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Stereo vision based SLAM using Rao-Blackwellised particle filter

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2008年第4期9卷 500-509页

作者： Er-yong WU gong-yan li Zhi-yu XIANG Ji-lin liU Department of lnformation Science and Electrical Engineering Zhejiang University Hangzhou 310027 China National Laboratory of Pattern Recognition Institute of Automation CAS Beijing 100080 China

We present an algorithm which can realize mobile robot in unknown outdoor environments, which 3D stereo vision simultaneous localization and mapping （SLAM） for means the 6-DOF motion and a sparse but persistent map of natural landmarks be constructed online only with a stereo camera. In mobile robotics research, we extend FastSLAM 2.0 like stereo vision SLAM with ＂pure vision＂ domain to outdoor environments. Unlike popular stochastic motion model used in conventional monocular vision SLAM, we utilize the ideas of structure from motion （SFM） for initial motion estimation, which is more suitable for the robot moving in large-scale outdoor, and textured environments. SIFT features are used as natural landmarks, and its 3D positions are constructed directly through triangulation. Considering the computational complexity and memory consumption, Bkd-tree and Best-Bin-First （BBF） search strategy are utilized for SIFT feature descriptor matching. Results show high accuracy of our algorithm, even in the circumstance of large translation and large rotation movements.

关键词： Robot Vision based SLAM SIFT Feature management

纳米流体微量润滑磨削的雾化装置优化设计分析

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内燃机与配件 2024年第16期 81-83页

作者：邹洪富夏凯文珍龚艳丽湖南工业职业技术学院湖南长沙410208 湖南省精密零件数控加工工艺数字化工程技术研究中心湖南长沙410208

新型工业化背景下,高端装备制造产业链高质量发展备受关注,尤其是新型硬脆材料机械加工与关键零部件精密能级的技术突破。应绿色加工技术发展要求与磨削加工高比磨削能特征,纳米流体微量润滑磨削技术得到广泛应用。在实际应用过程中,为... 详细信息

新型工业化背景下,高端装备制造产业链高质量发展备受关注,尤其是新型硬脆材料机械加工与关键零部件精密能级的技术突破。应绿色加工技术发展要求与磨削加工高比磨削能特征,纳米流体微量润滑磨削技术得到广泛应用。在实际应用过程中,为应对磨削加工参量优化调整需要,并适应磨削加工区域复杂气流场的高效微量润滑冷却,对所配设的微量润滑雾化装置提出较高的动态调整要求。本文将从气液两相流定量定压输送供给、雾化喷嘴高效可变装夹等方面进行雾化装置优化设计。以便于深入开展纳米流体微量润滑磨削机理分析与实验研究,并提升其在机械加工生产应用中的操作效率。

关键词：纳米流体微量润滑磨削雾化装置优化设计

高硬难加工材料微量润滑磨削测温实验方案研究

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内燃机与配件 2024年第14期 106-108页

作者：邹洪富龚艳丽文珍夏凯湖南工业职业技术学院湖南长沙410208 湖南省精密零件数控加工工艺数字化工程技术研究中心湖南长沙410208

伴随高端装备制造对高硬难加工材料应用与关键核心零件精密能级提升的要求,微量润滑磨削技术应用越来越广泛。然而,高磨削比能所引发的磨削区高温,是束缚工件加工质量与精度的重要因素。为此,针对磨削区的温度场分析与测温实验研究备受... 详细信息

伴随高端装备制造对高硬难加工材料应用与关键核心零件精密能级提升的要求,微量润滑磨削技术应用越来越广泛。然而,高磨削比能所引发的磨削区高温,是束缚工件加工质量与精度的重要因素。为此,针对磨削区的温度场分析与测温实验研究备受关注,尤其是高硬新材料与绿色加工新技术的发展与应用。本文结合磨削区温度分布规律理论分析,梳理磨削温度测量技术方法;针对适用高硬难加工材料微量润滑磨削的可磨式半人工热电偶测温装置进行优化设计。提出电火花微孔加工、穿丝嵌装、涂覆绝缘层等优化方案,解决原有测温装置所存在的绝缘层云母片装夹易破碎、热电偶结点厚度难控制、实验工件结构受损改变热传导等问题对测温精度的影响。

关键词：高硬难加工材料微量润滑磨削磨削温度测量

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微量润滑平面磨削的气流场建模与仿真分析

价值工程 2024年第21期43卷 88-90页

作者：邹洪富龚艳丽夏凯文珍湖南工业职业技术学院长沙410208

随着高端装备制造业的迅猛发展,微量润滑技术在磨削加工领域得到广泛应用。磨削区气流场的作用机理与分布形态,是影响微量润滑介质雾化射流进入磨削区有效冷却润滑的重要研究对象。本文开展平面磨削的气流场理论分析、模型构建、仿真计... 详细信息

