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Building a dense surface map incrementally from semi-dense point cloud and RGB images

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Frontiers of Information Technology & Electronic Engineering 2015年第7期16卷 594-606页

作者： Qian-shan LI Rong XIONG shoudong huang Yi-ming huang State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou 310027 China Faculty of Engineering and Information Technology The University of Technology Sydney NSW 2007 Australia ZJU-UTS Joint Center on Robotics Zhejiang University Hangzhou 310027 China Department of Control Science and Engineering Zhejiang University Hangzhou 310027 China

Building and using maps is a fundamental issue for bionic robots in field applications. A dense surface map, which offers rich visual and geometric information, is an ideal representation of the environment for indoor/outdoor localization, navigation, and recognition tasks of these robots. Since most bionic robots can use only small light-weight laser scanners and cameras to acquire semi-dense point cloud and RGB images, we propose a method to generate a consistent and dense surface map from this kind of semi-dense point cloud and RGB images. The method contains two main steps：（1） generate a dense surface for every single scan of point cloud and its corresponding image（s） and （2） incrementally fuse the dense surface of a new scan into the whole map. In step （1） edge-aware resampling is realized by segmenting the scan of a point cloud in advance and resampling each sub-cloud separately. Noine within the scan is reduced and a dense surface is generated. In step （2） the average surface is estimated probabilistically and the non-coincidence of different scans is eliminated. Experiments demonstrate that our method works well in both indoor and outdoor semi-structured environments where there are regularly shaped objects.

关键词： Bionic robot Robotic mapping Surface fusion

A framework for multi-session RGBD SLAM in low dynamic workspace environment

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CAAI Transactions on Intelligence Technology 2016年第1期1卷 90-103页

作者： Yue Wang shoudong huang Rong Xiong Jun Wu State Key Laboratory of Industrial Control and Technology Zhejiang University Hangzhou PR China Centre for Autonomous Systems Faculty of Engineering and IT University of Technology Sydney Australia

Mapping in the dynamic environment is an important task for autonomous mobile robots due to the unavoidable changes in the workspace. In this paper, we propose a framework for RGBD SLAM in low dynamic environment, which can maintain a map keeping track of the latest environment. The main model describing the environment is a multi-session pose graph, which evolves over the multiple visits of the robot. The poses in the graph will be pruned when the 3D point scans corresponding to those poses are out of date. When the robot explores the new areas, its poses will be added to the graph. Thus the scans kept in the current graph will always give a map of the latest environment. The changes of the environment are detected by out-of-dated scans identification module through analyzing scans collected at different sessions. Besides, a redundant scans identification module is employed to further reduce the poses with redundant scans in order to keep the total number of poses in the graph with respect to the size of environment. In the experiments, the framework is first tuned and tested on data acquired by a Kinect from laboratory environment. Then the framework is applied to external dataset acquired by a Kinect II from a workspace of an industrial robot in another country, which is blind to the development phase, for further validation of the performance. After this two-step evaluation, the proposed framework is considered to be able to manage the map in date in dynamic or static environment with a noncumulative complexity and acceptable error level.

关键词： Multi-session SLAM RGBD sensor Low dynamic mapping

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循环组合系统的结构性质

自动化学报 1998年第6期24卷 798-801页

作者：黄守东张嗣瀛东北大学自动控制系

研究了循环组合系统的结构性质．结果表明，由于其结构的特殊性，循环组合系统的结构能控性和结构固定模的存在性，可以通过其修正子系统的结构能控性和结构固定模的存在性来得到．

关键词：组合系统结构能控性结构固定模反馈控制

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对称循环组合系统的几个控制问题

控制理论与应用 1999年第4期16卷 478-482页

作者：黄守东张嗣瀛东北大学自动控制系沈阳110006

研究了对称循环组合系统的输出调节问题和不确定对称循环组合系统的二次稳定性和二次稳定化问题．结果表明，由于对称循环组合系统结构的特殊性，它的输出调节问题可以转化为一些低队系统的输出调节问题．而不确定对称循环组合系统的二... 详细信息

研究了对称循环组合系统的输出调节问题和不确定对称循环组合系统的二次稳定性和二次稳定化问题．结果表明，由于对称循环组合系统结构的特殊性，它的输出调节问题可以转化为一些低队系统的输出调节问题．而不确定对称循环组合系统的二次稳定性可以通过考察若干个低阶系统的二次稳定性来判断，且其稳定化控制律也可以通过低阶系统的稳定化控制律来构造．

关键词：组合系统对称循环结构最优控制

A New State Vector for Range-Only SLAM

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A New State Vector for Range-Only SLAM

2011 Chinese Control and Decision Conference（CCDC）

作者： Adizul Ahmad shoudong huang Jianguo Jack Wang Gamini Dissanayake Faculty of Engineering and Information Technology University of Technology Sydney

This paper considers the simultaneous localization and mapping （SLAM） problem where the range-only sensor is *** initialization is a critical issue in rangeonly SLAM due to the lack of bearing information from the robot to the landmarks.A new state vector is proposed to be used in solving the range-only *** the new state vector,the landmark position is represented in different ways under different *** new representation avoids the need of multiple hypotheses on the landmark positions implemented in most of the existing range-only SLAM *** and experimental results demonstrate the effectiveness of the new range-only SLAM algorithm using the new state vector within the least squares framework.

