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基于IMU在线校准的SLAM精度提升方法研究

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仪表技术与传感器 2024年第3期 1-5页

作者：周霆威乔贵方刘娣付冬梅张颖南京工程学院自动化学院

基于多传感器融合的SLAM算法是当前移动机器人实现精准定位和导航的关键技术之一,在分析了惯性测量单元(IMU)的系统误差会对SLAM算法的建图和导航精度影响较大,并且IMU的系统误差会随工作时间发生变化的问题后,提出了一种易于实现的IMU... 详细信息

基于多传感器融合的SLAM算法是当前移动机器人实现精准定位和导航的关键技术之一,在分析了惯性测量单元(IMU)的系统误差会对SLAM算法的建图和导航精度影响较大,并且IMU的系统误差会随工作时间发生变化的问题后,提出了一种易于实现的IMU在线标定方法。该标定方法首先建立了IMU中加速度计和陀螺仪的误差模型。其次通过二维云台实现IMU的姿态调整。然后通过读取加速度传感器的静态数值实现加速度计的误差参数辨识。最后以标定后的加速度计输出数据和陀螺仪计算的旋转矩阵,实现陀螺仪的误差参数辨识。为验证以上标定算法的效果,文中基于标定前后的IMU分别进行SLAM建图实验,实验结果表明,基于标定后IMU的建图精度更好。

关键词：惯性测量单元误差标定即时定位与地图构建移动机器人在线校准

Lax-Oleinik-Type Formulas and Efficient Algorithms for Certain High-Dimensional Optimal Control Problems

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Communications on Applied Mathematics and Computation 2024年第2期6卷 1428-1471页

作者： Paula Chen Jerome Darbon tingwei Meng Division of Applied Mathematics Brown UniversityProvidenceRIUSA Department of Mathematics UCLALos AngelesCAUSA

Two of the main challenges in optimal control are solving problems with state-dependent running costs and developing efficient numerical solvers that are computationally tractable in high *** this paper,we provide analytical solutions to certain optimal control problems whose running cost depends on the state variable and with constraints on the *** also provide Lax-Oleinik-type representation formulas for the corresponding Hamilton-Jacobi partial differential equations with state-dependent ***,we present an efficient,grid-free numerical solver based on our representation formulas,which is shown to scale linearly with the state dimension,and thus,to overcome the curse of *** existing optimization methods and the min-plus technique,we extend our numerical solvers to address more general classes of convex and nonconvex initial *** demonstrate the capabilities of our numerical solvers using implementations on a central processing unit(CPU)and a field-programmable gate array(FPGA).In several cases,our FPGA implementation obtains over a 10 times speedup compared to the CPU,which demonstrates the promising performance boosts FPGAs can *** numerical results show that our solvers have the potential to serve as a building block for solving broader classes of high-dimensional optimal control problems in real-time.

关键词： Optimal control Hamilton-Jacobi partial differential equations Grid-free numerical methods High dimensions Field-programmable gate arrays(FPGAs)

Multi-scale cross-domain alignment for person image generation

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CAAI Transactions on Intelligence Technology 2024年第2期9卷 374-387页

作者： Liyuan Ma tingwei Gao Haibin Shen Kejie Huang Department of Information Science&Electronic Engineering Zhejiang UniversityHangzhouZhejiangChina Alibaba Group HangzhouChina

Person image generation aims to generate images that maintain the original human appearance in different target *** works have revealed that the critical element in achieving this task is the alignment of appearance domain and pose *** alignment methods,such as appearance flow warping,correspondence learning and cross attention,often encounter challenges when it comes to producing fine texture *** approaches suffer from limitations in accurately estimating appearance flows due to the lack of global receptive ***,they can only perform cross-domain alignment on high-level feature maps with small spatial dimensions since the computational complexity increases quadratically with larger feature *** this article,the significance of multi-scale alignment,in both low-level and high-level domains,for ensuring reliable cross-domain alignment of appearance and pose is *** this end,a novel and effective method,named Multi-scale Crossdomain Alignment(MCA)is ***,MCA adopts global context aggregation transformer to model multi-scale interaction between pose and appearance inputs,which employs pair-wise window-based cross ***,leveraging the integrated global source information for each target position,MCA applies flexible flow prediction head and point correlation to effectively conduct warping and fusing for final transformed person image *** proposed MCA achieves superior performance on two popular datasets than other methods,which verifies the effectiveness of our approach.

