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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: 2D) laser light detection and ranging (LiDAR) to build an occupancy grid map with simultaneous and 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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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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Lipin3 leads to hypertriglyceridemia and obesity by disrupting the expression and nucleocytoplasmic localization

Frontiers of Medicine doi: 10.1007/s11684-023-1003-0

Abstract: Lipin proteins including Lipin 1–3 act as transcriptional co-activators and phosphatidic acid phosphohydrolase enzymes, which play crucial roles in lipid metabolism. However, little is known about the function of Lipin3 in triglyceride (TG) metabolism. Here, we identified a novel mutation (NM_001301860: p.1835A>T/p.D612V) of Lipin3 in a large family with hypertriglyceridemia (HTG) and obesity through whole-exome sequencing and Sanger sequencing. Functional studies revealed that the novel variant altered the half-life and stability of the Lipin3 protein. Hence, we generated Lipin3 heterozygous knockout (Lipin3-heKO) mice and cultured primary hepatocytes to explore the pathophysiological roles of Lipin3 in TG metabolism. We found that Lipin3-heKO mice exhibited obvious obesity, HTG, and non-alcoholic fatty liver disorder. Mechanistic study demonstrated that the haploinsufficiency of Lipin3 in primary hepatocytes may induce the overexpression and abnormal distribution of Lipin1 in cytosol and nucleoplasm. The increased expression of Lipin1 in cytosol may contribute to TG anabolism, and the decreased Lipin1 in nucleoplasm can reduce PGC1α, further leading to mitochondrial dysfunction and reduced TG catabolism. Our study suggested that Lipin3 was a novel disease-causing gene inducing obesity and HTG. We also established a relationship between Lipin3 and mitochondrial dysfunction.

Keywords： Lipin3     Lipin1     hypertriglyceridemia     obesity     mitochondrial dysfunction    

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Electromagnetic induction mapping at varied soil moisture reveals field-scale soil textural patterns

Hiruy ABDU, David A. ROBINSON, Janis BOETTINGER, Scott B. JONES

Frontiers of Agricultural Science and Engineering 2017, Volume 4, Issue 2,   Pages 135-145 doi: 10.15302/J-FASE-2017143

Abstract: Our objective was to employ electromagnetic induction (EMI) mapping in low apparent electrical conductivity

Keywords： soil electrical conductivity     soil texture mapping     temporal stability analysis    

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Quantifying and mapping spatial variability of Shanghai household carbon footprints

Shangguang YANG,Chunlan WANG,Kevin LO,Mark WANG,Lin LIU

Frontiers in Energy 2015, Volume 9, Issue 1,   Pages 115-124 doi: 10.1007/s11708-015-0348-8

Abstract: Understanding the spatial variability of household carbon emissions is necessary for formulating sustainable and low-carbon energy policy. However, data on household carbon emissions is limited in China, the world’s largest greenhouse gases emitter. This study quantifies and maps household carbon emissions in Shanghai using a city-wide household survey. The findings reveal substantial spatial variability in household carbon emissions, especially in transport-related emissions. Low emission clusters are founded in Hongkou, Xuhui, Luwan, Jinshan, and Fengxian. High emission clusters are located in Jiading and Pudong. Overall, the spatial pattern of household carbon emissions in Shanghai is donut-shaped: lowest in the urban core, increasing in the surrounding suburban areas, and declining again in the urban fringe and rural regions. The household emissions are correlated with a number of housing and socioeconomic factors, including car ownership, type of dwelling, size of dwelling, age of dwelling, and income. The findings underscore the importance of a localized approach to low-carbon policy-making and implementation.

Keywords： household carbon emissions     spatial variability     energy policy     Shanghai     China    

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Yield-height correlation and QTL localization for plant height in two lowland switchgrass populations

Shiva O. MAKAJU, Yanqi WU, Michael P. ANDERSON, Vijaya G. KAKANI, Michael W. SMITH, Linglong LIU, Hongxu DONG, Dan CHANG

Frontiers of Agricultural Science and Engineering 2018, Volume 5, Issue 1,   Pages 118-128 doi: 10.15302/J-FASE-2018201

Abstract: Two lowland switchgrass mapping populations, one selfed and another hybrid population established in

Keywords： yield-height     QTL localization     lowland switchgrass    

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Mapping the structure-activity relationship of

Worawan PANPIPAT, Hasene KESKIN, Zheng GUO

Frontiers of Chemical Science and Engineering 2015, Volume 9, Issue 1,   Pages 105-113 doi: 10.1007/s11705-015-1502-x

Abstract: The phase behavior of twelve synthesized -sitosteryl fatty acid esters with acyl moieties with different chain lengths (C2:0-C18:0) and different degrees of unsaturation (C18:1-C18:3) were investigated in pure and mixed Langmuir monolayers with phospholipids. The surface-pressure isotherms showed that short chain -sitosteryl fatty acid esters gave smaller mean molecular areas and had decreased monolayer stability and the long chain steryl esters did not produce collapsed plateaus. All the steryl esters displayed strong condensing effects, but there was a pronounced structural dependency: medium chain esters (C8 and C10) were less efficient than short and long chain esters. Atomic force microscopy imaging demonstrated that monolayers mixed with dipalmitoyl phosphatidylcholine (DPPC) displayed both DPPC-rich and steryl lipid-rich domains. However, the height and area differences between the two phases and the roughness and morphologic patterns were very dependent on the steryl lipid concentrations as well as the length, the degree of unsaturation and the molecular conformations of the acyl segments. These findings not only provide a better understanding of the interactions between phytosteryl hydrophobic derivatives and biomembranes, but also may be of general use for the design and engineering of phytosterol structural derivations for specific food and pharmaceutical applications.

Keywords： β-sitosteryl fatty acid esters     dipalmitoyl phosphatidylcholine     Langmuir monolayer     condensing effect     structure-activity relationship    

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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

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

Lipin3 leads to hypertriglyceridemia and obesity by disrupting the expression and nucleocytoplasmic localization

Journal Article

Electromagnetic induction mapping at varied soil moisture reveals field-scale soil textural patterns

Hiruy ABDU, David A. ROBINSON, Janis BOETTINGER, Scott B. JONES

Journal Article

Quantifying and mapping spatial variability of Shanghai household carbon footprints

Shangguang YANG,Chunlan WANG,Kevin LO,Mark WANG,Lin LIU

Journal Article

Yield-height correlation and QTL localization for plant height in two lowland switchgrass populations

Shiva O. MAKAJU, Yanqi WU, Michael P. ANDERSON, Vijaya G. KAKANI, Michael W. SMITH, Linglong LIU, Hongxu DONG, Dan CHANG

Journal Article

Mapping the structure-activity relationship of

Worawan PANPIPAT, Hasene KESKIN, Zheng GUO

Journal Article