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Range-Only UWB SLAM for Indoor Robot Localization Employing Multi-Interval EFIR Rauch-Tung-Striebel Smoother

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co.puter Modeling in Engineering & Sciences 2022年第2期130卷 1221-1237页

作者： Yanli Gao Wanfeng Ma Jing Cao Jianling Qu Yuan Xu Qingdao Branch of Naval Aviation University Qingdao266000China School of Electrical Engineering University of JinanJinan250022China shandong beiming medical technology co. Ltd.Jinan250022China

For improving the localization accuracy,a multi-interval extended finite impulse response(EFIR)-based Rauch-Tung-Striebel(R-T-S)smoother is proposed for the range-only ultra wide band(UWB)simultaneous localization and mapping(SLAM)for robot *** this mode,the EFIR R-T-S(ERTS)smoother employs EFIR filter as the forward filter and the R-T-S smoothing method to smooth the EFIR filter’s *** the east or the north position is co.sidered as stance,the ERTS is used to smooth the position ***,the estimation of the UWB Reference Nodes’(RNs’)position is smoothed by the R-T-S smooth method in *** test illustrates that the proposedmulti-interval ERTS smoothing for range-only UWB SLAMis able to provide accurate *** with the EFIR filter,the proposed method improves the localization accuracy by about 25.35%and 40.66%in east and north directions,respectively.

关键词： Robot localization ultra wide band Rauch-Tung-Striebel smoother extended FIR filter

Microstructural features of biomedical co.alt–chromium–molybdenum(co.rMo) alloy from powder bed fusion to aging heat treatment

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Journal of Materials Science & technology 2020年第10期42卷 146-156页

作者： Haoqing Li Ming Wang Dianjun Lou Weilong Xia Xiaoying Fang Institute for Advanced Manufacturing Shandong University of TechnologyZibo255049China School of Mechanical Engineering Shandong University of TechnologyZibo255049China D Printing medical Engineering and technology Center Shinva Medical Instrument Co.LTDZibo255086China

The design freedom of powder bed fusion process selective laser melting(SLM)enables flexibility to manufacture customized,geometrically co.plex medical implants directly from the CAD *** alloys have adequate wear and co.rosion resistance,fatigue strength,and bioco.patibility,which enables the alloys to be widely used in medical *** work aims to investigate the evolution of microstructures and their influence on tribological property of co.rMo alloy processed by SLM and aging heat *** results showed that very weaktexture along the building direction and microsegregation along cellular boundaries were *** presence of high residual stress and fine cellular dendrite structure has a pronounced hardening effect on the as-SLM and aging-treated alloys at moderate ***,the hexagonalεphase transformed from theγmatrix during SLM became significant after subsequent aging at moderate temperatures,which further increased the nanohardness and scratch *** temperature(1150℃)heating caused homogenized recrystallization microstructure free of residual stress andεphase,which sharply decreased the hardness and scratch *** material parallel to the building direction exhibited improved tribological property in both SLMed and aging-treated alloy than that of the material perpendicular to the building *** anisotropy in frictional performance may be co.sidered when designing co.rMo dental implants using laser additive manufacturing.

关键词： Selective laser melting co.rMo alloy Nanoindentation Nano-scratch test

Development and Properties of Glass Fiber Reinforced Plastics Geogrid

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Journal of Wuhan University of technology(Materials Science) 2015年第3期30卷 520-527页

作者：王清标 ZHANG co.g WEN Xiaokang Lü Rongshan LIANG Xunmei LU Shide Department of Resource and Civil Engineering Shandong University of Science and Technology co.lege of Civil Engineering and Architecture Shandong University of Science and Technology shandong Hualian Mining co. Ltd Tai'an Road Engineering Materials co. Ltd.

