DS-SLAM: A Semantic Visual SLAM towards Dynamic Environments

Simultaneous Localization and Mapping (SLAM) is considered to be a fundamental capability for intelligent mobile robots. Over the past decades, many impressed SLAM systems have been developed and achieved good performance under certain circumstances. However, some problems are still not well solved, for example, how to tackle the moving objects in the dynamic environments, how to make the robots truly understand the surroundings and accomplish advanced tasks. In this paper, a robust semantic visual SLAM towards dynamic environments named DS-SLAM is proposed. Five threads run in parallel in DS-SLAM: tracking, semantic segmentation, local mapping, loop closing, and dense semantic map creation. DS-SLAM combines semantic segmentation network with moving consistency check method to reduce the impact of dynamic objects, and thus the localization accuracy is highly improved in dynamic environments. Meanwhile, a dense semantic octo-tree map is produced, which could be employed for high-level tasks. We conduct experiments both on TUM RGB-D dataset and in the real-world environment. The results demonstrate the absolute trajectory accuracy in DS-SLAM can be improved by one order of magnitude compared with ORB-SLAM2. It is one of the state-of-the-art SLAM systems in high-dynamic environments. Now the code is available at our github: https://github.com/ivipsourcecode/DS-SLAMComment: 7 pages, accepted at the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018). Now the code is available at our github: https://github.com/ivipsourcecode/DS-SLA

Effects of polymer additives in the bulk of turbulent thermal convection

We present experimental evidence that a minute amount of polymer additives can significantly enhance heat transport in the bulk region of turbulent thermal convection. The effects of polymer additives are found to be the \textit{suppression} of turbulent background fluctuations that give rise to incoherent heat fluxes that make no net contribution to heat transport, and at the same time to \textit{increase} the coherency of temperature and velocity fields. The suppression of small-scale turbulent fluctuations leads to more coherent thermal plumes that result in the heat transport enhancement. The fact that polymer additives can increase the coherency of thermal plumes is supported by the measurements of a number of local quantities, such as the extracted plume amplitude and width, the velocity autocorrelation functions and the velocity-temperature cross-correlation coefficient. The results from local measurements also suggest the existence of a threshold value for the polymer concentration, only above which can significant modification of the plume coherent properties and enhancement of the local heat flux be observed. Estimation of the plume emission rate suggests that the second effect of polymer additives is to stabilize the thermal boundary layers.Comment: 8 figures, 11 page

Developments of a 2D Position Sensitive Neutron Detector

Chinese Spallation Neutron Source (CSNS), one project of the 12th five-year-plan scheme of China, is under construction in Guangdong province. Three neutron spectrometers will be installed at the first phase of the project, where two-dimensional position sensitive thermal neutron detectors are required. Before the construction of the neutron detector, a prototype of two-dimensional 200 mmx200 mm Multi-wire Proportional Chamber (MWPC) with the flowing gas of Ar/CO2 (90/10) has been constructed and tested with the 55Fe X-Ray using part of the electronics in 2009, which showed a good performance. Following the test in 2009, the neutron detector has been constructed with the complete electronics and filled with the 6atm.3He + 2.5atm.C3H8 gas mixture in 2010. The neutron detector has been primarily tested with an Am/Be source. In this paper, some new developments of the neutron detector including the design of the high pressure chamber, the optimization of the gas purifying system and the gas filling process will be reported. The results and discussion are also presented in this paper.Comment: 5 page

Band Structure Engineering of Interfacial Semiconductors Based on Atomically Thin Lead Iodide Crystals

To explore new constituents in two-dimensional materials and to combine their best in van der Waals heterostructures, are in great demand as being unique platform to discover new physical phenomena and to design novel functionalities in interface-based devices. Herein, PbI2 crystals as thin as few-layers are first synthesized, particularly through a facile low-temperature solution approach with the crystals of large size, regular shape, different thicknesses and high-yields. As a prototypical demonstration of flexible band engineering of PbI2-based interfacial semiconductors, these PbI2 crystals are subsequently assembled with several transition metal dichalcogenide monolayers. The photoluminescence of MoS2 is strongly enhanced in MoS2/PbI2 stacks, while a dramatic photoluminescence quenching of WS2 and WSe2 is revealed in WS2/PbI2 and WSe2/PbI2 stacks. This is attributed to the effective heterojunction formation between PbI2 and these monolayers, but type I band alignment in MoS2/PbI2 stacks where fast-transferred charge carriers accumulate in MoS2 with high emission efficiency, and type II in WS2/PbI2 and WSe2/PbI2 stacks with separated electrons and holes suitable for light harvesting. Our results demonstrate that MoS2, WS2, WSe2 monolayers with very similar electronic structures themselves, show completely distinct light-matter interactions when interfacing with PbI2, providing unprecedent capabilities to engineer the device performance of two-dimensional heterostructures.Comment: 36 pages, 5 figure