关键词： Range-only SLAM Landmark initialization Least squares optimization.

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不确定对称组合系统的分散镇定与输出跟踪

东北大学学报（自然科学版） 1998年第3期19卷 286-289页

作者：王刚黄守东井元伟东北大学信息科学与工程学院

对一类线性不确定对称组合系统进行了研究，设计了分散镇定控制器与输出跟踪控制器，且前者的不确定性可以是时变的，后者允许任意大的常值干扰．结果表明，该设计方案是简单且有效的．

关键词：分散镇定输出跟踪不确定对称组合系统

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具有饱和输入的对称循环组合系统的镇定

控制理论与应用 1999年第1期16卷 95-99页

作者：黄守东张嗣瀛东北大学自动控制系沈阳110006

本文给出了具有饱和输入的对称循环组合系统可利用线性反馈半全局镇定及利用非线性反馈全局镇定的一个充要条件 .并且证明其线性反馈控制律可以通过求解若干个低阶的代数Riccati方程得到 .

关键词：组合系统饱和输入镇定控制理论

地理信息技术在中药资源生产区划研究中的应用

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测绘通报 2016年第12期 96-99,123页

作者：孙成忠郝振国朱寿东黄璐琦张晓波郭兰萍中国测绘科学研究院北京100039 中国中医科学院中药资源中心北京100700

中药资源生产区划对药材生产和产业布局具有重要意义。本文主要阐述了基于地理信息技术的中药资源生产区划分析技术方法,并对中药材生产区划分析的关键技术进行了探索性研究,即分析模型构建。在此基础上研发了中药生产区划分析地理信息... 详细信息

中药资源生产区划对药材生产和产业布局具有重要意义。本文主要阐述了基于地理信息技术的中药资源生产区划分析技术方法,并对中药材生产区划分析的关键技术进行了探索性研究,即分析模型构建。在此基础上研发了中药生产区划分析地理信息系统(CMRPRGIS),为国家和省一级中药资源生产区划划分和产业布局规划提供了新的技术手段。

关键词：地理信息技术最大信息熵中药资源品质区划中药资源生产区划

A gel polymer electrolyte based on IL@NH_(2)-MIL-53(Al)for high-performance all-solid-state lithium metal batteries

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Chinese Journal of Chemical Engineering 2024年第5期69卷 47-55页

作者： Sijia Wang Ye Liu Liang He Yu Sun Qing huang shoudong Xu Xiangyun Qiu Tao Wei School of Energy and Power Jiangsu University of Science and TechnologyZhenjiang 212003China College of Materials Science and Engineering Nanjing Forestry UniversityNanjing 210037China College of Chemical Engineering and Technology Taiyuan University of TechnologyTaiyuan 030024China Power&Energy Storage System Research Center College of Mechanical and Electrical EngineeringQingdao UniversityQingdao 266071China

Solid polymer composite electrolytes possess the benefits of superior compatibility with electrodes and good thermal characteristics for more secure energy storage ***,a new gel polymer electrolyte(GPE)containing NH_(2)-MIL-53(Al),[PP_(13)][TFSI],LiTFSI,and PVDF-HFP was prepared using a simple method of solution *** effects of encapsulating different ratios of ionic liquid([PP_(13)][TFSI])into the micropores of functionalized metal-organic frameworks(NH_(2)-MIL-53(Al))on the electrochemical properties were ***,SEM,nitrogen adsorption-desorption isotherms,and electrochemical measurements were *** GPE demonstrates a superior ionic conductivity of 8.08×10^(-4)S·cm^(-1)at 60℃and can sustain a discharge specific capacity of 156.6 mA·h·g^(-1)at 0.2 C for over 100 *** work might offer a potential approach to alleviate the solid-solid contact with the solid-state electrolyte and electrodes and broaden a new window for the creation of all-solid-state batteries.

关键词： Metal-organic frameworks(MOFs) All solid-state lithium batteries(ASSLBs) Ionic liquid NH_(2)-MIL-53(Al) Solid-state electrolytes(SSEs)