Vision-based localization methods under GPS-denied conditions

This paper reviews vision-based localization methods in GPS-denied environments and classifies the mainstream methods into Relative Vision Localization (RVL) and Absolute Vision Localization (AVL). For RVL, we discuss the broad application of optical flow in feature extraction-based Visual Odometry (VO) solutions and introduce advanced optical flow estimation methods. For AVL, we review recent advances in Visual Simultaneous Localization and Mapping (VSLAM) techniques, from optimization-based methods to Extended Kalman Filter (EKF) based methods. We also introduce the application of offline map registration and lane vision detection schemes to achieve Absolute Visual Localization. This paper compares the performance and applications of mainstream methods for visual localization and provides suggestions for future studies.Comment: 32 pages, 15 figure

Stability of the Interface Between Two Immiscible Liquids During Injection Into a Tapered Hele-Shaw Cell

In the early twentieth century, petroleum and mining engineers noticed that water does not displace oil uniformly. This phenomenon, when water penetrates through oil, is now known as viscous fingering. This discovery and the following extensive research have contributed to enhancing oil recovery. In this paper, we describe a numerical study conducted on the stability of the interface between two immiscible liquids in converging and diverging Hele-Shaw cells with varying gradients. Hele-Shaw cells are narrow flow geometries that mimic the properties of a porous medium with fixed permeability. By using computational tools built on the OpenFOAM platform, the multiphase flow dynamics can be accurately resolved and observed at small scales. The flow is computed in several designed tapered cell, which emulate natural heterogeneity in an actual porous medium. By analyzing the finger length under the same time period in both parallel cells and tapered cells, we found that the diverging cell relatively decreases the growth compared with the converging cell. Our primary conclusion, confirming previous theoretical predictions, is that the gradient of the tapered geometry variation has an effect on the sign of interfacial growth rate, which means the interface could be destabilized or stabilized depending on the absolute value of the gradient

Rural area flooding digital prediction based on TELEMAC-2D

Hydrodynamic

Adaptive Policy Learning to Additional Tasks

This paper develops a policy learning method for tuning a pre-trained policy to adapt to additional tasks without altering the original task. A method named Adaptive Policy Gradient (APG) is proposed in this paper, which combines Bellman's principle of optimality with the policy gradient approach to improve the convergence rate. This paper provides theoretical analysis which guarantees the convergence rate and sample complexity of $\mathcal{O}(1/T)$ and $\mathcal{O}(1/\epsilon)$, respectively, where $T$ denotes the number of iterations and $\epsilon$ denotes the accuracy of the resulting stationary policy. Furthermore, several challenging numerical simulations, including cartpole, lunar lander, and robot arm, are provided to show that APG obtains similar performance compared to existing deterministic policy gradient methods while utilizing much less data and converging at a faster rate

Broad-line region configuration of the supermassive binary black hole candidate PG1302-102 in the relativistic Doppler boosting scenario

PG1302-102 is thought to be a supermassive binary black hole (BBH) system according to the periodical variations of its optical and UV photometry, which may be interpreted as being due to the relativistic Doppler boosting of the emission mainly from the disk around the secondary black hole (BH) modulated by its orbital motion. In this paper, we investigate several broad emission lines of PG1302-102 using archived UV spectra obtained by IUE, GALEX, and Hubble, to reveal the broad-line region (BLR) emission properties of this BBH system under the Doppler boosting scenario. We find that the broad lines Ly$\alpha$, NV, CIV, and CIII] all show Gaussian profiles, and none of these lines exhibits obvious periodical variation. Adopting a simple model for the BLR, we perform Markov chain Monte Carlo fittings to these broad lines, and find that the BLR must be viewed at an orientation angle of $\sim33^{\circ}$, close to face-on. If the Doppler boosting interpretation is correct, then the BLR is misaligned with the BBH orbital plane by an angle of $\sim51^\circ$, which suggests that the Doppler boosted continuum variation has little effect on the broad-line emission and thus does not lead to periodical line variation. We further discuss the possible implications for such a BLR configuration with respect to the BBH orbital plane.Comment: 9 pages, 6 figures, matches A&A version (only minor changes

Fair Division of Mixed Divisible and Indivisible Goods

We study the problem of fair division when the resources contain both divisible and indivisible goods. Classic fairness notions such as envy-freeness (EF) and envy-freeness up to one good (EF1) cannot be directly applied to the mixed goods setting. In this work, we propose a new fairness notion envy-freeness for mixed goods (EFM), which is a direct generalization of both EF and EF1 to the mixed goods setting. We prove that an EFM allocation always exists for any number of agents. We also propose efficient algorithms to compute an EFM allocation for two agents and for $n$ agents with piecewise linear valuations over the divisible goods. Finally, we relax the envy-free requirement, instead asking for $\epsilon$-envy-freeness for mixed goods ($\epsilon$-EFM), and present an algorithm that finds an $\epsilon$-EFM allocation in time polynomial in the number of agents, the number of indivisible goods, and $1/\epsilon$.Comment: Appears in the 34th AAAI Conference on Artificial Intelligence (AAAI), 202