Glass fiber reinforced plastics geogrid has a wide application in the field of soil reinforcement because of its high strength, good toughness, and resistance to environmental stress, creep resistance and strong stability. In order to get high-powered glass fiber reinforced plastics geogrid and its mechanical characteristics, the properties and physical mechanical index of geogrid have been got through the study of its raw material, production process and important quality index. The analysis and study have been made to the geogrid＇s mechanical properties with loading speed, three-axial co.pression, temperature tensile test and FLAC3D numerical simulation, thus obtain the mechanical parameters of its displacement time curve, breaking strength and elongation at break. Some co.clusions can be drawn as follows：（a） Using glass fiber materials, knurling and co.ted projection process, the f^acture strength and co.rosion resistance of geogrid are greatly improved and the interlocking bite capability of soil is enhanced. （b） The fracture strength of geogrid is related to temperature and loading rate. When the surrounding rock pressure is fixed, the strength and anti-deformation ability of reinforced soil are significantly enhanced with increasing reinforced layers. （c） The pullout test shows the positive co.relation between geogrid displacement and action time. （d） As a new reinforced material, the glass fiber reinforced plastics geogrid is not mature enough in theoretical research and practical experience, so it has beco.e an urgent problem both in theoretical study and practical innovation.

关键词： glass fiber reinforced plastics geogrid polyethylene fracture strength elongation atbreak three axial co.pression test FLAC3D numerical simulation

Distributed Kalman filter for UWB/INS integrated pedestrian localization under co.ored measurement noise

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Satellite Navigation 2021年第1期2卷 305-314页

作者： Yuan Xu Jing Cao Yuriy SShmaliy Yuan Zhuang School of Electrical Engineering University of JinanJinanChina Department of Electronics Engineering Universidad de GuanajuatoSalamancaMexico State Key Laboratory of Information Engineering in Surveying Mapping and Remote SensingWuhan UniversityWuhanChina shandong beiming medical technology co. LtdJinanChina.

co.ored Measurement Noise(CMN)has a great impact on the accuracy of human localization in indoor environments with Inertial Navigation System(INS)integrated with Ultra Wide Band(UWB).To mitigate its influence,a distributed Kalman Filter(dKF)is developed for Gauss-Markov CMN with switching co.ouredness Factor Matrix(CFM).In the proposed scheme,a data fusion filter employs the difference between the INS-and UWB-based distance *** main filter produces a final optimal estimate of the human position by fusing the estimates from local *** effect of CMN is overco.e by using measurement differencing of noisy *** tests show that the proposed dKF developed for CMN with CFM can reduce the localization error co.pared to the original dKF,and thus effectively improve the localization accuracy.

关键词： Distributed filtering Kalman filter co.ored measurement noise Human localization

Modified room temperature solid-state synthesis of yttria-stabilized zirco.ia(YSZ) nano-powders for solid oxide fuel cells

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Journal of Rare Earths 2023年第9期41卷 1385-1391,I0004页

作者： Xiaoqian Xu Yurun Feng Zhaoyu Zhong Xue Guo Zhenhao Zhang Jiao Li Shikai Zhao Shigang Wu Haibin Sun School of Materials Science and Engineering Shandong University of TechnologyZibo 255000China shandong Yasai Ceramic technology co. Ltd.Jinan 271100China shandong Industrial Ceramics Research&Design Institute co. Ltd.Zibo 255000China

High-performance solid oxide fuel cell(SOFC) is in urgent need of high-quality electrolyte powders with high reactivity and chemical ***,8 mol% Y_(2)O_(3) doped ZrO_(2)(YSZ) nano-powders were synthesized by an improved solid-state reaction method at ambient temperature,and were applied to the fabrication of SOFC *** nano-powders show average grain sizes of ^(2)0 nm and high dispersibility,which is co.parable with or even better than some other chemical *** from their high reactivity,dense YSZ electrolytes(relative density of 97.9%) can be obtained at a relatively low sintering temperature of 1400℃.The optimized electrical co.ductivity reaches up to a high value of0.034 S/cm at 800 0C in *** anode supported single cell with the co.struction of Ni-YSZ/YSZ/Sm_(0.2)Ce_(0.8)O_(2-δ)(SDC)/La_(0.6)Sr_(0.4)co.(0.2)Fe_(0.8)O_(3-δ)(LSCF) exhibits the peak power density of 0.827 W/cm^(2) at800℃ while taking wet H_(2) as fuels and ambient air as oxidants.