关键词： artificial intelligence image processing image reconstruction

Enhanced bifunctional oxygen electrochemical catalytic performance using La-doped CoFe_(2)O_(4)spinel supported by 3D-G for Zn-air batteries

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Journal of Energy Chemistry 2024年第7期94卷 778-788页

作者： Yinggang Sun tingwei Zhang Peng Sun Jigang Wang Wenjie Duan Yanqiong Zhuang Likai Wang Zhongfang Li School of Chemistry and Chemical Engineering Shandong University of TechnologyZibo 255049ShandongChina

The preparation of bifunctional catalysts for oxygen reduction(ORR)and oxygen evolution(OER)is crucial for Zn-air ***,we report a La doped CoFe_(2)O_(4) spinel catalyst supported on threedimensional graphene(3D-G),where La can facilitate electron transfer from Co to Fe,leading to increased electron cloud density in Fe and improved catalytic *** redshift of the G peak in the Raman spectra indicates the interaction between theπbond of 3D-G and d orbitals in La_(0.2)CoFe_(1.8)O_(4).La_(0.2)CoFe_(1.8)/3D-G exhibits superior ORR performance(E_(1/2)=0.86 V ***)and OER performance(E_(j=10)=1.55 V ***)to CoFe_(2)O_(4)/3D-G(E_(1/2)=0.831 V ***,E_(j=10)=1.603 V ***).Furthermore,it demonstrates excellent bifunctional oxygen catalytic performance while maintaining high power density and stability in liquid zinc-air batteries(ZABs)and flexible ZABs(F-ZABs).This work presents a viable strategy for utilizing rare earth element doped spinels to enhance oxygen catalyst and ZABs performance.

关键词： Zn-air batteries Electrocatalysts La_(0.2)CoFe_(1.8)/3D-G Electron pump Bifunctional oxygen catalytic performance

Combination of Nitrogen-Rich Skeleton and Coordination Group:Synthesis of a High-Energy Primary Explosive Based on 1H-Tetrazole-5-Carbohydrazide

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Defence Technology（防务技术） 2024年第1期31卷 271-277页

作者： tingwei Wang Zujia Lu Shu Bu Baolong Kuang Lu Zhang Zhenxin Yi Kun Wang Shunguan Zhu Jianguo Zhang State Key Laboratory of Explosion Science and Technology Beijing Institute of TechnologyBeijing 100081China School of Chemical Engineering Nanjing University of Science and Technology200 Xiaolingwei StreetXuanwuNanjing 210094China Department of Chemistry Laboratory of Structure and Functional Regulation of Hybrid MaterialsAnhui UniversityMinistry of EducationHefei 230601China

The high energy coordination compounds Cu(TZCA)_(2)(ClO_(4))_(2)(ECCs-1) was prepared by 1H-tetrazole-5-carbohydrazide(TZCA) with a high energy skeleton and a strong coordination ability *** the same time,the reaction activity of the ligand was explored,and the single crystal structure of it and intermediate were *** structures of all substances were characterized by IR and *** the structure and composition of ECCs-1 are confirmed by ESP,AC,SEM and *** and chemical properties tests show that ECCs-1 has an acceptable thermal stability(T_(d)=177℃) and extremely sensitive mechanical stimulation(IS=1 J,FS=5 N).The comprehensive performance test results show that ECCs-1 has excellent initiation *** addition,the decomposition mechanism of ECCs-1 is explored from two aspects of experiment and theoretical calculation.

