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Identifying lane markings is a key technology in assisted driving and autonomous driving. The traditional sliding window lane detection algorithm has good detection performance in straight lanes and curves with small curvature, but its detection and tracking performance is poor in curves with larger curvature. Large curvature curves are common scenes in traffic roads. Therefore, in response to the problem of poor lane detection performance of traditional sliding window lane detection algorithms in large curvature curves, this article improves the traditional sliding window algorithm and proposes a sliding window lane detection calculation method, which integrates steering wheel angle sensors and binocular cameras. When a vehicle first enters a bend, the curvature of the bend is not significant. Traditional sliding window algorithms can effectively detect the lane line of the bend and provide angle input to the steering wheel, enabling the vehicle to travel along the lane line. However, as the curvature of the curve increases, traditional sliding window lane detection algorithms cannot track lane lines well. Considering that the steering wheel angle of the car does not change much during the adjacent sampling time of the video, the steering wheel angle of the previous frame can be used as input for the lane detection algorithm of the next frame. By using the steering wheel angle information, the search center of each sliding window can be predicted. If the number of white pixels within the rectangular range centered around the search center is greater than the threshold, the average of the horizontal coordinate values of these white pixels will be used as the horizontal coordinate value of the sliding window center. Otherwise, the search center will be used as the center of the sliding window. A binocular camera is used to assist in locating the position of the first sliding window. The simulation and experimental results show that compared with traditional sliding window lane detection algorithms, the improved algorithm can better recognize and track lane lines with large curvature in bends.

Homemade water in water cationic polyacrylamide (CPAM) emulsion was applied in cigarette paper pulp as dry strengthening agent with other strengthening agent. Good collaborative effect was achieved when CPAM was used in bleached wheat straw pulp with strengthening agent E and with cationic additives L as paper pulp strengthening agent. It was also showed that distinct strengthening effect was obtained when CPAM emulsion was applied in mixture of bleached needle kraft pulp (NBKP) and wheat straw pulp, breaking length and tearing index of cigarette handsheet made of mix pulp was respectively increased by 22.2% and17.0% when the dosage of CPAM was 0.8% of dry fiber. Through analysis of cigarette handsheet section scanning electron microscopy (SEM) photos, strengthening mechanism of CPAM emulsion to cigarette paper pulp was preliminary studied.

Application in paper pulp as dry strengthening agent of homemade water in water cationic polyacrylamide (CPAM) emulsion was studied. Good collaborative effect was achieved when Homemade CPAM was used in bleached wheat straw pulp with strengthening agent E and with cationic additives L as paper pulp strengthening agent. It was also showed that distinct strengthening effect was obtained when homemade CPAM emulsion was applied in mixture of wood pulp which was needle bleached kraft pulp (NBKP) and straw pulp, breaking length and tearing index of hand sheet made of mix pulp was respectively increased by 22.2% and17.0% when the dosage of CPAM was 0.8% of dry fiber. Through analysis of handsheet section scanning electron microscopy (SEM) photos, strengthening mechanism of CPAM emulsion to paper pulp was preliminary studied.

Graft copolymerization of chitosan and vinyl monomer (such as acryamide and acrylic acid) and application study of the copolymer used as papermaking additive were paid more and more attention in papermaking chemical industry. Chitosan and acrylamide(AM) monomer were graft copolymerizing in inverse emulsion. Several factors such as oil-water proportion, mass ratio of chitosan and AM, emulsifier types and ratio, and initiator concentration that affect the stability of inverse emulsion were elementarily studied. Stable latex can be gained when reaction condition was that the volume ratio of oil phase and water phase was 1:1, the weight ratio of chitosan and AM was 1:8, the initiator concentration was 0.8mmol/L, the dosage of emulsification agent was 8% of the oil phase weight and the weight ratio of 1227 and OP-10 was 1:1.

A series of novel pro-pesticides with the activity of both 1,3,4-thiadiazole and chrysanthemic acid were synthesised using phenyldichlorophosphate catalysis. These 1,3,4-thiadiazole chrysanthemamides were identified by IR, 1H NMR and elemental analyses.