LO-Net: Deep Real-time Lidar Odometry

We present a novel deep convolutional network pipeline, LO-Net, for real-time lidar odometry estimation. Unlike most existing lidar odometry (LO) estimations that go through individually designed feature selection, feature matching, and pose estimation pipeline, LO-Net can be trained in an end-to-end manner. With a new mask-weighted geometric constraint loss, LO-Net can effectively learn feature representation for LO estimation, and can implicitly exploit the sequential dependencies and dynamics in the data. We also design a scan-to-map module, which uses the geometric and semantic information learned in LO-Net, to improve the estimation accuracy. Experiments on benchmark datasets demonstrate that LO-Net outperforms existing learning based approaches and has similar accuracy with the state-of-the-art geometry-based approach, LOAM

Interfacial regulation of aqueous synthesized metal-semiconductor hetero-nanocrystals

Integrating metal and semiconductor components to form metal-semiconductor heterostructures is an attractive strategy to develop nanomaterials for optoelectronic applications, and the rational regulation of their heterointerfaces could effectively influence their charge transfer properties and further determine their performance. Considering the natural large lattice mismatch between metal and semiconductor components, defects and low crystalline heterointerfaces could be easily generated especially for heterostructures with large contacting areas such as core-shell and over quantum-sized nanostructures. The defective interfaces of heterostructures could lead to the undesirable recombination of photo-induced electrons and holes, which would decrease their performances. Based on these issues, the perspective focusing on the most recent progress in the aqueous synthesis of metal-semiconductor heterostructures with emphasis on heterointerface regulation is proposed, especially in the aspect of non-epitaxial growth strategies initiated by cation exchange reaction (CER). The enhanced optoelectronic performance enabled by precise interfacial regulations is also illustrated. We hope this perspective could provide meaningful insights for researchers on nano synthesis and optoelectronic applications

Modeling User Viewing Flow using Large Language Models for Article Recommendation

This paper proposes the User Viewing Flow Modeling (SINGLE) method for the article recommendation task, which models the user constant preference and instant interest from user-clicked articles. Specifically, we employ a user constant viewing flow modeling method to summarize the user's general interest to recommend articles. We utilize Large Language Models (LLMs) to capture constant user preferences from previously clicked articles, such as skills and positions. Then we design the user instant viewing flow modeling method to build interactions between user-clicked article history and candidate articles. It attentively reads the representations of user-clicked articles and aims to learn the user's different interest views to match the candidate article. Our experimental results on the Alibaba Technology Association (ATA) website show the advantage of SINGLE, which achieves 2.4% improvements over previous baseline models in the online A/B test. Our further analyses illustrate that SINGLE has the ability to build a more tailored recommendation system by mimicking different article viewing behaviors of users and recommending more appropriate and diverse articles to match user interests.Comment: 8 pages

An inertia-emulation-based cooperative control strategy and parameters design for multi-parallel energy storage system in islanded DC microgrids

This paper proposes an inertia-emulation-based cooperative control strategy for the multi-parallel energy storage system (ESS) to meet the requirements of state-of-charge (SoC) balance, inertia enhancement and zero-steady-state voltage deviation. The inertia emulation loop (IEL) is constructed by analogy with DC motors to dampen voltage oscillation, while the secondary voltage recovery loop is derived from the circuit equivalence of an inductor to indicate the system stiffness. Moreover, to equalize SoCs of energy storage units (ESUs) dynamically, a SoC self-balance algorithm is developed. The redefined SoC mismatch degree and balance speed adjustment factor k are introduced into the droop resistance, adjusting the SoC self-balance rate and eliminating the SoC deviation among ESUs. The dynamic performance of the SoC self-balance algorithm is analyzed and the small signal model of the DC microgrid (DC-MG) with proposed strategy is established. Based on eigenvalue analysis and step response, the system stability is assessed, and the influence of control parameters on transient characteristics and stability margin is investigated. Considering power constraint, voltage deviation constraint and dynamic stability constraint, the optimal design method of k is given. Finally, simulation and experiment verify that the proposed control, without modifying hardware, performs better dynamic and static characteristics and can equalize SoC among ESUs in charge and discharge mode

Separating rapid relocking, afterslip, and viscoelastic relaxation: An application of the postseismic straightening method to the Maule 2010 cGPS

The postseismic deformation captured with continuous Global Positioning System (cGPS) monitoring following many recent mega-thrust events has been shown to be a signal composed of two dominant processes: afterslip on the plate interface and viscoelastic relaxation of the continental and oceanic mantles in response to the coseismic stress perturbation. Following the south-central Chile 2010 Maule Mw 8.8 earthquake, the time series from the regional cGPS network show a distinct curvature in the pathway of the horizontal motion that is not easily fit by a stationary decaying pattern of afterslip in combination with viscoelastic relaxation. Here we show that with realistic assumptions about the long-term decay of the afterslip signal, the postseismic signal can be decomposed into three first-order contributing processes: plate interface re-locking, plate interface afterslip, and mantle viscoelastic relaxation. From our analyses we conclude that the plate interface recovers its interseismic locking state rapidly (model space ranges between an instant recovery and a period of 1 year); a finding that supports laboratory experimental evidence as well as some recent studies of aftershocks and postseismic surface deformation. Furthermore, re-locking is the main cause of the curvature in the cGPS signal, and this study presents a plausible range of geodetic re-locking rates following a megathrust earthquake

Depth-Varying Friction on a Ramp-Flat Fault Illuminated by ∼3-Year InSAR Observations Following the 2017 Mw 7.3 Sarpol-e Zahab Earthquake

We use interferometric synthetic aperture radar observations to investigate the fault geometry and afterslip evolution within 3 years after a mainshock. The postseismic observations favor a ramp-flat structure in which the flat angle should be lower than 10°. The postseismic deformation is dominated by afterslip, while the viscoelastic response is negligible. A multisegment, stress-driven afterslip model (hereafter called the SA-2 model) with depth-varying frictional properties better explains the spatiotemporal evolution of the postseismic deformation than a two-segment, stress-driven afterslip model (hereafter called the SA-1 model). Although the SA-2 model does not improve the misfit significantly, this multisegment fault with depth-varying friction is more physically plausible given the depth-varying mechanical stratigraphy in the region. Compared to the kinematic afterslip model, the mechanical afterslip models with friction variation tend to underestimate early postseismic deformation to the west, which may indicate more complex fault friction than we expected. Both the kinematic and stress-driven models can resolve downdip afterslip, although it could be affected by data noise and model resolution. The transition depth of the sedimentary cover basement interface inferred by afterslip models is ∼12 km in the seismogenic zone, which coincides with the regional stratigraphic profile. Because the coseismic rupture propagated along a basement-involved fault while the postseismic slip may activate the frontal structures and/or shallower detachments in the sedimentary cover, the 2017 Sarpol-e Zahab earthquake may have acted as a typical event that contributed to both thick- and thin-skinned shortening of the Zagros in both seismic and aseismic ways