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A Robust 2D Lidar SLAM Method in Complex Environment

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Photonic Sensors 2022年第4期12卷 51-65页

作者： Shan huang hong-Zhong huang Qi ZENG Peng huang Center for System Reliability and Safety University of Electronic Science and Technology of ChinaChengdu 611731China EvenTec Co. Ltd.Chengdu 610097China Jiangxi University of Science and Technology Ganzhou 341000China

The two-dimensional(2D)lidar is a ranging optical sensor that can measure the cross-section of the geometric structure of the *** propose a robust 2D lidar simultaneous localization and mapping(SLAM)algorithm working in ambiguous *** improve the front-end scan-matching module’s accuracy and robustness,we propose performing degeneration analysis,line landmark tracking,and environment coverage *** max-clique selection and odometer verification are introduced to increase the stability of the SLAM algorithm in an ambiguous ***,we propose a tightly coupled framework that integrates lidar,wheel odometer,and inertial measurement unit(IMU).The framework achieves the accurate mapping in large-scale environments using a factor graph to model the multi-sensor fusion SLAM *** experimental results demonstrate that the proposed method achieves a highly accurate front-end scan-matching module with an error of 3.8%of the existing *** it can run stably in ambiguous environments where the existing method will be ***,it ccan successfully construct a map with an area of more than 250000 square meters.

关键词： Robotics simultaneous localization and mapping 2D lidar multi-sensor fusion

Existence Results for Functional Differential Inclusions with Infinite Delay

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Acta Mathematica Sinica,English Series 2006年第3期22卷 773-780页

作者： Shi huang hong Department of Applied Mathematics Hangzhou Dianzi University

The aim of the present paper is to investigate the existence of solutions to functional differential inclusions with infinite delay in Banach spaces. A relevant set of phase space axioms is proposed. The main tools us... 详细信息

关键词： functional differential inclusion phase space infinite delay measure of noncompactness

Exact Fixed-node Quantum Monte Carlo： Differential Approach

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Chinese Journal of Chemistry 2005年第11期23卷 1474-1478页

作者： huang, hong-Xin College of Chemistry and Chemical Technology Hunan Normal University Changsha Hunan 410081 China

A differential approach for exact fixed-node quantum Monte Carlo calculation was proposed in this paper. This new algorithm can be used to directly compute the energy differential between two systems in exact fixed-node quantum Monte Carlo process, making the statistical error of calculation reduce to order of 10^-2 kJ/mol and recover about more than 90% of the correlation energy. The approach was employed to set up a potential energy surface of a molecule, through a model of rigid move, and Jacobi transformation utilized to make energy calculation for two configurations of a molecule having good positive correlation. So, an accurate energy differential could be obtained, and the potential energy surface with good quality depicted. This novel algorithm was used to study the potential energy curve of the ground state of BH and the potential energy surface of H3, and could be also applied to study other related fields such as molecular spectroscopy and the energy variation of chemical reactions.

关键词： exact fixed-node quantum Monte Carlo differential approach correlation sampling potential energy surface

Polycyclic aromatic hydrocarbons in surface sediments of the Zhelin Bay in the South China Sea

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Acta Oceanologica Sinica 2007年第2期26卷 123-132页

作者： DONG Qiaoxiang huang hong huang Changjiang School of Environmental Science and Public Health Wenzhou Medical College Wenzhou 325035 China

This study examined the concentrations of polycyclic aromatic hydrocarbons （PAHs） in surface sediments collected in July 2004 from eight stations in the Zhelin Bay, one of the most important bays for large-scale mariculture in Guangdong Province. Thirteen individual parent PAH compounds were identified using high performance liquid chromatography with UV detection. The overall average concentration of total PAHs was 477.0 ng/g, ranging from 146.1 to 928.8 ng/g. Low molecular mass PAHs with two to three rings （e.g., acenaphthene） were dominant in each sample. The PAH concentration varied among sampling stations, with the highest concentration observed at bay outlets and the lowest found at stations outside the bay. Ratios of low to high molecular mass PAHs and fluoranthene to pyrene were used to determine the origin of PAHs, and results indicated mainly petroleum-derived contamination. Compared with other bays and harbors around the world, the total concentrations of PAHs in surface sediments at the Zhelin Bay are moderate, but this does not exclude the possibility of potential impact on human consumers because some strong carcinogenic PAHs with high molecular mass were found at the station with a nearby caged-fish and oyster farm. Long-term monitoring of PAH contamination in the Zhelin Bay is recommended to reduce the potential toxicological effects on aquatic： organisms and humans.