关键词： 1H-tetrazole-5-carbohydrazide Primary explosive Decomposition mechanism Coordination polymers Laser

An ultra-porous g-C_(3)N_(4) micro-tube coupled with MXene(Ti_(3)C_(2)TX)nanosheets for efficient degradation of organics under natural sunlight

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Journal of Environmental Sciences 2024年第3期137卷 258-270页

作者： Zongyang Ya Qiyou Wang Jingjin Cai Peng Wang Xinyu Jiang Zhiyin Cai Shanglin Xiang tingwei Wang Dongyu Cai College of Materials Science&Engineering Nanjing Tech University30 South PuZhu RoadNanjing 211816China Key Laboratory of Flexible Electronics(KLOFE)&Institute of Advanced Materials(IAM) Jiangsu National Synergetic Innovation Center for Advanced Materials(SICAM)Nanjing Tech University30 South PuZhu RoadNanjing 211816China

It remains as a challenge for realizing efficient photo-responsive catalysts towards largescale degradation of organic pollutants under natural *** work reports a new pore engineering strategy for creating ultra-porous g-C_(3)N_(4) micro-tubes with an unprecedentedly high specific surface area of 152.96 m^(2)/*** is mainly associated with releasing internal vapor pressure in the autoclave where the hydrothermal treatment of the urea/melamine mixture is *** by microscopic observation,porosity measurement and spectroscopic characterization,it is found that releasing the pressure at halfway of hydrothermal process is vital for forming exfoliated rod-like precursors and the de-aggregation of these rods presents substantial benefits on the production of mesopores on g-C_(3)N_(4) microtubes during the calcination of *** offers a large number of reactive sites required by photocatalytic *** these micro-tubes with Ti_(3)C_(2)T_(X) nanosheets via electrostatic interaction yields a 1D/2D heterojunction with a close interfacial *** addition of metallically conductive Ti_(3)C_(2)T_(X) nanosheets accelerates the separation between electrons and holes,and also enhances the light *** these merits of structural design lead to forming a group of highly efficient catalysts demonstrating an excellent photocatalytic degradation rate of k=0.0560 min^(-1)for RhB dyes under 100 mW/cm~2 visible light radiation that micks sunlight *** laboratory valuation is further supported by an outdoor test that shows a fast degradation rate of 0.0744 min^(-1)under natural sunlight.

关键词： Carbon nitride MXene Heterojunction Photocatalysis

Low-latitude hydroclimate changes related to paleomagnetic variations during the Holocene in coastal southern China

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Frontiers of Earth Science 2024年第2期18卷 324-335页

作者： tingwei ZHANG Xiaoqiang YANG Jian YIN Qiong CHEN Jianfang HU Lu WANG Mengshan JU Qiangqiang WANG School of Earth Science and Engineering/Guangdong Provincial Key Laboratory of Geodynamics and Geohazards/Southern Marine Science and Engineering Guangdong Laboratory(Zhuhai)Sun Yat-sen UniversityGuangzhou 510275China Institute of Cultural Heritage Shandong UniversityQingdao 266237China State Key Laboratory of Organic Geochemistry Guangzhou Institute of GeochemistryChinese Academy of SciencesGuangzhou 510640China College of Urban and Environmental Sciences Peking UniversityBeijing 100871China Institute of Oceanology Chinese Academy of SciencesQingdao 266071China

The variations in precipitation have displayed a complex pattern in different regions since the *** formation processes may have a significant impact on precipitation,especially during the tropical marine processes and summer monsoon which convey abundant water vapor to coastal southern China and inland ***,we use two 7500 year sedimentary records from the Pearl River Delta and the closed Maar Lake,respectively,in coastal southern China to reconstruct the mid-to-late-Holocene humidity variability and explore its possible relationship with cloud cover modulated by the Earth’s magnetic fields(EMF).Our proxy records document an apparent increase in wetness in coastal southern China between 3.0 and 1.8 kyr *** apparent increase in humidity appears to be consistent with the lower virtual axial dipole moments and,in turn,with a lower *** correlation suggests that the EMF might have been superimposed on the weakened monsoon to regulate the mid-to-late-Holocene hydroclimate in coastal southern China through the medium of galactic cosmic rays,aerosols,and cloud ***,further investigations are needed to verify this interaction.

