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Camera,liDAR,and IMU Based Multi-Sensor Fusion SLAM:A Survey

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Tsinghua Science and Technology 2024年第2期29卷 415-429页

作者： jun Zhu Hongyi li Tao Zhang Department of Automation Tsinghua UniversityBeijing 100084China

In recent years,Simultaneous Localization And Mapping(SLAM)technology has prevailed in a wide range of applications,such as autonomous driving,intelligent robots,Augmented Reality(AR),and Virtual Reality(VR).Multi-sensor fusion using the most popular three types of sensors(e.g.,visual sensor,liDAR sensor,and IMU)is becoming ubiquitous in SLAM,in part because of the complementary sensing capabilities and the inevitable shortages(e.g.,low precision and long-term drift)of the stand-alone sensor in challenging *** this article,we survey thoroughly the research efforts taken in this field and strive to provide a concise but complete review of the related ***,a brief introduction of the state estimator formation in SLAM is ***,the state-of-the-art algorithms of different multi-sensor fusion algorithms are *** we analyze the deficiencies associated with the reviewed approaches and formulate some future research *** paper can be considered as a brief guide to newcomers and a comprehensive reference for experienced researchers and engineers to explore new interesting orientations.

关键词： multi-sensor fusion Simultaneous Localization And Mapping(SLAM) navigation localization

Cycloaddition Reactions of Epoxides and CO_(2)Catalyzed by Bifunctional Rare-Earth Metal Complexes Bearing Amino-Bridged Tris(phenolato)ligands

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Chinese Journal of Chemistry 2024年第14期42卷 1571-1581页

作者： Yongjie Chen Yanwei Wang jun Nong Dan Yuan Yingming yao Key Laboratory of Organic Synthesis of Jiangsu Province College of ChemistryChemical Engineering and Materials ScienceDushu Lake CampusSoochow UniversitySuzhouJiangsu215123 China

Eight zwitterionic rare earth metal complexes stabilized by amino-bridged tris(phenolato)ligands bearing quaternary ammonium side-arms were synthesized and *** complexes were used as single-component catalysts for the cycloaddition of CO_(2)and epoxides,and their catalytic activities are obviously higher than those of their binary *** studies revealed that the halide anions(Cl^(–),Br^(–),I^(–))and the metal complexes influenced the catalytic activity,and the lanthanum complex bearing iodide anion showed the highest catalytic activity for this addition reaction.A variety of mono-substituted epoxides were converted to cyclic carbonates in good to excellent yields(55%—99%)with high selectivity(>99%)at 30℃and 1 bar CO_(2),whereas internal epoxides required higher both reaction temperatures(60—120℃)and catalyst loading(2 mol%)for high *** catalyst was recyclable for four times without noticeable loss of catalytic *** on the results of kinetic studies and in℃situ IR reactions,a plausible reaction mechanism was proposed.

关键词： Bifunctional catalyst Carbon dioxide Cyclic carbonate Rare-earth metal Tris(phenolato)ligand Insertion Cycloaddition C1 building blocks

A N-CoSe/CoSe_(2)-C@Cu hierarchical architecture as a current collector-integrated anode for potassium-ion batteries

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Rare Metals 2024年第8期43卷 3702-3712页

作者： Zi-Jie Mu Yan-jun Gao Wen-Shuai Dong Zong-You li Qing-Yi Song Han-Jiao Huang li-Dong Xing Jian-Guo Zhang Wei Wang Qi-yao Yu State Key Laboratory of Explosion Science and Technology School of Mechatronical EngineeringBeijing Institute of TechnologyBeijing 100081China School of Metallurgical and Ecological Engineering University of Science and Technology BeijingBeijing 100083China