关键词： polycyclic aromatic hydrocarbons (PAHs) surface sediment Zhelin Bay Guangdong China

Every Sub-Riemannian Manifold Is the Gromov–Hausdorff Limit of a Sequence Riemannian Manifolds

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Acta Mathematica Sinica,English Series 2017年第11期33卷 1565-1568页

作者： Yong hong huang School of Mathematical Science Capital Normal UniversityBeijing 100048P.R.China Qiannan Preschool Education College for Nationalities Guiding County of Guizhou Province558000P.R.China

In this paper, we will show that every sub-Riemannian manifold is the Gromov-Hausdorff limit of a sequence of Riemannian manifolds.

关键词： Riemannian manifold Sub-Riemannian manifold Gromov-Hausdorff convergence

A new cellular automaton model accounting for stochasticity in traffic flow induced by heterogeneity in driving behavior

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Chinese Physics B 2019年第9期28卷 399-409页

作者： Xiaoyong Ni hong huang Institute of Public Safety Research Department of Engineering PhysicsTsinghua UniversityBeijing 100084China Beijing Key Laboratory of City Integrated Emergency Response Science Tsinghua UniversityBeijing 100084China

A new reliable cellular automaon(CA) model designed to account for stochasticity in traffic flow induced by heterogeneity in driving behavior is *** proposed model differs from most existing CA models in that this new model focuses on describing traffic phenomena by coding into its rules the key idea that a vehicle's moving state is directly determined by a driver stepping on the accelerator or on the brake(the vehicle's acceleration).Acceleration obeys a deformed continuous distribution function when considering the heterogeneity in driving behavior and the safe distance, rather than equaling a fixed acceleration value with a probability, as is the rule in many existing CA *** results show that the new proposed model is capable of reproducing empirical findings in real traffic ***, this new model makes it possible to implement in-depth analysis of correlations between a vehicle's state parameters.

关键词： cellular automaton numerical simulations traffic models

A Maximum Principle for Fully Coupled Forward-Backward Stochastic Control System Driven by Lvy Process with Terminal State Constraints

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Journal of Systems Science & Complexity 2018年第4期31卷 859-874页

作者： huang hong WANG Xiangrong LIU Meijuan Institute of Financial Engineering Shandong University of Science and Technology Qingdao 266590 China Institute of Financial Engineering Shandong Women's University Jinan 250300 China

This paper is concerned with a fully coupled forward-backward stochastic optimal control problem where the controlled system is driven by Levy process, while the forward state is constrained in a convex set at the terminal time. The authors use an equivalent backward formulation to deal with the terminal state constraint, and then obtain a stochastic maximum principle by Ekeland＇s variational principle. Finally, the result is applied to the utility optimization problem in a financial market.

关键词： Forward-backward stochastic control system driven by Levy process maximum principle optimal portfolio terminal state constraint.

NATURAL BOUNDARY ELEMENT METHOD FOR THREE DIMENSIONAL EXTERIOR HARMONIC PROBLEM WITH AN INNER PROLATE SPHEROID BOUNDARY

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Journal of Computational Mathematics 2006年第2期24卷 193-208页

作者： hong-ying huang De-hao Yu LSEC ICMSEC Academy of Mathematics and System Sciences Chinese Academy of Sciences Beijing 100080 China

In this paper, we study natural boundary reduction for Laplace equation with Dirichlet or Neumann boundary condition in a three-dimensional unbounded domain, which is the outside domain of a prolate spheroid. We express the Poisson integral formula and natural integral operator in a series form explicitly. Thus the original problem is reduced to a boundary integral equation on a prolate spheroid. The variational formula for the reduced problem and its well-posedness are discussed. Boundary element approximation for the variational problem and its error estimates, which have relation to the mesh size and the terms after the series is truncated, are also presented. Two numerical examples are presented to demonstrate the effectiveness and error estimates of this method.

关键词： Natural boundary reduction Prolate spheroid boundary Finite element Exterior harmonic problem.

The numerical simulation of caesium-137 transportation in oceanand the assessment of its radioactive impacts after Fukushima NPP release

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Science China Earth Sciences 2015年第6期58卷 996-1004页

作者： GUAN Yue SHEN ShiFei huang hong Institute of Public Safety Research Department of Engineering Physics Tsinghua University

After the damage of Fukushima Daiichi Nuclear Power Plant, a great number of radioactive materials were released into the Pacific Ocean. Therefore, it is necessary to research on the temporal and spatial distribution of these radionuclides. We use Princeton Ocean Model to simulate the circulation of the coast water of Fukushima NPP and obtain the concentration of caesium-137 by solving the diffusion equations. We employ the Monte Carlo N-particle(MCNP) code to assess the external doses caused by these contaminated sea water. To improve the efficiency and effectiveness of volume source in MCNP code, we establish a transformation method between spot source and volume source, and determine an appropriate range of volume source. Finally, we calculate the absorbed doses of every organ/tissue and the effective dose of a human body.

关键词： numerical simulation POM caesium-137 MCNP absorbed dose effective dose