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Novel robust simultaneous localization and mapping for long-term autonomous robots Research Articles

Wei WEI, Xiaorui ZHU, Yi WANG,weirui9003@gmail.com,xiaoruizhu@hit.edu.cn,wangyi601@aliyun.com

Frontiers of Information Technology & Electronic Engineering 2022, Volume 23, Issue 2,   Pages 234-245 doi: 10.1631/FITEE.2000358

Abstract: Moreover, is an important property for SLAM.low-texture environments, long corridors, tunnels, or other duplicated structural environments, most SLAMIn this paper, we propose a novel robust visual inertial navigation (VILN) SLAM system, including stereoThe proposed VILN SLAM system can perform well with low drift after experiments, even when the LiDaRresults show that the has been greatly improved in various scenarios compared to state-of-the-art SLAM

Keywords： Simultaneous localization and mapping (SLAM)     Long-term     Robustness     Light detection and ranging (LiDaR    

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Visual-feature-assisted mobile robot localization in a long corridor environment Research Article

Gengyu GE, Yi ZHANG, Wei WANG, Lihe HU, Yang WANG, Qin JIANG,gegengyu_2021@163.com,zhangyi@cqupt.edu.cn

Frontiers of Information Technology & Electronic Engineering 2023, Volume 24, Issue 6,   Pages 876-889 doi: 10.1631/FITEE.2200208

Abstract: two-dimensional (2D) laser light detection and ranging (LiDAR) to build an occupancy grid map with simultaneousand mapping (SLAM) technology; it then locates the robot based on the known grid map.In the moving process, a grid map is built using the laser-based SLAM method.

Keywords： Mobile robot     Localization     Simultaneous localization and mapping (SLAM)     Corridor environment     Particle    

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Avision-centeredmulti-sensor fusing approach to self-localization and obstacle perception for robotic Article

Jian-ru XUE,Di WANG,Shao-yi DU,Di-xiao CUI,Yong HUANG,Nan-ning ZHENG

Frontiers of Information Technology & Electronic Engineering 2017, Volume 18, Issue 1,   Pages 122-138 doi: 10.1631/FITEE.1601873

Abstract: efficiently processing sensor data, and extracting low-level features, to higher-level object and environment mapping

Keywords： Visual perception     Self-localization     Mapping     Motion planning     Robotic car    

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Robotized machining of big work pieces: Localization of supporting heads

Wojciech SZYNKIEWICZ, Teresa ZIELIŃSKA, Włodzimierz KASPRZAK

Frontiers of Mechanical Engineering 2010, Volume 5, Issue 4,   Pages 357-369 doi: 10.1007/s11465-010-0103-0

Abstract: A planner for a self adaptable and reconfigurable fixture system is proposed. The system is composed of mobile support agents that support thin sheet metal parts to minimize part dimensional deformation during drilling and milling operations. Compliant sheet metal parts are widely used in various manufacturing processes including automotive and aerospace industries. The main role of the planner is to generate an admissible plan of relocation of the mobile agents. It has to find the admissible locations for the supporting heads that provide continuous support in close proximity to the tool and trajectories of the mobile bases characterized by very high speeds during the relocation phases.

Keywords： fixture     robot     milling     drilling    

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Optimal localization of complex surfaces in CAD-based inspection

XU Jinting, LIU Weijun, SUN Yuwen

Frontiers of Mechanical Engineering 2008, Volume 3, Issue 4,   Pages 426-433 doi: 10.1007/s11465-008-0068-4

Abstract: Complex surface inspection requires the optimal localization of the measured surface related to the designThis paper presents a new technique for solving the localization problem.The basic approach consists of two steps: 1) rough localization of the measured points to the designsurface based on curvature features, which can produce a good initial estimate for the optimal localization; 2) fine localization based on the least-square principle so that the deviation between the measured

Keywords： deviation     comparison     non-linear     localization     inspection    

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Chemical mapping of cement pastes by using confocal Raman spectroscopy

Fengjuan LIU,Zhihui SUN

Frontiers of Structural and Civil Engineering 2016, Volume 10, Issue 2,   Pages 168-173 doi: 10.1007/s11709-015-0323-9

Abstract: In the present study, chemical mapping on the hydration process of cement paste with water-to-cementIt is concluded from the study that chemical mapping was an effective method to assist in visualizing

Keywords： chemical mapping     Raman spectroscopy     calcium silicates     calcium hydroxide     ettringite    

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Independent continuous and mapping method of structural topology optimization based on the global stress

