Visual-LiDAR Odometry and Mapping with Monocular Scale Correction and Motion Compensation

This paper presents a novel visual-LiDAR odometry and mapping method with low-drift characteristics. The proposed method is based on two popular approaches, ORB-SLAM and A-LOAM, with monocular scale correction and visual-assisted LiDAR motion compensation modifications. The scale corrector calculates the proportion between the depth of image keypoints recovered by triangulation and that provided by LiDAR, using an outlier rejection process for accuracy improvement. Concerning LiDAR motion compensation, the visual odometry approach gives the initial guesses of LiDAR motions for better performance. This methodology is not only applicable to high-resolution LiDAR but can also adapt to low-resolution LiDAR. To evaluate the proposed SLAM system's robustness and accuracy, we conducted experiments on the KITTI Odometry and S3E datasets. Experimental results illustrate that our method significantly outperforms standalone ORB-SLAM2 and A-LOAM. Furthermore, regarding the accuracy of visual odometry with scale correction, our method performs similarly to the stereo-mode ORB-SLAM2.Comment: 7 pages, 7 figures, 31 reference

Review of high voltage direct current cables

Increased renewable energy integration and international power trades have led to the construction and development of new HVDC transmission systems. HVDC cables, in particular, play an important role in undersea power transmission and offshore renewable energy integration having lower losses and higher reliability. In this paper, the current commercial feasibility of HVDC cables and the development of different types of HVDC cables and accessories are reviewed. The non-uniform electric field distribution caused by the applied voltage, temperature dependent conductivity, and space charge accumulation is briefly discussed. Current research in HVDC cable for higher operation voltage level and larger power capacity is also reviewed with specific focus on the methodologies of space charge suppression for XLPE extruded cable

Model to estimate the trapping parameters of cross-linked polyethylene cable peelings of different service years and their relationships with dc breakdown strengths

In this study, an improved trapping/detrapping model was used to simulate the charge dynamics in cross-linked polyethylene peelings from different-year aged cables. Injection barrier of trapping parameters was estimated by the model fitted to experimental data for each type of sample. Moreover, dc breakdown tests were operated on those samples. It has been found that the dc breakdown strength of inner-layer samples is the lowest in cable sections with thicker insulation layer taken from high-voltage ac (HVAC) 220 kV service condition, whereas for the cable with thinner insulation from HVAC 110 kV, middle-layer samples have worst breakdown performance. This might be explained by the space charge issues under long-term HVAC condition. More importantly, a clear relationship between estimated model parameters, including injection barrier, trap depth and trap density, with the dc breakdown strength in each layer has been reported in this study

Phomopsis longanae Chi-Induced Change in ROS Metabolism and Its Relation to Pericarp Browning and Disease Development of Harvested Longan Fruit

Phomopsis longanae Chi is a major pathogenic fungus that infects harvested longan fruit. This study aimed to investigate the effects of P. longanae on reactive oxygen species (ROS) metabolism and its relation to the pericarp browning and disease development of harvested longan fruit during storage at 28°C and 90% relative humidity. Results showed that compared to the control longans, P. longanae-inoculated longans displayed higher indexes of pericarp browning and fruit disease, higher O2-. generation rate, higher accumulation of malondialdehyde (MDA), lower contents of glutathione (GSH) and ascorbic acid (AsA), lower 1,1-diphenyl-2-picrylhydrazyl (DPPH) radical scavenging ability and reducing power in pericarp. In addition, P. longanae-infected longans exhibited higher activities of superoxide dismutase (SOD), catalase (CAT), and ascorbate peroxidase (APX) in the first 2 days of storage, and lower activities of SOD, CAT, and APX during storage day 2–5 than those in the control longans. These findings indicated that pericarp browning and disease development of P. longanae-infected longan fruit might be the result of the reducing ROS scavenging ability and the increasing O2-. generation rate, which might lead to the peroxidation of membrane lipid, the loss of compartmentalization in longan pericarp cells, and subsequently cause polyphenol oxidase (PPO) and peroxidase (POD) to contact with phenolic substrates which result in enzymatic browning of longan pericarp, as well as cause the decrease of disease resistance to P. longanae and stimulate disease development of harvested longan fruit

Optical and Near-Infrared Observations of the Highly Reddened, Rapidly Expanding Type Ia Supernova 2006X in M100

We present extensive optical (UBVRI), near-infrared (JK) light curves and optical spectroscopy of the Type Ia supernova (SN) 2006X in the nearby galaxy NGC 4321 (M100). Our observations suggest that either SN 2006X has an intrinsically peculiar color evolution, or it is highly reddened [E(B - V)_{host} = 1.42+/-0.04 mag] with R_V = 1.48+/-0.06, much lower than the canonical value of 3.1 for the average Galactic dust. SN 2006X also has one of the highest expansion velocities ever published for a SN Ia. Compared with the other SNe Ia we analyzed, SN 2006X has a broader light curve in the U band, a more prominent bump/shoulder feature in the V and R bands, a more pronounced secondary maximum in the I and near-infrared bands, and a remarkably smaller late-time decline rate in the B band. The B - V color evolution shows an obvious deviation from the Lira-Phillips relation at 1 to 3 months after maximum brightness. At early times, optical spectra of SN 2006X displayed strong, high-velocity features of both intermediate-mass elements (Si, Ca, and S) and iron-peak elements, while at late times they showed a relatively blue continuum, consistent with the blue U-B and B-V colors at similar epochs. A light echo and/or the interaction of the SN ejecta and its circumstellar material may provide a plausible explanation for its late-time photometric and spectroscopic behavior. Using the Cepheid distance of M100, we derive a Hubble constant of 72.7+/-8.2 km s^{-1} Mpc^{-1}(statistical) from the normalized dereddened luminosity of SN 2006X. We briefly discuss whether abnormal dust is a universal signature for all SNe Ia, and whether the most rapidly expanding objects form a subclass with distinct photometric and spectroscopic properties.Comment: 48 pages, 20 figures and 11 tables. Accepted Version (ApJ, 2008, March issue

Systematic analysis of the necroptosis index in pan-cancer and classification in discriminating the prognosis and immunotherapy responses of 1716 glioma patients

Necroptosis is a programmed form of necrotic cell death that serves as a host gatekeeper for defense against invasion by certain pathogens. Previous studies have uncovered the essential role of necroptosis in tumor progression and implied the potential for novel therapies targeting necroptosis. However, no comprehensive analysis of multi-omics data has been conducted to better understand the relationship between necroptosis and tumor. We developed the necroptosis index (NI) to uncover the effect of necroptosis in most cancers. NI not only correlated with clinical characteristics of multiple tumors, but also could influence drug sensitivity in glioma. Based on necroptosis-related differentially expressed genes, the consensus clustering was used to classify glioma patients into two NI subgroups. Then, we revealed NI subgroup I were more sensitive to immunotherapy, particularly anti-PD1 therapy. This new NI-based classification may have prospective predictive factors for prognosis and guide physicians in prioritizing immunotherapy for potential responders