随着高端装备制造业的迅猛发展,微量润滑技术在磨削加工领域得到广泛应用。磨削区气流场的作用机理与分布形态,是影响微量润滑介质雾化射流进入磨削区有效冷却润滑的重要研究对象。本文开展平面磨削的气流场理论分析、模型构建、仿真计算,对不同砂轮速度工况下的气流场速度与压力分布进行计算分析。研究发现:受砂轮表面的携带与粘滞作用,将会在砂轮表面形成圆周环流“气障层”,并受磨削楔形空间作用,在磨削入口工件表面上方形成反向气流层;随着砂轮转速升高,砂轮表面圆周环流速度增大、工件表面反向气流层增大、磨削入口楔形区相对压力值增大。

关键词：微量润滑平面磨削气流场仿真建模

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Preparation and identification of monoclonal antibodies against the adenovirus vector

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The Chinese-German Journal of Clinical Oncology 2007年第4期6卷 411-414页

作者： Chunyan Zhang Jinsong gong yan Chen Fanghe li Experimental Medicine Center Tongji Hospital Tongji Medical College Huazhong University of Science andTechnology Wuhan 430030 China

Objective： To prepare and identity monoclonal antibodies （McAbs） against the capsid proteins of adenovirus vector. Methods： BALB/c mice were immunized with a mixture of the purified adenovirus vector （Adv） and AI（OH）3. McAbs were produced using cell fusion technique in a conventional way. The sensitivity and specificity of monoclonal antibodies was identified by indirect enzyme linked immunosorbent assay （EliSA）, immunocytochemical staining and Western blotting. Results： Six strains of hybridoma cells （A4H11, A8C7, F1H5, G1D2, G4E3 and H2G8） that can stably secrete the IgG1 McAb against Adv were obtained. After 3 months subculture and low concentration of serum adapting culture, six strains retained their stability to secrete McAb. The ascites titers were between 1：10^6 and 1：10^8. Western blot analysis demonstrated that all the McAbs reacted with one protein （about 114 kDa） which is present in wild type 3 adenovirus （wtAd3）, wild type 5 adenovirus （wtAd5）, wild type 7 adenovirus （wtAd7） and adenovirus vector. Conclusion： Successfully prepared six strains of hybridoma cell secreted monoclonal antibodies against the hexon proteins of adenovirus vector, and provided the substantial foundation of preclinical research of adenovirus vectors.

关键词： gene therapy adenovirus adenovirus vector monoclonal antibodies

Flow Field Characteristics of Multi-Trophic Artificial Reef Based on Computation Fluid Dynamics

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Journal of Ocean University of China 2024年第2期23卷 317-327页

作者： HUANG Junlin li Jiao li yan gong Pihai GUAN Changtao XIA Xu School of Engineering Ocean University of ChinaQingdao 266100China Yellow Sea Fisheries Research Institute Chinese Academy of Fishery SciencesKey Laboratory of Sustainable Development of Marine FisheriesMinistry of Agriculture and Rural AffairsQingdao Key Laboratory for Marine Fish Breeding and BiotechnologyQingdao 266071China Laboratory for Marine Fisheries Science and Food Production Processes Pilot National Laboratory for Marine Science and Technology(Qingdao)Qingdao 266071China

On the basis of computational fluid dynamics,the flow field characteristics of multi-trophic artificial reefs,including the flow field distribution features of a single reef under three different velocities and the effect of spacing between reefs on flow scale and the flow state,were *** indicate upwelling,slow flow,and eddy around a single *** velocity,height,and volume of upwelling in front of a single reef were positively correlated with inflow *** length and volume of slow flow increased with the increase in inflow *** were present both inside and backward,and vorticity was positively correlated with inflow *** between reefs had a minor influence on the maximum velocity and height of *** the increase in space from 0.5 L to 1.5 L(L is the reef lehgth),the length of slow flow in the front and back of the combined reefs increased *** the space was 2.0 L,the length of the slow flow *** four different spaces,eddies were present inside and at the back of each *** maximum vorticity was negatively correlated with space from 0.5 L to 1.5 L,but under 2.0 L space,the maximum vorticity was close to the vorticity of a single reef under the same inflow velocity.

关键词： artificial reef flow field characteristics computation fluid dynamics multi-trophic structure

Recent progress in Prussian blue electrode for electrochromic devices

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Frontiers in Energy 2024年第2期18卷 160-186页

作者： Yongting ZHANG Wanzhong li Hui gong Qianqian ZHANG liang yan Hao WANG Key Laboratory for New Functional Materials of the Ministry of Education Faculty of Materials and ManufacturingBeijing University of TechnologyBeijing 100124China School of Instrument Science and Engineering Southeast UniversityNanjing 210096China Beijing Aerospace Times Laser Inertial Technology Company Beijing 100094China

Great progress has been made in the electrochromic(EC)technology with potential applications in various *** one of the most promising EC materials,Prussian blue(PB)has attracted great attention due to its excellent EC performance,such as low cost,easy synthesis,rich color states,chemical stability,suitable redox potential,and fast color-switching *** review summarizes the recent progress in PB electrodes and devices,including several typical preparation techniques of PB electrodes,as well as the recent key strategies for enhancing EC performance of PB ***,PB-based electrochromic devices(ECDs)have been widely used in various fields,such as smart windows,electrochromic energy storage devices(EESDs),wearable electronics,smart displays,military camouflage,and other *** opportunities and obstacles are suggested for advancing the development of PB-based *** comprehensive review is expected to offer valuable insights for the design and fabrication of sophisticated PBbased ECDs,enabling their practical integration into realworld applications.