Yunkang SUI, Jili FENG, Hongling YE, Xirong PENG,

Frontiers of Mechanical Engineering 2010, Volume 5, Issue 2,   Pages 130-142 doi: 10.1007/s11465-010-0011-3

Abstract: four measures are adopted. 1) Topology optimization model is established by independent continuous mapping

Keywords： independent continuous mapping (ICM) method     global stresses constraints     topology optimization     continuum    

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Process synthesis with simultaneous consideration of inherent safety-inherent risk footprint

Andreja Nemet, Jiří J. Klemeš, Zdravko Kravanja

Frontiers of Chemical Science and Engineering 2018, Volume 12, Issue 4,   Pages 745-762 doi: 10.1007/s11705-018-1779-7

Abstract:

Process plants should be designed to be economically viable and environmentally friendly, while also being operable and maintainable during process implementation. The safety of processes is among the most important considerations in obtaining results that are more acceptably realistic, as it is linked to the availability and reliability of the process. Inherent safety can effectively be enhanced in the early stages of the design, when the main decisions on process design are made. The aim of this study is to enhance and select the appropriate risk assessment method and to incorporate it into process synthesis, using a mathematical programming approach. A mixed-integer, nonlinear programming (MINLP) model was used for the synthesis of a methanol production process, considering risk assessment during the synthesis. Risk assessment is performed simultaneously with the MINLP process synthesis, where the risk is determined either for the whole process as overall risk, or on a per unit-of-a-product basis. For the latter, a new measurement is proposed: the inherent risk footprint. The results of a case study led to two main conclusions: (i) Significantly safer designs can be obtained at negligible economic expense, and (ii) at higher production capacities, a lower inherent risk footprint can be achieved. The results also indicate that designs obtained using this method can have significantly increased inherent safety, while remaining economically viable.

Keywords： inherent safety     process design     simultaneous risk assessment     risk footprint     methanol process    

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Strain localization analyses of idealized sands in biaxial tests by distinct element method

Mingjing JIANG, Hehua ZHU, Xiumei LI,

Frontiers of Structural and Civil Engineering 2010, Volume 4, Issue 2,   Pages 208-222 doi: 10.1007/s11709-010-0025-2

Abstract: This paper presents a numerical investigation on the strain localization of an idealized sand in biaxialexamined to illustrate the link between microscopic and macroscopic variables in the case of strain localizationThe study shows that strain localization of the granular material in the tests proceeds with localizations

Keywords： idealized sand     strain localization     numerical analyses     distinct element method (DEM)    

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A survey of photon mapping state-of-the-art research and future challenges

Chun-meng KANG,Lu WAN,Yan-ning XU,Xiang-xu MENG

Frontiers of Information Technology & Electronic Engineering 2016, Volume 17, Issue 3,   Pages 185-199 doi: 10.1631/FITEE.1500251

Abstract: The photon mapping algorithm is an effective method for computing global illumination with its obviousThe deficiency of precise details and efficient rendering are still the main challenges of photon mappingof categories including radiance estimation, photon relaxation, photon tracing, progressive photon mappingThe goals of our report are giving readers an overall introduction to photon mapping and motivating further

Keywords： Global illumination     Photon mapping     Radiance estimation     Photon relaxation     Progressive photon mapping    

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and future research directions for the phytoremediation of heavy metal-contaminated soil: A knowledge mapping

Frontiers of Environmental Science & Engineering 2022, Volume 16, Issue 6, doi: 10.1007/s11783-021-1507-2

Abstract:

• The overall global perspective of the PHMCS field was obtained.

Keywords： Heavy metal-contaminated soil     Hot topics     Knowledge mapping analysis     Knowledge base     Phytoremediation    

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Simultaneous saccharification and fermentation of wheat bran flour into ethanol using coculture of amylotic

K. Manikandan, T. Viruthagiri

Frontiers of Chemical Science and Engineering 2009, Volume 3, Issue 3,   Pages 240-249 doi: 10.1007/s11705-009-0205-6

Abstract: Studies on simultaneous saccharification and fermentation (SSF) of wheat bran flour, a grain millingSimultaneous saccharificiation and fermentation of liquefied wheat bran starch to bioethanol was studied

Keywords： simultaneous saccharification and fermentation (SSF)     starch     coculture fermentation     statistical experimental    

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efficiency of nitrogen removing bacterial population to a wide range of C:N ratio (1.5:1 to 14:1) for simultaneous

Frontiers of Environmental Science & Engineering 2022, Volume 16, Issue 8, doi: 10.1007/s11783-022-1522-y

Abstract:

• Simultaneous C & N removal in Methammox occurs at wide C:N ratio.

