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

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Computer 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 considered 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 cobalt–chromium–molybdenum(CoCrMo) 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 complex medical implants directly from the CAD *** alloys have adequate wear and corrosion resistance,fatigue strength,and biocompatibility,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 CoCrMo 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 considered when designing CoCrMo dental implants using laser additive manufacturing.

关键词： Selective laser melting CoCrMo alloy Nanoindentation Nano-scratch test

Distributed Kalman filter for UWB/INS integrated pedestrian localization under colored 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.

Colored 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 Colouredness 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 overcome by using measurement differencing of noisy *** tests show that the proposed dKF developed for CMN with CFM can reduce the localization error compared to the original dKF,and thus effectively improve the localization accuracy.

关键词： Distributed filtering Kalman filter Colored measurement noise Human localization

A renewable energy forecasting and control approach to secured edge-level efficiency in a distributed micro-grid

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Cybersecurity 2018年第1期1卷 968-979页

作者： Raphael Anaadumba Qi Liu Bockarie Daniel Marah Francis Mawuli Nakoty Xiaodong Liu Yonghong Zhang School of Computer and Software Nanjing University of Information Science and TechnologyNanjing 210044Jiangsu ProvinceChina Jiangsu Collaborative Innovation Center of Atmospheric Environment and Equipment technology(CICAEET) Nanjing University of Information Science&TechnologyNanjing 210044China shandong beiming medical technology ltd Jinan 250000China School of Computing Edinburgh Napier University10 Colinton RoadEdinburgh EH105DTUK

Energy forecasting using Renewable energy sources(RESs)is gradually gaining weight in the research field due to the benefits it presents to the modern-day *** only does energy forecasting using renewable energy sources help mitigate the greenhouse effect,it also helps to conserve energy for future *** the years,several methods for energy forecasting have been proposed,all of which were more concerned with the accuracy of the prediction models with little or no considerations to the operating *** research,however,proposes the uses of Deep Neural Network(DNN)for energy forecasting on mobile devices at the edge of the *** ensures low latency and communication overhead for all energy forecasting operations since they are carried out at the network ***,the cloud would be used as a support for the mobile devices by providing permanent storage for the locally generated data and a platform for offloading resource-intensive computations that exceed the capabilities of the local mobile devices as well as security for *** network topology was proposed which allows seamless incorporation of multiple RESs into the distributed renewable energy source(DRES)***,a novel grid control algorithm that uses the forecasting model to administer a wellcoordinated and effective control for renewable energy sources(RESs)in the electrical network is *** electrical network was simulated with two RESs and a DNN model was used to create a forecasting model for the simulated *** model was trained using a dataset from a solar power generation company in Belgium(elis)and was experimented with a different number of layers to determine the optimum architecture for performing the forecasting *** performance of each architecture was evaluated using the mean square error(MSE)and the r-square.

关键词： Artificial neural network Distributed microgrid systems Renewable energy source Edge control scheme

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 College of Civil Engineering and Architecture Shandong University of Science and TechnologyQingdaoShandong 266590China

An advanced stability analysis of surrounding rock can assure safe construction in ***,in traditional analysis methods,geometric information on the rock mass discontinuities is obtained by a geological compass 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 control 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 discontinuities based on digital *** on discrete fracture network and discrete element method(DFN-DEM),this paper treated the rock mass discontinuities 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 collapse 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

Attenuation of Chlorinated Contamination 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 Conghai College 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 Unicom Digital technology Co. Ltd. College 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 contaminants in remediation sites after the contaminated groundwater was pumped and ***,we monitored the changes in chlorinated contamination in groundwater from 12 aquifers at the field level for 6 *** that the natural attenuation of chlorinated contamination 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 concentration of chloride contaminants,including the negative correlation between DN and the degradation of contaminants in shallow *** deep aquifers,DS,DF,and pH explained most of the degradation of chloride *** bedrock layers,DCl was positively relevant to the chloride contaminants in wells PTJ2 and *** addition,EC and DS accounted for 73.2%and 92.4%of the contaminant’s variance in wells PTJ4 and PTJ8,***,the concentrations of the corresponding contaminations and physicochemical variation in three different depths of aquifers were compared;the shallower aquifers showed a higher *** in situ monitoring and analysis of contaminated groundwater in remediation sites under PAT will promote practical wastewater treatment technologies in engineering applications.

关键词： groundwater chloride contaminants pump-and-treat biodegradation engineering application

3D printed silicon-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 silicon 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 performance at high loading requires proportionally higher ion/electron currents and robust structural stability in the thicker ***,we report a three-dimensional(3D)printed silicon-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 microscope and ex-situ scanning electron microscope(SEM)confirm that the hierarchically porous filaments with interconnected carbon skeletons effectively suppress the volume change of silicon 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 Coulombic efficiency(ICE)of 96%.This work validates the feasibility of 3D printing on constructing high mass loading silicon anode for practical high energy-density LIBs.

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

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 Cong WEN Xiaokang Lü Rongshan LIANG Xunmei LU Shide Department of Resource and Civil Engineering Shandong University of Science and Technology College 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 compression, temperature tensile test and FLAC3D numerical simulation, thus obtain the mechanical parameters of its displacement time curve, breaking strength and elongation at break. Some conclusions can be drawn as follows：（a） Using glass fiber materials, knurling and coated projection process, the f^acture strength and corrosion 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 correlation 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 become 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 compression test FLAC3D numerical simulation

Modified room temperature solid-state synthesis of yttria-stabilized zirconia(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 comparable 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 conductivity reaches up to a high value of0.034 S/cm at 800 0C in *** anode supported single cell with the construction 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 conductivity Rare earths