The highly reversible insertion/extraction of large-radius K^+into electrode materials remains a tough goal,especially for con version-type ***,we design a current collector-integrated electrode(N-CoSe/CoSe_(2)-C@Cu) as an advanced anode for potassium-ion battery(PIBs).The conductive CoSe/CoSe_(2) heterojunction with rich Se vacancy defects,conductive sp^2 N-doped carbon layer,and the elastic copper foil matrix can greatly accelerate the electron transfer and enhance the structural ***,the well-designed N-CoSe/CoSe_(2)-C@Cu current collector-integrated electrode displays enhanced potassium storage performance with regard to a high capacity(325.1 mAh·g^(-1) at 0.1 A·g^(-1) after 200cycles),an exceptional rate capability(223.5 mAh·g^(-1) at2000 mA·g^(-1)),and an extraordinary long-term cycle stability(a capacity fading of only 0.019% per cycle over1200 cycles at 2000 mA·g^(-1)).Impressively,ex situ scanning electron microscopy(SEM) characterizations prove that the elastic structure of copper foil is merged into the cleverly designed N-CoSe/CoSe_(2)-C@Cu heterostructure,which buffers the deformation of structure and volume and greatly promotes the cycle life during the potassium/depotassium process.

关键词： Potassium-ion battery Integrated collector electrode CoSe CoSe_2 Heterojunction Copper foil matrix N-doped carbon

A modern survey method for determining live loads based on multi-source and open-access data on the Internet

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Frontiers of Structural and Civil Engineering 2024年第8期18卷 1135-1147页

作者： Chi XU jun CHEN Jie li School of Civil Engineering Tongji UniversityShanghai 200092China The State Key Laboratory on Disaster Reduction in Civil Engineering Tongji UniversityShanghai 200092China

Sufficient survey data are required to describe the stochastic behaviors of live ***,due to manual and on-site operation required by traditional survey methods,traditional surveys face challenges like occupant resistance,high costs,and long implementation *** study proposes a new survey method to access live load data online and *** samples are acquired from multi-source,open-access and dynamically updated data on the *** change intervals,geometrical dimensions and object quantities are obtained from transaction information,building attributes and virtual reality models on real estate websites,*** object weights are collected from commodity information on e-commerce *** integration of the aforementioned data allows for the extraction of necessary statistics to describe a live load *** proposed method is applied to a live load survey in China,covering 20040 m^(2),with around 90000 samples acquired for object weights and load *** survey results reveal that about 70%−80%of the amplitude statistics are attributable to 1/6 of the total object types.

关键词： live load online survey method data acquisition data integration

Shaking table test on a tunnel-group metro station in rock site under harmonic excitation

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Frontiers of Structural and Civil Engineering 2024年第9期18卷 1362-1377页

作者： Ruozhou li Weiguo HE Xupeng yao Qingfei li Dingli ZHANG Yong YUAN Department of Geotechnical Engineering Tongji UniversityShanghai 200092China China Railway liuyuan Group Co. Ltd.Tianjin 300308China Key Laboratory of Urban Underground Engineering of Ministry of Education Beijing Jiaotong UniversityBeijing 100044China

A tunnel-group metro station built in rock site is composed of a group of *** tunnels and their interconnections can show inconsistent responses during an *** study investigates the dynamic responses of such a metro station in a rock site,by shaking table *** lining structures of each tunnel and surrounding rock are modeled based on the similitude law;foam concrete and gypsum are used to model the ground-structure system,keeping relative stiffness consistent with that of the prototype.A series of harmonic waves are employed as excitations,input along the transverse and longitudinal direction of the shaking *** discrepant responses caused by the structural irregularities are revealed by measurement of acceleration and strain of the *** characteristics are identified by the transfer function method in white noise *** test results show that the acceleration response and strain response of the structure are controlled by the *** particular,the acceleration amplification effect at the opening section of the station hall is more significant than that at the standard section under transverse excitation;the amplification effect of the structural opening is insignificant under longitudinal excitation.

