A Unified Framework for Mutual Improvement of SLAM and Semantic Segmentation

This paper presents a novel framework for simultaneously implementing localization and segmentation, which are two of the most important vision-based tasks for robotics. While the goals and techniques used for them were considered to be different previously, we show that by making use of the intermediate results of the two modules, their performance can be enhanced at the same time. Our framework is able to handle both the instantaneous motion and long-term changes of instances in localization with the help of the segmentation result, which also benefits from the refined 3D pose information. We conduct experiments on various datasets, and prove that our framework works effectively on improving the precision and robustness of the two tasks and outperforms existing localization and segmentation algorithms.Comment: 7 pages, 5 figures.This work has been accepted by ICRA 2019. The demo video can be found at https://youtu.be/Bkt53dAehj

Mixed Flotation Process of a Copper Oxide Lead-zinc Ore in Xizang

This is an article in the field of mineral processing engineering. The opper polymetallic ore in a high-altitude mining area in Xizang has a high oxidation rate and complex ore properties. In order to make full, efficient and comprehensive use of mineral resources, this article analyzes and studies the mineral properties and characteristics of the raw ore based on theory and practical experience. Finally, the flotation process with JM-1 sulfide agent, ZJ-1 collector, copper, lead and zinc mixed flotation of "sulfur before oxygen" as the key technology is determined. At the condition that the copper oxidation rate of the raw ore is 38.58%, the mixed concentrate grade sum of lead and zinc is 41.17%, and the recovery of copper, lead and zinc is 58.74%, 80.71% and 70.82%, respectively, after two roughing, three cleaning and two scavenging processes, which greatly improves the utilization effect and technical level of dressing. It also provides technical support and favorable basis for the improvement and innovation of mineral processing technology in the later stage

Modeling intraparticle transports during propylene polymerizations using supported metallocene and dual function metallocene as catalysts: Single particle model

Two improved multigrain models (MGMs) for preparing homopolypropylene and long chain branched polypropylene via propylene polymerization using silica-supported metallocene or dual function metallocene as catalysts are presented in this paper. The presented models are used to predict the intraparticle flow fields involved in the polymerizations. The simulation results show that the flow field distributions involve dare basically identical. The results also show that both the two polymerization processes have an initiation stage and the controlling step for them is reaction-diffusion-reaction with the polymerization proceeding. Furthermore, the simulation results show that the intra particle mass transfer resistance has significant effect on the polymerization but the heat transfer resistance can be ignored

On the security of a certificateless aggregate signature scheme

Aggregate signature can combinensignatures on nmessages fromnusers into a single short signature, and the resulting signature can convince the verifier that thenusers indeed signed the ncorresponding messages. This feature makes aggregate signature very useful especially in environments with low bandwidth communication, low storage and low computability since it greatly reduces the total signature length and verification cost. Recently, Xiong et al. presented an efficient certificateless aggregate signature scheme. They proved that their scheme is secure in a strengthened security model, where the “malicious-but-passive” KGC attack was considered. In this paper, we show that Xiong et al.’s certificateless aggregate signature scheme is not secure even in a weaker security model called “honest-but-curious” KGC attack model

Progressive Research in the Molecular Mechanisms of Chronic Fluorosis

Long-term excessive intake of fluoride (F) leads to chronic fluorosis, resulting in dental fluorosis and skeletal fluorosis. Chronic exposure to high doses of fluoride can also cause damage to soft tissues, especially when it passes through the blood-brain, blood-testis, and blood-placenta barrier, causing damage to the corresponding tissues. Fluorosis has become a public health problem in some countries or regions around the world. Understanding the pathogenesis of fluorosis is very important. Although the exact mechanism of fluorosis has not been fully elucidated, various mechanisms of fluoride-induced toxicity have been proposed. In this chapter, we will introduce the research progress of the mechanism of fluorosis, focusing on dental fluorosis, skeletal fluorosis, nervous and reproductive system toxicity, and influential factors related to fluoride toxicity (i.e., genetic background, co-exposure with other element). In addition, the application of proteomics and metabolomics in the study of the pathogenesis of fluorosis is also introduced. Currently, there is still no specific treatment for fluorosis. However, since fluorosis is caused by excessive intake of fluoride, avoiding excessive fluoride intake is the critical measure to prevent the disease. In endemic regions, health education and supplement diet with vitamins C, D and E, and calcium and antioxidant compounds are important

Effects of magnesium-modified biochar on soil organic carbon mineralization in citrus orchard

In order to investigate the carbon sequestration potential of biochar on soil, citrus orchard soils with a forest age of 5 years was taken as the research object, citrus peel biochar (OBC) and magnesium-modified citrus peel biochar (OBC-mg) were selected as additive materials, and organic carbon mineralization experiments were carried out in citrus orchard soil. OBC and OBC-Mg were applied to citrus orchard soils at four application rates (0, 1, 2, and 4%), and incubated at a constant temperature for 100 days. Compared with CK, the cumulative mineralization of soil organic carbon decreased by 5.11% with 1% OBC and 2.14% with 1% OBC-Mg. The application of OBC and OBC-Mg significantly increased the content of soil organic carbon fraction, while the content of soil organic carbon fraction was higher in OBC-Mg treated soil than in OBC treated soil. Meanwhile, the cumulative mineralization of soil organic carbon was significantly and positively correlated with the activities of soil catalase, urease and sucrase. The enzyme activities increased with the cumulative mineralization of organic carbon, and the enzyme activities of the OBC-Mg treated soil were significantly higher than those of the OBC treated soil. The results indicated that the OBC-Mg treatment inhibited the organic carbon mineralization in citrus orchard soils and was more favorable to the increase of soil organic carbon fraction. The Mg-modified approach improved the carbon sequestration potential of biochar for citrus orchard soils and provided favorable support for the theory of soil carbon sink in orchards

Linear active disturbance rejection control for large onshore wind turbines in full wind speed range

To achieve real-time estimation and compensation of total system disturbances and improve the control performance of wind turbines under complex turbulent wind conditions, three one-order LADRCs were used to reconstruct the wind turbine core control system. A dynamic variable limit LADRC was designed for torque control, a minimum limit LADRC was applied in pitch control, and a LADRC power controller was designed for decoupling torque and pitch control. The stability of the LADRCs was proven using the Lyapunov method. According to the transfer function of wind turbines and empirical equations, the parameters of each LADRC were tuned. Based on the hardware-in-loop simulation (HILS) test platform, the control algorithm of look-up table, PID, RISC, and LADRC were constructed by PLC language. Through comparative studies, it was verified that the algorithm proposed in this paper can reduce generator rotor speed and power fluctuations by about 13.6% and 1.7% at least, and it can also reduce the blade root load force