturated P–E loops. Piezoelectric constant d33 of the solid solutions increases firstly and then decreases. Magnetizations of the solid solutions decrease with the La content. The evidence of weak ferromagnetism and saturated ferroelectric hysteresis loops in BLxFOC–BT–PT system at room temperature makes it a good candidate for multiferroic applications.

X-cut potassium titanyl phosphate (KTiOPO4 or KTP) was implanted by multienergy MeV He+ implantation with a total dose of 2 × 1016 ions/cm2 at liquid nitrogen temperature. The energy and dose used are as follows: 3.3 MeV and 2 × 1015 ions/cm2, 3.2 MeV and 4 × 1015 ions/cm2, 3.1 MeV and 4 × 1015 ions/cm2, and 3.0 MeV and 1.0 × 1016 ions/cm2 to reduce tunneling effect. The 22 dark modes were measured by the isosceles prism coupling method. The 15 bright modes were observed after 250 °C, 60 min annealing. The result shows that the waveguide formation of KTiOPO4 implanted by MeV He+ is not strongly dependent on the cut direction, which is different from the waveguide formation of KTiOPO4 by ion exchange process.