关键词： metro station tunnel-group shaking table test harmonic excitation dynamic response

Applying Hybrid Clustering in Pulsar Candidate Sifting with Multi-modality for FAST Survey

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Research in Astronomy and Astrophysics 2024年第3期24卷 283-296页

作者： Zi-Yi You Yun-Rong Pan Zhi Ma li Zhang Shuo Xiao Dan-Dan Zhang Shi-jun Dang Ru-Shuang Zhao Pei Wang Ai-jun Dong Jia-Tao Jiang Ji-Bing Leng Wei-An li Si-yao li School of Physics and Electronic Science Guizhou Normal UniversityGuiyang 550025China Guizhou Provincial Key Laboratory of Radio Astronomy and Data Processing Guizhou Normal UniversityGuiyang 550025China College of Big Data and Information Engineering Guizhou UniversityGuiyang 550025China CAS Key Laboratory of FAST National Astronomical ObservatoriesChinese Academy of SciencesBeijing 100101China Key Laboratory of Information and Computing Guizhou Province Guizhou Normal UniversityGuiyang 550001China School of Big data and Computer Science Guizhou Normal UniversityGuiyang 550025China Guizhou Software Engineering Research Center Guiyang 550000China

Pulsar search is always the basis of pulsar navigation,gravitational wave detection and other research ***,the volume of pulsar candidates collected by the Five-hundred-meter Aperture Spherical radio Telescope(FAST)shows an explosive growth rate that has brought challenges for its pulsar candidate filtering ***,the multi-view heterogeneous data and class imbalance between true pulsars and non-pulsar candidates have negative effects on traditional single-modal supervised classification *** this study,a multi-modal and semi-supervised learning based on a pulsar candidate sifting algorithm is presented,which adopts a hybrid ensemble clustering scheme of density-based and partition-based methods combined with a feature-level fusion strategy for input data and a data partition strategy for *** on both High Time Resolution Universe SurveyⅡ(HTRU2)and actual FAST observation data demonstrate that the proposed algorithm could excellently identify pulsars:On HTRU2,the precision and recall rates of its parallel mode reach0.981 and 0.988 *** FAST data,those of its parallel mode reach 0.891 and 0.961,meanwhile,the running time also significantly decreases with the increment of parallel nodes within ***,we can conclude that our algorithm could be a feasible idea for large scale pulsar candidate sifting for FAST drift scan observation.

关键词： methods data analysis-surveys-methods numerical

One-step cell biomanufacturing platform:porous gelatin microcarrier beads promote human embryonic stem cell-derived midbrain dopaminergic progenitor cell differentiation in vitro and survival after transplantation in vivo

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Neural Regeneration Research 2024年第2期19卷 458-464页

作者： lin Feng Da li yao Tian Chengshun Zhao Yun Sun Xiaolong Kou jun Wu liu Wang Qi Gu Wei li Jie Hao Baoyang Hu Yukai Wang State Key Laboratory of Stem Cell and Reproductive Biology Institute of ZoologyChinese Academy of SciencesBeijingChina Institute for Stem Cell and Regenerative Medicine Chinese Academy of SciencesBeijingChina National Stem Cell Resource Center Chinese Academy of SciencesBeijingChina Savaid Medical School University of Chinese Academy of SciencesBeijingChina Beijing Institute for Stem Cell and Regenerative Medicine BeijingChina State Key Laboratory of Membrane Biology Institute of ZoologyChinese Academy of SciencesBeijingChina

Numerous studies have shown that cell replacement therapy can replenish lost cells and rebuild neural circuitry in animal models of Parkinson’s *** of midbrain dopaminergic progenitor cells is a promising treatment for Parkinson’s ***,transplanted cells can be injured by mechanical damage during handling and by changes in the transplantation ***,we developed a one-step biomanufacturing platform that uses small-aperture gelatin microcarriers to produce beads carrying midbrain dopaminergic progenitor *** beads allow midbrain dopaminergic progenitor cell differentiation and cryopreservation without digestion,effectively maintaining axonal integrity in ***,midbrain dopaminergic progenitor cell bead grafts showed increased survival and only mild immunoreactivity in vivo compared with suspended midbrain dopaminergic progenitor cell ***,our findings show that these midbrain dopaminergic progenitor cell beads enhance the effectiveness of neuronal cell transplantation.