Keywords： Methanogens     Biological Nitrogen Removal (BNR)     Simultaneous     Methammox     C:N ratio    

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Activity and characteristics of “Oxygen-enriched” highly reactive absorbent for simultaneous flue gas

Yi ZHAO,Tianxiang GUO,Zili ZANG

Frontiers of Environmental Science & Engineering 2015, Volume 9, Issue 2,   Pages 222-229 doi: 10.1007/s11783-014-0636-2

Abstract: Oxygen-enriched” highly reactive absorbent was prepared by mixing fly ash, lime and a small quantity of KMnO for simultaneousThe highest simultaneous removal efficiency, 94.5% of SO and 64.2% of NO, was achieved under the optimal

Keywords： Oxygen-enriched” highly reactive absorbent     Surface characteristics     Flue gas circulating fluidized bed     Simultaneous    

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Feasibility study on simultaneous removal of sulfur and trace selenium in the MTD-FGD reactor

LI Yuzhong, TONG Huiling, ZHUO Yuqun, LI Yan, CHEN Changhe, XU Xuchang

Frontiers in Energy 2007, Volume 1, Issue 3,   Pages 259-263 doi: 10.1007/s11708-007-0036-4

Abstract: This study deals with the simultaneous removal of sulfur dioxide (SO) and trace selenium dioxide (SeOby calcium oxide (CaO) adsorption in the moderate temperature range, especially the feasibility of simultaneous

Keywords： Ca-based sorbent     product     feasibility     thermogravimetric analyzer     simultaneous removal    

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Title Author Date Type Operation

Novel robust simultaneous localization and mapping for long-term autonomous robots

Wei WEI, Xiaorui ZHU, Yi WANG,weirui9003@gmail.com,xiaoruizhu@hit.edu.cn,wangyi601@aliyun.com

Journal Article

Visual-feature-assisted mobile robot localization in a long corridor environment

Gengyu GE, Yi ZHANG, Wei WANG, Lihe HU, Yang WANG, Qin JIANG,gegengyu_2021@163.com,zhangyi@cqupt.edu.cn

Journal Article

Avision-centeredmulti-sensor fusing approach to self-localization and obstacle perception for robotic

Jian-ru XUE,Di WANG,Shao-yi DU,Di-xiao CUI,Yong HUANG,Nan-ning ZHENG

Journal Article

Robotized machining of big work pieces: Localization of supporting heads

Wojciech SZYNKIEWICZ, Teresa ZIELIŃSKA, Włodzimierz KASPRZAK

Journal Article

Optimal localization of complex surfaces in CAD-based inspection

XU Jinting, LIU Weijun, SUN Yuwen

Journal Article

Chemical mapping of cement pastes by using confocal Raman spectroscopy

Fengjuan LIU,Zhihui SUN

Journal Article

Independent continuous and mapping method of structural topology optimization based on the global stress

Yunkang SUI, Jili FENG, Hongling YE, Xirong PENG,

Journal Article

Process synthesis with simultaneous consideration of inherent safety-inherent risk footprint

Andreja Nemet, Jiří J. Klemeš, Zdravko Kravanja

Journal Article

Strain localization analyses of idealized sands in biaxial tests by distinct element method

Mingjing JIANG, Hehua ZHU, Xiumei LI,

Journal Article

A survey of photon mapping state-of-the-art research and future challenges

Chun-meng KANG,Lu WAN,Yan-ning XU,Xiang-xu MENG

Journal Article

and future research directions for the phytoremediation of heavy metal-contaminated soil: A knowledge mapping

Journal Article

Simultaneous saccharification and fermentation of wheat bran flour into ethanol using coculture of amylotic

K. Manikandan, T. Viruthagiri

Journal Article

efficiency of nitrogen removing bacterial population to a wide range of C:N ratio (1.5:1 to 14:1) for simultaneous

Journal Article

Activity and characteristics of “Oxygen-enriched” highly reactive absorbent for simultaneous flue gas

Yi ZHAO,Tianxiang GUO,Zili ZANG

Journal Article

Feasibility study on simultaneous removal of sulfur and trace selenium in the MTD-FGD reactor

LI Yuzhong, TONG Huiling, ZHUO Yuqun, LI Yan, CHEN Changhe, XU Xuchang

Journal Article