This manuscript proposes a novel tangent-graph-based method that provides all distinctive topology paths, as a set of trajectories that can not be transformed into each other by gradual bending and stretching without colliding with obstacles. As the global optimal trajectory (limited by dynamic constraints) may not correspond to the shortest path (almost without dynamic constraints), it is important to provide all distinctive topology paths rather than just the globally shortest one. One of the application is provide initial paths for trajectory planning methods, such as time elastic band (TEB) and dynamic window approach (DWA). Considering that a mobile platform is always working in a dynamic changing environment and that update the whole graph is time consuming, a dynamic rectify method is proposed to update tangents according to local map provided by sensor reading. Finally, results under real grid maps are presented.

Path planning in 3D environment is a fundamental research area for robots and autonomous vehicles. Based on the principle ``the shortest path consists of tangents'', RimJump* is proposed as a tangent-based path planning method suitable for finding the shortest path (both off-ground and on-ground) in 3D space (e.g., octomap and point cloud) for mobile platform to follow. RimJump* searches the tangent graph in the form of a path tree and considers the geometrical properties of the locally shortest path. Therefore, the method can provide all of the locally shortest paths that connect the starting point and the target, including the globally shortest path. And the time cost of RimJump* is insensitive to map scale increases in comparison to methods that search the whole passable space rather than the surface of the obstacle, e.g., Dijkstra and A*. In the Results, RimJump* is compared with other methods in terms of path length and time cost.

In this paper, the effects on the rheological properties, particle size distribution, and fluorescence properties of red wine were investigated under microwave irradiation, and the mechanism of the effects of microwave irradiation on the sensory properties of red wine was discussed. The results showed that the effect of microwave on the rheological properties in red wine could be fitted by the Power-law model and Carson model, through the analysis of the rheological constants, yield stress, and viscosity coefficient of wine, it was found that microwave treatment could improve leg phenomenon and thickening effect by the change of rheological properties; the particle size distribution in wine indicated that microwave irradiation did change the particle size distribution through friction effect and oxidative polymerization, resulting in the wine’s visual effect and mouthfeel; the wine quality could be improved by enhancing the fluorescence intensity under different microwave conditions, which meant that microwave technology could speed up the formation of fluorescent substances, such as the polymerization of flavan-3-ols. In conclusion, microwave treatment could modify the sensory characteristics of wine, and further provide the theoretical basis for the application of microwave in winemaking.