关键词： axonal integrity cell cryopreservation cellular environment cellular niche cell replacement therapy dopaminergic progenitors human pluripotent stem cell mechanical damage neuronal cell delivery Parkinson’s disease small-aperture gelatin microcarriers

Diagnosis of the Kinetic Energy of the“21·7”Extreme Torrential Rainfall Event in Henan Province,China

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Advances in Atmospheric Sciences 2024年第1期41卷 73-83页

作者： Xiuping yao Ruoying li Xiaohong BAO Qiaohua liU China Meteorological Administration Training Centre Beijing 100081China State Key Laboratory of Severe Weather Chinese Academy of Meteorological SciencesBeijing 100081China College of Atmospheric Sciences Nanjing University of Information Science and TechnologyNanjing 210044China

An extreme torrential rain(ETR)event occurred in Henan Province,China,during 18-21 July *** on hourly rain-gauge observations and ERA5 reanalysis data,the ETR was studied from the perspective of kinetic energy(K),which can be divided into rotational wind(V_(R))kinetic energy(K_(R)),divergent wind kinetic energy(K_(D)),and the kinetic energy of the interaction between the divergent and rotational winds(K_(RD)).According to the hourly precipitation intensity variability,the ETR process was divided into an initial stage,a rapid increase stage,and maintenance *** showed that the intensification and maintenance of ETR were closely related to the upper-level K,and most closely related to the upperlevel K_(R),with a correlation coefficient of up to *** particular,the peak value of hourly rainfall intensity lagged behind the K_(R) by 8 ***,diagnosis showed that K transformation from unresolvable to resolvable scales made the ETR increase *** meridional rotational wind(u_(R))and meridional gradient of the geopotential(φ)jointly determined the conversion of available potential energy(APE)to K_(R) through the barotropic process,which dominated the rapid enhancement of K_(R) and then caused the rapid increase in *** transportation of K by rotational wind consumed K_(R),and basically offset the K_(R) produced by the barotropic process,which basically kept K_(R) stable at a high value,thus maintaining the ETR.

关键词： extreme torrential rain rotational kinetic energy kinetic energy generation and transport barotropic process

Local environment regulation of transition metal dichalcogenide-based single-atom catalysts

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Rare Metals 2024年第9期43卷 4019-4037页

作者： Ming-Hui li Jing li Xiao-Yu Zheng yao Zhou Advanced Research Institute of Multidisciplinary Science andSchool of Chemistry and Chemical Engineering Beijing Institute of Technology Laser Micro/Nano Fabrication Laboratory School of Mechanical Engineering Beijing Institute of Technology

Single-atom catalysts have risen significant attention in the realm of green electrocatalytic energy conversion to address energy and environmental sustainability challenges. Transition metal dichalcogenide（TMD）-based single-atom catalysts are considered highly effective in electrocatalysis due to the TMDs' notable specific surface area, tunable elemental species and efficient utilization of single atoms. In order to enhance electrocatalytic performance, it is imperative to elaborately engineer the local environment surrounding the active sites of single atoms within TMDs. In this review, we initially explore the effects of synthesis methods on single-atom active sites and the influence of loading of single atoms on catalytic performance for TMDs. The modulation strategies of the local environment surrounding single-atom sites in TMDs are elaborated, including substitution engineering,surface adsorption, vacancies, spatial confinement and dual-atom site strategies. For each modulation strategy, the effects of diverse local environments on various electrocatalytic applications are presented, such as the oxygen evolution reaction, oxygen reduction reaction, nitrogen reduction reaction, CO2reduction reaction and CO oxidation. Ultimately, this study presents a comprehensive overview of the challenges encountered and the potential directions for the advancement of single-atom catalysts based on TMDs in the realm of electrocatalysis.

关键词： Electrocatalysis