Abstract: A method for compact and flat bismuth metal preparation by electrolysis is provided. In the method, one or more of ?-naphthol, acacia, sulfonated and vulcanized alkylphenol ethoxylate and naphthol ethoxylate oxides are added to the acidic solution of bismuth methanesulfonate as additives, and the cathodic bismuth is obtained by electrolysis at 20-80° C. The method for bismuth metal preparation is simple and easy to promote, environment-friendly, and the obtained bismuth metal has a flat and compact surface and good plate formation effect.

Abstract: A system and method for determining a path for autonomous navigation based on user input is described. The vehicle can include one or more sensors to collect data for generating a three-dimensional (3D) model of the vehicle's surroundings. A two-dimensional (2D) occupancy grid map can be generated from the 3D model and displayed at a computing device. In some examples, the occupancy grid map can be displayed at a user interface of the electronic device. The user interface can further accept user input in the form of one or more of a user-defined path, an endpoint, a vehicle pose, or a series of waypoints. Based on the user input, a finalized path for autonomous vehicle travel can be determined. Determining a finalized path can include determining an optimal, minimum-distance path, applying a smoothing algorithm, and/or applying a constraint to maintain a minimum distance from any static obstacles near the vehicle.