关键词： Room temperature solid-state reaction YSZ electrolyte High sintering activity High ionic co.ductivity Rare earths

Attenuation of Chlorinated co.tamination in Three Different Depths of Aquifers at Remediation Site

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China Petroleum Processing & Petrochemical technology 2023年第1期25卷 162-178页

作者： Sun Shaodong Li Weisi Huang Yongjun Jiang Qing Bai Yu Wang Kunhua Xue Jianliang Wang Bo Yan Dongdong Xu co.ghai co.lege of Safety and Environmental Engineering Shandong University of Science and TechnologyQingdaoShandong 266590China Department of Polymer Science and Engineering University of Science and Technology of ChinaHefei 230026China shandong Provincial Eco.environment Monitoring Center Jinan 250102China Linyi Junhe Environmental Protection technology co. LtdLinyi Shandong 276000 Unico. Digital technology co. Ltd. co.lege of Energy Storage technology Shandong University of Science and TechnologyQingdaoShandong 266590China shandong Juncheng Environment Examination co. LtdLinyi Shandong 276000China

The cleanup of carbon tetrachloride(CCl4)in groundwater is challenging due to its high volatility and tendency to form a dense nonaqueous liquid *** the engineering applications perspective,the pump-and-treat(PAT)technology has substantial advantages owing to its large-scale implementation ability to solve groundwater ***,few studies focused on the variation in chloride co.taminants in remediation sites after the co.taminated groundwater was pumped and ***,we monitored the changes in chlorinated co.tamination in groundwater from 12 aquifers at the field level for 6 *** that the natural attenuation of chlorinated co.tamination is inseparable from the action of microorganisms,the major environmental factors influencing biodegradation were also evaluated.A redundancy analysis(RDA)showed that inorganic salts(DS,DN,and DF)were the most important factor(>60%)affecting the co.centration of chloride co.taminants,including the negative co.relation between DN and the degradation of co.taminants in shallow *** deep aquifers,DS,DF,and pH explained most of the degradation of chloride *** bedrock layers,DCl was positively relevant to the chloride co.taminants in wells PTJ2 and *** addition,EC and DS acco.nted for 73.2%and 92.4%of the co.taminant’s variance in wells PTJ4 and PTJ8,***,the co.centrations of the co.responding co.taminations and physico.hemical variation in three different depths of aquifers were co.pared;the shallower aquifers showed a higher *** in situ monitoring and analysis of co.taminated groundwater in remediation sites under PAT will promote practical wastewater treatment technologies in engineering applications.

关键词： groundwater chloride co.taminants pump-and-treat biodegradation engineering application

3D printed silico.-based micro-lattices with ultrahigh areal/gravimetric capacities and robust structural stability for lithium-ion batteries

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Nano Research 2024年第4期17卷 2693-2703页

作者： Jie Fu Dong Wang Yan Li Xianzheng Liu Rui Zhang Zhiyuan Liu Pengdong Liu Lijuan Zhang Xuefei Li Guangwu Wen School of Materials Science and Engineering Shandong University of TechnologyZibo 255000China shandong Si-Nano Materials technology co. Ltd.Zibo 255000China

Nanostructured silico. anodes have shown extraordinary lithium storage properties for lithium-ion batteries(LIBs)but are usually achieved at low areal loadings(<1.5 mg·cm^(-2))with low areal *** sound electrochemical... 详细信息

Nanostructured silico. anodes have shown extraordinary lithium storage properties for lithium-ion batteries(LIBs)but are usually achieved at low areal loadings(co.-graphene-carbon nanotube(3D-Si/G/C)electrode for simultaneously achieving ultrahigh areal/gravimetric capacities at high mass *** periodically arranged vertical channels and hierarchically porous filaments facilitate sufficient electrolyte infiltration and rapid ion diffusion,and the carbonaceous network provides excellent electron transport properties and mechanical integrity,thus endowing the printed 3D-Si/G/C electrode with fast electrochemical reaction kinetics and reversibility at high mass ***,the 3D-Si/G/C with high areal mass loading of 12.9 mg·cm^(-2) exhibits excellent areal capacity of 12.8 mAh·cm^(-2) and specific capacity of 1007 mAh·g^(-1),***-situ optical microsco.e and ex-situ scanning electron microsco.e(SEM)co.firm that the hierarchically porous filaments with interco.nected carbon skeletons effectively suppress the volume change of silico. and maintain stable micro-lattice architecture.A 3D printed 3D-Si/G/C-1||3D-LiFePO_(4)/G full cell holds excellent cyclic stability(capacity retention rate of 78%after 50 cycles)with an initial co.lombic efficiency(ICE)of 96%.This work validates the feasibility of 3D printing on co.structing high mass loading silico. anode for practical high energy-density LIBs.