关键词： hydroclimate variations Earth’s magnetic field coastal southern China the Holocene epoch

Effect of various aromatic compounds with different functional groups on enzymatic hydrolysis of microcrystalline cellulose and alkaline pretreated wheat straw

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Journal of Bioresources and Bioproducts 2024年第2期9卷 211-221页

作者： Yufeng Yuan Xinyu Guo Bo Jiang Wenjuan Wu tingwei Zhang Michael Sweeney Mehraj Ahmad Yongcan Jin Jiangsu Co-Innovation Center of Efficient Processing and Utilization of Forest Resources International Innovation Center for Forest Chemicals and MaterialsJiangsu Provincial Key Lab of Pulp and Paper Science and TechnologyNanjing Forestry UniversityNanjing 210037China School of Chemistry and Chemical Engineering Queen’s University BelfastBelfast BT71NNNorthern Ireland United Kingdom Department of Food Science and Engineering College of Light Industry and Food EngineeringNanjing Forestry UniversityNanjing 210037China

Low molecular aromatic compounds are detrimental to the enzymatic hydrolysis of ***,the specific role of their functional groups remains ***,a series of nine aromatic compounds as additives were tested to understand their effect on the hydrolysis yield of microcrystalline cellulose(MCC)and alkaline pretreated wheat *** on the results,the inhibition of aldehyde groups on MCC was greater than that of carboxyl groups,whereas for the alkaline pretreated wheat straw case,the inhibitory effect of aldehyde groups was lower than that of carboxyl *** methoxyl groups of aromatic compounds reduced the inhibitory ef-fect on enzymatic hydrolysis of both *** inhibition of aromatic compounds on MCC hydrolysis was detected in comparison with the alkaline pretreated wheat straw,indicating that the substrate lignin can offset the inhibition to a certain *** all aromatic com-pounds,syringaldehyde with one aldehyde group and two methoxyl groups improved the glucan conversion of the alkaline pretreated wheat straw.

关键词： Aromatic compound Functional group Enzymatic hydrolysis Alkaline pretreated wheat straw Microcrystalline cellulose

Mass transfer process of peanut protein extracted by bis(2-ethylhexyl)sodium sulfosuccinate reverse micelles

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Grain & Oil Science and Technology 2024年第1期7卷 60-67页

作者： Chenxian Yang Tianci Li tingwei Zhu Xiaojie Duan Yibao Chen Yandong Xu Fusheng Chen Kunlun Liu College of Food Science and Engineering Henan University of TechnologyZhengzhouHenan 450001China

The liquid-liquid extraction method using reverse micelles can simultaneously extract lipid and protein of oilseeds,which have become increasingly popular in recent ***,there are few studies on mass transfer processes and models,which are helpful to better control the extraction process of oils and *** this paper,mass transfer process of peanut protein extracted by bis(2-ethylhexyl)sodium sulfosuccinate(AOT)/isooctane reverse micelles was *** effects of stirring speed(0,70,140,and 210 r/min),temperature of extraction(30,35,40,45,and 50℃),peanut flour particle size(0.355,0.450,0.600,and 0.900 mm)and solidliquid ratio(0.010,0.0125,0.015,0.0175,and 0.020 g/mL)on extraction rate were *** results showed that extraction rate increased with temperature rising,particle size reduction as well as solid-liquid ratio increase respectively,while little effect of stirring speed(P>0.05)was *** apparent activation energy of extraction process was calculated as 10.02 kJ/mol and Arrhenius constant(A)was 1.91 by Arrhenius *** was a linear relationship between reaction rate constant and the square of the inverse of initial particle radius(1/r_(0)^(2))(P<0.05).This phenomenon and this shrinking core model were *** brief,the extraction process was controlled by the diffusion of protein from the virgin zone interface of particle through the reacted zone and it was in line with the first order *** transfer kinetics of peanut protein extracted by reverse micelles was established and it was verified by experimental *** results provide an important theoretical guidance for industrial production of peanut protein separation and purification.

关键词： AOT reverse micelles Peanut protein Kinetics Shrinking core model Mass transfer