关键词： Prussian blue electrochromism energy storage smart windows

药食两用乌梅金银花茶在腹部肿瘤外科全麻术后患者口腔护理结合口腔喷雾中的应用效果研究

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宜春学院学报 2024年第3期46卷 63-65,102页

作者：施春女罗鹏珍敖琪龚丽燕应笑江西省肿瘤医院妇瘤科江西南昌330029 江西省肿瘤医院腹部肿瘤科江西南昌330029

目的:研究药食两用乌梅金银花茶在腹部肿瘤外科全麻术后患者口腔护理结合口腔喷雾中的应用效果。方法:按随机数字表法将2022年4月-2023年4月于我院治疗的88例腹部肿瘤全麻手术患者分为两组,各44例。观察组采用药食两用乌梅金银花茶进行... 详细信息

目的:研究药食两用乌梅金银花茶在腹部肿瘤外科全麻术后患者口腔护理结合口腔喷雾中的应用效果。方法:按随机数字表法将2022年4月-2023年4月于我院治疗的88例腹部肿瘤全麻手术患者分为两组,各44例。观察组采用药食两用乌梅金银花茶进行口腔护理结合口腔喷雾,对照组采用生理盐水进行口腔护理结合口腔喷雾。比较两组唾液分泌量、口干口渴程度、唇舌口腔黏膜湿润度、口腔异味评分、咽喉舒适度及口腔并发症。结果:干预后两组静态全唾液流率(UWS)高于干预前,口干口渴程度评分、唇舌口腔黏膜湿润度及口腔异味评分均低于干预前,且观察组UWS高于对照组,口干口渴程度评分、唇舌口腔黏膜湿润度及口腔异味评分低于对照组,有统计学差异(P<0.05);干预后两组咽喉舒适度分级均优于干预前,且观察组优于对照组,有统计学差异(P<0.05);观察组口腔并发症总发生率低于对照组,有统计学差异(P<0.05)。结论:腹部肿瘤外科全麻术后患者口腔护理结合口腔喷雾中采用药食两用乌梅金银花茶能够刺激唾液分泌,改善口腔干燥,清新口气,改善口咽舒适度,且口腔并发症发生率低。

关键词：腹部肿瘤全麻术后患者药食两用乌梅金银花茶口腔护理口腔喷雾口干口渴程度

Hard-carbon hybrid li-ion/metal anode enabled by preferred mesoporous uniform lithium growth mechanism

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Journal of Energy Chemistry 2024年第1期88卷 252-259,I0006页

作者： Fang yan yan liu Yuan li yan Wang Zicen Deng Meng li Zhenwei Zhu Aohan Zhou Ting li Jingyi Qiu Gaoping Cao Shaobo Huang Biyan Wang Hao Zhang School of Chemistry and Biological Engineering University of Science and TechnologyBeijing 100083China Research Institute of Chemical Defense Beijing 100191China College of Physics and Engineering Henan University of Science and TechnologyLuoyang 471023HenanChina National Base for International Science&Technology Cooperation School of ChemistryXiangtan UniversityXiangtan 411105HunanChina Materials and Manufacturing Department Beijing University of TechnologyBeijing 100124China

To achieve high energy density in lithium batteries,the construction of lithium-ion/metal hybrid anodes is a promising *** particular,because of the anisotropy of graphite,hybrid anode formed by graphite/li metal has low transport kinetics and is easy to causes the growth of lithium dendrites and accumulation of dead li,which seriously affects the cycle life of batteries and even causes safety ***,by comparing graphite with two types of hard carbon,it was found that hybrid anode formed by hard carbon and lithium metal,possessing more disordered mesoporous structure and lithophilic groups,presents better *** indicate that the mesoporous structure provides abundant active site and storage space for dead *** the synergistic effect of this structure and lithophilic functional groups(–COOH),the reversibility of hard carbon/lithium metal hybrid anode is maintained,promoting uniform deposition of lithium metal and alleviating formation of lithium *** hybrid anode maintains a 99.5%Coulombic efficiency(CE)after 260 cycles at a specific capacity of 500 m Ah/*** work provides new insights into the hybrid anodes formed by carbon-based materials and lithium metal with high specific energy and fast charging ability.

关键词： Hard carbon/li metal hybrid anode Mesoporous structure Surface oxygen functional group Fast charging lithium batteries