关键词： silico. anode areal capacity three-dimensional(3D)printing lithium-ion batteries

Advanced stability analysis method for the tunnel face in jointed rock mass based on DFN-DEM

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Underground Space 2023年第6期13卷 136-149页

作者： Hongyun Fan Liping Li Peijun Zong Hongliang Liu Lanjie Yang Jing Wang Peng Yan Shangqu Sun School of Qilu Transportation Shandong UniversityJinanShandong 250061China shandong Highway Engineering technology Research Center co. Ltd.JinanShandong 250200China co.lege of Civil Engineering and Architecture Shandong University of Science and TechnologyQingdaoShandong 266590China

An advanced stability analysis of surrounding rock can assure safe co.struction in ***,in traditional analysis methods,geometric information on the rock mass disco.tinuities is obtained by a geological co.pass and treated as an infinitely expanded plane in a numerical simulation,which is inaccurate in both geometric and numerical *** solve this problem,this paper studied a co.trol network and an image stitch method to assess the accuracy of a geometric model and proposed a more accurate method to obtain the geometric information of rock mass disco.tinuities based on digital *** on discrete fracture network and discrete element method(DFN-DEM),this paper treated the rock mass disco.tinuities obtained by digital photogrammetry as finite disk planes and simulated the excavation process of the Qianyu *** to the simulation results,this paper determined the specific location of the co.lapse disaster on the tunnel face,which is of great significance to tunnel support *** the deformation of the surrounding rock mass on the tunnel face in the simulation results with the actual situation,this paper verified the feasible accuracy of this method in analysing the stability of the surrounding rock mass on a tunnel face in advance.

关键词： Digital photogrammetry Discrete element method Discrete fracture network Stability analysis

Development and application of digital assistive teaching system for anatomy

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Virtual Reality & Intelligent Hardware 2021年第4期3卷 315-335页

作者： Na ZHANG Liwen TAN Fengying LI Bing HAN Yifa XU shandong Digihuman technology co. Inc.Jinan 250100China

Background Anatomy is a required co.rse for all medicine-related *** recent decades,the teaching quality and effect of anatomy have been co.promised by factors including a decrease in human body specimens,dampened enthusiasm for the discipline,reduced teaching hours of anatomy,scale expansion of medical education,and obstacles in performing field autopsies and *** Based on China's digitalized visible human research achievements,this article extracts the boundary information of anatomic structures from tomographic images,co.structs three dimensional(3D)digital anatomical models with authentic texture information,and develops an anatomy assistive teaching system for teachers and students based on the knowledge points of anatomy,to meet the anatomy teaching requirements of different majors at various *** This scientific,co.plete,and holistic system has produced over 60003D digital anatomical models,5000 anatomy knowledge points,50 anatomical operation videos,and 150 micro demonstration classes,with teaching co.tents for different majors and levels,such as systematic anatomy,topographic anatomy,sectional anatomy,anatomy of motion,and virtual anatomical operation *** from network terminals,desktops,touchscreen 3D displays,desktops,and projection 3D volumetric displays to augmented reality,its diversified interactive forms meet the requirements for a learning environment in different *** With multiple teaching and learning links co.ered,such as teaching environment,teaching resources,instructional slides,autonomous learning,and learning effect evaluation,this novel teaching system serves as a vital co.ponent and a necessary resource in anatomy teaching and functions as an important supplement to traditional anatomy *** and promoted in most medical co.leges and schools in China,this system has been reco.nized and approved by anatomy teachers and students,and plays a positive role in guaranteeing

关键词： Teaching anatomy Anatomy education Virtual reality Simulation Digital anatomy Digital human